private void BT_Yaxis_location_Click(object sender, EventArgs e)
{
if (VarClass.Manual)
{
double Location = Convert.ToDouble(text_Yaxis_location.Text);
PublicClass.AxisMove(4, VarClass.ManualSpeed[4], Location);
}
}
private void BT_scan_location_Click(object sender, EventArgs e) //扫码手动定位
{
if (VarClass.Manual)
{
double Location = Convert.ToDouble(textZ_Scan_location.Text);
PublicClass.AxisMove(2, VarClass.ManualSpeed[2], Location);
}
}
private void BT_SmallZ_location_Click(object sender, EventArgs e) //小Z轴手动定位
{
if (VarClass.Manual)
{
double Location = Convert.ToDouble(text_SmallZ_location.Text);
PublicClass.AxisMove(1, VarClass.ManualSpeed[1], Location);
}
}
public void AutoMove()
{
AutoStep = 1;
while (AutoStep != 0)
{
switch (AutoStep)
{
case 1:
{
Auto1:
AxisMove(3, VarClass.AutoSpeed[3], VarClass.XAxis_Location[0]); //X轴到换料位
AxisMove(4, VarClass.AutoSpeed[4], VarClass.YAxis_Location[0]); //Y轴到换料位
//读取下标为3.4轴的运动状态
while ((LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.XAxis_Location[0] != VarClass.Pulse_Current[3]) ||
(LTDMC.dmc_check_done(0, 4) == 0) || (VarClass.YAxis_Location[0] != VarClass.Pulse_Current[4]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //XAxis停止
PublicClass.AxisStop(0, 4, 0); //YAxis轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto1;
}
}
}
if (VarClass.StopState == "outing")
{
VarClass.StopState = "outed";
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("XY轴到换料位，下步点击进入按钮", Color.Black);
});
}
else
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("XY轴到换料位，选择测试", Color.Black);
});
}
///saoma
AutoStep = 2;
break;
}
case 2:
{
while ((VarClass.TestNumber == 0) || (VarClass.StopState != "")) //开始测试
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("选择测试完成，下步双手启动", Color.Black);
});
while (!VarClass.ReadIN[0] || !VarClass.ReadIN[1]) //双手启动
{
VarClass.HandsStart = true;
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
VarClass.HandsStart = false;
while (!VarClass.ReadIN[5]) //接近感应器
{
MessageBox.Show("接近没有感应到");
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("接近感应到，下步XY轴去扫码位", Color.Black);
});
Auto2:
AxisMove(3, VarClass.AutoSpeed[3], VarClass.XAxis_Location[1]); //X轴到扫码位
AxisMove(4, VarClass.AutoSpeed[4], VarClass.YAxis_Location[1]); //Y轴到扫码位
while ((LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.XAxis_Location[1] != VarClass.Pulse_Current[3]) || (LTDMC.dmc_check_done(0, 4) == 0) || (VarClass.YAxis_Location[1] != VarClass.Pulse_Current[4]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //XAxis停止
PublicClass.AxisStop(0, 4, 0); //YAxis轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto2;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("下步XY轴到扫码位，下步扫码Z轴去扫码位", Color.Black);
});
Auto50 : PublicClass.AxisMove(2, VarClass.AutoSpeed[2], VarClass.ScanZ_Location[1]); //扫码Z轴到扫描位
while ((LTDMC.dmc_check_done(0, 2) == 0) || (VarClass.ScanZ_Location[1] != VarClass.Pulse_Current[2]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 2, 0); //扫码Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto50;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("扫码Z轴到扫码位，下步扫码", Color.Black);
});
while (!VarClass.IsScanOK)
{
VarClass.ClientString[1] = "";
// Scan.ClientSend1("T");
Scan.ClientSend3("T");
// Scan.ClientSend3("T");
Thread.Sleep(2000);
if ((VarClass.ClientString[2] != "NG") && (VarClass.ClientString[2] != ""))
{
string ScanString = HttpVar.barcode = VarClass.ClientString[2];
VarClass.IsScanOK = true;
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("扫码成功:" + HttpVar.barcode + "，下步XY去测料位", Color.Black);
});
}
else
{
MessageBox.Show("扫码失败");
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("扫码失败", Color.Black);
});
}
}
VarClass.IsScanOK = false;
AutoStep = 3;
break;
}
case 3:
{
Auto3:
AxisMove(3, VarClass.AutoSpeed[3], VarClass.XAxis_Location[2]); //X轴到测料位
AxisMove(4, VarClass.AutoSpeed[4], VarClass.YAxis_Location[2]); //Y轴到测料位
while ((LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.XAxis_Location[2] != VarClass.Pulse_Current[3]) || (LTDMC.dmc_check_done(0, 3) == 0) || (VarClass.YAxis_Location[2] != VarClass.Pulse_Current[4]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //XAxis停止
PublicClass.AxisStop(0, 4, 0); //YAxis轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto3;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("XY轴到测料位，下步大轴下", Color.Black);
});
AutoStep = 4;
break;
}
case 4:
{
Auto4:
PublicClass.AxisJogMove(0, VarClass.AutoSpeed[0], 0); //大轴下，速度，方向
while (!VarClass.ReadIN[10]) //对射光纤
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //XAxis停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto4;
}
}
}
PublicClass.AxisStop(0, 0, 0); //XAxis停止
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("大轴到位，下步左右气缸回", Color.Black);
});
//PublicClass.WriteOUT(0, 12, 1);//左气缸回
//PublicClass.WriteOUT(0, 13, 0);
AutoStep = 5;
break;
}
case 5:
{
PublicClass.WriteOUT(0, 6, 1); //左右气缸回
PublicClass.WriteOUT(0, 7, 0);
while (!VarClass.ReadIN[14] || !VarClass.ReadIN[17]) //左,右气缸回限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
Thread.Sleep(500);
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左,右气缸到回限，下步小Z轴下", Color.Black);
});
Auto5:
AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[1]); //小Z轴下
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[1] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //XAxis停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto5;
}
}
}
VarClass.ImpactCurrentNum[VarClass.TestNumber - 1] = VarClass.ImpactCurrentNum[VarClass.TestNumber - 1] + 1;
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小轴到位，下步左右气缸出", Color.Black);
});
AutoStep = 10;
break;
}
case 10:
{
//PublicClass.WriteOUT(0, 12, 0);//左气缸出
//PublicClass.WriteOUT(0, 13, 1);
PublicClass.WriteOUT(0, 6, 0); //左右气缸出
PublicClass.WriteOUT(0, 7, 1);
while (!VarClass.ReadIN[13] || !VarClass.ReadIN[16]) //左,右气缸出限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
if ((VarClass.ImpactCurrentNum[VarClass.TestNumber - 1] < Convert.ToInt32(VarClass.Excel_specificationsNum[VarClass.TestNumber - 1])) && VarClass.StopState != "outing")
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左,右气缸到出限，下步小Z轴上", Color.Black);
});
Auto10:
AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小Z轴到上位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //XIAOZ轴轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto10;
}
}
}
AutoStep = 5;
break;
}
else
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左,右气缸到出限，下步大小Z轴上", Color.Black);
});
// VarClass.ImpactCurrentNum[VarClass.TestNum-1] = 0;
AutoStep = 6;
break;
}
}
case 6:
{
Auto6:
AxisMove(0, VarClass.AutoSpeed[0], VarClass.BigZ_Location[0]); //大Z轴到上位
AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小Z轴到上位
while ((LTDMC.dmc_check_done(0, 0) == 0) || (VarClass.BigZ_Location[0] != VarClass.Pulse_Current[0]) || (LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //大Z轴停止
PublicClass.AxisStop(0, 1, 0); //大Z轴轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Auto6;
}
}
}
if (VarClass.StopState == "outing")
{
}
else
{
HttpVar.end_time[VarClass.TestNumber - 1] = (DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")).ToString();
VarClass.TestEnd[VarClass.TestNumber - 1] = true; //测试完成
VarClass.Testing = false;
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("大小轴到位，下步XY轴到换料位", Color.Black);
});
AutoStep = 1;
break;
}
}
}
}
public void HomeMove()
{
HomeStep = 1;
while (HomeStep != 0)
{
switch (HomeStep)
{
case 1:
{
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("3个Z轴归零中", Color.Black);
});
Home1:
PublicClass.AxisHome(0, 0, 7, VarClass.Low_Wel[0], VarClass.High_Wel[0]); //大Z轴归零
PublicClass.AxisHome(0, 1, 7, VarClass.Low_Wel[1], VarClass.High_Wel[1]); //小Z轴归零
PublicClass.AxisHome(0, 2, 7, VarClass.Low_Wel[2], VarClass.High_Wel[2]); //扫码轴归零
ushort BigZstate = 99;
ushort SmallZstate = 99;
ushort ScanZstate = 99;
Thread.Sleep(500);
while ((LTDMC.dmc_check_done(0, 0) == 0) || (BigZstate != 1) || (LTDMC.dmc_check_done(0, 1) == 0) || (SmallZstate != 1) || (LTDMC.dmc_check_done(0, 2) == 0) || (ScanZstate != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(0, 0, ref BigZstate);
LTDMC.dmc_get_home_result(0, 1, ref SmallZstate);
LTDMC.dmc_get_home_result(0, 2, ref ScanZstate);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 0, 0); //大Z轴停止
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
PublicClass.AxisStop(0, 2, 0); //大Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home1;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("3个Z轴归零完成，下一步小Z轴归零", Color.Black);
});
HomeStep = 3;
break;
}
case 3:
{
Home3:
PublicClass.AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[1]); //小Z轴跑低位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[1] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home3;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小Z轴到达低位，下一步左右气缸出", Color.Black);
});
//PublicClass.WriteOUT(0, 12, 0);//左气缸出
//PublicClass.WriteOUT(0, 13, 1);
PublicClass.WriteOUT(0, 6, 0); //左右气缸出
PublicClass.WriteOUT(0, 7, 1);
while (!VarClass.ReadIN[13] || !VarClass.ReadIN[16]) //左,右气缸出限
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
Thread.Sleep(5);
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("左右气缸出完，下一步小Z轴跑位，扫码Z轴去扫码位", Color.Black);
});
HomeStep = 4;
break;
}
case 4:
{
Home4:
Thread.Sleep(500);
PublicClass.AxisMove(1, VarClass.AutoSpeed[1], VarClass.SmallZ_Location[0]); //小 Z轴跑高位
// PublicClass.AxisMove(2, VarClass.AutoSpeed[2], VarClass.ScanZ_Location[1]); //扫码Z轴到扫描位
while ((LTDMC.dmc_check_done(0, 1) == 0) || (VarClass.SmallZ_Location[0] != VarClass.Pulse_Current[1]))
{
Thread.Sleep(5);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 1, 0); //小Z轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home4;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("小Z轴到达高位；XY轴归零", Color.Black);
});
HomeStep = 5;
break;
}
case 5:
{
Home5:
Thread.Sleep(500);
PublicClass.AxisHome(0, 3, 13, VarClass.Low_Wel[3], VarClass.High_Wel[3]); //X轴归零
PublicClass.AxisHome(0, 4, 13, VarClass.Low_Wel[4], VarClass.High_Wel[4]); //Y轴归零
ushort XAixsState = 99;
ushort YAixsState = 99;
Thread.Sleep(500);
while ((LTDMC.dmc_check_done(0, 3) == 0) || (XAixsState != 1) || (LTDMC.dmc_check_done(0, 4) == 0) || (YAixsState != 1)) //判断是否回零完
{
LTDMC.dmc_get_home_result(0, 3, ref XAixsState);
LTDMC.dmc_get_home_result(0, 4, ref YAixsState);
Thread.Sleep(10);
while (VarClass.Pause_Flag)
{
PublicClass.AxisStop(0, 3, 0); //X轴停止
PublicClass.AxisStop(0, 4, 0); //Y轴停止
Thread.Sleep(5);
if (!VarClass.Pause_Flag)
{
goto Home5;
}
}
}
myFrMain.Invoke((MethodInvoker) delegate
{
myFrMain.addLog("归零完成", Color.Black);
});
VarClass.Homeing = false; //归零标志
VarClass.HomeFinish = true;
HomeStep = 0;
break;
}
}
}
}