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Fix fanuc fileNavigation

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This commit is contained in:
Lucio Maranta
2019-10-16 14:57:31 +00:00
parent 0a70c12d65
commit 912df0f29f
1 changed files with 101 additions and 100 deletions
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CMS_CORE_Library/Fanuc/Nc_Fanuc.cs
+101 -100
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@@ -209,9 +209,9 @@ namespace CMS_CORE_Library.Fanuc
{
try
{
foreach(string file in Directory.GetFiles(PLC_MESSAGE_PATH))
foreach (string file in Directory.GetFiles(PLC_MESSAGE_PATH))
{
if(Path.GetExtension(file) == ".txt")
if (Path.GetExtension(file) == ".txt")
{
string fileName = Path.GetFileNameWithoutExtension(file);
@@ -273,7 +273,7 @@ namespace CMS_CORE_Library.Fanuc
// // Wait before read
// Thread.Sleep(200);
// cmsError = MEM_RWBoolean(R, 0, MEMORY_TYPE.Fanuc_F, 545, 0, ref b);
// cmsError = MEM_RWBoolean(R, 0, MEMORY_TYPE.Fanuc_F, 545, 0, ref b);
// // Decrement
// n--;
//} while (!b && n > 0);
@@ -283,7 +283,6 @@ namespace CMS_CORE_Library.Fanuc
//if (cmsError.IsError())
// return cmsError;
/////// FANUC METODO
//
//byte lang = ConvertToNCLanguage(Language, out bool isSpecial);
@@ -329,7 +328,6 @@ namespace CMS_CORE_Library.Fanuc
SWV = Cnc_SftVersion;
return NO_ERROR;
}
@@ -533,7 +531,7 @@ namespace CMS_CORE_Library.Fanuc
return GetNcError(nReturn);
OFFSET_DECIMAL_DIGITS = input[0];
return NO_ERROR;
}
@@ -543,7 +541,7 @@ namespace CMS_CORE_Library.Fanuc
CmsError cmsError = CheckConnection();
if (cmsError.IsError())
return cmsError;
short nReturn = Focas1.cnc_wrmdiprog(nLibHandle[processId - 1], (short)mdiString.Count(), mdiString.ToArray());
if (nReturn != 0)
return GetNcError(nReturn);
@@ -796,7 +794,7 @@ namespace CMS_CORE_Library.Fanuc
if (!isResettable)
return FUNCTION_NOT_ALLOWED_ERROR;
cmsError = PLC_WStrobe(COUNTER_IS_RESETTABLE_ACK, COUNTER_IS_RESETTABLE_STROBE, counter);
if (cmsError.IsError())
return cmsError;
@@ -899,7 +897,7 @@ namespace CMS_CORE_Library.Fanuc
return NO_ERROR;
}
public override CmsError PLC_RWorkedTimeHead(int head, ref uint time)
{
int index = (head - 1) * 4;
@@ -935,7 +933,7 @@ namespace CMS_CORE_Library.Fanuc
public override CmsError PLC_RWorkedTimeMachine(ref uint time)
{
// Read Worked time
// Read Worked time
CmsError cmsError = MEM_RWDWord(R, 0, MACHINE_WORKED_TIME.MemType, MACHINE_WORKED_TIME.Address, ref time);
if (cmsError.IsError())
return cmsError;
@@ -975,7 +973,6 @@ namespace CMS_CORE_Library.Fanuc
cmsError = MEM_RWBoolean(R, 0, MACHINE_RESET_WORKED_TIME.MemType, MACHINE_RESET_WORKED_TIME.Address, 0, ref bitValue);
if (cmsError.IsError())
return cmsError;
} while (bitValue && nTry <= 10);
//se il valore è rimasto a 1 il plc non l'ha preso in carico, e abortisco
@@ -993,7 +990,6 @@ namespace CMS_CORE_Library.Fanuc
//Se l'ha abbassato scrivo il nuovo dato
cmsError = MEM_RWDWord(W, 0, MACHINE_WORKED_TIME.MemType, MACHINE_WORKED_TIME.Address, ref time);
}
}
return NO_ERROR;
@@ -1007,7 +1003,7 @@ namespace CMS_CORE_Library.Fanuc
MEMORY_CELL currentStrobeCell = sign == HEAD_OVERRIDE_SIGN.PLUS ? HEADS_STROBE_INCREMENT : HEADS_STROBE_DECREMENT;
// Write strobe into memory
CmsError cmsError = PLC_WStrobe(HEADS_ACK, currentStrobeCell, id);
CmsError cmsError = PLC_WStrobe(HEADS_ACK, currentStrobeCell, id);
if (cmsError.IsError())
return cmsError;
@@ -1115,7 +1111,7 @@ namespace CMS_CORE_Library.Fanuc
private CmsError ReadMacroValue(int processId, int memIndex, bool isCustom, ref double val)
{
if (isCustom)
if (isCustom)
{
// Read custom machine variable
IODBMR readVal = new IODBMR()
@@ -1187,7 +1183,7 @@ namespace CMS_CORE_Library.Fanuc
public override CmsError PLC_W154ManageAck(int processId)
{
return PLC_ManageActiveAck(M154_STROBE.Address, processId - 1, M154_ACK.Address, processId - 1, M154_STROBE.MemType);
return PLC_ManageActiveAck(M154_STROBE.Address, processId - 1, M154_ACK.Address, processId - 1, M154_STROBE.MemType);
}
public override CmsError PLC_RScadaValue(string memIndex, SCADA_MEM_TYPE memType, ref object value)
@@ -1257,11 +1253,11 @@ namespace CMS_CORE_Library.Fanuc
value = val;
}
}
catch(Exception ex)
catch (Exception ex)
{
return ManageException(ex);
}
return cmsError;
}
@@ -1413,7 +1409,7 @@ namespace CMS_CORE_Library.Fanuc
bool newVal = false;
//Scrivo il dato
CmsError cmsError = MEM_RWBoolean(W, 0, EXP_CANDY_MEM.MemType, EXP_CANDY_MEM.Address,5, ref value);
CmsError cmsError = MEM_RWBoolean(W, 0, EXP_CANDY_MEM.MemType, EXP_CANDY_MEM.Address, 5, ref value);
if (cmsError.IsError())
return cmsError;
else
@@ -1428,13 +1424,12 @@ namespace CMS_CORE_Library.Fanuc
return NO_ERROR;
else
return PLC_NOT_RUNNING_ERROR;
}
}
public override CmsError PLC_RExpiredCandy(ref bool value)
{
CmsError cmsError = MEM_RWBoolean(R, 0, EXP_CANDY_MEM.MemType, EXP_CANDY_MEM.Address,5, ref value);
CmsError cmsError = MEM_RWBoolean(R, 0, EXP_CANDY_MEM.MemType, EXP_CANDY_MEM.Address, 5, ref value);
if (cmsError.IsError())
return cmsError;
return NO_ERROR;
@@ -1442,7 +1437,7 @@ namespace CMS_CORE_Library.Fanuc
public override CmsError PLC_WCandy(int value)
{
int newVal=0;
int newVal = 0;
//Scrivo il dato
CmsError cmsError = MEM_RWInteger(W, 0, CANDY_MEM.MemType, CANDY_MEM.Address, ref value);
@@ -1460,7 +1455,6 @@ namespace CMS_CORE_Library.Fanuc
return NO_ERROR;
else
return PLC_NOT_RUNNING_ERROR;
}
}
@@ -1492,7 +1486,7 @@ namespace CMS_CORE_Library.Fanuc
clientId = i + 1;
}
return NO_ERROR;
return NO_ERROR;
}
#endregion PLC High-level data
@@ -1787,8 +1781,8 @@ namespace CMS_CORE_Library.Fanuc
return GetNcError(nReturn);
string lines = new string(text.Take(length).ToArray());
if(!string.IsNullOrEmpty(lines))
if (!string.IsNullOrEmpty(lines))
line = lines.Split('\n').FirstOrDefault();
return NO_ERROR;
@@ -1830,7 +1824,7 @@ namespace CMS_CORE_Library.Fanuc
ReadMacroValue(processId, 4111, false, ref macroVal);
offsetId = (short)macroVal;
}
// Read operator's message #3006 & #3017
Focas1.OPMSG3 Messg = new Focas1.OPMSG3();
short count = FANUC_MAXMSGPMC;
@@ -1841,41 +1835,40 @@ namespace CMS_CORE_Library.Fanuc
// Check return value
if (nReturn != 0)
return GetNcError(nReturn);
string msg = "";
// Check if message exist & if is an operator type (type == 4)
if (count >= 5 && Messg.msg5.datano >= 0 && Messg.msg5.type == 4)
msg = Messg.msg5.data;
OffsetModel offsetData = new OffsetModel();
if(offsetId != 0)
if (offsetId != 0)
// Read offset data
cmsError = TOOLS_ROffset(offsetId, ref offsetData);
if (cmsError.IsError())
return cmsError;
if (cmsError.IsError())
return cmsError;
byte rapid= 0, work = 0;
byte rapid = 0, work = 0;
// Choose & read work override // jogIsActive ? (processId - 1) * 1000 + 10 :
// Choose & read work override // jogIsActive ? (processId - 1) * 1000 + 10 :
int mem = (processId - 1) * 1000 + 12;
cmsError = MEM_RWByte(R, 0, MEMORY_TYPE.Fanuc_G, mem, 0, ref work);
if (cmsError.IsError())
return cmsError;
if (work != 0)
work = (byte)(((work - 256) + 1)* -1 );
work = (byte)(((work - 256) + 1) * -1);
// Read rapid
cmsError = MEM_RWByte(R, 0, MEMORY_TYPE.Fanuc_G, 96, 0, ref rapid);
if (cmsError.IsError())
return cmsError;
if(rapid != 0)
if (rapid != 0)
rapid = (byte)(((rapid - 256) + 1) * -1);
ODBACT feed = new ODBACT();
nReturn = Focas1.cnc_actf(nLibHandle[0], feed);
nReturn = Focas1.cnc_actf(nLibHandle[0], feed);
// Check return value
if (nReturn != 0)
return GetNcError(nReturn);
@@ -2173,16 +2166,16 @@ namespace CMS_CORE_Library.Fanuc
if (nReturn != 0)
return GetNcError(nReturn);
short[] types = new short[]{ 0, 1, 2, 3 };
short[] types = new short[] { 0, 1, 2, 3 };
ODBAXDT axisData = new ODBAXDT();
nReturn = Focas1.cnc_rdaxisdata(nLibHandle[process - 1], 1, types, 4, ref numAxesRead, axisData);
if (nReturn != 0)
return GetNcError(nReturn);
// Parse data
if (numAxesRead >= 1)
axesData.Add(new AxisModel() { Id = 1, Name = sOdbExAxisName.axname1, IsSelectable = false, Type = axisData.data1.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
axesData.Add(new AxisModel() { Id = 1, Name = sOdbExAxisName.axname1, IsSelectable = false, Type = axisData.data1.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
if (numAxesRead >= 2)
axesData.Add(new AxisModel() { Id = 2, Name = sOdbExAxisName.axname2, IsSelectable = false, Type = axisData.data2.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
if (numAxesRead >= 3)
@@ -2214,7 +2207,7 @@ namespace CMS_CORE_Library.Fanuc
if (numAxesRead >= 16)
axesData.Add(new AxisModel() { Id = 16, Name = sOdbExAxisName.axname16, IsSelectable = false, Type = axisData.data16.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
if (numAxesRead >= 17)
axesData.Add(new AxisModel() { Id = 17, Name = sOdbExAxisName.axname17, IsSelectable = false, Type = axisData.data17.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
axesData.Add(new AxisModel() { Id = 17, Name = sOdbExAxisName.axname17, IsSelectable = false, Type = axisData.data17.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
if (numAxesRead >= 18)
axesData.Add(new AxisModel() { Id = 18, Name = sOdbExAxisName.axname18, IsSelectable = false, Type = axisData.data18.unit == 2 ? AXIS_TYPE.ROTATING : AXIS_TYPE.LINEAR });
if (numAxesRead >= 19)
@@ -2292,15 +2285,12 @@ namespace CMS_CORE_Library.Fanuc
public override CmsError AXES_ROrigin(int numberOfAxes)
{
double d = 0;
uint G54Index = 5221;
uint G55Index = 5241;
int G56Index = 5261;
int G57Index = 5281;
int G58Index = 5301;
int G59Index = 5321;
List<AxisModel> axesNames = new List<AxisModel>();
CmsError cmsError = AXES_RAxesNames(1, ref axesNames);
if (cmsError.IsError())
@@ -2310,7 +2300,7 @@ namespace CMS_CORE_Library.Fanuc
axesNamesDict = axesNames.ToDictionary(x => x.Id.ToString(), x => (double)0);
Dictionary<string, Dictionary<string, double>> value
Dictionary<string, Dictionary<string, double>> value
= new Dictionary<string, Dictionary<string, double>>();
value.Add("G54", axesNamesDict);
@@ -2322,8 +2312,8 @@ namespace CMS_CORE_Library.Fanuc
value["G54"][id.ToString()] = d;
}
for (int i =(int) G55Index; i < G55Index + numberOfAxes; i++)
for (int i = (int)G55Index; i < G55Index + numberOfAxes; i++)
ReadMacroValue(1, i, false, ref d);
for (int i = G56Index; i < G56Index + numberOfAxes; i++)
@@ -3001,16 +2991,47 @@ namespace CMS_CORE_Library.Fanuc
string absolutePath = FormatPathForNc(path, baseDir.drive1);
ODBPDFNFIL dataNum = new ODBPDFNFIL();
ODBPDFNFIL dataNum = new ODBPDFNFIL
{
file_num = 0,
dir_num = 0
};
// Get the number of the directories and of files
nReturn = Focas1.cnc_rdpdf_subdirn(nLibHandle[0], absolutePath, dataNum);
if (nReturn != 0)
return GetNcError(nReturn);
short maxFiles = 1;
// Check if there are directories
if(dataNum.dir_num > 0)
{
IDBPDFSDIR funcInput = new IDBPDFSDIR();
ODBPDFSDIR dirData = new ODBPDFSDIR();
short maxDir = 1;
for (short i = 0; i < dataNum.dir_num; i++)
{
dirData.dummy = 0;
funcInput.path = absolutePath;
funcInput.req_num = i;
// Read directory data
nReturn = Focas1.cnc_rdpdf_subdir(nLibHandle[0], ref maxFiles, funcInput, dirData);
if (nReturn != 0)
return GetNcError(nReturn);
// Add directory to list
files.Add(new PreviewFileModel()
{
AbsolutePath = FormatAbsolutePathForHighLevel(absolutePath + dirData.d_f, true),
IsDirectory = true,
Name = dirData.d_f,
Path = FormatPathFroHighLevel(path, dirData.d_f)
});
}
}
// Check if there are files
if (dataNum.file_num > 0 || dataNum.dir_num > 0)
if (dataNum.file_num > 0 )
{
IDBPDFADIR funcInput = new IDBPDFADIR();
ODBPDFADIR fileData = new ODBPDFADIR();
@@ -3019,38 +3040,23 @@ namespace CMS_CORE_Library.Fanuc
funcInput.path = absolutePath;
funcInput.type = 1;
funcInput.size_kind = 1;
funcInput.dummy = 0;
maxDir =(short)(dataNum.file_num + dataNum.dir_num);
for (short i = 0; i < dataNum.file_num + dataNum.dir_num; i++)
for (short i = 0; i < dataNum.file_num; i++)
{
funcInput.req_num = i; // Update file index
funcInput.req_num = (short)(dataNum.dir_num + i); // Update file index
// Read file data
nReturn = Focas1.cnc_rdpdf_alldir(nLibHandle[0], ref maxDir, funcInput, fileData);
nReturn = Focas1.cnc_rdpdf_alldir(nLibHandle[0], ref maxFiles, funcInput, fileData);
if (nReturn != 0)
return GetNcError(nReturn);
if (fileData.data_kind == 0)
// Add file to list
files.Add(new PreviewFileModel()
{
// Add directory to list
files.Add(new PreviewFileModel()
{
AbsolutePath = FormatAbsolutePathForHighLevel(absolutePath + fileData.d_f, true),
IsDirectory = true,
Name = fileData.d_f,
Path = FormatPathFroHighLevel(path, fileData.d_f)
});
}
else
{
// Add file to list
files.Add(new PreviewFileModel()
{
AbsolutePath = FormatAbsolutePathForHighLevel(absolutePath + fileData.d_f, false),
IsDirectory = false,
Name = fileData.d_f,
Path = FormatPathFroHighLevel(path, fileData.d_f)
});
}
AbsolutePath = FormatAbsolutePathForHighLevel(absolutePath + fileData.d_f, false),
IsDirectory = false,
Name = fileData.d_f,
Path = FormatPathFroHighLevel(path, fileData.d_f)
});
}
}
}
@@ -3375,7 +3381,7 @@ namespace CMS_CORE_Library.Fanuc
try
{
string tmpM198FilePath = string.Format(NC_SUPPORT_FILE_PATH + CUSTOM_MAIN_PROGRAM, processId);
string tmpM198FilePath = string.Format(NC_SUPPORT_FILE_PATH + CUSTOM_MAIN_PROGRAM, processId);
string fileName = string.Format(M198_FILE_NAME, processId);
@@ -3446,7 +3452,7 @@ namespace CMS_CORE_Library.Fanuc
CmsError cmsError = CheckConnection();
if (cmsError.IsError())
return cmsError;
// Set limits
config.MaxTools = NC_MAX_TOOL_NUMER;
config.MaxEdgesPerTools = NC_MAX_EDGES_PER_TOOL;
@@ -3741,7 +3747,8 @@ namespace CMS_CORE_Library.Fanuc
if (cmsError.IsError())
return cmsError;
offset = new OffsetModel() {
offset = new OffsetModel()
{
Id = offsetId,
UnitOfMeasure = unitOfmeasure
};
@@ -3808,11 +3815,11 @@ namespace CMS_CORE_Library.Fanuc
val = val * INCHES_CONST; // Convert INCHES to MM
else
val = val / INCHES_CONST; // Convert MM to INCHES
}
}
// Change double to int
int valueToWrite = (int)(val * Math.Pow(10, OFFSET_DECIMAL_DIGITS));
// Read data
short nReturn = Focas1.cnc_wrtofs(nLibHandle[0], offsetId, i, 8, valueToWrite);
if (nReturn != 0)
@@ -3824,7 +3831,7 @@ namespace CMS_CORE_Library.Fanuc
return NO_ERROR;
}
private CmsError GetOffsetMisureAndDivider(out string unitOfMeasure, out double divider)
{
divider = 1;
@@ -3849,7 +3856,6 @@ namespace CMS_CORE_Library.Fanuc
return NO_ERROR;
}
public override CmsError TOOLS_WStartEditData()
{
// Check if the NC is Connected
@@ -4109,7 +4115,7 @@ namespace CMS_CORE_Library.Fanuc
public override CmsError TOOLS_RStoredData(ref List<NcToolModel> tools, ref List<NcFamilyModel> families, ref List<NcShankModel> shanks)
{
List<int> readInt = new List<int>();
CmsError cmsError = MEM_RWIntegerList(R, 0, FAMILY_TABLE_INDEX.MemType, FAMILY_TABLE_INDEX.Address, FAMILY_TABLE_INDEX.Size/4, ref readInt);
CmsError cmsError = MEM_RWIntegerList(R, 0, FAMILY_TABLE_INDEX.MemType, FAMILY_TABLE_INDEX.Address, FAMILY_TABLE_INDEX.Size / 4, ref readInt);
if (cmsError.IsError())
return cmsError;
@@ -4124,7 +4130,6 @@ namespace CMS_CORE_Library.Fanuc
// Test
FromMemoryToModels(readInt, out tools);
readInt = new List<int>();
cmsError = MEM_RWIntegerList(R, 0, SHANK_TABLE_INDEX.MemType, SHANK_TABLE_INDEX.Address, SHANK_TABLE_INDEX.Size / 4, ref readInt);
if (cmsError.IsError())
@@ -4172,11 +4177,11 @@ namespace CMS_CORE_Library.Fanuc
if (propertyIndex == 0)
{
// Check if id = 0, if not create new object
if(byteValues[memoryIndex] != 0)
if (byteValues[memoryIndex] != 0)
{
// Create TMP item with generic type declaration
models.Add((T)Activator.CreateInstance(typeof(T)));
// Update object index
// Update object index
objIndex = models.Count() - 1;
}
else
@@ -4223,12 +4228,12 @@ namespace CMS_CORE_Library.Fanuc
default:
break;
}
if(models.Count() == 0)
if (models.Count() == 0)
{
// If memory is empty, force exit
memoryIndex = byteValues.Count();
}
}
// Check if there is another object
else if (objIndex + 1 >= models.Count())
{
@@ -4277,7 +4282,7 @@ namespace CMS_CORE_Library.Fanuc
CmsError cmsError = MEM_RWInteger(W, 0, MAGAZINES_TOOLING_CMD.MemType, MAGAZINES_TOOLING_CMD.Address, ref val);
if (cmsError.IsError())
return cmsError;
return NO_ERROR;
}
@@ -4505,7 +4510,7 @@ namespace CMS_CORE_Library.Fanuc
}
return output;
}
public override CmsError TOOLS_RAdatpivePathStep(ref Byte step)
{
// Check ACK
@@ -4934,13 +4939,11 @@ namespace CMS_CORE_Library.Fanuc
private CmsError ReadSerialNumber(ref string serialNum)
{
string partProgramPath = "";
string partProgramContent = "";
bool fileEnded = false;
int lenght = 256;
// Start read process
short nReturn = Focas1.cnc_upstart4(nLibHandle[0], 8, partProgramPath); // 2 parameter = 8, means read maintenance FILE
// Return if there's an error
@@ -5275,11 +5278,11 @@ namespace CMS_CORE_Library.Fanuc
internal static MEMORY_CELL NC_WATCHDOG = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS, 1);
// Special language parameter
internal static MEMORY_CELL SPECIAL_LANGUAGE_BIT = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R,STARTING_ADDRESS + 2, 1, 1);
internal static MEMORY_CELL SPECIAL_LANGUAGE_BIT = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 2, 1, 1);
internal static MEMORY_CELL ACTIVE_WATCHDOG = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 2, 1);
internal static MEMORY_CELL FUNCTION_ACCESS = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 5, 8);
internal static MEMORY_CELL ACTIVE_CLIENT = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4, 1);
// Alarms
@@ -5336,8 +5339,6 @@ namespace CMS_CORE_Library.Fanuc
internal static MEMORY_CELL AXES_BUTTON_VISIBLE = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 3033, 16);
// Tool manager areas
internal static MEMORY_CELL MAGAZINE_ACTION = new MEMORY_CELL(MEMORY_TYPE.Fanuc_R, STARTING_ADDRESS + 4000, 16);
@@ -5377,12 +5378,12 @@ namespace CMS_CORE_Library.Fanuc
//old CMS-Control variables
internal static MEMORY_CELL HEADS_WORKED_TIMES = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 3060, 4);
internal static MEMORY_CELL HEAD_RESET_WORKED_TIME = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 7217, 4);
internal static MEMORY_CELL MACHINE_WORKED_TIME = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 7213, 4);
internal static MEMORY_CELL MACHINE_RESET_WORKED_TIME = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 7212, 4);
internal static MEMORY_CELL CANDY_MEM = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 7222, 1);
internal static MEMORY_CELL EXP_CANDY_MEM = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 7217, 1);
internal static MEMORY_CELL SELF_ADAPTIVE_PATH = new MEMORY_CELL(MEMORY_TYPE.Fanuc_D, 8816, 4);
}
}