private short GoHomeWithInput(int timeout, HomeMode homeMode, bool direction, HostarSpeed goLimit, HostarSpeed goHome, IOInput limit)
{
short rtn = 0;
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
this.StopAxis();
this.GetAxisSts();
#region 到轴的极限位置
if (!limit.GetIO())
{
rtn = this.Jog(goLimit, !direction); // 到极限
while (!limit.GetIO())
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
}
this.StopAxis();
#endregion
Thread.Sleep(200);
#region 开始回原点
stopwatch.Reset();
stopwatch.Start();
var homeSpeed = goHome.GetActSpeed(this.AxisRatio);
rtn += this.AxisGoHome(homeMode, direction, homeSpeed.StartSpeed, homeSpeed.MaxSpeed, homeSpeed.AccTime, homeSpeed.DecTime);
Thread.Sleep(200);
this.GetAxisSts();
while (this.bAxisIsHoming || this.bAxisIsRunning)
{
Thread.Sleep(1);
this.GetAxisSts();
if (stopwatch.ElapsedMilliseconds > timeout || MotionHelper.Instance.Emg)
{
stopwatch.Stop();
this.StopAxis();
this.ClearAxisSts();
return(-1);
}
}
this.StopAxis();
this.ClearAxisSts();
this.ZeroAxis();
stopwatch.Stop();
return(rtn);
#endregion
}
/// <summary>
/// 轴回零
/// </summary>
/// <param name="uHomeMode">回零模式</param>
/// <param name="IsDirP">是否正向</param>
/// <param name="LowVel">最低速度</param>
/// <param name="HighVel">最高速度</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <returns></returns>
public short AxisGoHome(HomeMode uHomeMode, bool direction, double LowVel, double HighVel, double acc, double dec)
{
lock (myobj)
{
short rtn = AxisSetValue(LowVel, HighVel, acc, dec);
rtn += (short)Motion.mAcm_AxHome(AxisHandle[CardNO][AxisNo], (ushort)uHomeMode, (ushort)(direction ? 0 : 1));
return(rtn);
}
}
private void cbHomeMode_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (cbHomeMode.SelectedIndex > -1)
{
homemode = (HomeMode)(cbHomeMode.SelectedIndex);
if (homeModeChanged != null)
{
homeModeChanged(channel, homemode);
}
}
}
public bool SetHomeMode(HomeMode mode)
{
if (connected)
{
homeMode = mode;
return(true);
}
else
{
return(false);
}
}
public ParameterM314(string folderPath, string fileName)
: base(folderPath, fileName)
{
strVelA = 50;
devVelA = 100;
accVelA = 0.1;
decVelA = 0.1;
strVelM = 5;
devVelM = 10;
accVelM = 0.1;
decVelM = 0.1;
oPRDevVelH = 50;
creepStrVelH = 1;
creepDevVelH = 5;
creepAccVelH = 0.1;
creepDecVelH = 0.1;
offsetH = 0;
jogMicroSpeed = 0.1;
jogLowSpeed = 1;
jogMidSpeed = 5;
jogHighSpeed = 10;
jogMaxSpeed = 20;
distPerRole = 1;
pulsePerRole = 1;
homeMode = HomeMode.OnePoint;
pulseMode = PulseMode.CW_CCW_Falling_edge;
encMode = EncMode.X4;
encDir = 0;
logicORG = true;
logicEZ = false;
logicSD = true;
logicLTC = true;
clearDelay = 1;
latchSource = 0;
doubleHomeInitKey = true;
isActive = true;
enabled = true;
homeTimeout = 600000;
doubleHomeTimeout = 600000;
softLimitEnabled = false;
inPositionPrecise = 0.001;
stopCmdWaitSeconds = 0;
}
/// <summary>
/// 轴回零
/// </summary>
/// <param name="uHomeMode">回零模式</param>
/// <param name="IsDirP">是否正向</param>
/// <param name="LowVel">最低速度</param>
/// <param name="HighVel">最高速度</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <returns></returns>
public short AxisGoHome(HomeMode uHomeMode, bool IsDirP, double LowVel, double HighVel, double acc, double dec)
{
ushort uDirMode = 0;
if (IsDirP)
{
uDirMode = 0;
}
else
{
uDirMode = 1;
}
short rtn = AxisSetValue(LowVel, HighVel, acc, dec);
rtn += (short)Motion.mAcm_AxHome(ipAxisHandle[AxisNo - 1], (ushort)uHomeMode, uDirMode);
return(rtn);
}
/// <summary>
/// 轴回零
/// </summary>
/// <param name="uHomeMode">回零模式</param>
/// <param name="IsDirP">是否正向</param>
/// <param name="velmode">速度模式</param>
/// <returns></returns>
public short AxisGoHome(HomeMode uHomeMode, bool IsDirP, VelMode velmode)
{
this.CleSts(true);
ushort uDirMode = 0;
if (IsDirP)
{
uDirMode = 0;
}
else
{
uDirMode = 1;
}
short rtn = AxisSetValue(velmode);
rtn += (short)Motion.mAcm_AxHome(ipAxisHandle[AxisNo - 1], (ushort)uHomeMode, uDirMode);
return(rtn);
}
public ParameterL122M2X4(string folderPath, string fileName)
: base(folderPath, fileName)
{
isActive = true;
strVelA = 50;
devVelA = 100;
accVelA = 0.1;
decVelA = 0.1;
strVelM = 5;
devVelM = 10;
accVelM = 0.1;
decVelM = 0.1;
creepStrVelH = 1;
creepDevVelH = 5;
creepAccVelH = 0.1;
creepDecVelH = 0.1;
oPRDevVelH = 50;
offsetH = 0;
jogMicroSpeed = 0.1;
jogLowSpeed = 1;
jogMidSpeed = 5;
jogHighSpeed = 10;
jogMaxSpeed = 20;
distPerRole = 1;
pulsePerRole = 1;
maxVel = 20000;
homeMode = HomeMode.OnePoint;
pulseMode = PulseMode.AB_Phase;
encMode = EncMode.CW_CCW;
encDir = 0;
logicORG = true;
logicZ = false;
logicSD = true;
logicLTC = true;
clearDelay = 1;
softLimitEnabled = false;
inPositionPrecise = 0.001;
stopCmdWaitSeconds = 0;
}
public static extern bool Show(HomeMode mode);
public short MoveHome(short cardId, short axisId, HomeMode mode, short moveDir, short indexDir, double velH, double velL, double acc, int homeOffset, int searchHomeDis, int searchIndexDis, int escapeStep)
{
short t = mc.HOME_MODE_HOME;
switch (mode)
{
case HomeMode.Limit:
t = mc.HOME_MODE_LIMIT;
break;
case HomeMode.Limit_Home:
t = mc.HOME_MODE_LIMIT_HOME;
break;
case HomeMode.Limit_Index:
t = mc.HOME_MODE_LIMIT_INDEX;
break;
case HomeMode.Limit_Home_Index:
t = mc.HOME_MODE_LIMIT_HOME_INDEX;
break;
case HomeMode.Home:
t = mc.HOME_MODE_HOME;
break;
case HomeMode.Home_Index:
t = mc.HOME_MODE_HOME_INDEX;
break;
case HomeMode.Index:
t = mc.HOME_MODE_INDEX;
break;
default:
break;
}
mc.THomePrm homePrm;
short rtn = mc.GT_GetHomePrm(cardId, axisId, out homePrm);
if (rtn != 0)
{
return(rtn);
}
homePrm.mode = t;
homePrm.moveDir = moveDir;
homePrm.indexDir = indexDir;
homePrm.edge = 0;
homePrm.triggerIndex = -1;
homePrm.velHigh = velH;
homePrm.velLow = velL;
homePrm.acc = acc;
homePrm.dec = acc;
homePrm.smoothTime = 0;
homePrm.homeOffset = homeOffset;
homePrm.searchHomeDistance = searchHomeDis;
homePrm.searchIndexDistance = searchIndexDis;
homePrm.escapeStep = escapeStep;
//clear capture status
rtn = mc.GT_ClearCaptureStatus(cardId, axisId);
if (rtn != 0)
{
return(rtn);
}
//set trap move
rtn = mc.GT_PrfTrap(cardId, axisId);
if (rtn != 0)
{
return(rtn);
}
//move home
rtn = mc.GT_GoHome(cardId, axisId, ref homePrm);
if (rtn != 0)
{
return(rtn);
}
return(0);
}
