/// <summary>运动控制卡初始化 </summary>
internal void Open()
{
AxisCount = HTM.GetAxisNum();
if (AxisCount > 0)
{
axisHomeDones = new bool[AxisCount];
detectHomeDones = new Thread[AxisCount];
_motionParams = new JFMotionParam[AxisCount];
for (int i = 0; i < AxisCount; i++)
{
HTM.AXIS_INFO ai;
HTM.GetAxisInfo(i, out ai);
HTM.MOTION_PARA mp = HTM.GetMotionPara(i);//HTM.GetMovePara(i, out mp);
//if (ret != 0)
//{
// AxisCount = 0;
// _motionParams = null;
// throw new Exception(string.Format("MC_Htm.Init Failed :HTM.GetMovePara(axis = {0}) return errorCode = {1}", i, ret));
//}
_motionParams[i] = new JFMotionParam();
_motionParams[i].vs = mp.vStart;
_motionParams[i].vm = mp.vMax;
_motionParams[i].ve = mp.vEnd;
_motionParams[i].acc = mp.acc;
_motionParams[i].dec = mp.dec;
_motionParams[i].curve = mp.sFactor;
_motionParams[i].jerk = 0;
axisHomeDones[i] = false;
detectHomeDones[i] = new Thread(new ParameterizedThreadStart(FuncDetectHomeDone));
}
}
IsOpen = true;
}
bool HasAxis()
{
int AxisCount = HTM.GetAxisNum();
if (AxisCount > 0)
{
return(true);
}
return(false);
}