From 773369500892dcb5347e4a0059f8089960073030 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 15 七月 2020 22:08:34 +0800
Subject: [PATCH] 板卡回原点配置迁移到初始配置轴配置中 板卡回原点配置区分运动方向和捕捉方向，限制捕捉原点方向
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 41 +++++++++++++++++++++++++++++++++--------
1 files changed, 33 insertions(+), 8 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 2385a82..d87e661 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -888,7 +888,11 @@
{
try
{
- StartCapture:
+ 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);
@@ -907,24 +911,24 @@
// 璁剧疆鐐逛綅妯″紡杩愬姩鍙傛暟
sRtn = GTSCardAPI.GT_SetTrapPrm((short)IConfig.CardNum, (short)movingOption.AxisIndex, ref trapPrm);
// 璁剧疆鐐逛綅妯″紡鐩爣閫熷害锛屽嵆鍥炲師鐐归�熷害
- sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HighVelocity);
+ sRtn = GTSCardAPI.GT_SetVel((short)IConfig.CardNum, (short)movingOption.AxisIndex, goHomePara.HighVelocity);
// 璁剧疆鐐逛綅妯″紡鐩爣浣嶇疆锛屽嵆鍘熺偣鎼滅储璺濈
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, movingOption.GoHomePara.HomeDir == 1 ? 99999999 : -99999999);
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, homeDirection ? 99999999 : -99999999);
// 鍚姩杩愬姩
sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
- int repeatTime = 1000;
+ int repeatTime = goHomePara.GoHomeTimeOut * 1000;
short capture;
int pos;
uint clk;//鏃堕挓鍙傛暟
do
{
- Thread.Sleep(20);
+ Thread.Sleep(IConfig.MonitorInterval);
// 璇诲彇鎹曡幏鐘舵��
GTSCardAPI.GT_GetCaptureStatus((short)IConfig.CardNum, (short)movingOption.AxisIndex, out capture, out pos, 1, out clk);
isStop = IsStop((short)movingOption.AxisIndex);
- repeatTime--;
+ repeatTime -= IConfig.MonitorInterval;
} while (!(isStop || capture == 1 || repeatTime <= 0));
if (repeatTime <= 0)
@@ -941,7 +945,22 @@
if (((axisStatus.AxisStatus & 0x20) != 0) || ((axisStatus.AxisStatus & 0x40) != 0))
{
- movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+ //movingOption.GoHomePara.HomeDir = (short)(movingOption.GoHomePara.HomeDir == 1 ? -1 : 1);
+
+ //姝ｉ檺浣�
+ if ((axisStatus.AxisStatus & 0x20) != 0 && !goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+
+ //璐熼檺浣�
+ if ((axisStatus.AxisStatus & 0x40) != 0 && goHomePara.IsCaptureDirPositive)
+ {
+ isRightLimitReached = true;
+ }
+
+ homeDirection = !homeDirection;
goto StartCapture;
}
@@ -950,12 +969,18 @@
if (capture == 1)
{
+ if (!isRightLimitReached)
+ {
+ capture = 0;
+ goto StartCapture;
+ }
+
//鍏坰top
MoveStop((short)movingOption.AxisIndex, 0);
ClearStatus((short)movingOption.AxisIndex, 1);
//宸茬粡鎹曡幏鍒癏ome鎵嶅彲浠ュ洖闆� 闃舵2
// 杩愬姩鍒�"鎹曡幏浣嶇疆+鍋忕Щ閲�"
- sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + movingOption.GoHomePara.HomeOffset);
+ sRtn = GTSCardAPI.GT_SetPos((short)IConfig.CardNum, (short)movingOption.AxisIndex, pos + goHomePara.HomeOffset);
// 鍦ㄨ繍鍔ㄧ姸鎬佷笅鏇存柊鐩爣浣嶇疆
sRtn = GTSCardAPI.GT_Update((short)IConfig.CardNum, 1 << (movingOption.AxisIndex - 1));
isStop = false;
--
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