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增加整机回原时，检测各轴的报警状态，如果有轴处于报警状态则不能整机回原

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master
lhiven 2 years ago
parent f7cdd1d6b3
commit 9a36edf53c
1 changed files with 26 additions and 11 deletions
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37
Rs.SkyLine/Flow/HomeFlow.cs
Unescape Escape View File

@ -1,5 +1,6 @@
using Rs.Controls;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
@ -168,17 +169,17 @@ namespace Rs.MotionPlat.Flow
break;
case 6://go to start position
Thread.Sleep(200);
AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), 4);
AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), 4);
AxisControl.NozzleR3.MovePos(SysConfigParam.GetValue<double>("NozzleR3StartPos"), 4);
AxisControl.NozzleR4.MovePos(SysConfigParam.GetValue<double>("NozzleR4StartPos"), 4);
AxisControl.NozzleR5.MovePos(SysConfigParam.GetValue<double>("NozzleR5StartPos"), 4);
AxisControl.NozzleR6.MovePos(SysConfigParam.GetValue<double>("NozzleR6StartPos"), 4);
AxisControl.NozzleR7.MovePos(SysConfigParam.GetValue<double>("NozzleR7StartPos"), 4);
AxisControl.NozzleR8.MovePos(SysConfigParam.GetValue<double>("NozzleR8StartPos"), 4);
AxisControl.NozzleR9.MovePos(SysConfigParam.GetValue<double>("NozzleR9StartPos"), 4);
AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), 4);
AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), 4);
AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR3.MovePos(SysConfigParam.GetValue<double>("NozzleR3StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR4.MovePos(SysConfigParam.GetValue<double>("NozzleR4StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR5.MovePos(SysConfigParam.GetValue<double>("NozzleR5StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR6.MovePos(SysConfigParam.GetValue<double>("NozzleR6StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR7.MovePos(SysConfigParam.GetValue<double>("NozzleR7StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR8.MovePos(SysConfigParam.GetValue<double>("NozzleR8StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR9.MovePos(SysConfigParam.GetValue<double>("NozzleR9StartPos"), GlobalVar.WholeSpeed);
AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
homeStep++;
break;
case 7:
@ -197,5 +198,19 @@ namespace Rs.MotionPlat.Flow
}
});
}
private string CheckCanHome()
{
List<string> list = new List<string>();
foreach(IAxis axis in AxisControl.GetAllAxis())
{
axis.GetAlarmStatus(out bool bAlarm);
if(bAlarm)
{
list.Add(axis.Config.AxisName);
}
}
return string.Join(",", list);
}
}
}

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