运动控制卡回原点示意图及其代码

1、int Check_OriginSignal(int cardno,int axis,int mode) if (mode=0) if(!STOP0_Highaxis-1) int bit= 2,8,14,20; /stop0return read_bit(cardno,bitaxis-1)=0?1:0; else int bit= 2,8,14,20; /stop0return read_bit(cardno,bitaxis-1)=1?1:0; else if(!STOP1_Highaxis-1) int bit= 3,9,15,21; /stop1return read_bit(cardn

2、o,bitaxis-1)=0?1:0; else int bit= 3,9,15,21; /stop1return read_bit(cardno,bitaxis-1)=1?1:0; int Check_LimitSignal(int cardno,int axis,int mode) if(!LMTLevel_Highaxis- 1) /低电平有效if (mode) int bit= 0,6,12,18; /LMT-return read_bit(cardno,bitaxis-1)=0?1:0; else int bit= 1,7,13,19; /LMT+return read_bit(ca

3、rdno,bitaxis-1)=0?1:0; else/高电平有效if (mode) int bit= 0,6,12,18; /LMT-return read_bit(cardno,bitaxis-1)=1?1:0; else int bit= 1,7,13,19; /LMT+return read_bit(cardno,bitaxis-1)=1?1:0; /*单轴回原点 * 功能:执行单轴回原点运动参数：cardno 卡号axis 轴号 (1-4) backDir 回原点方向0：正向1：负向logical0 回原点stop0设置0:低电平有效1:高电平有效logical1 回原点stop1设

4、置0:低电平有效1:高电平有效-1：无效（不搜索 Z相）homeStartV 回原点启始速度，取值范围：0-2M homeSpeed 回原点驱动速度，取值范围：0-2M homeAcc 回原点加速度，取值范围：0-64000 searchRange 原点范围(不宜过大 ) searchSpeed stop0搜索速度 (不宜过高 ) phaseSpeed Z相搜索速度(不宜过高 ) pulseUnit 每转脉冲返回值0:回原点成功 ; -1:参数错误 ; -2：回原点失败 ,(碰到限位或原点范围过小);1：回原点被中止说明: (1) 回原点分为四大步 : 第一步 :快速接近 stop0(logi

5、cal0原点设置 )，找到 stop0; 第二步 :慢速反向离开 stop0，反向移动指定原点范围脉冲数; 第三步 :再次慢速接近 stop0; 第四步 :慢速接近 stop1(logical1编码器 Z相). (2) 第四步可以选择是否执行,通过 logical1来选择 . (3) 若需多轴回原点 ,必须等待上一轴回原点结束后，才能执行下一轴的回原点动作. */int _stdcall home1(int cardno,int axis,int backDir,int logical0 ,int logical1 ,longhomeStartV,long homeSpeed, long ho

6、meAcc,long searchRange, long searchSpeed, longphaseSpeed , long pulseUnit) staticMSG msg; static int nCount =0; int workstep=0,status=-1,value=-1; /步骤；驱动状态intStopSignal=0; /停止信号long longPulse =2147483647; /长脉冲， 4字节上限Stop_Flagaxis-1=0; /标记该轴开始运动if (cardno=max_card_number ) return -1;/卡号判断if(axis4) re

7、turn -1; /轴号判断if(backDir1) return -1; /方向判断if(logical0 != 0 & logical0 != 1 ) return -1; /STOP0方式判断if(logical1 != 0 & logical1 != 1 & logical1 !=- 1) return -1; /STOP1方式判断/搜索范围 ,搜索速度 ,每转脉冲判断if(searchRange 0|searchSpeed 0|pulseUnit=homeSpeed) homeStartV=homeSpeed; set_startv (cardno,axis,

8、homeStartV); set_speed (cardno,axis,homeSpeed); else set_startv (cardno,axis,homeStartV); set_speed (cardno,axis,homeSpeed); set_acc (cardno,axis,homeAcc); set_stop0_mode (cardno,axis,1,logical0);/设定stop0有效电平Start_Run (axis); while (TRUE) switch(workstep) case0:/发送长脉冲/if(Check_OriginSignal(cardno,ax

9、is,0) /已经在原点 ,不发送长脉冲直接反向退出StopSignal=1;/由原点引起workstep=2; break; /pmove(cardno,axis,backDir?-longPulse:longPulse); workstep+; break ; case1:/分析是否碰到原点或限位if (backDir=1 & StopSignal= 0)/负向回原点 if(Check_OriginSignal(cardno,axis, 0) StopSignal=1;/由stop0原点引起if (Check_LimitSignal(cardno,axis, 1) StopSign

10、al=2;/由负限位引起 if ( backDir=0 & StopSignal= 0)/正向回原点 if(Check_OriginSignal(cardno,axis, 0) StopSignal=1;/由原点引起if (Check_LimitSignal (cardno,axis, 0) StopSignal=2;/由正限位引起 get_status (cardno,axis,&status);/驱动状态检测if (status) break;/驱动进行中，继续检测if (StopSignal=0) /未检测到正常停止信号 set_stop0_mode (cardno,ax

11、is,0,0); if (StopSignal=2) /原点模式时，由限位引起的停止 return -2; set_stop0_mode (cardno,axis,0,0); StopSignal=0; workstep+; break ; case2:/低速经过原点set_startv (cardno,axis,searchSpeed); set_speed (cardno,axis,searchSpeed); pmove(cardno,axis,backDir?searchRange:-searchRange);/搜索范围workstep+; break ; case3:/判断驱动结束，设

12、置原点有效get_status (cardno,axis,&status);/判断运动是否停止if (status) break; /驱动进行中，继续读信号和状态set_stop0_mode (cardno,axis,1,logical0); /设定stop0有效电平workstep+; break ; case4:/低速接近原点pmove(cardno,axis,backDir?-searchRange:searchRange); workstep+; break ; case5:/读信号和状态if (backDir=1 & StopSignal= 0)/负向回原点 if(C

13、heck_OriginSignal(cardno,axis, 0) StopSignal=1;/由stop0 原点引起if (Check_LimitSignal (cardno,axis, 1) StopSignal=2;/由负限位引起 if ( backDir=0 & StopSignal= 0)/正向回原点 if(Check_OriginSignal(cardno,axis, 0) StopSignal=1;/由stop0 原点引起if (Check_LimitSignal (cardno,axis, 0) StopSignal=2;/由正限位引起 get_status (card

14、no,axis,&status); if (status) break;/驱动进行中，继续读信号和状态if (StopSignal=0 | StopSignal=2) /未检测到正常停止信号 set_stop0_mode (cardno,axis,0,0); return -2; if(logical1=-1) /不搜索 Z，回原点完成set_stop0_mode (cardno,axis,0,0); set_command_pos (cardno,axis,0); set_actual_pos (cardno,axis,0); returnSUCCESSFUL; else if (l

15、ogical1=0|logical1=1)/搜索Z相 set_stop0_mode (cardno,axis, 0,0); workstep+; break; case6: /编码器 Z相，移动与每转脉冲数等长的位移 StopSignal=0; set_startv (cardno,axis,phaseSpeed); /低速接近 Z相set_speed (cardno,axis,phaseSpeed); /低速接近 Z相set_stop1_mode (cardno,axis,1,logical1);/设置Stop1有效电平pmove(cardno,axis,backDir?pulseUnit:

16、-pulseUnit); workstep+; break; case7:/判断搜索 Z相信号结果 if(Check_OriginSignal(cardno,axis, 1) StopSignal=1;/由STOP1引起get_status (cardno,axis,&status); if (status) break;/驱动进行中，继续读信号和状态if (StopSignal=0) /转了一圈仍然没有找到 Z信号set_stop1_mode (cardno,axis, 0,0); return -2; set_stop1_mode (cardno,axis,0,0); set_command_pos (cardno,axis,0); set_actual_pos (cardno,axis,0); returnSUCCESSFUL; if (Stop_Flagaxis-1=1)/响应外部的停止信号 ,退出break; /转让控制权PeekMessage (&msg,NULL ,0