/// <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.Instance.AxisHome[CardNum, Axis].Step != 0)
{
GoHome.Instance.AxisHome[CardNum, Axis].State = true;
switch (GoHome.Instance.AxisHome[CardNum, Axis].Step)
{
case 10:
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.Instance.AxisHome[CardNum, Axis].Counter = 0; //回原点计数
GoHome.Instance.AxisHome[CardNum, Axis].Step = 20;
break;
case 20:
GoHome.Instance.AxisHome[CardNum, Axis].Capture = 0;
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
if (GoHome.Instance.AxisHome[CardNum, Axis].Counter > 1)
{
GoHome.Instance.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.Instance.AxisHome[CardNum, Axis].Counter = GoHome.Instance.AxisHome[CardNum, Axis].Counter + 1;
GoHome.Instance.AxisHome[CardNum, Axis].Step = 30; //开始搜索原点
}
}
else
{
GoHome.Instance.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.Instance.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.Instance.AxisHome[CardNum, Axis].Step = 40;
break;
case 40:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].Capture, out GoHome.Instance.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.Instance.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
GoHome.Instance.AxisHome[CardNum, Axis].Capture = 0;
GoHome.Instance.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
GoHome.Instance.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
GoHome.Instance.AxisHome[CardNum, Axis].Step = 150;
}
else if (System.Convert.ToBoolean(GoHome.Instance.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）
{
GoHome.Instance.AxisHome[CardNum, Axis].Step = 140;
}
break;
case 50:
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.Instance.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
GoHome.Instance.AxisHome[CardNum, Axis].Step = 60;
break;
case 60:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
GoHome.Instance.AxisHome[CardNum, Axis].Step = 70;
}
break;
case 70:
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.Instance.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.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].Capture, out GoHome.Instance.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.Instance.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
GoHome.Instance.AxisHome[CardNum, Axis].Capture = 0; //捕获触发标志清零
GoHome.Instance.AxisHome[CardNum, Axis].Step = 90;
}
else if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.Instance.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 (homeoffset < 5)
{
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.Instance.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 2);
}
else
{
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.Instance.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 30);
}
GoHome.Instance.AxisHome[CardNum, Axis].Step = 100;
break;
case 100:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
GoHome.Instance.AxisHome[CardNum, Axis].oldtime = API.GetTickCount();
GoHome.Instance.AxisHome[CardNum, Axis].Step = 110;
}
break;
case 110:
if (API.GetTickCount() - GoHome.Instance.AxisHome[CardNum, Axis].oldtime > 200)
{
GoHome.Instance.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
GoHome.Instance.AxisHome[CardNum, Axis].oldtime = API.GetTickCount();
GoHome.Instance.AxisHome[CardNum, Axis].Step = 130;
break;
case 130:
if (API.GetTickCount() - GoHome.Instance.AxisHome[CardNum, Axis].oldtime > 50)
{
if (Gg.GetEncPos(CardNum, Axis) == 0 && Gg.GetPrfPos(CardNum, Axis) == 0)
{
GoHome.Instance.AxisHome[CardNum, Axis].Result = true;
GoHome.Instance.AxisHome[CardNum, Axis].State = false;
GoHome.Instance.AxisHome[CardNum, Axis].Step = 0;
}
else
{
GoHome.Instance.AxisHome[CardNum, Axis].oldtime = API.GetTickCount();
GoHome.Instance.AxisHome[CardNum, Axis].Step = 110;
}
}
break;
case 140:
GoHome.Instance.AxisHome[CardNum, Axis].Result = false;
GoHome.Instance.AxisHome[CardNum, Axis].State = false;
GoHome.Instance.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 * 0.5);
GoHome.Instance.AxisHome[CardNum, Axis].Step = 160;
break;
case 160:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.Instance.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.Instance.AxisHome[CardNum, Axis].Step = 180;
break;
case 180:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.Instance.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.Instance.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);
GoHome.Instance.AxisHome[CardNum, Axis].oldtime = API.GetTickCount();
GoHome.Instance.AxisHome[CardNum, Axis].Step = 210;
}
else
{
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.Instance.AxisHome[CardNum, Axis].oldtime = API.GetTickCount();
GoHome.Instance.AxisHome[CardNum, Axis].Step = 140;
}
}
break;
case 210:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.Instance.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.Instance.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.Instance.AxisHome[CardNum, Axis].oldtime = API.GetTickCount();
GoHome.Instance.AxisHome[CardNum, Axis].Step = 220;
}
break;
case (short)220:
if (API.GetTickCount() - GoHome.Instance.AxisHome[CardNum, Axis].oldtime > 200)
{
if (Gg.GetHomeDi(CardNum, Axis) == 1)
{
GoHome.Instance.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.Instance.AxisHome[CardNum, Axis].Step = 20;
}
}
break;
}
}
}
