public static HomeParams Parse(string str)
{
string[] strValue = str.Split(',');
var homeparams = new HomeParams();
homeparams.Dir = int.Parse(strValue[0]);
homeparams.EZ = int.Parse(strValue[1]);
homeparams.MaxVel = int.Parse(strValue[2]);
homeparams.Mode = int.Parse(strValue[3]);
homeparams.OrgVel = int.Parse(strValue[4]);
homeparams.ZeroOffset = int.Parse(strValue[5]);
homeparams.Timeout = int.Parse(strValue[6]);
return(homeparams);
}
#pragma warning disable CS1591 // 缺少对公共可见类型或成员“HomeParams.Parse(string)”的 XML 注释
public static HomeParams Parse(string str)
#pragma warning restore CS1591 // 缺少对公共可见类型或成员“HomeParams.Parse(string)”的 XML 注释
{
string[] strValue = str.Split(',');
var homeparams = new HomeParams();
homeparams.Dir = int.Parse(strValue[0]);
homeparams.EZ = int.Parse(strValue[1]);
homeparams.MaxVel = int.Parse(strValue[2]);
homeparams.Mode = int.Parse(strValue[3]);
homeparams.OrgVel = int.Parse(strValue[4]);
homeparams.ZeroOffset = int.Parse(strValue[5]);
homeparams.Timeout = int.Parse(strValue[6]);
return(homeparams);
}
/// <summary>
/// 回零配置
/// </summary>
/// <param name="axisNo"></param>
/// <param name="homeConfigParams"></param>
public void SetAxisHomeConfig(int axisNo, HomeParams homeConfigParams)
{
APS168.APS_set_axis_param(axisNo, (int)APS_Define.PRA_HOME_MODE, homeConfigParams.Mode);
// home mode 0:ORG 1:EL 2:EZ
APS168.APS_set_axis_param(axisNo, (int)APS_Define.PRA_HOME_DIR, homeConfigParams.Dir);
// Set home direction 0:p-dir 1:n-dir
APS168.APS_set_axis_param(axisNo, (int)APS_Define.PRA_HOME_EZA, homeConfigParams.EZ);
// EZ alignment enable 0-no 1-yes
APS168.APS_set_axis_param_f(axisNo, (int)APS_Define.PRA_HOME_CURVE, 0.5);
// homing curve parten(T or s curve) 0-T 0~1.0-S
APS168.APS_set_axis_param_f(axisNo, (int)APS_Define.PRA_HOME_ACC, homeConfigParams.MaxVel * 5);
// Acceleration deceleration rate
APS168.APS_set_axis_param_f(axisNo, (int)APS_Define.PRA_HOME_VS, 0); // homing start velocity
APS168.APS_set_axis_param_f(axisNo, (int)APS_Define.PRA_HOME_VM, homeConfigParams.MaxVel);
// homing max velocity
APS168.APS_set_axis_param_f(axisNo, (int)APS_Define.PRA_HOME_VO, homeConfigParams.OrgVel);
// Homing leave ORG velocity
APS168.APS_set_axis_param_f(axisNo, (int)APS_Define.PRA_HOME_SHIFT, homeConfigParams.ZeroOffset);
// The shift from ORG
}
public void SetAxisHomeParam(HomeParams homeParam) => ApsController.SetAxisHomeConfig(NoId, homeParam);
