// ReSharper disable InconsistentNaming
public static bool XYPMoveAbsolutUseTMode(Axis axisX, Axis axisY, float x, float y)
// ReSharper restore InconsistentNaming
{
bool OrderIsCompeleted = false;
int xposition = Convert.ToInt32(x * axisX.PulseOfPerMilMeter);
int yposition = Convert.ToInt32(y * axisY.PulseOfPerMilMeter);
if (axisX.MaxRouteDistance > xposition && (xposition >= 0))
{
if (axisY.MaxRouteDistance > yposition && (yposition >= 0))
{
axisX.SetTModeProfile();
}
axisY.SetTModeProfile();
if (AxisQueryStatus(axisX) && AxisQueryStatus(axisY))
{
Dmc2610.d2610_t_pmove(axisX.AxisId, xposition, (ushort)AxisPositionMode.Absolut);
Dmc2610.d2610_t_pmove(axisY.AxisId, yposition, (ushort)AxisPositionMode.Absolut);
//while ((!GetAxisIsINPON(axisX)) && (!GetAxisIsINPON(axisY)))
//{
//}
while (!(GetAxisIsDoWell(axisX) && (GetAxisIsDoWell(axisY))))
{
}
OrderIsCompeleted = true;
}
}
return(OrderIsCompeleted);
}
public static bool SigelAxisPMoveAbsolutUseTMode(Axis axis, float dis)
{
bool OrderIsCompeleted = false;
int position = Convert.ToInt32(dis * axis.PulseOfPerMilMeter);
if (axis.MaxRouteDistance > position && (position >= 0))
{
axis.SetTModeProfile();
if (AxisQueryStatus(axis))
{
Dmc2610.d2610_t_pmove(axis.AxisId, position, (ushort)AxisPositionMode.Absolut);
while (!GetAxisIsDoWell(axis))
{
}
OrderIsCompeleted = true;
}
}
return(OrderIsCompeleted);
}
public static void HomeMove(Axis axis)
{
if ((axis.axisTModeMoveParameters.MaxVelocity > 0) && (axis.axisTModeMoveParameters.MaxVelocity < 50000000))
{
if (!((Dmc2610.d2610_read_RDY_PIN(axis.AxisId) == 0) && (GetAxisIsALMON(axis)) && (GetAxisIsEMGON(axis))))
{
if (!(GetAxisIsNELON(axis) && GetAxisIsPELON(axis)))
{
if (!(GetAxisIsORGON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
else
{
if ((GetAxisIsORGON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_t_pmove(axis.AxisId, 10000, (ushort)AxisPositionMode.Relation);
while (!GetAxisIsDoWell(axis))
{
}
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
while (!GetAxisIsDoWell(axis))
{
}
Dmc2610.d2610_set_position(axis.AxisId, 0);
}
}
}
else
{
if (GetAxisIsNELON(axis) && (!GetAxisIsPELON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_t_pmove(axis.AxisId, 10000, (ushort)AxisPositionMode.Relation);
while (!GetAxisIsDoWell(axis))
{
}
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
else
{
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
}
while (!GetAxisIsDoWell(axis))
{
}
//axis.SetTModeProfile();
//Dmc2610.d2610_t_pmove(axis.AxisId, axis.LogicOrgPosition, (ushort)AxisPositionMode.Relation);
axis.SetResetModeProfile();
Dmc2610.d2610_set_position(axis.AxisId, 0);
Dmc2610.d2610_t_pmove(axis.AxisId, axis.LogicOrgPosition, (ushort)AxisPositionMode.Absolut);
while (!GetAxisIsDoWell(axis))
{
}
Thread.Sleep(500);
Dmc2610.d2610_set_position(axis.AxisId, 0);
}
else
{
MessageBox.Show("Axis is Not Ready or occur EMG Stop !");
}
}
else
{
MessageBox.Show("Axis Parameters of AcclerateVelocity is Incorrect !");
}
}