/// <summary>
/// 輸入Robot設定PNS name, 讀取並執行PNS
/// </summary>
/// <param name="PNSname"></param>
public bool ExecutePNS(string PNSname)
{
Array UI = new short[18];
Array UOInfo = new short[18];
MvaRobotUIOParameter UIO = new MvaRobotUIOParameter();
String PNScode;
if (PNSname.Length == 7 && PNSname.Substring(0, 3) == "PNS")
{
PNScode = Convert.ToString(Convert.ToInt32(PNSname.Substring(5)), 2);
PNScode = PNScode.PadLeft(8, '0');
}
else
{
throw new System.ArgumentException("PNS Name is NOT match Rule; PNS name:" + PNSname);
}
//Write Default UI Setting
UI.SetValue(UIO.UI1_IMSTP, 0);
UI.SetValue(UIO.UI2_HOLD, 1);
UI.SetValue(UIO.UI3_SFSPD, 2);
UI.SetValue(UIO.UI4_CycleStop, 3);
UI.SetValue(UIO.UI5_FaultReset_NEGEDGE, 4);
UI.SetValue(UIO.UI6_Start_NEGEDGE_NoUsed, 5);
UI.SetValue(UIO.UI7_Home_NoUSed, 6);
UI.SetValue(UIO.UI8_ENABLE, 7);
// Select PNS Code
for (int idx = 0; idx < PNScode.Length; idx++)
{
UI.SetValue(Convert.ToInt16(PNScode.Substring(7 - idx, 1)), 8 + idx);
}
#region Program Start UI Request
//Program Start UI timing Request
//1. Trobe = 1 keep 30ms -> PNS讀取(<130ms)
//2. ProdStart = 1; trobe =1 and ProdStart keep > 100ms
//3. ProdStart = 0; trobe =1 and ProdStart = 0 , PROGRUN start in 35 ms
//4. trobe = 0; Finish All back to 0
Array UI17_PNStrobe_ProgTiming = new short[4] {
1, 1, 1, 0
};
Array UI18_PNSstart_ProgTiming = new short[4] {
0, 1, 0, 0
};
for (int i = 0; i < 4; i++)
{
UI.SetValue(UI17_PNStrobe_ProgTiming.GetValue(i), 16); // PNStrobe
UI.SetValue(UI18_PNSstart_ProgTiming.GetValue(i), 17); // ProdStart
mobjCore.WriteSDO(1, ref UI, 18);
Thread.Sleep(200);
}
#endregion
// Excution Result alarm message
return(PrgRunningCheck());
}
public void SystemRecoverAuto()
{
try
{
isUnderSystemRecoverAuto = true;
//int UI1_IMSTP = 1; //Always ON. ON:Normal, OFF:Emergent Stop
//int UI2_HOLD = 1; //Always ON. ON:Normal, OFF:PAUSE
//int UI3_SFSPD = 1; //Always ON, ON:Normal, OFF:Safty Speed
//int UI4_CycleStop = 0; //ON: [True]Abort, OFF: NA
//int UI5_FaultReset_NEGEDGE = 1; //Negtive Edge trigger(1 ->0)
//int UI6_Start_NEGEDGE_NoUsed = 1;
//int UI7_Home_NoUSed = 0;
//int UI8_ENABLE = 1; //Always ON, ON:ENavle Robot Action,OFF:Otherwise
//Array UI9to16_PNS = new int[8]; //8bit PNS selection
//int UI17_PNStrobe_POSEDGE = 0; //Positive Edge trigger(0 ->1)
//int UI18_ProdStart = 0; //ON keep >100ms, then Off tonegtive trigger
Array UO3_ProgRunnungValue = new short[1];
bool IsRestSUccess;
//bool IsRWSucess = false; // 移除未使用的變數。by YMWANGN, 2016/11/17。
MvaRobotUIOParameter UIO = new MvaRobotUIOParameter();
Array UI = new short[18];
Array UOInfo = new short[18];
Array UI18_ProdStart = new short[1];
Array UI4_CycleStop = new short[1];
IsRestSUccess = AlarmReset();
UIO.UI17_PNStrobe_POSEDGE = 0; //UI[17]:________(30ms)Positive edge trigger(Keep 30ms ), then fetch PNS:10000000
UI.SetValue(UIO.UI1_IMSTP, 0);
UI.SetValue(UIO.UI2_HOLD, 1);
UI.SetValue(UIO.UI3_SFSPD, 2);
UI.SetValue(UIO.UI4_CycleStop, 3);
UI.SetValue(UIO.UI5_FaultReset_NEGEDGE, 4);
UI.SetValue(UIO.UI6_Start_NEGEDGE_NoUsed, 5);
UI.SetValue(UIO.UI7_Home_NoUSed, 6);
UI.SetValue(UIO.UI8_ENABLE, 7);
UI.SetValue(UIO.UI9to16_PNS.GetValue(0), 8); //PNS Code =10000000
UI.SetValue(UIO.UI9to16_PNS.GetValue(1), 9);
UI.SetValue(UIO.UI9to16_PNS.GetValue(2), 10);
UI.SetValue(UIO.UI9to16_PNS.GetValue(3), 11);
UI.SetValue(UIO.UI9to16_PNS.GetValue(4), 12);
UI.SetValue(UIO.UI9to16_PNS.GetValue(5), 13);
UI.SetValue(UIO.UI9to16_PNS.GetValue(6), 14);
UI.SetValue(UIO.UI9to16_PNS.GetValue(7), 15);
UI.SetValue(UIO.UI17_PNStrobe_POSEDGE, 16); //UI[17]:___________ LOW first, Positive edge trigger(Keep 30ms ), thenfetch PNS:10000000
UI.SetValue(UIO.UI18_ProdStart, 17); // ___________
//UI[18]: (100ms)HIGH firs, negedge edge trigger(posedge keep 100ms first)
mobjCore.WriteSDO(1, ref UI, 18); //Initial State
mobjCore.ReadUO(1, ref UOInfo, 18);
Thread.Sleep(200);
UIO.UI6_Start_NEGEDGE_NoUsed = 1; //No use
UIO.UI7_Home_NoUSed = 0; //No use
// ________
UIO.UI17_PNStrobe_POSEDGE = 1; //UI[17]:________|(30ms)Positive edge trigger(Keep 30ms ), then fetch PNS:10000000
UIO.UI18_ProdStart = 1; // ________
//UI[18]: (100ms)|________negedge edge trigger(posedge keep 100ms first)
UI.SetValue(UIO.UI1_IMSTP, 0);
UI.SetValue(UIO.UI2_HOLD, 1);
UI.SetValue(UIO.UI3_SFSPD, 2);
UI.SetValue(UIO.UI4_CycleStop, 3);
UI.SetValue(UIO.UI5_FaultReset_NEGEDGE, 4);
UI.SetValue(UIO.UI6_Start_NEGEDGE_NoUsed, 5);
UI.SetValue(UIO.UI7_Home_NoUSed, 6);
UI.SetValue(UIO.UI8_ENABLE, 7);
UI.SetValue(UIO.UI17_PNStrobe_POSEDGE, 16);
UI.SetValue(UIO.UI18_ProdStart, 17);
mobjCore.WriteSDO(1, UI, 17);
mobjCore.ReadUO(1, ref UOInfo, 18);
Thread.Sleep(200);
if (Convert.ToInt32(UOInfo.GetValue(2).ToString()) == 1 || //Program is runnung
Convert.ToInt32(UOInfo.GetValue(3).ToString()) == 1) //Program is paused
{
UI4_CycleStop.SetValue((short)1, 0); //Abort first
mobjCore.WriteSDO(4, ref UI4_CycleStop, 1);
Thread.Sleep(100);
UI4_CycleStop.SetValue((short)0, 0);
mobjCore.WriteSDO(4, ref UI4_CycleStop, 1);
}
UI18_ProdStart.SetValue((short)0, 0); //negedge edge trigger(posedgekeep 100ms first)
mobjCore.WriteSDO(18, ref UI18_ProdStart, 1);
Thread.Sleep(35);
}
finally
{
isUnderSystemRecoverAuto = false;
}
}