51 lines
2.0 KiB
C#
51 lines
2.0 KiB
C#
using System.ComponentModel;
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using static Aurora.Api.Devices.Motor;
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namespace AuroraMotionBoard.Ajin
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{
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public class AJINMotorConfig : BaseConfig
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{
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[ReadOnly(true)]
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public string Name { get; set; }
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public double Speed { get; set; } = 10;
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public double ManualSpeed { get; set; }
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public double HighJogSpeed { get; set; }
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public double MidJogSpeed { get; set; }
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public double LowJogSpeed { get; set; }
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public double Acceleration { get; set; } = 1000;
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public double Deceleration { get; set; } = 1000;
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public double ManualAcceleration { get; set; } = 1000;
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// 홈 셋팅 파라미터는 MOT 파일에 셋팅 된 것으로 동작함
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//[Category("Home Setting Param")]
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//public double VelFirst { get; set; } = 30.0;
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//public double VelSecond { get; set; } = 30.0;
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//public double VelThird { get; set; } = 20.0;
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//public double VelLast { get; set; } = 1.0;
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//public double AccFirst { get; set; } = 0.1;
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//public double AccSecond { get; set; } = 0.1;
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//public double Resolution { get; set; } = 2000.0;
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//public int HomeDir { get; set; } = (int)AXT_MOTION_MOVE_DIR.DIR_CW;
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//public double EncoderClearDelayTime { get; set; } = 2000.0; // 원점검색 완료 후 지령위치와 Encoder위치를 Clear하기 위해 대기하는 시간설정 [mSec단위]
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[DisplayName("SW Limit +")]
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public double SWLimitPlus { get; set; } = 100000;
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[DisplayName("SW Limit -")]
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public double SWLimitMinus { get; set; } = -100000;
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[DisplayName("In Pos")]
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public double InPos { get; set; } = 1e-2; // Default: prismatic 조인트: [mm] 기준
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[DisplayName("HW Safety Position")]
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public double SafetyPosition { get; set; } = -999.0;
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public AJINMotorConfig(string motorName)
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{
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ConnConfig = null;
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Name = motorName;
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MoveRange = (0, 1800);
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VelocityRange = (0, 500);
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}
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}
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}
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