public int RelLine_P(int[] axisList, double[] posList, JFMotionParam mp)
{
_CheckAxisEnable(axisList, "RelLine_P");
if (posList == null || posList.Count() != axisList.Count())
{
throw new ArgumentException("RelLine_P(int[] axisList, double[] posList) failed By: posList.Count() != axisList.Count()");
}
lock (ml)
{
HTM.MOTION_PARA _mp = new HTM.MOTION_PARA()
{
vStart = mp.vs,
vMax = mp.vm,
vEnd = mp.ve,
acc = mp.acc,
dec = mp.dec,
sFactor = mp.curve,
timeout = double.MaxValue
};
int opt = HTM.Line(axisList, axisList.Count(), posList, 1.0, HTM.MotionMode.RS, ref _mp);
if (opt != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
/// <summary>
/// 已相对方式做直线插补运动
/// </summary>
/// <param name="axisList"></param>
/// <param name="posList"></param>
/// <returns></returns>
public int RelLine(int[] axisList, double[] posList)
{
_CheckAxisEnable(axisList, "RelLine");
if (posList == null || posList.Count() != axisList.Count())
{
throw new ArgumentException("RelLine(int[] axisList, double[] posList) failed By: posList.Count() != axisList.Count()");
}
lock (ml)
{
int opt = HTM.Line(axisList, axisList.Count(), posList, 1.0, HTM.MotionMode.RS);
if (opt != 0)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
}
