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166 lines
4.6 KiB
166 lines
4.6 KiB
using Bodk.Device.Storage.EventArgs;
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namespace Bodk.Device.Storage.Modules;
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public class GantryY(
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Action<object?, AlarmChangedEventArg> alarmEventHandler,
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Action<object?, MotionTimeoutAlarmChangedEventArg> motionTimeoutAlarmEventHandler,
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Func<ushort, bool[], Task> writeCoilRegisterFunc,
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Func<ushort, ushort, Task<bool[]>> readCoilRegisterFunc,
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Func<ushort, ushort, Task<ushort[]>> readHoldingRegistersFunc,
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Func<ushort, ushort[], Task> writeHoldingRegistersFunc)
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: ModuleBase(alarmEventHandler, motionTimeoutAlarmEventHandler, writeCoilRegisterFunc, readCoilRegisterFunc,
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readHoldingRegistersFunc, writeHoldingRegistersFunc)
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{
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public override string Name => "GantryY";
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public override string Descirption => "龙门Y轴";
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public override int Id => 4;
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internal override ushort? EnableAddress => 103;
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internal override ushort? ResetAddress => 123;
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internal override ushort? CleanAddress => 143;
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internal override ushort? GotoOriginAddress => 163;
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internal override ushort? ForwardAddress => 183;
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internal override ushort? BackwardAddress => 203;
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internal override ushort? RelativeMoveAddress => 223;
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internal override ushort? AbsoluteMoveAddress => 243;
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internal override ushort? MotionTimeoutAlarmAddress => 283;
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internal override ushort? AlarmAddress => 303;
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internal override ushort? IsEnabledAddress => 333;
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internal override ushort? OriginFlagAddress => 353;
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internal override ushort? MoveDistanceAddress => 106;
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internal override ushort? CurrentPositionAddress => 130;
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internal override ushort? ManualSpeedAddress => 1006;
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internal override ushort? AutoSpeedAddress => 1046;
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internal override ushort? AccDecAddress => 1086;
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internal override ushort? GotoOriginHighSpeedAddress => 1126;
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internal override ushort? GotoOriginLowSpeedAddress => 1150;
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internal ushort StandbyAddress => 1378;
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internal ushort GraspFoamLidAddress => 1380;
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internal ushort PlaceFoamLidAddress => 1382;
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internal ushort BipolarModuleAAddress => 1384;
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internal ushort BipolarModuleBAddress => 1386;
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internal ushort BipolarModuleCAddress => 1388;
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internal ushort UnipolarModuleAAddress => 1390;
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internal ushort UnipolarModuleBAddress => 1392;
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internal ushort UnipolarModuleCAddress => 1394;
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/// <summary>
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/// 移动到待机位
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/// </summary>
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public async Task MoveToStandbyPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(StandbyAddress));
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}
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/// <summary>
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/// 移动到抓取泡沫盖位
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/// </summary>
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public async Task MoveToGraspFoamLidPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(GraspFoamLidAddress));
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}
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/// <summary>
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/// 移动到放泡沫盖位
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/// </summary>
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public async Task MoveToPlaceFoamLidPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(PlaceFoamLidAddress));
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}
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/// <summary>
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/// 移动到双极模组A位
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/// </summary>
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public async Task MoveToBipolarModuleAPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(BipolarModuleAAddress));
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}
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/// <summary>
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/// 移动到双极模组B位
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/// </summary>
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public async Task MoveToBipolarModuleBPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(BipolarModuleBAddress));
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}
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/// <summary>
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/// 移动到双极模组C位
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/// </summary>
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public async Task MoveToBipolarModuleCPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(BipolarModuleCAddress));
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}
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/// <summary>
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/// 移动到单极模组A位
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/// </summary>
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public async Task MoveToUnipolarModuleAPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleAAddress));
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}
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/// <summary>
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/// 移动到单极模组B位
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/// </summary>
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public async Task MoveToUnipolarModuleBPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleBAddress));
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}
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/// <summary>
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/// 移动到单极模组C位
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/// </summary>
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public async Task MoveToUnipolarModuleCPositionAsync()
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{
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await AbsoluteMoveAsync(await ReadFloat(UnipolarModuleCAddress));
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}
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/// <summary>
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/// 待机位
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/// </summary>
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public float StandbyPosition
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{
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get
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{
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_standbyPosition ??= ReadFloat(StandbyAddress).Result;
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return _standbyPosition.Value;
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}
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set
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{
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_standbyPosition = value;
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WriteFloat(StandbyAddress, value);
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}
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}
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private float? _standbyPosition;
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}
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