/* Robot Param Setting */
#region RobotParamSetting
public int SetHomePos(Pos_T home_pos)
{
int mask = 1 << group_ctrl.AxisCount - 1;
int ret = group_ctrl.GroupAdapter.NMC_GroupSetHomePos(mask, ref home_pos);
SysParamUpdate();
return(ret);
}
public int PcsPTP(Pos_T dest)
{
if (CheckParam(AvalibleStatus) == false)
{
return(-1);
}
int mask = (1 << group_ctrl.AxisCount) - 1;
return(group_ctrl.GroupAdapter.NMC_GroupPtpCartAll(mask, ref dest));
}
// No circle interface
public int PcsLine(Pos_T dest,
double max_vel /* ohn... it can be zero this time... */)
{
if (CheckParam(AvalibleStatus) == false)
{
return(-1);
}
int mask = (1 << group_ctrl.AxisCount) - 1;
return(group_ctrl.GroupAdapter.NMC_GroupLine(mask, ref dest, ref max_vel));
}
static private RobotStatus SetPos(RobotAgent robot_agent, object[] args)
{
Pos_T target = new Pos_T();
target.pos = (double[])args[0];
int ret = robot_agent.SetHomePos(target);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
static private RobotStatus PcsPTP(RobotAgent robot_agent, object[] args)
{
Pos_T dest = new Pos_T();
dest.pos = (double[])args[0];
int ret = robot_agent.PcsPTP(dest);
RobotStatus robot_status = robot_agent.GetStatus();
robot_status.ret_code = ret;
return(robot_status);
}
