public static void moveEventHandle()
{
while (started)
{
if (goHomeFlag != 0)
{
if (startGoHome != 0)
{
if (NO_ORG == startSearchHome(ref mAxis[X]))
{
// AfxMessageBox(_T("X轴没有找到原点！"), MB_OK, MB_ICONEXCLAMATION);
//m_axis[0].m_home_flag=false;
Console.WriteLine("X轴没有找到原点");
}
else
{
delayTime(100);
RFIDControl.dmc_write_sevon_pin(0, 0, LOW);
singleAxisMove(ref mAxis[X], (long)(-42 * line_coefficient), ABS_MODE);
while (RFIDControl.dmc_check_done(mAxis[X].m_card_num, mAxis[X].m_axis_num) == RUN)
{
;
}
RFIDControl.dmc_write_sevon_pin(0, 0, HIGH);
delayTime(100);
RFIDControl.dmc_set_position(mAxis[X].m_card_num, mAxis[X].m_axis_num, 0); //设置零点
RFIDControl.dmc_set_encoder(0, 0, 0); //设置初始值为0
}
; //m_axis[0].m_home_flag=true;
}
if (startGoHome != 0)
{
if (NO_ORG == startSearchHome(ref mAxis[Y]))
{
// AfxMessageBox(_T("U轴没有找到原点！"), MB_OK, MB_ICONEXCLAMATION);
Console.WriteLine("U轴没有找到原点");
}
else
{
delayTime(100);
RFIDControl.dmc_write_sevon_pin(0, 1, LOW);
singleAxisMove(ref mAxis[Y], (long)(820 * cicle_coefficient), ABS_MODE);
while (RFIDControl.dmc_check_done(mAxis[Y].m_card_num, mAxis[Y].m_axis_num) == RUN)
{
;
}
RFIDControl.dmc_write_sevon_pin(0, 1, HIGH);
delayTime(100);
RFIDControl.dmc_set_position(mAxis[Y].m_card_num, mAxis[Y].m_axis_num, 0); //设置零点
RFIDControl.dmc_set_encoder(0, 1, 0); //设置初始值为0
}
}
delayTime(100);
startGoHome = 0;
goHomeFlag = 0;
}
}
}
public static void closeBoard()
{
mServoIo.check_flag = 1;
for (int i = 0; i < AXIS_NUM; ++i)
{
RFIDControl.dmc_write_sevon_pin(mAxis[i].m_card_num, mAxis[i].m_axis_num, HIGH); //伺服OFF
RFIDControl.dmc_set_inp_mode(mAxis[i].m_card_num, mAxis[i].m_axis_num, LOW, LOW); //设置伺服 INP 低电平有效
RFIDControl.dmc_set_alm_mode(mAxis[i].m_card_num, mAxis[i].m_axis_num, LOW, HIGH, 0); //设置 伺服ALM 高电平有效 松下伺服正常情况下输出低电平
}
RFIDControl.dmc_board_close();
}