DMC1380的使用：项目实例讲解

由于1380属于低端板卡，提供的回远点函数较为简陋，调用回原地函数后，会先要求的方向运动。遇到原点或者极限就会停止。所以正常的使用三个感应器的情况就需要自己写了

下面就提供一段回原点函数作为参考

   '***************************************************************************************
    '初始化函数                                                                            * 
    '***************************************************************************************

    Private Sub Button10_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button10.Click
        workthread = New Thread(AddressOf home)
        workthread.Start()
        Button10.Enabled = False
    End Sub
    '***************************************************************************************
    '回原点函数：向负方向回原点                                                            * 
    '***************************************************************************************
    Public Sub home()
        Dim ret As Long
        Dim cd As Long
        Dim cd1 As Long
        Dim cd2 As Long
        Dim cd3 As Long
        Dim cd4 As Long
        Dim a As Long
        '如果在原点, 轴就向正方向移动一段距离
        cd4 = d1000_check_done(0)
        If cd4 = 4 Then
            d1000_start_ta_move(0, 20000, 2000, 20000, 0.5)
            MsgBox("在原点")
            Do Until cd4 = 1
                cd4 = d1000_check_done(0)
            Loop
        End If

        Do Until cd = 4
            cd = d1000_check_done(0)
            MsgBox("不在原点，往负方向")
            ret = d1000_home_move(0, -200, -10000, 0.4)
            Do Until cd1 = 3
                cd1 = d1000_check_done(0)
                If cd1 = 3 Then
                    MsgBox("遇到负极限，往正方向")
                    d1000_home_move(0, 200, 5000, 0.4)
                ElseIf cd1 = 4 Then
                    MsgBox("初始位置在原点，又回到原点")
                    Exit Do
                    '中途遇到原点就继续往正方向移动  然后继续向负方向回原点
                    '（备用代码：遇到原点就像正方向走一段相对位置，然后在向负方向回原点）
                    'If cd1 = 4 Then
                    ' cd1 = d1000_check_done(0)
                    'd1000_start_ta_move(0, 10000, 2000, 20000, 0.5)
                    ' End If
                    'Do Until cd2 = 4
                    'cd2 = d1000_check_done(0)
                    ' d1000_home_move(0, -200, -5000, 0.4)
                    'Loop
                    'Exit Do
                End If
            Loop
            Exit Do
        Loop

        Do Until cd2 = 4
            cd2 = d1000_check_done(0)
            If cd2 = 4 Then
                MsgBox("向正方向移动")
                d1000_start_ta_move(0, 10000, 2000, 30000, 0.5)
            End If
        Loop
        Do Until cd2 = 1
            cd2 = d1000_check_done(0)
        Loop
        '碰到原点停止
        MsgBox("第二次回原点")
        d1000_home_move(0, -200, -5000, 0.4)
        Do Until cd3 = 4
            cd3 = d1000_check_done(0)
        Loop

        '手动设置原点位置
        MsgBox("手动设置原点位置")
        d1000_set_command_pos(0, 0)

        If ret <> 0 Then
            MsgBox("报警代码：" & ret)

        End If
        '调用命令  退出线程
        Invoke(New delegatesub(AddressOf butchange), "")
        workthread.Abort()


    End Sub

下面这段是一部分的动作代码。

<pre name="code" class="csharp">    Private Sub OutPutRun()
        '清除CT计算时间
        'start_now = 0
        'end_now = 0
        '开始CT计时
        d1000_immediate_stop(1)
        ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "送料轴停止等待动作")
        d1000_out_bit(3, 1)
        ccd_judge = Trim(0)
        start_now = My.Computer.Clock.TickCount
        Dim t As Long
        Dim x As Long
        Dim time_save As Long
        'd1000_out_bit(2, 0)
        'd1000_out_bit(3, 0)
        'd1000_out_bit(4, 0)
        'd1000_out_bit(1, 1)
        '动作备用代码
        'Select Case ccd_judge
        'Case "a"
        '          d1000_start_ta_move(0, TextBox3.Text, 2000, TextBox7.Text, 0.5)
        '          a += 1
        'Case "b"
        '          d1000_start_ta_move(0, TextBox4.Text, 2000, TextBox7.Text, 0.5)
        '          b += 1
        'Case "c"
        '          d1000_start_ta_move(0, TextBox5.Text, 2000, TextBox7.Text, 0.5)
        '          c += 1
        'Case "d"
        '          d1000_start_ta_move(0, TextBox6.Text, 2000, TextBox7.Text, 0.5)
        '          d += 1
        'Case "f"
        '          f += 1
        '          Exit Sub
        'End Select


        If ccd_judge = n2 Then
            d1000_start_ta_move(0, TextBox3.Text, 2000, TextBox7.Text, 0.5)
            a += 1
            x = TextBox3.Text
            ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "走位置a")
        ElseIf ccd_judge = n3 Then
            d1000_start_ta_move(0, TextBox4.Text, 2000, TextBox7.Text, 0.5)
            x = TextBox4.Text
            b += 1
            ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "走位置b")
        ElseIf ccd_judge = "f" Or ccd_judge = "" Then
            d1000_start_ta_move(0, TextBox5.Text, 2000, TextBox7.Text, 0.5)
            x = TextBox5.Text
            f += 1
            ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "走位置F")
        ElseIf ccd_judge = "d" Then
            d1000_start_ta_move(0, TextBox6.Text, 2000, TextBox7.Text, 0.5)
            x = TextBox6.Text
            d += 1
            ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "走位置d")
        End If
       

        ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "等待轴到位")
        Do Until x < pos + 10 And x > pos - 10
            wait(10)
            t += 100
            ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "轴走位置" & pos & ccd_judge)
            'MsgBox("轴走位置" & pos)
            If t = 2000 Then
                ListBox1.Items.Add("没有轴停止信号")
                Exit Sub
            End If
        Loop
        t = 0
        ListBox1.Items.Insert(0, Now.TimeOfDay.ToString & "吹气")
        d1000_out_bit(3, 0)
        wait(TextBox15.Text)
        d1000_out_bit(3, 1)
        d1000_start_tv_move(1, 100, TextBox17.Text, 0.5)
        f += 1
        TextBox9.Text = a
        TextBox10.Text = b
        TextBox11.Text = f
        TextBox12.Text = c
        TextBox13.Text = a + b + c + d + f
        end_now = My.Computer.Clock.TickCount
        Threading.Thread.Sleep(TextBox15.Text)
        TextBox8.Text = (end_now - start_now) / 1000
        IsTestOver = True
    End Sub