public bool GoHome()
{
bool res = false;
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
Thread.Sleep(300);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, true);
Thread.Sleep(300);
//bool val = myMgr.ReadIOOut((ushort)OutputIOlist.RotaryEnabled); //Not Enabled
//if (!val)
// return res;
if ((myMgr.GetPos((ushort)Axislist.Mod1YAxis) > 2) || (myMgr.GetPos((ushort)Axislist.Mod2YAxis) > 2))
{
return(res);
}
bool val = myMgr.ReadIOIn((ushort)InputIOlist.RotaryError); //Not Enabled
if (!val)
{
return(res);
}
if ((!myMgr.ReadIOIn((ushort)InputIOlist.SafetySensor)) && (!myMgr.ReadIOIn((ushort)InputIOlist.BtnStop)))
{
if (Para.DisableSafeDoor)
{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, true);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, false);
Thread.Sleep(1000);
}
else
{
if (myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, true);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryHome, false);
Thread.Sleep(1000);
}
else
{
return(false);
}
}
}
else
{
//MessageBox.Show("SafeSenser Is Touched");
return(false);
}
DateTime st_time = DateTime.Now;
TimeSpan time_span;
while (!myMgr.ReadIOIn((ushort)InputIOlist.RotaryOrigin))
{
Thread.Sleep(10);
Application.DoEvents();
if (!Para.DisableSafeDoor)
{
if (!myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, true);
//myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
Thread.Sleep(200);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, false);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
return(false);
}
}
if ((myMgr.ReadIOIn((ushort)InputIOlist.SafetySensor)) || (myMgr.ReadIOIn((ushort)InputIOlist.BtnStop)))
{
//if (Para.DisableSafeDoor)
//{
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, true);
//myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
Thread.Sleep(200);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, false);
Thread.Sleep(100);
myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
return(false);
//}
//else
//{
// if (!myMgr.ReadIOIn((ushort)InputIOlist.DoorSensor))
// {
// myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, true);
// //myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
// Thread.Sleep(200);
// myMgr.WriteIOOut((ushort)OutputIOlist.RotaryStop, false);
// Thread.Sleep(100);
// myMgr.WriteIOOut((ushort)OutputIOlist.RotaryEnabled, false);
// return false;
// }
//}
}
time_span = DateTime.Now - st_time;
if (time_span.TotalMilliseconds > 10000)
{
return(false);
}
}
res = true;
Para.CurrentRotaryIndex = 0;
Para.isRotaryAt45 = false;
return(res);
}
private void GreenLampBtn_Click(object sender, EventArgs e)
{
bool val = myMgr.ReadIOOut((ushort)OutputIOlist.LampGreen);
myMgr.WriteIOOut((ushort)OutputIOlist.LampGreen, !val);
}
