コード例 #1
0
        internal AcsAxis(Api api, AcsUtils utils, BufferHelper bufferHelper, GantryAxes axisId, Axis acsAxisId,
                         IRobotControlSetting config)
        {
            this.api          = api;
            this.bufferHelper = bufferHelper;
            acsUtils          = utils;
            axisConfig        = config;
            ApplicationAxisId = (int)axisId;
            AcsAxisId         = acsAxisId;
            Name = ApplicationAxisId.ToString();
            ReloadConfigParameters();
            HomeStopCondition = string.Format("FAULT({0}).#LL", (int)AcsAxisId);
            if (!Homed)
            {
                acsUtils.ClearBits("FDEF", (int)AcsAxisId, 64);
                acsUtils.ClearBits("FDEF", (int)AcsAxisId, 32);
            }

            acsUtils.SetBits("FDEF", (int)AcsAxisId, 3);
            if (Homed)
            {
                acsUtils.SetBits("FDEF", (int)AcsAxisId, 64);
                acsUtils.SetBits("FDEF", (int)AcsAxisId, 32);
            }

            switch (ApplicationAxisId)
            {
            case 0:
                HomeBuffer = 3;
                break;

            case 1:
                HomeBuffer = 0;
                break;

            case 2:
                HomeBuffer = 1;
                break;
            }
        }
コード例 #2
0
        internal AcsAxis(Api api, AcsUtils utils, BufferHelper bufferHelper, ConveyorAxes axisId, Axis acsAxisId)
        {
            this.api          = api;
            this.bufferHelper = bufferHelper;
            acsUtils          = utils;
            ApplicationAxisId = (int)axisId;
            AcsAxisId         = acsAxisId;
            Name = ApplicationAxisId.ToString();
            ReloadConfigParameters();
            HomeStopCondition = string.Format("FAULT({0}).#LL", (int)AcsAxisId);
            if (!Homed)
            {
                acsUtils.ClearBits("FDEF", (int)AcsAxisId, 64);
                acsUtils.ClearBits("FDEF", (int)AcsAxisId, 32);
            }

            acsUtils.SetBits("FDEF", (int)AcsAxisId, 3);
            if (Homed)
            {
                acsUtils.SetBits("FDEF", (int)AcsAxisId, 64);
                acsUtils.SetBits("FDEF", (int)AcsAxisId, 32);
            }

            switch (ApplicationAxisId)
            {
            case 5:
                HomeBuffer = 4;
                break;

            case 6:
                HomeBuffer = 5;
                break;

            case 7:
                HomeBuffer = 6;
                break;
            }
        }