public void ManHoming(ushort nodeid, ushort home_mode)
{
ResetAlarm(nodeid);
CPCI_DMC.CS_DMC_01_speed_continue(CardNo[0], nodeid, 0, (ushort)1);
int speed = GetPara(nodeid).HomeSpeed;
int StrVel = speed / 10;
Int32 dist = (int)(GetPara(nodeid).MotorScale *0.005);//pulse
if (dist < 5)
{
dist = 5;
}
//if (home_mode ==2)
//{
StepMove(nodeid, -10);
WaitAxisStop(nodeid);
CPCI_DMC.CS_DMC_01_speed_continue(CardNo[0], nodeid, 0, (ushort)0);
do
{
ResetAlarm(nodeid);
CPCI_DMC.CS_DMC_01_start_tr_move(CardNo[0], nodeid, 0, dist, StrVel, speed, 0.2, 0.2);
WaitAxisStop(nodeid);
} while (NEL(nodeid));
//}
//else
//{
// StepMove(nodeid, 10);
// WaitAxisStop(nodeid);
// CPCI_DMC.CS_DMC_01_speed_continue(CardNo[0], nodeid, 0, (ushort)1);
// do
// {
// ResetAlarm(nodeid);
// CPCI_DMC.CS_DMC_01_start_tr_move(CardNo[0], nodeid, 0, -dist, StrVel, speed, 0.2, 0.2);
// WaitAxisStop(nodeid);
// } while (PEL(nodeid));
//}
}
