DMC1380的使用：项目实例讲解

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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

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