protected override void Reset(ClassErrorHandle err)
{
AxisTransPNPX.ServoOn = true;
AxisTransPNPX.SetZero();
if (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("气缸无法上移");
}
if (err.NoError)
{
AxisTransPNPX.HomeFinish = true;
AxisTransPNPX.NeedToCheckSafety = false;
double speed = AxisTransPNPX.DefaultSpeed;
AxisTransPNPX.DefaultSpeed = Math.Abs(AxisTransPNPX.JogSpeed);
AxisTransPNPX.StepMove(-80);
AxisTransPNPX.DefaultSpeed = speed;
AxisTransPNPX.NeedToCheckSafety = true;
err.CollectErrInfo(AxisTransPNPX.Home(EnumPointPNPX.Unload.ToString()));
}
for (int i = 0; i < CELLCOUNT; i++)
{
TransLoadDataStations[i].CellData = null;
TransUnloadDataStations[i].CellData = null;
}
}
protected string MotorReset(CAxisBase axis, object StartPos)
{
//if (axis.HomeFinish)
//{
// if (!axis.MoveTo(StartPos)) return DispMotionError(axis, StartPos).Message;
//}
//else
return(axis.Home(StartPos.ToString()));
}
protected override void Reset(ClassErrorHandle err)
{
AxisTopAlignBottom.ServoOn = true;
AxisTopAlignSide.ServoOn = true;
AxisTopAlignTop.ServoOn = true;
AxisTopAlignXSide.ServoOn = true;
AxisTopAlignZClamp.ServoOn = true;
Cylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
Cylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
Cylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!Cylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("左气缸无法上移");
}
if (!Cylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("中气缸无法上移");
}
if (!Cylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("右气缸无法上移");
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignZClamp.Home());
}
if (err.NoError)
{
AxisTopAlignTop.HomeFinish = true;
AxisTopAlignTop.MoveTo(-10000);
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignTop.Home());
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignXSide.Home(EnumPointX.Idle.ToString()));
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignBottom.Home());
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignSide.Home());
}
for (int i = 0; i < CELLCOUNT; i++)
{
TopAlignDataStations[i].CellData = null;
}
}
