protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
startNuzzleParaInit();
for (int i = 0; i < 30; i++)
{
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
}
DeviceRsDef.MotionCard.MotionFun.OutputON(24);
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
Alarm.ClearAlarm();
if (DeviceRsDef.I_XFarLimit.Value)
{
DeviceRsDef.Axis_X.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "X正硬极限限位");
}
if (DeviceRsDef.I_YFarLimit.Value)
{
DeviceRsDef.Axis_Y.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "Y正硬极限限位");
}
Product.Inst.ProcessData.currWhichPoint = 0;
Product.Inst.ProcessData.currWhichProduct = 0;
LG.StepNext(2);
break;
case 2:
if (LG.Delay(100))
{
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_AlarmReset();
}
LG.StepNext(3);
}
break;
case 3:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
LG.StepNext(4);
}
break;
case 4:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_X.MC_Home();
DeviceRsDef.Axis_Y.MC_Home();
LG.StepNext(5);
}
break;
case 5:
if (CTRCard.XYArrive && CTRCard.RArrive)
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
FSM.Stop();
break;
}
}
