public static ushort startSearchHome(ref AxisInfo axisInfo)
{
ulong axisStatus;
ushort orignCount = 0;
axisInfo.m_acc_time = 0.1;
axisInfo.m_dcc_time = 0.1;
orign_begin:
axisInfo.m_home_flag = 0;
RFIDControl.dmc_set_home_pin_logic(axisInfo.m_card_num, axisInfo.m_axis_num, LOW, 0); //原点信号 低电平有效
RFIDControl.dmc_set_pulse_outmode(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_pulse_mode); //设置脉冲输出模式
RFIDControl.dmc_set_profile(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_speed_min_home, axisInfo.m_speed_max_home, axisInfo.m_acc_time, axisInfo.m_dcc_time, 500); //设置速度曲线
RFIDControl.dmc_set_homemode(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)axisInfo.m_home_dir, 1, (ushort)axisInfo.m_home_mode, 0); //设置回零方式 反向回原点
orignCount++;
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num); //读取轴的状态
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0) //开始回原点时正在原点位置上
{
// dmc_set_profile(m_axis->m_card_num,m_axis->m_axis_num,m_axis->m_speed_min_home,m_axis->m_speed_max_home,m_axis->m_acc_time,m_axis->m_dcc_time,500);//设置速度曲线
RFIDControl.dmc_vmove(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)(axisInfo.m_home_dir == MoveDir.FOR_WORD ? MoveDir.BACK_WORD : MoveDir.FOR_WORD)); //反向运动
delayTime(WAIT_TIMER); //延时
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0);//等到原点信号 变高
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
}
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B) != 0) //开始时在负限位
{
RFIDControl.dmc_vmove(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)(axisInfo.m_home_dir == MoveDir.FOR_WORD ? MoveDir.BACK_WORD : MoveDir.FOR_WORD)); //反向运动
delayTime(WAIT_TIMER); //延时
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) == 0);//查询原点信号
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0);//查询消失原点信号
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
}
delayTime(100); //延时
RFIDControl.dmc_home_move(axisInfo.m_card_num, axisInfo.m_axis_num); //回零动作
delayTime(WAIT_TIMER); //延时
while (RFIDControl.dmc_check_done(axisInfo.m_card_num, axisInfo.m_axis_num) == RUN) //判断当前轴状态
{
//遇到极限自动返回
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num); //读取轴的状态
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B) != 0) //负向极限
{
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
delayTime(WAIT_TIMER); //延时
RFIDControl.dmc_vmove(axisInfo.m_card_num, axisInfo.m_axis_num, (ushort)(axisInfo.m_home_dir == MoveDir.BACK_WORD ? MoveDir.FOR_WORD : MoveDir.BACK_WORD)); //反向运动
delayTime(WAIT_TIMER); //延时
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) == 0);//查询原点信号
do
{
axisStatus = RFIDControl.dmc_axis_io_status(axisInfo.m_card_num, axisInfo.m_axis_num);//读取轴的状态
if (startGoHome == 0)
{
return(NO_ORG);
}
} while (getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG) != 0); //查询消失原点信号
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
delayTime(100); //延时
RFIDControl.dmc_home_move(axisInfo.m_card_num, axisInfo.m_axis_num); //重新开始回零动作
}
if (getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_F) != 0) //负向极限
{
if (orignCount < 3)
{
goto orign_begin;
}
RFIDControl.dmc_stop(axisInfo.m_card_num, axisInfo.m_axis_num, DIRECT_STOP);
return(NO_ORG);//没有原信号
}
if (startGoHome == 0)
{
return(NO_ORG);
}
}
if (startGoHome == 0)
{
return(NO_ORG);
}
delayTime(100);
RFIDControl.dmc_set_position(axisInfo.m_card_num, axisInfo.m_axis_num, 0); //设置零点
axisInfo.m_home_flag = 1;
//设定脉冲模式及逻辑方向（此处脉冲模式固定为P+D方向：脉冲+方向）
RFIDControl.dmc_set_pulse_outmode(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_pulse_mode);
RFIDControl.dmc_set_profile(axisInfo.m_card_num, axisInfo.m_axis_num, axisInfo.m_speed_min, axisInfo.m_speed_max, axisInfo.m_acc_time, axisInfo.m_dcc_time, 0);
//设定S段时间
RFIDControl.dmc_set_s_profile(axisInfo.m_card_num, axisInfo.m_axis_num, 0, 0.4);
RFIDControl.dmc_set_encoder(axisInfo.m_card_num, axisInfo.m_axis_num, 0); //设置初始值为0
RFIDControl.dmc_set_position(axisInfo.m_card_num, axisInfo.m_axis_num, 0); //初始位置设为零
RFIDControl.dmc_set_equiv(axisInfo.m_card_num, axisInfo.m_axis_num, 1);
axisInfo.m_pulse_mode = 3;
axisInfo.m_home_flag = 1;
return(ORG_OK);
}
