update galil axis

CyberX8_RT/Config/Devices/FestoControllerCfg.xml

@@ -1,5 +1,121 @@
 <?xml version="1.0" encoding="utf-8"?>
 <FestoControllerConfig>
+	<FestoDeviceConfig Name="Festo1" IpAddress="10.0.0.40" Port="502" SendTimeout="2000" RecvTimeout="2000" DIStartAddress="45395" Channel="1">
+		<DO Name="c_METAL1_CIRCULATION"  Address="40003" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO1"  Address="40003" Invert="false" Bit="1"/>
+		<DO Name="c_METAL2_CIRCULATION"  Address="40003" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO3"  Address="40003" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO4"  Address="40003" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO5"  Address="40003" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO6"  Address="40003" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO7"  Address="40003" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO8"  Address="40004" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO9"  Address="40004" Invert="false" Bit="1"/>
+		<DO Name="c_QDRD1_DI_FILL" Address="40004" Invert="false" Bit="2"/>
+		<DO Name="c_QDRD1_DUMP" Address="40004" Invert="false" Bit="3"/>
+		<DO Name="c_RESERVOIR1_DI_REPLEN" Address="40004" Invert="false" Bit="4"/>
+		<DO Name="c_QDRD2_DI_FILL" Address="40004" Invert="false" Bit="5"/>
+		<DO Name="c_QDRD2_DUMP" Address="40004" Invert="false" Bit="6"/>
+		<DO Name="c_RESERVOIR2_DI_REPLEN" Address="40004" Invert="false" Bit="7"/>
+		<DO Name="c_QDRD3_DI_FILL" Address="40005" Invert="false" Bit="0"/>
+		<DO Name="c_QDRD3_DUMP" Address="40005" Invert="false" Bit="1"/>
+		<DO Name="c_RESERVOIR3_DI_REPLEN" Address="40005" Invert="false" Bit="2"/>
+		<DO Name="c_PH2_FLOW_VALVE" Address="40005" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO20" Address="40005" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO21" Address="40005" Invert="false" Bit="5"/>
+		<DO Name="c_FILTER_PURGE_ENABLE" Address="40005" Invert="false" Bit="6"/>
+		<DO Name="c_SAMPLE_SYSTEM_ENABLE" Address="40005" Invert="false" Bit="7"/>
+		<DO Name="c_QDRD1_WH_CLAMP" Address="40006" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO25" Address="40006" Invert="false" Bit="1"/>
+		<DO Name="c_METAL1_WH_CLAMP" Address="40006" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO27" Address="40006" Invert="false" Bit="3"/>
+		<DO Name="c_QDRD2_WH_CLAMP" Address="40006" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO29" Address="40006" Invert="false" Bit="5"/>
+		<DO Name="c_METAL2_WH_CLAMP" Address="40006" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO31" Address="40006" Invert="false" Bit="7"/>
+		<DO Name="c_QDRD3_WH_CLAMP" Address="40007" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO33" Address="40007" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO34" Address="40007" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO35" Address="40007" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO36" Address="40007" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO37" Address="40007" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO38" Address="40007" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO39" Address="40007" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO40" Address="40008" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO41" Address="40008" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO42" Address="40008" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO43" Address="40008" Invert="false" Bit="3"/>
+		<DO Name="c_QDRD1_MDRAIN" Address="40008" Invert="false" Bit="4"/>
+		<DO Name="c_QDRD2_MDRAIN" Address="40008" Invert="false" Bit="5"/>
+		<DO Name="c_QDRD3_MDRAIN" Address="40008" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO47" Address="40008" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO48" Address="40009" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO49" Address="40009" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO50" Address="40009" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO51" Address="40009" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO52" Address="40009" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO53" Address="40009" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO54" Address="40009" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO55" Address="40009" Invert="false" Bit="7"/>
+	</FestoDeviceConfig>
+	<FestoDeviceConfig Name="Festo2" IpAddress="10.0.0.41" Port="502" SendTimeout="2000" RecvTimeout="2000" DIStartAddress="45395" Channel="1">
+		<DO Name="c_QDRD4_DI_FILL"  Address="40003" Invert="false" Bit="0"/>
+		<DO Name="c_QDRD4_DUMP"  Address="40003" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO2"  Address="40003" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO3"  Address="40003" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO4"  Address="40003" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO5"  Address="40003" Invert="false" Bit="5"/>
+		<DO Name="c_RESERVOIR4_DI_REPLEN"  Address="40003" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO7"  Address="40003" Invert="false" Bit="7"/>
+		<DO Name="c_METAL3_CIRCULATION"  Address="40004" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO9"  Address="40004" Invert="false" Bit="1"/>
+		<DO Name="c_METAL4_CIRCULATION" Address="40004" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO11" Address="40004" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO12" Address="40004" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO13" Address="40004" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO14" Address="40004" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO15" Address="40004" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO16" Address="40005" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO17" Address="40005" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO18" Address="40005" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO19" Address="40005" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO20" Address="40005" Invert="false" Bit="4"/>
+		<DO Name="c_PREWET_DI_FILL" Address="40005" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO22" Address="40005" Invert="false" Bit="6"/>
+		<DO Name="c_SRD_DI_ENABLE" Address="40005" Invert="false" Bit="7"/>
+		<DO Name="c_METAL3_WH_CLAMP" Address="40006" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO25" Address="40006" Invert="false" Bit="1"/>
+		<DO Name="c_METAL4_WH_CLAMP" Address="40006" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO27" Address="40006" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO28" Address="40006" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO29" Address="40006" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO30" Address="40006" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO31" Address="40006" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO32" Address="40007" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO33" Address="40007" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO34" Address="40007" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO35" Address="40007" Invert="false" Bit="3"/>
+		<DO Name="c_QDRD4_WH_CLAMP" Address="40007" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO37" Address="40007" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO38" Address="40007" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO39" Address="40007" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO40" Address="40008" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO41" Address="40008" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO42" Address="40008" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO43" Address="40008" Invert="false" Bit="3"/>
+		<DO Name="c_QDRD4_MDRAIN" Address="40008" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO45" Address="40008" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO46" Address="40008" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO47" Address="40008" Invert="false" Bit="7"/>
+		<DO Name="Festo.DO48" Address="40009" Invert="false" Bit="0"/>
+		<DO Name="Festo.DO49" Address="40009" Invert="false" Bit="1"/>
+		<DO Name="Festo.DO50" Address="40009" Invert="false" Bit="2"/>
+		<DO Name="Festo.DO51" Address="40009" Invert="false" Bit="3"/>
+		<DO Name="Festo.DO52" Address="40009" Invert="false" Bit="4"/>
+		<DO Name="Festo.DO53" Address="40009" Invert="false" Bit="5"/>
+		<DO Name="Festo.DO54" Address="40009" Invert="false" Bit="6"/>
+		<DO Name="Festo.DO55" Address="40009" Invert="false" Bit="7"/>
+	</FestoDeviceConfig>
 	<FestoDeviceConfig Name="Festo3" IpAddress="10.0.0.42" Port="502" SendTimeout="2000" RecvTimeout="2000" DIStartAddress="45395" Channel="1">
 		<DO Name="c_Transporter_Clamp"  Address="40003" Invert="false" Bit="0"/>
 		<DO Name="Festo.DO1" Address="40003" Invert="false" Bit="1"/>

CyberX8_RT/Devices/AXIS/Galil/GalilHomeRoutine.cs

@@ -23,6 +23,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
             StartMotion,
             Delay,
             CheckHomingEnd,
+            DPDelay,
             DP,
             End
         }
@@ -58,6 +59,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
                 .Delay(HomeStep.Delay,500)
                 .WaitWithStopCondition(HomeStep.CheckHomingEnd, () => { 
                     return _axis.MotionData.StopCode == HOME_STOP_CODE&&!_axis.IsRun; },CheckErrorOrWarning,_timeout)
+                .Delay(HomeStep.DPDelay,1000)
                 .Run(HomeStep.DP, () => { return _axis.WriteDPZero(); }, _delay_1ms)
                 .End(HomeStep.End,NullFun,100);
             return Runner.Status;

CyberX8_RT/Devices/AXIS/Galil/GalilProfilePositionRoutine.cs

@@ -54,8 +54,8 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         public RState Monitor()
         {
             Runner.Run(ProfilePositionStep.WriteAcceleration, () => { return _axis.WriteAcceleration(_profileAcceleration); },_delay_1ms)
-                .Run(ProfilePositionStep.WriteDeceleration, () => { return _axis.WriteAcceleration(_profileDeceleration); }, _delay_1ms)
-                .Run(ProfilePositionStep.WriteSpeed, () => { return _axis.WriteAcceleration(_profileVelocity); }, _delay_1ms)
+                .Run(ProfilePositionStep.WriteDeceleration, () => { return _axis.WriteDeceleration(_profileDeceleration); }, _delay_1ms)
+                .Run(ProfilePositionStep.WriteSpeed, () => { return _axis.WriteSpeed(_profileVelocity); }, _delay_1ms)
                 .Run(ProfilePositionStep.WriteTargetPosition, () => { return _axis.WriteAbsolutePosition(_targetPosition); }, _delay_1ms)
                 .Run(ProfilePositionStep.StartMotion, () =>_axis.WriteStartMotion(), _delay_1ms)
                 .Delay(ProfilePositionStep.Delay,500)

CyberX8_RT/Devices/AXIS/Galil/GalilStopPositionRoutine.cs

@@ -75,7 +75,7 @@ namespace CyberX8_RT.Devices.AXIS.Galil
         {
             double scale = _rotationProviderAxis.ScaleFactor;
             _targetPosition = (int)Math.Ceiling(_axis.MotionData.MotorPosition * scale);
-            return _axis.WriteVariable(TARGET_POSITION, _targetPosition);
+            return _axis.WriteAbsolutePosition(_targetPosition);
         }
         public RState Start(params object[] objs)
         {

CyberX8_RT/Devices/AXIS/GalilLipsel/GalilLipselHomeRoutine.cs

@@ -28,6 +28,7 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
             ForwardMotion,
             StartForwardMotion,
             CheckForwardMotion,
+            DPDelay,
             DP,
             End
         }
@@ -80,6 +81,7 @@ namespace CyberX8_RT.Devices.AXIS.GalilLipsel
                 .Run(HomeStep.ForwardMotion, () => { return _axis.WriteReferencePosition(RIGHT_PR_POSITION); }, _delay_1ms)
                 .Run(HomeStep.StartForwardMotion, () => { return _axis.WriteStartMotion(); }, _delay_1ms)
                 .WaitWithStopCondition(HomeStep.CheckForwardMotion, CheckRightMotionEnd, CheckErrorOrWarning, _timeout)
+                .Delay(HomeStep.DPDelay, 1000)
                 .Run(HomeStep.DP, () => { return _axis.WriteDPZero(); }, _delay_1ms)
                 .End(HomeStep.End,NullFun,100);
             return Runner.Status;

CyberX8_RT/Devices/AXIS/JetAxisBase.cs

@@ -679,7 +679,8 @@ namespace CyberX8_RT.Devices.AXIS
         /// <param name="location"></param>
         private void MotionPositionChanged(int location)
         {
-            if (Math.Abs(location - _currentLocation)/_scaleFactor >= _stationAxis.ToleranceDefault)
+            if(Math.Round(Math.Abs(location - _currentLocation)/_scaleFactor, 2)>0)
+            //if (Math.Abs(location - _currentLocation)/_scaleFactor >= _stationAxis.ToleranceDefault)
             {
                 _currentLocation = location;
                 _runTime = DateTime.Now;

CyberX8_RT/Devices/Loader/LoaderCRSAxisInterLock.cs

@@ -50,9 +50,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is not home, Cannot execute GotoSavedPosition");
                 return false;
             }
-            if (_axis.IsRun)
+            if (_axis.Status==CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is running, Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
             return true;

CyberX8_RT/Devices/Loader/LoaderLoadRoutine.cs

@@ -538,23 +538,6 @@ namespace CyberX8_RT.Devices.Loader
                 NotifyError(eEvent.ERR_LOADER, "Drip Tray Fluid is on", -1);
                 return false;
             }
-
-            //Translate Bladder/High Pres,且Sensor处于Retracted
-            if (sideData.TransBladder)
-            {
-                NotifyError(eEvent.ERR_LOADER,  "TransBladder is on",-1);
-                return false;
-            }
-            if (sideData.TransHigh)
-            {
-                NotifyError(eEvent.ERR_LOADER,  "Trans High is on", -1);
-                return false;
-            }
-            if (!sideData.TransRetracted)
-            {
-                NotifyError(eEvent.ERR_LOADER,  "Translate Retracted is off",-1);
-                return false;
-            }
             //Wafer Shuttle Present
             if (!commonData.WaferHolderPresent)
             {

CyberX8_RT/Devices/Loader/LoaderRotationAxisInterLock.cs

@@ -67,9 +67,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleA Axis is null");
                 return false;
             }
-            if (shuttleAAxis.IsRun)
+            if (shuttleAAxis.Status==CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleA is running, Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleA status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
             //Loader ShuttleB
@@ -79,9 +79,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} ShuttleB Axis is null");
                 return false;
             }
-            if (shuttleBAxis.IsRun)
+            if (shuttleBAxis.Status== CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleB is running, Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} shuttleB status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
             //Loader TiltA
@@ -91,9 +91,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} TiltA Axis is null");
                 return false;
             }
-            if (tiltAAxis.IsRun)
+            if (tiltAAxis.Status== CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltA is running, Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltA status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
             //Loader TiltB
@@ -103,9 +103,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB Axis is null");
                 return false;
             }
-            if (tiltBAxis.IsRun)
+            if (tiltBAxis.Status==CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB is running, Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} tiltB status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
 

CyberX8_RT/Devices/Loader/LoaderShuttleAxisInterLock.cs

@@ -85,9 +85,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{rotationAxis.Module} is switch off");
                 return false;
             }
-            if (rotationAxis.IsRun)
+            if (rotationAxis.Status == CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module} rotation is running,Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} rotation status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
             GetLoaderSide();
@@ -110,9 +110,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{tiltAxis.Module} is switch off");
                 return false;
             }
-            if (tiltAxis.IsRun)
+            if (tiltAxis.Status==CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, "tilt is running,Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, "tilt status is running,Cannot execute GotoSavedPosition");
                 return false;
             }
             //Loader 的 TILT 轴在‘VERT’位

CyberX8_RT/Devices/Loader/LoaderSideBernoulliBladderRoutine.cs

@@ -74,7 +74,7 @@ namespace CyberX8_RT.Devices.AXIS.CANOpen
         /// <returns></returns>
         private bool CheckBernoulliBladder()
         {
-            return _loaderSide.SideData.BernoulliBladder == _bernoulliBladder && _loaderSide.SideData.BernoulliExtended == !_bernoulliBladder;
+            return _loaderSide.SideData.BernoulliBladder == _bernoulliBladder;
         }
         /// <summary>
         /// 启动

CyberX8_RT/Devices/Loader/LoaderSideWhBladderRoutine.cs

@@ -134,14 +134,7 @@ namespace CyberX8_RT.Devices.AXIS.CANOpen
         /// <returns></returns>
         private bool CheckWhBladder()
         {
-            if(_loaderSide.SideData.WHBladder==_whBladder)
-            {
-                return true;
-            }
-            else
-            {
-                return false;
-            }
+            return _loaderSide.SideData.WHBladder == _whBladder;
         }
         /// <summary>
         /// 启动

CyberX8_RT/Devices/Loader/LoaderTiltAxisInterLock.cs

@@ -57,9 +57,9 @@ namespace CyberX8_RT.Devices.Loader
                 LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is not home, Cannot execute GotoSavedPosition");
                 return false;
             }
-            if (_axis.IsRun)
+            if (_axis.Status==CyberX8_Core.RState.Running)
             {
-                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} is running, Cannot execute GotoSavedPosition");
+                LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Name} status is running, Cannot execute GotoSavedPosition");
                 return false;
             }
             //判断puf的rotation是否在home/flip/robot位置上
@@ -109,9 +109,9 @@ namespace CyberX8_RT.Devices.Loader
             }
             if (shuttleAxis != null)
             {
-                if (shuttleAxis.IsRun) //shuttle正在运动返回false
+                if (shuttleAxis.Status==CyberX8_Core.RState.Running) //shuttle正在运动返回false
                 {
-                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.{shuttleAxis.Name} is running,  Cannot execute GotoSavedPosition");
+                    LOG.WriteLog(eEvent.ERR_LOADER, Module, $"{Module}.{shuttleAxis.Name} status is running,  Cannot execute GotoSavedPosition");
                     return false;
                 }
                 shuttleAxisPosition = shuttleAxis.MotionData.MotorPosition;

CyberX8_RT/Modules/Loader/LoaderHomeAllRoutine.cs

@@ -28,20 +28,20 @@ namespace CyberX8_RT.Modules.Loader
         private enum HomeAllStep
         {
             CheckPreCondition,
+            ShuttleAHome,
+            WaitShuttleAHome,
             TiltAHome,
             WaitTiltAHome,
             TiltAGotoVERT,
             TiltAGotoVERTCheck,
-            TiltBHome,
-            WaitTiltBHome,
-            TiltBGotoVERT,
-            TiltBGotoVERTCheck,
-            ShuttleAHome,
-            WaitShuttleAHome,
             ShuttleAGotoMID,
             ShuttleAGotoMIDCheck,
             ShuttleBHome,
             WaitShuttleBHome,
+            TiltBHome,
+            WaitTiltBHome,
+            TiltBGotoVERT,
+            TiltBGotoVERTCheck,
             ShuttleBGotoMID,
             ShuttleBGotoMIDCheck,
             LSAHome,
@@ -96,22 +96,22 @@ namespace CyberX8_RT.Modules.Loader
         {
                 
             Runner.Run(HomeAllStep.CheckPreCondition, CheckPreCondition, _delay_1ms)
+                //Home Shuttle Goto MID
+                .Run(HomeAllStep.ShuttleAHome, () => { return _shuttleAAxis.Home(); }, _delay_1ms)
+                .WaitWithStopCondition(HomeAllStep.WaitShuttleAHome, () => { return _shuttleAAxis.Status == RState.End; }, () => { return _shuttleAAxis.Status == RState.Failed; })
                 //Home Tilt Goto VERT
                 .Run(HomeAllStep.TiltAHome, () => { return _tiltAAxis.Home(); },_delay_1ms)
                 .WaitWithStopCondition(HomeAllStep.WaitTiltAHome, () => { return _tiltAAxis.Status == RState.End; }, () => {return _tiltAAxis.Status == RState.Failed; })
                 .Run(HomeAllStep.TiltAGotoVERT, () => { return _tiltAAxis.PositionStation("VERT",true); },100)
                 .WaitWithStopCondition(HomeAllStep.TiltAGotoVERTCheck, () => { return _tiltAAxis.Status == RState.End; }, () => { return _tiltAAxis.Status == RState.Failed; })
+                .Run(HomeAllStep.ShuttleBHome, () => { return _shuttleBAxis.Home(); }, _delay_1ms)
+                .WaitWithStopCondition(HomeAllStep.WaitShuttleBHome, () => { return _shuttleBAxis.Status == RState.End; }, () => { return _shuttleBAxis.Status == RState.Failed; })
                 .Run(HomeAllStep.TiltBHome, () => { return _tiltBAxis.Home(); }, _delay_1ms)
                 .WaitWithStopCondition(HomeAllStep.WaitTiltBHome, () => { return _tiltBAxis.Status == RState.End; }, () => { return _tiltBAxis.Status == RState.Failed; })
                 .Run(HomeAllStep.TiltBGotoVERT, () => { return _tiltBAxis.PositionStation("VERT",true); }, 100)
                 .WaitWithStopCondition(HomeAllStep.TiltBGotoVERTCheck, () => { return _tiltBAxis.Status == RState.End; }, () => { return _tiltBAxis.Status == RState.Failed; })
-                //Home Shuttle Goto MID
-                .Run(HomeAllStep.ShuttleAHome, () => { return _shuttleAAxis.Home(); }, _delay_1ms)
-                .WaitWithStopCondition(HomeAllStep.WaitShuttleAHome, () => { return _shuttleAAxis.Status == RState.End; }, () => { return _shuttleAAxis.Status == RState.Failed; })
                 .Run(HomeAllStep.ShuttleAGotoMID, () => { return _shuttleAAxis.PositionStation("MID",true); }, 100)
                 .WaitWithStopCondition(HomeAllStep.ShuttleAGotoMIDCheck, () => { return _shuttleAAxis.Status == RState.End; }, () => { return _shuttleAAxis.Status == RState.Failed; })
-                .Run(HomeAllStep.ShuttleBHome, () => { return _shuttleBAxis.Home(); }, _delay_1ms)
-                .WaitWithStopCondition(HomeAllStep.WaitShuttleBHome, () => { return _shuttleBAxis.Status == RState.End; }, () => { return _shuttleBAxis.Status == RState.Failed; })
                 .Run(HomeAllStep.ShuttleBGotoMID, () => { return _shuttleBAxis.PositionStation("MID", true); }, 100)
                 .WaitWithStopCondition(HomeAllStep.ShuttleBGotoMIDCheck, () => { return _shuttleBAxis.Status == RState.End; }, () => { return _shuttleBAxis.Status == RState.Failed; })                               
                 //Home LS Goto Setup

Framework/Common/Device/Galil/GalilTcpDevice.cs

@@ -56,7 +56,7 @@ namespace MECF.Framework.Common.Device.Galil
             _module = module;
             _ip = ip;
             _port = port;
-            _periodicJob = new PeriodicJob(200, OnTimer, $"Galil {_module} timer", false, true);
+            _periodicJob = new PeriodicJob(20, OnTimer, $"Galil {_module} timer", false, true);
         }
         /// <summary>
         /// 定时器执行