位置(速度)运动切转矩运动

• 位置(速度)运动切转矩运动，达到目标转矩后给出完成信号，不会自动清除目标转矩值
• 位置运动包括绝对位置运动和相对位置运动
• 转矩运动完成信号由实际转矩和给定转矩的差值的绝对值、转矩到位范围(tq_inp)和转矩到位稳定时间(tq_tim)共同判定，转矩到位位置和转矩到位稳定时间在YKM_AxisProfile中获取

RetCode result;
int exit_cmd = 0;
UINT32 axisIndex = 0;
UINT32 axisIndex = 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);
}

//设置相对运动参数
YKM_MoveRelativeConfig moveRelativeCfg;
memset(&moveRelativeCfg, 0, sizeof(YKM_MoveRelativeConfig));
moveRelativeCfg.distance = 200;
moveRelativeCfg.acceleration = 1000;
moveRelativeCfg.deceleration = 1000;
moveRelativeCfg.jerk = 10000;
moveRelativeCfg.velocity = 100;

//设置转矩运动参数
YKM_moveTorqueConfig moveTorqueConfig;
moveTorqueConfig.velocity = 50;
moveTorqueConfig.torque = 50;

//设置输入信号参数
UINT32 byteIndex = 0, bitIndex = 0;

//相对运动
result = YKM_MoveContinuesRelative(axisIndex, moveRelativeCfg, YKM_BufferMode::YKM_BLENDING_PREV);
print(result);

//输入信号，收到输入信号后切换到下一条指令中去
result = YKM_MoveContinuesInput(axisIndex, byteIndex, bitIndex, YKM_TrigMode::YKM_TRIGMODE_UPEDGE);
print(result);

//转矩运动
result = YKM_MoveContinuesTorque(axisIndex, moveTorqueConfig, YKM_BufferMode::YKM_BLENDING_PREV);
print(result);

YKM_MoveContinuesStart(axisIndex);

//等待目标位置到达
YKM_AxisStatus status;
while (!exit_cmd)
{
  result = YKM_ReadAxisInfo(axisIndex, &status);
  if (0 != status.Done)
    break;
  Sleep(1);
}