public FATrayPickerUpDownServo(FASequenceManager aSequenceManager)
: base(aSequenceManager)
{
PickPos = new FAMMCPosition();
MoveStandbyPos = new FAPartAction();
MoveGripPos = new FAPartAction();
MovePickPos = new FAPartAction();
MovePlacePos = new FAPartAction();
MoveTrayPushPos = new FAPartAction();
MoveStandbyPos.SetActionMethod(DoMoveStandbyPos);
MoveGripPos.SetActionMethod(DoMoveGripPos);
MovePickPos.SetActionMethod(DoMovePickPos);
MovePlacePos.SetActionMethod(DoMovePlacePos);
MoveTrayPushPos.SetActionMethod(DoMoveTrayPushPos);
MoveStandbyPos.CreateSequence(aSequenceManager);
MoveGripPos.CreateSequence(aSequenceManager);
MovePickPos.CreateSequence(aSequenceManager);
MovePlacePos.CreateSequence(aSequenceManager);
MoveTrayPushPos.CreateSequence(aSequenceManager);
MakeMoveStandbyPos();
MakeMoveGripPos();
MakeMovePickPos();
MakeMovePlacePos();
MakeMoveTrayPushPos();
}
private void MakeSequence(FAMMCPosition position, FAPartAction action, FALibrary.Utility.FATime time, string alarmPropertyName)
{
PositionUtility obj = new PositionUtility();
obj.Part = this;
obj.Position = position;
obj.PartAction = action;
obj.Timeout = time;
obj.AlarmPropertyName = alarmPropertyName;
obj.Initialize();
}
public void Initialize()
{
if (Part == null) return;
FAFramework.Utility.BindingUtility.SetBindingObject(labelORG, BindingMode.OneWay, Part, Label.IsEnabledProperty, "Origin");
FAFramework.Utility.BindingUtility.SetBindingObject(labelEZ, BindingMode.OneWay, Part, Label.IsEnabledProperty, "EncoderZ");
FAFramework.Utility.BindingUtility.SetBindingObject(labelEMG, BindingMode.OneWay, Part, Label.IsEnabledProperty, "Emergency");
FAFramework.Utility.BindingUtility.SetBindingObject(labelINP, BindingMode.OneWay, Part, Label.IsEnabledProperty, "InPosition");
FAFramework.Utility.BindingUtility.SetBindingObject(labelARM, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ServoAlarm");
FAFramework.Utility.BindingUtility.SetBindingObject(labelPOSLMT, BindingMode.OneWay, Part, Label.IsEnabledProperty, "PositiveLimit");
FAFramework.Utility.BindingUtility.SetBindingObject(labelNEGLMT, BindingMode.OneWay, Part, Label.IsEnabledProperty, "NegativeLimit");
FAFramework.Utility.BindingUtility.SetBindingObject(labelRUN, BindingMode.OneWay, Part, Label.IsEnabledProperty, "RunFlag");
FAFramework.Utility.BindingUtility.SetBindingObject(labelERR, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ErrorFlag");
FAFramework.Utility.BindingUtility.SetBindingObject(labelHOME, BindingMode.OneWay, Part, Label.IsEnabledProperty, "HomeFlag");
FAFramework.Utility.BindingUtility.SetBindingObject(labelSON, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ServoOn");
FAFramework.Utility.BindingUtility.SetBindingObject(labelCommandPos, BindingMode.OneWay, Part, Label.ContentProperty, "CommandPos");
FAFramework.Utility.BindingUtility.SetBindingObject(labelActualPos, BindingMode.OneWay, Part, Label.ContentProperty, "ActualPos");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxJogSpeed, BindingMode.TwoWay, Part, TextBox.TextProperty, "JogMoveSpeed");
FAFramework.Utility.BindingUtility.SetBindingObject(buttonSetPos, BindingMode.OneWay, Part, Button.IsEnabledProperty, "MotionDone");
_position = Part.TargetPosition;
BindingPositionConfig(_position);
_timer.Tick += OnTick;
_timer.Interval = new TimeSpan(0, 0, 0, 0, 100);
_timer.Start();
if (UseSyncSlave == true && SlavePart != null)
{
Part.LinkMode = true;
Part.LinkRatio = 1;
Part.SlaveAxis = SlavePart.AxisNo;
Part.SetLinkMode(Part.SlaveAxis, 1);
}
}
public XYZPositionGroup()
{
PositionX = new FAMMCPosition();
PositionY = new FAMMCPosition();
PositionZ = new FAMMCPosition();
}
private void AddPositionConfigToListView()
{
PositionList = new List<FAMMCPosition>();
PropertyInfo[] propList;
propList = Part.GetType().GetProperties();
foreach (PropertyInfo info in propList)
{
if (info.PropertyType == typeof(FAMMCPosition))
{
PositionList.Add((FAMMCPosition)info.GetValue(Part, null));
}
}
ListView listView = Utility.AttributeUtility.CreateListView(this, "PositionList");
listView.Margin = new Thickness(2);
listView.SelectionChanged +=
delegate(object sender, SelectionChangedEventArgs e)
{
if (listView.SelectedItem != null)
{
_position = (FAMMCPosition)listView.SelectedItem;
BindingPositionConfig(_position);
}
};
gridBase.Children.Add(listView);
Grid.SetColumn(listView, 1);
UIUtility.RemoveColumn(listView, "RangeList");
}
public void Initialize()
{
if (Part == null) return;
if (Unit != null && Unit != "")
{
labelCommandPosUnit.Content = Unit;
labelActualPosUnit.Content = Unit;
}
FAFramework.Utility.BindingUtility.SetBindingObject(labelORG, BindingMode.OneWay, Part, Label.IsEnabledProperty, "Origin");
FAFramework.Utility.BindingUtility.SetBindingObject(labelEZ, BindingMode.OneWay, Part, Label.IsEnabledProperty, "EncoderZ");
FAFramework.Utility.BindingUtility.SetBindingObject(labelEMG, BindingMode.OneWay, Part, Label.IsEnabledProperty, "Emergency");
FAFramework.Utility.BindingUtility.SetBindingObject(labelINP, BindingMode.OneWay, Part, Label.IsEnabledProperty, "InPosition");
FAFramework.Utility.BindingUtility.SetBindingObject(labelARM, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ServoAlarm");
FAFramework.Utility.BindingUtility.SetBindingObject(labelPOSLMT, BindingMode.OneWay, Part, Label.IsEnabledProperty, "PositiveLimit");
FAFramework.Utility.BindingUtility.SetBindingObject(labelNEGLMT, BindingMode.OneWay, Part, Label.IsEnabledProperty, "NegativeLimit");
FAFramework.Utility.BindingUtility.SetBindingObject(labelRUN, BindingMode.OneWay, Part, Label.IsEnabledProperty, "RunFlag");
FAFramework.Utility.BindingUtility.SetBindingObject(labelERR, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ErrorFlag");
FAFramework.Utility.BindingUtility.SetBindingObject(labelHOME, BindingMode.OneWay, Part, Label.IsEnabledProperty, "HomeFlag");
FAFramework.Utility.BindingUtility.SetBindingObject(labelSON, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ServoOn");
FAFramework.Utility.BindingUtility.SetBindingObject(labelCommandPos, BindingMode.OneWay, Part, Label.ContentProperty, "CommandPos");
FAFramework.Utility.BindingUtility.SetBindingObject(labelActualPos, BindingMode.OneWay, Part, Label.ContentProperty, "ActualPos");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxJogSpeed, BindingMode.TwoWay, Part, TextBox.TextProperty, "JogMoveSpeed");
FAFramework.Utility.BindingUtility.SetBindingObject(buttonSetPos, BindingMode.OneWay, Part, Button.IsEnabledProperty, "MotionDone");
_position = Part.TargetPosition;
BindingPositionConfig(_position);
AddPositionConfigToListView();
_timer.Tick += OnTick;
_timer.Interval = new TimeSpan(0, 0, 0, 0, 100);
_timer.Start();
}
private void BindingPositionConfig(FAMMCPosition position)
{
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxPosition, BindingMode.TwoWay, position, TextBox.TextProperty, "Position");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxStartSpeed, BindingMode.TwoWay, position, TextBox.TextProperty, "StartSpeed");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxMoveSpeed, BindingMode.TwoWay, position, TextBox.TextProperty, "DriveSpeed");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxAccTime, BindingMode.TwoWay, position, TextBox.TextProperty, "AccelTime");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxDecTime, BindingMode.TwoWay, position, TextBox.TextProperty, "DecelTime");
}
public void SetPlasePos(FAMMCPosition position)
{
position.CopyTo(PlacePos);
}
public void SetPickPos(FAMMCPosition position)
{
position.CopyTo(PickPos);
}
public PositionGroup()
{
XPosition = new FAMMCPosition();
YPosition = new FAMMCPosition();
ZPosition = new FAMMCPosition();
}
public void MovePositionNoCopyTargetPosition(FAMMCPosition positionDefine)
{
if (SimulationMode)
{
ServoOn = true;
CommandPos = positionDefine.Position;
ActualPos = CommandPos;
MotionDone = true;
}
else
{
if (IsMotionDone() && IsInPosition(positionDefine))
return;
else
{
if (LinkMode)
SetLinkMode(SlaveAxis, LinkRatio);
double startSpeed = ((double)positionDefine.StartSpeed * (double)SpeedRate) / 100.0;
double driveSpeed = ((double)positionDefine.DriveSpeed * (double)SpeedRate) / 100.0;
Device.MovePos(AxisNo,
(int)(positionDefine.Position / Scale),
SpeedMode,
(startSpeed / Scale),
(driveSpeed / Scale),
(positionDefine.AccelTime),
(positionDefine.DecelTime));
}
}
}
public void MoveIncPosition(FAMMCPosition positionDefine)
{
if (SimulationMode)
{
ServoOn = true;
CommandPos += positionDefine.Position;
ActualPos += positionDefine.Position;
MotionDone = true;
}
else
{
if (IsMotionDone() && IsInPosition(positionDefine))
return;
else
{
double startSpeed = ((double)positionDefine.StartSpeed * (double)SpeedRate) / 100.0;
double driveSpeed = ((double)positionDefine.DriveSpeed * (double)SpeedRate) / 100.0;
Device.MoveIncPos(AxisNo,
(int)(positionDefine.Position / Scale),
SpeedMode,
(startSpeed / Scale),
(driveSpeed / Scale),
positionDefine.AccelTime,
positionDefine.DecelTime);
}
}
}
public bool IsInPosition(FAMMCPosition position, double tolerance)
{
if (Math.Abs(ActualPos - position.Position) <= tolerance &&
Math.Abs(CommandPos - position.Position) <= tolerance)
return true;
else
return false;
}
private void LoadPositionDefine(XElement xml, bool reload)
{
foreach (XElement item in xml.Elements())
{
double position = 0;
uint startSpeed = 0;
uint driveSpeed = 0;
uint accelTime = 0;
uint decelTime = 0;
string name = item.Element("Name").Value.ToString();
if (item.Element("Position") != null)
if (double.TryParse(item.Element("Position").Value.Trim(), out position) == false)
throw new Exception("Position Value is not double.\n" +
"Part Name : " + Name + ", " +
"Position : " + item.Element("Position").Value);
if (item.Element("StartSpeed") != null)
if (uint.TryParse(item.Element("StartSpeed").Value.Trim(), out startSpeed) == false)
throw new Exception("StartSpeed Value is not Unsigned Integer.\n" +
"Part Name : " + Name + ", " +
"StartSpeed : " + item.Element("StartSpeed").Value);
if (item.Element("DriveSpeed") != null)
if (uint.TryParse(item.Element("DriveSpeed").Value.Trim(), out driveSpeed) == false)
throw new Exception("DriveSpeed Value is not Unsigned Integer.\n" +
"Part Name : " + Name + ", " +
"DriveSpeed : " + item.Element("DriveSpeed").Value);
if (item.Element("AccelTime") != null)
if (uint.TryParse(item.Element("AccelTime").Value.Trim(), out accelTime) == false)
throw new Exception("AccelTime Value is not Unsigned Integer.\n" +
"Part Name : " + Name + ", " +
"AccelTime : " + item.Element("AccelTime").Value);
if (item.Element("DecelTime") != null)
if (uint.TryParse(item.Element("DecelTime").Value.Trim(), out decelTime) == false)
throw new Exception("DecelTime Value is not Unsigned Integer.\n" +
"Part Name : " + Name + ", " +
"DecelTime : " + item.Element("DecelTime").Value);
if (reload)
{
var positionDefine = FAReflection.GetPropertyValue(this, name) as FAMMCPosition;
positionDefine.Name = name;
positionDefine.Position = position;
positionDefine.StartSpeed = startSpeed;
positionDefine.DriveSpeed = driveSpeed;
positionDefine.AccelTime = accelTime;
positionDefine.DecelTime = decelTime;
}
else
{
FAMMCPosition positionDefine = new FAMMCPosition();
positionDefine.Name = name;
positionDefine.Position = position;
positionDefine.StartSpeed = startSpeed;
positionDefine.DriveSpeed = driveSpeed;
positionDefine.AccelTime = accelTime;
positionDefine.DecelTime = decelTime;
FAReflection.SetPropertyValue(this, name, positionDefine);
}
}
}
private void CreatePositionDefine()
{
PropertyInfo[] propList;
propList = this.GetType().GetProperties();
foreach (PropertyInfo info in propList)
{
if (info.PropertyType == typeof(FAMMCPosition))
{
FAMMCPosition pos = new FAMMCPosition();
info.SetValue(this, pos, null);
}
}
}
