public static void LinkToApi(this IDigitalInput input, BasicTriList trilist, uint joinStart, string joinMapKey)
{
IDigitalInputJoinMap joinMap = new IDigitalInputJoinMap();
var joinMapSerialized = JoinMapHelper.GetSerializedJoinMapForDevice(joinMapKey);
if (!string.IsNullOrEmpty(joinMapSerialized))
{
joinMap = JsonConvert.DeserializeObject <IDigitalInputJoinMap>(joinMapSerialized);
}
joinMap.OffsetJoinNumbers(joinStart);
try
{
Debug.Console(1, input as Device, "Linking to Trilist '{0}'", trilist.ID.ToString("X"));
// Link feedback for input state
input.InputStateFeedback.LinkInputSig(trilist.BooleanInput[joinMap.InputState]);
}
catch (Exception e)
{
Debug.Console(1, input as Device, "Unable to link device '{0}'. Input is null", (input as Device).Key);
Debug.Console(1, input as Device, "Error: {0}", e);
return;
}
}
private void tmrUpdate_Tick(object sender, EventArgs e)
{
if (HSTMachine.Workcell.HSTSettings.Install.OperationMode != OperationMode.Simulation)
{
if (_a3200 != null)
{
_filelock.EnterWriteLock();
try
{
fn = _directory + "\\" + "IOSTATE" + "_" + DateTime.Now.ToString("dd-MM-yyyy") + ".txt";
using (StreamWriter outputFile = new StreamWriter(fn, true))
{
switch ((int)_ioMode)
{
case 0: //input
IDigitalInput digitalInput = HSTMachine.Workcell._ioManifest.GetDigitalInput(_bit + (_card * 8));;
bool outputInput = _a3200.GetState(digitalInput) == DigitalIOState.On ? true : false;
if (outputInput != _iostate)
{
{
_iostate = outputInput;
outputFile.WriteLine(String.Format("{0}, Input Digital,{1}, {2}", DateTime.Now.ToString("dd/MM/yyyy HH:mm:ss:ffff"), _IOname, outputInput.ToString()));
}
}
break;
case 1: //output
IDigitalOutput digitalOutput = HSTMachine.Workcell._ioManifest.GetDigitalOutput(_bit + (_card * 8));;
bool outputOutput = _a3200.GetState(digitalOutput) == DigitalIOState.On ? true : false;
if (outputOutput != _iostate)
{
_iostate = outputOutput;
}
break;
case 2: //analog input
string outputAnalog = _a3200.GetRawValue(_iAnalogInput).ToString();
if (!_analogValue.Equals(outputAnalog))
{
_analogValue = outputAnalog;
}
break;
default:
break;
}
}
}
catch (Exception ex)
{
}
finally
{
_filelock.ExitWriteLock();
}
}
}
}
public DigitalInputControlViewModel(IDigitalInput digitalInput)
{
digitalInput.OnDigitalInputChanged += DigitalInput_OnDigitalInputChanged;
Name = digitalInput.UniqueIdentifyer.IdentifierString;
IndicatorBackground = new SolidColorBrush(Colors.Transparent);
digitalInput.RaiseAllObjectEvents();
}
void RemoveInput(IDigitalInput input)
{
var tempInput = Inputs.FirstOrDefault(i => i.Equals(input));
if (tempInput != null)
{
tempInput.InputStateFeedback.OutputChange -= InputStateFeedback_OutputChange;
}
Inputs.Remove(input);
}
public void RegisterDigitalInput(IDigitalInput digIn, int registrationID, string name)
{
if (digIn == null)
{
throw new Exception(string.Format("The digital input '{0}' is invalid(null)!", name));
}
if (digitalInputMap.Contains(registrationID))
{
throw new Exception("The IO is already registered!");
}
digIn.Name = name;
digitalInputMap.Add(registrationID, digIn);
}
// Constructors ------------------------------------------------------------
public OutputClampRotateController(HSTWorkcell workcell, string controllerID, string controllerName)
: base(workcell, controllerID, controllerName)
{
_workcell = workcell;
this._ioManifest = (HSTIOManifest)workcell.IOManifest;
_doOutputStationClampDeploy =
_ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Output_CS_Deploy);
_doOutputStationClampRotate =
_ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Output_CS_Rotate);
_diOutputStationClampForward =
_ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_CS_Deploy);
_diOutputStationClampBackward =
_ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_CS_Retract);
_diOutputStationClampRotateCwOpen =
_ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_CS_Lock);
_diOutputStationClampRotateCcwClose =
_ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_CS_Unlock);
_diOutputStationClampOpenDetect = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_Carrier_Clamp_Sensor);
if (HSTMachine.Workcell.HSTSettings.Install.OperationMode != OperationMode.Simulation)
{
//3. Clamp
LinearActuator ClampActuator = new LinearActuator(_doOutputStationClampDeploy,
_diOutputStationClampForward, _diOutputStationClampBackward, DigitalIOState.On);
_clamp = ClampActuator as ILinearActuator;
_clamp.Name = "Zone 5 clamp actuator";
_clamp.ExtendedDirectionName = "Forward";
_clamp.ExtendedStateName = "Forward";
_clamp.RetractedDirectionName = "Backward";
_clamp.RetractedStateName = "Backward";
//4. ClampRotary
LinearActuator ClampRotaryActuator = new LinearActuator(_doOutputStationClampRotate,
_diOutputStationClampRotateCcwClose, _diOutputStationClampRotateCwOpen, DigitalIOState.On);
_clampRotary = ClampRotaryActuator as ILinearActuator;
_clampRotary.Name = "Zone 5 clamp rotary actuator";
_clampRotary.ExtendedDirectionName = "Cw Open";
_clampRotary.ExtendedStateName = "Cw Open";
_clampRotary.RetractedDirectionName = "Ccw Close";
_clampRotary.RetractedStateName = "Ccw Close";
}
}
public void AddIO(IDigitalInput digIn, string label)
{
SetType(IOType.Digital);
Led newLED = new Led();
switch (digIn.State) //newLED.State = digIn.State;
{
case DigitalIOState.On: newLED.State = true; break;
case DigitalIOState.Off: newLED.State = false; break;
default: newLED.State = false; break;
}
newLED.DisplayAsButton = false;
newLED.Text = label;
this.ioObjList.Add(digIn);
this.Controls.Add(newLED);
}
//Input
public void AssignAxis(A3200HC a3200, int card, int bit)
{
_a3200 = a3200;
_card = card;
_bit = bit;
_ioMode = IOMode.Input;
IDigitalInput digitalInput = HSTMachine.Workcell._ioManifest.GetDigitalInput(_bit + (_card * 8));
if (_a3200 != null)
{
try
{
_iostate = _a3200.GetState(digitalInput) == DigitalIOState.On ? true : false;
}
catch (Exception ex)
{ }
}
}
// Constructors ------------------------------------------------------------
public MonitorController(HSTWorkcell workcell, string processID, string processName)
: base(workcell, processID, processName)
{
_workcell = workcell;
_ioManifest = (HSTIOManifest)workcell.IOManifest;
_safetyController = new OmronSafetyController(workcell, "SafetyController", "SafetyController");
if (HSTMachine.Workcell.HSTSettings.Install.OperationMode != OperationMode.Simulation)
{
_diGroundMasterOk = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Ground_Master);
_inputEndEffectorZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z1);
_outputEndEffectorZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z3);
_testProbeZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z2);
_precisorNestXAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.X);
_precisorNestYAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Y);
_precisorNestThetaAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Theta);
_axesCommandPositionMap = new Hashtable();
}
}
// Constructors ------------------------------------------------------------
public OutputEEController(HSTWorkcell workcell, string processID, string processName)
: base(workcell, processID, processName)
{
this._workcell = workcell;
this._ioManifest = (HSTIOManifest)workcell.IOManifest;
_axesProfile = workcell.SetupConfig.AxesProfile;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Acceleration > outputEEMaxAcce)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Acceleration = outputEEMaxAcce;
}
_axesProfile.OutputEEZ.Acceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Acceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Deceleration > outputEEMaxDece)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Deceleration = outputEEMaxDece;
}
_axesProfile.OutputEEZ.Deceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Deceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Velocity > outputEEMaxVel)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Velocity = outputEEMaxVel;
}
_axesProfile.OutputEEZ.Velocity = HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Velocity;
_teachPointRecipe = workcell.TeachPointRecipe;
_diOutputEndEffectorPnpPresent1 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_EE_VS1);
_diOutputEndEffectorPnpPresent2 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_EE_VS2);
_doOutputEndEffectorPnpVacuumOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Output_EE_VCH);
_doOutputEndEffectorPnpPurgeOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Output_EE_PCH);
_OutputEndEffectorZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z3);
OutputEEPrecisorVacuumProcessTimeStopWatch = new Stopwatch();
Machine.HSTMachine.Workcell.CalibrationSettings.OnSettingsChanged += VisionSettingsChanged;
Machine.HSTMachine.Workcell.SetupSettings.OnSettingsChanged += AutomationConfigChanged;
}
private void DigitalInput_OnDigitalInputChanged(IDigitalInput digitalInput, driver.commons.OnOffValue value)
{
switch (value)
{
case OnOffValue.On:
IndicatorBackground.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () => IndicatorBackground = new SolidColorBrush(Colors.Red));
break;
case OnOffValue.Off:
IndicatorBackground.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () => IndicatorBackground = new SolidColorBrush(Colors.Gray));
break;
case OnOffValue.Unknown:
IndicatorBackground.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () => IndicatorBackground = new SolidColorBrush(Colors.Transparent));
break;
default:
IndicatorBackground.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () => IndicatorBackground = new SolidColorBrush(Colors.Transparent));
break;
}
}
private void tmrUpdate_Tick(object sender, EventArgs e)
{
if (this.Visible == false)
{
tmrUpdate.Enabled = false;
return;
}
if (_a3200 != null)
{
try
{
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(_card == 0 ? _bit : (_card - 1) * 8 + NumberOfIOForXAxis + _bit);
ledInput.State = HSTMachine.Workcell._a3200HC.GetState(_di) == DigitalIOState.On ? true : false;
}
catch (Exception ex)
{
//DisplayError("Status update error: " + ex.Message);
}
}
}
// Constructors ------------------------------------------------------------
public InputEEController(HSTWorkcell workcell, string controllerID, string controllerName)
: base(workcell, controllerID, controllerName)
{
this._ioManifest = (HSTIOManifest)workcell.IOManifest;
_axesProfile = workcell.SetupConfig.AxesProfile;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Acceleration > inputEEMaxAcce)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Acceleration = inputEEMaxAcce;
}
_axesProfile.InputEEZ.Acceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Acceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Deceleration > inputEEMaxDece)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Deceleration = inputEEMaxDece;
}
_axesProfile.InputEEZ.Deceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Deceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Velocity > inputEEMaxVel)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Velocity = inputEEMaxVel;
}
_axesProfile.InputEEZ.Velocity = HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Velocity;
_teachPointRecipe = workcell.TeachPointRecipe;
_diInputEndEffectorPnpPresent1 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_EE_VS1);
_diInputEndEffectorPnpPresent2 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_EE_VS2);
_doInputEndEffectorPnpVacuumOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_EE_VCH);
_doInputEndEffectorPnpPurgeOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_EE_PCH);
_doInputEndEffectorFlattener = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_EE_Flattener);
_InputEndEffectorZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z1);
Machine.HSTMachine.Workcell.CalibrationSettings.OnSettingsChanged += VisionSettingsChanged;
Machine.HSTMachine.Workcell.SetupSettings.OnSettingsChanged += AutomationConfigChanged;
}
public DigitalInputControl(IDigitalInput digitalInput)
{
ViewModel = new DigitalInputControlViewModel(digitalInput);
InitializeComponent();
}
void AddInput(IDigitalInput input)
{
Inputs.Add(input);
input.InputStateFeedback.OutputChange += InputStateFeedback_OutputChange;
}
public IOControlPanel()
{
InitializeComponent();
///////////////////////////////////////////////////////////////////////////////////////
//Digital Input Session : Start
///////////////////////////////////////////////////////////////////////////////////////
//X axis-input bank
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(0);
panelDigitalInputElectronicsOutput1.ledInput.Text = "X-I1 - " + _di.ToString().Replace("_", " ");
panelDigitalInputElectronicsOutput1.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 0);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(1);
panelDigitalInputElectronicsOutput2.ledInput.Text = "X-I2 - " + _di.ToString().Replace("_", " ");
panelDigitalInputElectronicsOutput2.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 1);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(2);
panelDigitalInputElectronicsOutput3.ledInput.Text = "X-I3 - " + _di.ToString().Replace("_", " ");
panelDigitalInputElectronicsOutput3.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 2);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(3);
panelDigitalInputElectronicsOutput4.ledInput.Text = "X-I4 - " + _di.ToString().Replace("_", " ");
panelDigitalInputElectronicsOutput4.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 3);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(4);
panelDigitalInputOutputTurnStationExitClear.ledInput.Text = "X-I5 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputTurnStationExitClear.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 4);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(5);
panelDigitalInputOutputTurnStationAt90Deg.ledInput.Text = "X-I6 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputTurnStationAt90Deg.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 5);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(6);
panelDigitalInputOutputTurnStationAt0Deg.ledInput.Text = "X-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputTurnStationAt0Deg.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 6);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(7);
panelDigitalInputInputConveyorPositionOn.ledInput.Text = "X-I8 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputConveyorPositionOn.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 7);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(8);
panelDigitalInputGroundMaster.ledInput.Text = "X-I9 - " + _di.ToString().Replace("_", " ");
panelDigitalInputGroundMaster.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 8);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(9);
panelDigitalInputVentilationFan1.ledInput.Text = "X-I10 - " + _di.ToString().Replace("_", " ");
panelDigitalInputVentilationFan1.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 9);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(10);
panelDigitalInputVentilationFan2.ledInput.Text = "X-I11 - " + _di.ToString().Replace("_", " ");
panelDigitalInputVentilationFan2.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 10);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(11);
panelDigitalInputVentilationFan3.ledInput.Text = "X-I12 - " + _di.ToString().Replace("_", " ");
panelDigitalInputVentilationFan3.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 11);
//X-I12 to X-I24 is spare (not used)
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(20);
panelDigitalInputCarrierClampInput.ledInput.Text = "X-I20 - " + _di.ToString().Replace("_", " ");
panelDigitalInputCarrierClampInput.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 20);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(21);
panelDigitalInputCarrierClampOutput.ledInput.Text = "X-I21 - " + _di.ToString().Replace("_", " ");
panelDigitalInputCarrierClampOutput.AssignAxis(HSTMachine.Workcell._a3200HC, 0, 21);
//Y axis-input bank
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(24);
panelDigitalInputBISPositionOn.ledInput.Text = "Y-I1 - " + _di.ToString().Replace("_", " ");
panelDigitalInputBISPositionOn.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 0);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(25);
panelDigitalInputBOSPositionOn.ledInput.Text = "Y-I2 - " + _di.ToString().Replace("_", " ");
panelDigitalInputBOSPositionOn.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 1);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(26);
panelDigitalInputBBZPositionOn.ledInput.Text = "Y-I3 - " + _di.ToString().Replace("_", " ");
panelDigitalInputBBZPositionOn.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 2);
//Y-I4 is spare
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(28);
panelDigitalInputInputTurnStationAt90Deg.ledInput.Text = "Y-I5 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputTurnStationAt90Deg.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 4);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(29);
panelDigitalInputInputTurnStationAt0Deg.ledInput.Text = "Y-I6 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputTurnStationAt0Deg.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 5);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(30);
panelDigitalInputInputTurnStationInPosition.ledInput.Text = "Y-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputTurnStationInPosition.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 6);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(31);
panelDigitalInputOutputTurnStationInPosition.ledInput.Text = "Y-I8 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputTurnStationInPosition.AssignAxis(HSTMachine.Workcell._a3200HC, 1, 7);
//Theta axis-input bank
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(32);
panelDigitalInputInputStopperUp.ledInput.Text = "Theta-I1 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputStopperUp.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 0);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(33);
panelDigitalInputInputStopperDown.ledInput.Text = "Theta-I2 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputStopperDown.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 1);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(34);
panelDigitalInputInputLifterUp.ledInput.Text = "Theta-I3 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputLifterUp.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 2);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(35);
panelDigitalInputInputLifterDown.ledInput.Text = "Theta-I4 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputLifterDown.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 3);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(36);
panelDigitalInputOutputStopperUp.ledInput.Text = "Theta-I5 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputStopperUp.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 4);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(37);
panelDigitalInputOutputStopperDown.ledInput.Text = "Theta-I6 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputStopperDown.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 5);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(38);
panelDigitalInputOutputLifterUp.ledInput.Text = "Theta-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputLifterUp.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 6);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(39);
panelDigitalInputOutputLifterDown.ledInput.Text = "Theta-I8 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputLifterDown.AssignAxis(HSTMachine.Workcell._a3200HC, 2, 7);
//Z1 axis-input bank
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(40);
panelDigitalInputInputCSDeploy.ledInput.Text = "Z1-I1 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputCSDeploy.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 0);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(41);
panelDigitalInputInputCSRetract.ledInput.Text = "Z1-I2 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputCSRetract.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 1);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(42);
panelDigitalInputInputCSLock.ledInput.Text = "Z1-I3 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputCSLock.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 2);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(43);
panelDigitalInputInputCSUnlock.ledInput.Text = "Z1-I4 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputCSUnlock.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 3);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(44);
panelDigitalInputOutputCSDeploy.ledInput.Text = "Z1-I5 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputCSDeploy.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 4);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(45);
panelDigitalInputOutputCSRetract.ledInput.Text = "Z1-I6 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputCSRetract.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 5);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(46);
panelDigitalInputOutputCSLock.ledInput.Text = "Z1-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputCSLock.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 6);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(47);
panelDigitalInputOutputCSUnlock.ledInput.Text = "Z1-I8 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputCSUnlock.AssignAxis(HSTMachine.Workcell._a3200HC, 3, 7);
//Z2 axis-input bank
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(48);
panelDigitalInputPNVS1.ledInput.Text = "Z2-I1 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS1.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 0);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(49);
panelDigitalInputPNVS2.ledInput.Text = "Z2-I2 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS2.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 1);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(50);
panelDigitalInputPNVS3.ledInput.Text = "Z2-I3 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS3.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 2);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(51);
panelDigitalInputPNVS4.ledInput.Text = "Z2-I4 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS4.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 3);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(52);
panelDigitalInputPNVS5.ledInput.Text = "Z2-I5 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS5.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 4);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(53);
panelDigitalInputPNVS6.ledInput.Text = "Z2-I6 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS6.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 5);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(54);
panelDigitalInputPNVS7.ledInput.Text = "Z2-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputPNVS7.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 6);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(55);
panelDigitalInputEMOSenseInput.ledInput.Text = "Z2-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputEMOSenseInput.AssignAxis(HSTMachine.Workcell._a3200HC, 4, 7);
//Z3 axis-input bank
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(56);
panelDigitalInputInputEEVS1.ledInput.Text = "Z3-I1 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputEEVS1.AssignAxis(HSTMachine.Workcell._a3200HC, 5, 0);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(57);
panelDigitalInputInputEEVS2.ledInput.Text = "Z3-I2 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputEEVS2.AssignAxis(HSTMachine.Workcell._a3200HC, 5, 1);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(60);
panelDigitalInputOutputEEVS1.ledInput.Text = "Z3-I5 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputEEVS1.AssignAxis(HSTMachine.Workcell._a3200HC, 5, 4);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(61);
panelDigitalInputOutputEEVS2.ledInput.Text = "Z3-I6 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputEEVS2.AssignAxis(HSTMachine.Workcell._a3200HC, 5, 5);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(62);
panelDigitalInputInputLifterCarrierSense.ledInput.Text = "Z3-I7 - " + _di.ToString().Replace("_", " ");
panelDigitalInputInputLifterCarrierSense.AssignAxis(HSTMachine.Workcell._a3200HC, 5, 6);
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(63);
panelDigitalInputOutputLifterCarrierSense.ledInput.Text = "Z3-I8 - " + _di.ToString().Replace("_", " ");
panelDigitalInputOutputLifterCarrierSense.AssignAxis(HSTMachine.Workcell._a3200HC, 5, 7);
///////////////////////////////////////////////////////////////////////////////////////
//Digital Input Session : End
///////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
//Analog Input Session : Start
///////////////////////////////////////////////////////////////////////////////////////
_ai = HSTMachine.Workcell._ioManifest.GetAnalogInput(1);
panelAnalogInputFRLSwitch.labelAnalogInputName.Text = _ai.ToString().Replace("_", " ");
panelAnalogInputFRLSwitch.AssignAxis(HSTMachine.Workcell._a3200HC, _ai);
//panelAnalogInput2.AssignAxis(HSTMachine.Workcell._a3200HC, _ai);
///////////////////////////////////////////////////////////////////////////////////////
//Analog Input Session : End
///////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
//Output Session : Start
///////////////////////////////////////////////////////////////////////////////////////
//X axis-output bank
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(0);
panelDigitalOutputInputEEVCH.ledOutput.Text = "X-O1 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputEEVCH.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 0);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(1);
panelDigitalOutputInputEEPCH.ledOutput.Text = "X-O2 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputEEPCH.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 1);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(2);
panelDigitalOutputOutputEEVCH.ledOutput.Text = "X-O3 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputEEVCH.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 2);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(3);
panelDigitalOutputOutputEEPCH.ledOutput.Text = "X-O4 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputEEPCH.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 3);
//X-O5 to X-O8 is spare (not used)
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(8);
panelDigitalOutputOutputCSDeploy.ledOutput.Text = "X-O9 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputCSDeploy.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 8);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(9);
panelDigitalOutputOutputCSRotate.ledOutput.Text = "X-O10 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputCSRotate.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 9);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(10);
panelDigitalOutputInputEEFlattener.ledOutput.Text = "X-O11 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputEEFlattener.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 10);
//X-O11 not used anymore (was for Input EE flattener)
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(11);
panelDigitalOutputInputConveyorInhibit.ledOutput.Text = "X-O12 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputConveyorInhibit.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 11);
//X-O13 to X-O16 is spare (not used)
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(16);
panelDigitalOutputDCServicingLight.ledOutput.Text = "X-O17 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputDCServicingLight.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 16);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(17);
panelDigitalOutputCamera1.ledOutput.Text = "X-O18 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputCamera1.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 17);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(18);
panelDigitalOutputCamera3.ledOutput.Text = "X-O19 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputCamera3.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 18);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(19);
panelDigitalOutputCamera2.ledOutput.Text = "X-O20 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputCamera2.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 19);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(20);
panelDigitalOutputElectronicInput1.ledOutput.Text = "X-O21 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputElectronicInput1.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 20);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(21);
panelDigitalOutputElectronicInput2.ledOutput.Text = "X-O22 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputElectronicInput2.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 21);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(22);
panelDigitalOutputElectronicInput3.ledOutput.Text = "X-O23 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputElectronicInput3.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 22);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(23);
panelDigitalOutputElectronicInput4.ledOutput.Text = "X-O24 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputElectronicInput4.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)0), 0, 23);
//Y axis-output bank
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(24);
panelDigitalOutputCISInhibit.ledOutput.Text = "Y-O1 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputCISInhibit.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 0);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(25);
panelDigitalOutputCOSInhibit.ledOutput.Text = "Y-O2 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputCOSInhibit.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 1);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(26);
panelDigitalOutputInputTurnStationInhibit.ledOutput.Text = "Y-O3 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputTurnStationInhibit.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 2);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(27);
panelDigitalOutputInputTurnStationTurnTo90Deg.ledOutput.Text = "Y-O4 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputTurnStationTurnTo90Deg.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 3);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(28);
panelDigitalOutputInputTurnStationTurnTo0Deg.ledOutput.Text = "Y-O5 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputTurnStationTurnTo0Deg.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 4);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(29);
panelDigitalOutputOutputTurnStationInhibit.ledOutput.Text = "Y-O6 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputTurnStationInhibit.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 5);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(30);
panelDigitalOutputOutputTurnStationTurnTo90Deg.ledOutput.Text = "Y-O7 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputTurnStationTurnTo90Deg.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 6);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(31);
panelDigitalOutputOutputTurnStationTurnTo0Deg.ledOutput.Text = "Y-O8 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputTurnStationTurnTo0Deg.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)1), 1, 7);
//Theta axis-output bank
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(32);
panelDigitalOutputInputStopper.ledOutput.Text = "Theta-O1 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputStopper.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 0);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(33);
panelDigitalOutputInputLifterUp.ledOutput.Text = "Theta-O2 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputLifterUp.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 1);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(34);
panelDigitalOutputInputLifterDown.ledOutput.Text = "Theta-O3 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputLifterDown.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 2);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(35);
panelDigitalOutputOutputStopper.ledOutput.Text = "Theta-O4 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputStopper.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 3);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(36);
panelDigitalOutputOutputLifterUp.ledOutput.Text = "Theta-O5 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputLifterUp.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 4);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(37);
panelDigitalOutputOutputLifterDown.ledOutput.Text = "Theta-O6 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputOutputLifterDown.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 5);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(38);
panelDigitalOutputInputCSDeploy.ledOutput.Text = "Theta-O7 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputCSDeploy.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 6);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(39);
panelDigitalOutputInputCSRotate.ledOutput.Text = "Theta-O8 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputInputCSRotate.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)2), 2, 7);
//Z1 axis-output bank
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(40);
panelDigitalOutputPNVTS1.ledOutput.Text = "Z1-O1 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS1.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 0);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(41);
panelDigitalOutputPNVTS2.ledOutput.Text = "Z1-O2 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS2.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 1);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(42);
panelDigitalOutputPNVTS3.ledOutput.Text = "Z1-O3 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS3.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 2);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(43);
panelDigitalOutputPNVTS4.ledOutput.Text = "Z1-O4 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS4.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 3);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(44);
panelDigitalOutputPNVTS5.ledOutput.Text = "Z1-O5 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS5.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 4);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(45);
panelDigitalOutputPNVTS6.ledOutput.Text = "Z1-O6 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS6.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 5);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(46);
panelDigitalOutputPNVTS7.ledOutput.Text = "Z1-O7 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVTS7.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 6);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(47);
panelDigitalOutputSoftStartUp.ledOutput.Text = "Z1-O8 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputSoftStartUp.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)3), 3, 7);
//Z2 axis-output bank
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(48);
panelDigitalOutputPNVCH1.ledOutput.Text = "Z2-O1 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH1.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 0);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(49);
panelDigitalOutputPNPCH1.ledOutput.Text = "Z2-O2 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH1.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 1);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(50);
panelDigitalOutputPNVCH2.ledOutput.Text = "Z2-O3 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH2.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 2);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(51);
panelDigitalOutputPNPCH2.ledOutput.Text = "Z2-O4 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH2.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 3);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(52);
panelDigitalOutputPNVCH3.ledOutput.Text = "Z2-O5 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH3.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 4);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(53);
panelDigitalOutputPNPCH3.ledOutput.Text = "Z2-O6 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH3.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 5);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(54);
panelDigitalOutputPNVCH4.ledOutput.Text = "Z2-O7 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH4.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 6);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(55);
panelDigitalOutputPNPCH4.ledOutput.Text = "Z2-O8 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH4.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)4), 4, 7);
//Z3 axis-output bank
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(56);
panelDigitalOutputPNVCH5.ledOutput.Text = "Z3-O1 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH5.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 0);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(57);
panelDigitalOutputPNPCH5.ledOutput.Text = "Z3-O2 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH5.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 1);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(58);
panelDigitalOutputPNVCH6.ledOutput.Text = "Z3-O3 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH6.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 2);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(59);
panelDigitalOutputPNPCH6.ledOutput.Text = "Z3-O4 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH6.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 3);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(60);
panelDigitalOutputPNVCH7.ledOutput.Text = "Z3-O5 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNVCH7.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 4);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(61);
panelDigitalOutputPNPCH7.ledOutput.Text = "Z3-O6 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputPNPCH7.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 5);
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(62);
panelDigitalOutputBBZInhibit.ledOutput.Text = "Z3-O7 - " + _do.ToString().Replace("_", " ");
panelDigitalOutputBBZInhibit.AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, 6);
}
public void GetIOState()
{
//Input IO
for (int icard = 0; icard < 5; icard++) //card 1 to card 5
{
for (int ibit = 0; ibit < 8; ibit++) //each card got 8 bits
{
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(ibit + (icard * 8));
text = "B" + (icard + 1).ToString() + "I" + (ibit + 1).ToString() + " - " + _di.ToString().Replace("_", " ");
if (_di.Name.Contains("NOT USED"))//don't display for those not used/spare
{
text = "B" + (icard + 1).ToString() + "I" + (ibit + 1).ToString() + " - " + "NOT USED";
}
_InputState[icard, ibit].IOName = text;
_InputState[icard, ibit].AssignAxis(HSTMachine.Workcell._a3200HC, icard, ibit);
}
}
//card 6 have 20 input, but still display in 8 input per set
int iloop = 0;
for (int icard = 5; icard < 8; icard++, iloop++) //current only have 8 set
{
for (int ibit = 0; ibit < 8; ibit++) //each card got 8 bits
{
if (icard == 7 && ibit > 3) //we have only 60 input, skip for 61 to 64
{
continue;
}
_di = HSTMachine.Workcell._ioManifest.GetDigitalInput(ibit + (icard * 8));
text = "B6I" + (ibit + 1 + (8 * iloop)).ToString() + " - " + _di.ToString().Replace("_", " ");
if (_di.Name.Contains("NOT USED"))//don't display for those not used/spare
{
text = "B6I" + String.Format("{0}", ibit + 1 + (8 * iloop)) + " - " + "NOT USED";
}
_InputState[icard, ibit].IOName = text;
_InputState[icard, ibit].AssignAxis(HSTMachine.Workcell._a3200HC, 5, ibit + (8 * iloop));
}
}
_ai = HSTMachine.Workcell._ioManifest.GetAnalogInput(0);
text = _ai.ToString().Replace("_", " ");
_AnalogueState[0, 0].IOName = text;
_AnalogueState[0, 0].AssignAxis(HSTMachine.Workcell._a3200HC, _ai);
_ai = HSTMachine.Workcell._ioManifest.GetAnalogInput(1);
text = _ai.ToString().Replace("_", " ");
_AnalogueState[0, 1].IOName = text;
_AnalogueState[0, 1].AssignAxis(HSTMachine.Workcell._a3200HC, _ai);
///////////////////////////////////////////////////////////////////////////////////////
//Analog Input Session : End
///////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////
//Output Session : Start
///////////////////////////////////////////////////////////////////////////////////////
//have 8 set to display, 3 column and 3 row (1 place for spare)
for (int icard = 0; icard < 5; icard++)
{
for (int ibit = 0; ibit < 8; ibit++)//each card got 8 bits
{
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(ibit + (icard * 8));
text = "B" + (icard + 1).ToString() + "O" + (ibit + 1).ToString() + " - " + _do.ToString().Replace("_", " ");
if (_do.Name.Contains("NOT USED"))//don't display for those not used/spare
{
//continue;
text = "B" + (icard + 1).ToString() + "O" + (ibit + 1).ToString() + " - " + "NOT USED";
}
_OutputState[icard, ibit].IOName = text;
_OutputState[icard, ibit].AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)icard), icard, ibit);
}
}
//card 6 have 20 output, but still display in 8 output per set
iloop = 0;
for (int icard = 5; icard < 8; icard++, iloop++) //current only have 8 set
{
for (int ibit = 0; ibit < 8; ibit++) //each card got 8 bits
{
if (icard == 7 && ibit > 3) //we have only 60 input, skip for 61 to 64
{
continue;
}
_do = HSTMachine.Workcell._ioManifest.GetDigitalOutput(ibit + (icard * 8));
text = "B6O" + (ibit + 1 + (8 * iloop)).ToString() + " - " + _do.ToString().Replace("_", " ");
if (_do.Name.Contains("NOT USED"))//don't display for those not used/spare
{
//continue;
text = "B6O" + String.Format("{0}", ibit + 1 + (8 * iloop)) + " - " + "NOT USED";
}
_OutputState[icard, ibit].IOName = text;
_OutputState[icard, ibit].AssignAxis(HSTMachine.Workcell._a3200HC, HSTMachine.Workcell._a3200HC.IOStore.GetAxis((uint)5), 5, ibit + (8 * iloop));
}
}
///////////////////////////////////////////////////////////////////////////////////////
//Output Session : End
///////////////////////////////////////////////////////////////////////////////////////
}
// Constructors ------------------------------------------------------------
public InputStationController(HSTWorkcell workcell, string processID, string processName)
: base(workcell, processID, processName)
{
_workcell = workcell;
this._ioManifest = (HSTIOManifest)workcell.IOManifest;
_rfidController = new ReadWriteRFIDController(workcell, "RfidInput", "RfidInput", ReadWriteRFIDController.ReaderType.Fola, RFHead.Head1);
_rfHead = Seagate.AAS.Parsel.Device.RFID.RFHead.Head1;
_seaveyorInputStationZoneIO = new SeaveyorZoneIO();
_seaveyorInputStationZoneIO.inhibit = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.CIS_Inhibit);
_seaveyorBufferStationZoneIO = new SeaveyorZoneIO();
_seaveyorBufferStationZoneIO.inhibit = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.BBZ_Inhibit);
//Seaveyor
SeaveyorZone _seaveyorZone = new SeaveyorZone(_seaveyorInputStationZoneIO);
_seaveyorInputStation = _seaveyorZone as ISeaveyorZone;
_seaveyorInputStation.Simulation = (HSTMachine.Workcell.HSTSettings.Install.OperationMode == OperationMode.Simulation);
_seaveyorInputStation.Name = "Input Station Zone";
SeaveyorZone _seaveyorBufferZone = new SeaveyorZone(_seaveyorBufferStationZoneIO);
_seaveyorBufferStation = _seaveyorBufferZone as ISeaveyorZone;
_seaveyorBufferStation.Simulation = (HSTMachine.Workcell.HSTSettings.Install.OperationMode == OperationMode.Simulation);
_seaveyorBufferStation.Name = "Buffer Station Zone";
//digital input
_diInputStationInPosition = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.BIS_Position_On);
_diBufferStationInPosition = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.BBZ_Position_On);
_diInputStationStopperUp = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_Stopper_Up);
_diInputStationStopperDown = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_Stopper_Down);
_diInputStationLifterUp = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_Lifter_Up);
_diInputStationLifterDown = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_Lifter_Down);
_diInputStationClampForward = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_CS_Deploy);
_diInputStationClampBackward = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_CS_Retract);
_diInputStationClampRotateCwOpen = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_CS_Unlock);
_diInputStationClampRotateCcwClose = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_CS_Lock);
_diInputCarrierClampOpen = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_Carrier_Clamp_Sensor);
//Digital Output
_doInputStationStopperExtendUp = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_Stopper);
_doInputStationLifterExtendUp = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_Lifter_Up);
_doInputStationLifterRetractDown = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_Lifter_Down);
_doInputStationClampDeploy = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_CS_Deploy);
_doInputStationClampRotate = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_CS_Rotate);
//1. Stopper
LinearActuator StopperActuator = new LinearActuator(_doInputStationStopperExtendUp, _diInputStationStopperUp, _diInputStationStopperDown, DigitalIOState.On);
_stopper = StopperActuator as ILinearActuator;
_stopper.Name = "Zone 5 stopper actuator";
_stopper.ExtendedDirectionName = "Up";
_stopper.ExtendedStateName = "Up";
_stopper.RetractedDirectionName = "Down";
_stopper.RetractedStateName = "Down";
//2. Lifter
LinearActuator lifterActuator = new LinearActuator(_doInputStationLifterExtendUp, _doInputStationLifterRetractDown, _diInputStationLifterUp, _diInputStationLifterDown);
_lifter = lifterActuator as ILinearActuator;
_lifter.Name = "Zone 5 lifter actuator";
_lifter.ExtendedDirectionName = "Up";
_lifter.ExtendedStateName = "Up";
_lifter.RetractedDirectionName = "Down";
_lifter.RetractedStateName = "Down";
//3. Clamp
LinearActuator ClampActuator = new LinearActuator(_doInputStationClampDeploy, _diInputStationClampForward, _diInputStationClampBackward, DigitalIOState.On);
_clamp = ClampActuator as ILinearActuator;
_clamp.Name = "Zone 5 clamp actuator";
_clamp.ExtendedDirectionName = "Forward";
_clamp.ExtendedStateName = "Forward";
_clamp.RetractedDirectionName = "Backward";
_clamp.RetractedStateName = "Backward";
//4. ClampRotary
LinearActuator ClampRotaryActuator = new LinearActuator(_doInputStationClampRotate, _diInputStationClampRotateCwOpen, _diInputStationClampRotateCcwClose, DigitalIOState.On);
_clampRotary = ClampRotaryActuator as ILinearActuator;
_clampRotary.Name = "Zone 5 clamp rotary actuator";
_clampRotary.ExtendedDirectionName = "Cw Open";
_clampRotary.ExtendedStateName = "Cw Open";
_clampRotary.RetractedDirectionName = "Ccw Close";
_clampRotary.RetractedStateName = "Ccw Close";
}
private void RaiseOnDigitalInputChanged(IDigitalInput digitalinput, OnOffValue value) => Task.Run(() => OnDigitalInputChanged?.Invoke(digitalinput, value));