/// <summary>
/// 读取马达初始化信息
/// </summary>
void MotorInitial()
{
GetModel();
GetVersionHardware();
GetVersionSoftware();
GetObjectSpeed();
GetObjectrPosition();
GetAcceleration();
GetDeceleration();
GetQuickStopDeceleration();
GetHomeAddSubtract();
GetHomeMechanicsSpeed();
GetHomeSpeed();
GetZeloOffset();
GetPositionNow();
GetStateNow();
SETMOTORINITIAL();
MotorOperationMODE = MotorOperationModeEnum.PositionMODE;
MotorSTOP = MotorStopCodeEnum.Stop1;
MotorOperationMODE = MotorOperationModeEnum.SpeedMODE;
mHomeMode = MotorHomeModeCodeEnum.Mode7;
MotorOperationMODE = MotorOperationModeEnum.PositionMODE;
}
/// <summary>
/// 设定回零模式
/// </summary>
/// <param name="Mode">模式代码</param>
void SetHomeMode(MotorHomeModeCodeEnum Mode)
{
ModbusData sendtemp = new ModbusData();
sendtemp.myPRO = PRO;
sendtemp.myFunctionCode = FunctionCodeEnum.SingleWrite;
sendtemp.myRegister = RegisterEnum.MotorHomeMode;
sendtemp.mySendDataNumber = 0x0000;
sendtemp.myDataList.Add((int)Mode);
SENDDATAFIRST = sendtemp;
}
