螺旋插补

• 合成圆的XY主轴的分子分母固定为1

螺旋插补基于两轴跟随实现，两个主轴做圆弧运动，Z轴跟随圆弧移动，从而形成空间螺旋运动。 下图为螺旋插补运动示意图

RetCode result;
int exit_cmd = 0;
//库加载
result = YKM_LoadLib();
YKM_BusInfo busInfo;

//等待系统初始化完成
while (!exit_cmd)
{
  result = YKM_GetBusInfo(&busInfo);
  if (busInfo.running)
    break;
  Sleep(100);
}

//配置双轴跟随
YKM_FollowAxis2Config followAxis2Config;
memset(&followAxis2Config, 0, sizeof(YKM_FollowAxis2Config));
followAxis2Config.combineMode = YKM_CombineMode::YKM_COMBINE_CIRCLE;
followAxis2Config.source1 = YKM_AxisFollowType::YKM_FOLLOW_ACT_POS;
followAxis2Config.source2 = YKM_AxisFollowType::YKM_FOLLOW_ACT_POS;
followAxis2Config.axisMaster1 = 0;
followAxis2Config.axisMaster2 = 1;
followAxis2Config.numerator1 = 1.0;
followAxis2Config.numerator2 = 1.0;
followAxis2Config.numerator3 = 1.0;
followAxis2Config.denominator1 = 1.0;
followAxis2Config.denominator2 = 1.0;
followAxis2Config.denominator3 = 1.0;
followAxis2Config.center1 = 1.0;
followAxis2Config.center2 = 1.0;
followAxis2Config.Acceleration = 100.0;
followAxis2Config.Jerk = 1000.0; //启动双轴跟随
result = YKM_FollowAxis2(axisIndex, followAxis2Config);
print(result);///启动圆弧插补，从轴跟随主轴动作，主轴转一圈，从轴上下1mm(numerator3,denominator3)比例