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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion.Base;
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using Rs.MotionPlat.Commom;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace Rs.MotionPlat.Flow
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{
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public class HomeFlow
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{
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ushort homeStep = 0;
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private static HomeFlow instace;
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private bool m_bCancle = false;
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private bool m_bHomed = false;
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private Stopwatch homeTime = new Stopwatch();
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public static HomeFlow Instance
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{
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get
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{
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if (instace == null)
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instace = new HomeFlow();
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return instace;
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}
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}
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public void CancleHome()
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{
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m_bCancle = true;
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}
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private HomeFlow() { }
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public void StartGoHome()
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{
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MachineManage.Instance.InitializeState = EInitializeState.Initializing ;
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homeStep = 0;
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m_bHomed = false;
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m_bCancle = false;
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Task.Run(() =>
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{
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while (!m_bCancle && !m_bHomed)
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{
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if(GlobalVar.VirtualAxis)
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{
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MachineManage.Instance.SetCenterMachineStatus(Commom.ERunStatus.Stopped);
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MessageQueue.Instance.Insert("Device home ok");
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MachineManage.Instance.SetLocalMachineStatus(EMachineStatus.Homed);
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MachineManage.Instance.InitializeState = EInitializeState.Initialized;
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m_bHomed = true;
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}
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else
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{
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switch (homeStep)
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{
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case 0://所有的Z轴回原
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string canGohome = CheckCanHome();
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if (!string.IsNullOrEmpty(canGohome))
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{
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Msg.ShowError($"轴{canGohome}处于报警状态，不能回原");
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MessageQueue.Instance.Warn($"轴{canGohome}处于报警状态，不能回原");
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m_bCancle = true;
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}
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else
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{
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MessageQueue.Instance.Insert("Z轴开始回零");
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homeTime.Restart();
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MachineManage.Instance.MachineStatus = EMachineStatus.Homing;
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//料仓Z轴回零
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AxisControl.GetAxis($"StockZ1").Home();
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AxisControl.GetAxis($"StockZ2").Home();
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AxisControl.GetAxis($"StockZ3").Home();
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AxisControl.GetAxis($"StockZ4").Home();
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AxisControl.GetAxis($"StockZ5").Home();
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AxisControl.GetAxis($"StockZ6").Home();
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if(NozzleManager.GetNozzle(1).Enable)
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{
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AxisControl.GetAxis($"NozzleZ1").Home();
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}
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if (NozzleManager.GetNozzle(2).Enable)
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{
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AxisControl.GetAxis($"NozzleZ2").Home();
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}
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if (NozzleManager.GetNozzle(3).Enable)
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{
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AxisControl.GetAxis($"NozzleZ3").Home();
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}
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if (NozzleManager.GetNozzle(4).Enable)
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{
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AxisControl.GetAxis($"NozzleZ4").Home();
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}
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if (NozzleManager.GetNozzle(5).Enable)
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{
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AxisControl.GetAxis($"NozzleZ5").Home();
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}
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if (NozzleManager.GetNozzle(6).Enable)
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{
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AxisControl.GetAxis($"NozzleZ6").Home();
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}
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if (NozzleManager.GetNozzle(7).Enable)
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{
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AxisControl.GetAxis($"NozzleZ7").Home();
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}
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if (NozzleManager.GetNozzle(8).Enable)
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{
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AxisControl.GetAxis($"NozzleZ8").Home();
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}
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//AxisControl.GetAxis($"NozzleZ9").Home();
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//保压Z轴回原
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AxisControl.PressZ.Home();
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//周转Z轴回原
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AxisControl.TurnoverZ.Home();
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homeStep++;
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}
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break;
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case 1://等待所有Z轴回原完成
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if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
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{
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if (Ops.AllZHomed() && Ops.IsHomed("StockZ1", "StockZ2", "StockZ3", "StockZ4", "StockZ5", "StockZ6", "PressZ", "TurnoverZ"))
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{
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MessageQueue.Instance.Insert("Z axis home finished!");
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homeStep++;
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}
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}
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else
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{
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AxisControl.GetAxis($"StockZ1").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ2").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ3").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ4").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ5").Abort_Go_Home();
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AxisControl.GetAxis($"StockZ6").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ1").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ2").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ3").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ4").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ5").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ6").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ7").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleZ8").Abort_Go_Home();
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//AxisControl.GetAxis($"NozzleZ9").Abort_Go_Home();
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//保压Z轴回原
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AxisControl.PressZ.Abort_Go_Home();
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//周转Z轴回原
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AxisControl.TurnoverZ.Abort_Go_Home();
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MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
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MessageQueue.Instance.Insert("Device home fail");
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CancleHome();
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}
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break;
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//case 2:
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// AxisControl.TurnoverZ.MovePos(0.22, GlobalVar.WholeSpeed);
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// AxisControl.PressZ.MovePos(0.2, GlobalVar.WholeSpeed);
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// homeStep++;
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// break;
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//case 3:
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// if (Ops.IsStop("TurnoverZ", "PressZ"))
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// {
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// Thread.Sleep(100);
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// homeStep++;
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// }
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// break;
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case 2://XY回零
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MessageQueue.Instance.Insert("x y r go home");
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if(NozzleManager.GetNozzle(1).Enable)
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{
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AxisControl.GetAxis($"NozzleR1").Home();
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}
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if (NozzleManager.GetNozzle(2).Enable)
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{
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AxisControl.GetAxis($"NozzleR2").Home();
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}
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if (NozzleManager.GetNozzle(3).Enable)
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{
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AxisControl.GetAxis($"NozzleR3").Home();
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}
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if (NozzleManager.GetNozzle(4).Enable)
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{
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AxisControl.GetAxis($"NozzleR4").Home();
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}
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if (NozzleManager.GetNozzle(5).Enable)
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{
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AxisControl.GetAxis($"NozzleR5").Home();
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}
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if (NozzleManager.GetNozzle(6).Enable)
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{
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AxisControl.GetAxis($"NozzleR6").Home();
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}
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if (NozzleManager.GetNozzle(7).Enable)
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{
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AxisControl.GetAxis($"NozzleR7").Home();
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}
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if (NozzleManager.GetNozzle(8).Enable)
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{
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AxisControl.GetAxis($"NozzleR8").Home();
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}
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//AxisControl.GetAxis($"NozzleR9").Home();
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AxisControl.LoadX.Home();
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AxisControl.LoadY.Home();
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AxisControl.TurnoverX.Home();
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AxisControl.TurnoverY.Home();
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homeStep++;
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break;
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case 3:
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if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
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{
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if (Ops.IsHomed("LoadX", "LoadY", "TurnoverX", "TurnoverY") && Ops.AllRHomed())
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{
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homeStep++;
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}
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}
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else
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{
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AxisControl.GetAxis($"NozzleR1").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR2").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR3").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR4").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR5").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR6").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR7").Abort_Go_Home();
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AxisControl.GetAxis($"NozzleR8").Abort_Go_Home();
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//AxisControl.GetAxis($"NozzleR9").Abort_Go_Home();
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AxisControl.LoadX.Abort_Go_Home();
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AxisControl.LoadY.Abort_Go_Home();
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AxisControl.TurnoverX.Abort_Go_Home();
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AxisControl.TurnoverY.Abort_Go_Home();
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MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
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MessageQueue.Instance.Insert("Device home fail");
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CancleHome();
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}
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break;
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case 4://go to start position
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Thread.Sleep(200);
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if(NozzleManager.GetNozzle(1).Enable)
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{
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AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(2).Enable)
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{
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AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(3).Enable)
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{
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AxisControl.NozzleR3.MovePos(SysConfigParam.GetValue<double>("NozzleR3StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(4).Enable)
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{
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AxisControl.NozzleR4.MovePos(SysConfigParam.GetValue<double>("NozzleR4StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(5).Enable)
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{
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AxisControl.NozzleR5.MovePos(SysConfigParam.GetValue<double>("NozzleR5StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(6).Enable)
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{
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AxisControl.NozzleR6.MovePos(SysConfigParam.GetValue<double>("NozzleR6StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(7).Enable)
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{
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AxisControl.NozzleR7.MovePos(SysConfigParam.GetValue<double>("NozzleR7StartPos"), GlobalVar.WholeSpeed);
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}
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if (NozzleManager.GetNozzle(8).Enable)
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{
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AxisControl.NozzleR8.MovePos(SysConfigParam.GetValue<double>("NozzleR8StartPos"), GlobalVar.WholeSpeed);
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}
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//AxisControl.NozzleR9.MovePos(SysConfigParam.GetValue<double>("NozzleR9StartPos"), GlobalVar.WholeSpeed);
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AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
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AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
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homeStep++;
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break;
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case 5:
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if (Ops.IsStop("LoadX", "LoadY", "NozzleR1", "NozzleR2", "NozzleR3", "NozzleR4", "NozzleR5", "NozzleR6", "NozzleR7", "NozzleR8"))
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{
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MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);
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MessageQueue.Instance.Insert("Device home ok");
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MachineManage.Instance.MachineStatus = EMachineStatus.Homed;
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m_bHomed = true;
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MachineManage.Instance.InitializeState = EInitializeState.Initialized;
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}
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break;
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default:
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break;
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}
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}
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}
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});
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}
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private string CheckCanHome()
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{
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List<string> list = new List<string>();
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foreach(IAxis axis in AxisControl.GetAllAxis())
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{
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axis.GetAlarmStatus(out bool bAlarm);
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if(bAlarm)
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{
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list.Add(axis.Config.AxisName);
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}
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}
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return string.Join(",", list);
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}
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}
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}
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