public override void Call() { this.State = CommandState.Running; for (int i = 0; i < this.Axes.Length; i++) { this.Axes[i].State.SetBusy(AxisMoveMode.MoveHome); this.Axes[i].IsHomeError.Update(false); this.Axes[i].Servo(true); MoveHomePrm moveHomePrm = this.HomePrms[i]; this.Axes[i].Card.Executor.MoveHome( this.Axes[i].CardId, this.Axes[i].AxisId, moveHomePrm.Mode, moveHomePrm.MoveDir, moveHomePrm.IndexDir, this.Axes[i].ConvertVel2Card(moveHomePrm.VelHigh), this.Axes[i].ConvertVel2Card(moveHomePrm.VelLow), moveHomePrm.Acc, this.Axes[i].ConvertPos2Card(moveHomePrm.HomeOffset), this.Axes[i].ConvertPos2Card(moveHomePrm.SearchHomeDis), this.Axes[i].ConvertPos2Card(moveHomePrm.SearchIndexDis), this.Axes[i].ConvertPos2Card(moveHomePrm.EscapeStep)); } }
public CommandMoveHomeU(Axis axis, MoveHomePrm moveHomePrm) : base(new Axis[] { axis }) { this.HomePrm = moveHomePrm; }
public CommandMoveHome(Axis axis, MoveHomePrm moveHomePrm) : this(new Axis[] { axis }, new MoveHomePrm[] { moveHomePrm }) { }