位置、速度状态监测

if (wether_link == 0 || machine_origin == 0 || motion_1.Visible == false)
                return;
            for (int i = 0; i < 3; i = i + 1)//运动值
            {
                LTSMC.smc_get_encoder_unit(CardNum, axis_all[i], ref pos0[i]);//当前编码器位置
                pos0[i] = pos0[i] / (fp / lp_PKM);
            }
         
            forward_instantaneous.foward_get_posture(pos0[0], pos0[1], pos0[2]);         

            GX_position.Text = forward_instantaneous.instantaneous_Gx.ToString("F8");        //F8代表显示小数点后8位
            GY_position.Text = forward_instantaneous.instantaneous_Gy.ToString("F8");
            GZ_position.Text = forward_instantaneous.instantaneous_Gz.ToString("F8");         //轨迹末端点位置
            PKMA_position.Text = forward_instantaneous.instantaneous_psi.ToString("F8");
            PKMB_position.Text = forward_instantaneous.instantaneous_theta.ToString("F8");
            PKMZ_position.Text = forward_instantaneous.instantaneous_z.ToString("F8");        
            
            if (LTSMC.smc_check_done(CardNum, 1) == 0) //检查连续插补的运行状态
            { textBox_1.Text = "运行中"; }
            else
            { textBox_1.Text = "无运行"; }

            LTSMC.smc_read_current_speed_unit(CardNum, axis_all[0], ref vel[0]);//当前速度
            vel[0] = vel[0] / (fp / lp_PKM);
            textBox_vel1.Text = vel[0].ToString();
            LTSMC.smc_get_position_unit(CardNum, axis_all[0], ref pos[0]);//当前指令位置
            pos[0] = pos[0] / (fp / lp_PKM);
            textBox_pos1.Text = pos[0].ToString();
            textBox_7.Text = pos0[0].ToString();
            //
            if (LTSMC.smc_check_done(CardNum, 2) == 0) 
            {
                textBox_2.Text = "运行中";
            }
            else
            { textBox_2.Text = "无运行"; }
            LTSMC.smc_read_current_speed_unit(CardNum, axis_all[1], ref vel[1]);//当前速度
            vel[1] = vel[1] / (fp / lp_PKM);
            textBox_vel2.Text = vel[1].ToString();
            LTSMC.smc_get_position_unit(CardNum, axis_all[1], ref pos[1]);//当前指令位置
            pos[1] = pos[1] / (fp / lp_PKM);
            textBox_pos2.Text = pos[1].ToString();
            textBox_8.Text = pos0[1].ToString();
            //
            if (LTSMC.smc_check_done(CardNum, 3) == 0)
            {
                textBox_3.Text = "运行中";
            }
            else
            { textBox_3.Text = "无运行"; }
            LTSMC.smc_read_current_speed_unit(CardNum, axis_all[2], ref vel[2]);//当前速度
            vel[2] = vel[2] / (fp / lp_PKM);
            textBox_vel3.Text = vel[2].ToString();
            LTSMC.smc_get_position_unit(CardNum, axis_all[2], ref pos[2]);//当前指令位置
            pos[2] = pos[2] / (fp / lp_PKM);
            textBox_pos3.Text = pos[2].ToString();
            textBox_9.Text = pos0[2].ToString();
            //