public int SearchStatus()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_GetRefSearchStatus(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(m_nRetValue);
}
public bool IsHome()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_GetHomeSwitchStatus(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(0 < m_nRetValue ? true : false);
}
public bool Inposition()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_IsPositionReached(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(0 < m_nRetValue ? true : false);
}
public int GetActSpeed()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_GetActualSpeed(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
return(m_nRetValue);
}
public void MoveStop(int nAcc)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetMaxAcceleration(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nAcc));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_Stop(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void JogMove_N(int nSpeed, int nAcc)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetMaxAcceleration(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nAcc));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_RotateLeft(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nSpeed));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void SetZero()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetZeroPosition(m_nPort, Convert.ToByte(GlobalVariable.LoadlockMotor.nModule));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetEncoderZeroPosition(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void MoveStart(int nTargetPos, int nAcc, MoveMode mode)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetMaxPositionSpeed(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nAcc));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
Thread.Sleep(10);
// send command and read recv buffer
EMCL.ERAETech_EMCL_MoveToPosition(m_nPort, Convert.ToByte(m_nModuleID), (byte)mode, Convert.ToInt32(nTargetPos));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
Thread.Sleep(10);
}
public void MoveHome(int nRefSpeed)
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetRefSearchSpeed(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nRefSpeed));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_SetRefSwitchSpeed(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(nRefSpeed));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
// send command and read recv buffer
EMCL.ERAETech_EMCL_StartRefSearch(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void HomeStop()
{
// send command and read recv buffer
EMCL.ERAETech_EMCL_StopRefSearch(m_nPort, Convert.ToByte(m_nModuleID));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
public void SetHomeRef(HomeRefMode RefMode)
{
EMCL.ERAETech_EMCL_SetSearchMode(m_nPort, Convert.ToByte(m_nModuleID), Convert.ToInt32(RefMode));
EMCL.ERAETech_EMCL_WaitAndGetReply(m_nPort, ref m_nRetValue);
}
