public void ConveyorIn(int timeoutSec = 30)
{
_mc.Jog(MotorConveyor, MotorConveyor.Velocity, MoveDirection.Positive);
var state = false;
var stopwatch = new Stopwatch();
stopwatch.Start();
do
{
if (stopwatch.ElapsedMilliseconds > timeoutSec * 1000)
{
_mc.Stop(MotorConveyor);
throw new Exception("Conveyor In timeout V laod tray station.");
}
state = GetInsideOpticalSensor();
} while (state == false);
_mc.Stop(MotorConveyor);
}
private double TouchAndFindPressureSensor(double touchPointHeight, int timeoutSec = 60)
{
double needleHeight = 0;
//Max down 0.5mm
touchPointHeight -= 0.5;
_mc.MoveToTarget(MotorZ, touchPointHeight);
var stopwatch = new Stopwatch();
stopwatch.Start();
do
{
//if (_mc.IsMoving(MotorZ) == false)
//{
// _mc.MoveToTargetRelative(MotorZ, -0.1);
// if (GetPosition(MotorZ)<=touchPointHeight)
// {
// throw new Exception("Find needle height timeout, maybe need to lower sensor: " + _coordinateId);
// }
//}
if (GetPressureValue() > NeedleTouchPressure)
{
_mc.Stop(MotorZ);
Delay(800);
needleHeight = _mc.GetPosition(MotorZ) + NeedleOnZHeightCompensation;
SetSpeed(1);
_mc.MoveToTargetRelativeTillEnd(MotorZ, 2);
return(needleHeight);
}
if (stopwatch.ElapsedMilliseconds > timeoutSec * 1000)
{
throw new Exception("Find needle height timeout, maybe need to lower sensor: " + _coordinateId);
}
} while (true);
}
public void WaitTillInterpolationEnd()
{
_mc.WaitTillInterpolationEnd(_coordinateId);
Delay(200);
_mc.Stop(MotorX);
}
