private void AlarmClear()
{
Thread.Sleep(50);
ConfigHandle.Instance.AlarmDefine.ClearAlarmMessage(b_statusError);
MachineAlarm.ClearAlarm();
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_AlarmReset();
}
//frm_Stick.Clear();
}
private void button3_Click(object sender, EventArgs e)
{
MachineAlarm.ClearAlarm();
TaskManager.Default.FSM.Change(FSMStaDef.RESET);
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
for (int i = 0; i < 60; i++)
{
//板卡输出去使能
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
DeviceRsDef.MotionCard1.MotionFun.OutputOFF(i);
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++) //轴停止
{
DeviceRsDef.AxisList[i].MC_Stop();
}
LogicMission.BeltFeedFun.FromReset = true;
MachineAlarm.ClearAlarm(); //清除报警
LG.ImmediateStepNext(10);
break;
case 10:
if (LG.Delay(2000))
{
//ZR轴回零
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
DeviceRsDef.Axis_Z3.MC_Home();
DeviceRsDef.Axis_Z4.MC_Home();
//DeviceRsDef.Axis_Z5.MC_Home();
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_R3.MC_Home();
DeviceRsDef.Axis_R4.MC_Home();
LG.ImmediateStepNext(2);
}
break;
case 2:
if (Axis.allaixsarrive())
{
DeviceRsDef.Axis_X1.MC_Home();
DeviceRsDef.Axis_X2.MC_Home();
DeviceRsDef.Axis_X3.MC_Home();
DeviceRsDef.Axis_X4.MC_Home();
//DeviceRsDef.Axis_X5.MC_Home();
DeviceRsDef.Axis_Y1.MC_Home();
DeviceRsDef.Axis_Y2.MC_Home();
DeviceRsDef.Axis_Y3.MC_Home();
DeviceRsDef.Axis_Y4.MC_Home();
//DeviceRsDef.Axis_R5.MC_Home();
//DeviceRsDef.Axis_X5.MC_Home();
DeviceRsDef.Axis_Belt.MC_Home();
LG.ImmediateStepNext(3);
}
break;
case 3:
if (Axis.allaixsarrive())
{
for (int i = 0; i < 2; i++)
{
Axis.PolishX[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.X);
Axis.PolishY[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.Y);
Axis.PolishZ[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.Z);
Axis.PolishR[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.R);
}
for (int i = 0; i < 2; i++)
{
Axis.SolderX[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.X);
Axis.SolderY[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.Y);
Axis.SolderZ[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.Z);
Axis.SolderR[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.R);
}
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
if (Axis.allaixsarrive())
{
LG.End();
TaskManager.Default.FSM.Change(FSMStaDef.STOP);
}
break;
}
}