/// <summary>
/// 連續移動 (需選擇使用軸參的手動速度或是自動速度)
/// </summary>
/// <param name="dir">移動方向</param>
/// <param name="inAuto">手動或自動速度</param>
/// <returns></returns>
public bool ContinuousMove(RotationDirection dir, SpeedMode inAuto = SpeedMode.Auto)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (isAllowMove(dir))
{
sbyte bDir = 1;
if (dir == RotationDirection.CW)
{
bDir = 1;
}
else
{
bDir = -1;
}
if (inAuto == SpeedMode.Auto)
{
CCMNet.CS_mnet_m204_tv_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(checkOverMaxSpeed(axisPara.StrVelA)) * bDir, MmToPulse(checkOverMaxSpeed(axisPara.DevVelA)) * bDir, axisPara.AccVelA);
}
else
{
CCMNet.CS_mnet_m204_tv_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(checkOverMaxSpeed(axisPara.StrVelM)) * bDir, MmToPulse(checkOverMaxSpeed(axisPara.DevVelM)) * bDir, axisPara.AccVelM);
}
}
}
return(rc == 0 ? true : false);
}
//將軸參寫入m1x1 slave
private void setMotion()
{
U16 hMode;
//初始化給1 且限制在 1~3，這邊又把home mode變成12 or 9
if (axisPara.HomeMode == HomeMode.TwoPoint)
{
hMode = 12;
}
else
{
hMode = 9;
}
initErr = CCMNet.CS_mnet_m1_set_alm(RingNoOfMNet, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicALM), 0);
initErr = CCMNet.CS_mnet_m1_set_inp(RingNoOfMNet, axisPara.SlaveIP, 0, Convert.ToUInt16(axisPara.LogicINP));
initErr = CCMNet.CS_mnet_m1_set_erc_on(RingNoOfMNet, axisPara.SlaveIP, 0);
initErr = CCMNet.CS_mnet_m1_set_erc(RingNoOfMNet, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicERC), 0, 0);
initErr = CCMNet.CS_mnet_m1_set_home_config(RingNoOfMNet, axisPara.SlaveIP, hMode, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
initErr = CCMNet.CS_mnet_m1_set_sd(RingNoOfMNet, axisPara.SlaveIP, 0, Convert.ToInt16(axisPara.LogicSD), 0, 0);
initErr = CCMNet.CS_mnet_m1_set_ltc_logic(RingNoOfMNet, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicLTC));
initErr = CCMNet.CS_mnet_m1_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, 3);
initErr = CCMNet.CS_mnet_m1_set_pls_outmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.PulseMode);
initErr = CCMNet.CS_mnet_m1_set_pls_iptmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.EncMode, (U16)axisPara.EncDir);
initErr = CCMNet.CS_mnet_m1_fix_speed_range(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(axisPara.MaxVel));
}
//scan m1x1 slave IO status
private void systemScan()
{
while (true)
{
if (keyOfIOStatus)
{
U32 status = 0;
I16 rt = CCMNet.CS_mnet_m1_get_io_status(RingNoOfMNet, axisPara.SlaveIP, ref status);
this.status.RDY = BitConverterEx.TestB(status, 0);
this.status.ALM = BitConverterEx.TestB(status, 1);
this.status.LimitP = BitConverterEx.TestB(status, 2);
this.status.LimitN = BitConverterEx.TestB(status, 3);
this.status.ORG = BitConverterEx.TestB(status, 4);
this.status.DIR = BitConverterEx.TestB(status, 5);
this.status.EMG = BitConverterEx.TestB(status, 6);
this.status.PCS = BitConverterEx.TestB(status, 7);
this.status.ERC = BitConverterEx.TestB(status, 8);
this.status.ZPhase = BitConverterEx.TestB(status, 9);
this.status.CLR = BitConverterEx.TestB(status, 10);
this.status.Latch = BitConverterEx.TestB(status, 11);
this.status.SD = BitConverterEx.TestB(status, 12);
this.status.INP = BitConverterEx.TestB(status, 13);
this.status.SVON = BitConverterEx.TestB(status, 14);
this.status.RALM = BitConverterEx.TestB(status, 15);
if (this.status.ALM || this.status.EMG)
{
this.status.Home = false;
}
Thread.Sleep(50);
}
}
}
private double getErrorCount2()
{
I16 error = 0;
CCMNet.CS_mnet_m204_get_error_counter(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref error);
return(error);
}
/// <summary>
/// 吋動 (軸參設定的五個速度值)
/// </summary>
/// <param name="speedIndex">軸參之吋動速度</param>
/// <param name="dir">吋動方向</param>
public void Jog(JogSpeed jogSpeed, RotationDirection dir)
{
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
int i = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
i = MmToPulse(speed);
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
private double getSpeed2()
{
double speed = 0;
CCMNet.CS_mnet_m204_get_current_speed(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref speed);
return(speed);
}
//set command counter
private void setPos(double s)
{
int cmdPos = new int();
cmdPos = Convert.ToInt32(Math.Round(s / axisPara.DistPerRole * axisPara.PulsePerRole));
CCMNet.CS_mnet_m1_set_command(RingNoOfMNet, axisPara.SlaveIP, cmdPos);
}
/// <summary>
/// 清除警報
/// </summary>
/// <param name="status">OFF=Don't Output ON=Output</param>
public void ResetAlarm(CmdStatus status)
{
if (axisPara.IsActive && axisPara.Enabled)
{
CCMNet.CS_mnet_m1_set_ralm(RingNoOfMNet, axisPara.SlaveIP, (U16)status);
}
}
private double getENC2()
{
int feedBackPos = new I32();
CCMNet.CS_mnet_m204_get_position(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref feedBackPos);
return(feedBackPos);
}
private double getPos2()
{
int cmdPos = new int();
CCMNet.CS_mnet_m204_get_command(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref cmdPos);
return(cmdPos);
}
/// <summary>
/// 吋動 (自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="speed">速度值 (millimeter).</param>
/// <param name="dir">吋動方向</param>
public bool JogM(double speed, RotationDirection dir)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (isAllowMove(dir))
{
sbyte bDir = 1;
if (dir == RotationDirection.CW)
{
bDir = 1;
}
else
{
bDir = -1;
}
if (!this.IsBusy)
{
CCMNet.CS_mnet_m204_tv_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(checkOverMaxSpeed(speed)) / 2 * bDir, MmToPulse(checkOverMaxSpeed(speed)) * bDir, axisPara.AccVelM);
}
else
{
CCMNet.CS_mnet_m204_v_change(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(checkOverMaxSpeed(speed)) * bDir, axisPara.AccVelM);
}
}
}
return(rc == 0 ? true : false);
}
/// <summary>
/// M2X4 裝置啟停
/// </summary>
/// <param name="option">The option.</param>
public void ServoOn(CmdStatus option)
{
I16 rc = -1;
if (axisPara != null)
{
if (axisPara.IsActive)
{
setMotion();
if (option == CmdStatus.OFF)
{
this.IsHome = false;
axisPara.Enabled = false;
rc = CCMNet.CS_mnet_m204_set_svon(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
}
if (option == CmdStatus.ON)
{
if (axisPara.IsActive)
{
axisPara.Enabled = true;
rc = CCMNet.CS_mnet_m204_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo);
CCMNet.CS_mnet_m204_set_svon(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 1);
}
}
}
}
}
//scan DIO slave status
private void systemScan(FlowVar fv)
{
//while (true)
//{
if (keyOfIOScan)
{
I16 status;
for (byte portNo = 0; portNo < 4; portNo++)
{
status = CCMNet.CS_mnet_io_input(RingNoOfMNet, dIOPara.SlaveIP, portNo);
for (int i = 0; i < 8; i++)
{
Status1[portNo * 8 + i] = BitConverterEx.TestB(status, (byte)i);
Status2[portNo, i] = BitConverterEx.TestB(status, (byte)i);
}
}
//Thread.Sleep(15);
//if (Environment.ProcessorCount == 1 || (++_loops % 100) == 0)
//{
// Thread.Sleep(1);
//}
//else
//{
// Thread.SpinWait(_iterations);
//}
}
//}
}
/// <summary>
/// 清除所有DO點狀態
/// </summary>
public void ClearAllOutput()
{
CCMNet.CS_mnet_io_output(RingNoOfMNet, dIOPara.SlaveIP, 0, 0);
CCMNet.CS_mnet_io_output(RingNoOfMNet, dIOPara.SlaveIP, 1, 0);
CCMNet.CS_mnet_io_output(RingNoOfMNet, dIOPara.SlaveIP, 2, 0);
CCMNet.CS_mnet_io_output(RingNoOfMNet, dIOPara.SlaveIP, 3, 0);
}
public bool SetSoftLimit(I32 positiveLimit, I32 negativeLimit, CmdStatus sw, StopType stopType)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (sw == CmdStatus.ON)
{
/*
* 0 INT only
* 1 Immediately stop
* 2 Slow down then stop
* 3 Reserved
*/
if (stopType == StopType.Emergency)
{
rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 1);
}
else
{
rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 2);
}
rc = CCMNet.CS_mnet_m1_set_soft_limit(RingNoOfMNet, axisPara.SlaveIP, positiveLimit, negativeLimit);
}
else
{
rc = CCMNet.CS_mnet_m1_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP);
}
}
return(rc == 0 ? true : false);
}
public void JogConsiderSoftLimit(JogSpeed jogSpeed, RotationDirection dir)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
if (softLimitEnabled)
{
if (dir == RotationDirection.CW)
{
MoveM(softLimitP, speed);
}
else
{
MoveM(softLimitN, speed);
}
}
else
{
if (isAllowMove(dir))
{
byte bDir;
if (dir == RotationDirection.CW)
{
bDir = 0;
}
else
{
bDir = 1;
}
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(checkOverMaxSpeed(speed)) / 2, MmToPulse(checkOverMaxSpeed(speed)), axisPara.AccVelM, axisPara.DecVelM);
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
}
}
public void JogConsiderSoftLimit(JogSpeed jogSpeed, RotationDirection dir)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
sbyte bDir;
if (dir == RotationDirection.CW)
{
bDir = 1;
}
else
{
bDir = -1;
}
if (softLimitEnabled)
{
if (dir == RotationDirection.CW)
{
AbsolueMove(softLimitP, speed);
}
else
{
AbsolueMove(softLimitN, speed);
}
}
else
{
if (isAllowMove(dir))
{
CCMNet.CS_mnet_m204_tv_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(checkOverMaxSpeed(speed)) / 2 * bDir, MmToPulse(checkOverMaxSpeed(speed)) * bDir, axisPara.AccVelM);
}
}
}
}
/// <summary>
/// 絕對移動 (需要自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="speed"> 速度值 </param>
public void MoveM(double dest, double speed)
{
if (axisPara.IsActive && axisPara.Enabled)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(speed) / 2, MmToPulse(speed), axisPara.AccVelM, axisPara.DecVelM);
nPos = MmToPulse(dest);
CCMNet.CS_mnet_m1_start_a_move(RingNoOfMNet, axisPara.SlaveIP, nPos);
}
}
public bool DisableSoftLimit()
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
rc = CCMNet.CS_mnet_m1_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP);
}
return(rc == 0 ? true : false);
}
/// <summary>
/// 清除警報
/// </summary>
public void ResetAlarm()
{
if (axisPara.IsActive && axisPara.Enabled)
{
CCMNet.CS_mnet_m204_set_ralm(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 1);
Task.Factory.StartNew(() =>
{
Thread.Sleep(1000);
CCMNet.CS_mnet_m204_set_ralm(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
});
}
}
public void SetHomeAutoResetCounter()
{
CCMNet.CS_mnet_m204_set_home_auto_reset_counter(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
//0
//NULL
//1
//RESET COMMAND Count
//2
//RESET POSITION Count
//3
//RESET ERROR Count
//4
//RESET GENENAL Count
}
private double getErrorCount()
{
I16 error = 0;
CCMNet.CS_mnet_m204_get_error_counter(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref error);
if (axisPara.PulsePerRole != 0)
{
return((double)error / axisPara.PulsePerRole * axisPara.DistPerRole);
}
else
{
return(0);
}
}
private double getSpeed()
{
double speed = 0;
CCMNet.CS_mnet_m204_get_current_speed(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, ref speed);
if (axisPara.PulsePerRole != 0)
{
return(speed / axisPara.PulsePerRole * axisPara.DistPerRole);
}
else
{
return(0);
}
}
/// <summary>
/// 絕對移動 (需選擇使用軸參的手動速度或是自動速度)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="inAuto">手動或自動速度</param>
public void Move(double dest, SpeedMode inAuto)
{
if (axisPara.IsActive && axisPara.Enabled)
{
if (inAuto == SpeedMode.Manual)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(axisPara.StrVelM), MmToPulse(axisPara.DevVelM), axisPara.AccVelM, axisPara.DecVelM);
}
if (inAuto == SpeedMode.Auto)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(axisPara.StrVelA), MmToPulse(axisPara.DevVelA), axisPara.AccVelA, axisPara.DecVelA);
}
nPos = MmToPulse(dest);
CCMNet.CS_mnet_m1_start_a_move(RingNoOfMNet, axisPara.SlaveIP, nPos);
}
}
//get command counter
private double getPos()
{
int cmdPos = new int();
double CmdPosx;
CCMNet.CS_mnet_m1_get_command(RingNoOfMNet, axisPara.SlaveIP, ref cmdPos);
CmdPosx = cmdPos;
if (axisPara.PulsePerRole != 0)
{
return(CmdPosx / axisPara.PulsePerRole * axisPara.DistPerRole);
}
else
{
return(0);
}
}
/// <summary>
/// 吋動 (自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="speed">速度值 (millimeter).</param>
/// <param name="dir">吋動方向</param>
public void JogM(double speed, RotationDirection dir)
{
if (axisPara.IsActive && axisPara.Enabled)
{
int i = MmToPulse(speed);
if (!this.IsBusy)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
}
CCMNet.CS_mnet_m1_v_change(RingNoOfMNet, axisPara.SlaveIP, (double)i, 0.1);
if (!this.IsBusy)
{
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
}
private double getENC()
{
int feedBackPos = new I32();
double d_feedBackPos;
CCMNet.CS_mnet_m1_get_position(RingNoOfMNet, axisPara.SlaveIP, ref feedBackPos);
d_feedBackPos = feedBackPos;
if (axisPara.PulsePerRole != 0)
{
return(d_feedBackPos / axisPara.PulsePerRole * axisPara.DistPerRole);
}
else
{
return(0);
}
}
public bool EnableSoftLimit(StopType stopType)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (stopType == StopType.Emergency)
{
rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 1);
}
else
{
rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 2);
}
}
return(rc == 0 ? true : false);
}
//將軸參寫入M2X4 slave
private void setMotion()
{
U16 hMode;
//初始化給1 且限制在 1~3，這邊又把home mode變成12 or 9
if (axisPara.HomeMode == HomeMode.TwoPoint)
{
hMode = 12;
}
else
{
hMode = 9;
}
initErr = CCMNet.CS_mnet_m204_set_alm(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, Convert.ToUInt16(axisPara.LogicALM), 0);
if (axisPara.MotorMode == MotorMode.Servo)
{
initErr = CCMNet.CS_mnet_m204_set_inp(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 1, Convert.ToUInt16(axisPara.LogicINP));
}
else
{
initErr = CCMNet.CS_mnet_m204_set_inp(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0, Convert.ToUInt16(axisPara.LogicINP));
}
initErr = CCMNet.CS_mnet_m204_set_erc_on(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
initErr = CCMNet.CS_mnet_m204_set_erc(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, Convert.ToUInt16(axisPara.LogicERC), 0, 0);
initErr = CCMNet.CS_mnet_m204_set_home_config(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, hMode, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
initErr = CCMNet.CS_mnet_m204_set_sd(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0, Convert.ToInt16(axisPara.LogicSD), 0, 0);
initErr = CCMNet.CS_mnet_m204_set_ltc_logic(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, Convert.ToUInt16(axisPara.LogicLTC));
initErr = CCMNet.CS_mnet_m204_set_pls_outmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, (U16)axisPara.PulseMode);
initErr = CCMNet.CS_mnet_m204_set_pls_iptmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, (U16)axisPara.EncMode, (U16)axisPara.EncDir);
if (axisPara.MotorMode == MotorMode.Servo)
{
//initErr = CCMNet.CS_mnet_m204_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 3);
initErr = CCMNet.CS_mnet_m204_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
}
else
{
initErr = CCMNet.CS_mnet_m204_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 2);
}
//0:External Feedback, Position Counter
//1:Command Pulse, Position Counter
//2:Command Pulse, Command Pulse
//3:External Feedback, Command Pulse
initErr = CCMNet.CS_mnet_m204_set_el(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0, Convert.ToInt16(axisPara.LogicEL));
initErr = CCMNet.CS_mnet_m204_fix_speed_range(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(axisPara.MaxVel));
}
/// <summary>
/// 絕對移動 (需要自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="speed"> 速度值 </param>
/// <param name="s_curve"> T-Curve = true, S-Curve = false </param>
public bool AbsolueMove(double dest, double speed, bool curve = true)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
nPos = MmToPulse(dest);
if (curve)
{
rc = CCMNet.CS_mnet_m204_start_ta_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, nPos, MmToPulse(speed) / 2, MmToPulse(speed), axisPara.AccVelM, axisPara.DecVelM);
}
else
{
rc = CCMNet.CS_mnet_m204_start_sa_move(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, nPos, MmToPulse(speed) / 2, MmToPulse(speed), axisPara.AccVelM, axisPara.DecVelM, MmToPulse(speed) / 2, MmToPulse(speed) / 2);
}
}
return(rc == 0 ? true : false);
}
