public bool HasRobotFault(ref string message, ref MvRobotAlarmInfo alarmInfo)
{
//************IMPORTANT*************************************************//
//UO[1~20] address has been mapping to DI[1~20] address at addr.22
//AND using BGLogic assign DI[1]~DI[20] to R[21]~R[40] respectivly
//If you wanna read UO[1], plz read R[21] and so on
//**********************************************************************
object UO6Value = (byte)0;
bool IsReadSuccess = false;
//1:有err 0:normal
mobjDataTable.Refresh();
IsReadSuccess = mobjNumReg.GetValue(26, ref UO6Value);
if (!IsReadSuccess)
{
throw new Exception("Read Fail");
}
if ((int)UO6Value == 1)
{
alarmInfo = GetRobotAlarm();
message = "Robot Err Occur !";
HasRobotFaultStatus = true;
//if (RobotFaultStatus != almInfo.Result) { this.Equipment.IO_Switch("LaserIO", DeviceSwitch.OFF); }
}
else
{
message = "Success";
HasRobotFaultStatus = false;
//if (RobotFaultStatus != almInfo.Result) { this.Equipment.IO_Switch("LaserIO", DeviceSwitch.ON); }
}
return(HasRobotFaultStatus);
}
/// <summary>
/// must 用thread
/// </summary>
/// <param name="Target"></param>
/// <param name="_SelectCorJ"></param>
/// <param name="_SelectOfstOrPos"></param>
/// <param name="_IsMoveUT"></param>
/// <param name="Speed"></param>
/// <returns></returns>
public bool MoveStraightSync(Array Target, int _SelectCorJ, int _SelectOfstOrPos, int _IsMoveUT, int Speed)
{
MoveStraightAsync(Target, _SelectCorJ, _SelectOfstOrPos, _IsMoveUT, Speed);
while (this.MoveIsComplete())
{
m_currRobotInfo = GetCurrRobotInfo();
var msg = "";
var alarmInfo = new MvRobotAlarmInfo();
if (HasRobotFault(ref msg, ref alarmInfo))
{
break;
}
Thread.Sleep(100);
}
this.MoveCompeleteReply();
return(true);
}
public MvFanucRobotInfo GetCurrRobotInfo()
{
lock (lockCurRobotInfo)
{
//short ValidC = 0, ValidJ = 0; // 移除未使用的變數。by YMWANGN, 2016/11/17。
//Alarm TEST
var msg = "";
var alarmInfo = new MvRobotAlarmInfo();
HasRobotFault(ref msg, ref alarmInfo);
var robotInfo = new MvFanucRobotInfo();
mobjCurPosUF.GetValue(ref robotInfo.posArray, ref robotInfo.configArray, ref robotInfo.jointArray,
ref robotInfo.userFrame, ref robotInfo.userTool, ref robotInfo.validC, ref robotInfo.validJ);
robotInfo.robotTime = DateTime.Now;
object R5Value = 0;
mobjNumReg.GetValue(5, ref R5Value);
robotInfo.isReachTarget = ((int)R5Value == 51);
return(robotInfo);
}
}
/*AlarmFuncComment
*
* Specify argument Count as index of target alarm history item. (Specify 1 for the first item.)
* Argument AlarmID will have returned alarm ID. In case of ‘SRVO-001’, AlarmID is 11 that represents
* ‘SRVO’. Please see alarm code table in R-J3 reference. If there is no active alarm, AlarmID is zero for
* active alarm reference.
* Argument AlarmNumber will have returned alarm number. In case of ‘SRVO-001’, AlarmNumber is 1.
* If there is no active alarm, AlarmNumber is zero for active alarm reference.
* Argument CauseAlarmID will have returned cause alarm ID. Some alarm have two alarm messages.
* The second alarm is cause code. This argument is to read cause code. If there is no cause code,
* CauseAlarmID is 0.
* Argument CauseAlarmNumber will have returned cause alarm Number. This argument is to read cause
* code alarm number. If there is no cause code, CauseAlarmNumber is 0.
* Argument Severity will have return alarm severity. Severity value means as follows:
* NONE 128
* WARN 0
* PAUSE.L 2
* PAUSE.G 34
* STOP.L 6
* STOP.G 38
* SERVO 54
* ABORT.L 11
* ABORT.G 43
* SERVO2 58
* SYSTEM 123
* Argument Year, Month, Day, Hour, Minute, Second will have returned alarm occurred date and time (24
* hours format).
* Argument AlarmMessage will have returned alarm message. The message is the top line to teach
* pendant screen includes alarm code like ‘SRVO-001’. (Kanji message not supported.)
* Argument CauseAlarmMessage will have returned cause code alarm message. (Kanji message not
* supported)
* Argument SeverityMessage will have returned alarm severity string like ‘WARN’
*
*/
public MvRobotAlarmInfo GetRobotAlarm()
{
MvRobotAlarmInfo alminfo = new MvRobotAlarmInfo();
mobjDataTable.Refresh();
mobjAlarm.GetValue(
1,
ref alminfo.AlarmID,
ref alminfo.AlarmNumber,
ref alminfo.CauseAlarmID,
ref alminfo.CauseAlarmNumber,
ref alminfo.Severity,
ref alminfo.Year,
ref alminfo.Month,
ref alminfo.Day,
ref alminfo.Hour,
ref alminfo.Minute,
ref alminfo.Second,
ref alminfo.AlarmMessage,
ref alminfo.CauseAlarmMessage,
ref alminfo.SeverityMessage
);
return(alminfo);
}