/// <summary>
/// 홈을 수행한다.
/// </summary>
/// <returns>수행 성공여부.</returns>
public bool GoHome(double _dHomeVelFirst, double _dHomeVelLast, double _dHomeAccFirst)
{
SetServo(true);
int iRet = 0;
//홈찾는 방법
EMCL.ERAETech_EMCL_Sync_SetSearchMode(m_iPortID, (byte)Para.iPhysicalNo, (int)Para.eHomeMode, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//가감속
EMCL.ERAETech_EMCL_Sync_SetMaxAcceleration(m_iPortID, (byte)Para.iPhysicalNo, (int)_dHomeAccFirst, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//첫번째 속도.
EMCL.ERAETech_EMCL_Sync_SetRefSearchSpeed(m_iPortID, (byte)Para.iPhysicalNo, (int)_dHomeVelFirst, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//마지막 속도.
EMCL.ERAETech_EMCL_Sync_SetRefSwitchSpeed(m_iPortID, (byte)Para.iPhysicalNo, (int)_dHomeVelLast, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
//요이 땅.
EMCL.ERAETech_EMCL_Sync_StartRefSearch(m_iPortID, (byte)Para.iPhysicalNo, ref iRet);
if (iRet != 0)
{
Log.ShowMessage("EMCL_" + Para.iPhysicalNo.ToString() + "Axis", GetErrMsg(iRet));
return(false);
}
return(true);
}
