public static void GoSafetyPosition(short axi, short card) { AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation(); axiSituation = AxiCondition.readCondition(axi, card); if (axiSituation.negativeLimit == true) { mc.TTrapPrm p_trap = new mc.TTrapPrm(); p_trap.acc = 0.25; p_trap.dec = 0.25; p_trap.smoothTime = 25; TrapParameter setTrapParameter = new TrapParameter(); setTrapParameter.position = 5000; setTrapParameter.sleep = 20; Trap(true, p_trap, setTrapParameter, axi); } else if (axiSituation.positveLimit == true) { mc.TTrapPrm p_trap = new mc.TTrapPrm(); p_trap.acc = 0.25; p_trap.dec = 0.25; p_trap.smoothTime = 25; TrapParameter setTrapParameter = new TrapParameter(); setTrapParameter.position = -5000; setTrapParameter.sleep = 20; Trap(true, p_trap, setTrapParameter, axi); } }
public static void GoHome(short axi, short card) { mc.TJogPrm jopPra = new mc.TJogPrm(); jopPra.acc = 0.25; jopPra.dec = 0.25; double value = 20; AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation(); JogMotin(0, 1, jopPra, -value); do { axiSituation = AxiCondition.JustReadCondition(axi, card); }while (axiSituation.negativeLimit == false); mc.TTrapPrm p_trap = new mc.TTrapPrm(); p_trap.acc = 0.25; p_trap.dec = 0.25; p_trap.smoothTime = 25; p_trap.velStart = 1; TrapParameter setTrapParameter = new TrapParameter(); setTrapParameter.position = 10000; setTrapParameter.sleep = 20; Trap(true, p_trap, setTrapParameter, axi); }