public ErrorInfoWithPause ActionRelease()
{
ErrorInfoWithPause res = null;
//Z松开
ThisOutport(EnumOutportName.TopAlignSoftCyLeft).SetOutput(false);
ThisOutport(EnumOutportName.TopAlignSoftCyMid).SetOutput(false);
ThisOutport(EnumOutportName.TopAlignSoftCyRight).SetOutput(false);
while (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//顶部松开
while (!AxisTopAlignTop.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignTop, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignTop, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//底部松开
while (!AxisTopAlignBottom.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignBottom, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignBottom, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//侧松开
while (!AxisTopAlignSide.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignSide, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignSide, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
TimeClass time = new TimeClass();
time.StartAlarmClock(ClassErrorHandle.TIMEOUT);
while (!ThisInport(EnumInportName.TopAlignSoftCySensLeft).status ||
!ThisInport(EnumInportName.TopAlignSoftCySensMid).status ||
!ThisInport(EnumInportName.TopAlignSoftCySensRight).status)
{
System.Threading.Thread.Sleep(1);
if (time.TimeOut)
//return new ErrorInfoWithPause("柔性气缸不动作。", ErrorLevel.Error);
{
res = WaitAlarmPause("顶封边定位", "柔性气缸不动作");
if (res != null)
{
return(res);
}
time.StartAlarmClock(ClassErrorHandle.TIMEOUT);
}
}
time.StopAlarmClock();
//X走位
AxisTopAlignZClamp.WaitStop(ClassErrorHandle.TIMEOUT);
while (!AxisTopAlignXSide.MoveTo(EnumPointX.Idle, false, offset[0]))
//return DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
{
res = DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
if (res != null)
{
return(res);
}
}
//AxisTopAlignTop.WaitStop(ClassErrorInfo.TIMEOUT);
//AxisTopAlignBottom.WaitStop(ClassErrorInfo.TIMEOUT);
//AxisTopAlignSide.WaitStop(ClassErrorInfo.TIMEOUT);
for (int i = 0; i < CELLCOUNT; i++)
{
TopAlignCellVacuums[i].SetOutPortStatus(false);
}
return(null);
}