public override void Call()
{
this.State = CommandState.Running;
for (int i = 0; i < this.Axes.Length; i++)
{
this.Axes[i].State.SetBusy(AxisMoveMode.MoveHome);
this.Axes[i].IsHomeError.Update(false);
this.Axes[i].Servo(true);
MoveHomePrm moveHomePrm = this.HomePrms[i];
this.Axes[i].Card.Executor.MoveHome(
this.Axes[i].CardId,
this.Axes[i].AxisId,
moveHomePrm.Mode,
moveHomePrm.MoveDir,
moveHomePrm.IndexDir,
this.Axes[i].ConvertVel2Card(moveHomePrm.VelHigh),
this.Axes[i].ConvertVel2Card(moveHomePrm.VelLow),
moveHomePrm.Acc,
this.Axes[i].ConvertPos2Card(moveHomePrm.HomeOffset),
this.Axes[i].ConvertPos2Card(moveHomePrm.SearchHomeDis),
this.Axes[i].ConvertPos2Card(moveHomePrm.SearchIndexDis),
this.Axes[i].ConvertPos2Card(moveHomePrm.EscapeStep));
}
}
public CommandMoveHomeU(Axis axis, MoveHomePrm moveHomePrm)
: base(new Axis[] { axis })
{
this.HomePrm = moveHomePrm;
}
public CommandMoveHome(Axis axis, MoveHomePrm moveHomePrm)
: this(new Axis[] { axis }, new MoveHomePrm[] { moveHomePrm })
{
}
