public int MoveTo(ushort NodeID, double Position, int Profile)
{
ResetAlarm(NodeID);
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
double acc = 0.2;
double Tdec = 0.2;
int speed = GetPara(NodeID).RunSpeed;
if (Profile == 0)
{
speed = GetPara(NodeID).HomeSpeed;
}
int StrVel = speed / 10;
int dist;
dist = (Int32)(GetPara(NodeID).MotorScale *Position);
short rc = CPCI_DMC.CS_DMC_01_start_ta_move(CardNo[0], NodeID, 0, dist, StrVel, speed, acc, Tdec);
if (rc != 0)
{
return((int)DM_ErrorList.MotionError);
}
Thread.Sleep(motionCmdDly);
return((int)DM_ErrorList.NoError);
}
public int MoveTo(ushort NodeID, double Position)
{
ResetAlarm(NodeID);
if (CardNo.Count == 0)
{
return((int)DM_ErrorList.NoCardFound);
}
double acc = 0.2;
double Tdec = 0.2;
int speed = GetPara(NodeID).RunSpeed;
int StrVel = speed / 10;
int dist;
dist = (Int32)(GetPara(NodeID).MotorScale *Position);
if ((NodeID == (ushort)Axislist.Mod1YAxis) || (NodeID == (ushort)Axislist.Mod2YAxis))
{
if (!ReadIOIn((ushort)InputIOlist.RotaryMotionDone))
{
return((int)DM_ErrorList.MotionSafetyError);
}
}
short rc = CPCI_DMC.CS_DMC_01_start_ta_move(CardNo[0], NodeID, 0, dist, StrVel, speed, acc, Tdec);
if (rc != 0)
{
return((int)DM_ErrorList.MotionError);
}
Thread.Sleep(motionCmdDly);
return((int)DM_ErrorList.NoError);
}
public void VMoveTo(ushort CardNo, ushort NodeID, double Dist, int speed)
{
double acc = 0.2;
double Tdec = 0.2;
int StrVel = speed / 10;
int dist;
dist = (Int32)(ScaleAxis[NodeID] * Dist);
CPCI_DMC.CS_DMC_01_start_ta_move(CardNo, NodeID, 0, dist, StrVel, speed, acc, Tdec);
}
