public void ToSpeed(int axis, double speed, double taccel_sec, double tdecel_sec)
{
var pls_ms = speed / 1000.0;
var acc_ms = speed / taccel_sec / (1000.0 * 1000.0);
var dec_ms = speed / tdecel_sec / (1000.0 * 1000.0);
var a = Axis.Of(axis);
N.GT_AxisOn(card, a).Verify();
N.GT_ClrSts(card, a, 1).Verify();
N.GT_PrfJog(card, a).Verify();
Api.TJogPrm param;
N.GT_GetJogPrm(card, a, out param).Verify();
param.acc = acc_ms;
param.dec = acc_ms;
N.GT_SetJogPrm(card, a, ref param).Verify();
N.GT_SetVel(card, a, pls_ms).Verify();
N.GT_Update(card, a.Mask).Verify();
}
public void Locate(int axis, double position, double speed, double taccel_sec, double tdecel_sec)
{
var pls_ms = speed / 1000.0;
var acc_ms = speed / taccel_sec / (1000.0 * 1000.0);
var dec_ms = speed / tdecel_sec / (1000.0 * 1000.0);
var a = Axis.Of(axis);
N.GT_ClrSts(card, a, 1).Verify();
N.GT_AxisOn(card, a).Verify();
N.GT_PrfTrap(card, a).Verify();
Api.TTrapPrm param;
N.GT_GetTrapPrm(card, a, out param).Verify();
param.velStart = 0;
param.acc = acc_ms;
param.dec = dec_ms;
N.GT_SetTrapPrm(card, a, ref param).Verify();
N.GT_SetPos(card, a, position.Round()).Verify();
N.GT_SetVel(card, a, pls_ms).Verify();
N.GT_Update(card, a.Mask).Verify();
}
