protected override bool InitProcess() { _controller.Open(); if (_controller.IsConnected) { LogHelper.WriteLine("{0}, firmware version {1}", this, _controller.FirmwareInfo); // pass the configurations to the instance of irixi motion controller class for (int i = 0; i < this.Count; i++) { var PAxis = this[i] as IrixiAxis; var sdkAxis = _controller.AxisCollection[i]; // the following parameters of the Axis Objects of the SDK should be redefined since they are // needed to initialize the motion controller board. sdkAxis.PosAfterHome = 0; sdkAxis.SoftCCWLS = 0; sdkAxis.SoftCWLS = PAxis.UnitHelper.MaxSteps; sdkAxis.MaxSteps = PAxis.UnitHelper.MaxSteps; sdkAxis.AccelerationSteps = PAxis.AccelerationSteps; // reverse the drive directoin _controller.ReverseOriginPosition(i, PAxis.ReverseDriveDirecton); } return(true); } else { this.LastError = _controller.LastError; return(false); } }
protected override bool InitProcess() { _controller.Open(); if (_controller.IsConnected) { LogHelper.WriteLine("{0}, firmware version {1}", this, _controller.FirmwareInfo); // pass the configurations to the instance of irixi motion controller class for (int i = 0; i < this.Count; i++) { var axis = this[i.ToString()] as IrixiAxis; var sdkAxis = _controller.AxisCollection[i]; sdkAxis.PosAfterHome = 0; sdkAxis.SoftCCWLS = 0; sdkAxis.SoftCWLS = axis.UnitHelper.MaxSteps; sdkAxis.MaxSteps = axis.UnitHelper.MaxSteps; sdkAxis.MaxSpeed = axis.MaxSpeed; sdkAxis.AccelerationSteps = axis.AccelerationSteps; // reverse the drive directoin _controller.ReverseOriginPosition(i, axis.ReverseDriveDirecton); } return(true); } else { this.LastError = _controller.LastError; return(false); } }