增加获取伺服速度的方法

DeviceLibrary/PanasonicServo/ACCMDManager.cs

@@ -63,7 +63,15 @@ namespace DeviceLib
         /// 实际位置=600F
         /// 实际位置=600F
         /// </summary>
         /// </summary>
         internal static string ActualPosition = "600F";
         internal static string ActualPosition = "600F";
-         
+        /// <summary>
+        /// 内部指令速度=601A
+        /// </summary>
+        internal static string TargetSpeed = "601A";
+        /// <summary>
+        /// 电机速度=601C
+        /// </summary>
+        internal static string ActualSpeed = "601C";
+
         /// <summary>
         /// <summary>
         /// BUSY状态=0140，0140h 动作执行状态 (BUSY) ReadOnly 0：未执行 1：执行中
         /// BUSY状态=0140，0140h 动作执行状态 (BUSY) ReadOnly 0：未执行 1：执行中
         internal static string BUSYStatus = "0140";
         internal static string BUSYStatus = "0140";
@@ -83,6 +91,10 @@ namespace DeviceLib
         /// 指定BlockNo=4414
         /// 指定BlockNo=4414
         /// </summary>
         /// </summary>
         internal static string BlockNo = "4414";
         internal static string BlockNo = "4414";
+        ///// <summary>
+        ///// 实际速度=4D06
+        ///// </summary>
+        //internal static string ActualSpeed = "4D06";
         /// <summary>
         /// <summary>
         /// 读线圈01
         /// 读线圈01
         /// </summary>
         /// </summary>

DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs

@@ -600,6 +600,33 @@ namespace DeviceLib
             byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
             byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
             return GetCoilData(portName, reviceData, ACCMDManager.Limit_Positive_Single);
             return GetCoilData(portName, reviceData, ACCMDManager.Limit_Positive_Single);
         }
         }
+
+        /// <summary>
+        /// 获取伺服目标速度
+        /// </summary>
+        /// <param name="portName"></param>
+        /// <param name="slvAddr"></param>
+        /// <returns></returns>
+        public static int GetTargetSpeed(string portName, int slvAddr)
+        {
+            PreReadAddr = ACCMDManager.TargetSpeed;
+            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.TargetSpeed, "0000", 2); 
+            byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9); 
+            return GetRegisterData(portName, reviceData, ACCMDManager.TargetSpeed);
+        }
+        /// <summary>
+        /// 获取伺服实际速度
+        /// </summary>
+        /// <param name="portName"></param>
+        /// <param name="slvAddr"></param>
+        /// <returns></returns>
+        public static int GetActualSpeed(string portName, int slvAddr)
+        {
+            PreReadAddr = ACCMDManager.ActualSpeed;
+            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.ActualSpeed, "0000", 2); 
+            byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9); 
+            return GetRegisterData(portName, reviceData, ACCMDManager.ActualSpeed);
+        }
         private static int GetAddrValue(string portName, int slvAddr, string addr)
         private static int GetAddrValue(string portName, int slvAddr, string addr)
         {
         {
             int value = -1;
             int value = -1;