public static bool EmergencyStop()
{
try
{
Globals.LedCmd.Cmd = Globals.DevData.EmgLedCmd.Cmd;
ReportCmdKeyProgress(CmdKey.S0093);
bool flag = X_Axis.JogStop();
flag &= Y_Axis.JogStop();
flag &= T_Axis.JogStop();
flag &= Z_Axis.JogStop();
flag &= Z_Axis.AxisJogAbsWork(Globals.MacData.ZStartPos);
Globals.EMG = false;
return(flag);
}
catch
{
Common.ReportCmdKeyProgress(CmdKey.S0091);
return(false);
}
}
public static bool RunLineCut(CutLine line, bool preCut = false)
{
do
{
switch (line.CutStep)
{
case CutStep.Ready: //等待各轴移动到位
{
if (line.SinDir || !line.Dual || (line.Dual && Globals.DevData.DualZlife)) //如果为单项划切或者必须返回
{
Z_Axis.AxisJogAbsWork(line.SelfPos); //划切一刀 必须Z轴上升到安全位
}
if (WaitAxisMoveDone()) //判断各轴是否到位
{
line.Cutting = true; //开始切割
line.FirstCut = true;
if (line.Seg != null && !line.Abs)
{
line.Seg.RepairXPosAndLength(Y_Axis.RealPos + line.StartPos.Y, line); //修正起始位置和长度
}
if (preCut) //根据是否预划切 修正划切速度
{
float s = Globals.Group.PreCut.GetPreDataSpeed();
if (s > 0 && s < line.Speed) //预划切值有效且小于当前划切速度
{
line.Speed = s;
}
else
{
Globals.PreCut = false;
}
}
line.CutStep = CutStep.ST1;
}
else
{
return(false);
}
}
break;
case CutStep.ST1: //X 轴移动到划切位置 需要根据当前Y轴位置重新计算X轴起点和划切长度
{
X_Axis.JogAbs(line.BackSpeed, Globals.MacData.XCutBackAcc, line.StartPos.X); //设置X返回加速度
if (line.Abs)
{
Y_Axis.AxisJogAbsWork(line.StartPos.Y);
}
else
{
//float v = Math.Abs(line.StartPos.Y / line.Length * line.BackSpeed);
//Y_Axis.JogInc(v, 0.1f, line.StartPos.Y);
Y_Axis.AxisJogIncWork(line.StartPos.Y); //相对位置
}
WaitAxisMoveDone(Y_Axis);
if (WaitAxisMoveDone(X_Axis))
{
line.CutStep = CutStep.ST2;
}
else
{
return(false);
}
}
break;
case CutStep.ST2: //Z轴下落到划切位置1
{
float pos = line.ReDepth + Globals.TestHeightValue - Globals.BldData.RealCompensatedValue;
if (pos < Globals.TestHeightValue) //防止切割到工作台
{
pos = Globals.TestHeightValue;
}
Z_Axis.JogAbs(Globals.MacData.ZCutSpeed, Globals.MacData.ZCutAcc, pos); //Z轴下落到位 必须等候Z到位
if (WaitAxisMoveDone(Z_Axis))
{
line.CutStep = CutStep.ST3;
}
else
{
return(false);
}
}
break;
case CutStep.ST3: //X轴进行划切操作
{
X_Axis.JogInc(line.Speed, Globals.MacData.XCutAcc, line.Dir ? -line.Length : line.Length); //X轴开始缓慢划切 判断划切方向
if (WaitAxisMoveDone(X_Axis))
{
line.CutStep = CutStep.ST4;
Globals.BldData.AddCutedLinesAndLength(1, line.Length / 1000); //已划切刀数
}
else
{
return(false);
}
}
break;
case CutStep.ST4: //Z轴是否抬刀
{
if (line.SinDir || !line.Dual || (line.Dual && Globals.DevData.DualZlife)) //如果为单项划切或者必须返回
{
Z_Axis.AxisJogAbsWork(line.SelfPos); //划切一刀 必须Z轴上升到安全位
if (!WaitAxisMoveDone(Z_Axis))
{
return(false);
}
}
if (line.Dual)
{
line.CutStep = CutStep.ST5;
}
else
{
line.CutStep = CutStep.CutStop;
}
}
break;
case CutStep.ST5: //X轴返回到划切位置
{
line.FirstCut = false;
if (line.SinDir) //如果是单向划切X轴必须返回到划切位置
{
X_Axis.JogAbs(line.BackSpeed, Globals.MacData.XCutBackAcc, line.StartPos.X); //需要重新设置X划切返回速度
if (!WaitAxisMoveDone(X_Axis))
{
return(false);
}
}
line.CutStep = CutStep.ST6;
}
break;
case CutStep.ST6: //Z轴下落到划切位置
{
if (preCut) //根据是否预划切 修正划切速度
{
float s = Globals.Group.PreCut.GetPreDataSpeed();
if (s > 0 && s < line.Speed) //预划切值有效且小于当前划切速度
{
line.Speed = s;
}
else
{
Globals.PreCut = false;
}
}
float pos = line.ReDepth2 + Globals.TestHeightValue - Globals.BldData.RealCompensatedValue;
if (pos < Globals.TestHeightValue)
{
pos = Globals.TestHeightValue;
}
Z_Axis.JogAbs(Globals.MacData.ZCutSpeed, Globals.MacData.ZCutAcc, pos); //Z轴下落到位置2
if (WaitAxisMoveDone(Z_Axis))
{
line.CutStep = CutStep.ST7;
}
else
{
return(false);
}
}
break;
case CutStep.ST7: //X轴开始划切
{
if (line.SinDir)
{
X_Axis.JogInc(line.Speed, Globals.MacData.XCutAcc, line.Dir ? -line.Length : line.Length); //需要设置返回加速度
}
else
{
X_Axis.JogInc(line.Speed, Globals.MacData.XCutAcc, line.Dir ? line.Length : -line.Length);
}
if (WaitAxisMoveDone(X_Axis))
{
line.CutStep = CutStep.ST8;
Globals.BldData.AddCutedLinesAndLength(1, line.Length / 1000); //已划切刀数
}
else
{
return(false);
}
}
break;
case CutStep.ST8: //Z轴进行抬刀操作
{
if (line.SinDir || !line.Dual) //如果为单项划切或者必须返回
{
Z_Axis.AxisJogAbsWork(line.SelfPos); //划切一刀 必须Z轴上升到安全位
}
line.Cutting = false;
line.CutStep = CutStep.CutStop;
}
break;
case CutStep.CutStop: //划切结束
{
if (line.Pause)
{
line.CutStep = CutStep.Pause;
}
else
{
line.CutStep = CutStep.STEnd; //当前先判断为切割完成 后续需要判断是否暂停 刀痕检测 和测高
}
ReportWorkingProgress(ProcessCmd.CutLineCmd, line);
}
break;
case CutStep.KniefCheck: //进行刀痕检测
{
}
break;
case CutStep.TestHeigh: //进行非接触式测高
{
}
break;
case CutStep.Pause:
{
ReportCmdKeyProgress(CmdKey.P0105);
line.CutStep = CutStep.STEnd; //配置为划切完成
return(false); //中断当前划切操作
}
case CutStep.STEnd:
{
line.Complate = true;
}
break;
default:
{
}
break;
}
if (Globals.CutStop)
{
return(false);
}
ReportWorkingProgress(ProcessCmd.CutLineCmd, line);
CuttingCheckStatus();
Thread.Sleep(10);
} while (!line.Complate);//没有完成就一直循环
return(true);
}//划切线
public static bool AutoFocus(IVideoProvider provider, float maxPos, float minPos, float step = 0.2f)
{
try
{
if (provider == null)
{
return(false);
}
bool isCapture = provider.IsRunning;
Dictionary <double, float> pos = new Dictionary <double, float>();
Z_Axis.AxisJogAbsWork(maxPos);
if (!WaitAxisMoveDone())
{
return(false);
}
if (!isCapture)
{
provider.StartCapture();
}
int stepTick = (int)((maxPos - minPos) / step);
double scalValue = 0;
int tick = 0;
for (int i = 0; i < stepTick; i++)
{
Z_Axis.AxisJogIncWork(-step, true);
Thread.Sleep(20);
Bitmap map = provider.GetCurrentFrame();
double qua = map.GetLinearQuality();
if (!pos.ContainsKey(qua))
{
if (qua < scalValue)
{
if (tick++ > 3)
{
break;
}
}
else
{
tick = 0;
}
scalValue = qua;
pos.Add(qua, z_Axis.RealPos);
}
}
double maxKey = pos.Max(r => r.Key);
float desPos = pos[maxKey];
Z_Axis.AxisJogAbsWork(desPos);
if (!isCapture)
{
provider.StopCapture();
}
pos.Clear();
GC.Collect();
if (step / 20 < 0.005)
{
return(true);
}
else
{
return(AutoFocus(provider, desPos + step, desPos - step, step / 10));
}
}
catch
{
return(false);
}
}
public static bool TouchTestingHeight()
{
TabData data = Globals.TabData;
int tick = 30;
ReportCmdKeyProgress(CmdKey.H0001);
Globals.TestCancel = false;
Globals.Testing = true;
Globals.TestedHeight = false; //清零系统标志位
RunSpd(Globals.TabData.SpdSpeed, Globals.DevData.TestTime);
Globals.LedCmd.Cmd = Globals.DevData.TestingLedCmd.Cmd;
Z_Axis.AxisJogAbsWork(Z_Axis.Param.StartPos, true); //Z轴先返回到最高点
if (data.UsedTable.RotateType) //圆盘测高
{
data.UsedTable.CurTpos += Globals.MacData.TTestOffset;
if (data.UsedTable.CurTpos > data.MaxTpos)
{
data.UsedTable.CurTpos = data.UsedTable.StartTpos;
}
}
else//方盘测高
{
data.UsedTable.CurYpos += Globals.MacData.YTestOffset;
data.UsedTable.CurTpos = data.UsedTable.StartTpos;
if (data.UsedTable.CurYpos - data.UsedTable.StartYpos > data.UsedTable.Length)
{
data.UsedTable.CurYpos = data.UsedTable.StartYpos;
}
}
X_Axis.AxisJogAbsWork(data.UsedTable.CurXpos); //X值坐标位置
Y_Axis.AxisJogAbsWork(data.UsedTable.CurYpos); //Y值坐标位置
WaitAxisMoveDone(); //等待X Y T移动到位
Z_Axis.AxisJogAbsWork(data.UsedTable.ZLowPos); //Z轴移动到高速位置
ReportCmdKeyProgress(CmdKey.H0003);
do
{
if (!TesttingCheckStatus())
{
return(false);
}
Thread.Sleep(50);
} while (!Z_Axis.IsInPosition); //等待Z轴到位
Z_Axis.SetLimitSwitch(false);
float[] num = new float[data.TestTick];
float startPos = 30;
float homeOffset = Globals.MacData.ZRiseValue;//Z轴上升高度
float counterPos = Z_Axis.PhyPos;
for (int i = 0; i < data.TestTick; i++)
{
ReportCmdKeyProgress((CmdKey)((int)CmdKey.H0004 + i));
Z_Axis.GoHome(Limit.UserLimit, Globals.MacData.ZTestSpeed, Globals.MacData.ZTestAcc, homeOffset); //Z轴开始向下测高操作 ，每次操作限时60S
tick = 600;
do
{
if (!TesttingCheckStatus())
{
return(false);
}
tick--;
Thread.Sleep(100);
} while (!Z_Axis.HomeIsSuccessful && tick > 0); //等待回零完成
startPos = (Z_Axis.PhyPos - counterPos) + data.UsedTable.ZLowPos; //计算当前实际位置
Z_Axis.SetPrePosition(startPos); //设置起始位置
num[i] = startPos - homeOffset;
ReportWorkingProgress(ProcessCmd.CsTestingTickCmd, num[i]);
}
if (num.Max() - num.Min() > data.CsMaxErrValue)//测高误差过大
{
ReportCmdKeyProgress(CmdKey.H0007);
return(false);
}
else
{
data.CsTestValue = num.Average();
Globals.TestHeightValue = data.CsTestValue;
Globals.TestedHeight = true;//系统测高标志位
ReportCmdKeyProgress(CmdKey.H0008);
return(true);
}
}
}//划切分度
private static bool RunningChannelCut(CutChannel c)
{
bool flag = true;
Globals.Channel = c;
Z_Axis.AxisJogAbsWork(c.SelfPos); //Z轴移动到安全位置
WaitAxisMoveDone(Z_Axis);
T_Axis.AxisJogAbsWork(c.AlignT + c.TPosAdj); //T轴移动到偏移位置
X_Axis.AxisJogAbsWork(c.PausePos.X); //X轴移动到暂停位置
Y_Axis.AxisJogAbsWork(c.PausePos.Y); //Y轴移动到暂停位置(第一次划切默认为起始位置)
WaitAxisMoveDone(); //等待各轴运动成功
c.Cutting = true;
if (!c.Rotated)
{
ReportWorkingProgress(ProcessCmd.CutChStartCmd, c); //开始划切当前通道
c.Rotated = true;
}
if (c.StandMode)
{
flag = RunSegmentCut(c);//标准模式划切
}
else
{
foreach (var item in c.Segs)
{
if (!item.Complate)
{
ReportWorkingProgress(ProcessCmd.CutSegStartCmd, c); //进行通道划切完成
item.Complate = RunSegmentCut(item);
if (item.Complate)
{
c.CuttingIndex += item.Count;
}
else
{
flag = false;
break;//退出当前循环
}
}
flag &= item.Complate;
}
}
if (flag)
{
c.Cutting = false;
ReportCmdKeyProgress(CmdKey.P0109);
ReportWorkingProgress(ProcessCmd.CutChEndCmd, c); //当前通道划切完成
}
else
{
c.PausePos.Y = Y_Axis.RealPos; //设置Y暂停位置为当前的位置
c.PausePos.X = Globals.ViewCenter.X; //设置X暂停位置为显微镜中心位置
Z_Axis.AxisJogAbsWork(c.SelfPos); //Z轴移动到安全位置
WaitAxisMoveDone(Z_Axis);
X_Axis.AxisJogAbsWork(Globals.ViewCenter.X); //移动到显微镜视野
Y_Axis.AxisJogIncWork(Globals.KniefAdj); //划切位置+刀痕偏移值 将线移动到显微镜下面
WaitAxisMoveDone(); //等待移动停止
if (!Globals.CutStop) //判断是因为暂停导致的返回
{
ReportWorkingProgress(ProcessCmd.CutPauseCmd, c);
}
}
c.Complate = flag;
return(c.Complate);
}
