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This commit is contained in:
Lucio Maranta
2018-11-29 12:51:16 +00:00
parent 6275f1eca5
commit 7dbf5f8432
2 changed files with 138 additions and 100 deletions
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CMS_CORE_Library/Fanuc/Nc_Fanuc.cs
+135 -97
View File
@@ -2682,9 +2682,9 @@ namespace CMS_CORE_Library.Fanuc
if (cmsError.IsError())
return cmsError;
// Read data -> 10 status, 10 magazine position numbers
// Read data -> 5 status word (10 byte), 10 magazine max position word
List<ushort> readShorts = new List<ushort>();
cmsError = MEM_RWWordList(R, 0, MAGAZINE_TYPES.MemType, MAGAZINE_TYPES.Address, 20, ref readShorts);
cmsError = MEM_RWWordList(R, 0, MAGAZINE_TYPES.MemType, MAGAZINE_TYPES.Address, 15, ref readShorts);
if (cmsError.IsError())
return cmsError;
@@ -2695,12 +2695,12 @@ namespace CMS_CORE_Library.Fanuc
config = new List<NcMagazineConfigModel>();
for (int i = 0; i < 10; i++)
{
// Check if there are positions
if (types[i + 20] > 0)
// Check if there are positions (skip the 5 status word)
if (readShorts[i + 5] > 0)
config.Add(new NcMagazineConfigModel()
{
Id = (byte)(i + 1),
MaxPositions = types[i + 20],
MaxPositions = readShorts[i + 5],
Type = (NC_MAGAZINE_TYPE)types[i]
});
}
@@ -2870,26 +2870,6 @@ namespace CMS_CORE_Library.Fanuc
List<int> newMemoryValues = TOOLS_CreateNewToolTableMemoryData(toolsList, TOOL_TABLE_INDEX);
// Write in memory
return MEM_RWIntegerList(W, 0, TOOL_TABLE_INDEX.MemType, TOOL_TABLE_INDEX.Address, newMemoryValues.Count(), ref newMemoryValues);
//List<int> zeros = Enumerable.Repeat(0, TOOL_TABLE_INDEX.Size / 4).ToList();
//CmsError cmsError = MEM_RWIntegerList(W, 0, TOOL_TABLE_INDEX.MemType, TOOL_TABLE_INDEX.Address, TOOL_TABLE_INDEX.Size / 4, ref zeros);
//if (cmsError.IsError())
// return cmsError;
//foreach (NcToolModel tool in toolsList)
//{
// // Get the offset of the id in the memory
// cmsError = TOOLS_RPositionOfNextShortId(tool.ToolId, TOOL_TABLE_INDEX.Address, out int offset);
// if (cmsError.IsError())
// return cmsError;
// // Write object in memory
// cmsError = TOOLS_WObjectInMemory(tool, TOOL_TABLE_INDEX.Address, offset);
// if (cmsError.IsError())
// return cmsError;
//}
//return NO_ERROR;
}
public override CmsError TOOLS_WUpdateFamilies(List<NcFamilyModel> familyList)
@@ -2903,26 +2883,6 @@ namespace CMS_CORE_Library.Fanuc
List<int> newMemoryValues = TOOLS_CreateNewToolTableMemoryData(familyList, FAMILY_TABLE_INDEX);
return MEM_RWIntegerList(W, 0, FAMILY_TABLE_INDEX.MemType, FAMILY_TABLE_INDEX.Address, newMemoryValues.Count(), ref newMemoryValues);
//List<int> zeros = Enumerable.Repeat(0, FAMILY_TABLE_INDEX.Size / 4).ToList();
//CmsError cmsError = MEM_RWIntegerList(W, 0, FAMILY_TABLE_INDEX.MemType, FAMILY_TABLE_INDEX.Address, FAMILY_TABLE_INDEX.Size / 4, ref zeros);
//if (cmsError.IsError())
// return cmsError;
//foreach (NcFamilyModel fam in familyList)
//{
// // Get the offset of the id in the memory
// cmsError = TOOLS_RPositionOfNextShortId(fam.FamilyId, FAMILY_TABLE_INDEX.Address, out int offset);
// if (cmsError.IsError())
// return cmsError;
// // Write object in memory
// cmsError = TOOLS_WObjectInMemory(fam, FAMILY_TABLE_INDEX.Address, offset);
// if (cmsError.IsError())
// return cmsError;
//}
//return NO_ERROR;
}
public override CmsError TOOLS_WUpdateShanks(List<NcShankModel> shankList)
@@ -2937,26 +2897,6 @@ namespace CMS_CORE_Library.Fanuc
// Write in memory
return MEM_RWIntegerList(W, 0, SHANK_TABLE_INDEX.MemType, SHANK_TABLE_INDEX.Address, newMemoryValues.Count(), ref newMemoryValues);
//List<int> zeros = Enumerable.Repeat(0, SHANK_TABLE_INDEX.Size / 4).ToList();
//CmsError cmsError = MEM_RWIntegerList(W, 0, SHANK_TABLE_INDEX.MemType, SHANK_TABLE_INDEX.Address, SHANK_TABLE_INDEX.Size / 4, ref zeros);
//if (cmsError.IsError())
// return cmsError;
//foreach (NcShankModel shank in shankList)
//{
// // Get the offset of the id in the memory
// cmsError = TOOLS_RPositionOfNextShortId(shank.ShankId, SHANK_TABLE_INDEX.Address, out int offset);
// if (cmsError.IsError())
// return cmsError;
// // Write object in memory
// cmsError = TOOLS_WObjectInMemory(shank, SHANK_TABLE_INDEX.Address, offset);
// if (cmsError.IsError())
// return cmsError;
//}
// return NO_ERROR;
}
public override CmsError TOOLS_WUpdateMagazinePositions(List<NcMagazinePositionModel> magPosList)
@@ -2968,28 +2908,9 @@ namespace CMS_CORE_Library.Fanuc
return cmsError;
// Create new values of the magazine positions table
List<int> newMemoryValues = TOOLS_CreateNewToolTableMemoryData(magPosList, MAG_POS_TABLE_INDEX);
// Write in memory
return MEM_RWIntegerList(W, 0, MAG_POS_TABLE_INDEX.MemType, MAG_POS_TABLE_INDEX.Address, newMemoryValues.Count(), ref newMemoryValues);
//List<int> zeros = Enumerable.Repeat(0, SHANK_TABLE_INDEX.Size / 4).ToList();
//CmsError cmsError = MEM_RWIntegerList(W, 0, MAG_POS_TABLE_INDEX.MemType, MAG_POS_TABLE_INDEX.Address, MAG_POS_TABLE_INDEX.Size / 4, ref zeros);
//if (cmsError.IsError())
// return cmsError;
//foreach (NcMagazinePositionModel pos in magPosList)
//{
// // Get the offset of the id in the memory
// cmsError = TOOLS_RPositionOfNextByteId(pos.PositionId, MAG_POS_TABLE_INDEX.Address, out int offset);
// if (cmsError.IsError())
// return cmsError;
// // Write object in memory
// cmsError = TOOLS_WObjectInMemory(pos, MAG_POS_TABLE_INDEX.Address, offset);
// if (cmsError.IsError())
// return cmsError;
//}
//return NO_ERROR;
}
public override CmsError TOOLS_WStartEditTooling(int magazineId)
@@ -3056,6 +2977,82 @@ namespace CMS_CORE_Library.Fanuc
public override CmsError TOOLS_RUpdatedToolsData(ref Dictionary<int, byte> updatedStatus, ref Dictionary<int, uint> updatedLives)
{
// Check if the NC is Connected
CmsError cmsError = CheckConnection();
if (cmsError.IsError())
return cmsError;
updatedStatus = new Dictionary<int, byte>();
updatedLives = new Dictionary<int, uint>();
// Read 20 bit of status, read 20 bit of tool life
List<int> readInt = new List<int>();
cmsError = MEM_RWIntegerList(R, 0, TOOL_STATUS_UPDATED_CMD.MemType, TOOL_STATUS_UPDATED_CMD.Address, 2, ref readInt);
if (cmsError.IsError())
return cmsError;
// Convert int into to true/false array
bool[] bits = IntToBits(readInt.ToArray());
ushort toolId = 0;
byte status = 0;
uint life = 0;
int strobeByteIndex = 0;
int ackByteIndex = 0;
for (int i = 0; i < bits.Length; i++)
{
if (bits[i])
{
// If i >= 32 reset bit index
int bitIndex = i >= 32 ? i - 32 : i;
// mountedToolIndex =
int mountedToolIndex = (HEADS_DATA.Address + 4) + (bitIndex * 12);
cmsError = MEM_RWWord(R, 0, HEADS_DATA.MemType, mountedToolIndex, ref toolId);
if (i < 32)
{
// Read new status value
int statusByteIndex = i % 2;
int statusIndex = TOOL_STATUS_UPDATED_DATA.Address + (i / 2); // Index = starting address + (headIndex / 2) -> because Osai uses 16bit format
cmsError = MEM_RWByte(R, 0, TOOL_STATUS_UPDATED_DATA.MemType, statusIndex, statusByteIndex, ref status);
if (cmsError.IsError())
return cmsError;
// Insert into the list
updatedStatus.Add(toolId, status);
// Setup ack/strobe indexes
// if i > 15 then index = next word
strobeByteIndex = i > 15 ? TOOL_STATUS_UPDATED_CMD.Address + 1 : TOOL_STATUS_UPDATED_CMD.Address;
ackByteIndex = i > 15 ? TOOL_STATUS_UPDATED_ACK.Address + 1 : TOOL_STATUS_UPDATED_ACK.Address;
}
else
{
// Read new life value
int lifeIndex = TOOL_LIFE_UPDATED_DATA.Address + ((i - 32) * 2); // Index = starting address + (headIndex * 2) -> because Osai uses 16bit format
cmsError = MEM_RWDWord(R, 0, TOOL_LIFE_UPDATED_DATA.MemType, lifeIndex, ref life);
if (cmsError.IsError())
return cmsError;
// Insert into the new lives list
updatedLives.Add(toolId, life);
// Setup ack/strobe indexes
// if i > (32) + 15 then StrobeAckIndex is in the second word
strobeByteIndex = i > 47 ? TOOL_LIFE_UPDATED_CMD.Address + 1 : TOOL_LIFE_UPDATED_CMD.Address;
ackByteIndex = i > 47 ? TOOL_LIFE_UPDATED_ACK.Address + 1 : TOOL_LIFE_UPDATED_CMD.Address;
}
// Manage ack and strobe
bitIndex = bitIndex % 16;
cmsError = ManageActivePLCAcknowledge(strobeByteIndex, bitIndex, ackByteIndex, bitIndex, MEMORY_TYPE.Osai_MW);
if (cmsError.IsError())
return cmsError;
}
}
return NO_ERROR;
}
@@ -3131,6 +3128,7 @@ namespace CMS_CORE_Library.Fanuc
Buffer.BlockCopy(ints.ToArray(), 0, bytes, 0, ints.Count * sizeof(ushort));
offset = 0;
// Search last populated value
for (int i = 0; i < bytes.Count(); i++)
if (bytes[i] != 0)
offset = i + 1;
@@ -3221,10 +3219,6 @@ namespace CMS_CORE_Library.Fanuc
{
byte b = Convert.ToByte(property.GetValue(item));
values[currentFieldIndex] = b;
// cmsError = MEM_RWByte(W, 0, MEMORY_TYPE.Fanuc_R, currentFieldIndex, 0, ref b);
//if (cmsError.IsError())
// return cmsError;
}
break;
@@ -3236,10 +3230,6 @@ namespace CMS_CORE_Library.Fanuc
// Overwrite bytes with new values
values[currentFieldIndex] = bytesVal[0];
values[currentFieldIndex + 1] = bytesVal[1];
// cmsError = MEM_RWWord(W, 0, MEMORY_TYPE.Fanuc_R, currentFieldIndex, ref u);
//if (cmsError.IsError())
// return cmsError;
}
break;
@@ -3253,10 +3243,6 @@ namespace CMS_CORE_Library.Fanuc
values[currentFieldIndex + 1] = bytesVal[1];
values[currentFieldIndex + 2] = bytesVal[2];
values[currentFieldIndex + 3] = bytesVal[3];
//cmsError = MEM_RWDWord(W, 0, MEMORY_TYPE.Fanuc_R, currentFieldIndex, ref w);
//if (cmsError.IsError())
// return cmsError;
}
break;
default:
@@ -3299,6 +3285,58 @@ namespace CMS_CORE_Library.Fanuc
return output;
}
private CmsError ManageActivePLCAcknowledge(int strobeByte, int strobeBit, int ackByte, int ackBit, MEMORY_TYPE memType)
{
int n = 1200; // 30 seconds
bool readValue = false;
bool writeValue = true;
bool ok = false;
// Set ack to 1
CmsError cmsError = MEM_RWBoolean(W, 0, memType, ackByte, ackBit, ref writeValue);
if (cmsError.IsError())
return cmsError;
do
{
// Check strobe
cmsError = MEM_RWBoolean(R, 0, memType, strobeByte, strobeBit, ref readValue);
if (cmsError.IsError())
return cmsError;
// If true reset acknowledge
if (!readValue)
{
writeValue = false;
// Reset acknowledge
cmsError = MEM_RWBoolean(W, 0, memType, ackByte, ackBit, ref writeValue);
if (cmsError.IsError())
return cmsError;
// Exit from cycle
n = 0;
ok = true;
}
else
{
// Decrement
n--;
// Wait befor next cycle
Thread.Sleep(25);
}
} while (n > 0);
// If loop timeout goes in timeout
if (!ok)
{
// Reset acknowledge
writeValue = false;
cmsError = MEM_RWBoolean(W, 0, memType, ackByte, ackBit, ref writeValue);
if (cmsError.IsError())
return cmsError;
}
return cmsError;
}
#endregion Nc Tool Manager
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
CMS_CORE_Library/Osai/Nc_Osai.cs
+3 -3
View File
@@ -881,7 +881,7 @@ namespace CMS_CORE_Library.Osai
return cmsError;
}
private CmsError ManageAcknowledge(int strobeByte, int strobeBit, int ackByte, int ackBit, MEMORY_TYPE memType)
private CmsError ManageActivePLCAcknowledge(int strobeByte, int strobeBit, int ackByte, int ackBit, MEMORY_TYPE memType)
{
int n = 1200; // 30 seconds
bool readValue = false;
@@ -2960,7 +2960,7 @@ namespace CMS_CORE_Library.Osai
public override CmsError TOOLS_RUpdatedToolsData(ref Dictionary<int, byte> updatedStatus, ref Dictionary<int, uint> updatedLives)
{
//Check if the NC is Connected
// Check if the NC is Connected
CmsError cmsError = CheckConnection();
if (cmsError.IsError())
return cmsError;
@@ -3031,7 +3031,7 @@ namespace CMS_CORE_Library.Osai
// Manage ack and strobe
bitIndex = bitIndex % 16;
cmsError = ManageAcknowledge(strobeByteIndex, bitIndex, ackByteIndex, bitIndex, MEMORY_TYPE.Osai_MW);
cmsError = ManageActivePLCAcknowledge(strobeByteIndex, bitIndex, ackByteIndex, bitIndex, MEMORY_TYPE.Osai_MW);
if (cmsError.IsError())
return cmsError;
}