void Home_alone(ushort Cardno, ushort Axis, ushort home_mode, double Low_Vel, double High_Vel)
{
// LTDMC.nmc_set_axis_enable(0, 0); //使能
///Thread.Sleep(1000);
PublicClass.AxisHome(Cardno, Axis, home_mode, Low_Vel, High_Vel);
ushort homerres = 99;
while ((LTDMC.dmc_check_done(Cardno, Axis) == 0) || (homerres != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(Cardno, Axis, ref homerres);
Application.DoEvents();
if (VarClass.ReadIN[4]) //jiting
{
return;
}
Thread.Sleep(10);
}
}
public void HomeMove()
{
HomeStep = 1;
while (HomeStep != 0)
{
switch (HomeStep)
{
case 1:
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("3个Z轴归零中", Color.Black);
});
Home1:
PublicClass.AxisHome(0, 0, 7, VarClass.Low_Wel[0], VarClass.High_Wel[0]); //大Z轴归零
PublicClass.AxisHome(0, 1, 7, VarClass.Low_Wel[1], VarClass.High_Wel[1]); //小Z轴归零
PublicClass.AxisHome(0, 2, 7, VarClass.Low_Wel[2], VarClass.High_Wel[2]); //扫码轴归零
ushort BigZstate = 99;
ushort SmallZstate = 99;
ushort ScanZstate = 99;
Thread.Sleep(500);
while ((LTDMC.dmc_check_done(0, 0) == 0) || (BigZstate != 1) || (LTDMC.dmc_check_done(0, 1) == 0) || (SmallZstate != 1) || (LTDMC.dmc_check_done(0, 2) == 0) || (ScanZstate != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(0, 0, ref BigZstate);
LTDMC.dmc_get_home_result(0, 1, ref SmallZstate);
LTDMC.dmc_get_home_result(0, 2, ref ScanZstate);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //大Z轴停止
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
PublicClass.AxisStop(0, 2, 0); //大Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home1;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("3个Z轴归零完成，下一步小Z轴归零", Color.Black);
});
HomeStep = 3;
break;
}
case 3:
{
Home3:
PublicClass.AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[1]); //小Z轴跑低位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[1] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home3;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小Z轴到达低位，下一步左右气缸出", Color.Black);
});
//PublicClass.WriteOUT(0, 12, 0);//左气缸出
//PublicClass.WriteOUT(0, 13, 1);
PublicClass.WriteOUT(0, 6, 0); //左右气缸出
PublicClass.WriteOUT(0, 7, 1);
while (!VarClass.ReadIN[13] || !VarClass.ReadIN[16]) //左,右气缸出限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左右气缸出完，下一步小Z轴跑位，扫码Z轴去扫码位", Color.Black);
});
HomeStep = 4;
break;
}
case 4:
{
Home4:
Thread.Sleep(500);
PublicClass.AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小 Z轴跑高位
// PublicClass.AxisMove(2, VarClass.AutoSpeed[2], VarClass.ScanZ_Location[1]); //扫码Z轴到扫描位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home4;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小Z轴到达高位；XY轴归零", Color.Black);
});
HomeStep = 5;
break;
}
case 5:
{
Home5:
Thread.Sleep(500);
PublicClass.AxisHome(0, 3, 13, VarClass.Low_Wel[3], VarClass.High_Wel[3]); //X轴归零
PublicClass.AxisHome(0, 4, 13, VarClass.Low_Wel[4], VarClass.High_Wel[4]); //Y轴归零
ushort XAixsState = 99;
ushort YAixsState = 99;
Thread.Sleep(500);
while ((LTDMC.dmc_check_done(0, 3) == 0) || (XAixsState != 1) || (LTDMC.dmc_check_done(0, 4) == 0) || (YAixsState != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(0, 3, ref XAixsState);
LTDMC.dmc_get_home_result(0, 4, ref YAixsState);
Thread.Sleep(10);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //X轴停止
PublicClass.AxisStop(0, 4, 0); //Y轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home5;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("归零完成", Color.Black);
});
VarClass.Homeing = false; //归零标志
VarClass.HomeFinish = true;
HomeStep = 0;
break;
}
}
}
}