自定义运动算法

  当轴工作于运动缓冲区模式，软限位、外部停止信号、机械补偿等功能将无效。
  缓冲区写入位置为当量单位，轴配置的当量信息依然有效。
  若轨迹规划算法耗时较长，推荐分周期计算，无需一个周期计算完。
  若轨迹规划算法耗时较长，可边运动，边计算，保证缓冲区有有效数据即可。
  YKM_StartAxisBuffer调用后，需要等到下一个周期YKM_AxisBufferStatus.start_tick才会记录，马上调用YKM_GetAxisBufferStatus，会出现为0的情况。
  YKM_AxisBufferStatus.heart_tick在runtime启动时记录.
  YKM_AxisBufferStatus.idel最大值=设置缓冲区深度-1。

  以下代码展示核心功能，完整例程目录:安装目录\doc\example\notime\UserBuffer
  例程规划的运动为简单的线性增量运动，完整的运动需要实现加减速过程。

double[] axisCMDPos = new double[32];
int nAxisNum = 3;
int nBufferDepth = 128;
RetCode retCode = RetCode.RET_OK;
double dbPosTemp = 0;
for (int i = 0; i < 32; i++)
{
 ProCon.YKM_ReadCommandPosition((uint)i, out dbPosTemp);
 axisCMDPos[i] = dbPosTemp;
}
YKM_AxisBufferStatus axisBufferStatus = new YKM_AxisBufferStatus();
while (!mCancel)
{
 NoSys.NOS_SleepUs(250);
 nAxisNum = MemOper.pConfig->nAxisNum;
 nAxisNum = nAxisNum > 32 ? 32 : nAxisNum;
 nBufferDepth = MemOper.pConfig->BufferDepth;
 if (0 != MemOper.GetExit())
  break;
 //启用缓冲区运动,Active信号=0x8000
 if (MemOper.pConfig->EnableBuffer == 1)
 {
  for (int i = 0; i < nAxisNum; i++)
  {
   retCode = ProCon.YKM_EnableAxisBuffer((uint)i, (uint)nBufferDepth);
   ShowMessage(retCode);
  }
  MemOper.pConfig->EnableBuffer = 0;
 }

 //禁用缓冲区运动
 if (MemOper.pConfig->DisableBuffer == 1)
 {
  for (int i = 0; i < nAxisNum; i++)
  {
   ProCon.YKM_GetAxisBufferStatus((uint)i, out axisBufferStatus);
   if (axisBufferStatus.Done != 0)
   {
    retCode = ProCon.YKM_DisableAxisBuffer((uint)i);
   }
  }
  MemOper.pConfig->DisableBuffer = 0;
 }

 //停止缓冲区运动
 if (MemOper.pConfig->StopBufferMotion == 1)
  bool bIsStop = true;
  MemOper.pConfig->WriteAxisBuffer = 0;
  for (int i = 0; i < nAxisNum; i++)
  {
   ProCon.YKM_ReadAxisStatus((uint)i, out axisStatus);
   if (axisStatus.Done == 0)
   {
    bIsStop = false;
   }
  }
  if (bIsStop)
  {
   MemOper.pConfig->StopBufferMotion = 0;
  }
 }

 //分轴启动缓冲区运动,先写数据,再启动
 if (MemOper.pConfig->StartAxisBuffer == 1)
 {
  for (int i = 0; i < nAxisNum; i++)
  {
   ProCon.YKM_GetAxisBufferStatus((uint)i, out axisBufferStatus);
   retCode = ProCon.YKM_StartAxisBuffer((uint)i);
   MemOper.pConfig->StartAxisBuffer = 0;
   ShowMessage(retCode);
  }
 }

 //同步启动多轴缓冲区运动,先写数据,再启动
 if (MemOper.pConfig->StartAllAxisBuffer == 1)
 {
 UInt32[] axisList = new uint[nAxisNum];
 for (int i = 0; i < nAxisNum; i++)
 {
  ProCon.YKM_GetAxisBufferStatus((uint)i, out axisBufferStatus);
  axisList[i] = (UInt32)i;
 }
 retCode = ProCon.YKM_StartMultiAxisBuffer((uint)nAxisNum, axisList);
 MemOper.pConfig->StartAllAxisBuffer = 0;
 }

 //缓冲区运动指令位置更新，当发送完成，轴Done信号为非0，继续写数据，Done信号会OFF
 if (MemOper.pConfig->WriteAxisBuffer == 1)
 {
  for (int i = 0; i < nAxisNum; i++)
  {
   ProCon.YKM_GetAxisBufferStatus((uint)i, out axisBufferStatus);
   if (axisBufferStatus.idel > 64)
   {
    for (int j = 0; j < 64; j++)
    {
     retCode = ProCon.YKM_WriteAxisBufferData((uint)i, axisCMDPos[i]);
     if (retCode == RetCode.RET_OK)
     {
      axisCMDPos[i] += MemOper.pConfig->Increment;
     }
    }
   }
  }
 }
}