public override void run(double dt)
{
bool resulty = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
switch (step)
{
case 0:
resulty = device.MoveInjectY(y);
if (resulty)
{
step++;
}
break;
case 1:
for (int i = 0; i < 4; i++)
{
if (ydone[i] == false)
{
ydone[i] = device.DoneInjectY(i);
}
}
isfinish = ydone[0] && ydone[1] && ydone[2] && ydone[3];
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == false)
{
ErrorSystem.WriteActError("抓手无卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
step++;
}
break;
case 1:
act_movez.run(dt);
if (act_movez.getIsFinish())
{
step++;
}
break;
case 2:
resultz = hand.SwitchHand(true);
if (resultz)
{
step++;
}
break;
case 3:
act_movezb.run(dt);
if (act_movezb.getIsFinish())
{
step++;
}
break;
case 4:
isfinish = true;
break;
}
}
public override void run(double dt)
{
bool resultx = true;
bool resulty = true;
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
switch (step)
{
case 0:
if (x)
{
resultx = device.InitX();
}
if (y)
{
resulty = device.InitY();
}
if (z)
{
resultz = device.InitZ();
}
if (resultx && resulty && resultz)
{
step++;
}
break;
case 1:
if (xdone == false)
{
xdone = device.DoneX();
}
if (ydone == false)
{
ydone = device.DoneY();
}
if (zdone == false)
{
zdone = device.DoneZ();
}
isfinish = xdone && ydone && zdone;
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == true)
{
ErrorSystem.WriteActError("抓手有卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
if (hand.CanComm.SetRegister(hand.Hand.ZMotor.Speed.Addr, hand.Hand.ZMotor.Speed.SetValue))
{
step++;
}
}
break;
case 1:
resultz = hand.Hand.IsOpen || (hand.Hand.IsOpen == false && hand.SwitchHand(true));
if (resultz)
{
step++;
}
break;
case 2:
resultz = device.MoveZ((int)z, true);
if (resultz)
{
step++;
}
break;
case 3:
if (device.DoneZ())
{
step++;
}
break;
case 4:
resultz = device.MoveZ((int)zl, false);
if (resultz)
{
step++;
}
break;
case 5:
if (sumdt - lasttime > 50)
{
lasttime = sumdt;
if (hand.CheckGel() == true)
{
resultz = hand.CanComm.SetCoilOff(hand.Hand.ZMotor.StartCoil.Addr);
if (resultz)
{
step++;
}
}
}
break;
case 6:
bool is_timeout = false;
hand.CanComm.ReadRegister(hand.Hand.ZMotor.RealDistance.Addr);
curz = hand.CanComm.GetIntBlock(hand.Hand.ZMotor.RealDistance.Addr, 1000, out is_timeout) + (int)zc;
if (is_timeout)
{
ErrorSystem.WriteActError("抓手超时", true);
istimeout = true;
isfinish = true;
return;
}
else
{
step++;
}
break;
case 7:
resultz = device.MoveZ((int)curz, true);
if (resultz)
{
step++;
}
break;
case 8:
resultz = hand.SwitchHand(false);
if (resultz)
{
step++;
}
break;
case 9:
resultz = device.MoveZ((int)zb, true);
if (resultz)
{
step++;
}
break;
case 10:
isfinish = device.DoneZ();
break;
}
}
public override void run(double dt)
{
bool resultz = true;
bool resultx = true;
bool resulty = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var inject = (InjectorDevice)node;
switch (step)
{
case 0:
//是否已有吸头
//针头数据检测(针头序号+装针个数不能大于通道个数)
int inject_count = inject.GetSeleteced().Count();
if (head_index + tipdata.count <= inject_count)
{
step++;
}
else
{
istimeout = true;
isfinish = true;
}
break;
case 1:
resultx = device.MoveX(tipdata.x);
resulty = device.MoveY(tipdata.y);
if (resultx && resulty)
{
step++;
}
break;
case 2:
if (xdone == false)
{
xdone = device.DoneX();
}
if (ydone == false)
{
ydone = device.DoneY();
}
if (xdone && ydone)
{
step = 7;
}
break;
case 3:
int[] z_tem = { -1, -1, -1, -1 };
for (int i = head_index; i < tipdata.count; i++)
{
z_tem[i] = z;
}
resultz = device.MoveInjectZ(z_tem, true);
if (resultz)
{
step++;
}
break;
case 4:
for (int i = head_index; i < tipdata.count; i++)
{
if (zdone[i] == false)
{
xdone = device.DoneInjectZ(i);
}
}
if (zdone[0] && zdone[1] && zdone[2] && zdone[3])
{
step++;
}
break;
case 5:
resultz = device.MoveZ(0, true);
if (resultz)
{
step++;
}
break;
case 6:
if (device.DoneZ())
{
step++;
}
break;
case 7:
isfinish = true;
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == false)
{
ErrorSystem.WriteActError("抓手无卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
if (hand.CanComm.SetRegister(hand.Hand.ZMotor.Speed.Addr, hand.Hand.ZMotor.Speed.SetValue))
{
step++;
}
}
break;
case 1:
resultz = device.MoveZ((int)z);
if (resultz)
{
step++;
}
break;
case 2:
if (device.DoneZ())
{
step++;
}
break;
case 3:
resultz = hand.SwitchHand(true);
if (resultz)
{
step++;
}
break;
case 4:
resultz = device.MoveZ((int)zb);
if (resultz)
{
step++;
}
break;
case 5:
isfinish = device.DoneZ();
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var hand = (MachineHandDevice)node;
switch (step)
{
case 0:
if (hand.CheckGel() == true)
{
ErrorSystem.WriteActError("抓手有卡！", true);
istimeout = true;
isfinish = true;
return;
}
else
{
step++;
}
break;
case 1:
resultz = hand.Hand.IsOpen || (hand.Hand.IsOpen == false && hand.SwitchHand(true));
if (resultz)
{
step++;
}
break;
case 2:
act_movez.run(dt);
if (act_movez.getIsFinish())
{
step++;
}
break;
case 3:
act_movezl.run(dt);
if (sumdt - lasttime > 50)
{
lasttime = sumdt;
if (hand.CheckGel() == true)
{
resultz = hand.CanComm.SetCoilOff(hand.Hand.ZMotor.StartCoil.Addr);
if (resultz)
{
step++;
}
}
}
if (act_movezl.getIsFinish())
{
ErrorSystem.WriteActError("抓手抓不到卡！", true);
istimeout = true;
isfinish = true;
return;
}
break;
case 4:
bool is_timeout = false;
hand.CanComm.ReadRegister(hand.Hand.ZMotor.RealDistance.Addr);
curz = hand.CanComm.GetIntBlock(hand.Hand.ZMotor.RealDistance.Addr, 1000, out is_timeout) + (int)zc;
if (is_timeout)
{
ErrorSystem.WriteActError("抓手超时", true);
istimeout = true;
isfinish = true;
return;
}
else
{
act_movecurz = MoveTo.create(node, time, -1, -1, curz);
act_movecurz.init();
step++;
}
break;
case 5:
act_movecurz.run(dt);
if (act_movecurz.getIsFinish())
{
step++;
}
break;
case 6:
resultz = hand.SwitchHand(false);
if (resultz)
{
step++;
}
break;
case 7:
act_movezb.run(dt);
if (act_movezb.getIsFinish())
{
step++;
}
break;
case 8:
isfinish = true;
break;
}
}
public override void run(double dt)
{
bool resultz = true;
sumdt += dt;
if (sumdt >= time || istimeout)
{
istimeout = true;
isfinish = true;
return;
}
var device = new ActionDevice(node);
var inject = (InjectorDevice)node;
switch (step)
{
case 0:
//是否已有吸头
//针头数据检测(针头序号+装针个数不能大于通道个数)
int inject_count = inject.GetSeleteced().Count();
if (head_index + tipdata.count <= inject_count)
{
step++;
}
else
{
istimeout = true;
isfinish = true;
}
break;
case 1:
act_movexy.run(dt);
if (act_movexy.getIsFinish())
{
step++;
}
break;
case 2:
int[] z_tem = { -1, -1, -1, -1 };
for (int i = head_index; i < tipdata.count; i++)
{
z_tem[i] = z;
}
resultz = device.MoveInjectZ(z_tem, true);
if (resultz)
{
step++;
}
break;
case 3:
for (int i = head_index; i < tipdata.count; i++)
{
if (zdone[i] == false)
{
zdone[i] = device.DoneInjectZ(i);
}
}
if (zdone[0] && zdone[1] && zdone[2] && zdone[3])
{
step++;
}
break;
case 4:
act_movezb.run(dt);
if (act_movezb.getIsFinish())
{
step++;
}
break;
case 5:
isfinish = true;
break;
}
}
