public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.State = false;
LoadPSATime.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (PVar.空跑)
{
if (StaWork.State == false && StaWork.IsLoadPSA == false && Gg.GetExDi(1, Gg.InPut2.PSA载台真空吸检测信号) == 0 &&
(PVar.Sta_Work[(int)BVar.工位.流水线0].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix))
{
AddList("PSA上料开始！");
StaWork.State = true;
PickUpNumber = 0;
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 30;
}
else if (LoadPSATime.TimeIsUp(50))
{
StaWork.Step = 10;
}
}
else //*****************************************************
{
if (StaWork.State == false && StaWork.IsLoadPSA == false && Gg.GetExDi(0, Gg.InPut1.PSA料仓夹紧气缸伸出) == 1 && Gg.GetExDi(1, Gg.InPut2.PSA料仓到位感应信号) == 1 && Gg.GetExDi(1, Gg.InPut2.PSA载台真空吸检测信号) == 0 &&
(PVar.Sta_Work[(int)BVar.工位.流水线0].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix))
{
AddList("PSA上料开始！");
StaWork.State = true;
PickUpNumber = 0;
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 30;
}
else if (LoadPSATime.TimeIsUp(50))
{
StaWork.Step = 10;
}
}
break;
case 30:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
AddList("PSA搬运Y轴运动到取料位置！");
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 40;
}
else if (LoadPSATime.TimeIsUp(5000))
{
AddList("PSA吸嘴升降气缸上感应信号异常！");
ShowList("PSA吸嘴升降气缸上感应信号异常！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 40:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴))
{
LoadPSATime.InitialTime();
StaWork.Step = 50;
}
else if (LoadPSATime.TimeIsUp(5000))
{
AddList("PSA搬运Y轴运动超时！");
ShowList("PSA搬运Y轴运动超时！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
break;
case 50:
if (PVar.空跑)
{
AddList("PSA料仓上层感应到物料！");
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
AddList("PSA吸嘴升降气缸下降取料！");
LoadPSATime.InitialTime();
StaWork.Step = 90;
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 1)
{
AddList("PSA料仓上层感应到物料！");
LoadPSATime.InitialTime();
StaWork.Step = 60;
}
else
{
//当前位置已经到达最高处
if (Gg.GetPrfPosmm(0, Axis.PSA供料Z轴) >= mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置])
{
//回到供料初始位置
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA物料用完,运动到初始位置！");
ShowList("PSA物料用完,运动到初始位置！");
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 1000;
}
else
{
//继续顶PSA物料
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA料仓向上顶料！");
LoadPSATime.InitialTime();
StaWork.Step = 60;
}
}
}
break;
case 60:
if (Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 1)
{
gts.GT_Stop(0, 1 << (Axis.PSA供料Z轴 - 1), 0);
AddList("感应到PSA物料，顶料轴停止！");
}
if (Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 0)
{
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA物料用完,运动到初始位置！");
ShowList("PSA物料用完,运动到初始位置！");
LoadPSATime.InitialTime();
StaWork.Step = 1000;
}
else if (Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 1)
{
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA料仓上层感应到物料！");
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
else if (Gg.ZSPD(0, Axis.PSA供料Z轴) == false && LoadPSATime.TimeIsUp(5000))
{
AddList("PSA供料Z轴运动超时！");
ShowList("PSA供料Z轴运动超时！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
break;
case 70:
if (mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置] - Gg.GetPrfPosmm(0, Axis.PSA供料Z轴) > 2)
{
//2mm/s的速度，按比例向上顶，防止料是倾斜的
Gg.AbsMotion(0, Axis.PSA供料Z轴, Gg.GetPrfPosmm(0, Axis.PSA供料Z轴) + (mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置] - Gg.GetPrfPosmm(0, Axis.PSA供料Z轴)) * 0.08, 2);
}
PickUpNumber += 1;
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
AddList("PSA吸嘴升降气缸下降取料！");
LoadPSATime.InitialTime();
StaWork.Step = 80;
break;
case 80:
if (Gg.GetExDi(1, Gg.InPut2.搬运PSA真空吸检测信号) == 1)
{
gts.GT_Stop(0, 1 << (Axis.PSA供料Z轴 - 1), 1);
LoadPSATime.InitialTime();
StaWork.Step = 90;
}
else
{
if (Gg.ZSPD(0, Axis.PSA供料Z轴))
{
LoadPSATime.InitialTime();
StaWork.Step = 90;
}
}
break;
case 90:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 1)
{
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 100;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸下降超时！");
ShowList("PSA吸嘴升降气缸下降超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 100:
if (LoadPSATime.TimeIsUp(500))
{
LoadPSATime.InitialTime();
StaWork.Step = 120;
}
break;
case 120:
if (Gg.ZSPD(0, Axis.PSA供料Z轴))
{
AddList("PSA吸嘴升降气缸上升！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 130;
}
break;
case 130:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
LoadPSATime.InitialTime();
StaWork.Step = 140;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸上升超时！");
ShowList("PSA吸嘴升降气缸上升超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 140:
if (LoadPSATime.TimeIsUp(500))
{
if (PVar.空跑)
{
AddList("PSA吸嘴升降气缸上升到位，真空吸OK！");
PickUpNumber = 0;
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴放料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 150;
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.搬运PSA真空吸检测信号) == 1)
{
AddList("PSA吸嘴升降气缸上升到位，真空吸OK！");
PickUpNumber = 0;
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴放料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 150;
}
else
{
if (PickUpNumber > 1)
{
PickUpNumber = 0;
AddList("PSA吸料真空异常,请检查！");
ShowList("PSA吸料真空异常,请检查！");
ErrName = "Foam吸料真空异常,请确认后继续";
LoadPSATime.InitialTime();
StaWork.Step = 6000;
}
else
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
}
}
}
break;
case 150:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴))
{
LoadPSATime.InitialTime();
StaWork.Step = 160;
}
break;
case 160:
if (LoadPSATime.TimeIsUp(100))
{
AddList("吸嘴移动到中转台上方！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 170;
}
break;
case 170: //取料和载具平台很难保证统一平面，这里不判断气缸下信号
if (LoadPSATime.TimeIsUp(1500) && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸下降到位！");
LoadPSATime.InitialTime();
StaWork.Step = 180;
}
break;
case 180:
if (LoadPSATime.TimeIsUp(200))
{
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 190;
}
break;
case 190:
if (LoadPSATime.TimeIsUp(1000))
{
if (PVar.空跑)
{
AddList("PSA载台真空吸检测信号OK！");
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 200;
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.PSA载台真空吸检测信号) == 1)
{
AddList("PSA载台真空吸检测信号OK！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 200;
}
else
{
AddList("PSA载台真空吸检测信号异常，请检查！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
ErrName = "Foam承接平台真空异常,请确认后继续";
LoadPSATime.InitialTime();
StaWork.Step = 7000;
}
}
}
break;
case 200:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
LoadPSATime.InitialTime();
StaWork.Step = 210;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸上升超时！");
ShowList("PSA吸嘴升降气缸上升超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 210:
if (LoadPSATime.TimeIsUp(300))
{
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 220;
}
break;
case 220:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴))
{
StaWork.IsHavePSA = true; //给取PSA信号
LoadPSATime.InitialTime();
StaWork.Step = 300;
}
else if (LoadPSATime.TimeIsUp(5000))
{
AddList("PSA搬运Y轴运动超时！");
ShowList("PSA搬运Y轴运动超时！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
break;
case 300:
LoadPSATime.InitialTime();
StaWork.Step = 310;
break;
case 310:
if (StaWork.IsHavePSA == false)
{
LoadPSATime.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Enable = false;
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
case 6000:
if (MessageBox.Show(ErrName, "警告", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) != DialogResult.OK)
{
LoadPSATime.InitialTime();
StaWork.Step = 6010;
}
else
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
LoadPSATime.InitialTime();
StaWork.Step = 1000;
}
break;
case 6010:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
else
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 6020;
}
break;
case 6020:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸上升超时！");
ShowList("PSA吸嘴升降气缸上升超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 7000:
if (MessageBox.Show(ErrName, "警告", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) != DialogResult.OK)
{
LoadPSATime.InitialTime();
StaWork.Step = 160;
}
else
{
LoadPSATime.InitialTime();
StaWork.Step = 10;
}
break;
case 8000:
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
Frm_Engineering.fEngineering.MacStop();
break;
//遇到异常，设备先暂停，确定后处理************************
case 8800:
if (Manual.AutoMotionFlag[3])
{
if (Manual.HoldFlag[3])
{
Manual.HoldFlag[3] = false;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "暂停";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.BurlyWood;
ShowList("运动已继续");
}
else
{
Manual.HoldFlag[3] = true;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "继续";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.Red;
ShowList("运动已暂停");
}
}
else
{
PVar.IsSystemOnPauseMode = true;
PVar.MacHold = true;
StaWork.StaHold = true;
PVar.Stop_Flag = false;
Frm_Main.fMain.Btn_Start.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = true;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.Auto_Timer.Enabled = false;
}
PVar.LampStatus = 20;
StaWork.Step = BufferStep;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
/// <summary>
/// GotoHome(short CardNum[卡号], short Axis[轴号], double homeToLimitFDist[极限到原点距离], double searchHomeDist[原点搜索距离], double offsetPos[感应宽度], double homeoffset[原点偏移距离], double vel[搜索原点速度])
/// </summary>
/// <param name="CardNum"></param>
/// <param name="Axis"></param>
/// <param name="homeToLimitFDist"></param>
/// <param name="searchHomeDist"></param>
/// <param name="offsetPos"></param>
/// <param name="homeoffset"></param>
/// <param name="vel"></param>
public static void GotoHome(short CardNum, short Axis, double homeToLimitFDist, double searchHomeDist, double offsetPos, double homeoffset, double vel)
{
uint temp_pClock = 0;
if (GoHome.AxisHome[CardNum, Axis].Step != 0)
{
Frm_Engineering.fEngineering.textBox3.Text = GoHome.AxisHome[CardNum, Axis].Step.ToString();
GoHome.AxisHome[CardNum, Axis].State = true;
switch (GoHome.AxisHome[CardNum, Axis].Step)
{
case 10:
InitTimeH[CardNum, Axis] = new Tool.Delay();
gts.GT_ClrSts(CardNum, Axis, (short)1); //清除报警
gts.GT_SetPrfPos(CardNum, Axis, 0); //规划器置零
gts.GT_SetEncPos(CardNum, Axis, 0); //编码器置零
gts.GT_SynchAxisPos(CardNum, 1 << (Axis - 1)); //将当前轴进行位置同步
GoHome.AxisHome[CardNum, Axis].Counter = 0; //回原点计数
GoHome.AxisHome[CardNum, Axis].Step = 20;
break;
case 20:
GoHome.AxisHome[CardNum, Axis].Capture = 0;
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
if (GoHome.AxisHome[CardNum, Axis].Counter > 1)
{
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.AxisHome[CardNum, Axis].Counter = GoHome.AxisHome[CardNum, Axis].Counter + 1;
GoHome.AxisHome[CardNum, Axis].Step = 30; //开始搜索原点
}
}
else
{
GoHome.AxisHome[CardNum, Axis].Step = 200; //偏离原点，方向与搜索原点方向相反
}
break;
case 30:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_SetCaptureMode(CardNum, Axis, gts.CAPTURE_HOME); //第一次原点搜索
GoHome.AxisHome[CardNum, Axis].TempPos = 0;
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + searchHomeDist), vel); //启动运动，开始搜索原点
GoHome.AxisHome[CardNum, Axis].Step = 40;
break;
case 40:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].Capture, out GoHome.AxisHome[CardNum, Axis].TempPos, (short)1, out temp_pClock); //获取当前轴原点捕获的状态及捕获的当前位置
if (GoHome.AxisHome[CardNum, Axis].Capture == 1) //判断当前轴是否原点捕获触发
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Capture = 0;
GoHome.AxisHome[CardNum, Axis].Step = 50;
}
else if (Gg.GetLimitDi_Z(CardNum, Axis) == 1) //判断当前轴是否触发正极限
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 170;
}
else if (Gg.GetLimitDi_F(CardNum, Axis) == 1) //判断当前轴是否触发负极限
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 150;
}
else if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴规划器是否运动停止（原点搜索距离太小）
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
break;
case 50:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 52;
}
break;
case 52:
//Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis)) / Tools.GeerRate[CardNum, Axis] + 1, 2);
//Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + offsetPos), 10); //启动运动，原点反向运动
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + 2), 5); //启动运动，原点反向运动
GoHome.AxisHome[CardNum, Axis].Step = 60;
break;
case 60:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
GoHome.AxisHome[CardNum, Axis].Step = 70;
}
break;
case 70:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 72;
}
break;
case 72:
gts.GT_SetCaptureMode(CardNum, Axis, gts.CAPTURE_HOME); //第二次原点搜索
//hRtn = gts.GT_SetCaptureMode(CardNum, Axis,gts. CAPTURE_INDEX); //启动当前轴的Z相脉冲捕获
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) - offsetPos * 2), 1); //以1mm/s速度找原点
GoHome.AxisHome[CardNum, Axis].Step = 80; //跳转到下一步
break;
case 80:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].Capture, out GoHome.AxisHome[CardNum, Axis].TempPos, (short)1, out temp_pClock); //获取当前轴Z相脉冲捕获的状态及捕获的当前位置
if (GoHome.AxisHome[CardNum, Axis].Capture == 1) //判断当前轴是否Z相脉冲捕获触发
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
GoHome.AxisHome[CardNum, Axis].Capture = 0; //捕获触发标志清零
GoHome.AxisHome[CardNum, Axis].Step = 90;
}
else if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 140; //跳转到第110步（或脉冲未捕获，回原点结束，回原点失败）
}
break;
case 90:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 92;
}
break;
case 92:
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + homeoffset), 2);
//if (homeoffset < 3)
// {
// Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 2);
// }
//else
// {
// Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 5);
// }
GoHome.AxisHome[CardNum, Axis].Step = 100;
break;
case 100:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
InitTime.InitialTime();
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 110;
}
break;
case 110:
if (InitTimeH[CardNum, Axis].TimeIsUp(200))
{
GoHome.AxisHome[CardNum, Axis].Step = 120;
}
break;
case 120:
gts.GT_SetPrfPos(CardNum, Axis, 0); //将当前轴规划器位置修改为零点
gts.GT_SetEncPos(CardNum, Axis, 0); //将当前轴编码器位置修改为零点
gts.GT_SynchAxisPos(CardNum, 1 << (Axis - 1)); //将当前轴进行位置同步
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 130;
break;
case 130:
if (InitTimeH[CardNum, Axis].TimeIsUp(50))
{
if (Gg.GetEncPos(CardNum, Axis) == 0 && Gg.GetPrfPos(CardNum, Axis) == 0)
{
GoHome.AxisHome[CardNum, Axis].Result = true;
GoHome.AxisHome[CardNum, Axis].State = false;
GoHome.AxisHome[CardNum, Axis].Step = 0;
}
else
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 110;
}
}
break;
case 140:
GoHome.AxisHome[CardNum, Axis].Result = false;
GoHome.AxisHome[CardNum, Axis].State = false;
GoHome.AxisHome[CardNum, Axis].Step = 0;
break;
//*********************************************************************************************************************
case 150: //负极限和原点之间距离
gts.GT_ClrSts(CardNum, Axis, (short)1);
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + homeToLimitFDist), vel);
GoHome.AxisHome[CardNum, Axis].Step = 160;
break;
case 160:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 20; //重新搜索原点
}
break;
//*********************************************************************************************************************
case 170: //offsetPos大于感应片的宽度
gts.GT_ClrSts(CardNum, Axis, (short)1);
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) - offsetPos), vel);
GoHome.AxisHome[CardNum, Axis].Step = 180;
break;
case 180:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 20; //重新搜索原点
}
break;
//*********************************************************************************************************************
case 200: //offsetPos大于感应片的宽度
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + offsetPos), vel);
GoHome.AxisHome[CardNum, Axis].Step = 201;
break;
case 201:
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + 1), vel);
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 210;
}
else
{
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
}
break;
case 210:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 220;
}
break;
case (short)220:
if (InitTimeH[CardNum, Axis].TimeIsUp(200))
{
if (Gg.GetHomeDi(CardNum, Axis) == 1)
{
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.AxisHome[CardNum, Axis].Step = 20;
}
}
break;
}
}
}
