/// <summary>
/// 按钮事件
/// </summary>
private void BtEvent()
{
//运行按钮
if (DeviceRsDef.I_Start.Value)
{
FSM.Start();
}
//停止按钮
if (DeviceRsDef.I_Stop.Value)
{
if (FSM.Status != HzControl.Logic.FSMStaDef.RUN)
{
Alarm.ClearAlarm();
}
FSM.Stop();
}
//停止按钮
if (DeviceRsDef.I_Reset.Value)
{
FSM.Reset();
}
//急停
if (DeviceRsDef.I_Scam.Value)
{
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
if (DeviceRsDef.AxisList[i].status != Device.AxState.AXSTA_READY)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
DeviceRsDef.AxisList[i].MC_PowerOn();
}
FSM.Scram();
}
else
{
//当松开急停后，状态机恢复到初始态
if (FSM.Status == HzControl.Logic.FSMStaDef.SCRAM)
{
FSM.Init();
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_PowerOff();
}
}
if (FSM.Status == HzControl.Logic.FSMStaDef.SCRAM)
{
//Alarm.SetAlarm(AlarmLevelEnum.Level3, "急停按下");
}
}
/// <summary>
/// 报警后处理
/// </summary>
private void AlarmEvent()
{
if (Alarm.AlarmLever == AlarmLevelEnum.Level2)
{
FSM.Stop();
}
else if (Alarm.AlarmLever > AlarmLevelEnum.Level2)
{
if (FSM.Status == FSMStaDef.RUN)
{
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
}
FSM.ErrorStop();
//先复位把其他流程
//foreach (var item in this.Manager.LogicTasks)
//{
// item.Reset();
//}
}
if (!DeviceRsDef.MotionCard.netSucceed)
{
if (!DeviceRsDef.MotionCard.netSucceed)
{
Alarm.SetAlarm(AlarmLevelEnum.Level3, "控制卡掉线");
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
if (DeviceRsDef.AxisList[i].status == Device.AxState.AXSTA_ERRSTOP)
{
string alarmMessage = DeviceRsDef.AxisList[i].errMesg;
Alarm.SetAlarm(AlarmLevelEnum.Level3, alarmMessage);
}
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
startNuzzleParaInit();
for (int i = 0; i < 30; i++)
{
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
}
DeviceRsDef.MotionCard.MotionFun.OutputON(24);
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
Alarm.ClearAlarm();
if (DeviceRsDef.I_XFarLimit.Value)
{
DeviceRsDef.Axis_X.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "X正硬极限限位");
}
if (DeviceRsDef.I_YFarLimit.Value)
{
DeviceRsDef.Axis_Y.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "Y正硬极限限位");
}
Product.Inst.ProcessData.currWhichPoint = 0;
Product.Inst.ProcessData.currWhichProduct = 0;
LG.StepNext(2);
break;
case 2:
if (LG.Delay(100))
{
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_AlarmReset();
}
LG.StepNext(3);
}
break;
case 3:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
LG.StepNext(4);
}
break;
case 4:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_X.MC_Home();
DeviceRsDef.Axis_Y.MC_Home();
LG.StepNext(5);
}
break;
case 5:
if (CTRCard.XYArrive && CTRCard.RArrive)
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
FSM.Stop();
break;
}
}
