public void MoveAnglePos(int[] m_nAxis, float Speed, float TargetStroke, float LeverLength)
{
// 현재 위치(0,0)에서 (100,100) 위치까지 (0,100)을 중심으로 원호 보간을 수행한다.
int[] lAxesNo = { m_nAxis[0], m_nAxis[1] };
double[] dCenPos = new double[2];
//double[] dEndPos = new double[2];
int lCoordinate = 0;
uint uAbsRelMode = 1;
//uint uProfileMode = 3;
uint lSize = 2;
CAXM.AxmContiWriteClear(lCoordinate);
//CAXM.AxmContiBeginNode(lCoordinate);
CAXM.AxmContiSetAxisMap(lCoordinate, lSize, lAxesNo);
CAXM.AxmContiSetAbsRelMode(lCoordinate, uAbsRelMode); // 상대 위치 구동으로 설정
//CAXM.AxmContiEndNode(lCoordinate);
//double dCenterXPosition = LeverLength; // 0
// dCenterYPosition = LeverLength; // 100
//double dEndXPosition = 50;
//double dEndYPosition = 50;
//dCenPos[0] = dCenterXPosition + AxtReadPosition(mStatus.X_SELECT);
//dCenPos[1] = dCenterYPosition + AxtReadPosition(mStatus.Y_SELECT);
dCenPos[0] = 0;
dCenPos[1] = LeverLength;
//dEndPos[0] = dEndXPosition;
//dEndPos[1] = dEndYPosition;
double dMaxVelocity = Speed * 2;
double dMaxAccel = Speed;
double dMaxDecel = Speed * 2;
uint uCWDir = 1; //[0] Ccw방향, [1] Cw방향
float dAngle = (float)(TargetStroke / (Math.PI * LeverLength)) * 180F;
dAngle = 180;
//CAXM.AxmCircleCenterMove(lCoordinate, lAxesNo, dCenPos, dEndPos, dMaxVelocity, dMaxAccel, dMaxDecel,uCWDir);
uint Status = CAXM.AxmCircleAngleMove(lCoordinate, lAxesNo, dCenPos, dAngle, dMaxVelocity, dMaxAccel, dMaxDecel, uCWDir);
return;
}
public void CircleAngleMove(int _iCoord, int [] _iaAxisNo, double [] _daCenterPos, double _dAngle, double _dVel, double _dAcc, double _dDec, uint _uiCWDir)
{
CAXM.AxmCircleAngleMove(_iCoord, _iaAxisNo, _daCenterPos, _dAngle, _dVel, _dAcc, _dDec, _uiCWDir);
}
