/// <summary>
/// 紧急停止处理
/// </summary>
private void EMG()
{
XTaskManager.Instance.FindTaskById((int)TasksId.Manchine).TaskEStop();
if (Globals.settingMachineInfo.什么机器 == WhichMachine.MMS)
{
XTaskManager.Instance.FindTaskById((int)TasksId.MMS测试).TaskEStop();
}
else
{
XTaskManager.Instance.FindTaskById((int)TasksId.测试).TaskEStop();
}
//XTaskManager.Instance.FindTaskById((int)TasksId.Manchine).PostTaskAlarm(XAlarmLevel.STOP, (int)AlarmCode.急停, AlarmCategory.SYSTEM.ToString(), "紧急停止");
Globals.PostAlarmMachine(XAlarmLevel.STOP, (int)AlarmCode.急停, AlarmCategory.SYSTEM.ToString(), "紧急停止");
//add sth like aixs
Gg.Set_Servo(0, 1, false);//close seveo on
PVar.IsSysEmcStop = true;
Globals.Flag_ManualStart = false;
PVar.AutoRunFlag = false;
GoHome.Instance.Reset.Result = false;
}
private FunctionStatus InitHoming()
{
switch (InitHomingStep)
{
case 10:
AutoRunstep = 0;
Gg.Set_Servo(0, BVar.MMSY, true); //open servo on
Thread.Sleep(200);
SetStep("开始回零.......", Mycolor.None);
InitHomingStep = 15;
break;
case 15:
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 0);
SetStep("定位气缸复位......", Mycolor.None);
InitHomingDelay.InitialTime();
InitHomingStep = 20;
break;
case 20:
if (Gg.GetDi(0, Gg.InPutMMS0.气缸缩回位置感应器) == 1)
{
SetStep("定位气缸在缩回位置", Mycolor.None);
InitHomingStep = 30;
}
else if (InitHomingDelay.TimeIsUp(2000))
{
SetStep("定位气缸缩回位置信号异常！", Mycolor.ErrorRed);
PostTaskAlarm(XAlarmLevel.STOP, (int)AlarmCode.载具进出气缸缩回信号异常, AlarmCategory.MOTION.ToString(), "载具进出气缸缩回信号异常");
InitHomingStep = 8000;
}
break;
case 30:
SetStep("测试y轴开始回原点…", Mycolor.None);
GoHome.Instance.AxisHome[0, 1].Result = false;
GoHome.Instance.AxisHome[0, 1].Enable = true;
GoHome.Instance.AxisHome[0, 1].Step = 10;
TimeOut = API.GetTickCount();
InitHomingStep = 40;
break;
case 40:
GoHome.GotoHome(0, 1, 30, -1000, 5, 1, 10);
if (GoHome.Instance.AxisHome[0, 1].Step == 0 && GoHome.Instance.AxisHome[0, 1].Enable)
{
GoHome.Instance.AxisHome[0, 1].Enable = false;
if (GoHome.Instance.AxisHome[0, 1].Result)
{
SetStep("测试y轴回原点成功…", Mycolor.None);
InitHomingStep = 50;
}
else
{
SetStep("测试y轴回原点失败…", Mycolor.ErrorRed);
InitHomingStep = 8000;
}
}
break;
case 50: //等待位置
Gg.AbsMotion(0, BVar.MMSY, mFunction.Pos.TeachAxis1[0, 0], PVar.ParAxis.Speed[BVar.MMSY]);
TimeOut = API.GetTickCount();
InitHomingStep = 60;
break;
case 60:
if (Gg.ZSPD(0, BVar.MMSY))
{
SetStep("测试y轴运动到初始位置成功…", Mycolor.None);
InitHomingStep = 2000;
}
break;
case 2000:
InitHomingStep = 0;
SetStep("MMS测试工站复位OK!", Mycolor.None);
SetState(XTaskState.WAITRUN);
SetStepNum(InitHomingStep);
HomeOK = true;
PVar.LampStatus = 20;
PostTaskAlarm(XAlarmLevel.RST, (int)AlarmCode.位, AlarmCategory.RESET.ToString(), "RST"); //for errorcode
return(FunctionStatus.Finish);
case 8000:
InitHomingStep = 0;
PVar.LampStatus = 10;
return(FunctionStatus.Error);
}
SetStepNum(InitHomingStep);
return(FunctionStatus.Working);
}
