public void VStopAxis(ushort CardNo, ushort NodeID, int swichstop)//0为急停，1为减数停止
{
if (swichstop == 0)
{
CPCI_DMC.CS_DMC_01_emg_stop(CardNo, NodeID, 0);
}
else
{
CPCI_DMC.CS_DMC_01_sd_stop(gCardNo, NodeID, 0, 0.1);
}
}
public void StopMotion(ushort NodeID, int swichstop)//0为急停，1为减数停止
{
if (CardNo.Count == 0)
{
return;
}
if (swichstop == 0)
{
CPCI_DMC.CS_DMC_01_emg_stop(CardNo[0], NodeID, 0);
}
else
{
CPCI_DMC.CS_DMC_01_sd_stop(CardNo[0], NodeID, 0, 0.1);
}
}
private void AutoHome()
{
while (true)
{
homeSend("000000000006" + "010204000001");
homeListen();
showMotorState();
if (label31.Text == "01-02-01-01")
{
rc = CPCI_DMC.CS_DMC_01_set_velocity_mode(gCardNo, node2, 0, 0.1, 0.1);
rc = CPCI_DMC.CS_DMC_01_set_velocity(gCardNo, node2, 0, 1300);
}
else
{
rc = CPCI_DMC.CS_DMC_01_sd_stop(gCardNo, node2, 0, 0.01);
CPCI_DMC.CS_DMC_01_set_position(gCardNo, node2, 0, 0);
CPCI_DMC.CS_DMC_01_set_command(gCardNo, node2, 0, 0);
break;
}
}
}
private void btnstop_Click(object sender, EventArgs e)
{
gnodeid = ushort.Parse(cmbNodeID.Text);
rc = CPCI_DMC.CS_DMC_01_sd_stop(gCardNo, gnodeid, 0, 0.1);
}
