vb for P1240 homing system

[curiousboi]

Public Function moveToHome() As Boolean

Dim value, ValueX, ValueY, ValueZ, ValueU As Long

moveToHome = False

readyStatus = False

busyStatus = True

If (checkSuccess(P1240MotAxisParaSet(boardNum, Z_axis, 0, 251, convertSpeed(30, Z_axis), 2000000, 260000, 500000))) Then

If (checkSuccess(P1240MotCmove(boardNum, Z_axis, &H0))) Then 'Move Z in a clockwise direction

value = 0

Do While ((value And &H4) <> &H4) 'Do loop if Z Limit switch still not reached

checkSuccess (P1240MotRdReg(boardNum, Z_axis, RR2, value))

DoEvents

Loop

If (checkSuccess(P1240MotStop(boardNum, Z_axis, 4))) Then 'Do immediate stop on Z axis

Do While (P1240MotAxisBusy(boardNum, Z_axis) <> SUCCESS)

'Loop while Z motor is still spinning

Loop

If (checkSuccess(P1240MotCmove(boardNum, Z_axis, &H4))) Then

'Move Z in anticlockwise direction

value = 0

Do While ((value And &H8) <> &H8) 'Do loop if Z Home Limit switch still not reached

checkSuccess (P1249MotRdReg(boardNum, Z_axis, RR5, value))

DoEvents

Loop

If (checkSuccess(P1240MotStop(boardNum, Z_axis, 4))) Then

'Do immediate stop on Z axis

Do While (P1240MotAxisBusy(boardNum, Z_axis) <> SUCCESS) 'Loop while Z motor is still spinning

Loop

If (checkSuccess(P1240MotHome(boardNum, Z_axis))) Then

Do While (P1240MotAxisBusy(boardNum, Z_axis) <> SUCCESS) 'Loop while Z motor is still spinning

Loop

If (checkSuccess(P1240MotAxisParaSet(boardNum, X_axis Or Y_axis, 0, StartVelocity, convertSpeed(30, X_axis Or Y_axis), MaXVelocity, AccelSpeed, AccelRate))) Then

If (checkSuccess(P1240MotCmove(boardNum, X_axis Or Y_axis, 0))) Then 'move X and Y motors in clockwise direction

ValueX = 0

ValueY = 0

Do While (((ValueX And &H4) <> &H4) Or ((ValueY And &H4) <> &H4))

checkSuccess (P1240MotRdMutiReg(boardNum, X_axis Or Y_axis, RR2, ValueX, ValueY, ValueZ, ValueU))

If ((ValueY And &H4) = &H4) Then

checkSuccess (P1240MotStop(boardNum, Y_axis, 2))

End If

If ((ValueX And &H4) = &H4) Then

checkSuccess (P1240MotStop(boardNum, X_axis, 1))

End If

DoEvents

Loop

Do While (P1240MotAxisBusy(boardNum, X_axis Or Y_axis) <> SUCCESS)

Loop

If (checkSuccess(P1240MotCmove(boardNum, X_axis Or Y_axis, 3))) Then 'Move X and Y motors in anti-clockwise direction

ValueX = 0

ValueY = 0

Do While (((ValueX And &H8) <> &H8) Or ((ValueY And &H800) <> &H800))

checkSuccess (P1240MotRdMutiReg(boardNum, X_axis Or Y_axis, RR4, ValueX, ValueY, ValueZ, ValueU))

If ((ValueY And &H800) = &H800) Then

checkSuccess (P1240MotStop(boardNum, Y_axis, 2))

End If

If ((ValueX And &H8) = &H8) Then

checkSuccess (P1240MotStop(boardNum, X_axis, 1))

End If

DoEvents

Loop

Do While (P1240MotAxisBusy(boardNum, X_axis Or Y_axis) <> SUCCESS)

Loop

If (checkSuccess(P1240MotHome(boardNum, X_axis Or Y_axis))) Then

Do While (P1240MotAxisBusy(boardNum, X_axis Or Y_axis) <> SUCCESS)

Loop

moveToHome = True

End If

End If

End If

End If

End If

End If

End If

End If

End If

End If

readyStatus = True

busyStatus = False

End Function

Does Anyone know what the se of the checksuccess and convertSpeed for??

This is a 3-axis epoxy,using P1240 chipboard to control it...

Edited April 28, 2006 by curiousboi