public static void moveEventHandle() { while (started) { if (goHomeFlag != 0) { if (startGoHome != 0) { if (NO_ORG == startSearchHome(ref mAxis[X])) { // AfxMessageBox(_T("X轴没有找到原点!"), MB_OK, MB_ICONEXCLAMATION); //m_axis[0].m_home_flag=false; Console.WriteLine("X轴没有找到原点"); } else { delayTime(100); RFIDControl.dmc_write_sevon_pin(0, 0, LOW); singleAxisMove(ref mAxis[X], (long)(-42 * line_coefficient), ABS_MODE); while (RFIDControl.dmc_check_done(mAxis[X].m_card_num, mAxis[X].m_axis_num) == RUN) { ; } RFIDControl.dmc_write_sevon_pin(0, 0, HIGH); delayTime(100); RFIDControl.dmc_set_position(mAxis[X].m_card_num, mAxis[X].m_axis_num, 0); //设置零点 RFIDControl.dmc_set_encoder(0, 0, 0); //设置初始值为0 } ; //m_axis[0].m_home_flag=true; } if (startGoHome != 0) { if (NO_ORG == startSearchHome(ref mAxis[Y])) { // AfxMessageBox(_T("U轴没有找到原点!"), MB_OK, MB_ICONEXCLAMATION); Console.WriteLine("U轴没有找到原点"); } else { delayTime(100); RFIDControl.dmc_write_sevon_pin(0, 1, LOW); singleAxisMove(ref mAxis[Y], (long)(820 * cicle_coefficient), ABS_MODE); while (RFIDControl.dmc_check_done(mAxis[Y].m_card_num, mAxis[Y].m_axis_num) == RUN) { ; } RFIDControl.dmc_write_sevon_pin(0, 1, HIGH); delayTime(100); RFIDControl.dmc_set_position(mAxis[Y].m_card_num, mAxis[Y].m_axis_num, 0); //设置零点 RFIDControl.dmc_set_encoder(0, 1, 0); //设置初始值为0 } } delayTime(100); startGoHome = 0; goHomeFlag = 0; } } }
public static void closeBoard() { mServoIo.check_flag = 1; for (int i = 0; i < AXIS_NUM; ++i) { RFIDControl.dmc_write_sevon_pin(mAxis[i].m_card_num, mAxis[i].m_axis_num, HIGH); //伺服OFF RFIDControl.dmc_set_inp_mode(mAxis[i].m_card_num, mAxis[i].m_axis_num, LOW, LOW); //设置伺服 INP 低电平有效 RFIDControl.dmc_set_alm_mode(mAxis[i].m_card_num, mAxis[i].m_axis_num, LOW, HIGH, 0); //设置 伺服ALM 高电平有效 松下伺服正常情况下输出低电平 } RFIDControl.dmc_board_close(); }