From e54c5a471c372e314f89c340644ddda98ab063bb Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 19 八月 2020 11:04:22 +0800
Subject: [PATCH] 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
---
src/Bro.Device.GTSCard/GTSCardDriver.cs | 17 ++++++++++-------
1 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/src/Bro.Device.GTSCard/GTSCardDriver.cs b/src/Bro.Device.GTSCard/GTSCardDriver.cs
index 573f480..c430886 100644
--- a/src/Bro.Device.GTSCard/GTSCardDriver.cs
+++ b/src/Bro.Device.GTSCard/GTSCardDriver.cs
@@ -894,11 +894,9 @@
short capture = 0;
GTSCardAPI.TTrapPrm trapPrm;
- //鎼滅储璺濈 闃舵1
- // 鍚姩Home鎹曡幏
- short sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
+
// 鍒囨崲鍒扮偣浣嶈繍鍔ㄦā寮�
- sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
+ short sRtn = GTSCardAPI.GT_PrfTrap((short)IConfig.CardNum, (short)movingOption.AxisIndex);
// 璇诲彇鐐逛綅妯″紡杩愬姩鍙傛暟
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);
+
+ //鎼滅储璺濈 闃舵1
+ // 鍚姩Home鎹曡幏
+ sRtn = GTSCardAPI.GT_SetCaptureMode((short)IConfig.CardNum, (short)movingOption.AxisIndex, GTSCardAPI.CAPTURE_HOME);
// 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, 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;
}
-
//璐熼檺浣�
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 @@
//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 + goHomePara.HomeOffset);
--
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