public static void StartEMPZ()
{
//設定使用Card
MCCL.SYS_CARD_CONFIG stCardConfig = new MCCL.SYS_CARD_CONFIG();
stCardConfig.wCardType = 4;
MCCL.ErrorCode eRet;
eRet = MCCL.MCC_InitSystem(1, ref stCardConfig, 1);
if (eRet < 0)
{
MessageBox.Show("MCC_InitSystem Error :" + eRet.ToString());
return;
}
else
{
// CmdQueueSize設定
MCCL.MCC_SetCmdQueueSize(50000, 0);
int sixe = MCCL.MCC_GetCmdQueueSize(0);
MessageBox.Show("" + sixe.ToString());
//座標軸設定
//MCCL.MCC_SetIncrease(nGroupIndex); //相對
MCCL.MCC_SetAbsolute(nGroupIndex); //絕對
int eerocode = MCCL.MCC_GetCoordType(nGroupIndex);
if (eerocode == 0)
{
MessageBox.Show("IncreaseOpen");
}
else if (eerocode == 1)
{
MessageBox.Show("AbsoluteOpen");
}
//DryRun設定 DryRun可
//MCCL.MCC_EnableDryRun();
MCCL.MCC_DisableDryRun();
eerocode = MCCL.MCC_CheckDryRun();
if (eerocode == 0)
{
MessageBox.Show("dryrunopen");
}
else if (eerocode == 1)
{
MessageBox.Show("dryrunclose");
}
//其他設定
MCCL.MCC_SetUnit(MCCL.UNIT_MM, 0); // coordinate unit : mm
// 4.過形成保護
//MCCL.MCC_EnableLimitSwitchCheck(1);
//MCCL.MCC_DisableLimitSwitchCheck();
//MCCL.MCC_SetOverTravelCheck(0);
//MCCL.MCC_GetOverTravelCheck(0);
//硬體極限
//MCCL.MCC_EnableLimitSwitchCheck(0);
//開關平滑模式
MCCL.MCC_EnableBlend(nGroupIndex);
//MCCL.MCC_DisableBlend(nGroupIndex);
MCCL.MCC_CheckBlend(nGroupIndex);
// set line, arc and circle motion's accleration time
MCCL.MCC_SetAccType('S', nGroupIndex); //ST兩種模式而已
MCCL.MCC_GetAccType(nGroupIndex);
MCCL.MCC_SetAccTime(200, nGroupIndex); // set accleration time to be 300 ms
MCCL.MCC_GetAccTime(nGroupIndex);
// set line, arc and circle motion's deceleration time
MCCL.MCC_SetDecType('S', nGroupIndex);
MCCL.MCC_GetDecType(0);
MCCL.MCC_SetDecTime(200, nGroupIndex); // set decleration time to be 300 ms
MCCL.MCC_GetDecTime(nGroupIndex);
MCCL.MCC_SetFeedSpeed(10, nGroupIndex); // set line, arc and circle motion's feed rate (unit : mm/sec)
MCCL.MCC_SetPtPAccType('S', 'S', 'S', 'S', 'S', 'S', 'S', 'S', nGroupIndex);
//MCCL.MCC_GetPtPAccType();
//MCCL.MCC_SetPtPAccTime();
//MCCL.MCC_GetPtPAccTime();
MCCL.MCC_SetPtPDecType('S', 'S', 'S', 'S', 'S', 'S', 'S', 'S', nGroupIndex);
//MCCL.MCC_GetPtPDecType();
//MCCL.MCC_SetPtPDecTime();
//MCCL.MCC_GetPtPDecTime();
MCCL.MCC_SetPtPSpeed(10, nGroupIndex); // set line, arc and circle motion's feed rate (unit : mm/sec)
MCCL.MCC_GetPtPSpeed(nGroupIndex);
//MCCL.MCC_SetPGain(60, 60, 60, 60, 60, 60, 60, 60, 0); // set appropriate P Gain
}
}