private List <MachineStep> CreateLoadToolStepSimple(State state, ToolChange.ToolChangeStep toolchangeStepData, bool openToolStore, bool closeToolStore)
{
var steps = new List <MachineStep>();
AddLoadToolSteps(state, toolchangeStepData.SinkPosition, toolchangeStepData.SourcePosition, steps);
return((steps.Count() > 0) ? steps : null);
}
private List <MachineStep> CreateLoadToolStep(State state, ToolChange.ToolChangeStep toolchangeStepData, bool openToolStore, bool closeToolStore)
{
bool resetGantry = (state.Axes.GantryY == Gantry.Second) ||
((state.Axes.GantryY == Gantry.First) && (Math.Abs(state.Axes.GantryStepY - _gantryToolchangeDistance) > 0.001));
bool moveGantry = resetGantry || (state.Axes.GantryY == Gantry.None);
bool setGantry = state.Axes.GantryY != Gantry.First;
bool moveSynchro = (state.Axes.GantryY == Gantry.First) && (Math.Abs(state.Axes.GantryStepY - _gantryToolchangeDistance) <= 0.001);
var steps = new List <MachineStep>();
if (resetGantry)
{
AddResetGantrySteps(state, steps);
}
if (moveGantry)
{
AddMoveGantrySteps(state, toolchangeStepData.SourcePosition, steps);
}
if (setGantry)
{
AddSetGantrySteps(state, steps);
}
if (moveSynchro)
{
AddMoveSynchroSteps(state, toolchangeStepData.SourcePosition, steps);
}
if (openToolStore)
{
AddOpenToolstore(state, steps);
}
AddPneumaticDown(state, steps);
AddMoveZDownStep(state, steps);
AddLoadToolSteps(state, toolchangeStepData.SinkPosition, toolchangeStepData.SourcePosition, steps);
if (closeToolStore)
{
AddCloseToolstore(state, steps);
}
AddMoveZUpStep(state, steps);
AddPneumaticUp(state, steps);
return((steps.Count() > 0) ? steps : null);
}