//选择回零轴
private void button_home_Click(object sender, EventArgs e)
{
Global.WorkVar.tag_isFangDaiJieChu = false;
if (!Work.IsMove(1))
{
return;
}
if (CBChoiceAxis.Text == "")
{
MessageBoxLog.Show("选择轴位不能为空");
return;
}
AxisConfig acg;
acg = StationManage.FindAxis(CBStnChioce.Text, CBChoiceAxis.Text);
if (acg == null)
{
MessageBoxLog.Show("查找轴失败");
return;
}
GoHomeParameterUI gohome = new GoHomeParameterUI(acg);
gohome.ShowDialog();
}
/// <summary>
/// 伺服电机回原函数
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <returns></returns>
public static short GoHome(string stationName, string axisName)
{
AxisConfig axisC = StationManage.FindAxis(stationName, axisName);
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
short ret = 0;
if (axisC == null)
{
return(shrFail);
}
short shrResult = -1;
switch (axisC.GoHomeType)
{
case 0:
shrResult = Base_.SR_GoHome(axisC);
break;
case 1:
shrResult = Base_.SR_GoHome(axisC);
break;
case 2:
shrResult = Base_.SR_GoOneHome(axisC);
break;
case 3:
shrResult = Base_.SR_GoOneHomeOrg(axisC);
break;
default:
shrResult = Base_.SR_GoHome(axisC);
break;
}
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrResult);
}
/// <summary>
/// 轴绝对运动
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <param name="pointName"></param>
/// <returns></returns>
public static short AxisAbsoluteMove(string stationName, string axisName, string pointName, int asxisIndex)
{
StationModule stationM = StationManage.FindStation(stationName);
if (stationM == null)
{
return(shrFail);
}
AxisConfig axisC = StationManage.FindAxis(stationM, axisName);
if (axisC == null)
{
return(shrFail);
}
PointAggregate pointA = StationManage.FindPoint(stationM, pointName);
if (pointA == null)
{
return(shrFail);
}
NewCtrlCardBase Base_ = tag_NewCtrlCardBase[(int)axisC.tag_MotionCardManufacturer];
if (Base_ == null)
{
MessageBoxLog.Show(NewCtrlCardBase.GetManufacturerName((int)axisC.tag_MotionCardManufacturer) + "控制卡初始化失败!");
return(shrFail);
}
short shrResult = 0;
if (pointA.tag_motionType == 0)
{
shrResult = Base_.SR_AbsoluteMove(axisC, pointA.arrPoint[asxisIndex]);
}
else
{
shrResult = Base_.SR_RelativeMove(axisC, pointA.arrPoint[asxisIndex]);
}
if (shrResult != shrSuccess)
{
return(shrFail);
}
return(shrSuccess);
}
/// <summary>
/// 轴运动并等待停止并判断位置
/// </summary>
/// <param name="stationName"></param>
/// <param name="axisName"></param>
/// <param name="pointName"></param>
/// <param name="asxisIndex"></param>
/// <returns></returns>
public static short AxisAbsoluteMoveAndWaitStopVrf(string stationName, string axisName, string pointName, int asxisIndex)
{
if (AxisAbsoluteMove(stationName, axisName, pointName, asxisIndex) != 0)
{
Global.WorkVar.tag_StopState = 2;
if (MessageBoxLog.Show("工位:\r\n" + stationName + "\r\n轴名：\r\n" + axisName + "\t移动异常，请检查伺服驱动！") == DialogResult.OK)
{
}
return(shrFail);
}
StationModule stationM = StationManage.FindStation(stationName);
if (stationM == null)
{
return(shrFail);
}
PointAggregate pointA = StationManage.FindPoint(stationM, pointName);
if (pointA == null)
{
return(shrFail);
}
AxisConfig axisC = StationManage.FindAxis(stationM, axisName);
if (WaitAxisStop(axisC) != 0)
{
return(shrFail);
}
double pos_loadY = 0;
short ret = SR_GetPrfPos((int)axisC.tag_MotionCardManufacturer, axisC.CardNum, axisC.AxisNum, ref pos_loadY);
if (Global.WorkVar.tag_SuspendState == 1 || (Global.WorkVar.bSuspendState_L && axisC.AxisName == "左Y轴") || (Global.WorkVar.bSuspendState_R && axisC.AxisName == "右Y轴"))
{
}
else if (pos_loadY / axisC.Eucf < pointA.arrPoint[asxisIndex].dblPonitValue - 1 || pos_loadY / axisC.Eucf > pointA.arrPoint[asxisIndex].dblPonitValue + 1)
{
return(shrFail);
}
return(shrSuccess);
}