public static void GoSafetyPosition(short axi, short card)
{
AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation();
axiSituation = AxiCondition.readCondition(axi, card);
if (axiSituation.negativeLimit == true)
{
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = 5000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
else if (axiSituation.positveLimit == true)
{
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = -5000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
}
public static void GoHome(short axi, short card)
{
mc.TJogPrm jopPra = new mc.TJogPrm();
jopPra.acc = 0.25;
jopPra.dec = 0.25;
double value = 20;
AxiCondition.AxiSituation axiSituation = new AxiCondition.AxiSituation();
JogMotin(0, 1, jopPra, -value);
do
{
axiSituation = AxiCondition.JustReadCondition(axi, card);
}while (axiSituation.negativeLimit == false);
mc.TTrapPrm p_trap = new mc.TTrapPrm();
p_trap.acc = 0.25;
p_trap.dec = 0.25;
p_trap.smoothTime = 25;
p_trap.velStart = 1;
TrapParameter setTrapParameter = new TrapParameter();
setTrapParameter.position = 10000;
setTrapParameter.sleep = 20;
Trap(true, p_trap, setTrapParameter, axi);
}
//trap运动
public static void Trap(bool positive, mc.TTrapPrm p_trap, TrapParameter setTrapParameter, short axi)
{
int AxiStatus;
uint pClock;
short sRtn = mc.GT_GetSts(0, axi, out AxiStatus, 1, out pClock);
if ((AxiStatus & 0x2) == 0x2 && (AxiStatus & 0x20) == 0x20)
{
Config.commandhandler("伺服报警或处于正限位", sRtn);
}
else
{
mc.TTrapPrm trap = new mc.TTrapPrm();
//清除各轴的报警和限位
sRtn = mc.GT_ClrSts(0, axi, 1);
if (sRtn != 0)
{
Config.commandhandler("清除出错", sRtn);
}
// 伺服使能
sRtn = mc.GT_AxisOn(0, axi);
if (sRtn != 0)
{
Config.commandhandler("使能出错", sRtn);
}
// 位置清零
sRtn = mc.GT_ZeroPos(0, axi, 1);
if (sRtn != 0)
{
Config.commandhandler("位置清零出错", sRtn);
}
// AXIS轴规划位置清零
sRtn = mc.GT_SetPrfPos(0, axi, 0);
if (sRtn != 0)
{
Config.commandhandler("规划出错", sRtn);
}
// 将AXIS轴设为点位模式
sRtn = mc.GT_PrfTrap(0, axi);
if (sRtn != 0)
{
Config.commandhandler("设置模式出错", sRtn);
}
// 读取点位运动参数
sRtn = mc.GT_GetTrapPrm(0, axi, out trap);
if (sRtn != 0)
{
Config.commandhandler("读取参数出错", sRtn);
}
trap.acc = p_trap.acc;
trap.dec = p_trap.dec;
trap.smoothTime = p_trap.smoothTime;
// 设置点位运动参数
sRtn = mc.GT_SetTrapPrm(0, axi, ref trap);
if (sRtn != 0)
{
Config.commandhandler("设置参数出错", sRtn);
}
// 设置AXIS轴的目标位置
int posation = Convert.ToInt32(setTrapParameter.position);
sRtn = mc.GT_SetPos(0, axi, posation);
if (sRtn != 0)
{
Config.commandhandler("设置位置出错", sRtn);
}
// 设置AXIS轴的目标速度
double 速度 = Convert.ToDouble(setTrapParameter.sleep);
sRtn = mc.GT_SetVel(0, axi, 速度);
if (sRtn != 0)
{
Config.commandhandler("设置速度出错", sRtn);
}
// 启动AXIS轴的运动
sRtn = mc.GT_Update(0, 2 ^ axi);
if (sRtn != 0)
{
Config.commandhandler("启动运动出错", sRtn);
}
}
}