/// <summary>
/// 停止M2X4裝置 (復歸流程中不停止homeTask)
/// </summary>
public void Stop(StopType type, bool isStopTask = true)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (type == StopType.Emergency)
{
rc = CCMNet.CS_mnet_m204_emg_stop(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo);
}
if (type == StopType.SlowDown)
{
rc = CCMNet.CS_mnet_m204_sd_stop(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, axisPara.DecVelM);
}
if (type == StopType.CmdWait)
{
//if (this.IsReached || nPos == 0)
if (!this.IsBusy || axisPara.StopCmdWaitSeconds == 0)
{
Stop(StopType.SlowDown, isStopTask);
}
else
{
Task.Factory.StartNew(() =>
{
//if (!SpinWait.SpinUntil(() => this.IsReached, 3000))
if (!SpinWait.SpinUntil(() => !this.IsBusy, (int)(axisPara.StopCmdWaitSeconds * 1000)))
{
NotifyLogger.Post("Motor {0} CmdWait Stop Timeout", this.DeviceName);
}
Stop(StopType.SlowDown, isStopTask);
});
}
}
if (isStopTask)
{
l122M2X4HomeFlow.Stop();
}
}
}