//將軸參寫入M2X4 slave
private void setMotion()
{
U16 hMode;
//初始化給1 且限制在 1~3，這邊又把home mode變成12 or 9
if (axisPara.HomeMode == HomeMode.TwoPoint)
{
hMode = 12;
}
else
{
hMode = 9;
}
initErr = CCMNet.CS_mnet_m204_set_alm(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, Convert.ToUInt16(axisPara.LogicALM), 0);
if (axisPara.MotorMode == MotorMode.Servo)
{
initErr = CCMNet.CS_mnet_m204_set_inp(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 1, Convert.ToUInt16(axisPara.LogicINP));
}
else
{
initErr = CCMNet.CS_mnet_m204_set_inp(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0, Convert.ToUInt16(axisPara.LogicINP));
}
initErr = CCMNet.CS_mnet_m204_set_erc_on(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
initErr = CCMNet.CS_mnet_m204_set_erc(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, Convert.ToUInt16(axisPara.LogicERC), 0, 0);
initErr = CCMNet.CS_mnet_m204_set_home_config(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, hMode, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
initErr = CCMNet.CS_mnet_m204_set_sd(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0, Convert.ToInt16(axisPara.LogicSD), 0, 0);
initErr = CCMNet.CS_mnet_m204_set_ltc_logic(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, Convert.ToUInt16(axisPara.LogicLTC));
initErr = CCMNet.CS_mnet_m204_set_pls_outmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, (U16)axisPara.PulseMode);
initErr = CCMNet.CS_mnet_m204_set_pls_iptmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, (U16)axisPara.EncMode, (U16)axisPara.EncDir);
if (axisPara.MotorMode == MotorMode.Servo)
{
//initErr = CCMNet.CS_mnet_m204_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 3);
initErr = CCMNet.CS_mnet_m204_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0);
}
else
{
initErr = CCMNet.CS_mnet_m204_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 2);
}
//0:External Feedback, Position Counter
//1:Command Pulse, Position Counter
//2:Command Pulse, Command Pulse
//3:External Feedback, Command Pulse
initErr = CCMNet.CS_mnet_m204_set_el(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, 0, Convert.ToInt16(axisPara.LogicEL));
initErr = CCMNet.CS_mnet_m204_fix_speed_range(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.AxisNo, MmToPulse(axisPara.MaxVel));
}