void HomeAsync(int axis, double speed)
{
var a = Axis.Of(axis);
var pls_ms = speed / 1000.0;
var acc_ms = (speed * 10.0) / (1000.0 * 1000.0);
N.GT_ClrSts(card, a, 1).Verify();
N.GT_AxisOn(card, a).Verify();
N.GT_SetCaptureMode(card, a, Api.CAPTURE_HOME).Verify();
N.GT_ZeroPos(card, a, 1).Verify();
Offset(axis, -10000000, speed, 0.01, 0.01);
Task.Run(async() =>
{
try
{
short cap = 0;
int pos = 0;
do
{
N.GT_GetCaptureStatus(card, a, out cap, out pos).Verify();
if (cap != 0)
{
N.GT_SetPos(card, a, pos).Verify();
N.GT_Update(card, a.Mask).Verify();
break;
}
await Task.Delay(1);
} while (!IsStop(axis));
while (!IsStop(axis))
{
await Task.Delay(1);
}
return(cap != 0);
}
catch (Exception)
{
return(false);
}
});
}
public void Locate(int axis, double position, double speed, double taccel_sec, double tdecel_sec)
{
var pls_ms = speed / 1000.0;
var acc_ms = speed / taccel_sec / (1000.0 * 1000.0);
var dec_ms = speed / tdecel_sec / (1000.0 * 1000.0);
var a = Axis.Of(axis);
N.GT_ClrSts(card, a, 1).Verify();
N.GT_AxisOn(card, a).Verify();
N.GT_PrfTrap(card, a).Verify();
Api.TTrapPrm param;
N.GT_GetTrapPrm(card, a, out param).Verify();
param.velStart = 0;
param.acc = acc_ms;
param.dec = dec_ms;
N.GT_SetTrapPrm(card, a, ref param).Verify();
N.GT_SetPos(card, a, position.Round()).Verify();
N.GT_SetVel(card, a, pls_ms).Verify();
N.GT_Update(card, a.Mask).Verify();
}