public void Step_Status_Read()
{
for (int i = 0; i < 2; i++)
{
m_StepStatusData[i].Clear();
EziMotionPlusR.FAS_GetAxisStatus(nPortNo, (byte)i, ref dwOutPut);
int nIndex = 0;
for (nIndex = 0; nIndex < 32; nIndex++)
{
// Verify the last bit value of data read
uFlagHigh = dwOutPut & 0x00000001;
// Shift rightward by bit by bit
dwOutPut = dwOutPut >> 1;
// Updat bit value in control
if (uFlagHigh == 1)
{
m_StepStatusData[i].Add(true);
}
else
{
m_StepStatusData[i].Add(false);
}
}
EziMotionPlusR.FAS_GetCommandPos(nPortNo, (byte)i, ref CmdPos); //(nPortNo, (byte)i, ref dwOutPut);
m_StepStatusData[i].Add(CmdPos);
EziMotionPlusR.FAS_GetActualVel(nPortNo, (byte)i, ref ActVel); //(nPortNo, (byte)i, ref dwOutPut);
m_StepStatusData[i].Add(ActVel);
}
}
private void EziMotion_Check_Slave()
{
if (EziMotionPlusR.FAS_IsSlaveExist(nPortNo, iSlaveNo) == false)
{
return;
}
}
public void Step_Configration_Set(IStepMotors InStep, int nStep)
{
//RM 에서 설정된 부분을 사용한다.
//this.Step_Status_Signal_Set(InStep);
//설정 단위가 1mm가 되도록 Unit을 설정한다.(10:10000 = 1pulse에 1mm)
//duRetCode = CAXM.AxmMotSetMoveUnitPerPulse(Axis_On.AXIS_CONF_NO, 10, 10000);
bool ezRetCode = EziMotionPlusR.FAS_ServoEnable((byte)1, (byte)0, true);
}
private void EziMotion_Get_SlaveInfo()
{
nRtn = EziMotionPlusR.FAS_GetSlaveInfo(nPortNo, iSlaveNo, nType, ref IpBuffer, nBuffSize);
string IRtn = nRtn.ToString();
}
private void EziMotion_Close()
{
EziMotionPlusR.FAS_Close(nPortNo);
}
private void EziMotion_Connect()
{
EziMotionPlusR.FAS_Connect(nPortNo, uBaudRate);
}
