public FAReelPickerUpDownServo(FASequenceManager aSequenceManager)
: base(aSequenceManager)
{
PickPos = new FAAPlusMMCPosition();
MoveStandbyPos = new FAPartAction();
MoveGripPos = new FAPartAction();
MovePickPos = new FAPartAction();
MovePlacePos = new FAPartAction();
MoveTopPushingPos = new FAPartAction();
MoveAlignPos = new FAPartAction();
MoveStandbyPos.SetActionMethod(DoMoveStandbyPos);
MoveGripPos.SetActionMethod(DoMoveGripPos);
MovePickPos.SetActionMethod(DoMovePickPos);
MovePlacePos.SetActionMethod(DoMovePlacePos);
MoveTopPushingPos.SetActionMethod(DoMoveTopPushingPos);
MoveAlignPos.SetActionMethod(DoMoveAlignPos);
MoveStandbyPos.CreateSequence(aSequenceManager);
MoveGripPos.CreateSequence(aSequenceManager);
MovePickPos.CreateSequence(aSequenceManager);
MovePlacePos.CreateSequence(aSequenceManager);
MoveTopPushingPos.CreateSequence(aSequenceManager);
MoveAlignPos.CreateSequence(aSequenceManager);
MakeMoveStandbyPos();
MakeMoveGripPos();
MakeMovePickPos();
MakeMovePlacePos();
MakeMoveTopPushingPos();
MakeMoveAlignPos();
}
public FAReelProtectBandDetectorServo(FASequenceManager aSequenceManager)
: base(aSequenceManager)
{
ScanPos = new FAAPlusMMCPosition();
MoveStandbyPos = new FAPartAction();
MoveScanPos = new FAPartAction();
MoveStandbyPos.SetActionMethod(DoMoveStandbyPos);
MoveScanPos.SetActionMethod(DoMoveScanPos);
MoveStandbyPos.CreateSequence(aSequenceManager);
MoveScanPos.CreateSequence(aSequenceManager);
MakeMoveStandbyPos();
MakeMoveScanPos();
}
public void CopyTo(FAAPlusMMCPosition position)
{
position.AccelTime = this.AccelTime;
position.DeaccelTime = this.DeaccelTime;
position.DriveSpeed = this.DriveSpeed;
position.Position = this.Position;
position.StartSpeed = this.StartSpeed;
}
private void LoadPositionDefine(XElement xml)
{
foreach (XElement item in xml.Elements())
{
double position = 0;
uint startSpeed = 0;
uint driveSpeed = 0;
uint accelTime = 0;
uint deaccelTime = 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("DeaccelTime") != null)
if (uint.TryParse(item.Element("DeaccelTime").Value.Trim(), out deaccelTime) == false)
throw new Exception("DeaccelTime Value is not Unsigned Integer.\n" +
"Part Name : " + Name + ", " +
"DeaccelTime : " + item.Element("DeaccelTime").Value);
FAAPlusMMCPosition positionDefine = new FAAPlusMMCPosition();
positionDefine.Name = name;
positionDefine.Position = position;
positionDefine.StartSpeed = startSpeed;
positionDefine.DriveSpeed = driveSpeed;
positionDefine.AccelTime = accelTime;
positionDefine.DeaccelTime = deaccelTime;
FAReflection.SetPropertyValue(this, name, positionDefine);
}
}
private void CreatePositionDefine()
{
PropertyInfo[] propList;
propList = this.GetType().GetProperties();
foreach (PropertyInfo info in propList)
{
if (info.PropertyType == typeof(FAAPlusMMCPosition))
{
FAAPlusMMCPosition pos = new FAAPlusMMCPosition();
info.SetValue(this, pos, null);
}
}
}
public void MovePosition(FAAPlusMMCPosition positionDefine)
{
if (MotionDone && IsInPosition(positionDefine))
return;
else
{
Device.MovePos(AxisNo,
(int)(positionDefine.Position / Scale),
SpeedMode,
(uint)(positionDefine.StartSpeed / Scale),
(uint)(positionDefine.DriveSpeed / Scale),
positionDefine.AccelTime,
positionDefine.DeaccelTime);
}
}
public bool IsInPosition(FAAPlusMMCPosition position)
{
if (Math.Abs(ActualPos - position.Position) <= Tolerance &&
Math.Abs(CommandPos - position.Position) <= Tolerance)
return true;
else
return false;
}
public void SetPickPos(FAAPlusMMCPosition position)
{
position.CopyTo(PickPos);
}
private void AddPositionConfigToListView()
{
PositionList = new List<FAAPlusMMCPosition>();
PropertyInfo[] propList;
propList = Part.GetType().GetProperties();
foreach (PropertyInfo info in propList)
{
if (info.PropertyType == typeof(FAAPlusMMCPosition))
{
PositionList.Add((FAAPlusMMCPosition)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 = (FAAPlusMMCPosition)listView.SelectedItem;
BindingPositionConfig(_position);
}
};
gridBase.Children.Add(listView);
Grid.SetColumn(listView, 1);
}
public void Initialize()
{
if (Part == null) return;
if (Unit != null && Unit != "")
{
labelCommandPosUnit.Content = Unit;
labelActualPosUnit.Content = Unit;
}
SetBindingObject(labelORG, BindingMode.OneWay, Part, Label.IsEnabledProperty, "Origin");
SetBindingObject(labelEZ, BindingMode.OneWay, Part, Label.IsEnabledProperty, "EncoderZ");
SetBindingObject(labelEMG, BindingMode.OneWay, Part, Label.IsEnabledProperty, "Emergency");
SetBindingObject(labelINP, BindingMode.OneWay, Part, Label.IsEnabledProperty, "InPosition");
SetBindingObject(labelARM, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ServoAlarm");
SetBindingObject(labelPOSLMT, BindingMode.OneWay, Part, Label.IsEnabledProperty, "PositiveLimit");
SetBindingObject(labelNEGLMT, BindingMode.OneWay, Part, Label.IsEnabledProperty, "NegativeLimit");
SetBindingObject(labelRUN, BindingMode.OneWay, Part, Label.IsEnabledProperty, "RunFlag");
SetBindingObject(labelERR, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ErrorFlag");
SetBindingObject(labelHOME, BindingMode.OneWay, Part, Label.IsEnabledProperty, "HomeFlag");
SetBindingObject(labelSON, BindingMode.OneWay, Part, Label.IsEnabledProperty, "ServoOn");
SetBindingObject(labelCommandPos, BindingMode.OneWay, Part, Label.ContentProperty, "CommandPos");
SetBindingObject(labelActualPos, BindingMode.OneWay, Part, Label.ContentProperty, "ActualPos");
SetBindingObject(textBoxJogSpeed, BindingMode.TwoWay, Part, TextBox.TextProperty, "JogMoveSpeed");
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(FAAPlusMMCPosition position)
{
SetBindingObject(textBoxPosition, BindingMode.TwoWay, position, TextBox.TextProperty, "Position");
SetBindingObject(textBoxStartSpeed, BindingMode.TwoWay, position, TextBox.TextProperty, "StartSpeed");
SetBindingObject(textBoxMoveSpeed, BindingMode.TwoWay, position, TextBox.TextProperty, "DriveSpeed");
SetBindingObject(textBoxAccTime, BindingMode.TwoWay, position, TextBox.TextProperty, "AccelTime");
SetBindingObject(textBoxDecTime, BindingMode.TwoWay, position, TextBox.TextProperty, "DeaccelTime");
}
public void MovePosition(FAAPlusMMCPosition positionDefine)
{
if (SimulationMode)
{
ServoOn = true;
CommandPos = positionDefine.Position;
ActualPos = CommandPos;
MotionDone = true;
}
else
{
if (MotionDone && IsInPosition(positionDefine))
return;
else
{
positionDefine.CopyTo(TargetPosition);
Device.MovePos(AxisNo,
(int)(positionDefine.Position / Scale),
SpeedMode,
(uint)(positionDefine.StartSpeed / Scale),
(uint)(positionDefine.DriveSpeed / Scale),
positionDefine.AccelTime,
positionDefine.DeaccelTime);
}
}
}
private void BindingPositionConfig(FAAPlusMMCPosition position)
{
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxPosition, BindingMode.OneWay, position, TextBox.TextProperty, "Position");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxStartSpeed, BindingMode.OneWay, position, TextBox.TextProperty, "StartSpeed");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxMoveSpeed, BindingMode.OneWay, position, TextBox.TextProperty, "DriveSpeed");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxAccTime, BindingMode.OneWay, position, TextBox.TextProperty, "AccelTime");
FAFramework.Utility.BindingUtility.SetBindingObject(textBoxDecTime, BindingMode.OneWay, position, TextBox.TextProperty, "DeaccelTime");
}
