/// <summary>
/// 查找并初始化系统里面所有的 PCI-9014
/// </summary>
/// <returns></returns>
public override int Init()
{
int rc;
int boarkCount = 0;
int[] card_id = new int[16];
//初始化运动轴；
rc = CPci9014.p9014_initial(ref boarkCount, card_id);
if (rc != 0)
{
Log.GetInstance().ErrorWrite("Initialize PCI-9014 fail");
return(1);
}
//PCI9014的数目；
//boarkCount = 1;
if (boarkCount < 1)
{
Log.GetInstance().ErrorWrite("Find No PCI-9014 device");
return(1);
}
//获取运动轴的参数
if (!GetParameter())
{
return(1);
}
else
{
Log.GetInstance().NormalWrite("获取运动轴参数成功！！");
}
foreach (var Axis in Global.LstAxis)
{
//设置运动参数
//Alarm 0:低有效 1: 高有效
rc &= CPci9014.p9014_set_alarm(Axis.No, 0, 1);
//0:PULSE/DIR 1: CW/CCW
rc &= CPci9014.p9014_set_pls_outmode(Axis.No, 0);
//0:PULSE/DIR 1:4X AB
rc &= CPci9014.p9014_set_pls_iptmode(Axis.No, 0);
//EL Level 0:低有效 1: 高有效
rc &= CPci9014.p9014_set_el_level(Axis.No, 0);
//mode(0:ORG Only 1:ORG+EZ)
//ORG Level(0:低有效 1: 高有效)
//EZ Level(0:低有效 1: 高有效)
rc &= CPci9014.p9014_home_config(Axis.No, 0, 0, 0);
//设置T Profile 下的速度，加速度等参数
rc &= CPci9014.p9014_set_t_profile(Axis.No, Axis.startSpeed, Axis.maxSpeed, Axis.AccTime, Axis.DecTime);
}
//关闭所有输出
SetAllOutBit(false);
return(rc);
}
public override int SetPlsOutmode(PCI9014AxisInfo axinfo, int plsOutMode)
{
return(CPci9014.p9014_set_pls_outmode(axinfo.No, plsOutMode));;
}