cnc-club.ru

#include "KMotionDef.h"


//simple routine to:
//
// #1 disable limits
// #2 jog to a limit at speed
// #3 Reverse till index pulse
// #4 stop
// #5 zero the axis
// #6 move back inside
// #7 enable limits

int SimpleHomeIndexFunction(int axis, // axis number to home
float speed, // speed to move toward home
int dir, // direction to move toward home (+1 or -1)
int limitbit, // limit bit number to watch for
int limitpolarity, // limit polarity to wait for (1 or 0)
float indexspeed, // speed to move while searching for index
int indexbit, // index bit number to watch for (use -1 for none)
int indexpolarity, // index polarity to wait for (1 or 0)
float offset) // amount to move inside limits
{
int SaveLimits; //place to save limit switch settings

//DisableAxis(axis); -------------------

// disable the limits (first save how they were set)
SaveLimits = chan[axis].LimitSwitchOptions;
chan[axis].LimitSwitchOptions = 0;

//EnableAxis(axis); // enable axis and begin servoing where we are ---------------------

// Home - jog until it sees the limit

Jog(axis,speed*dir); // jog slowly
while (ReadBit(limitbit)!=limitpolarity) // loop until Limit bit goes to specified polarity
if (!chan[axis].Enable) return 1; // abort/exit if disabled

chan[axis].set = 20

if (indexbit!=-1) // index bit specified?
{
Jog(axis,-indexspeed*dir); // reverse and jog slowly
while (ReadBit(indexbit)!=indexpolarity) // loop until index bit goes to specified polarity
if (!chan[axis].Enable) return 1; // abort/exit if disabled
}

Jog(axis,0); // stop
while (!CheckDone(axis)) // loop until motion completes
if (!chan[axis].Enable) return 1; // abort/exit if disabled

//DisableAxis(axis); // disable the axis-------------------
Zero(axis); // Zero the position
//EnableAxis(axis); // re-enable---------------------------

Move(axis,-dir * offset); // move some amount inside the limits
while (!CheckDone(axis)) ; // loop until motion completes
if (!chan[axis].Enable) return 1; // abort/exit if disabled

chan[axis].LimitSwitchOptions = SaveLimits; // restore limit settings
return 0;
}




int DoPC(int cmd);
int DoPCInt(int cmd, int i);
#define GATH_OFF 0 // define the offset into the Gather buffer where strings are passed

main()
{

//определяем пины для индексных меток, как ВХОД

SetBitDirection(36,0); // для оси Х
SetBitDirection(37,0); // для оси Y
SetBitDirection(38,0); // для оси Z



// поиск НОМЕ по Z
SimpleHomeIndexFunction(
2, // axis number to home
2500, // speed to move toward home
1, // direction to move toward home (+1 or -1)
138, // limit bit number to watch for
1, // limit polarity to wait for (1 or 0)
2000, // speed to move while searching for index
38, // index bit number to watch for (use -1 for none)
1, // index polarity to wait for (1 or 0)
400); // amount to move inside limits
// поиск НОМЕ по X
SimpleHomeIndexFunction(
0, // axis number to home
2330, // speed to move toward home
-1, // direction to move toward home (+1 or -1)
136, // limit bit number to watch for
1, // limit polarity to wait for (1 or 0)
2000, // speed to move while searching for index
36, // index bit number to watch for (use -1 for none)
1, // index polarity to wait for (1 or 0)
390.625); // amount to move inside limits


// поиск НОМЕ по y
SimpleHomeIndexFunction(
1, // axis number to home
2330, // speed to move toward home
-1, // direction to move toward home (+1 or -1)
137, // limit bit number to watch for
1, // limit polarity to wait for (1 or 0)
2000, // speed to move while searching for index
37, // index bit number to watch for (use -1 for none)
1, // index polarity to wait for (1 or 0)
400); // amount to move inside limits






MDI("G92.1"); // очистка всех действующих оффсетов
}

//далее код обеспечивающий ввод команды в MDI

// put the MDI string (Manual Data Input - GCode) in the
// gather buffer and tell the App where it is
int MDI(char *s)
{
char *p=(char *)gather_buffer+GATH_OFF*sizeof(int);
int i;

do // copy to gather buffer w offset 0
{
*p++ = *s++;
}while (s[-1]);

// issue the command an wait till it is complete
// (or an error - such as busy)
return DoPCInt(PC_COMM_MDI,GATH_OFF);
}


// Put an integer as a parameter and pass the command to the App
int DoPCInt(int cmd, int i)
{
int result;
persist.UserData[PC_COMM_PERSIST+1] = i;
return DoPC(cmd);
}

// Pass a command to the PC and wait for it to handshake
// that it was received by either clearing the command
// or changing it to a negative error code
int DoPC(int cmd)
{
int result;

persist.UserData[PC_COMM_PERSIST]=cmd;

do
{
WaitNextTimeSlice();
}while (result=persist.UserData[PC_COMM_PERSIST]>0);

return result;
}