public override void Call()
{
this.State = CommandState.Running;
for (int i = 0; i < this.Axes.Length; i++)
{
this.Axes[i].State.SetBusy(AxisMoveMode.EscapeLmt);
this.stopStss[i] = new Sts();
EscapeLmtPrm escapeLmtPrm = this.EscapeLmtPrms[i];
double pos = this.Axes[i].Pos + escapeLmtPrm.Step;
this.Axes[i].Card.Executor.SetMovePos(
this.Axes[i].CardId,
this.Axes[i].AxisId,
this.Axes[i].ConvertPos2Card(pos),
this.Axes[i].ConvertVel2Card(escapeLmtPrm.Vel),
escapeLmtPrm.Acc,
escapeLmtPrm.Acc);
this.Axes[i].Card.Executor.MovePos(this.Axes[i].CardId, this.Axes[i].AxisId);
}
}
public CommandEscapeLmt(Axis axis, EscapeLmtPrm escapeLmtPrm)
: this(new Axis[] { axis }, new EscapeLmtPrm[] { escapeLmtPrm })
{
}
