void Btn_CardInit_Click(object sender, EventArgs e)
{
int status = -1;
headcard = new HZC_Head08Card(1, 7);
try
{
if (CAN_flag)
{
status = headcard.Initial(1, 0);
if (status == 0)
{
SetText("初始化成功！", -1);
for (int i = 0; i < 8; i++)
{
headcard.SetPfParam(i, 35, 0.03, 0);
headcard.SetPfParam(i, 70, 0.026, 1);
headcard.SetPfParam(i, 100, 0.024, 2);
headcard.SetPfParam(i, 130, 0.024, 3);
headcard.SetPfParam(i, 170, 0.020, 4);
headcard.SetPfParam(i, 200, 0.015, 5);
}
Card_flag = true;
}
else
{
SetText("初始化失败！", -1);
Card_flag = false;
}
}
else
{
SetText("请打开CAN卡！", -1);
}
}
catch { }
}
private int home()
{
HZC_Head08Card headcard = new HZC_Head08Card(1, 7);
int status = 0;
switch (home_flag)
{
case 0:
headcard.SetPos(axis, 0);
headcard.SetEncPos(axis, 0);
if (headcard.GetAxisSensor(homesensorid) == sensorstate)
{
home_flag = 1;
}
else
{
home_flag = 20;
}
break;
case 1: //处于感应状态
//headcard.PfMove(axis, pulse, 0);
headcard.CnstMove(axis, speed1, -10000);
home_flag = 2;
break;
case 2:
int s = -1;
s = headcard.GetAxisSensor(homesensorid);
if (s != sensorstate)
{
headcard.AbortMoving(axis);
sw.StartStopWatch(150);
while (!sw.TimeUp())
{
;
}
home_flag = 3;
}
break;
case 3:
headcard.SearchForhomepos(axis, 0, 450, 300);
sw.StartStopWatch(300);
home_flag = 4;
break;
case 4:
//if (headcard.GetStatus(axis) != 0) break;
while (!sw.TimeUp())
{
;
}
if (headcard.GetAxisSensor(homesensorid) == 0)
{
headcard.SetPos(axis, 0);
}
else
{
home_flag = 3;
break;
}
home_flag = 0;
status = 1;
break;
case 20: //未感应状态
headcard.CnstMove(axis, speed1, 10000);
home_flag = 21;
break;
case 21:
//headcard.CnstMove(axis, 100, 1000);
if (headcard.GetAxisSensor(homesensorid) == sensorstate)
{
headcard.AbortMoving(axis);
sw.StartStopWatch(150);
while (!sw.TimeUp())
{
;
}
home_flag = 1;
}
break;
}
return(status);
}