public bool HasRobotFault(ref string message, ref MvRobotAlarmInfo alarmInfo)
{
//************IMPORTANT*************************************************//
//UO[1~20] address has been mapping to DI[1~20] address at addr.22
//AND using BGLogic assign DI[1]~DI[20] to R[21]~R[40] respectivly
//If you wanna read UO[1], plz read R[21] and so on
//**********************************************************************
object UO6Value = (byte)0;
bool IsReadSuccess = false;
//1:有err 0:normal
mobjDataTable.Refresh();
IsReadSuccess = mobjNumReg.GetValue(26, ref UO6Value);
if (!IsReadSuccess)
{
throw new Exception("Read Fail");
}
if ((int)UO6Value == 1)
{
alarmInfo = GetRobotAlarm();
message = "Robot Err Occur !";
HasRobotFaultStatus = true;
//if (RobotFaultStatus != almInfo.Result) { this.Equipment.IO_Switch("LaserIO", DeviceSwitch.OFF); }
}
else
{
message = "Success";
HasRobotFaultStatus = false;
//if (RobotFaultStatus != almInfo.Result) { this.Equipment.IO_Switch("LaserIO", DeviceSwitch.ON); }
}
return(HasRobotFaultStatus);
}
