/// <summary>
/// 一次获取轴的多个运动IO状态
/// </summary>
/// <param name="axisIndex">从0开始</param>
/// <returns></returns>
public int GetMotionStatus(int axis, out bool[] ret)
{
_CheckAxisEnable(axis, "GetMotionStatus");
ret = new bool[9];
HTM.AXIS_STATUS axs;
int opt = HTM.GetAxisStatus(axis, out axs);
if (opt != 0)
{
throw new Exception("MC_Htm.GetMotionStatus failed:HTM.GetAxisStatus return error code = " + opt.ToString());
}
//通过背景线程获取
ret[MSID_ALM] = axs.alm == 1;
ret[MSID_SVO] = axs.svon == 1;
ret[MSID_INP] = axs.inp == 1;
//ret[MSID_EMG] = axs.alm == 1;
ret[MSID_PL] = axs.pel == 1;
ret[MSID_NL] = axs.mel == 1;
ret[MSID_ORG] = axs.org == 1;
//实时获取
ret[MSID_SPL] = HTM.GetMotionIO(axis, HTM.MotionIO.SPEL) == 1;
ret[MSID_SNL] = HTM.GetMotionIO(axis, HTM.MotionIO.SMEL) == 1;
ret[MSID_MDN] = HTM.OnceDone(axis) == 1;
return((int)ErrorDef.Success);
}
public bool IsMDN(int axis)
{
_CheckAxisEnable(axis, "IsMDN");
return(HTM.OnceDone(axis) == 1);
}