//동기구동, 버그 있는듯. 갠트리로 대신 쓴다.
//현재 동기구동 상태인지 확인하기 위해 uint로 리턴한다.
//AXT_RT_SUCCESS 반환하면 동기구동상태
public bool SetLinkEnable(int _iSlvMotrNo)
{
//GantryEnable 실행하고 확인하면 가끔 확인 안될때가 있어서 먼저 확인하고 실행하는 것으로 바꾼다.
uint uiHomeMathod = 0;
double dOffset = .0;
double dOfsRange = .0;
uint uiGantryOn = 0;
CAXM.AxmGantryGetEnable(Para.iPhysicalNo, ref uiHomeMathod, ref dOffset, ref dOfsRange, ref uiGantryOn);
if (uiGantryOn != 0)
{
return(true);
}
uint uiRet = CAXM.AxmGantrySetEnable(Para.iPhysicalNo, _iSlvMotrNo, 0, 0, 999999);
//System.Threading.Thread.Sleep(100);
//uint uiHomeMathod = 0;
//double dOffset = .0;
//double dOfsRange = .0;
//uint uiGantryOn = 0;
//CAXM.AxmGantryGetEnable(Para.iPhysicalNo, ref uiHomeMathod ,ref dOffset, ref dOfsRange ,ref uiGantryOn);
//if (uiGantryOn != 0)
//{
// return true;
//}
return(false);
}
//2축 제어 겐트리.
public void SetGantryEnable()
{
uint uiHomeMathod = 0;
double dOffset = .0;
double dOfsRange = .0;
uint uiGantryOn = 0;
CAXM.AxmGantryGetEnable(Para.iPhysicalNo, ref uiHomeMathod, ref dOffset, ref dOfsRange, ref uiGantryOn);
if (uiGantryOn != 0)
{
SetGantryDisable();
}
if (Para.bGantryEnable)
{
uint uiRet = CAXM.AxmGantrySetEnable(Para.iPhysicalNo,
Para.iGantrySubAdd,
(uint)Para.eGantryMathod,
Para.dGantryOffset * m_dPulsePerUnit,
Para.dGantryOfsRange * m_dPulsePerUnit);
}
//프로그램 켜고 가끔 개별 홈 잡으면 서브축이 서보온이 안된상태일 경우가 있어서 야매로 이렇게 한다.
//const int iServoOnBit = 0 ;
//Servo On/Off.
//iRet = AxmSignalWriteOutputBit(_iSlaveAxis, iServoOnBit, true);
}
public bool GetLinkMode()
{
uint uiHomeMathod = 0;
double dOffset = .0;
double dOfsRange = .0;
uint uiGantryOn = 0;
CAXM.AxmGantryGetEnable(Para.iPhysicalNo, ref uiHomeMathod, ref dOffset, ref dOfsRange, ref uiGantryOn);
if (uiGantryOn != 0)
{
return(true);
}
return(false);
}
public bool GantryGetStatus()
{
try
{
uint slaveHomeUse = 0U, isGantryOn = 0U;
double slaveOffset = 0.0, slaveOffsetRange = 0.0;
uint res = CAXM.AxmGantryGetEnable(GantryMasterAxis, ref slaveHomeUse, ref slaveOffset, ref slaveOffsetRange, ref isGantryOn);
if (isGantryOn == 0U)
{
return(false);
}
else
{
return(true);
}
}
catch (Exception E)
{
LogFile.LogExceptionErr(E.ToString());
throw E;
}
}