private Result SvValveDoPurge(SvValve valve)
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Result result = Result.OK;
PointD purgeCentor = Machine.Instance.Robot.CalibPrm.PurgeLoc.ToNeedle(valve.ValveType);
double r = valve.Prm.PrePurgeRadius;
double rHalf = r * 0.5;
double rHalfSqrt3 = r * Math.Sqrt(3) * 0.5;
PointD[] pts = new PointD[]
{
new PointD(purgeCentor.X + r, purgeCentor.Y),
new PointD(purgeCentor.X + rHalf, purgeCentor.Y + rHalfSqrt3),
new PointD(purgeCentor.X - rHalf, purgeCentor.Y + rHalfSqrt3),
new PointD(purgeCentor.X - r, purgeCentor.Y),
new PointD(purgeCentor.X - rHalf, purgeCentor.Y - rHalfSqrt3),
new PointD(purgeCentor.X + rHalf, purgeCentor.Y - rHalfSqrt3)
};
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PurgeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
if (valve.Prm.EnablePrePurgeVaccum)
{
DoType.真空清洗.Set(true);
}
Thread.Sleep(TimeSpan.FromSeconds(valve.Prm.PrePurgeDelay));
valve.Spraying();
for (int i = 0; i < valve.Prm.PrePurgeCount; i++)
{
foreach (PointD pt in pts)
{
Machine.Instance.Robot.MovePosXYAndReply(pt);
}
}
result = Machine.Instance.Robot.MovePosXYAndReply(Machine.Instance.Robot.CalibPrm.PurgeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
if (valve.Prm.EnablePrePurgeVaccum)
{
DoType.真空清洗.Set(false);
}
valve.SprayOff();
return(Machine.Instance.Robot.MoveSafeZAndReply());
}
private Result SvValveDoPrime(SvValve valve)
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
//排胶
Result result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PrimeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
valve.Spraying();
Thread.Sleep(valve.Prm.PrimeTime);
valve.SprayOff();
return(Machine.Instance.Robot.MoveSafeZAndReply());
}
