private void flowRepeatMove(TProcVar S)
{
switch (S.StrStep1)
{
case "0":
if (!axis.IsBusy)
{
S.StrStep1 = "1";
}
break;
case "1":
double dest1;
if (!Double.TryParse(ntxbPosition1.Text, out dest1))
{
dest1 = 0;
}
axis.AbsolueMove(dest1);
S.StrStep1 = "2";
break;
case "2":
if (axis.IsReached && !axis.IsBusy)
{
S.TM1.Restart();
S.StrStep1 = "3";
}
break;
case "3":
double delayTime1;
if (!Double.TryParse(ntxbDelayTime.Text, out delayTime1))
{
delayTime1 = 0;
}
if (S.TM1.ElapsedMilliseconds > delayTime1)
{
S.StrStep1 = "4";
}
break;
case "4":
double dest2;
if (!Double.TryParse(ntxbPosition2.Text, out dest2))
{
dest2 = 0;
}
axis.AbsolueMove(dest2);
S.StrStep1 = "5";
break;
case "5":
if (axis.IsReached && !axis.IsBusy)
{
S.TM1.Restart();
S.StrStep1 = "6";
}
break;
case "6":
double delayTime2;
if (!Double.TryParse(ntxbDelayTime.Text, out delayTime2))
{
delayTime1 = 0;
}
if (S.TM1.ElapsedMilliseconds > delayTime2)
{
S.StrStep1 = "0";
}
break;
}
}
private void flowHome(TProcVar S)
{
switch (S.Step1)
{
#region flow init
case 0:
//關掉軟體極限，
DisableSoftLimit();
Stop(StopType.SlowDown, false);
ServoOn(CmdStatus.ON);
status.Home = false;
S.Step1 = 1;
S.Timeout = 30000;
if (HomeStarted != null)
{
HomeStarted(DeviceName);
}
break;
case 1:
if (!IsBusy)
{
switch (axisPara.HomeMode)
{
case HomeMode.OnePoint:
S.Step1 = 1000;
break;
case HomeMode.TwoPoint:
S.Step1 = 2000;
break;
case HomeMode.ThreePointWithZPhase:
S.Step1 = 2000;
break;
case HomeMode.ThreePoint:
S.Step1 = 3000;
break;
}
}
break;
#endregion flow init
#region OnePoint
case 1000:
//不在原點上
if (!status.ORG)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
}
S.Step1 = 1010;
break;
case 1010:
if (status.ORG)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 1020;
}
break;
case 1020:
if (S.TM1.ElapsedMilliseconds > 100)
{
JogM(5, RotationDirection.CW);
S.TM1.Restart();
S.Step1 = 1030;
}
break;
case 1030:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -1030;
S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfORG") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (!status.ORG)
{
Stop(StopType.Emergency, false);
doHomeOrg();
S.TM1.Restart();
S.Step1 = 7000;
}
}
break;
#endregion OnePoint
#region TwoPoint
case 2000:
if (status.LimitN)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CW);
S.TM1.Restart();
S.Step1 = 2100;
}
else if (status.LimitP)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
S.TM1.Restart();
S.Step1 = 2100;
}
else
{
S.TM1.Restart();
S.Step1 = 2100;
}
break;
case 2100:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -2100;
S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfLimitN") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (!status.LimitN && !status.LimitP)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 2010;
}
}
break;
case 2010:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -2010;
S.Result.Message = LanguageResourceManager.GetString("TimeoutOutOfLimitN") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (!status.LimitN)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
}
S.Step1 = 2020;
}
break;
case 2020:
if (status.LimitN)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 2030;
}
break;
case 2030:
if (S.TM1.ElapsedMilliseconds > 100)
{
if (axisPara.HomeMode == HomeMode.ThreePointWithZPhase)
{
doHomeLimWithZPhase();
}
else
{
doHomeLim();
}
S.Step1 = 7000;
}
break;
case 2040:
if (status.LimitN)
{
Stop(StopType.Emergency, false);
S.Step1 = 7000;
}
break;
#endregion TwoPoint
#region ThreePoint
case 3000:
if (!status.ORG && !status.LimitN)
{
JogM(axisPara.OPRDevVelH, RotationDirection.CCW);
}
S.Step1 = 3010;
break;
case 3010:
if (status.ORG || status.LimitN)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 3020;
}
break;
case 3020:
if (S.TM1.ElapsedMilliseconds > 100)
{
JogM(axisPara.CreepDevVelH, RotationDirection.CW);
S.Step1 = 3030;
}
break;
case 3030:
if (S.TM1.ElapsedMilliseconds > S.Timeout)
{
S.Result.Value = -3030;
S.Result.Message = LanguageResourceManager.GetString("TimeoutEnterORG") + "(" + DeviceName + ")";
S.Step1 = 9000;
}
else
{
if (status.ORG)
{
S.Step1 = 3040;
}
}
break;
case 3040:
if (!status.ORG)
{
Stop(StopType.Emergency, false);
S.TM1.Restart();
S.Step1 = 3050;
}
break;
case 3050:
if (S.TM1.ElapsedMilliseconds > 100)
{
doHomeOrg();
S.Step1 = 7000;
}
break;
#endregion ThreePoint
#region flow continue
case 7000:
if (S.TM1.ElapsedMilliseconds > 500 && !IsBusy)
{
S.Step1 = 7010;
}
break;
case 7010:
ResetPos();
Move(axisPara.OffsetH, SpeedMode.Manual);
S.Step1 = 7020;
break;
case 7020:
if (IsReached)
{
S.TM1.Restart();
S.Step1 = 7030;
}
break;
case 7030:
if (S.TM1.ElapsedMilliseconds >= axisPara.ClearDelay * 1000)
{
ResetPos();
S.Step1 = 8000;
}
break;
#endregion flow continue
#region flow end
//flow finish
case 8000:
if (HomeCompleted != null)
{
HomeCompleted(DeviceName);
}
status.Home = true;
homeTask.TurnOff(itemHome);
break;
//flow trip
case 9000:
if (HomeFailure != null)
{
HomeFailure(DeviceName);
}
status.Home = false;
homeTask.TurnOff(itemHome);
break;
#endregion flow end
}
}
