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();
}
public static short initBoard()//初始化办卡 返回值：-1：没有卡号 0：正常
{
short m = RFIDControl.dmc_board_init();
if (m <= 0) //控制卡的初始化操作
{
//未找到控制卡
Console.WriteLine("未找到控制卡");
return(-1);
}
for (int i = 0; i < AXIS_NUM; ++i)
{
mAxis[i] = new AxisInfo();
mAxis[i].m_card_num = 0;
mAxis[i].m_axis_num = (ushort)i;
mAxis[i].m_home_mode = 1; //一次回零加回找
mAxis[i].m_home_flag = 0;
mAxis[i].m_acc_time = 0.4;
mAxis[i].m_dcc_time = 0.4;
mAxis[i].m_home_dir = MoveDir.FOR_WORD;
mAxis[i].m_speed_max = 10000; //dispenser_para.motor_speed;
mAxis[i].m_speed_max_home = 2000; //dispenser_para.go_home_speed;
mAxis[i].m_pulse_mode = 3;
mAxis[i].m_speed_min = 0;
mAxis[i].m_speed_min_home = 0;
mAxis[i].m_run_status = STOP;//停止状态
if (i < 2)
{
RFIDControl.dmc_set_inp_mode(mAxis[i].m_card_num, mAxis[i].m_axis_num, HIGH, LOW);
RFIDControl.dmc_set_alm_mode(mAxis[i].m_card_num, mAxis[i].m_axis_num, HIGH, 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_set_counter_inmode(mAxis[i].m_card_num, mAxis[i].m_axis_num, 1); //设置编码器的计数方式 1倍频
RFIDControl.dmc_set_encoder(mAxis[i].m_card_num, mAxis[i].m_axis_num, 0); //设置初始值为0
}
}
//两轴查补
mInpterplaType.axis_cout = 2; //2个轴查补
mInpterplaType.car_num = 0; //坐标系号
mInpterplaType.card_num = 0; //卡号
mInpterplaType.line_type = 0; //线型
mInpterplaType.posi_mode = PositionMode.ABS_MODE; //位置模式
mInpterplaType.m_acc_time = 3;
mInpterplaType.m_dcc_time = 3;
mInpterplaType.m_speed_max = X_AXIS_MAX_SPEED;
mInpterplaType.arc_dir = CCW;
return(0);
}