Exemplo n.º 1
0
        public static void HomeSub()
        {
            switch (StepHome)
            {
            case 10:
                GoHome.Reset.State = true;
                AddList("设备初始化开始,请等待!");

                //停止流水线
                Linechange.SetMotor1(false, 0);    //
                Linechange.SetMotor2(false, 0);
                Linechange.SetMotor3(false, 0);
                AddList("关闭传送带电机");
                if (EpsonRobot.IsRobotAlarm)
                {
                    AddList("机械手报警,初始化失败,请检查!");
                    ShowList("机械手报警,初始化失败,请检查!");
                    StepHome = 1000;
                    return;
                }
                Gg.SetDo(0, Gg.OutPut0.启动按钮指示灯, 0);
                Gg.SetDo(0, Gg.OutPut0.日光灯继电器, 0);
                Gg.SetDo(0, Gg.OutPut0.步进电机使能, 0);
                Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
                Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 1);
                Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);

                Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.撕膜夹爪气缸, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.机械手滑台气缸, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜升降气缸, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜针型气缸, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 0);

                Gg.SetExDo(0, 1, Gg.OutPut2.NG指示灯, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.OK指示灯, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台破真空, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴破真空, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴真空吸, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜破真空, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜真空吸, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线破真空, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线真空吸, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.右料盘吸电磁铁, 1);
                Gg.SetExDo(0, 1, Gg.OutPut2.左料盘吸电磁铁, 1);
                Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
                Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);

                Gg.SetExDo(0, 2, Gg.OutPut3.离子风扇, 0);

                RobotHomeNum = 0;
                ////界面
                Frm_Main.fMain.Btn_Stop.Enabled       = false;
                Frm_Main.fMain.Btn_Pause.Enabled      = false;
                Frm_Main.fMain.Btn_Stop.BZ_BackColor  = PVar.BZColor_UnselectedBtn;
                Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
                Frm_ProgressBar.IsShowProgresBar(true);
                InitTime.InitialTime();
                StepHome = 20;
                break;

            //机械手回初始位置
            case 20:
                RobotHomeNum += 1;
                AddList("机械手停止!");
                Gg.SetDo(0, Gg.OutPut0.机械手停止, 1);
                WinAPI.Wait(200);
                Gg.SetDo(0, Gg.OutPut0.机械手停止, 0);
                WinAPI.Wait(100);
                InitTime.InitialTime();
                StepHome = 22;
                break;

            case 22:
                AddList("机械手复位!");
                Gg.SetDo(0, Gg.OutPut0.机械手复位, 1);
                WinAPI.Wait(200);
                Gg.SetDo(0, Gg.OutPut0.机械手复位, 0);
                WinAPI.Wait(100);
                InitTime.InitialTime();
                StepHome = 24;
                break;

            case 24:
                AddList("机械手启动!");
                Gg.SetDo(0, Gg.OutPut0.机械手启动, 1);
                WinAPI.Wait(200);
                Gg.SetDo(0, Gg.OutPut0.机械手启动, 0);
                WinAPI.Wait(100);
                InitTime.InitialTime();
                StepHome = 30;
                break;

            case 30:
                if (Gg.GetDi(0, Gg.InPut0.机械手运动中) == 1)
                {
                    AddList("机械手启动成功!");
                    InitTime.InitialTime();
                    StepHome = 40;
                }
                else if (InitTime.TimeIsUp(2000))
                {
                    if (RobotHomeNum < 3)
                    {
                        InitTime.InitialTime();
                        StepHome = 20;
                    }
                    else
                    {
                        AddList("机械手启动失败!");
                        ShowList("机械手启动失败!");
                        StepHome = 1000;
                        return;
                    }
                }
                break;

            case 40:
                if (Frm_Engineering.fEngineering.Tcp_Robot.IsStart)
                {
                    AddList("机械手网络链接OK!");
                    InitTime.InitialTime();
                    StepHome = 50;
                }
                else if (InitTime.TimeIsUp(5000))
                {
                    if (RobotHomeNum < 3)
                    {
                        InitTime.InitialTime();
                        StepHome = 20;
                    }
                    else
                    {
                        AddList("机械手网络链接失败!");
                        ShowList("机械手网络链接失败!");
                        StepHome = 1000;
                        return;
                    }
                }
                break;

            case 50:
                AddList("获取机械手程序版本!");
                if (Frm_Engineering.fEngineering.Rbt_SendCmd("GetVersion", "0", "0", "0", "0", "0", "0", "0",
                                                             "DAB-SV(1.0.0)_20180505", "0", "0", "0", "0", "0") == false)
                {
                    StepHome = 1000;
                    return;
                }
                InitTime.InitialTime();
                StepHome = 60;
                break;

            case 60:
                if (EpsonRobot.sRobot_Status == "GetVersionOK")
                {
                    AddList("机械手程序版本匹配OK!");
                    InitTime.InitialTime();
                    StepHome = 100;
                }
                else if (EpsonRobot.sRobot_Status == "GetVersionNG")
                {
                    AddList("机械手版本不匹配!");
                    ShowList("机械手版本不匹配!");
                    StepHome = 1000;
                    return;
                }
                else if (InitTime.TimeIsUp(3000))
                {
                    AddList("获取机械手程序版本超时!");
                    ShowList("获取机械手程序版本超时!");
                    StepHome = 1000;
                    return;
                }
                break;

            case 100:
                AddList("机械手回初始位置开始!");
                if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.待机位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
                {
                    StepHome = 1000;
                    return;
                }
                InitTime.InitialTime();
                StepHome = 110;
                break;

            case 110:
                if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.待机位置)
                {
                    AddList("机械手回待机位置OK!");
                    InitTime.InitialTime();
                    StepHome = 200;
                }
                else if (InitTime.TimeIsUp(10000))
                {
                    AddList("机械手回待机位置超时!");
                    ShowList("机械手回待机位置超时!");
                    StepHome = 1000;
                    return;
                }
                break;

            case 200:
                Frm_ProgressBar.SetValueProgressBar(30);         //初始化进度条的进度更新显示
                if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 1 &&
                    Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0 &&
                    Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 0 &&
                    Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 0 &&
                    Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 0 &&
                    Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
                {
                    InitTime.InitialTime();
                    StepHome = 210;
                }

                if (InitTime.TimeIsUp(6000))
                {
                    if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 0)
                    {
                        AddList("阻挡气缸1伸出信号异常,请检查!");
                        ShowList("阻挡气缸1伸出信号异常,请检查!");
                    }

                    if (Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 0)
                    {
                        AddList("阻挡气缸2伸出信号异常,请检查!");
                        ShowList("阻挡气缸2伸出信号异常,请检查!");
                    }
                    if (Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 0)
                    {
                        AddList("阻挡气缸3伸出信号异常,请检查!");
                        ShowList("阻挡气缸3伸出信号异常,请检查!");
                    }

                    if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
                    {
                        AddList("光源旋转气缸缩回信号异常,请检查!");
                        ShowList("光源旋转气缸缩回回信号异常,请检查!");
                    }

                    if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 1)
                    {
                        AddList("载具夹紧气缸缩回信号异常,请检查!");
                        ShowList("载具夹紧气缸缩回信号异常,请检查!");
                    }

                    if (Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 1)
                    {
                        AddList("机械手撕膜升降气缸缩回信号异常,请检查!");
                        ShowList("机械手撕膜升降气缸缩回信号异常,请检查!");
                    }

                    if (Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 1)
                    {
                        AddList("机械手滑台气缸缩回信号异常,请检查!");
                        ShowList("机械手滑台气缸缩回信号异常,请检查!");
                    }
                    if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0 || Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 1)
                    {
                        AddList("PSA吸嘴升降气缸上信号异常,请检查!");
                        ShowList("PSA吸嘴升降气缸上信号异常,请检查!");
                    }
                    StepHome = 1000;
                }
                break;

            case 210:
                AddList("料仓左Z轴开始回原点…");
                AddList("料仓右Z轴开始回原点…");
                AddList("PSA供料Z轴开始回原点…");
                AddList("保压Z轴开始回原点…");
                AddList("PSA搬运Y轴开始回原点…");
                GoHome.AxisHome[0, Axis.料仓左Z轴].Result   = false;
                GoHome.AxisHome[0, Axis.料仓右Z轴].Result   = false;
                GoHome.AxisHome[0, Axis.PSA供料Z轴].Result = false;
                GoHome.AxisHome[0, Axis.保压Z轴].Result    = false;
                GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result = false;

                GoHome.AxisHome[0, Axis.料仓左Z轴].Enable   = true;
                GoHome.AxisHome[0, Axis.料仓右Z轴].Enable   = true;
                GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = true;
                GoHome.AxisHome[0, Axis.保压Z轴].Enable    = true;
                GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = true;

                GoHome.AxisHome[0, Axis.料仓左Z轴].Step   = 10;
                GoHome.AxisHome[0, Axis.料仓右Z轴].Step   = 10;
                GoHome.AxisHome[0, Axis.PSA供料Z轴].Step = 10;
                GoHome.AxisHome[0, Axis.保压Z轴].Step    = 10;
                GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step = 10;
                InitTime.InitialTime();
                Frm_ProgressBar.SetValueProgressBar(30);
                StepHome = 220;
                break;

            case 220:
                GotoHome(0, Axis.料仓左Z轴, 30, -1000, 10, 1, 5);
                GotoHome(0, Axis.料仓右Z轴, 30, -1000, 10, 1, 5);
                GotoHome(0, Axis.PSA供料Z轴, 30, -1000, 10, 1, 5);
                GotoHome(0, Axis.保压Z轴, 30, -90, 20, -3, 5);
                GotoHome(0, Axis.PSA搬运Y轴, 30, -1000, 10, 1, 10);

                if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step != 0 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
                {
                    AddList("PSA吸嘴升降气缸上信号异常!");
                    ShowList("PSA吸嘴升降气缸上信号异常!");
                    StepHome = 1000;
                }

                if (GoHome.AxisHome[0, Axis.料仓左Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓左Z轴].Enable)
                {
                    GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = false;
                    if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result)
                    {
                        AddList("料仓左Z轴回原点成功!");
                    }
                    else
                    {
                        AddList("料仓左Z轴回原点失败!");
                        ShowList("料仓左Z轴回原点失败!");
                        StepHome = 1000;
                    }
                }

                if (GoHome.AxisHome[0, Axis.料仓右Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓右Z轴].Enable)
                {
                    GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = false;
                    if (GoHome.AxisHome[0, Axis.料仓右Z轴].Result)
                    {
                        AddList("料仓右Z轴回原点成功!");
                    }
                    else
                    {
                        AddList("料仓右Z轴回原点失败!");
                        ShowList("料仓右Z轴回原点失败!");
                        StepHome = 1000;
                    }
                }

                if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable)
                {
                    GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = false;
                    if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Result)
                    {
                        AddList("PSA供料Z轴回原点成功!");
                    }
                    else
                    {
                        AddList("PSA供料Z轴回原点失败!");
                        ShowList("PSA供料Z轴回原点失败!");
                        StepHome = 1000;
                    }
                }

                if (GoHome.AxisHome[0, Axis.保压Z轴].Step == 0 && GoHome.AxisHome[0, Axis.保压Z轴].Enable)
                {
                    GoHome.AxisHome[0, Axis.保压Z轴].Enable = false;
                    if (GoHome.AxisHome[0, Axis.保压Z轴].Result)
                    {
                        AddList("保压Z轴回原点成功!");
                    }
                    else
                    {
                        AddList("保压Z轴回原点失败!");
                        ShowList("保压Z轴回原点失败!");
                        StepHome = 1000;
                    }
                }

                if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable)
                {
                    GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = false;
                    if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
                    {
                        AddList("PSA搬运Y轴回原点成功!");
                    }
                    else
                    {
                        AddList("PSA搬运Y轴回原点失败!");
                        ShowList("PSA搬运Y轴回原点失败!");
                        StepHome = 1000;
                    }
                }

                if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result && GoHome.AxisHome[0, Axis.料仓右Z轴].Result &&
                    GoHome.AxisHome[0, Axis.PSA供料Z轴].Result && GoHome.AxisHome[0, Axis.保压Z轴].Result &&
                    GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
                {
                    Frm_ProgressBar.SetValueProgressBar(50);
                    InitTime.InitialTime();
                    StepHome = 300;
                }
                break;

            //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

            case 300:
                AddList("各轴开始回待机位置…");
                //料仓
                Gg.AbsMotion(0, Axis.料仓左Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.左料仓, Axis.Point左料仓.初始位置], 20);
                Gg.AbsMotion(0, Axis.料仓右Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.右料仓, Axis.Point右料仓.初始位置], 20);

                //PSA供料
                Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], 20);
                Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], 20);

                //保压站
                Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], 20);

                InitTime.InitialTime();
                StepHome = 310;
                break;

            case 310:
                if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
                {
                    AddList("PSA吸嘴升降气缸上信号异常!");
                    ShowList("PSA吸嘴升降气缸上信号异常!");
                    StepHome = 1000;
                }

                if (Gg.ZSPD(0, Axis.料仓左Z轴) && Gg.ZSPD(0, Axis.料仓右Z轴) &&
                    Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.ZSPD(0, Axis.PSA搬运Y轴) &&
                    Gg.ZSPD(0, Axis.保压Z轴))
                {
                    AddList("整机回待机位置完成!");
                    InitTime.InitialTime();
                    StepHome = 350;
                }
                else
                {
                    if (InitTime.TimeIsUp(10000))
                    {
                        if (Gg.ZSPD(0, Axis.料仓左Z轴) == false)
                        {
                            AddList("料仓左Z轴回待机位置失败!");
                            ShowList("料仓左Z轴回待机位置失败!");
                        }
                        if (Gg.ZSPD(0, Axis.料仓右Z轴) == false)
                        {
                            AddList("料仓右Z轴回待机位置失败!");
                            ShowList("料仓右Z轴回待机位置失败!");
                        }
                        if (Gg.ZSPD(0, Axis.PSA供料Z轴) == false)
                        {
                            AddList("PSA供料Z轴回待机位置失败!");
                            ShowList("PSA供料Z轴回待机位置失败!");
                        }
                        if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false)
                        {
                            AddList("PSA搬运Y轴回待机位置失败!");
                            ShowList("PSA搬运Y轴回待机位置失败!");
                        }
                        if (Gg.ZSPD(0, Axis.保压Z轴) == false)
                        {
                            AddList("保压Z轴回待机位置失败!");
                            ShowList("保压Z轴回待机位置失败!");
                        }
                        StepHome = 1000;
                    }
                }
                break;

            case 350:
                //平移气缸回到左边
                Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸左, 1);
                Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸右, 0);

                //保压无杆气缸向右复位
                Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 0);
                Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 1);
                AddList("料盘平移无杆气缸向左复位!");
                InitTime.InitialTime();
                StepHome = 360;
                break;

            case 360:
                if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 1 && Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 0 &&
                    Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0)
                {
                    AddList("料盘平移无杆气缸向左复位OK!");
                    InitTime.InitialTime();
                    StepHome = 370;
                }
                else
                {
                    if (InitTime.TimeIsUp(6000))
                    {
                        if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 0 || Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 1)
                        {
                            AddList("料盘平移无杆气缸左信号异常!");
                            InitTime.InitialTime();
                            StepHome = 1000;
                        }
                    }
                    if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 1 || Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 0)
                    {
                        AddList("保压无杆气缸右信号异常!");
                        InitTime.InitialTime();
                        StepHome = 1000;
                    }
                }
                break;

            case 370:
                InitTime.InitialTime();
                StepHome = 800;
                break;

            case 800:
                AddList("初始化完成");
                ShowList("初始化完成");
                PVar.LampStatus    = 20;
                PVar.Stop_Flag     = true;
                PVar.AutoRunFlag   = false;
                PVar.MacHold       = false;
                PVar.CPKDoneCounts = 0;
                PVar.WorkMode      = 0;

                Frm_Main.fMain.Panel_CPK.Visible = false;

                //按钮初始化
                Frm_Main.fMain.Btn_Start.Enabled      = true;
                Frm_Main.fMain.Btn_Pause.Enabled      = false;
                Frm_Main.fMain.Btn_Stop.Enabled       = true;
                Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_SelectedBtn;       //'主页面初始化和自动运行按钮
                Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
                Frm_Main.fMain.Btn_Stop.BZ_BackColor  = PVar.BZColor_UnselectedBtn;

                Frm_Engineering.fEngineering.TabPage3.Parent = Frm_Engineering.fEngineering.TabControl1;
                Frm_Engineering.fEngineering.TabPage4.Parent = Frm_Engineering.fEngineering.TabControl1;

                Frm_ProgressBar.IsShowProgresBar(false);         //'初始化进度条显示
                Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
                for (int i = 0; i <= 10; i++)
                {
                    PVar.Sta_Work[i].State     = false;
                    PVar.Sta_Work[i].Result    = false;
                    PVar.Sta_Work[i].IsHaveHSG = false;
                    PVar.Sta_Work[i].Step      = 0;
                }
                Mod_ErrorCode.CheckSystemTimeStep = 0;
                GoHome.Reset.State  = false;
                GoHome.Reset.Result = true;
                StepHome            = 0;
                break;

            case 1000:
                PVar.LampStatus = 10;
                PVar.MacHold    = false;
                PVar.Stop_Flag  = true;
                //按钮初始化
                Frm_Main.fMain.Btn_Start.Enabled      = true;
                Frm_Main.fMain.Btn_Pause.Enabled      = false;
                Frm_Main.fMain.Btn_Stop.Enabled       = false;
                Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn;       //主页面初始化和自动运行按钮
                Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
                Frm_Main.fMain.Btn_Stop.BZ_BackColor  = PVar.BZColor_SelectedEndBtn;

                PVar.Rtn = gts.GT_Stop(0, 255, 255);     //紧急停止0号卡所有轴
                Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
                Frm_ProgressBar.IsShowProgresBar(false); //初始化进度条显示
                GoHome.Reset.Result = false;
                GoHome.Reset.State  = false;
                StepHome            = 0;
                break;
            }

            //string tempStr = "";
            //if (Gg.GetDi(0, Gg.InPut0.安全门) == 0)
            //    {
            //    tempStr = "安全门";
            //    }

            //if (!string.IsNullOrEmpty(tempStr))
            //    {
            //    AddList("请关闭" + tempStr + "再初始化");
            //    ShowList("请关闭" + tempStr + "再初始化");
            //    StepHome = 1000;
            //    return;
            //    }
        }