public static double GetNowLocation(VectorId axis, ParameterManager param)
{
int counter = new int();
Apci59.DataFullRead(ApciM59.SlotNo, (short)axis, Apci59.EXTERNAL_COUNTER_READ, ref counter);
counter = ((counter & 0x8000000) > 0 ? counter | 0xF000000 : counter);
return(counter * param.EncoderResolution.Index(axis));
}
/// <summary>
/// モータの速度を設定します．
/// </summary>
/// <param name="speed">速度</param>
/// <param name="axis">方向</param>
/// <param name="param">ソフトウェア全体を通して用いるParameterManagerインスタンス</param>
public static void SetMotorSpeed(double speed, VectorId axis, ParameterManager param)
{
double oSpddt = speed;
double sSpddt;
short spdt;
short oSdt;
double at;
double dt;
double resolution = 0;
double f = 0;
double range = 0;
short rangeDifferenceTime = 0;
// Range Dataの設定
resolution = param.MotorResolution.Index(axis);
f = oSpddt / resolution;
range = (4000000 / f) + 0.5;
if (range > 8191)
{
rangeDifferenceTime = (short)range;
}
else if (range < 1)
{
rangeDifferenceTime = 1;
}
ApciM59.SetRange(axis, rangeDifferenceTime);
// START_STOP_SPEED_DATAの作成
sSpddt = param.MotorInitialVelocity.Index(axis);
spdt = (short)((int)(((sSpddt / resolution) / (500 / rangeDifferenceTime)) + 0.5) & 0x1FFF);
ApciM59.SetStartStopSpeed(axis, spdt);
// 速度を設定(ObjectSpeed)
oSdt = (short)((int)(((oSpddt / resolution) / (500 / rangeDifferenceTime)) + 0.5) & 0x1FFF);
ApciM59.SetObjectSpeed(axis, oSdt);
// RATE1_DATAの作成
if ((oSdt - spdt) > 1)
{
at = (oSpddt - sSpddt) / param.MotorAccelTime.Index(axis);
dt = (2048000 / (oSdt - spdt)) * at;
dt = (dt > 8191 ? 8191 : dt);
}
else
{
dt = 8191;
}
ApciM59.SetRate1(axis, (short)dt);
}
/// <summary>
/// 取り出します．
/// </summary>
/// <param name="vectorId">方向</param>
/// <returns>引数で与えられた方向の値</returns>
public double Index(VectorId vectorId)
{
double val = 0;
switch ((int)vectorId)
{
case (int)VectorId.X:
val = X;
break;
case (int)VectorId.Y:
val = Y;
break;
}
return(val);
}
/// <summary>
/// 特定方向の成分を取り出します．
/// </summary>
/// <param name="vectorId">方向</param>
/// <returns>引数で与えられた方向の値</returns>
public int Index(VectorId vectorId)
{
int val = 0;
switch ((int)vectorId)
{
case (int)VectorId.X:
val = X;
break;
case (int)VectorId.Y:
val = Y;
break;
case (int)VectorId.Z:
val = Z;
break;
}
return(val);
}
