//將軸參寫入m1x1 slave
private void setMotion()
{
U16 hMode;
//初始化給1 且限制在 1~3，這邊又把home mode變成12 or 9
if (axisPara.HomeMode == HomeMode.TwoPoint)
{
hMode = 12;
}
else
{
hMode = 9;
}
initErr = CMNET_L132.CS_mnet_m1_set_alm((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicALM), 0);
initErr = CMNET_L132.CS_mnet_m1_set_inp((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, Convert.ToUInt16(axisPara.LogicINP));
initErr = CMNET_L132.CS_mnet_m1_set_erc((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicERC), 0, 0);
initErr = CMNET_L132.CS_mnet_m1_set_home_config((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, hMode, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
initErr = CMNET_L132.CS_mnet_m1_set_sd((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, Convert.ToUInt16(axisPara.LogicSD), 0, 0);
initErr = CMNET_L132.CS_mnet_m1_set_ltc_logic((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicLTC));
initErr = CMNET_L132.CS_mnet_m1_set_feedback_src((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 3);
initErr = CMNET_L132.CS_mnet_m1_set_pls_outmode((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, (U16)axisPara.PulseMode);
initErr = CMNET_L132.CS_mnet_m1_set_pls_iptmode((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, (U16)axisPara.EncMode, (U16)axisPara.EncDir);
initErr = CMNET_L132.CS_mnet_m1_fix_speed_range((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, MmToPulse(axisPara.MaxVel));
}
private void doHomeLim()
{
//if (axisPara.IsActive && axisPara.Enabled )
//{
// CMNET_L132.CS_mnet_m1_set_home_config((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 6, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
// CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, MmToPulse(axisPara.CreepDevVelH), axisPara.CreepAccVelH, axisPara.CreepDecVelH);
// CMNET_L132.CS_mnet_m1_start_home_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0);
//}
CMNET_L132.CS_mnet_m1_set_home_config((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 6, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
CMNET_L132.CS_mnet_m1_set_tmove_speed((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0, MmToPulse(axisPara.CreepDevVelH), axisPara.CreepAccVelH, axisPara.CreepDecVelH);
CMNET_L132.CS_mnet_m1_start_home_move((U16)axisPara.CardSwitchNo, (U16)axisPara.RingNoOfCard, axisPara.SlaveIP, 0);
}
