public override void Call() { this.State = CommandState.Running; for (int i = 0; i < this.Axes.Length; i++) { this.Axes[i].State.SetBusy(AxisMoveMode.EscapeLmt); this.stopStss[i] = new Sts(); EscapeLmtPrm escapeLmtPrm = this.EscapeLmtPrms[i]; double pos = this.Axes[i].Pos + escapeLmtPrm.Step; this.Axes[i].Card.Executor.SetMovePos( this.Axes[i].CardId, this.Axes[i].AxisId, this.Axes[i].ConvertPos2Card(pos), this.Axes[i].ConvertVel2Card(escapeLmtPrm.Vel), escapeLmtPrm.Acc, escapeLmtPrm.Acc); this.Axes[i].Card.Executor.MovePos(this.Axes[i].CardId, this.Axes[i].AxisId); } }
public CommandEscapeLmt(Axis axis, EscapeLmtPrm escapeLmtPrm) : this(new Axis[] { axis }, new EscapeLmtPrm[] { escapeLmtPrm }) { }