// Constructors ------------------------------------------------------------
public OutputEEController(HSTWorkcell workcell, string processID, string processName)
: base(workcell, processID, processName)
{
this._workcell = workcell;
this._ioManifest = (HSTIOManifest)workcell.IOManifest;
_axesProfile = workcell.SetupConfig.AxesProfile;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Acceleration > outputEEMaxAcce)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Acceleration = outputEEMaxAcce;
}
_axesProfile.OutputEEZ.Acceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Acceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Deceleration > outputEEMaxDece)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Deceleration = outputEEMaxDece;
}
_axesProfile.OutputEEZ.Deceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Deceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Velocity > outputEEMaxVel)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Velocity = outputEEMaxVel;
}
_axesProfile.OutputEEZ.Velocity = HSTMachine.Workcell.SetupSettings.MoveProfile.OutputEEZ.Velocity;
_teachPointRecipe = workcell.TeachPointRecipe;
_diOutputEndEffectorPnpPresent1 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_EE_VS1);
_diOutputEndEffectorPnpPresent2 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Output_EE_VS2);
_doOutputEndEffectorPnpVacuumOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Output_EE_VCH);
_doOutputEndEffectorPnpPurgeOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Output_EE_PCH);
_OutputEndEffectorZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z3);
OutputEEPrecisorVacuumProcessTimeStopWatch = new Stopwatch();
Machine.HSTMachine.Workcell.CalibrationSettings.OnSettingsChanged += VisionSettingsChanged;
Machine.HSTMachine.Workcell.SetupSettings.OnSettingsChanged += AutomationConfigChanged;
}
// Constructors ------------------------------------------------------------
public InputEEController(HSTWorkcell workcell, string controllerID, string controllerName)
: base(workcell, controllerID, controllerName)
{
this._ioManifest = (HSTIOManifest)workcell.IOManifest;
_axesProfile = workcell.SetupConfig.AxesProfile;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Acceleration > inputEEMaxAcce)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Acceleration = inputEEMaxAcce;
}
_axesProfile.InputEEZ.Acceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Acceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Deceleration > inputEEMaxDece)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Deceleration = inputEEMaxDece;
}
_axesProfile.InputEEZ.Deceleration = HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Deceleration;
if (HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Velocity > inputEEMaxVel)
{
HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Velocity = inputEEMaxVel;
}
_axesProfile.InputEEZ.Velocity = HSTMachine.Workcell.SetupSettings.MoveProfile.InputEEZ.Velocity;
_teachPointRecipe = workcell.TeachPointRecipe;
_diInputEndEffectorPnpPresent1 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_EE_VS1);
_diInputEndEffectorPnpPresent2 = _ioManifest.GetDigitalInput((int)HSTIOManifest.DigitalInputs.Input_EE_VS2);
_doInputEndEffectorPnpVacuumOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_EE_VCH);
_doInputEndEffectorPnpPurgeOn = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_EE_PCH);
_doInputEndEffectorFlattener = _ioManifest.GetDigitalOutput((int)HSTIOManifest.DigitalOutputs.Input_EE_Flattener);
_InputEndEffectorZAxis = _ioManifest.GetAxis((int)HSTIOManifest.Axes.Z1);
Machine.HSTMachine.Workcell.CalibrationSettings.OnSettingsChanged += VisionSettingsChanged;
Machine.HSTMachine.Workcell.SetupSettings.OnSettingsChanged += AutomationConfigChanged;
}