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现场优化5

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huangsucan
2026-08-15 23:28:19 +08:00
parent 92eab2f626
commit 2bb8313f99
10 changed files with 4149 additions and 43 deletions
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DeviceCommand/Devices/GantryControlTcp.cs
+1 -15
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@@ -394,19 +394,7 @@ namespace DeviceCommand.Devices
// 启动三轴联动
await 启动全部轴(取消令牌);
// 等待到达待定位置
await 等待到达待定位置(xHome, yHome, zHome, 回零点等待时间, 取消令牌);
// 7. 到达后清零绝对位置寄存器
await Task.Delay(500, 取消令牌);
await WriteMultipleRegistersAsync(_slaveAddress, ADDR_ABS_AXIS1_POS, Int32ToUshorts(0), 取消令牌);
await WriteMultipleRegistersAsync(_slaveAddress, ADDR_ABS_AXIS2_POS, Int32ToUshorts(0), 取消令牌);
await WriteMultipleRegistersAsync(_slaveAddress, ADDR_ABS_AXIS3_POS, Int32ToUshorts(0), 取消令牌);
// 清零目标寄存器
await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_X_TARGET, Int32ToUshorts(0), 取消令牌);
await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Y_TARGET, Int32ToUshorts(0), 取消令牌);
await WriteMultipleRegistersAsync(_slaveAddress, ADDR_HD_Z_TARGET, Int32ToUshorts(0), 取消令牌);
}
// 8. 更新当前位置为待定位置
@@ -580,8 +568,6 @@ namespace DeviceCommand.Devices
// 3. 启动三轴联动
await 启动全部轴(取消令牌);
await 等待到达指定位置(超时秒数);
await 清空绝对寄存器();
// 5. 到达后更新当前位置（累加偏移）
_originX += X偏移量;