1revise axis run timeout

2revise robot view

PunkHPX8_RT/Devices/AXIS/Kollmorgen/KollmorgenProfilePositionRoutine.cs

@@ -59,7 +59,7 @@ namespace PunkHPX8_RT.Devices.AXIS.Kollmorgen
                 .Run(ProfilePositionStep.WriteProfileParameter, () => { return WriteProfileParameter(); }, NullFun, 100)
                 .Run(ProfilePositionStep.WriteProfilePositionControlWord, () => { return _beckhoffCommonAxis.WriteControlWord(0x3F); }, () => { return CheckControlWord(0x3F); }, 1000)  //控制字 0x2F ->  0x3F  0010 0000 -> 0011 0000  位4->由0变1，实现 new setpotint
                 .Delay(ProfilePositionStep.Delay, 1000)
-                .WaitWithStopCondition(ProfilePositionStep.CheckRun, CheckRun, CheckRunStop)
+                .WaitWithStopCondition(ProfilePositionStep.CheckRun, CheckRun, CheckRunStop,24*60*60*1000)
                 .Run(ProfilePositionStep.NoneModeOfOperation, () => { return _beckhoffCommonAxis.WriteModeOfMode(AxisModeOfOperation.None); }, () => { return CheckModeOfOperation((byte)AxisModeOfOperation.None); }, 1000)
                 .Run(ProfilePositionStep.EnableOperation, () => { return _beckhoffCommonAxis.WriteControlWord(0x0F); }, () => { return CheckControlWord(0x0F); }, 1000)
                 .End(ProfilePositionStep.End, NullFun, 100);

PunkHPX8_RT/Devices/AXIS/Yaskawa/YaskawaProfilePositionRoutine.cs

@@ -60,7 +60,7 @@ namespace PunkHPX8_RT.Devices.AXIS.Yaskawa
                 .Run(ProfilePositionStep.WriteProfileParameter, () => { return WriteProfileParameter(); },NullFun,100)
                 .Run(ProfilePositionStep.WriteProfilePositionControlWord, () => { return _beckhoffCommonAxis.WriteControlWord(0x3F); }, () => { return CheckControlWord(0x3F); },1000)
                 .Delay(ProfilePositionStep.Delay,1000)
-                .WaitWithStopCondition(ProfilePositionStep.CheckRun,CheckRun,CheckRunStop)
+                .WaitWithStopCondition(ProfilePositionStep.CheckRun,CheckRun,CheckRunStop, 24 * 60 * 60 * 1000)
                 .Run(ProfilePositionStep.NoneModeOfOperation, () => { return _beckhoffCommonAxis.WriteModeOfMode(AxisModeOfOperation.None); },() => { return CheckModeOfOperation((byte)AxisModeOfOperation.None); },1000)
                 .Run(ProfilePositionStep.EnableOperation, () => { return _beckhoffCommonAxis.WriteControlWord(0x0F); }, () => { return CheckControlWord(0x0F); },1000)
                 .End(ProfilePositionStep.End,NullFun,100);

PunkHPX8_Themes/UserControls/RobotFrontView.xaml

@@ -38,7 +38,7 @@
                     </Grid.ColumnDefinitions>
                     <TextBlock Text="Upper" FontFamily="Arial" FontSize="12" Foreground="{DynamicResource FG_Black}" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,5,0,0"/>
                     <StackPanel Grid.Column="1" VerticalAlignment="Top" Margin="0,5,5,0">
-                        <ctrl:Slot ViewType="Front" AllowDrop="True" Cursor="Hand" DataContext="{Binding UnitData.WaferManager.Wafers[0], ElementName=self}" WaferStatus="{Binding WaferStatus}" SlotID="{Binding SlotID}" ModuleID="{Binding ModuleID}" SourceName="{Binding SourceName}" SlotMouseButtonDown="Slot_SlotMouseButtonDown" WaferTransferStarted="Slot_WaferTransferStarted"/>
+                        <ctrl:Slot ViewType="Front" AllowDrop="True" Cursor="Hand" DataContext="{Binding UnitData.WaferManager.Wafers[1], ElementName=self}" WaferStatus="{Binding WaferStatus}" SlotID="{Binding SlotID}" ModuleID="{Binding ModuleID}" SourceName="{Binding SourceName}" SlotMouseButtonDown="Slot_SlotMouseButtonDown" WaferTransferStarted="Slot_WaferTransferStarted"/>
                     </StackPanel>
 
                 </Grid>
@@ -66,7 +66,7 @@
                     </Grid.ColumnDefinitions>
                     <TextBlock Text="Down" FontFamily="Arial" FontSize="12" Foreground="{DynamicResource FG_Black}" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,5,0,0"/>
                     <StackPanel Grid.Column="1" VerticalAlignment="Top" Margin="0,5,5,0">
-                        <ctrl:Slot ViewType="Front" AllowDrop="True" Cursor="Hand" DataContext="{Binding UnitData.WaferManager.Wafers[1], ElementName=self}" WaferStatus="{Binding WaferStatus}" SlotID="{Binding SlotID}" ModuleID="{Binding ModuleID}" SourceName="{Binding SourceName}" SlotMouseButtonDown="Slot_SlotMouseButtonDown" WaferTransferStarted="Slot_WaferTransferStarted"/>
+                        <ctrl:Slot ViewType="Front" AllowDrop="True" Cursor="Hand" DataContext="{Binding UnitData.WaferManager.Wafers[0], ElementName=self}" WaferStatus="{Binding WaferStatus}" SlotID="{Binding SlotID}" ModuleID="{Binding ModuleID}" SourceName="{Binding SourceName}" SlotMouseButtonDown="Slot_SlotMouseButtonDown" WaferTransferStarted="Slot_WaferTransferStarted"/>
                     </StackPanel>