public int SetHomeParam(int axis, JFHomeParam hp)
{
_CheckAxisEnable(axis, "SetHomeParam");
HTM.AXIS_INFO axInfo;
int opt = HTM.GetAxisInfo(axis, out axInfo);
if (opt != 0)
{
throw new Exception("SetHomeParam() Failed By: HTM.GetAxisInfo() return errorCode = " + opt);
}
axInfo.homeMode = (sbyte)hp.mode;
axInfo.homeDir = (byte)(hp.dir ? 1 : 0);
axInfo.homeEZA = (byte)(hp.eza ? 1 : 0);
axInfo.homeAcc = hp.acc;
axInfo.homeVm = hp.vm;
axInfo.homeVo = hp.vo;
axInfo.homeShift = hp.shift;
opt = HTM.SetAxisInfo(axis, ref axInfo);
if (0 != opt)
{
return((int)ErrorDef.InvokeFailed);
}
return((int)ErrorDef.Success);
}
/// <summary>单轴回零参数</summary>
public int GetHomeParam(int axis, out JFHomeParam pm)
{
_CheckAxisEnable(axis, "GetHomeParam");
HTM.AXIS_INFO axInfo;
int errCode = HTM.GetAxisInfo(axis, out axInfo);
if (errCode != 0)
{
pm = new JFHomeParam();
return((int)ErrorDef.InvokeFailed);
}
pm = new JFHomeParam()
{
mode = axInfo.homeMode,
dir = axInfo.homeDir != 0,
eza = axInfo.homeEZA != 0,
acc = axInfo.homeAcc,
vm = axInfo.homeVm,
vo = axInfo.homeVo,
va = axInfo.homeVo,
shift = axInfo.homeShift,
offset = 0
};
return((int)ErrorDef.Success);
}
protected override bool ActionGenuine(out string errorInfo)
{
IJFInitializable dev = null;
JFDevCellInfo ci = null;
string axisID = GetInitParamValue("轴ID") as string;
if (!JFHubCenter.Instance.MDCellNameMgr.ContainAxisName(axisID))
{
errorInfo = "参数项:\"轴ID\" = " + axisID + " 在设备名称表中不存在";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (!JFCMFunction.CheckDevCellName(JFCMFunction.Axis, axisID, out dev, out ci, out errorInfo))
{
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
JFHomeParam hp = (JFHomeParam)GetInitParamValue("轴归零参数");
/*
* 归零模式 0:使用Org（原点）作为归零参考 1：使用限位信号作为归零参考 2：仅使用EZ信号作为归零参考
*/
if (hp.mode != 0 && hp.mode != 1 && hp.mode != 2 && hp.mode != -1 && hp.mode != -2)
{
errorInfo = "归零模式设置错误,mode=" + hp.mode;
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.acc <= 0)
{
errorInfo = "加速度/减速度acc <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vm <= 0)
{
errorInfo = "最大速度参数vm <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.vo <= 0)
{
errorInfo = "寻找原点速度vo <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.va <= 0)
{
errorInfo = "接近速度va <= 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.shift < 0)
{
errorInfo = "回零偏移量sift < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
if (hp.offset < 0)
{
errorInfo = "回零补偿值offset < 0";
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
IJFModule_Motion md = (dev as IJFDevice_MotionDaq).GetMc(ci.ModuleIndex);
int errCode = md.SetHomeParam(ci.ChannelIndex, hp);
if (errCode < 0)
{
errorInfo = "SDK调用出错:" + md.GetErrorInfo(errCode);
SetOutputParamValue("执行结果", JFWorkCmdResult.ActionError);
return(false);
}
errorInfo = "Success";
SetOutputParamValue("执行结果", JFWorkCmdResult.Success);
return(true);
}
