1. 优化gts板卡回原点操作 2. 添加数据精度配置 3. 添加HalconTool异常捕捉分类和部分非空判断

xcd

2020-08-19 e54c5a471c372e314f89c340644ddda98ab063bb

 src/Bro.Device.GTSCard/GTSCardDriver.cs

@@ -894,11 +894,9 @@
                short capture = 0;

                GTSCardAPI.TTrapPrm trapPrm;
                //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);

                // 切换到点位运动模式
                sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                short sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
                // 读取点位模式运动参数
                sRtn = GTSCardAPI.GT_GetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, out trapPrm);
                trapPrm.acc = movingOption.VelocityPara.Acc;
@@ -912,6 +910,10 @@
                {
                    PositionReset(movingOption.AxisIndex, 1);
                    ClearStatus(movingOption.AxisIndex, 1);

                    //搜索距离 阶段1
                    // 启动Home捕获
                    sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);

                    // 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);
@@ -942,8 +944,6 @@

                    if (isStop && capture != 1)
                    {
                        ClearStatus((short)movingOption.AxisIndex, 1);

                        if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
                        {
                            //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
@@ -954,7 +954,6 @@
                                isRightLimitReached = true;
                            }


                            //负限位
                            if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
                            {
@@ -963,6 +962,8 @@

                            homeDirection = !homeDirection;
                        }

                        ClearStatus(movingOption.AxisIndex, 1);
                    }

                    if (capture == 1)
@@ -970,6 +971,7 @@
                        if (!isRightLimitReached)
                        {
                            capture = 0;
                            ClearStatus(movingOption.AxisIndex, 1);
                            //GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
                            continue;
                        }
@@ -977,6 +979,7 @@
                        //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);