//將軸參寫入m1x1 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_m1_set_alm(RingNoOfMNet, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicALM), 0);
initErr = CCMNet.CS_mnet_m1_set_inp(RingNoOfMNet, axisPara.SlaveIP, 0, Convert.ToUInt16(axisPara.LogicINP));
initErr = CCMNet.CS_mnet_m1_set_erc_on(RingNoOfMNet, axisPara.SlaveIP, 0);
initErr = CCMNet.CS_mnet_m1_set_erc(RingNoOfMNet, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicERC), 0, 0);
initErr = CCMNet.CS_mnet_m1_set_home_config(RingNoOfMNet, axisPara.SlaveIP, hMode, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
initErr = CCMNet.CS_mnet_m1_set_sd(RingNoOfMNet, axisPara.SlaveIP, 0, Convert.ToInt16(axisPara.LogicSD), 0, 0);
initErr = CCMNet.CS_mnet_m1_set_ltc_logic(RingNoOfMNet, axisPara.SlaveIP, Convert.ToUInt16(axisPara.LogicLTC));
initErr = CCMNet.CS_mnet_m1_set_feedback_src(RingNoOfMNet, axisPara.SlaveIP, 3);
initErr = CCMNet.CS_mnet_m1_set_pls_outmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.PulseMode);
initErr = CCMNet.CS_mnet_m1_set_pls_iptmode(RingNoOfMNet, axisPara.SlaveIP, (U16)axisPara.EncMode, (U16)axisPara.EncDir);
initErr = CCMNet.CS_mnet_m1_fix_speed_range(RingNoOfMNet, axisPara.SlaveIP, MmToPulse(axisPara.MaxVel));
}
private void doHomeLimWithZPhase()
{
CCMNet.CS_mnet_m1_set_home_config(RingNoOfMNet, axisPara.SlaveIP, 12, Convert.ToUInt16(axisPara.LogicORG), Convert.ToUInt16(axisPara.LogicZ), 0, 0);
CCMNet.CS_mnet_m1_set_tmove_speed(RingNoOfMNet, axisPara.SlaveIP, 0, MmToPulse(axisPara.CreepDevVelH), axisPara.CreepAccVelH, axisPara.CreepDecVelH);
CCMNet.CS_mnet_m1_start_home_move(RingNoOfMNet, axisPara.SlaveIP, 0);
}
