public static void HomeMove(Axis axis)
{
if ((axis.axisTModeMoveParameters.MaxVelocity > 0) && (axis.axisTModeMoveParameters.MaxVelocity < 50000000))
{
if (!((Dmc2610.d2610_read_RDY_PIN(axis.AxisId) == 0) && (GetAxisIsALMON(axis)) && (GetAxisIsEMGON(axis))))
{
if (!(GetAxisIsNELON(axis) && GetAxisIsPELON(axis)))
{
if (!(GetAxisIsORGON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
else
{
if ((GetAxisIsORGON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_t_pmove(axis.AxisId, 10000, (ushort)AxisPositionMode.Relation);
while (!GetAxisIsDoWell(axis))
{
}
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
while (!GetAxisIsDoWell(axis))
{
}
Dmc2610.d2610_set_position(axis.AxisId, 0);
}
}
}
else
{
if (GetAxisIsNELON(axis) && (!GetAxisIsPELON(axis)))
{
axis.SetResetModeProfile();
Dmc2610.d2610_t_pmove(axis.AxisId, 10000, (ushort)AxisPositionMode.Relation);
while (!GetAxisIsDoWell(axis))
{
}
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
else
{
axis.SetResetModeProfile();
Dmc2610.d2610_home_move(axis.AxisId, (ushort)AxisHomeMoveDirection.Reverse,
(ushort)AxisHomeVelocityMode.SlowlySpeedandStop);
}
}
while (!GetAxisIsDoWell(axis))
{
}
//axis.SetTModeProfile();
//Dmc2610.d2610_t_pmove(axis.AxisId, axis.LogicOrgPosition, (ushort)AxisPositionMode.Relation);
axis.SetResetModeProfile();
Dmc2610.d2610_set_position(axis.AxisId, 0);
Dmc2610.d2610_t_pmove(axis.AxisId, axis.LogicOrgPosition, (ushort)AxisPositionMode.Absolut);
while (!GetAxisIsDoWell(axis))
{
}
Thread.Sleep(500);
Dmc2610.d2610_set_position(axis.AxisId, 0);
}
else
{
MessageBox.Show("Axis is Not Ready or occur EMG Stop !");
}
}
else
{
MessageBox.Show("Axis Parameters of AcclerateVelocity is Incorrect !");
}
}
public static bool GetAxisIsReadyPIN(Axis axis)
{
bool result = (Dmc2610.d2610_read_RDY_PIN(axis.AxisId) == (ushort)AxisReadyPINLogic.IsReady) ? true : false;
return(result);
}
