public void MoveHome()
{
//escape z PLmt
CommandEscapeLmt commandEscapeLmt = new CommandEscapeLmt(this.Z, this.EscapeLmtPrmZ);
this.Fire(commandEscapeLmt);
//move home z
CommandMoveHome command = new CommandMoveHome(this.Z, this.MoveHomePrmZ);
this.Fire(command);
//move home xy
command = new CommandMoveHome(this.XY, new MoveHomePrm[] { this.MoveHomePrmX, this.MoveHomePrmY });
this.Fire(command);
}
public static void MoveHomeAndReply(this AxisType axisType)
{
Axis axis = AxisMgr.Instance.FindBy((int)axisType);
if (axis == null)
{
return;
}
MoveHomePrm moveHomePrm = null;
switch (axisType)
{
case AxisType.Axis5:
moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm5;
break;
case AxisType.Axis6:
moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm6;
break;
case AxisType.Axis7:
moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm7;
break;
case AxisType.Axis8:
moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm8;
break;
}
if (moveHomePrm == null)
{
return;
}
CommandMoveHome command = new CommandMoveHome(axis, moveHomePrm);
executeCommand(command);
}
private void btnReset_Click(object sender, EventArgs e)
{
CommandMoveHome command = CommandFactory.CreateCommand <CommandMoveHome>("Move Home");
CommandFactory.CommandQueue.Push(command);
}
