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);
}
public static short singleAxisMove(ref AxisInfo axisInfo, long pos, ushort positionMode)
{
short m = 0;
if (axisInfo.m_run_status == RUN)
{
return(-1);
}
RFIDControl.dmc_set_pulse_outmode(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_pulse_mode);
RFIDControl.dmc_set_profile(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_speed_min, axisInfo.m_speed_max, axisInfo.m_acc_time, axisInfo.m_dcc_time, 100);
//设定S段时间
RFIDControl.dmc_set_s_profile(axisInfo.m_card_num, axisInfo.m_axis_num, 0, 0.4);
m = RFIDControl.dmc_pmove(axisInfo.m_card_num, axisInfo.m_axis_num, pos, positionMode);
checkDmcMessage(m);
axisInfo.m_run_status = RUN;
return(m);
}
public static ushort startSearchHome(ref AxisInfo axisInfo)
{
ulong axisStatus;
ushort orignCount = 0;
axisInfo.m_acc_time = 0.1;
axisInfo.m_dcc_time = 0.1;
orign_begin:
axisInfo.m_home_flag = 0;
RFIDControl.dmc_set_home_pin_logic(axisInfo.m_card_num, axisInfo.m_axis_num, LOW, 0); //原点信号 低电平有效
RFIDControl.dmc_set_pulse_outmode(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_pulse_mode); //设置脉冲输出模式
RFIDControl.dmc_set_profile(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_speed_min_home, axisInfo.m_speed_max_home, axisInfo.m_acc_time, axisInfo.m_dcc_time, 500); //设置速度曲线
RFIDControl.dmc_set_homemode(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)axisInfo.m_home_dir, 1, (ushort)axisInfo.m_home_mode, 0); //设置回零方式 反向回原点
orignCount++;
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num); //读取轴的状态
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0) //开始回原点时正在原点位置上
{
// dmc_set_profile(m_axis->m_card_num,m_axis->m_axis_num,m_axis->m_speed_min_home,m_axis->m_speed_max_home,m_axis->m_acc_time,m_axis->m_dcc_time,500);//设置速度曲线
RFIDControl.dmc_vmove(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)(axisInfo.m_home_dir == MoveDir.FOR_WORD ? MoveDir.BACK_WORD : MoveDir.FOR_WORD)); //反向运动
delayTime(WAIT_TIMER); //延时
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0);//等到原点信号 变高
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
}
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B) != 0) //开始时在负限位
{
RFIDControl.dmc_vmove(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)(axisInfo.m_home_dir == MoveDir.FOR_WORD ? MoveDir.BACK_WORD : MoveDir.FOR_WORD)); //反向运动
delayTime(WAIT_TIMER); //延时
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) == 0);//查询原点信号
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0);//查询消失原点信号
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
}
delayTime(100); //延时
RFIDControl.dmc_home_move(axisInfo.m_card_num, axisInfo.m_axis_num); //回零动作
delayTime(WAIT_TIMER); //延时
while (RFIDControl.dmc_check_done(axisInfo.m_card_num, axisInfo.m_axis_num) == RUN) //判断当前轴状态
{
//遇到极限自动返回
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num); //读取轴的状态
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B) != 0) //负向极限
{
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
delayTime(WAIT_TIMER); //延时
RFIDControl.dmc_vmove(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)(axisInfo.m_home_dir == MoveDir.BACK_WORD ? MoveDir.FOR_WORD : MoveDir.BACK_WORD)); //反向运动
delayTime(WAIT_TIMER); //延时
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) == 0);//查询原点信号
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0); //查询消失原点信号
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
delayTime(100); //延时
RFIDControl.dmc_home_move(axisInfo.m_card_num, axisInfo.m_axis_num); //重新开始回零动作
}
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_F) != 0) //负向极限
{
if (orignCount < 3)
{
goto orign_begin;
}
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
return(NO_ORG);//没有原信号
}
if (startGoHome == 0)
{
return(NO_ORG);
}
}
if (startGoHome == 0)
{
return(NO_ORG);
}
delayTime(100);
RFIDControl.dmc_set_position(axisInfo.m_card_num, axisInfo.m_axis_num, 0); //设置零点
axisInfo.m_home_flag = 1;
//设定脉冲模式及逻辑方向（此处脉冲模式固定为P+D方向：脉冲+方向）
RFIDControl.dmc_set_pulse_outmode(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_pulse_mode);
RFIDControl.dmc_set_profile(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_speed_min, axisInfo.m_speed_max, axisInfo.m_acc_time, axisInfo.m_dcc_time, 0);
//设定S段时间
RFIDControl.dmc_set_s_profile(axisInfo.m_card_num, axisInfo.m_axis_num, 0, 0.4);
RFIDControl.dmc_set_encoder(axisInfo.m_card_num, axisInfo.m_axis_num, 0); //设置初始值为0
RFIDControl.dmc_set_position(axisInfo.m_card_num, axisInfo.m_axis_num, 0); //初始位置设为零
RFIDControl.dmc_set_equiv(axisInfo.m_card_num, axisInfo.m_axis_num, 1);
axisInfo.m_pulse_mode = 3;
axisInfo.m_home_flag = 1;
return(ORG_OK);
}
public static void servoErc(ref AxisInfo axisInfo)
{
RFIDControl.dmc_write_erc_pin(axisInfo.m_card_num, axisInfo.m_axis_num, LOW);
Thread.Sleep(100);
RFIDControl.dmc_write_erc_pin(axisInfo.m_card_num, axisInfo.m_axis_num, HIGH);
}
public static void motorStop(ref AxisInfo axisInfo)
{
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);//直接停止
}