#region JOG运动
/// <summary>
/// JOG运动
/// </summary>
/// <param name="axis">轴号</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <param name="vel">目标速度 pulse/ms</param>
/// <param name="smooth">平滑系数 0-1</param>
public void JOGMovement(short axis, double acc, double dec, double vel = 50, double smooth = 0.9)
{
TJogPrm pPrm;
//清除轴的报警和限位
GT_ClrSts(_cardNum, axis, 1);
//伺服使能
GT_AxisOn(_cardNum, axis);
//设置jog运动
GT_PrfJog(_cardNum, axis);
GT_GetJogPrm(_cardNum, axis, out pPrm);
pPrm.acc = acc;//加速度
pPrm.dec = dec;//减速度
pPrm.smooth = smooth;//平滑
GT_SetJogPrm(_cardNum, axis, ref pPrm);
GT_SetVel(_cardNum, axis, vel);
GT_Update(_cardNum, (1 << (axis - 1)));
}
#endregion
