/// <summary>
/// 현재 파라미터들을 아진 함수를 이용하여 세팅함.
/// </summary>
public void ApplyPara(double _dPulsePerUnit)
{
m_dPulsePerUnit = _dPulsePerUnit;
int iRet2;
int iMode;
//S-Curve 설정할때 가/감속을 Percentage로 변환해서 셋팅해야하는데 셋팅된 가/감속 가져오기 애매해서 주석처리.
//if (Para.dSCurveAcPer == 0 && Para.dSCurveDcPer == 0)//커브 안쓸때.
//{
// iMode = (int)MotnDefines._TCmSpeedMode.cmSMODE_T;//대칭
//}
//else
//{
// iMode = (int)MotnDefines._TCmSpeedMode.cmSMODE_S;//비대칭
//}
////S-Curve 설정
//Cmmsdk.cmmCfgSetSpeedPattern(Para.iPhysicalNo, iMode, 2000, 10000, 10000 );
//Use Inpos
int iUse = Para.bUseInpos ? 1 : 0;
int iRet = Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmINP_EN, iUse);
//EncInputMode 설정
Cmmsdk.cmmCfgSetInMode(Para.iPhysicalNo, (int)Para.eEncMulti, (int)Para.eEncInputMode);
//Pulse Output 설정
int iRst = Cmmsdk.cmmCfgSetOutMode(Para.iPhysicalNo, (int)Para.ePulseOutput);
//하드웨어 리밋
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmEL_MODE, 1); // 0-즉시정지,1-감속정지
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmEL_LOGIC, (int)Para.eLimPhase);
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmALM_MODE, 1); // 0-즉시정지,1-감속정지
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmALM_LOGIC, (int)Para.eAlarmPhase);
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmEZ_LOGIC, (int)Para.eZphaPhase);
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmINP_LOGIC, (int)Para.eInposPhase);
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmORG_LOGIC, (int)Para.eHomePhase);
Cmmsdk.cmmCfgSetMioProperty(Para.iPhysicalNo, (int)MotnDefines._TCmMioPropId.cmSVON_LOGIC, (int)Para.eServoPhase);
//링카운터 (ex, 원으로 돌때 해당 포지션에서 0로 변경)
//이 기능은 COMI-LX502 제품에서는 지원하지 않습니다. 대여받은게 하필 이거라 테스트 못해봄
iUse = Para.dSetMaxPos == 0 ? 0 : 1;
Cmmsdk.cmmCfgSetRingCntr(Para.iPhysicalNo, (int)MotnDefines._TCmCntr.cmCNT_COMM, iUse, Para.dSetMaxPos * m_dPulsePerUnit);
Cmmsdk.cmmCfgSetRingCntr(Para.iPhysicalNo, (int)MotnDefines._TCmCntr.cmCNT_FEED, iUse, Para.dSetMaxPos * m_dPulsePerUnit);
if (Para.bGantryEnable)
{
SetLinkEnable();
}
else
{
SetLinkDisable();
}
}