// public void EmergencyCall()
// {
// motion_info_list.Clear();
// }
public IEnumerator MotionStart()
{
CooZeroPoint = CooSystem_Script.AbsoluteZero; //获取当前绝对坐标系零点
// Main.AutoRunning_flag = true;
if (Main.AutoRunning_flag)
{
DisplayStart();
}
Main.CycleTimeH = 0;
Main.CycleTimeM = 0;
Main.CycleTimeS = 0;
Auto_Script.cycling_time = 0;
Auto_Script.runningH = Main.RunningTimeH;
Auto_Script.runningM = Main.RunningTimeM;
for (int index = 0; index < motion_info_list.Count; index++)
{ //1level
Debug.Log(index + " >>> " + motion_info_list[index].index);
//黄色光标跳转
// Main.autoSelecedProgRow = motion_info_list[index].index;
if (Main.AutoRunning_flag)
{
Main.AutoDisplayFindRows(motion_info_list[index].index, Main.autoDisplayNormal);
}
if (Main.MDI_RunningFlag)
{
Main.MDIDisplayFindRows(motion_info_list[index].index);
}
Main.RunningSpeed = 0;
Main.T_Value = Main.ToolNo;
Main.D_value = motion_info_list[index].D_Value;
Main.H_value = motion_info_list[index].H_Value;
//判断是否内容为空
if (motion_info_list[index].NotEmpty())
{ //2level
//画面变化
if (Main.AutoRunning_flag)
{
//G_Display
ProgramModule_Script.CurrentCodeDisplay(motion_info_list[index].G_Display, motion_info_list[index].G_Address, motion_info_list[index].Address_Value, motion_info_list[index].G_Display2, motion_info_list[index].G_Address2, motion_info_list[index].Address_Value2);
//ModalIndex, ModalString
ProgramModule_Script.SetModalState(motion_info_list[index].ModalIndex, motion_info_list[index].ModalString);
//运动坐标信息
}
//如果跳过功能启用，判断是否要跳过当前行
if (Slash_on)
{
if (motion_info_list[index].Slash > 0)
{
continue;
}
}
//立即执行的功能
if (motion_info_list[index].Immediate_Motion != "")
{
for (int i = 0; i < motion_info_list[index].Immediate_Motion.Length; i++)
{
switch ((char)motion_info_list[index].Immediate_Motion[i])
{
// case (char)ImmediateMotionType.ToolChanging:
// Main.ToolNo = motion_info_list[index].Tool_Number;
// break;
case (char)ImmediateMotionType.M00:
Auto_Script.SetPause();
Main.AutoPause_flag = true;
break;
case (char)ImmediateMotionType.M01:
if (Main.OSP_On)
{
Auto_Script.SetPause();
Main.AutoPause_flag = true;
}
break;
case (char)ImmediateMotionType.M02:
Auto_Script.EmergencyCall();
Auto_Script.StopAllCoroutines();
Main.SpindleStop();
Main.AutoRunning_flag = false;
Main.RunningSpeed = 0;
break;
case (char)ImmediateMotionType.M03:
CurrentModal.RotateSpeed = motion_info_list[index].SpindleSpeed;
Main.SpindleCW(CurrentModal.RotateSpeed);
Main.SpindleSpeed = (int)CurrentModal.RotateSpeed;
break;
case (char)ImmediateMotionType.M04:
CurrentModal.RotateSpeed = motion_info_list[index].SpindleSpeed;
Main.SpindleCCW(CurrentModal.RotateSpeed);
Main.SpindleSpeed = (int)CurrentModal.RotateSpeed;
break;
case (char)ImmediateMotionType.M05:
Main.SpindleStop();
Main.SpindleSpeed = 0;
break;
// case (char)ImmediateMotionType.M06:
// //更换刀具的过程
// break;
case (char)ImmediateMotionType.M07:
case (char)ImmediateMotionType.M08:
case (char)ImmediateMotionType.M09:
break;
case (char)ImmediateMotionType.M30:
Auto_Script.EmergencyCall();
Auto_Script.StopAllCoroutines();
Main.SpindleStop();
Main.AutoRunning_flag = false;
Main.RunningSpeed = 0;
if (Main.AutoRunning_flag)
{
Main.AutoDisplayFindRows(0, Main.autoDisplayNormal);
}
if (Main.MDI_RunningFlag)
{
Main.MDIDisplayFindRows(0);
}
// Main.autoSelecedProgRow = 0;
break;
case (char)ImmediateMotionType.M98:
case (char)ImmediateMotionType.M99:
break;
case (char)ImmediateMotionType.G52: //局部坐标系变换
if (motion_info_list[index].CooTransformation.x == 0)
{
CooSystem_Script.AbsoluteZero.x = CooZeroPoint.x;
}
else
{
CooSystem_Script.AbsoluteZero.x = CooZeroPoint.x - motion_info_list[index].CooTransformation.x;
}
if (motion_info_list[index].CooTransformation.y == 0)
{
CooSystem_Script.AbsoluteZero.y = CooZeroPoint.y;
}
else
{
CooSystem_Script.AbsoluteZero.y = CooZeroPoint.y - motion_info_list[index].CooTransformation.y;
}
if (motion_info_list[index].CooTransformation.z == 0)
{
CooSystem_Script.AbsoluteZero.z = CooZeroPoint.z;
}
else
{
CooSystem_Script.AbsoluteZero.z = CooZeroPoint.z - motion_info_list[index].CooTransformation.z;
}
break;
case (char)ImmediateMotionType.G53:
//已经作为一种运动方式处理，这里直接跳过，去下面的流程中.
break;
case (char)ImmediateMotionType.G54: //工件坐标系设定
CooSystem_Script.workpiece_flag = (int)WorkpieceCooSys.G54;
CooSystem_Script.Workpiece_Change();
CooZeroPoint = CooSystem_Script.AbsoluteZero;
CurrentModal.SetModalCode("G54", 13);
break;
case (char)ImmediateMotionType.G55:
CooSystem_Script.workpiece_flag = (int)WorkpieceCooSys.G55;
CooSystem_Script.Workpiece_Change();
CooZeroPoint = CooSystem_Script.AbsoluteZero;
CurrentModal.SetModalCode("G55", 13);
break;
case (char)ImmediateMotionType.G56:
CooSystem_Script.workpiece_flag = (int)WorkpieceCooSys.G56;
CooSystem_Script.Workpiece_Change();
CooZeroPoint = CooSystem_Script.AbsoluteZero;
CurrentModal.SetModalCode("G56", 13);
break;
case (char)ImmediateMotionType.G57:
CooSystem_Script.workpiece_flag = (int)WorkpieceCooSys.G57;
CooSystem_Script.Workpiece_Change();
CooZeroPoint = CooSystem_Script.AbsoluteZero;
CurrentModal.SetModalCode("G57", 13);
break;
case (char)ImmediateMotionType.G58:
CooSystem_Script.workpiece_flag = (int)WorkpieceCooSys.G58;
CooSystem_Script.Workpiece_Change();
CooZeroPoint = CooSystem_Script.AbsoluteZero;
CurrentModal.SetModalCode("G58", 13);
break;
case (char)ImmediateMotionType.G59:
CooSystem_Script.workpiece_flag = (int)WorkpieceCooSys.G59;
CooSystem_Script.Workpiece_Change();
CooZeroPoint = CooSystem_Script.AbsoluteZero;
CurrentModal.SetModalCode("G59", 13);
break;
case (char)ImmediateMotionType.G92:
if (motion_info_list[index].CooState[0])
{
CooSystem_Script.AbsoluteZero.x = motion_info_list[index].CooTransformation.x - Move_Script.MachineCoo.x;
CooZeroPoint.x = CooSystem_Script.AbsoluteZero.x;
CooSystem_Script.RelativeZero.x = CooSystem_Script.AbsoluteZero.x;
}
if (motion_info_list[index].CooState[1])
{
CooSystem_Script.AbsoluteZero.y = motion_info_list[index].CooTransformation.y - Move_Script.MachineCoo.y;
CooZeroPoint.y = CooSystem_Script.AbsoluteZero.y;
CooSystem_Script.RelativeZero.y = CooSystem_Script.AbsoluteZero.y;
}
if (motion_info_list[index].CooState[2])
{
CooSystem_Script.AbsoluteZero.z = motion_info_list[index].CooTransformation.z - Move_Script.MachineCoo.z;
CooZeroPoint.z = CooSystem_Script.AbsoluteZero.z;
CooSystem_Script.RelativeZero.z = CooSystem_Script.AbsoluteZero.z;
}
break;
case (char)ImmediateMotionType.Pause:
//已经作为一种运动方式处理，这里直接跳过，去下面的流程中.
break;
case (char)ImmediateMotionType.AutoReturnRP:
//已经作为一种运动方式处理，这里直接跳过，去下面的流程中.
break;
case (char)ImmediateMotionType.BackFromRP:
//已经作为一种运动方式处理，这里直接跳过，去下面的流程中.
break;
case (char)ImmediateMotionType.RadiusCompensationCancel:
case (char)ImmediateMotionType.RadiusCompensationLeft:
case (char)ImmediateMotionType.RadiusCompensationRight:
case (char)ImmediateMotionType.LengthCompensationCancel:
case (char)ImmediateMotionType.LengthCompensationNegative:
case (char)ImmediateMotionType.LengthCompensationPositive:
break;
case (char)ImmediateMotionType.RotateSpeed:
CurrentModal.RotateSpeed = motion_info_list[index].Rotate_Speed;
break;
default:
break;
}
}
}
//常规运动
if (motion_info_list[index].Motion_Type != -1)
{
Main.RunningSpeed = (int)(motion_info_list[index].Velocity * Main.move_rate);
SpeedNow = (int)motion_info_list[index].Velocity;
Main.M_value = motion_info_list[index].M_Code;
switch (motion_info_list[index].Motion_Type)
{
case (int)MotionType.DryRunning:
// CurrentModal.SetModalCode("G00", 0);
yield return(StartCoroutine(Auto_Script.LineMovement(motion_info_list[index].Direction, motion_info_list[index].Time_Value, motion_info_list[index].VirtualTarget, index, 0)));
break;
case (int)MotionType.MachineCooSys:
yield return(StartCoroutine(Auto_Script.LineMovement(motion_info_list[index].Direction, motion_info_list[index].Time_Value, motion_info_list[index].VirtualTarget, index, 0)));
break;
case (int)MotionType.Line:
// CurrentModal.SetModalCode("G01", 0);
yield return(StartCoroutine(Auto_Script.LineMovement(motion_info_list[index].Direction, motion_info_list[index].Time_Value, motion_info_list[index].VirtualTarget, index, 0)));
break;
case (int)MotionType.Circular02:
// CurrentModal.SetModalCode("G02", 0);
yield return(StartCoroutine(Auto_Script.CircularMovement(motion_info_list[index].Direction, motion_info_list[index].VirtualTarget, motion_info_list[index].DisplayTarget,
motion_info_list[index].DisplayStart, motion_info_list[index].Time_Value, motion_info_list[index].Center_Point, motion_info_list[index].Rotate_Speed, true, motion_info_list[index].Current_Plane, index, motion_info_list[index].Slices)));
break;
case (int)MotionType.Circular03:
// CurrentModal.SetModalCode("G03", 0);
yield return(StartCoroutine(Auto_Script.CircularMovement(motion_info_list[index].Direction, motion_info_list[index].VirtualTarget, motion_info_list[index].DisplayTarget,
motion_info_list[index].DisplayStart, motion_info_list[index].Time_Value, motion_info_list[index].Center_Point, motion_info_list[index].Rotate_Speed, false, motion_info_list[index].Current_Plane, index, motion_info_list[index].Slices)));
break;
case (int)MotionType.AutoReturnRP:
case (int)MotionType.BackFromRP:
yield return(StartCoroutine(Auto_Script.LineMovement(motion_info_list[index].Direction, motion_info_list[index].Time_Value, motion_info_list[index].VirtualTarget, index, 1)));
yield return(StartCoroutine(Auto_Script.LineMovement(motion_info_list[index].Direction2, motion_info_list[index].Time_Value2, motion_info_list[index].VirtualTarget2, index, 2)));
break;
case (int)MotionType.Pause:
Auto_Script.SetPause();
yield return(StartCoroutine(Auto_Script.PauseTimer(motion_info_list[index].Time_Value)));
break;
default:
Debug.Log("未知常规运动!");
break;
}
}
} //2level
//Todo:解决换刀过程不能被紧急停止的功能
for (int i = 0; i < motion_info_list[index].ToolChange_Motion.Length; i++)
{
switch (motion_info_list[index].ToolChange_Motion[i])
{
case (char)ToolChange.T:
yield return(StartCoroutine(AutoToolChange_Script.ChooseTool(motion_info_list[index].Tool_Number)));
break;
case (char)ToolChange.M:
if (tool_motion_list[0].TimeValue > 0)
{
yield return(StartCoroutine(Auto_Script.LineMovement(tool_motion_list[0].Direction, tool_motion_list[0].TimeValue, tool_motion_list[0].VirtualTarget, motion_info_list.Count + tool_motion_list.Count, 0)));
}
tool_motion_list.RemoveAt(0);
yield return(StartCoroutine(AutoToolChange_Script.ChangeToolProcess()));
break;
default:
break;
}
}
//单步运行
Main.RunningSpeed = 0;
SpeedNow = 0;
Main.M_value = 0;
if (Main.SingleStep)
{
singleStepEnd = 100;
yield return(StartCoroutine(SingleStepTimer()));
}
} //1level
ProgramModule_Script.SetModalState(new List <int>(), new List <string>()); //模态变化的蓝色光标清空
if (Main.MDI_RunningFlag)
{
MDIStop();
}
Main.AutoRunning_flag = false;
Main.Compile_flag = false;
Main.MDI_RunningFlag = false;
Main.MDI_CompileFlag = false;
Main.PartsNum++; //加工零件数+1
DisplayEnd();
Main.SpindleSpeed = 0;
Main.T_Value = 0;
Main.D_value = 0;
Main.H_value = 0;
ProgramModule_Script.CurrentCodeDisplay(new List <string>(), new List <string>(), new List <float>(), new List <string>(), new List <string>(), new List <float>()); //当前段和下一段显示清空
}
