/// <summary>
/// 홈센서 기준 절대 위치로 다축 이동.
/// </summary>
/// <param name="Para.iPhysicalNos">이동할축들 0번이 마스터</param>
/// <param name="_dPoses">이동할 위치 펄스단위</param>
/// <param name="_dVel">이동할 속도 펄스단위</param>
/// <param name="_dAcc">이동할 가속 펄스단위</param>
/// <param name="_dDec">이동할 감속 펄스단위</param>
/// <returns>성공여부</returns>
/// 일단 2축만 구현한다.
/// 축번호는 오름차순으로 배열 해야함.
public void GoMultiAbs(int [] _iPhysicalNos, double [] _dPoses, double _dVel, double _dAcc, double _dDec)
{
if (_iPhysicalNos.Count() > 3 || _dPoses.Count() > 3)
{
return;
}
if (_iPhysicalNos.Count() < 2 || _dPoses.Count() < 2)
{
return;
}
if (_iPhysicalNos.Count() != _dPoses.Count())
{
return;
}
short nRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)_iPhysicalNos[0], 200, _dAcc, _dDec, _dVel);
if (_iPhysicalNos.Count() == 2)
{
nRet = NMC2.nmc_Interpolation2Axis(m_nDevId, (short)_iPhysicalNos[0], (double)_dPoses[0], (short)_iPhysicalNos[1], (double)_dPoses[1], 1);
}
if (_iPhysicalNos.Count() == 3)
{
nRet = NMC2.nmc_Interpolation3Axis(m_nDevId, (short)_iPhysicalNos[0], (double)_dPoses[0], (short)_iPhysicalNos[1], (double)_dPoses[1], (short)_iPhysicalNos[2], (double)_dPoses[2], 1);
}
}
/// <summary>
/// -방향 조그 이동
/// </summary>
/// <param name="_dVel">초당 구동 속도 펄스</param>
/// <param name="_dAcc">구동 가속율 펄스</param>
/// <param name="_dDec">감속율 펄스</param>
public void JogN(double _dVel, double _dAcc, double _dDec)
{
short nRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)Para.iPhysicalNo, 200, _dAcc, _dDec, _dVel);
nRet = NMC2.nmc_JogMove(m_nDevId, (short)Para.iPhysicalNo, 1);
}
/// <summary>
/// 홈센서 기준 절대 위치로 이동.
/// </summary>
/// <param name="_dPos">이동할 위치 펄스단위</param>
/// <param name="_dVel">이동할 속도 펄스단위</param>
/// <param name="_dAcc">이동할 가속 펄스단위</param>
/// <param name="_dDec">이동할 감속 펄스단위</param>
/// <returns>성공여부</returns>
public void GoAbs(double _dPos, double _dVel, double _dAcc, double _dDec)
{
short nRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)Para.iPhysicalNo, 200, _dAcc, _dDec, _dVel);
nRet = NMC2.nmc_AbsMove(m_nDevId, (short)Para.iPhysicalNo, _dPos);
}
/// <summary>
/// 홈을 수행한다.
/// </summary>
/// <returns>수행 성공여부.</returns>
public bool GoHome(double _dHomeVelFirst, double _dHomeVelLast, double _dHomeAccFirst)
{
SetServo(true);
short nRet;
bool bRet;
nRet = NMC2.nmc_SetSpeed(m_nDevId, (short)Para.iPhysicalNo, 200, _dHomeAccFirst, _dHomeAccFirst, _dHomeVelFirst);
nRet = NMC2.nmc_SetAccSpeed(m_nDevId, (short)Para.iPhysicalNo, _dHomeAccFirst);
nRet = NMC2.nmc_SetDecSpeed(m_nDevId, (short)Para.iPhysicalNo, _dHomeAccFirst);
nRet = NMC2.nmc_SetHomeSpeed(m_nDevId, (short)Para.iPhysicalNo, _dHomeVelFirst, _dHomeVelFirst, _dHomeVelLast);
// 1. 0번 축의 원점 이동 모드 : +Near
// 2. 원점 검색후(3차이동 까지 완료) CW회전으로 Z상 검출
// 3. 지령/엔코더 위치 0으로 초기화
// 4. Offset 300위치로 이동
// 5. Offset이동후 지령/엔코더 위치 0으로 초기화
//nRet = nmc_HomeMove(11, 0, 0x82 | 3, 0xF, 300);
const short nHomeEndMode = NMC2.NMC_END_CMD_CLEAR_A_OFFSET |
NMC2.NMC_END_ENC_CLEAR_A_OFFSET |
NMC2.NMC_END_CMD_CLEAR_B_OFFSET |
NMC2.NMC_END_ENC_CLEAR_B_OFFSET;
//메뉴얼과 샘플이 달라서 샘플 방식으로 함...eHomeMethode 여기다 0x80을 덮어 씌워야 된다고
//메뉴얼에 나와 있었는데 잘 모르겠음...
nRet = NMC2.nmc_HomeMove(m_nDevId, (short)Para.iPhysicalNo, (short)Para.eHomeMode, nHomeEndMode, Para.dHomeOffset * m_dPulsePerUnit, 0);
bRet = nRet == 0;
return(bRet);
}
