public override void MoveLinearXY(AxesBase axes, MLengthSpeed speed)
{
Millimeters mmSpeed = new Millimeters(speed);
try
{
double xPos = (axes.ChildArray[0] as RealAxis).TargetPosition;
double yPos = (axes.ChildArray[1] as RealAxis).TargetPosition;
double zPos = (axes.ChildArray[2] as RealAxis).TargetPosition;
double rPos = (axes.ChildArray[3] as RealAxis).TargetPosition;
double percent = mmSpeed;
lock (this)
{
string cmd = string.Format("MOVE P,{0:F2} {1:F2} {2:F2} {3:F2} 0.0 0.0 {4},S={5:F2}", xPos, yPos, zPos, rPos, this.AxesMoveMode, percent);
SendCommand(cmd);
string ret = WaitForCommand();
CheckOKReplied("MOVE P", ret, "RUN");
ret = WaitForCommand(30000);
CheckOKReplied("WaitMoveDone", ret, "END");
}
lock (this)
{
OnUpdateCurrentPositions();
}
}
catch (Exception ex)
{
//U.LogAlarmPopup(ex, "MoveLinearXY Command fail {0}", this.Nickname);
throw new MCoreExceptionPopup(ex, "MoveLinearXY Command fail {0}", this.Nickname);
}
}
/// <summary>
/// Move the axis to an absolute position (stored in CommandedPosition)
/// </summary>
/// <param name="axes"></param>
/// <param name="speed"></param>
public virtual void MoveLinearXY(AxesBase axes, MLengthSpeed speed)
{
// Simulation
}
