public void BoundaryCheck()
{
if (HSTMachine.Workcell.HSTSettings.Install.OperationMode == OperationMode.Simulation)
{
return;
}
try
{
double dMoveDownPos = _teachPointRecipe.InputEEPickHeight;//lowest position in operation range
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis before move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveDownPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
if (!_workcell.IsIgnoreHomeAxisForByPass)
{
_InputEndEffectorZAxis.MoveAbsolute(_axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Velocity, dMoveDownPos, _moveTimeout);
while (_InputEndEffectorZAxis.GetActualPosition() < dMoveDownPos - 10)
{
MessageBox.Show(string.Format("{0}: Actual Position not tally with target position after move done", this));
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEEMoveZAxis. _InputEndEffectorZAxis.GetActualPosition():{0} targetposition:{1}", _InputEndEffectorZAxis.GetActualPosition(), dMoveDownPos);
}
Thread.Sleep(100);
}
}
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis after move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveDownPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
}
catch (Exception ex)
{
HSTException.Throw(HSTErrors.InputHandlerZAxisMoveDownError, ex);
}
try
{
double dMoveUpPos = _teachPointRecipe.InputEESafeHeight;//highest position in operation range
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis before move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveUpPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
if (!_workcell.IsIgnoreHomeAxisForByPass)
{
_InputEndEffectorZAxis.MoveAbsolute(_axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Velocity, dMoveUpPos, _moveTimeout);
while (_InputEndEffectorZAxis.GetActualPosition() > dMoveUpPos + 10)
{
MessageBox.Show(string.Format("{0}: Actual Position not tally with target position after move done", this));
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE MoveZAxis. _InputEndEffectorZAxis.GetActualPosition():{0} targetposition:{1}", _InputEndEffectorZAxis.GetActualPosition(), dMoveUpPos);
}
Thread.Sleep(100);
}
}
if (HSTMachine.Workcell.HSTSettings.Install.EnableDebugLog)
{
Log.Info(this, "InputEE Axis after move position:{0}, Target position:{1}, Acce:{2}, Dece:{3}, Vel:{4}", _InputEndEffectorZAxis.GetActualPosition(), dMoveUpPos, _axesProfile.InputEEZ.Acceleration, _axesProfile.InputEEZ.Deceleration, _axesProfile.InputEEZ.Velocity);
}
}
catch (Exception ex)
{
HSTException.Throw(HSTErrors.InputHandlerZAxisMoveUpError, ex);
}
}
