private void flowRepeatMove(TProcVar S)
{
switch (S.StrStep1)
{
case "0":
if (!axis.IsBusy)
{
S.StrStep1 = "1";
}
break;
case "1":
double dest1;
if (!Double.TryParse(ntxbPosition1.Text, out dest1))
{
dest1 = 0;
}
axis.AbsolueMove(dest1, SpeedMode.Manual);
S.StrStep1 = "2";
break;
case "2":
if (axis.IsReached && !axis.IsBusy)
{
S.TM1.Restart();
S.StrStep1 = "3";
}
break;
case "3":
double delayTime1;
if (!Double.TryParse(ntxbDelayTime.Text, out delayTime1))
{
delayTime1 = 0;
}
if (S.TM1.ElapsedMilliseconds > delayTime1)
{
S.StrStep1 = "4";
}
break;
case "4":
double dest2;
if (!Double.TryParse(ntxbPosition2.Text, out dest2))
{
dest2 = 0;
}
axis.AbsolueMove(dest2, SpeedMode.Manual);
S.StrStep1 = "5";
break;
case "5":
if (axis.IsReached && !axis.IsBusy)
{
S.TM1.Restart();
S.StrStep1 = "6";
}
break;
case "6":
double delayTime2;
if (!Double.TryParse(ntxbDelayTime.Text, out delayTime2))
{
delayTime1 = 0;
}
if (S.TM1.ElapsedMilliseconds > delayTime2)
{
S.StrStep1 = "0";
}
break;
}
}
public override void Flow()
{
switch (this.Step1)
{
#region flow init
case "0":
//關掉軟體極限，
_axis.DisableSoftLimit();
_axis.Stop(StopType.SlowDown, false);
_axis.ServoOn(CmdStatus.ON);
ChangeStep1("1");
this.TimeVar1 = 30000;
//if (HomeStarted != null)
//{
// HomeStarted(DeviceName);
//}
break;
case "1":
if (!_axis.IsBusy)
{
switch (_axis.AxisPara.HomeMode)
{
case HomeMode.OnePoint:
ChangeStep1("1000");
break;
case HomeMode.TwoPoint:
ChangeStep1("2000");
break;
case HomeMode.ThreePointWithZPhase:
ChangeStep1("2000");
break;
case HomeMode.ThreePoint:
ChangeStep1("3000");
break;
}
}
break;
#endregion flow init
#region OnePoint
case "1000":
//不在原點上
if (!_axis.IsORG)
{
_axis.JogM(_axis.AxisPara.OPRDevVelH, RotationDirection.CCW);
}
ChangeStep1("1010");
break;
case "1010":
if (_axis.IsORG)
{
_axis.Stop(StopType.Emergency, false);
this.Timer1.Restart();
ChangeStep1("1020");
}
break;
case "1020":
if (this.Timer1.ElapsedMilliseconds > 100)
{
_axis.JogM(5, RotationDirection.CW);
this.Timer1.Restart();
ChangeStep1("1030");
}
break;
case "1030":
if (this.Timer1.ElapsedMilliseconds > this.TimeVar1)
{
//S.Result.Value = -1030;
//S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfORG") + "(" + DeviceName + ")";
ChangeStep1("9000");
}
else
{
if (!_axis.IsORG)
{
_axis.Stop(StopType.Emergency, false);
_axis.DoHomeOrg();
this.Timer1.Restart();
ChangeStep1("7000");
}
}
break;
#endregion OnePoint
#region TwoPoint
case "2000":
if (_axis.IsLimitN)
{
_axis.JogM(_axis.AxisPara.OPRDevVelH, RotationDirection.CW);
this.Timer1.Restart();
ChangeStep1("2100");
}
else if (_axis.IsLimitP)
{
_axis.JogM(_axis.AxisPara.OPRDevVelH, RotationDirection.CCW);
this.Timer1.Restart();
ChangeStep1("2100");
}
else
{
this.Timer1.Restart();
ChangeStep1("2100");
}
break;
case "2100":
if (this.Timer1.ElapsedMilliseconds > this.TimeVar1)
{
//S.Result.Value = -2100;
//S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfLimitN") + "(" + _axis.DeviceName + ")";
ChangeStep1("9000");
}
else
{
if (!_axis.IsLimitN && !_axis.IsLimitP)
{
_axis.Stop(StopType.Emergency, false);
this.Timer1.Restart();
ChangeStep1("2010");
}
}
break;
case "2010":
if (this.Timer1.ElapsedMilliseconds > this.TimeVar1)
{
//S.Result.Value = -2010;
//S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfLimitN") + "(" + DeviceName + ")";
ChangeStep1("9000");
}
else
{
if (!_axis.IsLimitN)
{
_axis.JogM(_axis.AxisPara.OPRDevVelH, RotationDirection.CCW);
}
ChangeStep1("2020");
}
break;
case "2020":
if (_axis.IsLimitN)
{
_axis.Stop(StopType.Emergency, false);
this.Timer1.Restart();
ChangeStep1("2030");
}
break;
case "2030":
if (this.Timer1.ElapsedMilliseconds > 100)
{
if (_axis.AxisPara.HomeMode == HomeMode.ThreePointWithZPhase)
{
_axis.DoHomeLimWithZPhase();
}
else
{
_axis.DoHomeLim();
}
ChangeStep1("7000");
}
break;
case "2040":
if (_axis.IsLimitN)
{
_axis.Stop(StopType.Emergency, false);
ChangeStep1("7000");
}
break;
#endregion TwoPoint
#region ThreePoint
case "3000":
//if (!_axis.ORG && !_axis.LimitN)
if (!_axis.IsLimitN)
{
_axis.JogM(_axis.AxisPara.OPRDevVelH, RotationDirection.CCW);
}
ChangeStep1("3010");
break;
case "3010":
//if (_axis.ORG || _axis.LimitN)
if (_axis.IsLimitN)
{
_axis.Stop(StopType.SlowDown, false);
this.Timer1.Restart();
ChangeStep1("3020");
}
break;
case "3020":
if (this.Timer1.ElapsedMilliseconds > 100)
{
_axis.JogM(_axis.AxisPara.CreepDevVelH, RotationDirection.CW);
ChangeStep1("3030");
}
break;
case "3030":
if (this.Timer1.ElapsedMilliseconds > this.TimeVar1)
{
//S.Result.Value = -3030;
//S.Result.Message = LanguageResourceManager.GetString("TimeoutEnterORG") + "(" + DeviceName + ")";
ChangeStep1("9000");
}
else
{
if (_axis.IsORG)
{
ChangeStep1("3040");
}
}
break;
case "3040":
if (!_axis.IsORG)
{
_axis.Stop(StopType.SlowDown, false);
this.Timer1.Restart();
ChangeStep1("3050");
}
break;
case "3050":
if (this.Timer1.ElapsedMilliseconds > 100)
{
_axis.DoHomeOrg();
ChangeStep1("7000");
}
break;
#endregion ThreePoint
#region flow continue
case "7000":
if (this.Timer1.ElapsedMilliseconds > 500 && !_axis.IsBusy)
{
ChangeStep1("7010");
}
break;
case "7010":
_axis.ResetPos();
_axis.AbsolueMove(_axis.AxisPara.OffsetH, SpeedMode.Manual);
ChangeStep1("7020");
break;
case "7020":
if (_axis.IsReached)
{
this.Timer1.Restart();
ChangeStep1("7030");
}
break;
case "7030":
if (this.Timer1.ElapsedMilliseconds >= _axis.AxisPara.ClearDelay * 1000)
{
_axis.ResetPos();
ChangeStep1("8000");
}
break;
#endregion flow continue
#region flow end
//flow finish
case "8000":
//if (HomeCompleted != null)
//{
// HomeCompleted(DeviceName);
//}
_axis.IsHome = true;
Stop();
break;
//flow trip
case "9000":
//if (HomeFailure != null)
//{
// HomeFailure(DeviceName);
//}
_axis.IsHome = false;
Fail();
break;
#endregion flow end
}
}
