private static void Alarm_Light()
{
if (Alarm_Light_Time_EN == false)
{
Alarm_Light_Time_EN = true;
Gg.SetDo(0, 3, 0); //蜂鸣器
Gg.SetDo(0, 0, 1); //红色指示灯
Gg.SetDo(0, 1, 0); //黄色指示灯
Gg.SetDo(0, 2, 0); //绿色指示灯
Alarm_Light_Time_N1 = API.GetTickCount();
}
if (API.GetTickCount() - Alarm_Light_Time_N1 > 500)
{
if (API.GetTickCount() - Alarm_Light_Time_N2 > 500)
{
Alarm_Light_Time_EN = false;
}
Gg.SetDo(0, 3, 0); //蜂鸣器
Gg.SetDo(0, 0, 0); //红色指示灯
}
else
{
Alarm_Light_Time_N2 = API.GetTickCount();
}
}
public static void LightStatus()
{
switch (PVar.LampStatus)
{
case 10: //异常报警
Alarm_Light(); //报警模式闪灯
break;
case 20: //设备初始化完毕
IntOK_Light(); //初始化完成黄灯常亮
break;
case 30: //机器工作正常
Gg.SetDo(0, 3, 0); //蜂鸣器
Gg.SetDo(0, 0, 0); //红色指示灯
Gg.SetDo(0, 1, 0); //黄色指示灯
Gg.SetDo(0, 2, 1); //绿色指示灯
break;
case 40: //机器空跑
Run_Light(); //空跑工作闪灯
break;
case 50: //开机无报警
Int_Light(); //开机无报警，黄灯闪，等待初始化
break;
}
Buzzer();
}
/// <summary>
/// 参数：[0板卡，1扩展模块]，[板卡号0-2]，[模块号0-3]，[输出端口号0-15]
/// </summary>
/// <param name="CardType"></param>
/// <param name="CardNum"></param>
/// <param name="Mdl"></param>
/// <param name="Index"></param>
/// <returns></returns>
/// <remarks></remarks>
public static bool NSetDO(int CardType, int CardNum, int Mdl, int Index)
{
try
{
switch (CardType)
{
case 0:
if (Gg.GetDo((short)CardNum, (short)Index) == 1)
{
Gg.SetDo((short)CardNum, (short)Index, (short)0);
}
else
{
Gg.SetDo((short)CardNum, (short)Index, (short)1);
}
break;
case 1:
if (Gg.GetExDo((short)CardNum, (short)Mdl, (short)Index) == 1)
{
Gg.SetExDo((short)CardNum, (short)Mdl, (short)Index, (short)0);
}
else
{
Gg.SetExDo((short)CardNum, (short)Mdl, (short)Index, (short)1);
}
break;
}
}
catch (Exception)
{
return(false);
}
return(true);
}
private void btn_Cylinder_Trigger(Bool obj)
{
if (Gg.GetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀) == 1)
{
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 0);
btn_Cylinder.Checked = false;
}
else
{
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 1);
btn_Cylinder.Checked = true;
}
}
private static int OpenFixtureVocume()
{
int n = -1;
for (int i = 1; i <= 4; i++)
{
if (Convert.ToInt32(Frm_Engineering.fEngineering.Label_Sta1.Text) == i)
{
Gg.SetDo(0, 4 + i * 2, 1); //打开真空吸
Gg.SetDo(0, 5 + i * 2, 0); //关闭破真空
n = i;
}
}
return(n);
}
private static void Buzzer()
{
if (PVar.Ring_EN)
{
PVar.Ring_EN = false;
Buzzer_Time_EN = true;
//Gg.SetExDo(0, 0, 13, 1);
Gg.SetDo(0, Gg.OutPutMMS0.警示蜂鸣器, 1);
Buzzer_Time_N = API.GetTickCount();
}
if (Buzzer_Time_EN)
{
if (API.GetTickCount() - Buzzer_Time_N > 500)
{
Buzzer_Time_EN = false;
Buzzer_Time_N = 0;
//Gg.SetExDo(0, 0, 13, 0);
Gg.SetDo(0, Gg.OutPutMMS0.警示蜂鸣器, 0);
}
}
}
private static void IntOK_Light()
{
if (IntOK_Light_Time_EN == false)
{
IntOK_Light_Time_EN = true;
Gg.SetDo(0, 3, 0); //蜂鸣器
Gg.SetDo(0, 0, 0); //红色指示灯
Gg.SetDo(0, 1, 1); //黄色指示灯
Gg.SetDo(0, 2, 0); //绿色指示灯
IntOK_Light_Time_N1 = API.GetTickCount();
}
if (API.GetTickCount() - IntOK_Light_Time_N1 > 500)
{
if (API.GetTickCount() - IntOK_Light_Time_N2 > 500)
{
IntOK_Light_Time_EN = false;
}
//Gg.SetDo(0, 1, 0); //黄色指示灯'开启变成闪亮
}
else
{
IntOK_Light_Time_N2 = API.GetTickCount();
}
}
public void HomeSub()
{
switch (StepHome)
{
case 10:
Reset.State = true;
AddList("设备初始化开始，请等待！");
Gg.SetDo(0, Gg.OutPut0.载具真空吸1, 0);
Gg.SetDo(0, Gg.OutPut0.载具真空吸2, 0);
Gg.SetDo(0, Gg.OutPut0.载具真空吸3, 0);
Gg.SetDo(0, Gg.OutPut0.载具真空吸4, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空1, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空2, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空3, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空4, 0);
Gg.SetDo(0, Gg.OutPut0.保压站刹车继电器, 0);
Gg.SetDo(0, Gg.OutPut0.警示蜂鸣器, 0);
Gg.SetDo(0, Gg.OutPut0.装配站刹车继电器, 0);
Gg.SetDo(0, Gg.OutPut1.取料吸嘴破真空, 0);
Gg.SetDo(0, Gg.OutPut1.取料吸嘴真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.NG蜂鸣器, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.NG指示灯, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.OK指示灯, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.保压升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.除底摸平移气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.除底膜吸嘴气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.检气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.拉料无杆干气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.片料夹紧气缸右, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.片料夹紧气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取底膜破真空, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取底膜真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取片料破真空, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取片料真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.撕摸升降气缸, 0);
////界面
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_ProgressBar.IsShowProgresBar(true);
InitTimeOut = API.GetTickCount();
StepHome = 20;
break;
case 20:
Frm_ProgressBar.SetValueProgressBar(10); //初始化进度条的进度更新显示
if (Gg.GetDi(0, Gg.InPut0.载具真空检测1) == 0 && Gg.GetDi(0, Gg.InPut0.载具真空检测2) == 0 &&
Gg.GetDi(0, Gg.InPut0.载具真空检测3) == 0 && Gg.GetDi(0, Gg.InPut0.载具真空检测4) == 0 &&
Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 0
//&& Gg.GetExDi(0, Gg.InPut2.复检气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.复检气缸伸出) == 0
&& Gg.GetExDi(0, Gg.InPut2.保压升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.保压升降气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸伸出) == 0)
{
InitTimeOut = API.GetTickCount();
StepHome = 30;
}
if (API.GetTickCount() - InitTimeOut > 2000)
{
if (Gg.GetDi(0, Gg.InPut0.载具真空检测1) == 1)
{
AddList("1#载具真空检测1异常，请检查！");
ShowList("1#载具真空检测1异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.载具真空检测2) == 1)
{
AddList("2#载具真空检测2异常，请检查！");
ShowList("2#载具真空检测2异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.载具真空检测3) == 1)
{
AddList("3#载具真空检测3异常，请检查！");
ShowList("3#载具真空检测3异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.载具真空检测4) == 1)
{
AddList("4#载具真空检测3异常，请检查！");
ShowList("4#载具真空检测3异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 1)
{
AddList("撕摸升降气缸缩回信号异常，请检查！");
ShowList("撕摸升降气缸缩回信号异常，请检查！");
}
//if (Gg.GetExDi(0, Gg.InPut2.复检气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.复检气缸伸出) == 1)
// {
// AddList("复检气缸缩回信号异常，请检查！");
// ShowList("复检气缸缩回信号异常，请检查！");
// }
if (Gg.GetExDi(0, Gg.InPut2.保压升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.保压升降气缸伸出) == 1)
{
AddList("保压升降气缸缩回信号异常，请检查！");
ShowList("保压升降气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸伸出) == 1)
{
AddList("除底摸平移气缸缩回信号异常，请检查！");
ShowList("除底摸平移气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸伸出) == 1)
{
AddList("除底膜吸嘴气缸缩回信号异常，请检查！");
ShowList("除底膜吸嘴气缸缩回信号异常，请检查！");
}
StepHome = 1000;
}
break;
case 30:
AddList("组装Z轴开始回原点…");
AddList("保压Z轴开始回原点…");
GoHome.Instance.AxisHome[0, 3].Result = false;
GoHome.Instance.AxisHome[0, 8].Result = false;
GoHome.Instance.AxisHome[0, 3].Enable = true;
GoHome.Instance.AxisHome[0, 8].Enable = true;
GoHome.Instance.AxisHome[0, 3].Step = 10;
GoHome.Instance.AxisHome[0, 8].Step = 10;
InitTimeOut = API.GetTickCount();
Frm_ProgressBar.SetValueProgressBar(30);
StepHome = 40;
break;
case 40:
GotoHome(0, 3, 20, -1000, 10, 1, 10);
GotoHome(0, 8, 20, -1000, 10, 1, 10);
if (GoHome.Instance.AxisHome[0, 3].Step == 0 && GoHome.Instance.AxisHome[0, 3].Enable)
{
GoHome.Instance.AxisHome[0, 3].Enable = false;
if (GoHome.Instance.AxisHome[0, 3].Result)
{
AddList("组装Z轴回原点成功！");
}
else
{
AddList("组装Z轴回原点失败！");
ShowList("组装Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 8].Step == 0 && GoHome.Instance.AxisHome[0, 8].Enable)
{
GoHome.Instance.AxisHome[0, 8].Enable = false;
if (GoHome.Instance.AxisHome[0, 8].Result)
{
AddList("保压Z轴回原点成功！");
}
else
{
AddList("保压Z轴回原点失败！");
ShowList("保压Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 3].Result && GoHome.Instance.AxisHome[0, 8].Result)
{
Frm_ProgressBar.SetValueProgressBar(50);
InitTimeOut = API.GetTickCount();
StepHome = 50;
}
break;
case 50:
AddList("组装X轴开始回原点…");
AddList("组装Y轴开始回原点…");
AddList("组装R轴开始回原点…");
GoHome.Instance.AxisHome[0, 1].Result = false;
GoHome.Instance.AxisHome[0, 2].Result = false;
GoHome.Instance.AxisHome[0, 4].Result = false;
GoHome.Instance.AxisHome[0, 1].Enable = true;
GoHome.Instance.AxisHome[0, 2].Enable = true;
GoHome.Instance.AxisHome[0, 4].Enable = true;
GoHome.Instance.AxisHome[0, 1].Step = 10;
GoHome.Instance.AxisHome[0, 2].Step = 10;
GoHome.Instance.AxisHome[0, 4].Step = 10;
InitTimeOut = API.GetTickCount();
StepHome = 60;
break;
case 60:
GotoHome(0, 1, 20, -1000, 10, 1, 10);
GotoHome(0, 2, 20, -1000, 10, 1, 10);
GotoHome(0, 4, 20, -1000, 10, 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)
{
AddList("组装X轴回原点成功！");
}
else
{
AddList("组装X轴回原点失败！");
ShowList("组装X轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 2].Step == 0 && GoHome.Instance.AxisHome[0, 2].Enable)
{
GoHome.Instance.AxisHome[0, 2].Enable = false;
if (GoHome.Instance.AxisHome[0, 2].Result)
{
AddList("组装Y轴回原点成功！");
}
else
{
AddList("组装Y轴回原点失败！");
ShowList("组装Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 4].Step == 0 && GoHome.Instance.AxisHome[0, 4].Enable)
{
GoHome.Instance.AxisHome[0, 4].Enable = false;
if (GoHome.Instance.AxisHome[0, 4].Result)
{
AddList("组装R轴回原点成功！");
}
else
{
AddList("组装R轴回原点失败！");
ShowList("组装R轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 1].Result && GoHome.Instance.AxisHome[0, 2].Result && GoHome.Instance.AxisHome[0, 4].Result)
{
Frm_ProgressBar.SetValueProgressBar(70);
InitTimeOut = API.GetTickCount();
StepHome = 70;
}
break;
case 70:
AddList("上料Z轴开始回原点…");
AddList("平移Y轴开始回原点…");
AddList("拉料Z轴开始回原点…");
GoHome.Instance.AxisHome[0, 5].Result = false;
GoHome.Instance.AxisHome[0, 6].Result = false;
GoHome.Instance.AxisHome[0, 7].Result = false;
GoHome.Instance.AxisHome[0, 5].Enable = true;
GoHome.Instance.AxisHome[0, 6].Enable = true;
GoHome.Instance.AxisHome[0, 7].Enable = true;
GoHome.Instance.AxisHome[0, 5].Step = 10;
GoHome.Instance.AxisHome[0, 6].Step = 10;
GoHome.Instance.AxisHome[0, 7].Step = 10;
InitTimeOut = API.GetTickCount();
StepHome = 80;
break;
case 80:
GotoHome(0, 5, 20, -1000, 10, 1, 10);
GotoHome(0, 6, 20, -1000, 10, 1, 30);
GotoHome(0, 7, 20, -1000, 10, 1, 10);
if (GoHome.Instance.AxisHome[0, 5].Step == 0 && GoHome.Instance.AxisHome[0, 5].Enable)
{
GoHome.Instance.AxisHome[0, 5].Enable = false;
if (GoHome.Instance.AxisHome[0, 5].Result)
{
AddList("上料Z轴回原点成功！");
}
else
{
AddList("上料Z轴回原点失败！");
ShowList("上料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 6].Step == 0 && GoHome.Instance.AxisHome[0, 6].Enable)
{
GoHome.Instance.AxisHome[0, 6].Enable = false;
if (GoHome.Instance.AxisHome[0, 6].Result)
{
AddList("平移Y轴回原点成功！");
}
else
{
AddList("平移Y轴回原点失败！");
ShowList("平移Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 7].Step == 0 && GoHome.Instance.AxisHome[0, 7].Enable)
{
GoHome.Instance.AxisHome[0, 7].Enable = false;
if (GoHome.Instance.AxisHome[0, 7].Result)
{
AddList("拉料Z轴回原点成功！");
}
else
{
AddList("拉料Z轴回原点失败！");
ShowList("拉料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 5].Result && GoHome.Instance.AxisHome[0, 6].Result && GoHome.Instance.AxisHome[0, 7].Result)
{
Frm_ProgressBar.SetValueProgressBar(80);
InitTimeOut = API.GetTickCount();
StepHome = 90;
}
break;
case 90:
AddList("转盘R轴开始回原点…");
GoHome.Instance.AxisHome[1, 2].Result = false;
GoHome.Instance.AxisHome[1, 1].Enable = true;
GoHome.Instance.AxisHome[1, 1].Step = 10;
InitTimeOut = API.GetTickCount();
StepHome = 100;
break;
case 100:
GotoHome(1, 1, 30, -360, 5, mFunction.Pos.TeachAxis1[2, 0], 30);
if (GoHome.Instance.AxisHome[1, 1].Step == 0 && GoHome.Instance.AxisHome[1, 1].Enable)
{
GoHome.Instance.AxisHome[1, 1].Enable = false;
if (GoHome.Instance.AxisHome[1, 1].Result)
{
AddList("转盘R轴回原点成功！");
}
else
{
AddList("转盘R轴回原点失败！");
ShowList("转盘R轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[1, 1].Result)
{
Frm_ProgressBar.SetValueProgressBar(90);
InitTimeOut = API.GetTickCount();
StepHome = 150;
}
break;
case 150:
AddList("各轴开始回待机位置…");
//组装站
Gg.AbsMotion(0, 1, mFunction.Pos.TeachAxis1[0, 0], 20);
Gg.AbsMotion(0, 2, mFunction.Pos.TeachAxis2[0, 0], 20);
Gg.AbsMotion(0, 3, mFunction.Pos.TeachAxis3[0, 0], 20);
Gg.AbsMotion(0, 4, mFunction.Pos.TeachAxis4[0, 0], 20);
//保压站
Gg.AbsMotion(0, 8, mFunction.Pos.TeachAxis1[1, 0], 20); //保压初始位置
Tools.AxisTmplPos[1, 1] = 0;
//供料
Gg.AbsMotion(0, 5, mFunction.Pos.TeachAxis2[3, 4], 50); //供料起始位置
Gg.AbsMotion(0, 6, mFunction.Pos.TeachAxis1[3, 6], 100); //避让位置
Gg.AbsMotion(0, 7, mFunction.Pos.TeachAxis3[3, 7], 50); //换料位置
InitTimeOut = API.GetTickCount();
StepHome = 160;
break;
case 160:
if (Gg.ZSPD(0, 1) && Gg.ZSPD(0, 2) && Gg.ZSPD(0, 3) && Gg.ZSPD(0, 4) && Gg.ZSPD(0, 5) && Gg.ZSPD(0, 6) && Gg.ZSPD(0, 7) && Gg.ZSPD(0, 8) && Gg.ZSPD(1, 1))
{
AddList("各轴回待机位置完成！");
InitTimeOut = API.GetTickCount();
StepHome = 170;
}
else
{
if ((API.GetTickCount() - InitTimeOut) > 10000)
{
if (Gg.ZSPD(0, 1) == false)
{
AddList("组装X轴回待机位置失败！");
ShowList("组装X轴回待机位置失败！");
}
if (Gg.ZSPD(0, 2) == false)
{
AddList("组装Y轴回待机位置失败！");
ShowList("组装Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, 3) == false)
{
AddList("组装Z轴回待机位置失败！");
ShowList("组装Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, 4) == false)
{
AddList("组装R轴回待机位置失败！");
ShowList("组装R轴回待机位置失败！");
}
if (Gg.ZSPD(0, 5) == false)
{
AddList("上料Z轴回待机位置失败！");
ShowList("上料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, 6) == false)
{
AddList("平移Y轴回待机位置失败！");
ShowList("平移Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, 7) == false)
{
AddList("拉料Z轴回待机位置失败！");
ShowList("拉料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, 8) == false)
{
AddList("保压Z轴回待机位置失败！");
ShowList("保压Z轴回待机位置失败！");
}
if (Gg.ZSPD(1, 1) == false)
{
AddList("转盘R轴回待机位置失败！");
ShowList("转盘R轴回待机位置失败！");
}
StepHome = 1000;
}
}
break;
case 170:
if (API.GetTickCount() - InitTimeOut > 500)
{
//gts.GT_SetPrfPos(1, 1, 0); //规划器置零
//gts.GT_SetEncPos(1, 1, 0); //编码器置零
//gts.GT_SynchAxisPos(1, 1 << 0); //将当前轴进行位置同步
InitTimeOut = API.GetTickCount();
StepHome = 800;
}
break;
case 800:
AddList("初始化完成");
ShowList("初始化完成");
PVar.LampStatus = 20;
PVar.Stop_Flag = true;
PVar.AutoRunFlag = false;
PVar.MacHold = false;
PVar.CPKDoneCounts = 0;
PVar.WorkMode = 0;
Frm_Main.fMain.Panel_CPK.Visible = false;
Frm_Engineering.fEngineering.Btn_SelectMaterial.Enabled = true;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = true;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_SelectedBtn; //'主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.TabPage3.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_Engineering.fEngineering.TabPage4.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_ProgressBar.IsShowProgresBar(false); //'初始化进度条显示
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
for (int i = 0; i <= 4; i++)
{
PVar.Sta_Work[i].State = false;
PVar.Sta_Work[i].Result = false;
PVar.Sta_Work[i].IsHaveHSG = false;
PVar.Sta_Work[i].Step = 0;
}
Mod_ErrorCode.CheckSystemTimeStep = 0;
GoHome.Instance.Reset.State = false;
GoHome.Instance.Reset.Result = true;
StepHome = 0;
break;
case 1000:
PVar.LampStatus = 10;
PVar.MacHold = false;
PVar.Stop_Flag = true;
Frm_Engineering.fEngineering.Btn_SelectMaterial.Enabled = false;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn; //主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
Frm_ProgressBar.IsShowProgresBar(false); //初始化进度条显示
GoHome.Instance.Reset.Result = false;
GoHome.Instance.Reset.State = false;
StepHome = 0;
break;
}
}
/// <summary>
/// 自动运行
/// </summary>
private void AutoRun()
{
#region Switch
switch (AutoRunstep)
{
case 10:
SetStep("CLEAR", Mycolor.None);
TaskIsWorking = true;
EventShowResult(EnumShowResult.Empty);
SetStep("测试工站开始...", Mycolor.None);
AutoRunstep = 20;
break;
#region run to test postion
case 20: //运动到测试位置
Gg.AbsMotion(0, BVar.MMSY, mFunction.Pos.TeachAxis1[0, 2], PVar.ParAxis.Speed[BVar.MMSY]);
TimeOut = API.GetTickCount();
SetStep("测试Y轴运动到测试点开始", Mycolor.None);
AutoRunstep = 30;
break;
case 30:
if (Gg.ZSPD(0, BVar.MMSY))
{
SetStep("测试Y轴运动到达测试位置", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = (Globals.settingMachineInfo.什么机器 == WhichMachine.IPDM) ? 70 : 40;
}
break;
case 40:
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 1);
SetStep("定位气缸打开", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 50;
break;
case 50:
if (Gg.GetDi(0, Gg.InPutMMS0.气缸到位感应器) == 1)
{
SetStep("定位气缸到定位位置", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 60;
}
else if (API.GetTickCount() - TimeOut > 2000)
{
SetStep("定位气缸缩到定位位置信号异常！", Mycolor.ErrorRed);
PostTaskAlarm(XAlarmLevel.STOP, (int)AlarmCode.载具进出气缸伸出信号异常, AlarmCategory.MOTION.ToString(), "载具进出气缸伸出信号异常");
AutoRunstep = 8000;
}
break;
case 60:
if (API.GetTickCount() - TimeOut > 300)
{
SetStep("延时300ms", Mycolor.None);
AutoRunstep = 70;
}
break;
#endregion
#region start test & collect data
case 70:
//if (Globals.settingFunc.打开SSH通信 && Globals.SSHconnSt)//SSH打开，且SSH连接成功！
{
//SSH.Instance.ExecuteCommand("/Users/gdlocal/Desktop/MMS/" + Globals.settingPara.SSH脚本名字);//运行mini脚本
SetStep("Send SSH command-start to move Motor!", Mycolor.None);
DAQ.Instance.PCI9222StartCollect(); //开始收集高度数据
SetStep("测试开始,开始收集数据", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 80;
}
//else
//{
// SetStep("SSH功能没打开，或SSH连接失败！", Mycolor.ErrorRed);
// SetStep("请确定SSH，退出测试！", Mycolor.ErrorRed);
// TimeOut = API.GetTickCount();
// AutoRunstep = 290;
//}
break;
case 80:
//if (API.GetTickCount() - TimeOut > Globals.settingPara.测试超时)
if (API.GetTickCount() - TimeOut > 2000)
{
SetStep("测试超时，退出测试！", Mycolor.ErrorRed);
TimeOut = API.GetTickCount();
DAQ.Instance.PCI9222StopCollect();
AutoRunstep = 90;
}
//if (Globals.SSHstring.Contains("Motor Run Complete"))//SSH feedback string
//{
// SetStep("收到SSH的Motor Run Complete，测试结束！", Mycolor.None);
// DAQ.Instance.PCI9222Clear();//stop collect the 9222 data
// TimeOut = API.GetTickCount();
// AutoRunstep = 90;
//}
break;
case 90: //save the raw data
ls.Clear();
string[] stringheader = new string[] { "Time", "laer_p0", "laer_p1", "laer_p2", "laer_p3", "laer_p4" };
ls.Add(stringheader);
for (int i = 0; i < DAQ.Instance.listArray[0].Count - 2; i++) //最后两组数据不要
{
string[] strarr = new string[6];
strarr[0] = DAQ.Instance.listArray[0][i].X.ToString(); //time
strarr[1] = DAQ.Instance.listArray[0][i].Y.ToString(); //laser_p0
strarr[2] = DAQ.Instance.listArray[1][i].Y.ToString(); //laser_p1
strarr[3] = DAQ.Instance.listArray[2][i].Y.ToString(); //laser_p2
strarr[4] = DAQ.Instance.listArray[3][i].Y.ToString(); //laser_p3
strarr[5] = DAQ.Instance.listArray[4][i].Y.ToString(); //laser_p4
ls.Add(strarr);
}
string path = PVar.BZ_DataPath + "MMS Data-" + Globals.settingMachineInfo.机器编号 + "\\RAW Displacement Data\\"
+ DateTime.Now.ToString("yyyyMMdd") + "\\";
if (System.IO.Directory.Exists(path) == false)
{
System.IO.Directory.CreateDirectory(path);
}
Globals.csv.WriteCSV(path + DataManager.Instance.CurrentCheckData.SN + "_" + DateTime.Now.ToString("HH_mm_ss_fff") + "_raw.csv", ls);
ls.Clear();
AutoRunstep = 100;
break;
case 100:
AutoRunstep = 110;
break;
case 110:
AutoRunstep = 120;
break;
case 120:
AutoRunstep = 200;
break;
case 200:
AutoRunstep = 210;
break;
case 210:
SetStep("显示测试数据", Mycolor.None);
#region 产生数据 1tray
// "装配时间", "产品条码", "Result", "X", "Y", "A", "Dis"
DataManager.Instance.CurrentCheckData.StartDate = DateTime.Now.ToString("yyyy-MM-dd");
DataManager.Instance.CurrentCheckData.StartTime = DateTime.Now.ToString("HH:mm:ss");
Random rd = new Random();
double m_A = DataManager.Instance.CurrentCheckData.Mod_Brc_A = rd.Next(-1, 1) / 10.0 + rd.Next(-1, 1) / 100.00;
double m_cc = DataManager.Instance.CurrentCheckData.Mod_Brc_CC = 22 + rd.Next(-1, 1) / 100.0 + rd.Next(0, 1) / 1000.00;
double m_x = DataManager.Instance.CurrentCheckData.Mod_Brc_X = rd.Next(-1, 1) / 100.0 + rd.Next(-1, 1) / 1000.00;
double m_y = DataManager.Instance.CurrentCheckData.Mod_Brc_Y = rd.Next(-1, 1) / 100.0 + rd.Next(-1, 1) / 1000.00;
if (tempi % 2 == 1)
{
DataManager.Instance.CurrentCheckData.PASS = true;
DataManager.Instance.CurrentCheckData.PDCAPASS = true;
SetStep("the result is Passed", Color.LimeGreen);
EventShowResult(EnumShowResult.OK);
DataManager.Instance.currentyield.AddOneResult(true); //update the current yield and month yield
}
else
{
DataManager.Instance.CurrentCheckData.PASS = false;
DataManager.Instance.CurrentCheckData.PDCAPASS = false;
SetStep("the result is Failed", Color.Red);
EventShowResult(EnumShowResult.NG);
DataManager.Instance.currentyield.AddOneResult(false); //update the current yield and month yield
}
DataManager.Instance.chartData.Adddata(m_A.ToString() + "," + m_x.ToString() + "," + m_y.ToString() + "," + m_cc.ToString()); //AddData为更新生产的CPK数据 AddNewData为UPH数据，包括很多东西
DataManager.Instance.uph.UPHupdate(); //UPH update by hour
if (OnCurrentInf != null)
{
OnCurrentInf(DataManager.Instance.CurrentCheckData); //给工程界面的数据显示
}
if (OnFlashDataPage != null)
{
OnFlashDataPage();
}
tempi++;
#endregion
AutoRunstep = 220;
break;
case 220: //PDCA
DataManager.Instance.CurrentCheckData.Operator_ID = "0";
DataManager.Instance.CurrentCheckData.Mode = "0";
DataManager.Instance.CurrentCheckData.TestSeriesID = "'201805070859";
DataManager.Instance.CurrentCheckData.Prioriyt = "0";
PDCA_data[0] = DataManager.Instance.CurrentCheckData.Mod_Brc_X.ToString();
PDCA_data[1] = DataManager.Instance.CurrentCheckData.Mod_Brc_Y.ToString();
PDCA_data[2] = DataManager.Instance.CurrentCheckData.Mod_Brc_A.ToString();
PDCA_data[3] = DataManager.Instance.CurrentCheckData.Mod_Brc_CC.ToString();
PDCA_data[4] = DataManager.Instance.CurrentCheckData.Operator_ID.ToString();
PDCA_data[5] = DataManager.Instance.CurrentCheckData.Mode.ToString();
PDCA_data[6] = DataManager.Instance.CurrentCheckData.TestSeriesID.ToString();
PDCA_data[7] = DataManager.Instance.CurrentCheckData.Prioriyt.ToString();
PDCA_Step = 10;
AutoRunstep = 240;
break;
case 230: //PDCA
if (PDCA_Bali(PDCA_data) == FunctionStatus.Finish)
{
DataManager.Instance.CurrentCheckData.PDCAPASS = true;
AutoRunstep = 240;
}
else if (PDCA_Bali(PDCA_data) == FunctionStatus.Error)
{
DataManager.Instance.CurrentCheckData.PDCAPASS = false;
AutoRunstep = 240;
}
break;
case 240:
#region 从测试数据中取值,保留生产数据
path = PVar.BZ_DataPath + "MMS Data-" + Globals.settingMachineInfo.机器编号 + "\\PDCA Data\\"
+ DateTime.Now.ToString("yyyyMM") + "\\";
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.Clear();
stringBuilder.Append("" + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.StartDate + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.StartTime + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.SN + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.PASS + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.PDCAPASS + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Mod_Brc_X + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Mod_Brc_Y + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Mod_Brc_A + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Mod_Brc_CC + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Operator_ID + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Mode + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.TestSeriesID + ",");
stringBuilder.Append(DataManager.Instance.CurrentCheckData.Prioriyt + ",");
string pathtemp = path + DateTime.Now.ToString("yyyyMMdd") + "_PDCA_Data.csv";
#region save the csv header
if (File.Exists(pathtemp) == false)
{
StringBuilder stringBuilderHeader = new StringBuilder();
stringBuilderHeader.Clear();
stringBuilderHeader.Append(" ,StartDate,StartTime,SN,Result,PDCA_Result,X,Y,A,CC,Operator_ID,Mode,TestSeriesID,Prioriyt,\t\n");
stringBuilderHeader.Append("Upper Limit,NA,NA,NA,NA,NA,1,2,3,4,\t\n");
stringBuilderHeader.Append("Lower Limit,NA,NA,NA,NA,NA,-1,-2,-3,-4,\t\n");
stringBuilderHeader.Append("Units,NA,NA,NA,NA,NA,mm,mm,mm,mm,");
CsvServer.Instance.WriteLine(pathtemp, stringBuilderHeader.ToString());
stringBuilderHeader.Clear();
}
#endregion
CsvServer.Instance.WriteLine(pathtemp, stringBuilder.ToString());
stringBuilder.Clear();
#endregion
AutoRunstep = 290;
break;
case 290:
DAQ.Instance.PCI9222StopCollect();
AutoRunstep = 300;
break;
#endregion
#region back to wait postion
case 300:
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 0);
SetStep("定位气缸复位......", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = (Globals.settingMachineInfo.什么机器 == WhichMachine.IPDM) ? 320 : 310;
break;
case 310:
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);
AutoRunstep = 320;
}
else if (API.GetTickCount() - TimeOut > 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");
AutoRunstep = 8000;
}
break;
case 320: //等待位置
Gg.AbsMotion(0, BVar.MMSY, mFunction.Pos.TeachAxis1[0, 0], PVar.ParAxis.Speed[BVar.MMSY]);
TimeOut = API.GetTickCount();
AutoRunstep = 330;
break;
case 330:
if (Gg.ZSPD(0, BVar.MMSY))
{
SetStep("测试y轴运动到初始位置成功…", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 2000;
}
break;
#endregion
case 2000:
StaStop = false;
StopWatch_Stop(); //stop the CT count
AutoRunstep = 0;
TaskIsWorking = false;
SetStep("SAVE", Mycolor.None);
PostTaskAlarm(XAlarmLevel.RST, (int)AlarmCode.位, AlarmCategory.RESET.ToString(), "RST"); //for errorcode
break;
case 8000:
DAQ.Instance.PCI9222Clear();
SetStep("此步为异常，退出循环", Mycolor.None);
AutoRunstep = 0;
StopWatch_Stop(); //stop the CT count
TaskIsWorking = false;
SetStep("SAVE", Mycolor.None);
return;
}
SetStepNum(AutoRunstep);
Task_StopWatchElapsedMilliseconds();//获取CT
#endregion
}
/// <summary>
/// 空跑
/// </summary>
private void DryRun()
{
#region Switch
switch (AutoRunstep)
{
case 10:
SetStep("CLEAR", Mycolor.None);
TaskIsWorking = true;
EventShowResult(EnumShowResult.Empty);
SetStep("AutoRun Setp10", Mycolor.None);
AutoRunstep = 20;
break;
case 20:
SetStep("AutoRun Setp20", Mycolor.None);
AutoRunstep = 30;
break;
case 30:
Thread.Sleep(1);
SetStep("AutoRun Setp30", Mycolor.None);
AutoRunstep = 40;
break;
case 40:
Thread.Sleep(10);
SetStep("AutoRun Setp40", Mycolor.None);
AutoRunstep = 50;
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();
AutoRunstep = 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);
TimeOut = API.GetTickCount();
AutoRunstep = 70;
}
break;
case 70:
if (API.GetTickCount() - TimeOut > 300)
{
AutoRunstep = 80;
}
break;
case 80: //测试位置
Gg.AbsMotion(0, BVar.MMSY, mFunction.Pos.TeachAxis1[0, 2], PVar.ParAxis.Speed[BVar.MMSY]);
TimeOut = API.GetTickCount();
AutoRunstep = 90;
break;
case 90:
if (Gg.ZSPD(0, BVar.MMSY))
{
SetStep("测试y轴运动到测试位置成功…", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 100;
}
break;
case 100:
if (API.GetTickCount() - TimeOut > 300)
{
AutoRunstep = 110;
}
break;
case 110:
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 1);
SetStep("定位气缸打开......", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 120;
break;
case 120:
if (Gg.GetDi(0, Gg.InPutMMS0.气缸到位感应器) == 1)
{
SetStep("定位气缸到定位位置", Mycolor.None);
AutoRunstep = 150;
}
else if (API.GetTickCount() - TimeOut > 2000)
{
SetStep("定位气缸缩到定位位置信号异常！", Mycolor.ErrorRed);
PostTaskAlarm(XAlarmLevel.STOP, (int)AlarmCode.载具进出气缸伸出信号异常, AlarmCategory.MOTION.ToString(), "载具进出气缸伸出信号异常");
AutoRunstep = 8000;
}
break;
case 150:
SetStep("测试开始.....", Mycolor.None);
Thread.Sleep(2000);
AutoRunstep = 180;
break;
case 180:
Gg.SetDo(0, Gg.OutPutMMS0.产品定位气缸电磁阀, 0);
SetStep("定位气缸复位......", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 190;
break;
case 190:
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);
AutoRunstep = 200;
}
else if (API.GetTickCount() - TimeOut > 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");
AutoRunstep = 8000;
}
break;
case 200:
uint pck;
uint pck2;
gts.GT_GetClockHighPrecision(0, out pck);
Thread.Sleep(5);
gts.GT_GetClockHighPrecision(0, out pck2);
uint ctt = pck2 - pck;
SetStep("AutoRun Setp60", Mycolor.None);
AutoRunstep = 210;
break;
case 210:
Thread.Sleep(1000);
SetStep("AutoRun Setp70", Mycolor.None);
#region 产生数据 1tray
// "装配时间", "产品条码", "Result", "X", "Y", "A", "Dis"
DataManager.Instance.CurrentCheckData.SN = "SNXXXXXXX";
DataManager.Instance.CurrentCheckData.StartDate = DateTime.Now.ToString("yyyy-MM-dd");
DataManager.Instance.CurrentCheckData.StartTime = DateTime.Now.ToString("HH:mm:ss");
Random rd = new Random();
if (Globals.settingMachineInfo.什么机器 == WhichMachine.IPDM)
{
double left1 = DataManager.Instance.CurrentCheckData.IPD_Left1 = rd.Next(-1, 1) / 10.0 + rd.Next(-1, 1) / 100.00;
double left2 = DataManager.Instance.CurrentCheckData.IPD_Right1 = 22 + rd.Next(-1, 1) / 100.0 + rd.Next(0, 1) / 1000.00;
double Right1 = DataManager.Instance.CurrentCheckData.Mod_Brc_X = rd.Next(-1, 1) / 100.0 + rd.Next(-1, 1) / 1000.00;
double Right2 = DataManager.Instance.CurrentCheckData.Mod_Brc_Y = rd.Next(-1, 1) / 100.0 + rd.Next(-1, 1) / 1000.00;
DataManager.Instance.chartData.Adddata(left1.ToString() + "," + Right1.ToString() + "," + left2.ToString() + "," + Right2.ToString()); //AddData为更新生产的CPK数据 AddNewData为UPH数据，包括很多东西
}
else
{
double m_A = DataManager.Instance.CurrentCheckData.Mod_Brc_A = rd.Next(-1, 1) / 10.0 + rd.Next(-1, 1) / 100.00;
double m_cc = DataManager.Instance.CurrentCheckData.Mod_Brc_CC = 22 + rd.Next(-1, 1) / 100.0 + rd.Next(0, 1) / 1000.00;
double m_x = DataManager.Instance.CurrentCheckData.Mod_Brc_X = rd.Next(-1, 1) / 100.0 + rd.Next(-1, 1) / 1000.00;
double m_y = DataManager.Instance.CurrentCheckData.Mod_Brc_Y = rd.Next(-1, 1) / 100.0 + rd.Next(-1, 1) / 1000.00;
DataManager.Instance.chartData.Adddata(m_A.ToString() + "," + m_x.ToString() + "," + m_y.ToString() + "," + m_cc.ToString()); //AddData为更新生产的CPK数据 AddNewData为UPH数据，包括很多东西
}
if (tempi % 2 == 1)
{
DataManager.Instance.CurrentCheckData.PASS = true;
DataManager.Instance.CurrentCheckData.PDCAPASS = true;
SetStep("the result is Passed", Color.LimeGreen);
EventShowResult(EnumShowResult.OK);
DataManager.Instance.currentyield.AddOneResult(true); //update the current yield and month yield
}
else
{
DataManager.Instance.CurrentCheckData.PASS = false;
DataManager.Instance.CurrentCheckData.PDCAPASS = false;
SetStep("the result is Failed", Color.Red);
EventShowResult(EnumShowResult.NG);
DataManager.Instance.currentyield.AddOneResult(false); //update the current yield and month yield
}
DataManager.Instance.uph.UPHupdate(); //UPH update by hour
if (OnCurrentInf != null)
{
OnCurrentInf(DataManager.Instance.CurrentCheckData); //给工程界面的数据显示
}
if (OnFlashDataPage != null)
{
OnFlashDataPage();
}
tempi++;
#endregion
AutoRunstep = 220;
break;
case 220: //等待位置
Gg.AbsMotion(0, BVar.MMSY, mFunction.Pos.TeachAxis1[0, 0], PVar.ParAxis.Speed[BVar.MMSY]);
TimeOut = API.GetTickCount();
AutoRunstep = 230;
break;
case 230:
if (Gg.ZSPD(0, BVar.MMSY))
{
SetStep("测试y轴运动到初始位置成功…", Mycolor.None);
TimeOut = API.GetTickCount();
AutoRunstep = 2000;
}
break;
case 2000:
Thread.Sleep(100);
SetStep("AutoRun Setp80", Mycolor.None);
StaStop = false;
StopWatch_Stop(); //stop the CT count
AutoRunstep = 0;
TaskIsWorking = false;
SetStep("SAVE", Mycolor.None);
PostTaskAlarm(XAlarmLevel.RST, (int)AlarmCode.位, AlarmCategory.RESET.ToString(), "RST"); //for errorcode
break;
case 8000:
Thread.Sleep(1);
SetStep("AutoRun Setp8000", Mycolor.None);
AutoRunstep = 0;
StopWatch_Stop(); //stop the CT count
TaskIsWorking = false;
return;
}
SetStepNum(AutoRunstep);
Task_StopWatchElapsedMilliseconds();//获取CT
#endregion
}
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);
}
