73 lines
1.4 KiB
C#
73 lines
1.4 KiB
C#
using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Device;
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using Aitex.Core.RT.Device.Unit;
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using Aitex.Core.RT.Routine;
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using Aitex.Core.RT.SCCore;
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using MECF.Framework.Common.Equipment;
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using System;
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namespace Mainframe.UnLoads
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{
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public class UnLoadLiftRoutine : UnLoadBaseRoutine
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{
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enum RoutineStep
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{
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LiftMove
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}
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private bool _pinUp;
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private int _liftMoveTimeOut = 30;
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public UnLoadLiftRoutine()
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{
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Name = "UnLoad Lift";
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}
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public void Init(bool isUp)
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{
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_pinUp = isUp;
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}
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public override Result Start(params object[] objs)
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{
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Reset();
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_liftMoveTimeOut = SC.GetValue<int>("UnLoad.LiftMoveTimeOut");
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Notify("Start");
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return Result.RUN;
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}
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public override Result Monitor()
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{
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try
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{
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//先动夹爪在动Lift
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LiftMove((int)RoutineStep.LiftMove, _pinUp, _liftMoveTimeOut);
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}
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catch (RoutineBreakException)
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{
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return Result.RUN;
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}
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catch (RoutineFaildException)
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{
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return Result.FAIL;
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}
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Notify("Finished");
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return Result.DONE;
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}
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public override void Abort()
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{
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}
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}
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}
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