public void Run(RunModeDef RunMode)
{
if (!movedriverZm.Succeed)
{
return;
}
this.RunMode = RunMode;
BaseData RunMode_Reg = new BaseData(1504, new int[] { (int)RunMode });
movedriverZm.WriteRegister(RunMode_Reg);
while (RunMode_Reg.Succeed == false)
{
Thread.Sleep(1);
}
BaseData FsmCmd_Reg = new BaseData(1500, new int[] { (int)FsmStaDef.RUN });
movedriverZm.WriteRegister(FsmCmd_Reg);
while (FsmCmd_Reg.Succeed == false)
{
Thread.Sleep(1);
}
this.Status = FsmStaDef.RUN;
}
//private int whichNuzzle;
public void Logic(RunModeDef runMode)
{
LG.Start();
switch (LG.step)
{
case 1: //走剥膜长度
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
MotionCard.MotionFun.OutputON((int)OutputName.Q_Suck);
if (MotionCard.MotionFun.InputGet((int)InputName.I_LableCheck_1) == false)
{
MotionCard.MotionFun.MC_MoveRel((int)AxisName.FeedLable, Para.speed, Para.labelLength);
LG.TonRst();
LG.step = 2;
}
else
{
LG.step = 4;
}
}
break;
case 2: //检测感应
if (LG.Ton(MotionCard.MotionFun.InputGet((int)InputName.I_LableCheck_1) || MotionCard.MotionFun.InputGet((int)InputName.I_LableCheck_2), Para.checkDelay))
{
MotionCard.MotionFun.MC_Stop((int)AxisName.FeedLable);
LG.step = 3;
}
else if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
LG.count++;
if (runMode == RunModeDef.NORMAL)
{
if (LG.count > Para.StripNumAlrm)
{
LG.count = 0;
LG.step = 0xfe;
if (Para.StripNumAlrm > 0)
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "剥标失败，请检查卷料是否用完");
}
}
else
{
LG.step = 1;
}
}
else
{
LG.step = 3;
}
}
break;
case 3: //
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
MotionCard.MotionFun.MC_MoveRel((int)AxisName.FeedLable, Para.speed, -Para.LableSupplyBack);
LG.step = 4;
}
break;
case 4: //
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
LG.step = 0xff;
}
break;
case 0xfe:
LG.ErrorStop();
break;
case 0xff:
LG.End();
break;
default:
break;
}
}
public void Logic(RunModeDef runMode)
{
LG.Start();
switch (LG.step)
{
case 1: //Z轴抬起到安全高度
if (Para.OverTake == 1)
{
whichNuzzle = (int)LogicDef.NuzzleNum - 1;
}
else
{
whichNuzzle = 0;
}
//if (AllAxisArrive())
{
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.SafePos_Z);
}
LG.step = 2;
}
break;
case 2: //xy到取标位置
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
//取标的时候将吹气关
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
MotionCard.MotionFun.OutputOFF((int)OutputName.Q_Suck_1);
}
//确定哪一个吸嘴是禁用的
if (Para.OverTake == 1)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)whichNuzzle) == false)
{
if (whichNuzzle > 0)
{
whichNuzzle--;
}
else
{
LG.step = 9;
}
}
else
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.X, Para.PointData.X);
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Y, Para.PointData.Y);
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == true)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.R, Para.PointData.R);
}
}
LG.step = 3;
}
}
else
{
for (int i = whichNuzzle; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == false)
{
whichNuzzle++;
}
else
{
break;
}
}
if (whichNuzzle < (int)LogicDef.NuzzleNum)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.X, Para.PointData.X);
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Y, Para.PointData.Y);
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == true)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.R, Para.PointData.R);
}
}
LG.step = 3;
}
else
{
LG.step = 9;
}
}
}
break;
case 3: //XY到位后判断缓取，开始下压时打开吸嘴
if (AllAxisArrive())
{
MotionCard.MotionFun.OutputON((int)OutputName.Q_Suck_1);
if (Para.TakeSlowDistance_Z > 0)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.TakePos_Z - Para.TakeSlowDistance_Z);
LG.step = 4;
}
else
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.TakePos_Z);
LG.step = 5;
}
}
break;
case 4: //Z轴缓慢到取标高度
if (AllAxisArrive())
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.TakeSlowSpeed_Z, Para.TakePos_Z);
LG.step = 5;
}
break;
case 5: //Z轴到达
if (AllAxisArrive() && MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Y) == 0)
{
LG.step = 6;
}
break;
case 6: //取标延时后Z轴抬起(缓抬)
if (LG.TCnt((uint)Para.TakeDelay))
{
LG.step = 7;
}
break;
case 7: //取标延时后Z轴抬起
if (AllAxisArrive())
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.SafePos_Z);
LG.step = 8;
}
break;
case 8: //检测真空
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
if (MotionCard.MotionFun.InputGet((int)InputName.I_VacuoCheck) == false && Para.CheckVacuumEn == 1)
{
LG.step = 9;
//判断是否在老化模式
if (runMode == RunModeDef.NORMAL)
{
LG.count++;
if (LG.count >= 2)
{
LG.step = 9;
MotionCard.MotionFun.OutputON((int)OutputName.Q_Suck_2);
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "取料失败，请检查真空和真空感应");
}
else
{
LG.step = 3;
}
}
}
else
{
LG.step = 9;
}
}
break;
case 9: //结束
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
LG.count = 0;
if (Para.OverTake == 1)
{
if (whichNuzzle > 0)
{
whichNuzzle--;
LG.step = 3;
}
else
{
LG.step = 10;
}
}
else
{
whichNuzzle++;
if (whichNuzzle < (int)LogicDef.NuzzleNum)
{
LG.step = 3;
}
else
{
LG.step = 10;
}
}
}
break;
case 10:
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
//确定哪一个吸嘴是禁用的
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == false)
{
whichNuzzle++;
}
else
{
break;
}
}
}
LG.step = 0xff;
break;
case 0xff:
LG.End();
break;
}
}
public FsmDef(Device.BoardCtrllerManager movedriverZm)
{
this.movedriverZm = movedriverZm;
Status = FsmStaDef.INIT;
RunMode = RunModeDef.NORMAL;
}
