public static void GoSafetyPosition(short axi, short card)
{
AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation();
axiSituation = AxiCondition.readCondition(axi, card);
if (axiSituation.negativeLimit == true)
{
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = 5000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
else if (axiSituation.positveLimit == true)
{
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = -5000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
}
public static void GoHome(short axi, short card)
{
mc.TJogPrm jopPra = new mc.TJogPrm();
jopPra.acc = 0.25;
jopPra.dec = 0.25;
double value = 20;
AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation();
JogMotin(0, 1, jopPra, -value);
do
{
axiSituation = AxiCondition.JustReadCondition(axi, card);
}while (axiSituation.negativeLimit == false);
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
p_trap.velStart = 1;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = 10000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
