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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Xml.Serialization;
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namespace Rs.Motion.Base.Config
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{
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public class AxisConfig
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{
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[XmlIgnore]
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public IAxis Axis { get; set; }
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/// <summary>
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/// 卡号
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/// </summary>
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[CommonPropertyDescription("卡号")]
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[XmlElement]
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public ushort CardId { get; set; } = 0;
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[CommonPropertyDescription("ZTM MC")]
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[XmlElement]
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public short CardMc { get; set; } = 0;
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/// <summary>
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/// 轴号
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/// </summary>
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[CommonPropertyDescription("轴号")]
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[XmlElement]
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public ushort AxisId { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("别名")]
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public string AxisName { get; set; } = "AxisName";
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[XmlElement]
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[CommonPropertyDescription("卡类型 \r\n 脉冲卡 0 \r\n 总线卡 1 ")]
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[CopyAttribute]
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public ushort CardType { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("回零方向 \r\n0:负方向回零 \r\n1:正方向回零")]
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[CopyAttribute]
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public short HomeDir { get; set; } = 0;
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[XmlElement]
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[LeisaiPropertyDescription("回零模式 \r\n0：一次回零\r\n1：一次回零加回找\r\n2：二次回零\r\n3：原点加同向 EZ\r\n4：单独记一个 EZ\r\n5：原点加反向 EZ\r\n6：原点锁存\r\n7：原点锁存加同向 EZ\r\n8：单独记一个 EZ 锁存\r\n9：原点锁存加反向 EZ")]
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[ZTMPropertyDescription("回零模式 \r\n 0-无效 \r\n1-HOME，零点开关一次回零 \r\n 2-LMT，限位开关一次回零\r\n 3-Z，编码器Z相信号一次回零\r\n 4-HOME+Z，原点与编码器Z相信号联合回零\r\n5-LMT+Z，限位开关与编码器Z相信号联合回零\r\n 6-LMT+HOME，限位开关与零点开关联合回零\r\n7-LMT+HOME+Z，限位开关、零点开关与编码器Z相信号联合回零\r\n 8-原地，仅仅将轴的位置清零")]
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[CopyAttribute]
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public ushort HomeMode { get; set; } = 3;
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[XmlElement]
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[CommonPropertyDescription("原点信号有效电平 \r\n0:低有效，\r\n1:高有效")]
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[CopyAttribute]
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public ushort HomeOrgLogic { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("设置捕获沿：0-下降沿，1-上升沿")]
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[CopyAttribute]
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public ushort CaptureEdge { get; set; } = 0;
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[XmlElement]
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[LeisaiPropertyDescription("回零速度模式: \r\n0:低速回零 \r\n1:高速回零")]
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[ZTMPropertyDescription("不用此属性")]
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[CopyAttribute]
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public ushort HomeVelMode { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("回零速度: 单位 mm/s")]
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[CopyAttribute]
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public int HomeSpeed { get; set; } = 2;
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[XmlElement]
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[CommonPropertyDescription("回原点偏后偏移 mm")]
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[CopyAttribute]
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public double HomeOffset { get; set; } = 0.0;
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[XmlElement]
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[CommonPropertyDescription("是否启用编码器 \r\n 0禁用 \r\n 1启用")]
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[CopyAttribute]
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public ushort EnableEncoder { get; set; } = 0;
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[XmlElement]
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[DisplayName("脉冲模式")]
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[Description("脉冲模式")]
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[CopyAttribute]
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public ushort PulseMode { get; set; } = 1;
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[XmlElement]
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[CommonPropertyDescription("脉冲输出模式")]
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[CopyAttribute]
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public ushort PulseOutMode { get; set; } = 5;
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[XmlElement]
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[CommonPropertyDescription("脉冲输出方向")]
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[CopyAttribute]
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public short PulseOutDir { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("脉冲输出索引方向")]
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[CopyAttribute]
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public short PulseOutIndexDir { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("编码器输入口的计数方式 \r\n0：非 A/B 相(脉冲/方向) \r\n1：1×A/B \r\n2：2×A/B \r\n3：4×A/B")]
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[CopyAttribute]
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public ushort CounterInMode { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("启用EMG急停信号 \r\n0:禁用 \r\n1:启用")]
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[CopyAttribute]
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public ushort EnableEmg { get; set; }
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[XmlElement]
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[CommonPropertyDescription("EMG信号有效电平，\r\n0：低有效，\r\n1：高有效")]
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[CopyAttribute]
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public ushort EmgLogic { get; set; }
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[XmlElement]
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[CommonPropertyDescription("最大速度 单位:mm/s")]
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[CopyAttribute]
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public double MaxSpeed { get; set; }
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[XmlElement]
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[CommonPropertyDescription("最小速度 单位:mm/s")]
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[CopyAttribute]
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public double MinSpeed { get; set; }
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[XmlElement]
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[CommonPropertyDescription("停止速度 单位:mm/s")]
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[CopyAttribute]
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public double StopSpeed { get; set; }
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[XmlElement]
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[CommonPropertyDescription("S型曲线时间 单位：秒")]
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[CopyAttribute]
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public double STime { get; set; } = 0.02;
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[XmlElement]
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[CommonPropertyDescription("电机转一圈的脉冲数 pulse/r")]
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[CopyAttribute]
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public int PulseOneRound { get; set; } = 10000;
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[XmlElement]
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[CommonPropertyDescription("电机转一圈运动距离 mm/r")]
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[CopyAttribute]
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public double DistOneRound { get; set; } = 5;
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[XmlElement]
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[CommonPropertyDescription("正向软极限位置 mm")]
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[CopyAttribute]
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public double PelSoftwarePosition { get; set; } = 50.0;
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[XmlElement]
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[CopyAttribute]
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[CommonPropertyDescription("负向软极限位置 mm")]
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public double NelSoftwarePosition { get; set; } = -50.0;
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[XmlElement]
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[CommonPropertyDescription("是否启用软限位 0:禁止 1-允许")]
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[CopyAttribute]
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public ushort EnableSoftwareEL { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("软极限源 0:指令位置 1:编码器位置")]
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[CopyAttribute]
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public ushort SoftSource { get; set; } = 1;
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[XmlElement]
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[CommonPropertyDescription("限位信号的有效电平 0:正负限位低电平有效 1:正负限位高电平有效")]
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[CopyAttribute]
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public ushort ElLogic { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("限位开关是否启用 根据卡的相关说明配置")]
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[CopyAttribute]
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public short EnableEL { get; set; }
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[XmlElement]
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[CommonPropertyDescription("软极限制动模式 0:减速停止 1:立即停止")]
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[CopyAttribute]
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public ushort EL_stop_mode { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("Z信号电平 0:低电平有效 1:高电平有效")]
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[CopyAttribute]
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public ushort EzLogic { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("加速度时间S")]
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[CopyAttribute]
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public double AccTime { get; set; } = 0.0;
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[XmlElement]
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[CommonPropertyDescription("减速度时间S")]
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[CopyAttribute]
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public double DecTime { get; set; } = 0.0;
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[XmlElement]
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[CommonPropertyDescription("到位信号电平 0:低电平有效 1:高电平有效")]
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[CopyAttribute]
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public ushort InpLogic { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("到位信号启用")]
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[CopyAttribute]
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public ushort EnableInp { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("报警信号电平 0:低电平有效 1:高电平有效")]
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[CopyAttribute]
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public ushort AlarmLogic { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("报警信号启用 0:禁用 1:启用")]
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[CopyAttribute]
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public ushort EnableAlarm { get; set; } = 0;
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[XmlElement]
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[CommonPropertyDescription("允许的误差 单位:mm")]
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[CopyAttribute]
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public double Tolerance { get; set; } = 0.1;
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[XmlElement]
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[CommonPropertyDescription("高速位置对比的电平脉冲宽度 单位:us")]
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[CopyAttribute]
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public int HcmpPulseWidth { get; set; } = 50;
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[XmlElement]
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[CommonPropertyDescription("高速位置比较有效电平：\r\n0：低电平，\r\n1：高电平")]
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[CopyAttribute]
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public ushort HcmpOutLogic { get; set; } = 0;
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[XmlElement]
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[ZTMPropertyDescription("电流值 ma")]
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[CopyAttribute]
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public short Current { get; set; } = 500;
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[XmlElement]
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public ushort AbsoluteEncoder { get; set; } = 0;
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[XmlElement]
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public ushort AssistEncoder { get; set; } = 0;
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/// <summary>
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/// 是否允许JOG运动
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/// </summary>
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public bool CanJogMove { get; set; } = false;
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/// <summary>
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/// 是否需要回原
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/// </summary>
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public int NeedGoHome { get; set; } = 1;
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}
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public class CopyAttribute:Attribute
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{
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}
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}
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