/// <summary>
/// 吋動 (軸參設定的五個速度值)
/// </summary>
/// <param name="speedIndex">軸參之吋動速度</param>
/// <param name="dir">吋動方向</param>
public void Jog(JogSpeed jogSpeed, RotationDirection dir)
{
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
int i = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
i = MmToPulse(speed);
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
public void JogConsiderSoftLimit(JogSpeed jogSpeed, RotationDirection dir)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
double speed = 0;
switch (jogSpeed)
{
case JogSpeed.Micro:
speed = axisPara.JogMicroSpeed;
break;
case JogSpeed.Low:
speed = axisPara.JogLowSpeed;
break;
case JogSpeed.Mid:
speed = axisPara.JogMidSpeed;
break;
case JogSpeed.High:
speed = axisPara.JogHighSpeed;
break;
case JogSpeed.Max:
speed = axisPara.JogMaxSpeed;
break;
}
if (softLimitEnabled)
{
if (dir == RotationDirection.CW)
{
MoveM(softLimitP, speed);
}
else
{
MoveM(softLimitN, speed);
}
}
else
{
if (isAllowMove(dir))
{
byte bDir;
if (dir == RotationDirection.CW)
{
bDir = 0;
}
else
{
bDir = 1;
}
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(checkOverMaxSpeed(speed)) / 2, MmToPulse(checkOverMaxSpeed(speed)), axisPara.AccVelM, axisPara.DecVelM);
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
}
}
/// <summary>
/// 絕對移動 (需要自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="speed"> 速度值 </param>
public void MoveM(double dest, double speed)
{
if (axisPara.IsActive && axisPara.Enabled)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(speed) / 2, MmToPulse(speed), axisPara.AccVelM, axisPara.DecVelM);
nPos = MmToPulse(dest);
CCMNet.CS_mnet_m1_start_a_move(RingNoOfMNet, axisPara.SlaveIP, nPos);
}
}
/// <summary>
/// 絕對移動 (需選擇使用軸參的手動速度或是自動速度)
/// </summary>
/// <param name="dest">目標位置 (millimeter).</param>
/// <param name="inAuto">手動或自動速度</param>
public void Move(double dest, SpeedMode inAuto)
{
if (axisPara.IsActive && axisPara.Enabled)
{
if (inAuto == SpeedMode.Manual)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(axisPara.StrVelM), MmToPulse(axisPara.DevVelM), axisPara.AccVelM, axisPara.DecVelM);
}
if (inAuto == SpeedMode.Auto)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(axisPara.StrVelA), MmToPulse(axisPara.DevVelA), axisPara.AccVelA, axisPara.DecVelA);
}
nPos = MmToPulse(dest);
CCMNet.CS_mnet_m1_start_a_move(RingNoOfMNet, axisPara.SlaveIP, nPos);
}
}
/// <summary>
/// 吋動 (自定義速度，初速為恆速1/2，加速度減速度為軸參手動設定)
/// </summary>
/// <param name="speed">速度值 (millimeter).</param>
/// <param name="dir">吋動方向</param>
public void JogM(double speed, RotationDirection dir)
{
if (axisPara.IsActive && axisPara.Enabled)
{
int i = MmToPulse(speed);
if (!this.IsBusy)
{
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, i / 2, i, axisPara.AccVelM, axisPara.DecVelM);
}
CCMNet.CS_mnet_m1_v_change(RingNoOfMNet, axisPara.SlaveIP, (double)i, 0.1);
if (!this.IsBusy)
{
CCMNet.CS_mnet_m1_v_move(RingNoOfMNet, axisPara.SlaveIP, Convert.ToByte(dir));
}
}
}
private void doHomeLimWithZPhase()
{
CCMNet.CS_mnet_m1_set_home_config(RingNoOfMNet, axisPara.SlaveIP, 12, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, 0, MmToPulse(axisPara.CreepDevVelH), axisPara.CreepAccVelH, axisPara.CreepDecVelH);
CCMNet.CS_mnet_m1_start_home_move(RingNoOfMNet, axisPara.SlaveIP, 0);
}