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8个轴同时回原改为单个回原

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master
lhiven 1 year ago
parent e6533555f6
commit de8a4053fb
1 changed files with 78 additions and 83 deletions
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123
Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs
Unescape Escape View File

@ -32,97 +32,92 @@ namespace Rs.MotionPlat.Flow.SubFlow
return instance;
}
}
private ManualResetEvent homeFinished = new ManualResetEvent(true);
private EZRHomeFlowStep step = EZRHomeFlowStep.StartHome;
bool finished = true;
bool finished = false;
public void GoHome()
public void GoHome(int homeIndex)
{
step = EZRHomeFlowStep.StartHome;
if (finished)
{
homeFinished.Reset();
finished = false;
}
else
return;
Task.Run(() => {
step = EZRHomeFlowStep.StartHome;
while (!finished)
{
switch (step)
{
case EZRHomeFlowStep.StartHome:
AxisControl.NozzleZ1.Home();
AxisControl.NozzleZ2.Home();
AxisControl.NozzleZ3.Home();
AxisControl.NozzleZ4.Home();
AxisControl.NozzleZ5.Home();
AxisControl.NozzleZ6.Home();
AxisControl.NozzleZ7.Home();
AxisControl.NozzleZ8.Home();
//获取Z轴
AxisControl.GetAxis($"NozzleZ{homeIndex}").Home();
AxisControl.GetAxis($"NozzleR{homeIndex}").Home();
//AxisControl.NozzleZ1.Home();
//AxisControl.NozzleZ2.Home();
//AxisControl.NozzleZ3.Home();
//AxisControl.NozzleZ4.Home();
//AxisControl.NozzleZ5.Home();
//AxisControl.NozzleZ6.Home();
//AxisControl.NozzleZ7.Home();
//AxisControl.NozzleZ8.Home();
AxisControl.NozzleR1.Home();
AxisControl.NozzleR2.Home();
AxisControl.NozzleR3.Home();
AxisControl.NozzleR4.Home();
AxisControl.NozzleR5.Home();
AxisControl.NozzleR6.Home();
AxisControl.NozzleR7.Home();
AxisControl.NozzleR8.Home();
//AxisControl.NozzleR1.Home();
//AxisControl.NozzleR2.Home();
//AxisControl.NozzleR3.Home();
//AxisControl.NozzleR4.Home();
//AxisControl.NozzleR5.Home();
//AxisControl.NozzleR6.Home();
//AxisControl.NozzleR7.Home();
//AxisControl.NozzleR8.Home();
step = EZRHomeFlowStep.WaitHomed;
Thread.Sleep(1000);
break;
case EZRHomeFlowStep.WaitHomed:
if(AxisControl.NozzleZ1.HomeStatus== EHomeStatus.Finished
&& AxisControl.NozzleZ2.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleZ3.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleZ4.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleZ5.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleZ6.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleZ7.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleZ8.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR1.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR2.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR3.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR4.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR5.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR6.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR7.HomeStatus == EHomeStatus.Finished
&& AxisControl.NozzleR8.HomeStatus == EHomeStatus.Finished)
//if(AxisControl.NozzleZ1.HomeStatus== EHomeStatus.Finished
// && AxisControl.NozzleZ2.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleZ3.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleZ4.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleZ5.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleZ6.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleZ7.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleZ8.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR1.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR2.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR3.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR4.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR5.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR6.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR7.HomeStatus == EHomeStatus.Finished
// && AxisControl.NozzleR8.HomeStatus == EHomeStatus.Finished)
if (AxisControl.GetAxis($"NozzleZ{homeIndex}").HomeStatus == EHomeStatus.Finished
&& AxisControl.GetAxis($"NozzleR{homeIndex}").HomeStatus == EHomeStatus.Finished)
{
step = EZRHomeFlowStep.GoStartPos;
}
break;
case EZRHomeFlowStep.GoStartPos:
for(int i=1;i<9;i++)
{
double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{i}StartPos");
AxisControl.GetAxis($"NozzleR{i}").MovePos(targetPos, GlobalVar.WholeSpeed);
}
//for(int i=1;i<9;i++)
//{
// double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{i}StartPos");
// AxisControl.GetAxis($"NozzleR{i}").MovePos(targetPos, GlobalVar.WholeSpeed);
//}
double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{homeIndex}StartPos");
AxisControl.GetAxis($"NozzleR{homeIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
step = EZRHomeFlowStep.WaitArrivedStartPos;
Thread.Sleep(100);
break;
case EZRHomeFlowStep.WaitArrivedStartPos:
if(Ops.IsStop("NozzleR1")
&& Ops.IsStop("NozzleR2")
&& Ops.IsStop("NozzleR3")
&& Ops.IsStop("NozzleR4")
&& Ops.IsStop("NozzleR5")
&& Ops.IsStop("NozzleR6")
&& Ops.IsStop("NozzleR7")
&& Ops.IsStop("NozzleR8"))
//if(Ops.IsStop("NozzleR1")
// && Ops.IsStop("NozzleR2")
// && Ops.IsStop("NozzleR3")
// && Ops.IsStop("NozzleR4")
// && Ops.IsStop("NozzleR5")
// && Ops.IsStop("NozzleR6")
// && Ops.IsStop("NozzleR7")
// && Ops.IsStop("NozzleR8"))
if (Ops.IsStop($"NozzleR{homeIndex}"))
{
finished = true;
homeFinished.Set();
}
break;
}
Thread.Sleep(10);
}
});
}
public bool Wait()
{
return homeFinished.WaitOne();
}
}
}

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