M071.git - Gitblit

			@@ -443,7 +443,7 @@
			{
			axisImmediatePauseHandleDict[optionPara.AxisIndex].WaitOne();

			if (!axisPauseResumeFlag[optionPara.AxisIndex])
			if (axisPauseResumeFlag.ContainsKey(optionPara.AxisIndex) && !axisPauseResumeFlag[optionPara.AxisIndex])
			return true;

			try
			@@ -492,7 +492,7 @@
			isSuccessAndStop = false;
			LogAsync(DateTime.Now, $"轴{optionPara.AxisIndex}运动异常", ex.GetExceptionMessage());
			}
			} while (axisImmediatePauseFlag[optionPara.AxisIndex]);
			} while (axisImmediatePauseFlag.ContainsKey(optionPara.AxisIndex) && axisImmediatePauseFlag[optionPara.AxisIndex]);
			return isSuccessAndStop;
			});
			}
			@@ -891,14 +891,9 @@
			var goHomePara = IConfig.AxisSettings.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex).GoHomePara;
			bool homeDirection = goHomePara.IsHomeDirPositive;
			bool isRightLimitReached = false;

			StartCapture:

			PositionReset(movingOption.AxisIndex, 1);
			ClearStatus(movingOption.AxisIndex, 1);
			short capture = 0;

			GTSCardAPI.TTrapPrm trapPrm;
			bool isStop = false;
			//搜索距离阶段1
			// 启动Home捕获
			short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
			@@ -913,88 +908,94 @@
			// 设置点位模式目标速度，即回原点速度
			sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HighVelocity);

			// 设置点位模式目标位置，即原点搜索距离
			sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
			// 启动运动
			sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

			int repeatTime = goHomePara.GoHomeTimeOut * 1000;
			short capture;
			int pos;
			uint clk;//时钟参数
			do
			{
			Thread.Sleep(IConfig.MonitorInterval);
			// 读取捕获状态
			GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
			isStop = IsStop((short)movingOption.AxisIndex);
			repeatTime -= IConfig.MonitorInterval;
			} while (!(isStop \|\| capture == 1 \|\| repeatTime <= 0));
			PositionReset(movingOption.AxisIndex, 1);
			ClearStatus(movingOption.AxisIndex, 1);

			if (repeatTime <= 0)
			{
			MoveStop((short)movingOption.AxisIndex, 0);
			throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
			}
			// 设置点位模式目标位置，即原点搜索距离
			sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
			// 启动运动
			sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));

			if (isStop && capture != 1)
			{
			ClearStatus((short)movingOption.AxisIndex, 1);
			int repeatTime = goHomePara.GoHomeTimeOut * 1000;

			bool isStop = false;
			int pos;
			uint clk;//时钟参数
			do
			{
			Thread.Sleep(IConfig.MonitorInterval * 5);
			// 读取捕获状态
			GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
			isStop = IsStop((short)movingOption.AxisIndex);
			repeatTime -= IConfig.MonitorInterval * 5;
			} while (!(isStop \|\| capture == 1 \|\| repeatTime <= 0));

			if (repeatTime <= 0)
			{
			MoveStop((short)movingOption.AxisIndex, 0);
			throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
			}

			var axisStatus = AxisStatusList.FirstOrDefault(u => u.AxisIndex == movingOption.AxisIndex);

			if (((axisStatus.AxisStatus & 0x20) != 0) \|\| ((axisStatus.AxisStatus & 0x40) != 0))
			if (isStop && capture != 1)
			{
			//movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
			ClearStatus((short)movingOption.AxisIndex, 1);

			//正限位
			if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
			if (((axisStatus.AxisStatus & 0x20) != 0) \|\| ((axisStatus.AxisStatus & 0x40) != 0))
			{
			isRightLimitReached = true;
			//movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);

			//正限位
			if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
			{
			isRightLimitReached = true;
			}


			//负限位
			if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
			{
			isRightLimitReached = true;
			}

			homeDirection = !homeDirection;
			}


			//负限位
			if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
			{
			isRightLimitReached = true;
			}

			homeDirection = !homeDirection;
			goto StartCapture;
			}

			throw new ProcessException($"运动轴{movingOption.AxisIndex} ，回原点超时异常");
			}

			if (capture == 1)
			{
			if (!isRightLimitReached)
			if (capture == 1)
			{
			capture = 0;
			goto StartCapture;
			if (!isRightLimitReached)
			{
			capture = 0;
			//GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
			continue;
			}

			//先stop
			MoveStop((short)movingOption.AxisIndex, 0);
			ClearStatus((short)movingOption.AxisIndex, 1);
			//已经捕获到Home才可以回零阶段2
			// 运动到"捕获位置+偏移量"
			sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
			// 在运动状态下更新目标位置
			sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
			isStop = false;

			repeatTime = 1000;
			do
			{
			Thread.Sleep(20);
			isStop = IsStop((short)movingOption.AxisIndex);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			PositionReset(movingOption.AxisIndex, 1);
			return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
			}

			//先stop
			MoveStop((short)movingOption.AxisIndex, 0);
			ClearStatus((short)movingOption.AxisIndex, 1);
			//已经捕获到Home才可以回零阶段2
			// 运动到"捕获位置+偏移量"
			sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
			// 在运动状态下更新目标位置
			sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
			isStop = false;

			repeatTime = 1000;
			do
			{
			Thread.Sleep(20);
			isStop = IsStop((short)movingOption.AxisIndex);
			repeatTime--;
			} while (!isStop && repeatTime > 0);
			PositionReset(movingOption.AxisIndex, 1);
			return (sRtn == (short)GTSRetCode.GRCRunOK) && isStop;
			}
			} while (!(capture == 1 && isRightLimitReached));
			return false;
			}
			catch (Exception ex)