public bool GoHome()
{
bool res = false;
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
Thread.Sleep(300);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, true);
Thread.Sleep(300);
//bool val = myMgr.ReadIOOut((ushort)OutputIOlist.RotaryEnabled); //Not Enabled
//if (!val)
// return res;
if ((myMgr.GetPos((ushort)Axislist.Mod1YAxis) > 2) || (myMgr.GetPos((ushort)Axislist.Mod2YAxis) > 2))
{
return(res);
}
bool val = myMgr.ReadIOIn((ushort)InputIOlist.RotaryError); //Not Enabled
if (!val)
{
return(res);
}
if ((!myMgr.ReadIOIn((ushort)InputIOlist.SafetySensor)) && (!myMgr.ReadIOIn((ushort)InputIOlist.BtnStop)))
{
if (Para.DisableSafeDoor)
{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, true);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, false);
Thread.Sleep(1000);
}
else
{
if (myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, true);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, false);
Thread.Sleep(1000);
}
else
{
return(false);
}
}
}
else
{
//MessageBox.Show("SafeSenser Is Touched");
return(false);
}
DateTime st_time = DateTime.Now;
TimeSpan time_span;
while (!myMgr.ReadIOIn((ushort)InputIOlist.RotaryOrigin))
{
Thread.Sleep(10);
Application.DoEvents();
if (!Para.DisableSafeDoor)
{
if (!myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, true);
//myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
Thread.Sleep(200);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, false);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
return(false);
}
}
if ((myMgr.ReadIOIn((ushort)InputIOlist.SafetySensor)) || (myMgr.ReadIOIn((ushort)InputIOlist.BtnStop)))
{
//if (Para.DisableSafeDoor)
//{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, true);
//myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
Thread.Sleep(200);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, false);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
return(false);
//}
//else
//{
// if (!myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
// {
// myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, true);
// //myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
// Thread.Sleep(200);
// myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, false);
// Thread.Sleep(100);
// myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
// return false;
// }
//}
}
time_span = DateTime.Now - st_time;
if (time_span.TotalMilliseconds > 10000)
{
return(false);
}
}
res = true;
Para.CurrentRotaryIndex = 0;
Para.isRotaryAt45 = false;
return(res);
}
private void IOTimer_Tick(object sender, EventArgs e)
{
//Output
if (myMgr.ReadIOOut((ushort)OutputIOlist.LampGreen))
{
if (GreenLampLbl.BackColor != Color.Lime)
{
GreenLampLbl.BackColor = Color.Lime;
}
}
else
{
if (GreenLampLbl.BackColor != Color.Black)
{
GreenLampLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.LampAmber))
{
if (AmberLampLbl.BackColor != Color.Lime)
{
AmberLampLbl.BackColor = Color.Lime;
}
}
else
{
if (AmberLampLbl.BackColor != Color.Black)
{
AmberLampLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.LampRed))
{
if (RedLampLbl.BackColor != Color.Lime)
{
RedLampLbl.BackColor = Color.Lime;
}
}
else
{
if (RedLampLbl.BackColor != Color.Black)
{
RedLampLbl.BackColor = Color.Black;
}
}
//if (myMgr.ReadIOOut((ushort)OutputIOlist.Buzzer))
//{
// if (BuzzerLbl.BackColor != Color.Lime)
// BuzzerLbl.BackColor = Color.Lime;
//}
//else
//{
// if (BuzzerLbl.BackColor != Color.Black)
// BuzzerLbl.BackColor = Color.Black;
//}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI1Vac1))
{
if (RI1Vac1Lbl.BackColor != Color.Lime)
{
RI1Vac1Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI1Vac1Lbl.BackColor != Color.Black)
{
RI1Vac1Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI1Vac2))
{
if (RI1Vac2Lbl.BackColor != Color.Lime)
{
RI1Vac2Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI1Vac2Lbl.BackColor != Color.Black)
{
RI1Vac2Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI2Vac1))
{
if (RI2Vac1Lbl.BackColor != Color.Lime)
{
RI2Vac1Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI2Vac1Lbl.BackColor != Color.Black)
{
RI2Vac1Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI2Vac2))
{
if (RI2Vac2Lbl.BackColor != Color.Lime)
{
RI2Vac2Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI2Vac2Lbl.BackColor != Color.Black)
{
RI2Vac2Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI3Vac1))
{
if (RI3Vac1Lbl.BackColor != Color.Lime)
{
RI3Vac1Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI3Vac1Lbl.BackColor != Color.Black)
{
RI3Vac1Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI3Vac2))
{
if (RI3Vac2Lbl.BackColor != Color.Lime)
{
RI3Vac2Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI3Vac2Lbl.BackColor != Color.Black)
{
RI3Vac2Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI4Vac1))
{
if (RI4Vac1Lbl.BackColor != Color.Lime)
{
RI4Vac1Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI4Vac1Lbl.BackColor != Color.Black)
{
RI4Vac1Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.RI4Vac2))
{
if (RI4Vac2Lbl.BackColor != Color.Lime)
{
RI4Vac2Lbl.BackColor = Color.Lime;
}
}
else
{
if (RI4Vac2Lbl.BackColor != Color.Black)
{
RI4Vac2Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.Cam1Light))
{
if (CamLight1Lbl.BackColor != Color.Lime)
{
CamLight1Lbl.BackColor = Color.Lime;
}
}
else
{
if (CamLight1Lbl.BackColor != Color.Black)
{
CamLight1Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.Cam2Light))
{
if (CamLight2Lbl.BackColor != Color.Lime)
{
CamLight2Lbl.BackColor = Color.Lime;
}
}
else
{
if (CamLight2Lbl.BackColor != Color.Black)
{
CamLight2Lbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.SpectrumLS))
{
if (SpectrumLSLbl.BackColor != Color.Lime)
{
SpectrumLSLbl.BackColor = Color.Lime;
}
}
else
{
if (SpectrumLSLbl.BackColor != Color.Black)
{
SpectrumLSLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOOut((ushort)OutputIOlist.MchLight))
{
if (mchLightLbl.BackColor != Color.Lime)
{
mchLightLbl.BackColor = Color.Lime;
}
}
else
{
if (mchLightLbl.BackColor != Color.Black)
{
mchLightLbl.BackColor = Color.Black;
}
}
//Input
if (myMgr.ReadIOIn((ushort)InputIOlist.BtnLeft))
{
if (LeftBtnLbl.BackColor != Color.Lime)
{
LeftBtnLbl.BackColor = Color.Lime;
}
}
else
{
if (LeftBtnLbl.BackColor != Color.Black)
{
LeftBtnLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.BtnRight))
{
if (RightBtnLbl.BackColor != Color.Lime)
{
RightBtnLbl.BackColor = Color.Lime;
}
}
else
{
if (RightBtnLbl.BackColor != Color.Black)
{
RightBtnLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.BtnStop))
{
if (StopBtnLbl.BackColor != Color.Lime)
{
StopBtnLbl.BackColor = Color.Lime;
}
}
else
{
if (StopBtnLbl.BackColor != Color.Black)
{
StopBtnLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.BtnHome))
{
if (HomeBtnLbl.BackColor != Color.Lime)
{
HomeBtnLbl.BackColor = Color.Lime;
}
}
else
{
if (HomeBtnLbl.BackColor != Color.Black)
{
HomeBtnLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.BtnEMO))
{
if (EmoLbl.BackColor != Color.Lime)
{
EmoLbl.BackColor = Color.Lime;
}
}
else
{
if (EmoLbl.BackColor != Color.Black)
{
EmoLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.SafetySensor))
{
if (SafetyLbl.BackColor != Color.Lime)
{
SafetyLbl.BackColor = Color.Lime;
}
}
else
{
if (SafetyLbl.BackColor != Color.Black)
{
SafetyLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
{
if (doorLbl.BackColor != Color.Lime)
{
doorLbl.BackColor = Color.Lime;
}
}
else
{
if (doorLbl.BackColor != Color.Black)
{
doorLbl.BackColor = Color.Black;
}
}
if (myMgr.ReadIOIn((ushort)InputIOlist.AirPressure))
{
if (AirLbl.BackColor != Color.Lime)
{
AirLbl.BackColor = Color.Lime;
}
}
else
{
if (AirLbl.BackColor != Color.Black)
{
AirLbl.BackColor = Color.Black;
}
}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI1Vac1))
//{
// if (RI1Vac1InputLbl.BackColor != Color.Lime)
// RI1Vac1InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI1Vac1InputLbl.BackColor != Color.Black)
// RI1Vac1InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI1Vac2))
//{
// if (RI1Vac2InputLbl.BackColor != Color.Lime)
// RI1Vac2InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI1Vac2InputLbl.BackColor != Color.Black)
// RI1Vac2InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI2Vac1))
//{
// if (RI2Vac1InputLbl.BackColor != Color.Lime)
// RI2Vac1InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI2Vac1InputLbl.BackColor != Color.Black)
// RI2Vac1InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI2Vac2))
//{
// if (RI2Vac2InputLbl.BackColor != Color.Lime)
// RI2Vac2InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI2Vac2InputLbl.BackColor != Color.Black)
// RI2Vac2InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI3Vac1))
//{
// if (RI3Vac1InputLbl.BackColor != Color.Lime)
// RI3Vac1InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI3Vac1InputLbl.BackColor != Color.Black)
// RI3Vac1InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI3Vac2))
//{
// if (RI3Vac2InputLbl.BackColor != Color.Lime)
// RI3Vac2InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI3Vac2InputLbl.BackColor != Color.Black)
// RI3Vac2InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI4Vac1))
//{
// if (RI4Vac1InputLbl.BackColor != Color.Lime)
// RI4Vac1InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI4Vac1InputLbl.BackColor != Color.Black)
// RI4Vac1InputLbl.BackColor = Color.Black;
//}
//if (myMgr.ReadIOIn((ushort)InputIOlist.RI4Vac2))
//{
// if (RI4Vac2InputLbl.BackColor != Color.Lime)
// RI4Vac2InputLbl.BackColor = Color.Lime;
//}
//else
//{
// if (RI4Vac2InputLbl.BackColor != Color.Black)
// RI4Vac2InputLbl.BackColor = Color.Black;
//}
}
