WIP fanuc assisted tooling

CMS_CORE_Library/Demo/Nc_Demo.cs

@@ -999,6 +999,11 @@ namespace CMS_CORE_Library.Demo
             return NO_ERROR;
         }
 
+        public override CmsError PLC_WTerminateAssistedToolingProcedure()
+        {
+            return NO_ERROR;
+        }
+
         private CmsError ResetStrobe(int bitId, int strobeByte, int ackByte, MEMORY_TYPE memType)
         {
             int n = 5;

CMS_CORE_Library/Fanuc/Nc_Fanuc.cs

@@ -1134,12 +1134,7 @@ namespace CMS_CORE_Library.Fanuc
                 return cmsError;
 
             // Write strobe to start procedure
-            bool strobe = true;
-            cmsError = MEM_RWBoolean(W, 1, ASSISTED_TOOLING_STROBE.MemType, ASSISTED_TOOLING_STROBE.Address, 0, ref strobe);
-            if (cmsError.IsError())
-                return cmsError;
-
-            return PLC_WStrobe(ASSISTED_TOOLING_FINAL_VALUE, ASSISTED_TOOLING_STROBE, 1);
+            return PLC_WStrobe(ASSISTED_TOOLING_FINAL_VALUE, ASSISTED_TOOLING_STROBE_ACTIVE, 1);
         }
 
         public override CmsError PLC_RAssistedToolingData(ref AssistedToolingModel data)
@@ -1150,8 +1145,10 @@ namespace CMS_CORE_Library.Fanuc
             if (cmsError.IsError())
                 return cmsError;
 
+            // Bit:
+            // 0: ack 1: strobe 2: unload 3: load
             // Check if the procedure is finished
-            if (GetBitValue(procFinalValue, 1))
+            if (GetBitValue(procFinalValue, 2))
             {
                 List<ushort> values = new List<ushort>();
 
@@ -1162,10 +1159,10 @@ namespace CMS_CORE_Library.Fanuc
 
                 // Set action
                 ASSISTED_TOOLING_ACTION action = ASSISTED_TOOLING_ACTION.NONE;
-                if (GetBitValue(procFinalValue, 2))
+                if (GetBitValue(procFinalValue, 3))
                     action = ASSISTED_TOOLING_ACTION.UNLOAD;
 
-                if (GetBitValue(procFinalValue, 3))
+                if (GetBitValue(procFinalValue, 4))
                     action = ASSISTED_TOOLING_ACTION.EXCHANGE;
 
                 data = new AssistedToolingModel()
@@ -1180,7 +1177,16 @@ namespace CMS_CORE_Library.Fanuc
 
             return NO_ERROR;
         }
+        
+        public override CmsError PLC_WTerminateAssistedToolingProcedure()
+        {
+            // Terminate procedure with ACK-STROBE method
+            CmsError cmsError = PLC_WStrobe(ASSISTED_TOOLING_STROBE_ACTIVE, ASSISTED_TOOLING_FINAL_VALUE, 2);
+            if (cmsError.IsError())
+                return cmsError;
 
+            return NO_ERROR;
+        }
         #endregion PLC High-level data
 
         ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -4511,7 +4517,7 @@ namespace CMS_CORE_Library.Fanuc
         internal static MEMORY_CELL MAGAZINES_TOOLING_CMD = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4217, 4);
 
         internal static MEMORY_CELL ASSISTED_TOOLING_DATA = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4222, 7);
-        internal static MEMORY_CELL ASSISTED_TOOLING_STROBE = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4229, 1);
+        internal static MEMORY_CELL ASSISTED_TOOLING_STROBE_ACTIVE = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4229, 1);
 
         internal static MEMORY_CELL ASSISTED_TOOLING_FINAL_VALUE = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4230, 1);
 

CMS_CORE_Library/Nc.cs

@@ -687,6 +687,8 @@ namespace CMS_CORE_Library
 
         public abstract CmsError PLC_RAssistedToolingData(ref AssistedToolingModel data);
 
+        public abstract CmsError PLC_WTerminateAssistedToolingProcedure();
+
         #endregion PROCESS (PATH, CHANNEL) data (to override)
 
         ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

CMS_CORE_Library/Osai/Nc_Osai.cs

@@ -1060,6 +1060,11 @@ namespace CMS_CORE_Library.Osai
             return NO_ERROR;
         }
 
+        public override CmsError PLC_WTerminateAssistedToolingProcedure()
+        {
+            return NO_ERROR;
+        }
+
         private CmsError PLC_WStrobe(MEMORY_CELL ackCell, MEMORY_CELL strobeCell, uint id)
         {
             CmsError cmsError;

CMS_CORE_Library/Siemens/Nc_Siemens.cs

@@ -1314,9 +1314,13 @@ namespace CMS_CORE_Library.Siemens
 
         public override CmsError PLC_RAssistedToolingData(ref AssistedToolingModel data)
         {
-            return NO_ERROR;
+            return FUNCTION_NOT_ALLOWED_ERROR;
         }
 
+        public override CmsError PLC_WTerminateAssistedToolingProcedure()
+        {
+            return FUNCTION_NOT_ALLOWED_ERROR;
+        }
 
         private CmsError PLC_WStrobe(MEMORY_CELL ackCell, MEMORY_CELL strobeCell, uint id)
         {
@@ -4109,7 +4113,15 @@ namespace CMS_CORE_Library.Siemens
         // Manage the Alarms - Called automatically on changes
         private void AlarmsChanged(Guid guid, Alarm[] alarms)
         {
-            SiemensAlarms = alarms;
+            try
+            {
+                if (alarms != null)
+                    SiemensAlarms = alarms.ToArray();
+            }
+            catch (Exception ex)
+            {
+                Console.WriteLine(ex.Message);
+            }
         }
 
         private void NcLanguageChanged(string language)