1404 lines
43 KiB
C++
1404 lines
43 KiB
C++
#include "tohomecode.h"
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ToHomeCode::ToHomeCode()
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{
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}
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#ifdef MACHINE001
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QString ToHomeCode::getCode()
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{
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QString code("\n");
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code +=
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// 取消ZA限位
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"FDEF(ZA).#LL=0\n"
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"FDEF(ZA).#RL=0\n"
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"FMASK(ZA).#SRL=0\n"
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"FMASK(ZA).#SLL=0\n"
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"ENABLE (ZA)\n"
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"COMMUT (ZA)\n"+
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QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
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QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
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QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
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QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
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QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
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// ZA向正方向JOG移动，速度为10mm/s
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"JOG (ZA),+\n"
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// 阻塞直到ZA碰到右限位
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"TILL FAULT(ZA).#RL\n"
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"HALT ZA\n"
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"HRLROUT(Z0)=0301\n"
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"HLLROUT(Z0)=0300\n"
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//"HRLROUT(Z0)=0501\n"
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//"HLLROUT(Z0)=0500\n"
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// 禁用X轴补偿
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"MFLAGS(X).17=1\n"
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// 禁用X机械误差补偿
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"ERRORMAPOFF X,0\n"
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// 禁用X轴限位
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"FDEF(X).#LL=0\n"
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"FDEF(X).#RL=0\n"
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"FMASK(X).#SRL=0\n"
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"FMASK(X).#SLL=0\n"
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"ENABLE (X)\n"+
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QString("VEL(X) = %1\n").arg(XAxisVel)+
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QString("ACC(X) = %1\n").arg(XAxisVel*10)+
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QString("DEC(X) = %1\n").arg(XAxisVel*10)+
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QString("JERK(X) = %1\n").arg(XAxisVel*100)+
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QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
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// X轴向负方向JOG移动
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"JOG (X),-\n"
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// 阻塞直到X轴碰到左限位
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"TILL FAULT(X).#LL\n"
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// 停止X轴
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"HALT X\n"+
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QString("VEL(X) = %1\n").arg(XAxisFindINDVel)+
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QString("ACC(X) = %1\n").arg(XAxisFindINDVel*10)+
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QString("DEC(X) = %1\n").arg(XAxisFindINDVel*10)+
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QString("JERK(X) = %1\n").arg(XAxisFindINDVel*100)+
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QString("KDEC(X) = %1\n").arg(XAxisFindINDVel*100)+
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// X轴向正方向JOG移动
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"JOG (X),+\n"
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// 阻塞直到左限位为OFF
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"TILL ^FAULT(X).#LL\n"
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// X轴的IND信号置为0
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"IST(X).#IND=0\n"
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// 阻塞直到X轴碰到IND信号
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"TILL IST(X).#IND\n"+
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// 把原点磁铁位置设置为79mm
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QString("SET FPOS(X)=FPOS(X)-IND(X)+%1\n").arg(XAxisINDZeroOffset)+
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QString("VEL(X) = %1\n").arg(XAxisVel)+
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QString("ACC(X) = %1\n").arg(XAxisVel*10)+
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QString("DEC(X) = %1\n").arg(XAxisVel*10)+
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QString("JERK(X) = %1\n").arg(XAxisVel*100)+
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QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
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// 走到0点位置，阻塞执行
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QString("PTP/e (X),%1\n").arg(XAxisToHomePos)+
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// 设置X轴软限位
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QString("SRLIMIT(X)=%1\n").arg(XAxisSRLimit)+
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QString("SLLIMIT(X)=%1\n").arg(XAxisSLLimit)+
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// 启用X轴限位
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"FDEF(X).#LL=1\n"
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"FDEF(X).#RL=1\n"
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"FMASK(X).#SRL=1\n"
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"FMASK(X).#SLL=1\n"
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"MFLAGS(Y).17=1\n"
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// 禁用Y轴机械误差补偿
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"ERRORMAPOFF Y,0\n"
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// 禁用Y轴限位
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"FDEF(Y).#LL=0\n"
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"FDEF(Y).#RL=0\n"
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"FMASK(Y).#SRL=0\n"
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"FMASK(Y).#SLL=0\n"
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"ENABLE (Y)\n"+
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QString("VEL(Y) = %1\n").arg(YAxisVel)+
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QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
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QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
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QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
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QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
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// Y轴向负方向JOG移动
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"JOG (Y),-\n"
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// 阻塞直到Y轴碰到左限位
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"TILL FAULT(Y).#LL\n"
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// 停止Y轴
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"HALT Y\n"+
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QString("VEL(Y) = %1\n").arg(YAxisFindINDVel)+
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QString("ACC(Y) = %1\n").arg(YAxisFindINDVel*10)+
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QString("DEC(Y) = %1\n").arg(YAxisFindINDVel*10)+
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QString("JERK(Y) = %1\n").arg(YAxisFindINDVel*100)+
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QString("KDEC(Y) = %1\n").arg(YAxisFindINDVel*100)+
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// Y轴向正方向JOG移动
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"JOG (Y),+\n"
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// 阻塞直到Y轴移开左限位
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"TILL ^FAULT(Y).#LL\n"
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// Y轴IND值设为0
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"IST(Y).#IND=0\n"
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// 直到Y轴碰到IND信号
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"TILL IST(Y).#IND\n"+
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// 原点磁铁位置设为114mm
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QString("SET FPOS(Y)=FPOS(Y)-IND(Y)+%1\n").arg(YAxisINDZeroOffset)+
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QString("VEL(Y) = %1\n").arg(YAxisVel)+
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QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
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QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
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QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
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QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
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// Y轴走到0位
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QString("PTP/e (Y),%1\n").arg(YAxisToHomePos)+
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// 设置Y轴软限位
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QString("SRLIMIT(Y)=%1\n").arg(YAxisSRLimit)+
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QString("SLLIMIT(Y)=%1\n").arg(YAxisSLLimit)+
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// 启用Y轴限位
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"FDEF(Y).#LL=1\n"
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"FDEF(Y).#RL=1\n"
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"FMASK(Y).#SRL=1\n"
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"FMASK(Y).#SLL=1\n"
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// 禁用Z1轴补偿
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"MFLAGS(Z).17=1\n"
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"ERRORMAPOFF Z,0\n"
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"FDEF(Z).#LL=0\n"
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"FDEF(Z).#RL=0\n"
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"FMASK(Z).#SRL=0\n"
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"FMASK(Z).#SLL=0\n"
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"ENABLE (Z)\n"+
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QString("VEL(Z) = %1\n").arg(ZAxisVel)+
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QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
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QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
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QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
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QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
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// Z1轴向正方向JOG移动
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"JOG (Z),+\n"
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// 阻塞直到Z1轴碰到右限位
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"TILL FAULT(Z).#RL\n"
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// 停止Z1轴
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"HALT Z\n"+
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QString("VEL(Z) = %1\n").arg(ZAxisFindINDVel)+
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QString("ACC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
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QString("DEC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
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QString("JERK(Z) = %1\n").arg(ZAxisFindINDVel*100)+
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QString("KDEC(Z) = %1\n").arg(ZAxisFindINDVel*100)+
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// Z1轴向负方向移动
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"JOG (Z),-\n"
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// 阻塞直到Z1轴脱离右限位
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"TILL ^FAULT(Z).#RL\n"
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// Z1轴IND值设为0
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"IST(Z).#IND=0\n"
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// 阻塞直到Z1轴碰到IND信号
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"TILL IST(Z).#IND\n"+
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// Z1轴原点磁铁位置设置为-4mm lihongchang -2.5
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QString("SET FPOS(Z)=FPOS(Z)-IND(Z)+%1\n").arg(ZAxisINDZeroOffset)+
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QString("VEL(Z) = %1\n").arg(ZAxisVel)+
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QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
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QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
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QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
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QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
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// Z1轴回到0点
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QString("PTP/e (Z),%1\n").arg(ZAxisToHomePos)+
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// 设置Z1轴软限位
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QString("SRLIMIT(Z)=%1\n").arg(ZAxisSRLimit)+
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QString("SLLIMIT(Z)=%1\n").arg(ZAxisSLLimit)+
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// 启用Z1轴软限位
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"FDEF(Z).#LL=1\n"
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"FDEF(Z).#RL=1\n"
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"FMASK(Z).#SRL=1\n"
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"FMASK(Z).#SLL=1\n"
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// 禁用Z轴补偿
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"MFLAGS(ZA).17=1\n"
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"ERRORMAPOFF ZA,0\n"
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// 禁用Z轴限位
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"FDEF(ZA).#LL=0\n"
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"FDEF(ZA).#RL=0\n"
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"FMASK(ZA).#SRL=0\n"
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"FMASK(ZA).#SLL=0\n"
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"ENABLE (ZA)\n"+
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QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
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QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
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QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
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QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
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QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
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// Z轴向正方向JOG移动
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"JOG (ZA),+\n"
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// 阻塞直到Z轴碰到右限位
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"TILL FAULT(ZA).#RL\n"
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// 停止Z轴
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"HALT ZA\n"+
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QString("VEL(ZA) = %1\n").arg(ZAAxisFindINDVel)+
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QString("ACC(ZA) = %1\n").arg(ZAAxisFindINDVel*10)+
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QString("DEC(ZA) = %1\n").arg(ZAAxisFindINDVel*10)+
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QString("JERK(ZA) = %1\n").arg(ZAAxisFindINDVel*100)+
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QString("KDEC(ZA) = %1\n").arg(ZAAxisFindINDVel*100)+
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// Z轴向负方向JOG移动
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"JOG (ZA),-\n"
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// 阻塞直到Z轴离开右限位
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"TILL ^FAULT(ZA).#RL\n"
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// IND值置为0
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"IST(ZA).#IND=0\n"
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// 阻塞直到Z轴碰到IND信号
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"TILL IST(ZA).#IND\n"+
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// 原点磁铁位置设为61mm
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QString("SET FPOS(ZA)=FPOS(ZA)-IND(ZA)+%1\n").arg(ZAAxisINDZeroOffset)+
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QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
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QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
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QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
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QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
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QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
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QString("PTP/e (ZA),%1\n").arg(ZAAxisToHomePos)+
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// 设置软限位
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QString("SRLIMIT(ZA)=%1\n").arg(ZAAxisSRLimit)+
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QString("SLLIMIT(ZA)=%1\n").arg(ZAAxisSLLimit)+
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// 启用限位
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"FDEF(ZA).#LL=1\n"
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"FDEF(ZA).#RL=1\n"
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"FMASK(ZA).#SRL=1\n"
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"FMASK(ZA).#SLL=1\n"
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// // 禁用Z2轴限位
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// "FDEF(Z2).#LL=0\n"
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// "FDEF(Z2).#RL=0\n"
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// "FMASK(Z2).#SRL=0\n"
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// "FMASK(Z2).#SLL=0\n"
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// "ENABLE (Z2)\n"+
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// QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
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// QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
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// QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
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// QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
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// QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
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// // Z2轴向负方向JOG移动
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// "JOG (Z2),-\n"
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// // 阻塞直到Z2轴碰到左限位
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// "TILL FAULT(Z2).#LL\n"
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// // 停止Z2轴
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// "HALT Z2\n"+
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// QString("VEL(Z2) = %1\n").arg(Z2AxisFindINDVel)+
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// QString("ACC(Z2) = %1\n").arg(Z2AxisFindINDVel*10)+
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// QString("DEC(Z2) = %1\n").arg(Z2AxisFindINDVel*10)+
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// QString("JERK(Z2) = %1\n").arg(Z2AxisFindINDVel*100)+
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// QString("KDEC(Z2) = %1\n").arg(Z2AxisFindINDVel*100)+
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// // Z2轴向正方向JOG移动
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// "JOG (Z2),+\n"
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// "TILL IN(4).2\n"
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// "HALT Z2\n"+
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// // 原点磁铁位置设为114mm
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// QString("SET FPOS(Z2)=%1\n").arg(Z2AxisINDZeroOffset)+
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// QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
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// QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
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// QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
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// QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
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// QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
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// // Z2轴走到0位
|
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// QString("PTP/e (Z2),%1\n").arg(Z2AxisToHomePos)+
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// // 设置Z2轴软限位
|
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// QString("SRLIMIT(Z2)=%1\n").arg(Z2AxisSRLimit)+
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// QString("SLLIMIT(Z2)=%1\n").arg(Z2AxisSLLimit)+
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// // 启用Z2轴限位
|
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// "FDEF(Z2).#LL=1\n"
|
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// "FDEF(Z2).#RL=1\n"
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// "FMASK(Z2).#SRL=1\n"
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// "FMASK(Z2).#SLL=1\n"
|
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|
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// 禁用Z0轴限位
|
||
"FDEF(Z0).#LL=0\n"
|
||
"FDEF(Z0).#RL=0\n"
|
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"FMASK(Z0).#SRL=0\n"
|
||
"FMASK(Z0).#SLL=0\n"
|
||
|
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"ECOUT( ecgetoffset(\"Modes of operation\",3),Modes_of_operation)\n"
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"ecin( ecgetoffset(\"Statusword\",3),StatusWord)\n"
|
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"ecout(ecgetoffset(\"Controlword\",3),ControlWord)\n"
|
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"Modes_of_operation=6 !6 is Homing mode\n"
|
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"I0=coeread/1 (3,0x6061,0)\n"
|
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"coewrite/1 (3,0x6098,0,1) !Homing Method\n"
|
||
"coewrite/4 (3,0x6099,1,8388608/2)\n"
|
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"coewrite/4 (3,0x6099,2,838860)\n"
|
||
"coewrite/4 (3,0x609A,0,8388608)!Home Acceleration\n"
|
||
"ControlWord=6\n"
|
||
"TILL StatusWord.0=1\n"
|
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"ControlWord=7\n"
|
||
"TILL StatusWord.0=1 & StatusWord.1=1\n"
|
||
"ControlWord=15\n"
|
||
"TILL StatusWord.0=1 & StatusWord.1=1 & StatusWord.2=1\n"
|
||
"!Start Homing Procedure - Bit 4\n"
|
||
"ControlWord=31\n"
|
||
"TILL StatusWord.12=1 & StatusWord.10=1\n"
|
||
"ControlWord=0\n"
|
||
"Modes_of_operation=8 !go back to CSP mode\n"
|
||
"ECUNMAPIN(ecgetoffset(\"Statusword\",3))\n"
|
||
"ECUNMAPOUT(ecgetoffset(\"Modes of operation\",3))\n"
|
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"ECUNMAPOUT(ecgetoffset(\"Controlword\",3))\n"
|
||
"wait 400\n"
|
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"DISABLE 6\n"
|
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"WAIT 500\n"
|
||
"ENABLE 6\n"
|
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"PTP/E 6,0\n"
|
||
"wait 400\n"+
|
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QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
|
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QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
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QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
|
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QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
|
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QString("PTP/E 6,%1\n").arg(Z0AxisINDZeroOffset)+
|
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"WAIT 3000\n"+
|
||
|
||
QString("SET FPOS(Z0)=0\n")+
|
||
QString("SRLIMIT(Z0)=%1\n").arg(Z0AxisSRLimit)+
|
||
QString("SLLIMIT(Z0)=%1\n").arg(Z0AxisSLLimit)+
|
||
// 启用Z2轴限位
|
||
"FDEF(Z0).#LL=1\n"
|
||
"FDEF(Z0).#RL=1\n"
|
||
"FMASK(Z0).#SRL=1\n"
|
||
"FMASK(Z0).#SLL=1\n"
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// 禁用DD轴限位
|
||
"FDEF(D).#LL=0\n"
|
||
"FDEF(D).#RL=0\n"
|
||
"FMASK(D).#SRL=0\n"
|
||
"FMASK(D).#SLL=0\n"
|
||
"ENABLE (D)\n"
|
||
"COMMUT (D)\n"+
|
||
QString("VEL(D) = %1\n").arg(DAxisVel)+
|
||
QString("ACC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("DEC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("JERK(D) = %1\n").arg(DAxisVel*100)+
|
||
QString("KDEC(D) = %1\n").arg(DAxisVel*100)+
|
||
// D轴向负方向JOG移动
|
||
"JOG (D),-\n"
|
||
|
||
// D轴IND值设为0
|
||
"IST(D).#IND=0\n"
|
||
// 直到D轴碰到IND信号
|
||
"TILL IST(D).#IND\n"+
|
||
// 原点磁铁位置设为114mm
|
||
QString("SET FPOS(D)=FPOS(D)-IND(D)+%1\n").arg(DAxisINDZeroOffset)+
|
||
QString("VEL(D) = %1\n").arg(DAxisVel)+
|
||
QString("ACC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("DEC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("JERK(D) = %1\n").arg(DAxisVel*100)+
|
||
QString("KDEC(D) = %1\n").arg(DAxisVel*100)+
|
||
// D轴走到0位
|
||
QString("PTP/e (D),%1\n").arg(DAxisToHomePos)+
|
||
|
||
|
||
//lihongchang 0613
|
||
|
||
|
||
"X_ToHomeF = 1\n"
|
||
"Y_ToHomeF = 1\n"
|
||
"Z_ToHomeF = 1\n"
|
||
"ZA_ToHomeF = 1\n"
|
||
"D_ToHomeF = 1\n"
|
||
"Z0_ToHomeF = 1\n"
|
||
"Z2_ToHomeF = 1\n"
|
||
"toHomeF = 1\n"
|
||
"runF = 1\n"
|
||
"STOP";
|
||
|
||
return code;
|
||
}
|
||
#else
|
||
|
||
QString ToHomeCode::getCode()
|
||
{
|
||
QString code("\n");
|
||
code +=
|
||
// 取消ZA限位
|
||
"FDEF(ZA).#LL=0\n"
|
||
"FDEF(ZA).#RL=0\n"
|
||
"FMASK(ZA).#SRL=0\n"
|
||
"FMASK(ZA).#SLL=0\n"
|
||
"ENABLE (ZA)\n"
|
||
"COMMUT (ZA)\n"+
|
||
QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
|
||
QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
|
||
QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
|
||
QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
|
||
QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
|
||
// ZA向正方向JOG移动，速度为10mm/s
|
||
"JOG (ZA),+\n"
|
||
// 阻塞直到ZA碰到右限位
|
||
"TILL FAULT(ZA).#RL\n"
|
||
"HALT ZA\n"
|
||
"HRLROUT(Z0)=0401\n"
|
||
"HLLROUT(Z0)=0400\n"
|
||
//"HRLROUT(Z0)=0501\n"
|
||
//"HLLROUT(Z0)=0500\n"
|
||
|
||
// 禁用X轴补偿
|
||
"MFLAGS(X).17=1\n"
|
||
// 禁用X机械误差补偿
|
||
"ERRORMAPOFF X,0\n"
|
||
// 禁用X轴限位
|
||
"FDEF(X).#LL=0\n"
|
||
"FDEF(X).#RL=0\n"
|
||
"FMASK(X).#SRL=0\n"
|
||
"FMASK(X).#SLL=0\n"
|
||
"ENABLE (X)\n"+
|
||
QString("VEL(X) = %1\n").arg(XAxisVel)+
|
||
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
|
||
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
|
||
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
|
||
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
|
||
|
||
// X轴向负方向JOG移动
|
||
"JOG (X),-\n"
|
||
// 阻塞直到X轴碰到左限位
|
||
"TILL FAULT(X).#LL\n"
|
||
// 停止X轴
|
||
"HALT X\n"+
|
||
QString("VEL(X) = %1\n").arg(XAxisFindINDVel)+
|
||
QString("ACC(X) = %1\n").arg(XAxisFindINDVel*10)+
|
||
QString("DEC(X) = %1\n").arg(XAxisFindINDVel*10)+
|
||
QString("JERK(X) = %1\n").arg(XAxisFindINDVel*100)+
|
||
QString("KDEC(X) = %1\n").arg(XAxisFindINDVel*100)+
|
||
// X轴向正方向JOG移动
|
||
"JOG (X),+\n"
|
||
// 阻塞直到左限位为OFF
|
||
"TILL ^FAULT(X).#LL\n"
|
||
// X轴的IND信号置为0
|
||
"IST(X).#IND=0\n"
|
||
// 阻塞直到X轴碰到IND信号
|
||
"TILL IST(X).#IND\n"+
|
||
// 把原点磁铁位置设置为79mm
|
||
QString("SET FPOS(X)=FPOS(X)-IND(X)+%1\n").arg(XAxisINDZeroOffset)+
|
||
QString("VEL(X) = %1\n").arg(XAxisVel)+
|
||
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
|
||
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
|
||
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
|
||
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
|
||
// 走到0点位置，阻塞执行
|
||
QString("PTP/e (X),%1\n").arg(XAxisToHomePos)+
|
||
// 设置X轴软限位
|
||
QString("SRLIMIT(X)=%1\n").arg(XAxisSRLimit)+
|
||
QString("SLLIMIT(X)=%1\n").arg(XAxisSLLimit)+
|
||
// 启用X轴限位
|
||
"FDEF(X).#LL=1\n"
|
||
"FDEF(X).#RL=1\n"
|
||
"FMASK(X).#SRL=1\n"
|
||
"FMASK(X).#SLL=1\n"
|
||
"MFLAGS(Y).17=1\n"
|
||
// 禁用Y轴机械误差补偿
|
||
"ERRORMAPOFF Y,0\n"
|
||
// 禁用Y轴限位
|
||
"FDEF(Y).#LL=0\n"
|
||
"FDEF(Y).#RL=0\n"
|
||
"FMASK(Y).#SRL=0\n"
|
||
"FMASK(Y).#SLL=0\n"
|
||
"ENABLE (Y)\n"+
|
||
QString("VEL(Y) = %1\n").arg(YAxisVel)+
|
||
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
|
||
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
|
||
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
|
||
QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
|
||
// Y轴向负方向JOG移动
|
||
"JOG (Y),-\n"
|
||
// 阻塞直到Y轴碰到左限位
|
||
"TILL FAULT(Y).#LL\n"
|
||
// 停止Y轴
|
||
"HALT Y\n"+
|
||
QString("VEL(Y) = %1\n").arg(YAxisFindINDVel)+
|
||
QString("ACC(Y) = %1\n").arg(YAxisFindINDVel*10)+
|
||
QString("DEC(Y) = %1\n").arg(YAxisFindINDVel*10)+
|
||
QString("JERK(Y) = %1\n").arg(YAxisFindINDVel*100)+
|
||
QString("KDEC(Y) = %1\n").arg(YAxisFindINDVel*100)+
|
||
// Y轴向正方向JOG移动
|
||
"JOG (Y),+\n"
|
||
// 阻塞直到Y轴移开左限位
|
||
"TILL ^FAULT(Y).#LL\n"
|
||
// Y轴IND值设为0
|
||
"IST(Y).#IND=0\n"
|
||
// 直到Y轴碰到IND信号
|
||
"TILL IST(Y).#IND\n"+
|
||
// 原点磁铁位置设为114mm
|
||
QString("SET FPOS(Y)=FPOS(Y)-IND(Y)+%1\n").arg(YAxisINDZeroOffset)+
|
||
QString("VEL(Y) = %1\n").arg(YAxisVel)+
|
||
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
|
||
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
|
||
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
|
||
QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
|
||
// Y轴走到0位
|
||
QString("PTP/e (Y),%1\n").arg(YAxisToHomePos)+
|
||
// 设置Y轴软限位
|
||
QString("SRLIMIT(Y)=%1\n").arg(YAxisSRLimit)+
|
||
QString("SLLIMIT(Y)=%1\n").arg(YAxisSLLimit)+
|
||
// 启用Y轴限位
|
||
"FDEF(Y).#LL=1\n"
|
||
"FDEF(Y).#RL=1\n"
|
||
"FMASK(Y).#SRL=1\n"
|
||
"FMASK(Y).#SLL=1\n"
|
||
|
||
// 禁用Z1轴补偿
|
||
"MFLAGS(Z).17=1\n"
|
||
"ERRORMAPOFF Z,0\n"
|
||
"FDEF(Z).#LL=0\n"
|
||
"FDEF(Z).#RL=0\n"
|
||
"FMASK(Z).#SRL=0\n"
|
||
"FMASK(Z).#SLL=0\n"
|
||
"ENABLE (Z)\n"+
|
||
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
|
||
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
|
||
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// Z1轴向正方向JOG移动
|
||
"JOG (Z),+\n"
|
||
// 阻塞直到Z1轴碰到右限位
|
||
"TILL FAULT(Z).#RL\n"
|
||
// 停止Z1轴
|
||
"HALT Z\n"+
|
||
QString("VEL(Z) = %1\n").arg(ZAxisFindINDVel)+
|
||
QString("ACC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
|
||
QString("DEC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
|
||
QString("JERK(Z) = %1\n").arg(ZAxisFindINDVel*100)+
|
||
QString("KDEC(Z) = %1\n").arg(ZAxisFindINDVel*100)+
|
||
// Z1轴向负方向移动
|
||
"JOG (Z),-\n"
|
||
// 阻塞直到Z1轴脱离右限位
|
||
"TILL ^FAULT(Z).#RL\n"
|
||
// Z1轴IND值设为0
|
||
"IST(Z).#IND=0\n"
|
||
// 阻塞直到Z1轴碰到IND信号
|
||
"TILL IST(Z).#IND\n"+
|
||
// Z1轴原点磁铁位置设置为-4mm lihongchang -2.5
|
||
QString("SET FPOS(Z)=FPOS(Z)-IND(Z)+%1\n").arg(ZAxisINDZeroOffset)+
|
||
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
|
||
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
|
||
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// Z1轴回到0点
|
||
QString("PTP/e (Z),%1\n").arg(ZAxisToHomePos)+
|
||
// 设置Z1轴软限位
|
||
QString("SRLIMIT(Z)=%1\n").arg(ZAxisSRLimit)+
|
||
QString("SLLIMIT(Z)=%1\n").arg(ZAxisSLLimit)+
|
||
// 启用Z1轴软限位
|
||
"FDEF(Z).#LL=1\n"
|
||
"FDEF(Z).#RL=1\n"
|
||
"FMASK(Z).#SRL=1\n"
|
||
"FMASK(Z).#SLL=1\n"
|
||
|
||
// 禁用Z轴补偿
|
||
"MFLAGS(ZA).17=1\n"
|
||
"ERRORMAPOFF ZA,0\n"
|
||
// 禁用Z轴限位
|
||
"FDEF(ZA).#LL=0\n"
|
||
"FDEF(ZA).#RL=0\n"
|
||
"FMASK(ZA).#SRL=0\n"
|
||
"FMASK(ZA).#SLL=0\n"
|
||
"ENABLE (ZA)\n"+
|
||
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
|
||
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
// Z轴向正方向JOG移动
|
||
"JOG (ZA),+\n"
|
||
// 阻塞直到Z轴碰到右限位
|
||
"TILL FAULT(ZA).#RL\n"
|
||
// 停止Z轴
|
||
"HALT ZA\n"+
|
||
QString("VEL(ZA) = %1\n").arg(ZAAxisFindINDVel)+
|
||
QString("ACC(ZA) = %1\n").arg(ZAAxisFindINDVel*10)+
|
||
QString("DEC(ZA) = %1\n").arg(ZAAxisFindINDVel*10)+
|
||
QString("JERK(ZA) = %1\n").arg(ZAAxisFindINDVel*100)+
|
||
QString("KDEC(ZA) = %1\n").arg(ZAAxisFindINDVel*100)+
|
||
// Z轴向负方向JOG移动
|
||
"JOG (ZA),-\n"
|
||
// 阻塞直到Z轴离开右限位
|
||
"TILL ^FAULT(ZA).#RL\n"
|
||
// IND值置为0
|
||
"IST(ZA).#IND=0\n"
|
||
// 阻塞直到Z轴碰到IND信号
|
||
"TILL IST(ZA).#IND\n"+
|
||
// 原点磁铁位置设为61mm
|
||
QString("SET FPOS(ZA)=FPOS(ZA)-IND(ZA)+%1\n").arg(ZAAxisINDZeroOffset)+
|
||
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
|
||
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
QString("PTP/e (ZA),%1\n").arg(ZAAxisToHomePos)+
|
||
// 设置软限位
|
||
QString("SRLIMIT(ZA)=%1\n").arg(ZAAxisSRLimit)+
|
||
QString("SLLIMIT(ZA)=%1\n").arg(ZAAxisSLLimit)+
|
||
// 启用限位
|
||
"FDEF(ZA).#LL=1\n"
|
||
"FDEF(ZA).#RL=1\n"
|
||
"FMASK(ZA).#SRL=1\n"
|
||
"FMASK(ZA).#SLL=1\n"
|
||
|
||
|
||
|
||
|
||
// // 禁用Z2轴限位
|
||
// "FDEF(Z2).#LL=0\n"
|
||
// "FDEF(Z2).#RL=0\n"
|
||
// "FMASK(Z2).#SRL=0\n"
|
||
// "FMASK(Z2).#SLL=0\n"
|
||
// "ENABLE (Z2)\n"+
|
||
// QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
|
||
// QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// // Z2轴向负方向JOG移动
|
||
// "JOG (Z2),-\n"
|
||
// // 阻塞直到Z2轴碰到左限位
|
||
// "TILL FAULT(Z2).#LL\n"
|
||
// // 停止Z2轴
|
||
// "HALT Z2\n"+
|
||
// QString("VEL(Z2) = %1\n").arg(Z2AxisFindINDVel)+
|
||
// QString("ACC(Z2) = %1\n").arg(Z2AxisFindINDVel*10)+
|
||
// QString("DEC(Z2) = %1\n").arg(Z2AxisFindINDVel*10)+
|
||
// QString("JERK(Z2) = %1\n").arg(Z2AxisFindINDVel*100)+
|
||
// QString("KDEC(Z2) = %1\n").arg(Z2AxisFindINDVel*100)+
|
||
// // Z2轴向正方向JOG移动
|
||
// "JOG (Z2),+\n"
|
||
// "TILL IN(4).2\n"
|
||
// "HALT Z2\n"+
|
||
|
||
// // 原点磁铁位置设为114mm
|
||
// QString("SET FPOS(Z2)=%1\n").arg(Z2AxisINDZeroOffset)+
|
||
// QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
|
||
// QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// // Z2轴走到0位
|
||
// QString("PTP/e (Z2),%1\n").arg(Z2AxisToHomePos)+
|
||
// // 设置Z2轴软限位
|
||
// QString("SRLIMIT(Z2)=%1\n").arg(Z2AxisSRLimit)+
|
||
// QString("SLLIMIT(Z2)=%1\n").arg(Z2AxisSLLimit)+
|
||
// // 启用Z2轴限位
|
||
// "FDEF(Z2).#LL=1\n"
|
||
// "FDEF(Z2).#RL=1\n"
|
||
// "FMASK(Z2).#SRL=1\n"
|
||
// "FMASK(Z2).#SLL=1\n"
|
||
|
||
// 禁用Z0轴限位
|
||
"FDEF(Z0).#LL=0\n"
|
||
"FDEF(Z0).#RL=0\n"
|
||
"FMASK(Z0).#SRL=0\n"
|
||
"FMASK(Z0).#SLL=0\n"
|
||
|
||
"ECOUT( ecgetoffset(\"Modes of operation\",4),Modes_of_operation)\n"
|
||
"ecin( ecgetoffset(\"Statusword\",4),StatusWord)\n"
|
||
"ecout(ecgetoffset(\"Controlword\",4),ControlWord)\n"
|
||
"Modes_of_operation=6 !6 is Homing mode\n"
|
||
"I0=coeread/1 (4,0x6061,0)\n"
|
||
"coewrite/1 (4,0x6098,0,1) !Homing Method\n"
|
||
"coewrite/4 (4,0x6099,1,8388608/2)\n"
|
||
"coewrite/4 (4,0x6099,2,838860)\n"
|
||
"coewrite/4 (4,0x609A,0,8388608)!Home Acceleration\n"
|
||
"ControlWord=6\n"
|
||
"TILL StatusWord.0=1\n"
|
||
"ControlWord=7\n"
|
||
"TILL StatusWord.0=1 & StatusWord.1=1\n"
|
||
"ControlWord=15\n"
|
||
"TILL StatusWord.0=1 & StatusWord.1=1 & StatusWord.2=1\n"
|
||
"!Start Homing Procedure - Bit 4\n"
|
||
"ControlWord=31\n"
|
||
"TILL StatusWord.12=1 & StatusWord.10=1\n"
|
||
"ControlWord=0\n"
|
||
"Modes_of_operation=8 !go back to CSP mode\n"
|
||
"ECUNMAPIN(ecgetoffset(\"Statusword\",4))\n"
|
||
"ECUNMAPOUT(ecgetoffset(\"Modes of operation\",4))\n"
|
||
"ECUNMAPOUT(ecgetoffset(\"Controlword\",4))\n"
|
||
"wait 400\n"
|
||
"DISABLE 7\n"
|
||
"WAIT 500\n"
|
||
"ENABLE 7\n"
|
||
"PTP/E 7,0\n"
|
||
"wait 400\n"+
|
||
QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
|
||
QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
|
||
QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
|
||
QString("PTP/E 7,%1\n").arg(Z0AxisINDZeroOffset)+
|
||
"WAIT 3000\n"+
|
||
|
||
QString("SET FPOS(Z0)=0\n")+
|
||
QString("SRLIMIT(Z0)=%1\n").arg(Z0AxisSRLimit)+
|
||
QString("SLLIMIT(Z0)=%1\n").arg(Z0AxisSLLimit)+
|
||
// 启用Z2轴限位
|
||
"FDEF(Z0).#LL=1\n"
|
||
"FDEF(Z0).#RL=1\n"
|
||
"FMASK(Z0).#SRL=1\n"
|
||
"FMASK(Z0).#SLL=1\n"
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// 禁用DD轴限位
|
||
"FDEF(D).#LL=0\n"
|
||
"FDEF(D).#RL=0\n"
|
||
"FMASK(D).#SRL=0\n"
|
||
"FMASK(D).#SLL=0\n"
|
||
"ENABLE (D)\n"
|
||
"COMMUT (D)\n"+
|
||
QString("VEL(D) = %1\n").arg(DAxisVel)+
|
||
QString("ACC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("DEC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("JERK(D) = %1\n").arg(DAxisVel*100)+
|
||
QString("KDEC(D) = %1\n").arg(DAxisVel*100)+
|
||
// D轴向负方向JOG移动
|
||
"JOG (D),-\n"
|
||
|
||
// D轴IND值设为0
|
||
"IST(D).#IND=0\n"
|
||
// 直到D轴碰到IND信号
|
||
"TILL IST(D).#IND\n"+
|
||
// 原点磁铁位置设为114mm
|
||
QString("SET FPOS(D)=FPOS(D)-IND(D)+%1\n").arg(DAxisINDZeroOffset)+
|
||
QString("VEL(D) = %1\n").arg(DAxisVel)+
|
||
QString("ACC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("DEC(D) = %1\n").arg(DAxisVel*10)+
|
||
QString("JERK(D) = %1\n").arg(DAxisVel*100)+
|
||
QString("KDEC(D) = %1\n").arg(DAxisVel*100)+
|
||
// D轴走到0位
|
||
QString("PTP/e (D),%1\n").arg(DAxisToHomePos)+
|
||
|
||
|
||
//lihongchang 0613
|
||
|
||
|
||
"X_ToHomeF = 1\n"
|
||
"Y_ToHomeF = 1\n"
|
||
"Z_ToHomeF = 1\n"
|
||
"ZA_ToHomeF = 1\n"
|
||
"D_ToHomeF = 1\n"
|
||
"Z0_ToHomeF = 1\n"
|
||
"Z2_ToHomeF = 1\n"
|
||
"toHomeF = 1\n"
|
||
"runF = 1\n"
|
||
"STOP";
|
||
|
||
return code;
|
||
}
|
||
#endif
|
||
QString ToHomeCode::getCode_z() //音圈回零测试使用
|
||
{
|
||
QString code("\n");
|
||
code +=
|
||
|
||
// 禁用Z1轴补偿
|
||
"MFLAGS(Z).17=1\n"
|
||
"ERRORMAPOFF Z,0\n"
|
||
"FDEF(Z).#LL=0\n"
|
||
"FDEF(Z).#RL=0\n"
|
||
"FMASK(Z).#SRL=0\n"
|
||
"FMASK(Z).#SLL=0\n"
|
||
"ENABLE (Z)\n"+
|
||
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
|
||
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
|
||
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// Z1轴向正方向JOG移动
|
||
"JOG (Z),+\n"
|
||
// 阻塞直到Z1轴碰到右限位
|
||
"TILL FAULT(Z).#RL\n"
|
||
// 停止Z1轴
|
||
"HALT Z\n"+
|
||
QString("VEL(Z) = %1\n").arg(ZAxisFindINDVel)+
|
||
QString("ACC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
|
||
QString("DEC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
|
||
QString("JERK(Z) = %1\n").arg(ZAxisFindINDVel*100)+
|
||
QString("KDEC(Z) = %1\n").arg(ZAxisFindINDVel*100)+
|
||
// Z1轴向负方向移动
|
||
"JOG (Z),-\n"
|
||
// 阻塞直到Z1轴脱离右限位
|
||
"TILL ^FAULT(Z).#RL\n"
|
||
// Z1轴IND值设为0
|
||
"IST(Z).#IND=0\n"
|
||
// 阻塞直到Z1轴碰到IND信号
|
||
"TILL IST(Z).#IND\n"+
|
||
// Z1轴原点磁铁位置设置为-4mm lihongchang -2.5
|
||
QString("SET FPOS(Z)=FPOS(Z)-IND(Z)+%1\n").arg(ZAxisINDZeroOffset)+
|
||
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
|
||
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
|
||
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// Z1轴回到0点
|
||
QString("PTP/e (Z),%1\n").arg(ZAxisToHomePos)+
|
||
// 设置Z1轴软限位
|
||
QString("SRLIMIT(Z)=%1\n").arg(ZAxisSRLimit)+
|
||
QString("SLLIMIT(Z)=%1\n").arg(ZAxisSLLimit)+
|
||
// 启用Z1轴软限位
|
||
"FDEF(Z).#LL=1\n"
|
||
"FDEF(Z).#RL=1\n"
|
||
"FMASK(Z).#SRL=1\n"
|
||
"FMASK(Z).#SLL=1\n"
|
||
|
||
|
||
"X_ToHomeF = 1\n"
|
||
"Y_ToHomeF = 1\n"
|
||
"Z_ToHomeF = 1\n"
|
||
"ZA_ToHomeF = 1\n"
|
||
"D_ToHomeF = 1\n"
|
||
"Z0_ToHomeF = 1\n"
|
||
"Z2_ToHomeF = 1\n"
|
||
"toHomeF = 1\n"
|
||
"runF = 1\n"
|
||
"STOP";
|
||
|
||
return code;
|
||
}
|
||
|
||
|
||
//QString ToHomeCode::getCode()
|
||
//{
|
||
// QString code("\n");
|
||
// code +=
|
||
// // 取消ZA限位
|
||
// "FDEF(ZA).#LL=0\n"
|
||
// "FDEF(ZA).#RL=0\n"
|
||
// "FMASK(ZA).#SRL=0\n"
|
||
// "FMASK(ZA).#SLL=0\n"
|
||
// "ENABLE (ZA)\n"
|
||
// "COMMUT (ZA)\n"+
|
||
// QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
|
||
// QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
|
||
// QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
|
||
// QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
|
||
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
|
||
// // ZA向正方向JOG移动，速度为10mm/s
|
||
// "JOG (ZA),+\n"
|
||
// // 阻塞直到ZA碰到右限位
|
||
// "TILL FAULT(ZA).#RL\n"
|
||
// "HALT ZA\n"
|
||
// "HRLROUT(Z2)=0401\n"
|
||
// "HLLROUT(Z2)=0400\n"
|
||
// "HRLROUT(Z0)=0501\n"
|
||
// "HLLROUT(Z0)=0500\n"
|
||
|
||
// // 禁用X轴补偿
|
||
// "MFLAGS(X).17=1\n"
|
||
// // 禁用X机械误差补偿
|
||
// "ERRORMAPOFF X,0\n"
|
||
// // 禁用X轴限位
|
||
// "FDEF(X).#LL=0\n"
|
||
// "FDEF(X).#RL=0\n"
|
||
// "FMASK(X).#SRL=0\n"
|
||
// "FMASK(X).#SLL=0\n"
|
||
// "ENABLE (X)\n"+
|
||
// QString("VEL(X) = %1\n").arg(XAxisVel)+
|
||
// QString("ACC(X) = %1\n").arg(XAxisVel*10)+
|
||
// QString("DEC(X) = %1\n").arg(XAxisVel*10)+
|
||
// QString("JERK(X) = %1\n").arg(XAxisVel*100)+
|
||
// QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
|
||
|
||
// // X轴向负方向JOG移动
|
||
// "JOG (X),-\n"
|
||
// // 阻塞直到X轴碰到左限位
|
||
// "TILL FAULT(X).#LL\n"
|
||
// // 停止X轴
|
||
// "HALT X\n"+
|
||
// QString("VEL(X) = %1\n").arg(XAxisFindINDVel)+
|
||
// QString("ACC(X) = %1\n").arg(XAxisFindINDVel*10)+
|
||
// QString("DEC(X) = %1\n").arg(XAxisFindINDVel*10)+
|
||
// QString("JERK(X) = %1\n").arg(XAxisFindINDVel*100)+
|
||
// QString("KDEC(X) = %1\n").arg(XAxisFindINDVel*100)+
|
||
// // X轴向正方向JOG移动
|
||
// "JOG (X),+\n"
|
||
// // 阻塞直到左限位为OFF
|
||
// "TILL ^FAULT(X).#LL\n"
|
||
// // X轴的IND信号置为0
|
||
// "IST(X).#IND=0\n"
|
||
// // 阻塞直到X轴碰到IND信号
|
||
// "TILL IST(X).#IND\n"+
|
||
// // 把原点磁铁位置设置为79mm
|
||
// QString("SET FPOS(X)=FPOS(X)-IND(X)+%1\n").arg(XAxisINDZeroOffset)+
|
||
// QString("VEL(X) = %1\n").arg(XAxisVel)+
|
||
// QString("ACC(X) = %1\n").arg(XAxisVel*10)+
|
||
// QString("DEC(X) = %1\n").arg(XAxisVel*10)+
|
||
// QString("JERK(X) = %1\n").arg(XAxisVel*100)+
|
||
// QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
|
||
// // 走到0点位置，阻塞执行
|
||
// QString("PTP/e (X),%1\n").arg(XAxisToHomePos)+
|
||
// // 设置X轴软限位
|
||
// QString("SRLIMIT(X)=%1\n").arg(XAxisSRLimit)+
|
||
// QString("SLLIMIT(X)=%1\n").arg(XAxisSLLimit)+
|
||
// // 启用X轴限位
|
||
// "FDEF(X).#LL=1\n"
|
||
// "FDEF(X).#RL=1\n"
|
||
// "FMASK(X).#SRL=1\n"
|
||
// "FMASK(X).#SLL=1\n"
|
||
// "MFLAGS(Y).17=1\n"
|
||
// // 禁用Y轴机械误差补偿
|
||
// "ERRORMAPOFF Y,0\n"
|
||
// // 禁用Y轴限位
|
||
// "FDEF(Y).#LL=0\n"
|
||
// "FDEF(Y).#RL=0\n"
|
||
// "FMASK(Y).#SRL=0\n"
|
||
// "FMASK(Y).#SLL=0\n"
|
||
// "ENABLE (Y)\n"+
|
||
// QString("VEL(Y) = %1\n").arg(YAxisVel)+
|
||
// QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
|
||
// QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
|
||
// QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
|
||
// QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
|
||
// // Y轴向负方向JOG移动
|
||
// "JOG (Y),-\n"
|
||
// // 阻塞直到Y轴碰到左限位
|
||
// "TILL FAULT(Y).#LL\n"
|
||
// // 停止Y轴
|
||
// "HALT Y\n"+
|
||
// QString("VEL(Y) = %1\n").arg(YAxisFindINDVel)+
|
||
// QString("ACC(Y) = %1\n").arg(YAxisFindINDVel*10)+
|
||
// QString("DEC(Y) = %1\n").arg(YAxisFindINDVel*10)+
|
||
// QString("JERK(Y) = %1\n").arg(YAxisFindINDVel*100)+
|
||
// QString("KDEC(Y) = %1\n").arg(YAxisFindINDVel*100)+
|
||
// // Y轴向正方向JOG移动
|
||
// "JOG (Y),+\n"
|
||
// // 阻塞直到Y轴移开左限位
|
||
// "TILL ^FAULT(Y).#LL\n"
|
||
// // Y轴IND值设为0
|
||
// "IST(Y).#IND=0\n"
|
||
// // 直到Y轴碰到IND信号
|
||
// "TILL IST(Y).#IND\n"+
|
||
// // 原点磁铁位置设为114mm
|
||
// QString("SET FPOS(Y)=FPOS(Y)-IND(Y)+%1\n").arg(YAxisINDZeroOffset)+
|
||
// QString("VEL(Y) = %1\n").arg(YAxisVel)+
|
||
// QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
|
||
// QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
|
||
// QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
|
||
// QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
|
||
// // Y轴走到0位
|
||
// QString("PTP/e (Y),%1\n").arg(YAxisToHomePos)+
|
||
// // 设置Y轴软限位
|
||
// QString("SRLIMIT(Y)=%1\n").arg(YAxisSRLimit)+
|
||
// QString("SLLIMIT(Y)=%1\n").arg(YAxisSLLimit)+
|
||
// // 启用Y轴限位
|
||
// "FDEF(Y).#LL=1\n"
|
||
// "FDEF(Y).#RL=1\n"
|
||
// "FMASK(Y).#SRL=1\n"
|
||
// "FMASK(Y).#SLL=1\n"
|
||
|
||
// // 禁用Z1轴补偿
|
||
// "MFLAGS(Z).17=1\n"
|
||
// "ERRORMAPOFF Z,0\n"
|
||
// "FDEF(Z).#LL=0\n"
|
||
// "FDEF(Z).#RL=0\n"
|
||
// "FMASK(Z).#SRL=0\n"
|
||
// "FMASK(Z).#SLL=0\n"
|
||
// "ENABLE (Z)\n"+
|
||
// QString("VEL(Z) = %1\n").arg(ZAxisVel)+
|
||
// QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
// QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
// QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// // Z1轴向正方向JOG移动
|
||
// "JOG (Z),+\n"
|
||
// // 阻塞直到Z1轴碰到右限位
|
||
// "TILL FAULT(Z).#RL\n"
|
||
// // 停止Z1轴
|
||
// "HALT Z\n"+
|
||
// QString("VEL(Z) = %1\n").arg(ZAxisFindINDVel)+
|
||
// QString("ACC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
|
||
// QString("DEC(Z) = %1\n").arg(ZAxisFindINDVel*10)+
|
||
// QString("JERK(Z) = %1\n").arg(ZAxisFindINDVel*100)+
|
||
// QString("KDEC(Z) = %1\n").arg(ZAxisFindINDVel*100)+
|
||
// // Z1轴向负方向移动
|
||
// "JOG (Z),-\n"
|
||
// // 阻塞直到Z1轴脱离右限位
|
||
// "TILL ^FAULT(Z).#RL\n"
|
||
// // Z1轴IND值设为0
|
||
// "IST(Z).#IND=0\n"
|
||
// // 阻塞直到Z1轴碰到IND信号
|
||
// "TILL IST(Z).#IND\n"+
|
||
// // Z1轴原点磁铁位置设置为-4mm lihongchang -2.5
|
||
// QString("SET FPOS(Z)=FPOS(Z)-IND(Z)+%1\n").arg(ZAxisINDZeroOffset)+
|
||
// QString("VEL(Z) = %1\n").arg(ZAxisVel)+
|
||
// QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
// QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
|
||
// QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
|
||
// // Z1轴回到0点
|
||
// QString("PTP/e (Z),%1\n").arg(ZAxisToHomePos)+
|
||
// // 设置Z1轴软限位
|
||
// QString("SRLIMIT(Z)=%1\n").arg(ZAxisSRLimit)+
|
||
// QString("SLLIMIT(Z)=%1\n").arg(ZAxisSLLimit)+
|
||
// // 启用Z1轴软限位
|
||
// "FDEF(Z).#LL=1\n"
|
||
// "FDEF(Z).#RL=1\n"
|
||
// "FMASK(Z).#SRL=1\n"
|
||
// "FMASK(Z).#SLL=1\n"
|
||
|
||
// // 禁用Z轴补偿
|
||
// "MFLAGS(ZA).17=1\n"
|
||
// "ERRORMAPOFF ZA,0\n"
|
||
// // 禁用Z轴限位
|
||
// "FDEF(ZA).#LL=0\n"
|
||
// "FDEF(ZA).#RL=0\n"
|
||
// "FMASK(ZA).#SRL=0\n"
|
||
// "FMASK(ZA).#SLL=0\n"
|
||
// "ENABLE (ZA)\n"+
|
||
// QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
|
||
// QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
// QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
// QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
// QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
// // Z轴向正方向JOG移动
|
||
// "JOG (ZA),+\n"
|
||
// // 阻塞直到Z轴碰到右限位
|
||
// "TILL FAULT(ZA).#RL\n"
|
||
// // 停止Z轴
|
||
// "HALT ZA\n"+
|
||
// QString("VEL(ZA) = %1\n").arg(ZAAxisFindINDVel)+
|
||
// QString("ACC(ZA) = %1\n").arg(ZAAxisFindINDVel*10)+
|
||
// QString("DEC(ZA) = %1\n").arg(ZAAxisFindINDVel*10)+
|
||
// QString("JERK(ZA) = %1\n").arg(ZAAxisFindINDVel*100)+
|
||
// QString("KDEC(ZA) = %1\n").arg(ZAAxisFindINDVel*100)+
|
||
// // Z轴向负方向JOG移动
|
||
// "JOG (ZA),-\n"
|
||
// // 阻塞直到Z轴离开右限位
|
||
// "TILL ^FAULT(ZA).#RL\n"
|
||
// // IND值置为0
|
||
// "IST(ZA).#IND=0\n"
|
||
// // 阻塞直到Z轴碰到IND信号
|
||
// "TILL IST(ZA).#IND\n"+
|
||
// // 原点磁铁位置设为61mm
|
||
// QString("SET FPOS(ZA)=FPOS(ZA)-IND(ZA)+%1\n").arg(ZAAxisINDZeroOffset)+
|
||
// QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
|
||
// QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
// QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
|
||
// QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
// QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
|
||
// QString("PTP/e (ZA),%1\n").arg(ZAAxisToHomePos)+
|
||
// // 设置软限位
|
||
// QString("SRLIMIT(ZA)=%1\n").arg(ZAAxisSRLimit)+
|
||
// QString("SLLIMIT(ZA)=%1\n").arg(ZAAxisSLLimit)+
|
||
// // 启用限位
|
||
// "FDEF(ZA).#LL=1\n"
|
||
// "FDEF(ZA).#RL=1\n"
|
||
// "FMASK(ZA).#SRL=1\n"
|
||
// "FMASK(ZA).#SLL=1\n"
|
||
|
||
|
||
|
||
|
||
// // 禁用Z2轴限位
|
||
// "FDEF(Z2).#LL=0\n"
|
||
// "FDEF(Z2).#RL=0\n"
|
||
// "FMASK(Z2).#SRL=0\n"
|
||
// "FMASK(Z2).#SLL=0\n"
|
||
// "ENABLE (Z2)\n"+
|
||
// QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
|
||
// QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// // Z2轴向负方向JOG移动
|
||
// "JOG (Z2),-\n"
|
||
// // 阻塞直到Z2轴碰到左限位
|
||
// "TILL FAULT(Z2).#LL\n"
|
||
// // 停止Z2轴
|
||
// "HALT Z2\n"+
|
||
// QString("VEL(Z2) = %1\n").arg(Z2AxisFindINDVel)+
|
||
// QString("ACC(Z2) = %1\n").arg(Z2AxisFindINDVel*10)+
|
||
// QString("DEC(Z2) = %1\n").arg(Z2AxisFindINDVel*10)+
|
||
// QString("JERK(Z2) = %1\n").arg(Z2AxisFindINDVel*100)+
|
||
// QString("KDEC(Z2) = %1\n").arg(Z2AxisFindINDVel*100)+
|
||
// // Z2轴向正方向JOG移动
|
||
// "JOG (Z2),+\n"
|
||
// "TILL IN(4).2\n"
|
||
// "HALT Z2\n"+
|
||
|
||
// // 原点磁铁位置设为114mm
|
||
// QString("SET FPOS(Z2)=%1\n").arg(Z2AxisINDZeroOffset)+
|
||
// QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
|
||
// QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
|
||
// QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
|
||
// // Z2轴走到0位
|
||
// QString("PTP/e (Z2),%1\n").arg(Z2AxisToHomePos)+
|
||
// // 设置Z2轴软限位
|
||
// QString("SRLIMIT(Z2)=%1\n").arg(Z2AxisSRLimit)+
|
||
// QString("SLLIMIT(Z2)=%1\n").arg(Z2AxisSLLimit)+
|
||
// // 启用Z2轴限位
|
||
// "FDEF(Z2).#LL=1\n"
|
||
// "FDEF(Z2).#RL=1\n"
|
||
// "FMASK(Z2).#SRL=1\n"
|
||
// "FMASK(Z2).#SLL=1\n"
|
||
|
||
// // 禁用Z0轴限位
|
||
// "FDEF(Z0).#LL=0\n"
|
||
// "FDEF(Z0).#RL=0\n"
|
||
// "FMASK(Z0).#SRL=0\n"
|
||
// "FMASK(Z0).#SLL=0\n"
|
||
// "ENABLE (Z0)\n"+
|
||
// QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
|
||
// QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
// QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
// QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
|
||
// QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
|
||
// // Z2轴向负方向JOG移动
|
||
// "JOG (Z0),-\n"
|
||
// // 阻塞直到Z2轴碰到左限位
|
||
// "TILL FAULT(Z0).#LL\n"
|
||
// // 停止Z2轴
|
||
// "HALT Z0\n"+
|
||
// QString("VEL(Z0) = %1\n").arg(Z0AxisFindINDVel)+
|
||
// QString("ACC(Z0) = %1\n").arg(Z0AxisFindINDVel*10)+
|
||
// QString("DEC(Z0) = %1\n").arg(Z0AxisFindINDVel*10)+
|
||
// QString("JERK(Z0) = %1\n").arg(Z0AxisFindINDVel*100)+
|
||
// QString("KDEC(Z0) = %1\n").arg(Z0AxisFindINDVel*100)+
|
||
// // Z2轴向正方向JOG移动
|
||
// "JOG (Z0),+\n"
|
||
// "TILL IN(5).2\n"
|
||
// "HALT Z0\n"+
|
||
|
||
// // 原点磁铁位置设为114mm
|
||
// QString("SET FPOS(Z0)=%1\n").arg(Z0AxisINDZeroOffset)+
|
||
// QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
|
||
// QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
// QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
|
||
// QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
|
||
// QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
|
||
// // Z2轴走到0位
|
||
// QString("PTP/e (Z0),%1\n").arg(Z0AxisToHomePos)+
|
||
// // 设置Z2轴软限位
|
||
// QString("SRLIMIT(Z0)=%1\n").arg(Z0AxisSRLimit)+
|
||
// QString("SLLIMIT(Z0)=%1\n").arg(Z0AxisSLLimit)+
|
||
// // 启用Z2轴限位
|
||
// "FDEF(Z0).#LL=1\n"
|
||
// "FDEF(Z0).#RL=1\n"
|
||
// "FMASK(Z0).#SRL=1\n"
|
||
// "FMASK(Z0).#SLL=1\n"
|
||
|
||
|
||
|
||
// // 禁用DD轴限位
|
||
// "FDEF(D).#LL=0\n"
|
||
// "FDEF(D).#RL=0\n"
|
||
// "FMASK(D).#SRL=0\n"
|
||
// "FMASK(D).#SLL=0\n"
|
||
// "ENABLE (D)\n"
|
||
// "COMMUT (D)\n"+
|
||
// QString("VEL(D) = %1\n").arg(DAxisVel)+
|
||
// QString("ACC(D) = %1\n").arg(DAxisVel*10)+
|
||
// QString("DEC(D) = %1\n").arg(DAxisVel*10)+
|
||
// QString("JERK(D) = %1\n").arg(DAxisVel*100)+
|
||
// QString("KDEC(D) = %1\n").arg(DAxisVel*100)+
|
||
// // D轴向负方向JOG移动
|
||
// "JOG (D),-\n"
|
||
|
||
// // D轴IND值设为0
|
||
// "IST(D).#IND=0\n"
|
||
// // 直到D轴碰到IND信号
|
||
// "TILL IST(D).#IND\n"+
|
||
// // 原点磁铁位置设为114mm
|
||
// QString("SET FPOS(D)=FPOS(D)-IND(D)+%1\n").arg(DAxisINDZeroOffset)+
|
||
// QString("VEL(D) = %1\n").arg(DAxisVel)+
|
||
// QString("ACC(D) = %1\n").arg(DAxisVel*10)+
|
||
// QString("DEC(D) = %1\n").arg(DAxisVel*10)+
|
||
// QString("JERK(D) = %1\n").arg(DAxisVel*100)+
|
||
// QString("KDEC(D) = %1\n").arg(DAxisVel*100)+
|
||
// // D轴走到0位
|
||
// QString("PTP/e (D),%1\n").arg(DAxisToHomePos)+
|
||
|
||
|
||
////lihongchang 0613
|
||
|
||
|
||
// "X_ToHomeF = 1\n"
|
||
// "Y_ToHomeF = 1\n"
|
||
// "Z_ToHomeF = 1\n"
|
||
// "ZA_ToHomeF = 1\n"
|
||
// "D_ToHomeF = 1\n"
|
||
// "Z0_ToHomeF = 1\n"
|
||
// "Z2_ToHomeF = 1\n"
|
||
// "toHomeF = 1\n"
|
||
// "runF = 1\n"
|
||
// "STOP";
|
||
|
||
// return code;
|
||
//}
|
||
|
||
void ToHomeCode::setZAAxisToSafePosVel(double value)
|
||
{
|
||
ZAAxisToSafePosVel = value;
|
||
}
|
||
|
||
|
||
void ToHomeCode::setXAxisToHomePos(double value)
|
||
{
|
||
XAxisToHomePos = value;
|
||
}
|
||
|
||
void ToHomeCode::setYAxisToHomePos(double value)
|
||
{
|
||
YAxisToHomePos = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAxisToHomePos(double value)
|
||
{
|
||
ZAxisToHomePos = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAAxisToHomePos(double value)
|
||
{
|
||
ZAAxisToHomePos = value;
|
||
}
|
||
void ToHomeCode::setDAxisToHomePos(double value)
|
||
{
|
||
DAxisToHomePos = value;
|
||
}
|
||
void ToHomeCode::setZ0AxisToHomePos(double value)
|
||
{
|
||
Z0AxisToHomePos = value;
|
||
}
|
||
void ToHomeCode::setZ2AxisToHomePos(double value)
|
||
{
|
||
Z2AxisToHomePos = value;
|
||
}
|
||
|
||
void ToHomeCode::setXAxisFindINDVel(double value)
|
||
{
|
||
XAxisFindINDVel = value;
|
||
}
|
||
void ToHomeCode::setYAxisFindINDVel(double value)
|
||
{
|
||
YAxisFindINDVel = value;
|
||
}
|
||
void ToHomeCode::setZAxisFindINDVel(double value)
|
||
{
|
||
ZAxisFindINDVel = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAAxisFindINDVel(double value)
|
||
{
|
||
ZAAxisFindINDVel = value;
|
||
}
|
||
void ToHomeCode::setDAxisFindINDVel(double value)
|
||
{
|
||
DAxisFindINDVel = value;
|
||
}
|
||
void ToHomeCode::setZ0AxisFindINDVel(double value)
|
||
{
|
||
Z0AxisFindINDVel = value;
|
||
}
|
||
void ToHomeCode::setZ2AxisFindINDVel(double value)
|
||
{
|
||
Z2AxisFindINDVel = value;
|
||
}
|
||
|
||
void ToHomeCode::setXAxisINDZeroOffset(double value)
|
||
{
|
||
XAxisINDZeroOffset = value;
|
||
}
|
||
void ToHomeCode::setYAxisINDZeroOffset(double value)
|
||
{
|
||
YAxisINDZeroOffset = value;
|
||
}
|
||
void ToHomeCode::setZAxisINDZeroOffset(double value)
|
||
{
|
||
ZAxisINDZeroOffset = value;
|
||
}
|
||
void ToHomeCode::setZAAxisINDZeroOffset(double value)
|
||
{
|
||
ZAAxisINDZeroOffset = value;
|
||
}
|
||
|
||
void ToHomeCode::setDAxisINDZeroOffset(double value)
|
||
{
|
||
DAxisINDZeroOffset = value;
|
||
}
|
||
void ToHomeCode::setZ0AxisINDZeroOffset(double value)
|
||
{
|
||
Z0AxisINDZeroOffset = value;
|
||
}
|
||
void ToHomeCode::setZ2AxisINDZeroOffset(double value)
|
||
{
|
||
Z2AxisINDZeroOffset = value;
|
||
}
|
||
|
||
void ToHomeCode::setXAxisSLLimit(double value)
|
||
{
|
||
XAxisSLLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setXAxisSRLimit(double value)
|
||
{
|
||
XAxisSRLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setYAxisSLLimit(double value)
|
||
{
|
||
YAxisSLLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setYAxisSRLimit(double value)
|
||
{
|
||
YAxisSRLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAxisSLLimit(double value)
|
||
{
|
||
ZAxisSLLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAxisSRLimit(double value)
|
||
{
|
||
ZAxisSRLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAAxisSLLimit(double value)
|
||
{
|
||
ZAAxisSLLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setZAAxisSRLimit(double value)
|
||
{
|
||
ZAAxisSRLimit = value;
|
||
}
|
||
void ToHomeCode::setDAxisSLLimit(double value)
|
||
{
|
||
DAxisSLLimit = value;
|
||
}
|
||
void ToHomeCode::setDAxisSRLimit(double value)
|
||
{
|
||
DAxisSRLimit = value;
|
||
}
|
||
void ToHomeCode::setZ0AxisSLLimit(double value)
|
||
{
|
||
Z0AxisSLLimit = value;
|
||
}
|
||
void ToHomeCode::setZ0AxisSRLimit(double value)
|
||
{
|
||
Z0AxisSRLimit = value;
|
||
}
|
||
void ToHomeCode::setZ2AxisSLLimit(double value)
|
||
{
|
||
Z2AxisSLLimit = value;
|
||
}
|
||
void ToHomeCode::setZ2AxisSRLimit(double value)
|
||
{
|
||
Z2AxisSRLimit = value;
|
||
}
|
||
|
||
void ToHomeCode::setXAxisVel(double value)
|
||
{
|
||
XAxisVel = value;
|
||
}
|
||
void ToHomeCode::setYAxisVel(double value)
|
||
{
|
||
YAxisVel = value;
|
||
}
|
||
void ToHomeCode::setZAxisVel(double value)
|
||
{
|
||
ZAxisVel = value;
|
||
}
|
||
void ToHomeCode::setZAAxisVel(double value)
|
||
{
|
||
ZAAxisVel = value;
|
||
}
|
||
void ToHomeCode::setDAxisVel(double value)
|
||
{
|
||
DAxisVel = value;
|
||
}
|
||
void ToHomeCode::setZ0AxisVel(double value)
|
||
{
|
||
Z0AxisVel = value;
|
||
}
|
||
void ToHomeCode::setZ2AxisVel(double value)
|
||
{
|
||
Z2AxisVel = value;
|
||
}
|