public bool SetSoftLimit(I32 positiveLimit, I32 negativeLimit, CmdStatus sw, StopType stopType)
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
if (sw == CmdStatus.ON)
{
/*
* 0 INT only
* 1 Immediately stop
* 2 Slow down then stop
* 3 Reserved
*/
if (stopType == StopType.Emergency)
{
rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 1);
}
else
{
rc = CCMNet.CS_mnet_m1_enable_soft_limit(RingNoOfMNet, axisPara.SlaveIP, 2);
}
rc = CCMNet.CS_mnet_m1_set_soft_limit(RingNoOfMNet, axisPara.SlaveIP, positiveLimit, negativeLimit);
}
else
{
rc = CCMNet.CS_mnet_m1_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP);
}
}
return(rc == 0 ? true : false);
}
public bool DisableSoftLimit()
{
I16 rc = -1;
if (axisPara.IsActive && axisPara.Enabled)
{
rc = CCMNet.CS_mnet_m1_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP);
}
return(rc == 0 ? true : false);
}
/// <summary>
/// M1X1 裝置啟停
/// </summary>
/// <param name="option">The option.</param>
public void ServoOn(CmdStatus option)
{
if (axisPara != null)
{
if (axisPara.IsActive)
{
if (option == CmdStatus.OFF)
{
status.Home = false;
axisPara.Enabled = false;
CCMNet.CS_mnet_m1_set_svon(RingNoOfMNet, axisPara.SlaveIP, 0);
}
if (option == CmdStatus.ON)
{
if (axisPara.IsActive)
{
axisPara.Enabled = true;
CCMNet.CS_mnet_m1_disable_soft_limit(RingNoOfMNet, axisPara.SlaveIP);
CCMNet.CS_mnet_m1_set_svon(RingNoOfMNet, axisPara.SlaveIP, 1);
}
}
}
}
}
