// Home Search
public bool OriginMoveEnd(short m_nAxis)
{
#if PROGRAM_RUNNING
uint Result = 0;
if (GetRunAxis(m_nAxis) == false)
{
return(true);
}
if (CAXM.AxmHomeGetResult(m_nAxis, ref Result) != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
return(false);
}
if (Result == 1)
{
return(true);
}
else
{
return(false);
}
#else
return(true);
#endif
}
/// <summary>
/// 홈동작 완료 확인.
/// </summary>
/// <returns>홈동작 완료여부</returns>
public bool GetHomeDone()
{
uint iRet = 0;
bool bRet;
const uint HOME_SUCCESS = 0x01; // 홈 완료
CAXM.AxmHomeGetResult(Para.iPhysicalNo, ref iRet);
bRet = (iRet == HOME_SUCCESS);
return(bRet);
}
public bool GetHoming()
{
uint iRet = 0;
bool bRet;
const uint COMPLETE = 0x01;
const uint SEARCHING = 0x02;
const uint GANTRY_RANGEOVER = 0x10;
const uint STOPED = 0x11;
const uint SPEED_WRONG = 0x12;
const uint SERVO_ALRAM = 0x13;
const uint POS_DIRCT_NEG_LMT = 0x14;
const uint NEG_DIRCT_POS_LMT = 0x15;
const uint NOT_FOUND = 0x16;
const uint WRONG_AXISNO = 0xFF;
CAXM.AxmHomeGetResult(Para.iPhysicalNo, ref iRet);
if (iRet != iPreHomeRslt)
{
switch (iRet)
{
case COMPLETE: break;
case SEARCHING: break;
case GANTRY_RANGEOVER: MessageBox.Show("Gantry Offset Rangeover", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
case STOPED: MessageBox.Show("Home Stoped", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
case SPEED_WRONG: MessageBox.Show("Check Home Speed Setting", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
case SERVO_ALRAM: MessageBox.Show("Servo Alram", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
case POS_DIRCT_NEG_LMT: MessageBox.Show("Checked -Lmt while +Homing", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
case NEG_DIRCT_POS_LMT: MessageBox.Show("Checked +Lmt while -Homing", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
case NOT_FOUND: MessageBox.Show("HomeSensor desn't found", "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
//case WRONG_AXISNO : MessageBox.Show("Wrong Phy Address" , "PhyNo:" + Para.iPhysicalNo.ToString() + "Homing Err"); break;
}
}
iPreHomeRslt = iRet;
bRet = (iRet == SEARCHING);
return(bRet);
}
public uint GetHomeState()
{
try
{
uint duRetCode, duState = 0;
duRetCode = CAXM.AxmHomeGetResult(m_nAxisNumber, ref duState);
if (duRetCode != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
return((uint)AXT_MOTION_HOME_RESULT.HOME_ERR_UNKNOWN);
}
return(duState);
}
catch (Exception E)
{
LogFile.LogExceptionErr(E.ToString());
throw E;
}
}
public bool AxtReadHome(short m_nAxis)
{
#if PROGRAM_RUNNING
uint mStatus = 0;
if (CAXM.AxmHomeGetResult(m_nAxis, ref mStatus) != (uint)AXT_FUNC_RESULT.AXT_RT_SUCCESS)
{
return(false);
}
if ((mStatus & (byte)AXT_MOTION_HOME_RESULT.HOME_SUCCESS) == (byte)AXT_MOTION_HOME_RESULT.HOME_SUCCESS)
{
return(true);
}
else
{
return(false);
}
#else
return(false);
#endif
}
