private void timer1_Tick(object sender, System.EventArgs e)
{
if (!this.Visible || axis == null)
{
timer1.Enabled = false;
return;
}
EnableBtn.State = axis.IsEnabled;
PositionLbl.Text = axis.GetActualPosition().ToString("F2") + axis.Unit;
}
private void timer1_Tick(object sender, EventArgs e)
{
try
{
//Console.Beep(600, 200);
timer1.Enabled = false;
if (!_simulationX)
{
_actualPositionX = Math.Round(_axisX.GetActualPosition(), 3);
//Application.DoEvents();
}
if (!_simulationY)
{
_actualPositionY = Math.Round(_axisY.GetActualPosition(), 3);
//Application.DoEvents();
}
if (!_simulationTheta)
{
_actualPositionTheta = Math.Round(_axisTheta.GetActualPosition(), 3);
//Application.DoEvents();
}
Application.DoEvents();
touchscreenNumBoxActualPositionX.Text = Math.Round(_actualPositionX, 3).ToString();
touchscreenNumBoxTeachPositionX.Text = _teachPositionX.ToString();
touchscreenNumBoxActualPositionY.Text = Math.Round(_actualPositionY, 3).ToString();
touchscreenNumBoxTeachPositionY.Text = _teachPositionY.ToString();
touchscreenNumBoxActualPositionTheta.Text = Math.Round(_actualPositionTheta, 3).ToString();
touchscreenNumBoxTeachPositionTheta.Text = _teachPositionTheta.ToString();
// Enable status
ledToggleEnableX.State = _axisX.IsEnabled;
}
catch (Exception ex)
{
labelStatus.Text = ex.Message;
}
timer1.Enabled = true;
}
private void timer1_Tick(object sender, System.EventArgs e)
{
if (this.Visible == false)
{
timer1.Enabled = false;
return;
}
if (axis != null)
{
try
{
ledEnabled.State = axis.IsEnabled;
ledHomed.State = axis.IsHomed;
buttonHome.Enabled = axis.IsEnabled;
buttonMove.Enabled = axis.IsEnabled && ledHomed.State;
buttonStop.Enabled = axis.IsEnabled;
fmtActualPosition.Number = axis.GetActualPosition();
fmtCommandPosition.Number = axis.GetCommandPosition();
if (checkHomedStatus)
{
TimeSpan elapsed = DateTime.Now.Subtract(homeStart);
if (elapsed.Seconds > 10)
{
checkHomedStatus = false;
if (!axis.IsHomed)
{
DisplayError("Failed to home within 10 seconds");
}
}
}
}
catch (Exception ex)
{
DisplayError("Status update error: " + ex.Message);
}
}
}
public void BoundaryCheck()
{
if (HSTMachine.Workcell.HSTSettings.Install.OperationMode == OperationMode.Simulation)
{
return;
}
try
{
double dMoveDownPos = _teachPointRecipe.InputEEPickHeight;//lowest position in operation range
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis before move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveDownPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
if (!_workcell.IsIgnoreHomeAxisForByPass)
{
_InputEndEffectorZAxis.MoveAbsolute(_axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Velocity, dMoveDownPos, _moveTimeout);
while (_InputEndEffectorZAxis.GetActualPosition() < dMoveDownPos - 10)
{
MessageBox.Show(string.Format("{0}: Actual Position not tally with target position after move done", this));
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEEMoveZAxis. _InputEndEffectorZAxis.GetActualPosition():{0} targetposition:{1}", _InputEndEffectorZAxis.GetActualPosition(), dMoveDownPos);
}
Thread.Sleep(100);
}
}
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis after move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveDownPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
}
catch (Exception ex)
{
HSTException.Throw(HSTErrors.InputHandlerZAxisMoveDownError, ex);
}
try
{
double dMoveUpPos = _teachPointRecipe.InputEESafeHeight;//highest position in operation range
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis before move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveUpPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
if (!_workcell.IsIgnoreHomeAxisForByPass)
{
_InputEndEffectorZAxis.MoveAbsolute(_axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Velocity, dMoveUpPos, _moveTimeout);
while (_InputEndEffectorZAxis.GetActualPosition() > dMoveUpPos + 10)
{
MessageBox.Show(string.Format("{0}: Actual Position not tally with target position after move done", this));
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE MoveZAxis. _InputEndEffectorZAxis.GetActualPosition():{0} targetposition:{1}", _InputEndEffectorZAxis.GetActualPosition(), dMoveUpPos);
}
Thread.Sleep(100);
}
}
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis after move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveUpPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
}
catch (Exception ex)
{
HSTException.Throw(HSTErrors.InputHandlerZAxisMoveUpError, ex);
}
}
