Share GTS-800 secondary development process steps

1. Open the controller GT_Open

2. Start the servo enable GT_ClrSts

3. Clear the axis planning position GT_SetPrfPos

4. Axis motion mode GT_PrfTrap

5. Axis target position GT_SetPos

6. Axis rotation speed GT_SetVel

7. Start axis GT_Update

8. Close enable GT_AxisOff

9. Close the controller GT_Close

C#:
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using gts;


namespace GTS
{
    class Program
    {
        static void command(string sz, short nR)
        {
            Console.WriteLine(sz + " = " + nR);
        }

        static void Main(string[] args)
        {
            short mAxis = 2;
            short nR = mc.GT_Open(0, 1);
            if (nR != 0)
            {
                command("GT_Open", nR);
                Console.WriteLine("Open error");
                return;
            }
            command("GT_Open", nR);
            // 清除各轴的报警和限位
            command("GT_ClrSts", mc.GT_ClrSts(mAxis, 1));
            // 伺服使能
            command("GT_AxisOn", mc.GT_AxisOn(mAxis));
            // 位置清零
            command("GT_ZeroPos", mc.GT_ZeroPos(mAxis, 1));
            // 轴规划位置清零
            command("GT_SetPrfPos", mc.GT_SetPrfPos(mAxis, 0));
            // 设置指定轴为点位运动模式。
            command("GT_PrfTrap", mc.GT_PrfTrap(mAxis));
            // 设置点位运动参数
            mc.TTrapPrm trap = new mc.TTrapPrm();
            trap.acc = 0.25;
            trap.dec = 0.125;
            trap.smoothTime = 25;
            command("GT_SetTrapPrm", mc.GT_SetTrapPrm(mAxis, ref trap));
            // 设置轴的目标位置
            command("GT_SetPos", mc.GT_SetPos(mAxis, 50000));
            // 设置轴的目标速度
            command("GT_SetVel", mc.GT_SetVel(mAxis, 25));
            // 启动轴运动
            command("GT_Update", mc.GT_Update(1 << mAxis - 1));

            mc.GT_Close();
            Console.ReadKey();
        }
    }
}

C++源码：
#include "stdafx.h"
#include "windows.h"
#include "conio.h"
#include "gts.h"

#define AXIS		1

// 该函数检测某条GT指令的执行结果，command为指令名称，error为指令执行返回值
void commandhandler(char *command, short error)
{
	// 如果指令执行返回值为非0，说明指令执行错误，向屏幕输出错误结果
	if(error)
	{
		printf("%s = %d\n", command, error);
	}
}
int main(int argc, char* argv[])
{
	short sRtn;
	TTrapPrm trap;
	long sts;
	double prfPos;

	// 打开运动控制器
	sRtn = GT_Open();
	// 指令返回值检测，请查阅例2-1
	commandhandler("GT_Open", sRtn);
	// 配置运动控制器
	// 注意：配置文件取消了各轴的报警和限位
	sRtn = GT_LoadConfig("test.cfg");
	commandhandler("GT_LoadConfig ", sRtn);
	// 清除各轴的报警和限位
	sRtn = GT_ClrSts(1, 8);
	commandhandler("GT_ClrSts", sRtn);
	// 伺服使能
	sRtn = GT_AxisOn(AXIS);
	commandhandler("GT_AxisOn", sRtn);

	// 位置清零
	sRtn = GT_ZeroPos(AXIS);
	commandhandler("GT_ZeroPos", sRtn);
	// AXIS轴规划位置清零
	sRtn = GT_SetPrfPos(AXIS, 0);
	commandhandler("GT_SetPrfPos", sRtn);
	// 将AXIS轴设为点位模式
	sRtn = GT_PrfTrap(AXIS);
	commandhandler("GT_PrfTrap", sRtn);
	// 读取点位运动参数
	sRtn = GT_GetTrapPrm(AXIS, &trap);
	commandhandler("GT_GetTrapPrm", sRtn);
	trap.acc = 0.25;
	trap.dec = 0.125;
	trap.smoothTime = 25;
	// 设置点位运动参数
	sRtn = GT_SetTrapPrm(AXIS, &trap);
	commandhandler("GT_SetTrapPrm", sRtn);
	// 设置AXIS轴的目标位置
	sRtn = GT_SetPos(AXIS, 50000L);
	commandhandler("GT_SetPos", sRtn);
	// 设置AXIS轴的目标速度
	sRtn = GT_SetVel(AXIS, 50);
	commandhandler("GT_SetVel", sRtn);
	// 启动AXIS轴的运动
	sRtn = GT_Update(1<<(AXIS-1));
	commandhandler("GT_Update", sRtn);

	do
	{
		// 读取AXIS轴的状态
		sRtn = GT_GetSts(AXIS, &sts);
		// 读取AXIS轴的规划位置
		sRtn = GT_GetPrfPos(AXIS, &prfPos);
		printf("sts=0x%-10lxprfPos=%-10.1lf\r", sts, prfPos);
	}while(sts&0x400);	// 等待AXIS轴规划停止

	// 伺服关闭
	sRtn = GT_AxisOff(AXIS);
	printf("\nGT_AxisOff()=%d\n", sRtn);
	getch();
	return 0;

}

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