From d1b1696ff7a62b6af1957b9b24fedfc42b68dcac Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Thu, 5 Oct 2023 11:47:05 +0200 Subject: [PATCH] [NEW-FEATURE]TcoMitshubishiRobotics (#644) * Create draft PR for #636 * + TcoAbbRobotics Added information into header * change notification colors in diagnostic green-> indigo(blue) because green evokes ok .... *fixed potential issue in boolean to visibility converter +Mitsubishi Cr series robotics library * +readme docu *movement verified with hw --------- Co-authored-by: peterbarancek Co-authored-by: Peter Barancek --- TcOpen.sln | 114 +- .../Service/TcoIrc5_v_1_x_xServiceView.xaml | 134 +- .../Properties/strings.Designer.cs | 260 +- .../Properties/strings.resx | 100 +- .../Properties/strings.sk-Sk.resx | 100 +- .../TcoAbbRoboticsBaseServiceView.xaml | 18 +- .../Prototypes/IRC5/TcoIrc5_v_1_x_x.TcPOU | 2 +- .../src/TcoCore.Wpf/Colors/TcoColors.cs | 20 +- .../BooleanToVisibilityConverter.cs | 27 +- ...veMessageHighestCategoryForegroundBrush.cs | 10 +- .../MessageCategoryToBrushConverter.cs | 20 +- src/TcoMitsubishiRobotics/README.md | 57 +- ...33-ABB-Robotics-Robot-Device-20180814 .xml | 2658 ---------------- .../GSDML-021C-3B01-TZ535_PN.bmp | Bin 0 -> 8534 bytes ...SDML-V2.3-MITSUBISHI-TZ535_PN-20140619.xml | 323 ++ .../assets/PROFINET_IO_2-Port/Thumbs.db | Bin 0 -> 4096 bytes .../assets/robotCollapsed.png | Bin 10828 -> 19506 bytes .../assets/robotErrorActive.png | Bin 0 -> 25373 bytes .../assets/robotEstopActive.png | Bin 150219 -> 0 bytes .../assets/robotExpanded.png | Bin 137261 -> 185279 bytes .../assets/robotMoveActive.png | Bin 152052 -> 149193 bytes .../Service/TcoCr800_v_1_x_xServiceView.xaml} | 2 +- .../TcoCr800_v_1_x_xServiceView.xaml.cs} | 6 +- .../TcoCr800_v_1_x_xServiceViewModel.cs} | 4 +- .../Properties/strings.Designer.cs | 251 +- .../Properties/strings.resx | 103 +- .../Properties/strings.sk-Sk.resx | 103 +- ...en.Inxton.TcoMitsubishiRobotics.Wpf.csproj | 2 +- .../TcoMitsubishiRoboticsBaseServiceView.cs | 2 +- .../TcoMitsubishiRoboticsBaseServiceView.xaml | 53 +- .../Properties/Localizations.Designer.cs | 363 +-- .../Properties/Localizations.resx | 162 +- .../ddf/GSDML-021C-3B01-TZ535_PN.bmp | Bin 0 -> 8534 bytes ...SDML-V2.3-MITSUBISHI-TZ535_PN-20140619.xml | 323 ++ ....33-ABB-Robotics-Robot-Device-20180814.xml | 2658 ---------------- ...L-V2.43-ABB-Robotics-OmniCore-20230327.xml | 2721 ----------------- .../ddf/robot.xti | 377 +++ .../ddf/robot1.xti | 1072 ------- .../ddf/robot2.xti | 1072 ------- ...coMitsubishiRobotics_Control_v_1_x_x.TcDUT | 72 +- .../TcoMitsubishiRobotics_State_v_1_x_x.TcDUT | 124 +- .../CR series/TcoCr800_v_1_x_x.TcPOU | 133 +- .../Starts/StartAtMainTask.TcPOU | 59 +- .../Starts/StartMotorsAndProgramTask.TcPOU | 76 +- .../StartMotorsProgramAndMovementsTask.TcPOU | 12 +- .../Starts/StartMotorsTask.TcPOU | 54 +- .../Starts/StartMovementsTask.TcPOU | 27 +- .../Starts/StartProgramTask.TcPOU | 51 +- .../RoboticsTasks/Stops/StopMotorsTask.TcPOU | 36 +- .../Stops/StopMovementsAndProgramTask.TcPOU | 62 +- .../Stops/StopMovementsTask.TcPOU | 58 +- .../RoboticsTasks/Stops/StopProgramTask.TcPOU | 39 +- .../TcoMitsubishiRoboticsTests.plcproj | 2 +- .../Tests/TcoContext/WpfContext.TcPOU | 18 +- .../XaeTcoMitsubishiRobotics.tsproj | 2140 ++----------- .../MainWindow.xaml | 27 +- .../Properties/Localizations.Designer.cs | 15 +- .../Properties/Localizations.resx | 4 +- 58 files changed, 2227 insertions(+), 13899 deletions(-) delete mode 100644 src/TcoMitsubishiRobotics/assets/GSDML-V2.33-ABB-Robotics-Robot-Device-20180814 .xml create mode 100644 src/TcoMitsubishiRobotics/assets/PROFINET_IO_2-Port/GSDML-021C-3B01-TZ535_PN.bmp create mode 100644 src/TcoMitsubishiRobotics/assets/PROFINET_IO_2-Port/GSDML-V2.3-MITSUBISHI-TZ535_PN-20140619.xml create mode 100644 src/TcoMitsubishiRobotics/assets/PROFINET_IO_2-Port/Thumbs.db create mode 100644 src/TcoMitsubishiRobotics/assets/robotErrorActive.png delete mode 100644 src/TcoMitsubishiRobotics/assets/robotEstopActive.png rename src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/{Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml => Cr800/Service/TcoCr800_v_1_x_xServiceView.xaml} (99%) rename src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/{Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml.cs => Cr800/Service/TcoCr800_v_1_x_xServiceView.xaml.cs} (79%) rename src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/{Irc5/Service/TcoIrc5_v_1_x_xServiceViewModel.cs => Cr800/Service/TcoCr800_v_1_x_xServiceViewModel.cs} (67%) create mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-021C-3B01-TZ535_PN.bmp create mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-V2.3-MITSUBISHI-TZ535_PN-20140619.xml delete mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-V2.33-ABB-Robotics-Robot-Device-20180814.xml delete mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-V2.43-ABB-Robotics-OmniCore-20230327.xml create mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/robot.xti delete mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/robot1.xti delete mode 100644 src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/robot2.xti diff --git a/TcOpen.sln b/TcOpen.sln index bfb490be9..cdc6b9525 100644 --- a/TcOpen.sln +++ b/TcOpen.sln @@ -4815,62 +4815,62 @@ Global {3B940703-C1AD-43F4-ADF3-AE7DC417A73C}.ReleaseDevelop|TwinCAT RT (x64).Build.0 = Release|Any CPU {3B940703-C1AD-43F4-ADF3-AE7DC417A73C}.ReleaseDevelop|TwinCAT RT (x86).ActiveCfg = Release|Any CPU {3B940703-C1AD-43F4-ADF3-AE7DC417A73C}.ReleaseDevelop|TwinCAT RT (x86).Build.0 = Release|Any CPU - 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{3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {3378ED7E-C651-454F-A6A3-91EFE59C7B89}.ReleaseDevelop|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE @@ -5080,7 +5080,7 @@ Global {3B940703-C1AD-43F4-ADF3-AE7DC417A73C} = {E78C504A-9275-4804-9678-6A55252F04E6} EndGlobalSection GlobalSection(ExtensibilityGlobals) = postSolution - SolutionGuid = {D3448A2B-59D1-4DD2-AE4B-0EFF7BC92E81} RESX_TranslatorConfiguration = {"Azure":"{\"AutoDetectHtml\":true,\"MaxCharactersPerMinute\":33300,\"AuthenticationKey\":null,\"Region\":null,\"IsEnabled\":false,\"SaveCredentials\":false,\"Ranking\":1.0}","Baidu":"{\"AppId\":null,\"SecretKey\":null,\"ApiUrl\":null,\"Domain\":null,\"IsEnabled\":false,\"SaveCredentials\":false,\"Ranking\":1.0}","DeepL":"{\"ApiKey\":null,\"ApiUrl\":\"https://api-free.deepl.com/v2/translate\",\"IsEnabled\":true,\"SaveCredentials\":false,\"Ranking\":1.0}","Google":"{\"ApiKey\":null,\"IsEnabled\":false,\"SaveCredentials\":false,\"Ranking\":1.0}","MSTerm":"{\"IsEnabled\":false,\"SaveCredentials\":false,\"Ranking\":1.0}","MyMemory":"{\"Key\":null,\"Mail\":null,\"IsEnabled\":false,\"SaveCredentials\":false,\"Ranking\":1.0}"} + SolutionGuid = {D3448A2B-59D1-4DD2-AE4B-0EFF7BC92E81} EndGlobalSection EndGlobal diff --git a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml index abf4e7135..2110aec56 100644 --- a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml +++ b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml @@ -16,137 +16,5 @@ - + diff --git a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.Designer.cs b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.Designer.cs index 5ea9d05b5..79166d0fe 100644 --- a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.Designer.cs +++ b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.Designer.cs @@ -39,7 +39,7 @@ internal strings() { public static global::System.Resources.ResourceManager ResourceManager { get { if (object.ReferenceEquals(resourceMan, null)) { - global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("TcOpen.Inxton.TcoDrivesBeckhoff.Wpf.Properties.strings", typeof(strings).Assembly); + global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("TcOpen.Inxton.TcoAbbRobotics.Wpf.Properties.strings", typeof(strings).Assembly); resourceMan = temp; } return resourceMan; @@ -61,281 +61,65 @@ internal strings() { } /// - /// Looks up a localized string similar to Acc.. + /// Looks up a localized string similar to Key not in Auto. /// - public static string Acc { + public static string KeyNotInAuto { get { - return ResourceManager.GetString("Acc", resourceCulture); + return ResourceManager.GetString("KeyNotInAuto", resourceCulture); } } /// - /// Looks up a localized string similar to Acceleration. + /// Looks up a localized string similar to Motors On. /// - public static string Acceleration { + public static string Motors_On { get { - return ResourceManager.GetString("Acceleration", resourceCulture); + return ResourceManager.GetString("Motors On", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to create new set?. + /// Looks up a localized string similar to Motors Off. /// - public static string AskCreate { + public static string MotorsOff { get { - return ResourceManager.GetString("AskCreate", resourceCulture); + return ResourceManager.GetString("MotorsOff", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to delete set?. + /// Looks up a localized string similar to Program is stoped. /// - public static string AskDelete { + public static string ProgramIsNotRunning { get { - return ResourceManager.GetString("AskDelete", resourceCulture); + return ResourceManager.GetString("ProgramIsNotRunning", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to load positions?. + /// Looks up a localized string similar to Program is running. /// - public static string AskLoad { + public static string ProgramIsRunning { get { - return ResourceManager.GetString("AskLoad", resourceCulture); + return ResourceManager.GetString("ProgramIsRunning", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to move position:. + /// Looks up a localized string similar to Safety Error!. /// - public static string AskMovePos { + public static string SafetyError { get { - return ResourceManager.GetString("AskMovePos", resourceCulture); + return ResourceManager.GetString("SafetyError", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to save positions?. + /// Looks up a localized string similar to Safety Ok. /// - public static string AskSave { + public static string SafetyOk { get { - return ResourceManager.GetString("AskSave", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Are you sure to change position:. - /// - public static string AskTeachPos { - get { - return ResourceManager.GetString("AskTeachPos", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Attention. - /// - public static string Attention { - get { - return ResourceManager.GetString("Attention", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Axis. - /// - public static string Axis { - get { - return ResourceManager.GetString("Axis", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Create. - /// - public static string Create { - get { - return ResourceManager.GetString("Create", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Dec.. - /// - public static string Dec { - get { - return ResourceManager.GetString("Dec", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Deceleration. - /// - public static string Deceleration { - get { - return ResourceManager.GetString("Deceleration", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Define Repository Handler first!. - /// - public static string DefineRepository { - get { - return ResourceManager.GetString("DefineRepository", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Delete selected. - /// - public static string DeleteSelected { - get { - return ResourceManager.GetString("DeleteSelected", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Jerk. - /// - public static string Jerk { - get { - return ResourceManager.GetString("Jerk", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Load. - /// - public static string Load { - get { - return ResourceManager.GetString("Load", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Move to position. - /// - public static string MoveToPosition { - get { - return ResourceManager.GetString("MoveToPosition", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Name. - /// - public static string Name { - get { - return ResourceManager.GetString("Name", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Position. - /// - public static string Position { - get { - return ResourceManager.GetString("Position", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Positions. - /// - public static string Positions { - get { - return ResourceManager.GetString("Positions", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Save. - /// - public static string Save { - get { - return ResourceManager.GetString("Save", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Selected. - /// - public static string Selected { - get { - return ResourceManager.GetString("Selected", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Select position first!. - /// - public static string SelectFirst { - get { - return ResourceManager.GetString("SelectFirst", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Select SetId first!. - /// - public static string SelectSetId { - get { - return ResourceManager.GetString("SelectSetId", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Set Id. - /// - public static string SetId { - get { - return ResourceManager.GetString("SetId", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Write SetId first!. - /// - public static string SetNewName { - get { - return ResourceManager.GetString("SetNewName", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Teach. - /// - public static string Teach { - get { - return ResourceManager.GetString("Teach", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Vel.. - /// - public static string Vel { - get { - return ResourceManager.GetString("Vel", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Velocity. - /// - public static string Velocity { - get { - return ResourceManager.GetString("Velocity", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Write default values. - /// - public static string WriteDefaultValues { - get { - return ResourceManager.GetString("WriteDefaultValues", resourceCulture); + return ResourceManager.GetString("SafetyOk", resourceCulture); } } } diff --git a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.resx b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.resx index 04ec9cab3..54a6e452a 100644 --- a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.resx +++ b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.resx @@ -117,97 +117,25 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - Acc. + + Key not in Auto - - Acceleration + + Motors On - - Are you sure to create new set? + + Motors Off - - Are you sure to delete set? + + Program is stoped - - Are you sure to load positions? + + Program is running - - Are you sure to move position: + + Safety Error! - - Are you sure to save positions? - - - Are you sure to change position: - - - Attention - - - Axis - - - Create - - - Dec. - - - Deceleration - - - Define Repository Handler first! - - - Delete selected - - - Jerk - - - Load - - - Move to position - - - Name - - - Position - - - Positions - - - Save - - - Selected - - - Select position first! - - - Select SetId first! - - - Set Id - - - Write SetId first! - - - Teach - - - Vel. - - - Velocity - - - Write default values + + Safety Ok \ No newline at end of file diff --git a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.sk-Sk.resx b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.sk-Sk.resx index 075be2f1f..d9f2034c7 100644 --- a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.sk-Sk.resx +++ b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/Properties/strings.sk-Sk.resx @@ -117,97 +117,25 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - Acc. + + Nie je v Auto mode - - Akcelerácia + + Motory zapnuté - - Prajete si vytvoriť novu sadu? + + Motory vypnuté - - Prajete si vytmazať sadu? + + Program zastavený - - Prajete si nahrať pozicie? + + Program beží - - Prajete sa presunúť na poziciu: + + Bezpečnosť Chyba - - Prajete si uložiťpozicie? - - - Prajete si naučiť novú pozíciu? - - - Upozornenie - - - Os - - - Vytvor - - - Dec. - - - Spomalenie - - - Zadefinujte obsluhu repozitáru! - - - Vymažte označeny - - - Trh - - - Nahraj - - - Do pozicie - - - Meno - - - Pozícia - - - Pozície - - - Ulož - - - Označené - - - Najskôr označ pozíciu! - - - Najskôr označ sadu údajov! - - - Sada udajov ID - - - Najskôr zadaj nový názov sady! - - - Nauč - - - Vel. - - - Rýchlosť - - - Zapiš vychodzie hodnoty + + Bezpečnosť Ok \ No newline at end of file diff --git a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/TcoAbbRoboticsBaseServiceView.xaml b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/TcoAbbRoboticsBaseServiceView.xaml index 696e74947..7295317e7 100644 --- a/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/TcoAbbRoboticsBaseServiceView.xaml +++ b/src/TcoAbbRobotics/src/TcoAbbRobotics.Wpf/TcoAbbRoboticsBaseServiceView.xaml @@ -7,6 +7,7 @@ xmlns:materialdesign="http://materialdesigninxaml.net/winfx/xaml/themes" xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" xmlns:vortex="http://vortex.mts/xaml" + xmlns:p="clr-namespace:TcOpen.Inxton.TcoAbbRobotics.Wpf.Properties" mc:Ignorable="d"> @@ -31,27 +32,32 @@ - + - + - + - + + + + + + - + - + diff --git a/src/TcoAbbRobotics/src/XaeTcoAbbRobotics/TcoAbbRobotics/POUs/Prototypes/IRC5/TcoIrc5_v_1_x_x.TcPOU b/src/TcoAbbRobotics/src/XaeTcoAbbRobotics/TcoAbbRobotics/POUs/Prototypes/IRC5/TcoIrc5_v_1_x_x.TcPOU index 5d3b9d10e..30e052397 100644 --- a/src/TcoAbbRobotics/src/XaeTcoAbbRobotics/TcoAbbRobotics/POUs/Prototypes/IRC5/TcoIrc5_v_1_x_x.TcPOU +++ b/src/TcoAbbRobotics/src/XaeTcoAbbRobotics/TcoAbbRobotics/POUs/Prototypes/IRC5/TcoIrc5_v_1_x_x.TcPOU @@ -57,7 +57,7 @@ VAR _stopMovementsAndProgramTask : StopMovementsAndProgramTask(THIS^); {attribute addProperty Name "<#Stop program#>"} - _stopProgramTask : StopMovementsAndProgramTask(THIS^); + _stopProgramTask : StopProgramTask(THIS^); {attribute addProperty Name "<#Stop motors#>"} _stopMotorsTask : StopMotorsTask(THIS^); diff --git a/src/TcoCore/src/TcoCore.Wpf/Colors/TcoColors.cs b/src/TcoCore/src/TcoCore.Wpf/Colors/TcoColors.cs index 409418b61..0abdf1282 100644 --- a/src/TcoCore/src/TcoCore.Wpf/Colors/TcoColors.cs +++ b/src/TcoCore/src/TcoCore.Wpf/Colors/TcoColors.cs @@ -33,22 +33,22 @@ public class TcoColors - public static Brush Debug => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Green500); - public static Brush Trace => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Green600); - public static Brush Info => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Green700); - public static Brush TimedOut => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Green800); - public static Brush Notification => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Green900); + public static Brush Debug => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Indigo500); + public static Brush Trace => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Indigo600); + public static Brush Info => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Indigo700); + public static Brush TimedOut => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Indigo800); + public static Brush Notification => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Indigo900); public static Brush Warning => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Yellow700); public static Brush Errors => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Red600); public static Brush ProgrammingError => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Red700); public static Brush Critical => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Red800); public static Brush Catastrophic => GetMaterialDesignBackgrondBrush(MaterialDesignColor.Red900); - public static Brush OnDebug => GetMaterialDesignForegroundBrush(MaterialDesignColor.Green500); - public static Brush OnTrace => GetMaterialDesignForegroundBrush(MaterialDesignColor.Green600); - public static Brush OnInfo => GetMaterialDesignForegroundBrush(MaterialDesignColor.Green700); - public static Brush OnTimedOut => GetMaterialDesignForegroundBrush(MaterialDesignColor.Green800); - public static Brush OnNotification => GetMaterialDesignForegroundBrush(MaterialDesignColor.Green900); + public static Brush OnDebug => GetMaterialDesignForegroundBrush(MaterialDesignColor.Indigo500); + public static Brush OnTrace => GetMaterialDesignForegroundBrush(MaterialDesignColor.Indigo600); + public static Brush OnInfo => GetMaterialDesignForegroundBrush(MaterialDesignColor.Indigo700); + public static Brush OnTimedOut => GetMaterialDesignForegroundBrush(MaterialDesignColor.Indigo800); + public static Brush OnNotification => GetMaterialDesignForegroundBrush(MaterialDesignColor.Indigo900); public static Brush OnWarning => GetMaterialDesignForegroundBrush(MaterialDesignColor.Yellow700); public static Brush OnErrors => GetMaterialDesignForegroundBrush(MaterialDesignColor.Red600); public static Brush OnProgrammingError => GetMaterialDesignForegroundBrush(MaterialDesignColor.Red700); diff --git a/src/TcoCore/src/TcoCore.Wpf/Converters/BooleanToVisibilityConverter.cs b/src/TcoCore/src/TcoCore.Wpf/Converters/BooleanToVisibilityConverter.cs index fb790b4c2..c50cba41a 100644 --- a/src/TcoCore/src/TcoCore.Wpf/Converters/BooleanToVisibilityConverter.cs +++ b/src/TcoCore/src/TcoCore.Wpf/Converters/BooleanToVisibilityConverter.cs @@ -11,27 +11,26 @@ public class BooleanToVisibilityConverter : MarkupExtension, IValueConverter { public object Convert(object value, Type targetType, object parameter, CultureInfo culture) { - bool flag = false; - try - { + var flag = false; + try + { if (value is bool) + { flag = (bool)value; - else + } + else if (value is bool?) { - if (value is bool?) - { - bool? flag2 = (bool?)value; - flag = (flag2.HasValue && flag2.Value); - } + var nullable = (bool?)value; + flag = nullable.GetValueOrDefault(); } - - //If false is passed as a converter parameter then reverse the value of input value if (parameter != null) { - bool par = true; - if ((bool.TryParse(parameter.ToString(), out par)) && (!par)) flag = !flag; + if (bool.Parse((string)parameter)) + { + flag = !flag; + } } - } + } catch { //swalow diff --git a/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/ActiveMessageHighestCategoryForegroundBrush.cs b/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/ActiveMessageHighestCategoryForegroundBrush.cs index 712a59522..5184a6435 100644 --- a/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/ActiveMessageHighestCategoryForegroundBrush.cs +++ b/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/ActiveMessageHighestCategoryForegroundBrush.cs @@ -22,19 +22,19 @@ public object Convert(object value, Type targetType, object parameter, CultureIn switch (((eMessageCategory)value)) { case eMessageCategory.Debug: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green400, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo400, out color); return new SolidColorBrush(color); case eMessageCategory.Trace: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green500, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo500, out color); return new SolidColorBrush(color); case eMessageCategory.Info: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green700, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo700, out color); return new SolidColorBrush(color); case eMessageCategory.TimedOut: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green800, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo800, out color); return new SolidColorBrush(color); case eMessageCategory.Notification: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green900, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo900, out color); return new SolidColorBrush(color); case eMessageCategory.Warning: SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Yellow700, out color); diff --git a/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/MessageCategoryToBrushConverter.cs b/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/MessageCategoryToBrushConverter.cs index 1456bd0b7..82ab2b987 100644 --- a/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/MessageCategoryToBrushConverter.cs +++ b/src/TcoCore/src/TcoCore.Wpf/TcoMessage/Converters/MessageCategoryToBrushConverter.cs @@ -22,19 +22,19 @@ public object Convert(object value, Type targetType, object parameter, CultureIn { case eMessageCategory.Debug: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green500, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo500, out color); return new SolidColorBrush(new ColorPair(color).GetForegroundColor()); case eMessageCategory.Trace: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green600, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo600, out color); return new SolidColorBrush(new ColorPair(color).GetForegroundColor()); case eMessageCategory.Info: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green700, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo700, out color); return new SolidColorBrush(new ColorPair(color).GetForegroundColor()); case eMessageCategory.TimedOut: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green800, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo800, out color); return new SolidColorBrush(new ColorPair(color).GetForegroundColor()); case eMessageCategory.Notification: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green900, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo900, out color); return new SolidColorBrush(new ColorPair(color).GetForegroundColor()); case eMessageCategory.Warning: SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Yellow700, out color); @@ -87,19 +87,19 @@ public object Convert(object value, Type targetType, object parameter, CultureIn switch (category) { case eMessageCategory.Debug: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green400, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo400, out color); return new SolidColorBrush(color); case eMessageCategory.Trace: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green500, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo500, out color); return new SolidColorBrush(color); case eMessageCategory.Info: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green700, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo700, out color); return new SolidColorBrush(color); case eMessageCategory.TimedOut: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green800, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo800, out color); return new SolidColorBrush(color); case eMessageCategory.Notification: - SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Green900, out color); + SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Indigo900, out color); return new SolidColorBrush(color); case eMessageCategory.Warning: SwatchHelper.Lookup.TryGetValue(MaterialDesignColor.Yellow700, out color); diff --git a/src/TcoMitsubishiRobotics/README.md b/src/TcoMitsubishiRobotics/README.md index bffeda196..236173f84 100644 --- a/src/TcoMitsubishiRobotics/README.md +++ b/src/TcoMitsubishiRobotics/README.md @@ -2,7 +2,7 @@ ## Introduction -The **TcoMitsubishiRobotics** is a set of libraries that cover two product platforms in ABB's manufacturing portfolio: the **IRC5** and the **Omnicore** platform." for the target PLC platform [Twincat](https://www.beckhoff.com/en-en/products/automation/twincat/twincat-3-build-4024/) and [TcOpen](https://github.com/TcOpenGroup/TcOpen#readme) framework. +The **TcoMitsubishiRobotics** is a set of libraries that cover two product platforms in Mitsubishi's manufacturing portfolio: the **CR series** for the target PLC platform [Twincat](https://www.beckhoff.com/en-en/products/automation/twincat/twincat-3-build-4024/) and [TcOpen](https://github.com/TcOpenGroup/TcOpen#readme) framework. The package consists of a PLC library providing control logic and its .NET twin counterpart aimed at the visualization part. @@ -13,10 +13,10 @@ The package consists of a PLC library providing control logic and its .NET twin ## TcoMitsubishiRobotics ### PLC enviroment --- -#### **_Preconditions:_** The **`gsdml`** file(s) should be copied into the subfolder ..\Config\Io\EtherCat\ of the TwinCAT3 instalation folder, before opening Visual Studio. The Profinet interface of the slave device is activated. The file depends on manufacturer of drive. Robot settings needs to by done in settings by RobotStudio sfotware by ABB or directly via robot teach pendant. +#### **_Preconditions:_** The **`gsdml`** file(s) should be copied into the subfolder ..\Config\Io\EtherCat\ of the TwinCAT3 instalation folder, before opening Visual Studio. The Profinet interface of the slave device is activated. The file depends on manufacturer of drive. Robot settings needs to by done in settings by RT ToolBox3 sfotware by Mitshubishi or directly via robot teach pendant. --- -#### **_Preconditions:_** The robot software is part of repository. Use **RobotStudio** to open project. And transfer it to robot. +#### **_Preconditions:_** The robot software is part of repository. Use **RT ToolBox3** to open project. And transfer it to robot. --- #### Implementation steps. @@ -24,31 +24,26 @@ The package consists of a PLC library providing control logic and its .NET twin ```csharp VAR_GLOBAL - Robot1 : TcoMitsubishiRobotics.TcoIrc5_IO_v_1_x_x; - Robot2 : TcoMitsubishiRobotics.TcoOmnicore_IO_v_1_x_x; +Robot1 : TcoMitsubishiRobotics.TcoCr800_IO_v_1_x_x; END_VAR ``` #### 2. Build the XAE project. #### 3. Add Profinet master device, set its network adapter and network parameters. -#### 4. Scann for new Profinet devices, or use already prepared `xti` files and use `Add Existing`. This files are localized in `.\src\TcoMitsubishiRobotics\src\TcoMitsubishiRoboticsConnector\ddf\`. `Robot1.xti` is valid for Irc5 and `Robot2.xti` for `Omnicore` +#### 4. Scann for new Profinet devices, or use already prepared `xti` files and use `Add Existing`. This files are localized in `.\src\TcoMitsubishiRobotics\src\TcoMitsubishiRoboticsConnector\ddf\`. `robot.xti` is valid for `CR series`` #### 5. Connect your Gvl structures with hardware. Refers to bechokff drives documentation if there are some issues, or for guidance how to mapping. #### 6. Create the Function Block that extends the **`TcoCore.TcoContext`** function block. -#### 7. Inside the declaration part of the function block created, add an instance of the **`TcoMitsubishiRobotics.TcoIrc5_v_1_x_x`** , **`TcoMitsubishiRobotics.TcoSingleAxis`** or **`TcoMitsubishiRobotics.TcoOmnicore_v_1_x_x`**. Add the **`Main`** method into this function block and insert the instances. Call with passing the mapped hardware structure +#### 7. Inside the declaration part of the function block created, add an instance of the **`TcoMitsubishiRobotics.TcoCr800_v_1_x_x`**. Add the **`Main`** method into this function block and insert the instances. Call with passing the mapped hardware structure ```csharp FUNCTION_BLOCK WpfContext EXTENDS TcoCore.TcoContext VAR - {attribute addProperty Name "<#Abb IRC 5#>"} - _robot1 : TcoMitsubishiRobotics.TcoIrc5_v_1_x_x(THIS^); - {attribute addProperty Name "<#Abb Omnicore#>"} - _robot2 : TcoMitsubishiRobotics.TcoOmnicore_v_1_x_x(THIS^); - - + {attribute addProperty Name "<#Mitsubichi Cr800#>"} + _robot1 : TcoMitsubishiRobotics.TcoCr800_v_1_x_x(THIS^); END_VAR ``` @@ -58,17 +53,13 @@ END_VAR ```csharp /IF _serviceModeActive THEN _robot1.Service(); - _robot2.Service(); - - - END_IF -_robot1( +_robot1(inPnIoBoxDiag:=GVL.Robot1.PnIoBoxDiag, + inPnIoBoxState:=gvl.Robot1.PnIoBoxState, inoData := GVL.Robot1); -_robot2( - inoData := GVL.Robot2); + ``` #### 9. In the declaration part of the **`MAIN(PRG)`** create an instance of the function block created in the step 7 according to the example. @@ -127,15 +118,15 @@ _wpfContext.Run(); = new TcoMitsubishiRoboticsTestsTwinController(Vortex.Adapters.Connector.Tc3.Adapter.Tc3ConnectorAdapter.Create(TargetAmsId, TargetAmsPort, true)); ``` -#### 3. Into the container added, insert the **`RenderableContentControl`** and bind its **`DataContext`** to the **` _tcoDriveSimpleTestContext : TcoDriveSimpleTestContext`**, using the **`PresentationType`** of the value **`Service`**. +#### 3. Into the container added, insert the **`RenderableContentControl`** and bind its **`DataContext`** to the **` _tcoTestContext : TcoTestContext`**, using the **`PresentationType`** of the value **`Service`**. ```XML - -``` ``` + + #### 4. After starting the application and expanding the view, final view should look as follows: -``` + Collapsed Service view @@ -150,7 +141,7 @@ Expanded (detailed info) view Service view report an error notification -![](assets/robotEstopActive.png) +![](assets/robotErrorActive.png) @@ -288,19 +279,6 @@ IF (seq.Step(inStepID := 16, END_IF; - - - - - - - - - - - - - // IF (seq.Step(inStepID := 500, inEnabled := TRUE, @@ -386,4 +364,5 @@ IF (seq.Step(inStepID := seq.RESTORE_STEP_ID, //-------------------------------------------------------- END_IF; -seq.Close(); \ No newline at end of file +seq.Close(); +``` \ No newline at end of file diff --git a/src/TcoMitsubishiRobotics/assets/GSDML-V2.33-ABB-Robotics-Robot-Device-20180814 .xml b/src/TcoMitsubishiRobotics/assets/GSDML-V2.33-ABB-Robotics-Robot-Device-20180814 .xml deleted file mode 100644 index 9b74beed1..000000000 --- a/src/TcoMitsubishiRobotics/assets/GSDML-V2.33-ABB-Robotics-Robot-Device-20180814 .xml +++ /dev/null @@ -1,2658 +0,0 @@ - - - - PROFINET Device Profile - 1.00 - Device Profile for PROFINET Devices - PROFIBUS Nutzerorganisation e. V. (PNO) - Device - - 4 - 1 - GSDML - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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z9ZlRv$AH2GxQ=4s{wMPMX%2#YZg;)`ftsxrzpkwF$UAF`uRFo&A*f3W^OQ#c z+pxyI^ZfyGv7?aj@{jF*TVbi5wc_Fr`baz5!PAZZ=Yj0cL;qz~`}dEaGjN=F8@2KC sWYGM5qW(S`;G1M;`+xk~c)Yx|$LvzlsO(v^4YV3H746G;N;iZ519#HA{r~^~ diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Cr800/Service/TcoCr800_v_1_x_xServiceView.xaml similarity index 99% rename from src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml rename to src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Cr800/Service/TcoCr800_v_1_x_xServiceView.xaml index 00ad4e7e5..4a9916ca0 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Irc5/Service/TcoIrc5_v_1_x_xServiceView.xaml +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Cr800/Service/TcoCr800_v_1_x_xServiceView.xaml @@ -1,5 +1,5 @@  + public class TcoCr800_v_1_x_xServiceViewModel : TcoMitsubishiRoboticsBaseServiceViewModel { - public TcoIrc5_v_1_x_xServiceViewModel():base() + public TcoCr800_v_1_x_xServiceViewModel():base() { diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.Designer.cs b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.Designer.cs index 72556ea74..ff65c0cab 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.Designer.cs +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.Designer.cs @@ -39,7 +39,7 @@ internal strings() { public static global::System.Resources.ResourceManager ResourceManager { get { if (object.ReferenceEquals(resourceMan, null)) { - global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("TcOpen.Inxton.TcoDrivesBeckhoff.Wpf.Properties.strings", typeof(strings).Assembly); + global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("TcOpen.Inxton.TcoMitsubishiRobotics.Wpf.Properties.strings", typeof(strings).Assembly); resourceMan = temp; } return resourceMan; @@ -61,281 +61,92 @@ internal strings() { } ///

- /// Looks up a localized string similar to Acc.. + /// Looks up a localized string similar to High level error. /// - public static string Acc { + public static string HighLevelError { get { - return ResourceManager.GetString("Acc", resourceCulture); + return ResourceManager.GetString("HighLevelError", resourceCulture); } } /// - /// Looks up a localized string similar to Acceleration. + /// Looks up a localized string similar to Key not in Auto. /// - public static string Acceleration { + public static string KeyNotInAuto { get { - return ResourceManager.GetString("Acceleration", resourceCulture); + return ResourceManager.GetString("KeyNotInAuto", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to create new set?. + /// Looks up a localized string similar to Low level error. /// - public static string AskCreate { + public static string LowLevelError { get { - return ResourceManager.GetString("AskCreate", resourceCulture); + return ResourceManager.GetString("LowLevelError", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to delete set?. + /// Looks up a localized string similar to Motors On. /// - public static string AskDelete { + public static string Motors_On { get { - return ResourceManager.GetString("AskDelete", resourceCulture); + return ResourceManager.GetString("Motors On", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to load positions?. + /// Looks up a localized string similar to Motors Off. /// - public static string AskLoad { + public static string MotorsOff { get { - return ResourceManager.GetString("AskLoad", resourceCulture); + return ResourceManager.GetString("MotorsOff", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to move position:. + /// Looks up a localized string similar to Program is stoped. /// - public static string AskMovePos { + public static string ProgramIsNotRunning { get { - return ResourceManager.GetString("AskMovePos", resourceCulture); + return ResourceManager.GetString("ProgramIsNotRunning", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to save positions?. + /// Looks up a localized string similar to Program is running. /// - public static string AskSave { + public static string ProgramIsRunning { get { - return ResourceManager.GetString("AskSave", resourceCulture); + return ResourceManager.GetString("ProgramIsRunning", resourceCulture); } } /// - /// Looks up a localized string similar to Are you sure to change position:. + /// Looks up a localized string similar to Safety Error!. /// - public static string AskTeachPos { + public static string SafetyError { get { - return ResourceManager.GetString("AskTeachPos", resourceCulture); + return ResourceManager.GetString("SafetyError", resourceCulture); } } /// - /// Looks up a localized string similar to Attention. + /// Looks up a localized string similar to Safety Ok. /// - public static string Attention { + public static string SafetyOk { get { - return ResourceManager.GetString("Attention", resourceCulture); + return ResourceManager.GetString("SafetyOk", resourceCulture); } } /// - /// Looks up a localized string similar to Axis. + /// Looks up a localized string similar to Warning level error. /// - public static string Axis { + public static string WarningLevelError { get { - return ResourceManager.GetString("Axis", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Create. - /// - public static string Create { - get { - return ResourceManager.GetString("Create", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Dec.. - /// - public static string Dec { - get { - return ResourceManager.GetString("Dec", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Deceleration. - /// - public static string Deceleration { - get { - return ResourceManager.GetString("Deceleration", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Define Repository Handler first!. - /// - public static string DefineRepository { - get { - return ResourceManager.GetString("DefineRepository", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Delete selected. - /// - public static string DeleteSelected { - get { - return ResourceManager.GetString("DeleteSelected", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Jerk. - /// - public static string Jerk { - get { - return ResourceManager.GetString("Jerk", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Load. - /// - public static string Load { - get { - return ResourceManager.GetString("Load", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Move to position. - /// - public static string MoveToPosition { - get { - return ResourceManager.GetString("MoveToPosition", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Name. - /// - public static string Name { - get { - return ResourceManager.GetString("Name", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Position. - /// - public static string Position { - get { - return ResourceManager.GetString("Position", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Positions. - /// - public static string Positions { - get { - return ResourceManager.GetString("Positions", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Save. - /// - public static string Save { - get { - return ResourceManager.GetString("Save", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Selected. - /// - public static string Selected { - get { - return ResourceManager.GetString("Selected", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Select position first!. - /// - public static string SelectFirst { - get { - return ResourceManager.GetString("SelectFirst", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Select SetId first!. - /// - public static string SelectSetId { - get { - return ResourceManager.GetString("SelectSetId", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Set Id. - /// - public static string SetId { - get { - return ResourceManager.GetString("SetId", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Write SetId first!. - /// - public static string SetNewName { - get { - return ResourceManager.GetString("SetNewName", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Teach. - /// - public static string Teach { - get { - return ResourceManager.GetString("Teach", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Vel.. - /// - public static string Vel { - get { - return ResourceManager.GetString("Vel", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Velocity. - /// - public static string Velocity { - get { - return ResourceManager.GetString("Velocity", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Write default values. - /// - public static string WriteDefaultValues { - get { - return ResourceManager.GetString("WriteDefaultValues", resourceCulture); + return ResourceManager.GetString("WarningLevelError", resourceCulture); } } } diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.resx b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.resx index 04ec9cab3..a9cb3fc45 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.resx +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.resx @@ -117,97 +117,34 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - Acc. + + High level error - - Acceleration + + Key not in Auto - - Are you sure to create new set? + + Low level error - - Are you sure to delete set? + + Motors On - - Are you sure to load positions? + + Motors Off - - Are you sure to move position: + + Program is stoped - - Are you sure to save positions? + + Program is running - - Are you sure to change position: + + Safety Error! - - Attention + + Safety Ok - - Axis - - - Create - - - Dec. - - - Deceleration - - - Define Repository Handler first! - - - Delete selected - - - Jerk - - - Load - - - Move to position - - - Name - - - Position - - - Positions - - - Save - - - Selected - - - Select position first! - - - Select SetId first! - - - Set Id - - - Write SetId first! - - - Teach - - - Vel. - - - Velocity - - - Write default values + + Warning level error \ No newline at end of file diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.sk-Sk.resx b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.sk-Sk.resx index 075be2f1f..b53b81722 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.sk-Sk.resx +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/Properties/strings.sk-Sk.resx @@ -117,97 +117,34 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - Acc. + + High level chyba - - Akcelerácia + + Key not in Auto - - Prajete si vytvoriť novu sadu? + + Low level chyba - - Prajete si vytmazať sadu? + + Motory zapnuté - - Prajete si nahrať pozicie? + + Motory vypnuté - - Prajete sa presunúť na poziciu: + + Program zastavený - - Prajete si uložiťpozicie? + + Program beží - - Prajete si naučiť novú pozíciu? + + Bezpečnosť Chyba - - Upozornenie + + Bezpečnosť Ok - - Os - - - Vytvor - - - Dec. - - - Spomalenie - - - Zadefinujte obsluhu repozitáru! - - - Vymažte označeny - - - Trh - - - Nahraj - - - Do pozicie - - - Meno - - - Pozícia - - - Pozície - - - Ulož - - - Označené - - - Najskôr označ pozíciu! - - - Najskôr označ sadu údajov! - - - Sada udajov ID - - - Najskôr zadaj nový názov sady! - - - Nauč - - - Vel. - - - Rýchlosť - - - Zapiš vychodzie hodnoty + + Warning level chyba \ No newline at end of file diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcOpen.Inxton.TcoMitsubishiRobotics.Wpf.csproj b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcOpen.Inxton.TcoMitsubishiRobotics.Wpf.csproj index 6adf3f1dc..93ae539a2 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcOpen.Inxton.TcoMitsubishiRobotics.Wpf.csproj +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcOpen.Inxton.TcoMitsubishiRobotics.Wpf.csproj @@ -46,7 +46,7 @@ $(DefaultXamlRuntime) Designer - + $(DefaultXamlRuntime) Designer MSBuild:Compile diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.cs b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.cs index 346299e97..98cccc9bb 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.cs +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.cs @@ -26,7 +26,7 @@ public TcoMitsubishiRoboticsBaseServiceView() { if (DesignerProperties.GetIsInDesignMode(this)) { - this.DataContext = new TcoIrc5_v_1_x_xServiceViewModel(); + this.DataContext = new TcoCr800_v_1_x_xServiceViewModel(); } InitializeComponent(); diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.xaml b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.xaml index 2de98e3e9..adb618f8c 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.xaml +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRobotics.Wpf/TcoMitsubishiRoboticsBaseServiceView.xaml @@ -7,11 +7,12 @@ xmlns:materialdesign="http://materialdesigninxaml.net/winfx/xaml/themes" xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" xmlns:vortex="http://vortex.mts/xaml" - + xmlns:p="clr-namespace:TcOpen.Inxton.TcoMitsubishiRobotics.Wpf.Properties" + mc:Ignorable="d"> - + @@ -29,38 +30,48 @@ - + - + - + + + + + - + - + + - + - - - + + + - - - + + + + - - - + + + + + + + - + @@ -91,11 +102,11 @@ - + diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.Designer.cs b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.Designer.cs index 9e014a3f2..ccbafc0eb 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.Designer.cs +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.Designer.cs @@ -124,11 +124,11 @@ public static string ___Auto_stop_2__ { } /// - /// Looks up a localized string similar to AutoOn. + /// Looks up a localized string similar to Automatic operation enabled. /// - public static string ___AutoOn__ { + public static string ___Automatic_operation_enabled__ { get { - return ResourceManager.GetString("___AutoOn__", resourceCulture); + return ResourceManager.GetString("___Automatic_operation_enabled__", resourceCulture); } } @@ -169,11 +169,11 @@ public static string ___Coordinates__ { } /// - /// Looks up a localized string similar to CycleOn. + /// Looks up a localized string similar to Cycle Stop. /// - public static string ___CycleOn__ { + public static string ___Cycle_Stop__ { get { - return ResourceManager.GetString("___CycleOn__", resourceCulture); + return ResourceManager.GetString("___Cycle_Stop__", resourceCulture); } } @@ -213,15 +213,6 @@ public static string ___Emergency_stop_2__ { } } - /// - /// Looks up a localized string similar to Emergency stop acknowledge. - /// - public static string ___Emergency_stop_acknowledge__ { - get { - return ResourceManager.GetString("___Emergency_stop_acknowledge__", resourceCulture); - } - } - /// /// Looks up a localized string similar to Emergency stop active. /// @@ -250,29 +241,20 @@ public static string ___Enable_2__ { } /// - /// Looks up a localized string similar to Error. - /// - public static string ___Error__ { - get { - return ResourceManager.GetString("___Error__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Error acknowledge. + /// Looks up a localized string similar to Error Reset. /// - public static string ___Error_acknowledge__ { + public static string ___Error_Reset__ { get { - return ResourceManager.GetString("___Error_acknowledge__", resourceCulture); + return ResourceManager.GetString("___Error_Reset__", resourceCulture); } } /// - /// Looks up a localized string similar to Event ID. + /// Looks up a localized string similar to General Purpose reset. /// - public static string ___Event_ID__ { + public static string ___General_Purpose_reset__ { get { - return ResourceManager.GetString("___Event_ID__", resourceCulture); + return ResourceManager.GetString("___General_Purpose_reset__", resourceCulture); } } @@ -312,6 +294,24 @@ public static string ___Global_speed__ { } } + /// + /// Looks up a localized string similar to High level errror occured . + /// + public static string ___High_level_errror_occured___ { + get { + return ResourceManager.GetString("___High_level_errror_occured___", resourceCulture); + } + } + + /// + /// Looks up a localized string similar to High level rrror. + /// + public static string ___High_level_rrror__ { + get { + return ResourceManager.GetString("___High_level_rrror__", resourceCulture); + } + } + /// /// Looks up a localized string similar to IN. /// @@ -402,15 +402,6 @@ public static string ___In_position_4__ { } } - /// - /// Looks up a localized string similar to Interuption actually running instruction. - /// - public static string ___Interuption_actually_running_instruction__ { - get { - return ResourceManager.GetString("___Interuption_actually_running_instruction__", resourceCulture); - } - } - /// /// Looks up a localized string similar to Invalid reference: . /// @@ -430,20 +421,20 @@ public static string ___Invalid_reference_StartMotorAndProgramTask__ { } /// - /// Looks up a localized string similar to Load and run program. + /// Looks up a localized string similar to Low level error. /// - public static string ___Load_and_run_program__ { + public static string ___Low_level_error__ { get { - return ResourceManager.GetString("___Load_and_run_program__", resourceCulture); + return ResourceManager.GetString("___Low_level_error__", resourceCulture); } } /// - /// Looks up a localized string similar to Load program. + /// Looks up a localized string similar to Low level errror occured . /// - public static string ___Load_program__ { + public static string ___Low_level_errror_occured___ { get { - return ResourceManager.GetString("___Load_program__", resourceCulture); + return ResourceManager.GetString("___Low_level_errror_occured___", resourceCulture); } } @@ -457,83 +448,47 @@ public static string ___Master_mode__ { } /// - /// Looks up a localized string similar to Motion supervision. - /// - public static string ___Motion_supervision__ { - get { - return ResourceManager.GetString("___Motion_supervision__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Motor off. - /// - public static string ___Motor_off__ { - get { - return ResourceManager.GetString("___Motor_off__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Motor off state. - /// - public static string ___Motor_off_state__ { - get { - return ResourceManager.GetString("___Motor_off_state__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Motor on. - /// - public static string ___Motor_on__ { - get { - return ResourceManager.GetString("___Motor_on__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Motor on state. + /// Looks up a localized string similar to Moving to position ID. /// - public static string ___Motor_on_state__ { + public static string ___Moving_to_position_ID__ { get { - return ResourceManager.GetString("___Motor_on_state__", resourceCulture); + return ResourceManager.GetString("___Moving_to_position_ID__", resourceCulture); } } /// - /// Looks up a localized string similar to Move active. + /// Looks up a localized string similar to Operation enablre (rights). /// - public static string ___Move_active__ { + public static string ___Operation_enablre__rights___ { get { - return ResourceManager.GetString("___Move_active__", resourceCulture); + return ResourceManager.GetString("___Operation_enablre__rights___", resourceCulture); } } /// - /// Looks up a localized string similar to Move inactive. + /// Looks up a localized string similar to Operation rights. /// - public static string ___Move_inactive__ { + public static string ___Operation_rights__ { get { - return ResourceManager.GetString("___Move_inactive__", resourceCulture); + return ResourceManager.GetString("___Operation_rights__", resourceCulture); } } /// - /// Looks up a localized string similar to Moving to position ID. + /// Looks up a localized string similar to OUT. /// - public static string ___Moving_to_position_ID__ { + public static string ___OUT__ { get { - return ResourceManager.GetString("___Moving_to_position_ID__", resourceCulture); + return ResourceManager.GetString("___OUT__", resourceCulture); } } /// - /// Looks up a localized string similar to OUT. + /// Looks up a localized string similar to Overide specification. /// - public static string ___OUT__ { + public static string ___Overide_specification__ { get { - return ResourceManager.GetString("___OUT__", resourceCulture); + return ResourceManager.GetString("___Overide_specification__", resourceCulture); } } @@ -565,56 +520,20 @@ public static string ___PointNumber__ { } /// - /// Looks up a localized string similar to Program execution error. - /// - public static string ___Program_execution_error__ { - get { - return ResourceManager.GetString("___Program_execution_error__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Program execution error see robot panel for details. - /// - public static string ___Program_execution_error_see_robot_panel_for_details__ { - get { - return ResourceManager.GetString("___Program_execution_error_see_robot_panel_for_details__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Program pointer moved. + /// Looks up a localized string similar to Program reset. /// - public static string ___Program_pointer_moved__ { + public static string ___Program_reset__ { get { - return ResourceManager.GetString("___Program_pointer_moved__", resourceCulture); + return ResourceManager.GetString("___Program_reset__", resourceCulture); } } /// - /// Looks up a localized string similar to Program start. + /// Looks up a localized string similar to Rc Ready. /// - public static string ___Program_start__ { + public static string ___Rc_Ready__ { get { - return ResourceManager.GetString("___Program_start__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Program start at main. - /// - public static string ___Program_start_at_main__ { - get { - return ResourceManager.GetString("___Program_start_at_main__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Program stop. - /// - public static string ___Program_stop__ { - get { - return ResourceManager.GetString("___Program_stop__", resourceCulture); + return ResourceManager.GetString("___Rc_Ready__", resourceCulture); } } @@ -646,47 +565,29 @@ public static string ___Robot_Error_Reset__ { } /// - /// Looks up a localized string similar to Robot is not in Auto. - /// - public static string ___Robot_is_not_in_Auto__ { - get { - return ResourceManager.GetString("___Robot_is_not_in_Auto__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Safety circuit open. - /// - public static string ___Safety_circuit_open__ { - get { - return ResourceManager.GetString("___Safety_circuit_open__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Safety Error . + /// Looks up a localized string similar to Servo Off. /// - public static string ___Safety_Error___ { + public static string ___Servo_Off__ { get { - return ResourceManager.GetString("___Safety_Error___", resourceCulture); + return ResourceManager.GetString("___Servo_Off__", resourceCulture); } } /// - /// Looks up a localized string similar to Safety OK. + /// Looks up a localized string similar to Servo On. /// - public static string ___Safety_OK__ { + public static string ___Servo_On__ { get { - return ResourceManager.GetString("___Safety_OK__", resourceCulture); + return ResourceManager.GetString("___Servo_On__", resourceCulture); } } /// - /// Looks up a localized string similar to Speed limitation. + /// Looks up a localized string similar to Start. /// - public static string ___Speed_limitation__ { + public static string ___Start__ { get { - return ResourceManager.GetString("___Speed_limitation__", resourceCulture); + return ResourceManager.GetString("___Start__", resourceCulture); } } @@ -933,6 +834,15 @@ public static string ___Status__ { } } + /// + /// Looks up a localized string similar to Stop. + /// + public static string ___Stop__ { + get { + return ResourceManager.GetString("___Stop__", resourceCulture); + } + } + /// /// Looks up a localized string similar to Stop motors. /// @@ -969,24 +879,6 @@ public static string ___Stop_motors_was_completed_successfully___ { } } - /// - /// Looks up a localized string similar to Stop movement-quick. - /// - public static string ___Stop_movement_quick__ { - get { - return ResourceManager.GetString("___Stop_movement_quick__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Stop movement-soft. - /// - public static string ___Stop_movement_soft__ { - get { - return ResourceManager.GetString("___Stop_movement_soft__", resourceCulture); - } - } - /// /// Looks up a localized string similar to Stop movements. /// @@ -1050,24 +942,6 @@ public static string ___Stop_program__ { } } - /// - /// Looks up a localized string similar to Stop program at the end of the cycle. - /// - public static string ___Stop_program_at_the_end_of_the_cycle__ { - get { - return ResourceManager.GetString("___Stop_program_at_the_end_of_the_cycle__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Stop program at the end of the instruction. - /// - public static string ___Stop_program_at_the_end_of_the_instruction__ { - get { - return ResourceManager.GetString("___Stop_program_at_the_end_of_the_instruction__", resourceCulture); - } - } - /// /// Looks up a localized string similar to Stop program was aborted, while not yet completed!. /// @@ -1140,42 +1014,6 @@ public static string ___Stopping_program_with_error___ { } } - /// - /// Looks up a localized string similar to Switch off the motors. - /// - public static string ___Switch_off_the_motors__ { - get { - return ResourceManager.GetString("___Switch_off_the_motors__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Switch on the motors. - /// - public static string ___Switch_on_the_motors__ { - get { - return ResourceManager.GetString("___Switch_on_the_motors__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Switch on the motors and start program. - /// - public static string ___Switch_on_the_motors_and_start_program__ { - get { - return ResourceManager.GetString("___Switch_on_the_motors_and_start_program__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to System input busy. - /// - public static string ___System_input_busy__ { - get { - return ResourceManager.GetString("___System_input_busy__", resourceCulture); - } - } - /// /// Looks up a localized string similar to Tool 1 extend. /// @@ -1275,6 +1113,15 @@ public static string ___User_specific_speed_2__ { } } + /// + /// Looks up a localized string similar to Waiting for auto enable! . + /// + public static string ___Waiting_for_auto_enable____ { + get { + return ResourceManager.GetString("___Waiting_for_auto_enable____", resourceCulture); + } + } + /// /// Looks up a localized string similar to Waiting for Auto signal! . /// @@ -1293,6 +1140,24 @@ public static string ___Waiting_for_motors_are_On____ { } } + /// + /// Looks up a localized string similar to Waiting for Operation enable! . + /// + public static string ___Waiting_for_Operation_enable____ { + get { + return ResourceManager.GetString("___Waiting_for_Operation_enable____", resourceCulture); + } + } + + /// + /// Looks up a localized string similar to Waiting for Operation enable signal! . + /// + public static string ___Waiting_for_Operation_enable_signal____ { + get { + return ResourceManager.GetString("___Waiting_for_Operation_enable_signal____", resourceCulture); + } + } + /// /// Looks up a localized string similar to Waiting for program running signal! . /// @@ -1321,11 +1186,29 @@ public static string ___Waiting_for_system_ready_signal____ { } /// - /// Looks up a localized string similar to Waiting program pointer changed! . + /// Looks up a localized string similar to Waiting program reset changed! . + /// + public static string ___Waiting_program_reset_changed____ { + get { + return ResourceManager.GetString("___Waiting_program_reset_changed____", resourceCulture); + } + } + + /// + /// Looks up a localized string similar to Warning level error (caution). + /// + public static string ___Warning_level_error__caution___ { + get { + return ResourceManager.GetString("___Warning_level_error__caution___", resourceCulture); + } + } + + /// + /// Looks up a localized string similar to Warning level error occured . /// - public static string ___Waiting_program_pointer_changed____ { + public static string ___Warning_level_error_occured___ { get { - return ResourceManager.GetString("___Waiting_program_pointer_changed____", resourceCulture); + return ResourceManager.GetString("___Warning_level_error_occured___", resourceCulture); } } diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.resx b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.resx index 26466b61a..2ba7ad7d2 100644 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.resx +++ b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/Properties/Localizations.resx @@ -120,11 +120,14 @@ Emergency stop active - - Safety Error + + High level errror occured - - Program execution error see robot panel for details + + Low level errror occured + + + Warning level error occured Drive error no @@ -177,8 +180,20 @@ Invalid reference: - - Waiting program pointer changed! + + Waiting for Auto signal! + + + Waiting for Operation enable signal! + + + Robot Error Reset + + + Robot Emergency Stop Reset + + + Waiting program reset changed! Waiting for system ready signal! @@ -195,21 +210,12 @@ Start at Main started. - - Waiting for Auto signal! - - - Robot is not in Auto - - - Robot Error Reset - - - Robot Emergency Stop Reset - Waiting for signal: + + Waiting for program running signal! + Start motors and program was aborted. @@ -252,8 +258,11 @@ Start motors started. - - Waiting for program running signal! + + Waiting for Operation enable! + + + Waiting for auto enable! Waiting for motors are On! @@ -321,53 +330,38 @@ Stopping movements started. - - Interuption actually running instruction - - - Load program - - - Load and run program + + Operation enablre (rights) - - Switch off the motors + + Automatic operation enabled - - Switch on the motors + + Start - - Switch on the motors and start program + + Stop - - Emergency stop acknowledge + + Program reset - - Error acknowledge + + Error Reset - - Program start + + Cycle Stop - - Program start at main + + Servo Off - - Program stop + + Servo On - - Stop movement-quick + + General Purpose reset - - Stop movement-soft - - - Stop program at the end of the cycle - - - Stop program at the end of the instruction - - - Speed limitation + + Overide specification Master mode @@ -426,53 +420,23 @@ Coordinates - - AutoOn + + Operation rights - - CycleOn - - - Emergency stop + + High level rrror - - Error + + Low level error - - Event ID + + Warning level error (caution) - - Move active - - - Move inactive - - - Motor off - - - Motor on - - - Motor off state - - - Motor on state - - - Program execution error - - - Safety OK - - - System input busy - - - Program pointer moved + + Emergency stop - - Motion supervision + + Rc Ready Battery Low diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-021C-3B01-TZ535_PN.bmp b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-021C-3B01-TZ535_PN.bmp new file mode 100644 index 0000000000000000000000000000000000000000..065f6581eac4cfdc408d17ae91034b69ee7e3ee5 GIT binary patch literal 8534 zcmeI0c~n$)md7h<+^dSJ;+&Z|r{_#}GRb77r|q^U>SQtIB%Q>L8ja~_j4|%whC4>Z zowxvsfVhCND*ILx#ZoM_FVwylJ18iqY=T%oiS~Tod+;m~W={8<_RJsS`SASJ@4c#b zzxUqXy}$Q9S+wj|4D#P>9N)p;=R^O$#`t@3o;WC3)Zg#~lkx5=!>BH`Yh_lA)S{7? 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-V2.43-ABB-Robotics-OmniCore-20230327.xml b/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-V2.43-ABB-Robotics-OmniCore-20230327.xml deleted file mode 100644 index 09337dcd7..000000000 --- a/src/TcoMitsubishiRobotics/src/TcoMitsubishiRoboticsConnector/ddf/GSDML-V2.43-ABB-Robotics-OmniCore-20230327.xml +++ /dev/null @@ -1,2721 +0,0 @@ - - - - PROFINET Device Profile - 1.00 - Device Profile for PROFINET Devices - PROFIBUS Nutzerorganisation e. V. 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- - Output 22 - BITARR8 - 192 - - - Output 23 - BITARR8 - 200 - - - Output 24 - BITARR8 - 208 - - - Output 25 - BITARR8 - 216 - - - Output 26 - BITARR8 - 224 - - - Output 27 - BITARR8 - 232 - - - Output 28 - BITARR8 - 240 - - - Output 29 - BITARR8 - 248 - - - Output 30 - BITARR8 - 256 - - - Output 31 - BITARR8 - 264 - - - Output 32 - BITARR8 - 272 - - - Output 33 - BITARR8 - 280 - - - Output 34 - BITARR8 - 288 - - - Output 35 - BITARR8 - 296 - - - Output 36 - BITARR8 - 304 - - - Output 37 - BITARR8 - 312 - - - Output 38 - BITARR8 - 320 - - - Output 39 - BITARR8 - 328 - - - Output 40 - BITARR8 - 336 - - - Output 41 - BITARR8 - 344 - - - Output 42 - BITARR8 - 352 - - - Output 43 - BITARR8 - 360 - - - Output 44 - BITARR8 - 368 - - - Output 45 - BITARR8 - 376 - - - Output 46 - BITARR8 - 384 - - - Output 47 - BITARR8 - 392 - - - Output 48 - BITARR8 - 400 - - - Output 49 - BITARR8 - 408 - - - Output 50 - BITARR8 - 416 - - - Output 51 - BITARR8 - 424 - - - Output 52 - BITARR8 - 432 - - - Output 53 - BITARR8 - 440 - - - Output 54 - BITARR8 - 448 - - - Output 55 - BITARR8 - 456 - - - Output 56 - BITARR8 - 464 - - - Output 57 - BITARR8 - 472 - - - Output 58 - BITARR8 - 480 - - - Output 59 - BITARR8 - 488 - - - Output 60 - BITARR8 - 496 - - - Output 61 - BITARR8 - 504 - - - Output 62 - BITARR8 - 512 - - - Output 63 - BITARR8 - 520 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_Control_v_1_x_x.TcDUT b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_Control_v_1_x_x.TcDUT index e365d253a..a4dcb7959 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_Control_v_1_x_x.TcDUT +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_Control_v_1_x_x.TcDUT @@ -4,55 +4,31 @@ "} + OperationEnable:BOOL; + {attribute addProperty Name "<#Automatic operation enabled#>"} + AutoEnable:BOOL; + {attribute addProperty Name "<#Start#>"} + Start:BOOL; + {attribute addProperty Name "<#Stop#>"} + Stop:BOOL; + {attribute addProperty Name "<#Program reset#>"} + ProgramReset:BOOL; + {attribute addProperty Name "<#Error Reset#>"} + ErrorReset:BOOL; + {attribute addProperty Name "<#Cycle Stop#>"} + CycleStop:BOOL; + {attribute addProperty Name "<#Servo Off#>"} + ServoOff:BOOL; + {attribute addProperty Name "<#Servo On#>"} + ServoOn:BOOL; + + {attribute addProperty Name "<#General Purpose reset#>"} + GeneralPurposeReset:BOOL; - {attribute addProperty Name "<#Interuption actually running instruction#>"} - Interupt : BOOL; - - {attribute addProperty Name "<#Load program#>"} - LoadProg : BOOL; - - {attribute addProperty Name "<#Load and run program#>"} - LoadAndStartProg : BOOL; - - {attribute addProperty Name "<#Switch off the motors#>"} - MotorOff : BOOL; - - {attribute addProperty Name "<#Switch on the motors#>"} - MotorOn : BOOL; - - {attribute addProperty Name "<#Switch on the motors and start program#>"} - MotorOnAndStart : BOOL; - - {attribute addProperty Name "<#Emergency stop acknowledge#>"} - ResetEmgStop : BOOL; - - {attribute addProperty Name "<#Error acknowledge#>"} - ResetError : BOOL; - - {attribute addProperty Name "<#Program start#>"} - StartProgram : BOOL; - - {attribute addProperty Name "<#Program start at main#>"} - StartAtMain : BOOL; - - {attribute addProperty Name "<#Program stop#>"} - StopProgram : BOOL; - - {attribute addProperty Name "<#Stop movement-quick#>"} - QuickStop : BOOL; - - {attribute addProperty Name "<#Stop movement-soft#>"} - SoftStop : BOOL; - - {attribute addProperty Name "<#Stop program at the end of the cycle#>"} - StopCycle : BOOL; - - {attribute addProperty Name "<#Stop program at the end of the instruction#>"} - StopInstruction : BOOL; - - {attribute addProperty Name "<#Speed limitation#>"} - LimitSpeed : BOOL; + + {attribute addProperty Name "<#Overide specification#>"} + OverideSpecifications:BOOL; {attribute addProperty Name "<#Master mode#>"} MasterMode : BYTE; diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_State_v_1_x_x.TcDUT b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_State_v_1_x_x.TcDUT index ebd8b57d5..ec02b2120 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_State_v_1_x_x.TcDUT +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/DUTs/TcoMitsubishiRobotics_State_v_1_x_x.TcDUT @@ -4,55 +4,43 @@ "} + OperationEnable:BOOL; + {attribute addProperty Name "<#Automatic operation enabled#>"} + AutoEnable:BOOL; + {attribute addProperty Name "<#Start#>"} + Start:BOOL; + {attribute addProperty Name "<#Stop#>"} + Stop:BOOL; + {attribute addProperty Name "<#Program reset#>"} + ProgramReset:BOOL; + {attribute addProperty Name "<#Error Reset#>"} + ErrorReset:BOOL; + {attribute addProperty Name "<#Cycle Stop#>"} + CycleStop:BOOL; + {attribute addProperty Name "<#Servo Off#>"} + ServoOff:BOOL; + {attribute addProperty Name "<#Servo On#>"} + ServoOn:BOOL; + + {attribute addProperty Name "<#High level rrror#>"} + HighLevelError:BOOL; + + {attribute addProperty Name "<#Low level error#>"} + LowLevelError:BOOL; + + + {attribute addProperty Name "<#Warning level error (caution)#>"} + CautionLevelError:BOOL; + - {attribute addProperty Name "<#AutoOn#>"} - AutoOn : BOOL; - - {attribute addProperty Name "<#CycleOn#>"} - CycleOn : BOOL; - {attribute addProperty Name "<#Emergency stop#>"} - EmgStop : BOOL; - - {attribute addProperty Name "<#Error#>"} - Error : BOOL; - - {attribute addProperty Name "<#Event ID#>"} - EventId : UDINT; + EmergencyError:BOOL; - {attribute addProperty Name "<#Move active#>"} - MoveActive : BOOL; - - {attribute addProperty Name "<#Move inactive#>"} - MoveInactive : BOOL; - - {attribute addProperty Name "<#Motor off#>"} - MotorOff : BOOL; - - {attribute addProperty Name "<#Motor on#>"} - MotorOn : BOOL; - - {attribute addProperty Name "<#Motor off state#>"} - MotorOffState : BOOL; - - {attribute addProperty Name "<#Motor on state#>"} - MotorOnState : BOOL; - - {attribute addProperty Name "<#Program execution error#>"} - ProgExecError : BOOL; - - {attribute addProperty Name "<#Safety OK#>"} - SafetyOk : BOOL; - {attribute addProperty Name "<#System input busy#>"} - SystemInputBusy : BOOL; - - {attribute addProperty Name "<#Program pointer moved#>"} - PpMoved : BOOL; + {attribute addProperty Name "<#Rc Ready#>"} + RcReady:BOOL; - {attribute addProperty Name "<#Motion supervision#>"} - MotionSupervision : BOOL; - {attribute addProperty Name "<#Battery Low#>"} BatteryLow : BOOL; @@ -122,30 +110,30 @@ STRUCT - {attribute addProperty Name "<#Auto stop 1#>"} - AutoStop_1 : BOOL; - - {attribute addProperty Name "<#Auto stop 2#>"} - AutoStop_2 : BOOL; - - {attribute addProperty Name "<#Emergency stop 1#>"} - EmergencyStop_1 : BOOL; - - {attribute addProperty Name "<#Emergency stop 2#>"} - EmergencyStop_2 : BOOL; - - {attribute addProperty Name "<#General stop 1#>"} - GeneralStop_1 : BOOL; - - {attribute addProperty Name "<#General stop 2#>"} - GeneralStop_2 : BOOL; - - {attribute addProperty Name "<#Enable 1#>"} - Enable_1 : BOOL; - - {attribute addProperty Name "<#Enable 2#>"} - Enable_2 : BOOL; - + //{attribute addProperty Name "<#Auto stop 1#>"} +// AutoStop_1 : BOOL; +// +// {attribute addProperty Name "<#Auto stop 2#>"} +// AutoStop_2 : BOOL; +// +// {attribute addProperty Name "<#Emergency stop 1#>"} +// EmergencyStop_1 : BOOL; +// +// {attribute addProperty Name "<#Emergency stop 2#>"} +// EmergencyStop_2 : BOOL; +// +// {attribute addProperty Name "<#General stop 1#>"} +// GeneralStop_1 : BOOL; +// +// {attribute addProperty Name "<#General stop 2#>"} +// GeneralStop_2 : BOOL; +// +// {attribute addProperty Name "<#Enable 1#>"} +// Enable_1 : BOOL; +// +// {attribute addProperty Name "<#Enable 2#>"} +// Enable_2 : BOOL; +// {attribute addProperty Name "<#Action number#>"} ActionNo : BYTE; diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/CR series/TcoCr800_v_1_x_x.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/CR series/TcoCr800_v_1_x_x.TcPOU index 0ee0f225a..7c0d5b1d9 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/CR series/TcoCr800_v_1_x_x.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/CR series/TcoCr800_v_1_x_x.TcPOU @@ -57,7 +57,7 @@ VAR _stopMovementsAndProgramTask : StopMovementsAndProgramTask(THIS^); {attribute addProperty Name "<#Stop program#>"} - _stopProgramTask : StopMovementsAndProgramTask(THIS^); + _stopProgramTask : StopProgramTask(THIS^); {attribute addProperty Name "<#Stop motors#>"} _stopMotorsTask : StopMotorsTask(THIS^); @@ -149,19 +149,22 @@ _someTaskIsActive := _startAtMainTask.Busy //do not publish diagnostic message when component is not used IF _someTaskIsActive THEN - IF(_status.State.EmgStop) THEN + IF(_status.State.EmergencyError) THEN Messenger.Error('<#Emergency stop active#>'); END_IF; - IF(NOT _status.State.SafetyOk) THEN - Messenger.Warning('<#Safety Error #>'); + IF( _status.State.HighLevelError) THEN + Messenger.Error('<#High level errror occured #>'); END_IF; - IF(_status.State.ProgExecError) THEN - Messenger.Error('<#Program execution error see robot panel for details#>'); + IF( _status.State.LowLevelError) THEN + Messenger.Error('<#Low level errror occured #>'); + END_IF; + IF(_status.State.CautionLevelError) THEN + Messenger.Warning('<#Warning level error occured #>'); END_IF; END_IF; -IF(_status.State.Error) THEN Messenger.Error(_sb.Clear().Append('<#Drive error no #>').Append(UDINT_TO_STRING(_status.State.EventId)).Append(' |[[0]AdvancedDiagnosticMessage]|').Append('.').Append('For details see the service mode').ToString()); END_IF; +//IF(_status.State.Error) THEN Messenger.Error(_sb.Clear().Append('<#Drive error no #>').Append(UDINT_TO_STRING(_status.State.EventId)).Append(' |[[0]AdvancedDiagnosticMessage]|').Append('.').Append('For details see the service mode').ToString()); END_IF; UpdateControl();]]> @@ -210,23 +213,18 @@ METHOD Restore : ITcoRestorable]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartAtMainTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartAtMainTask.TcPOU index f8a2f7d8d..86399ab83 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartAtMainTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartAtMainTask.TcPOU @@ -21,21 +21,59 @@ END_IF END_IF + IF _progress = 1 THEN - inoControl.StartAtMain := _blink.outQ; - _varInfo :=__VARINFO( inoStatus.State.PpMoved); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.PpMoved).Warning(_sb.Clear().Append('<#Waiting program pointer changed! #>').Append(_varInfo.Symbol).ToString()); + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + + + + IF _progress =3 THEN + Messenger.Debug('<#Robot Error Reset#>'); + inoControl.ErrorReset := inoStatus.State.ErrorReset AND _blink.outQ; + IF NOT inoStatus.State.ErrorReset THEN + inoControl.ErrorReset:=FALSE; + _progress := _progress + 1; + END_IF + END_IF; + + IF _progress = 4 THEN + Messenger.Debug('<#Robot Emergency Stop Reset#>'); + inoControl.ErrorReset := inoStatus.State.EmergencyError AND _blink.outQ; + IF NOT inoStatus.State.EmergencyError THEN + inoControl.ErrorReset:=FALSE; + _progress := _progress + 1; + END_IF + END_IF; + IF _progress = 5 THEN + + inoControl.ProgramReset := _blink.outQ; + _varInfo :=__VARINFO( inoStatus.State.ProgramReset); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.ProgramReset).Warning(_sb.Clear().Append('<#Waiting program reset changed! #>').Append(_varInfo.Symbol).ToString()); - // _varInfo :=__VARINFO( inoStatus.State.SystemInputBusy); -// THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.SystemInputBusy).Warning(_sb.Clear().Append('<#Waiting for system ready signal! #>').Append(_varInfo.Symbol).ToString()); -// - IF inoStatus.State.PpMoved THEN - inoControl.StartAtMain :=FALSE; - _progress:=0; + + IF inoStatus.State.ProgramReset THEN + inoControl.ProgramReset :=FALSE; + DoneWhen(inoStatus.State.ProgramReset ); + END_IF END_IF - DoneWhen(inoStatus.State.PpMoved ); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q ); @@ -85,6 +123,7 @@ METHOD PROTECTED OnDone ]]> ';END_IF; +_progress:=0; ]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsAndProgramTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsAndProgramTask.TcPOU index 90f996ed7..fdef0dc47 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsAndProgramTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsAndProgramTask.TcPOU @@ -29,58 +29,84 @@ IF Execute() THEN END_IF END_IF + + IF _progress = 1 THEN - _varInfo :=__VARINFO( inoStatus.State.AutoOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoOn).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); - Messenger.Warning('<#Robot is not in Auto#>'); - IF inoStatus.State.AutoOn THEN + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN _progress := _progress + 1; END_IF; END_IF; + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; - IF _progress = 2 THEN + + + IF _progress =3 THEN Messenger.Debug('<#Robot Error Reset#>'); - inoControl.ResetError := inoStatus.State.Error AND _blink.outQ; - IF NOT inoStatus.State.Error THEN - inoControl.ResetError:=FALSE; + inoControl.ErrorReset := inoStatus.State.ErrorReset AND _blink.outQ; + IF NOT inoStatus.State.ErrorReset THEN + inoControl.ErrorReset:=FALSE; _progress := _progress + 1; END_IF END_IF; + + - IF _progress = 3 THEN + IF _progress = 4 THEN Messenger.Debug('<#Robot Emergency Stop Reset#>'); - inoControl.ResetEmgStop := inoStatus.State.EmgStop AND _blink.outQ; - IF NOT inoStatus.State.EmgStop THEN - inoControl.ResetEmgStop:=FALSE; + inoControl.ErrorReset := inoStatus.State.EmergencyError AND _blink.outQ; + IF NOT inoStatus.State.EmergencyError THEN + inoControl.ErrorReset:=FALSE; _progress := _progress + 1; END_IF END_IF; - IF _progress = 4 THEN - IF inoStatus.State.Error THEN + IF _progress = 5 THEN + IF inoStatus.State.HighLevelError OR inoStatus.State.LowLevelError OR inoStatus.State.CautionLevelError OR inoStatus.State.EmergencyError THEN _progress := 1; END_IF - _varInfo :=__VARINFO( inoStatus.State.MotorOnState); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.MotorOnState).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - _varInfo :=__VARINFO( inoStatus.State.CycleOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.CycleOn).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - _varInfo :=__VARINFO( inoStatus.State.Error); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Error).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - - inoControl.MotorOnAndStart:=_blink.outQ; - IF inoStatus.State.MotorOnState AND inoStatus.State.CycleOn AND NOT inoStatus.State.Error THEN - inoControl.MotorOnAndStart:=FALSE; + _varInfo :=__VARINFO( inoStatus.State.ServoOn); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.ServoOn).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); + _varInfo :=__VARINFO( inoStatus.State.ErrorReset); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.ErrorReset).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); + + inoControl.ServoOn:=_blink.outQ; + IF inoStatus.State.ServoOn AND NOT inoStatus.State.ErrorReset THEN + inoControl.ServoOn:=FALSE; _progress := _progress + 1; END_IF END_IF; + IF _progress = 6 THEN + IF inoStatus.State.HighLevelError OR inoStatus.State.LowLevelError OR inoStatus.State.CautionLevelError OR inoStatus.State.EmergencyError THEN + _progress := 1; + END_IF + inoControl.Start:=_blink.outQ; + _varInfo :=__VARINFO( inoStatus.State.Start); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Start).Warning(_sb.Clear().Append('<#Waiting for program running signal! #>').Append(_varInfo.Symbol).ToString()); + + + IF inoStatus.State.Start AND NOT inoStatus.State.ErrorReset THEN + inoControl.Start:=FALSE; + END_IF + END_IF; + - DoneWhen(inoStatus.State.CycleOn AND inoStatus.State.MotorOnState AND NOT inoStatus.State.Error); + DoneWhen(inoStatus.State.ServoOn AND inoStatus.State.Start AND NOT inoStatus.State.ErrorReset); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q ); diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsProgramAndMovementsTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsProgramAndMovementsTask.TcPOU index a6a0886e4..debeff428 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsProgramAndMovementsTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsProgramAndMovementsTask.TcPOU @@ -23,7 +23,7 @@ END_IF _startMotorsAndProgramTask REF= refStartMotorsAndProgramTask; IF Execute() THEN - IF _progress = 0 THEN + (*IF _progress = 0 THEN IF NOT __ISVALIDREF(inoControl) THEN _varInfo :=__VARINFO(inoControl); Messenger.Programming(_sb.Clear().Append('<#Invalid reference: #>').Append(_varInfo.Symbol).ToString()).Pin(); @@ -98,7 +98,7 @@ IF Execute() THEN END_IF END_IF; - CallTimers(TRUE); + CallTimers(TRUE);*) THIS^.ThrowWhen(_errorTimer.Q ); END_IF @@ -139,8 +139,8 @@ InvokeWithParams := THIS^.Invoke();]]> METHOD PROTECTED OnAbort]]> ';END_IF; -inoControl.SoftStop := TRUE; -inoControl.QuickStop := FALSE;]]> +//inoControl.SoftStop := TRUE; +//inoControl.QuickStop := FALSE;]]> @@ -182,8 +182,8 @@ THIS^._errorMessage.Error(_sb.Clear().Append(description).Append(' To restore ac '; END_IF; CallTimers(FALSE); -inoControl.QuickStop:=FALSE; -inoControl.SoftStop:=FALSE;]]> +//inoControl.QuickStop:=FALSE; +//inoControl.SoftStop:=FALSE;]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsTask.TcPOU index b50c2daac..b56ea001f 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMotorsTask.TcPOU @@ -26,47 +26,59 @@ IF Execute() THEN END_IF END_IF + IF _progress = 1 THEN - _varInfo :=__VARINFO( inoStatus.State.AutoOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoOn).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); - IF inoStatus.State.AutoOn THEN + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN _progress := _progress + 1; END_IF; END_IF; - IF _progress = 2 THEN + + IF _progress =3 THEN Messenger.Debug('<#Robot Error Reset#>'); - inoControl.ResetError := inoStatus.State.Error AND _blink.outQ; - IF NOT inoStatus.State.Error THEN - inoControl.ResetError:=FALSE; + inoControl.ErrorReset := inoStatus.State.ErrorReset AND _blink.outQ; + IF NOT inoStatus.State.ErrorReset THEN + inoControl.ErrorReset:=FALSE; _progress := _progress + 1; END_IF END_IF; - IF _progress = 3 THEN + IF _progress = 4 THEN Messenger.Debug('<#Robot Emergency Stop Reset#>'); - inoControl.ResetEmgStop := inoStatus.State.EmgStop AND _blink.outQ; - IF NOT inoStatus.State.EmgStop THEN - inoControl.ResetEmgStop:=FALSE; + inoControl.ErrorReset := inoStatus.State.EmergencyError AND _blink.outQ; + IF NOT inoStatus.State.EmergencyError THEN + inoControl.ErrorReset:=FALSE; _progress := _progress + 1; END_IF END_IF; - IF _progress = 4 THEN - IF inoStatus.State.Error THEN + IF _progress = 5 THEN + IF inoStatus.State.HighLevelError OR inoStatus.State.LowLevelError OR inoStatus.State.CautionLevelError OR inoStatus.State.EmergencyError THEN _progress := 1; END_IF - _varInfo :=__VARINFO( inoStatus.State.MotorOnState); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.MotorOnState).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - _varInfo :=__VARINFO( inoStatus.State.Error); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Error).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); + _varInfo :=__VARINFO( inoStatus.State.ServoOn); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.ServoOn).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); + _varInfo :=__VARINFO( inoStatus.State.ErrorReset); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.ErrorReset).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - inoControl.MotorOn:=_blink.outQ; - IF inoStatus.State.MotorOnState AND NOT inoStatus.State.Error THEN - inoControl.MotorOn:=FALSE; + inoControl.ServoOn:=_blink.outQ; + IF inoStatus.State.ServoOn AND NOT inoStatus.State.ErrorReset THEN + inoControl.ServoOn:=FALSE; _progress := _progress + 1; END_IF END_IF; @@ -74,7 +86,7 @@ IF Execute() THEN - DoneWhen(inoStatus.State.MotorOnState AND NOT inoStatus.State.Error); + DoneWhen(inoStatus.State.ServoOn AND NOT inoStatus.State.ErrorReset); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q ); diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU index e8b24ac7c..d738562b1 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU @@ -29,16 +29,19 @@ IF Execute() THEN IF _progress = 1 THEN - _varInfo :=__VARINFO( inoStatus.State.CycleOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.CycleOn).Warning(_sb.Clear().Append('<#Waiting for program running signal! #>').Append(_varInfo.Symbol).ToString()); + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable! #>').Append(_varInfo.Symbol).ToString()); + + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for auto enable! #>').Append(_varInfo.Symbol).ToString()); - _varInfo :=__VARINFO( inoStatus.State.MotorOnState); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.MotorOnState).Warning(_sb.Clear().Append('<#Waiting for motors are On! #>').Append(_varInfo.Symbol).ToString()); + _varInfo :=__VARINFO( inoStatus.State.ServoOn); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.ServoOn).Warning(_sb.Clear().Append('<#Waiting for motors are On! #>').Append(_varInfo.Symbol).ToString()); - _varInfo :=__VARINFO( inoStatus.State.Error); - THIS^.Messenger.OnCondition(_infoTimer.Q AND inoStatus.State.Error).Warning(_sb.Clear().Append('<#Waiting for system is without errors! #>').Append(_varInfo.Symbol).ToString()); + _varInfo :=__VARINFO( inoStatus.State.ErrorReset); + THIS^.Messenger.OnCondition(_infoTimer.Q AND inoStatus.State.ErrorReset).Warning(_sb.Clear().Append('<#Waiting for system is without errors! #>').Append(_varInfo.Symbol).ToString()); - IF inoStatus.State.CycleOn AND inoStatus.State.MotorOnState AND NOT inoStatus.State.Error THEN + IF inoStatus.State.OperationEnable AND inoStatus.State.AutoEnable AND inoStatus.State.ServoOn AND NOT inoStatus.State.ErrorReset THEN _progress := _progress + 1; END_IF @@ -99,7 +102,7 @@ IF Execute() THEN CallTimers(TRUE); - THIS^.ThrowWhen(_errorTimer.Q OR inoStatus.State.Error); + THIS^.ThrowWhen(_errorTimer.Q OR inoStatus.State.ErrorReset); END_IF IF THIS^.Error AND NOT _errorMessage.Pinned THEN @@ -138,8 +141,8 @@ InvokeWithParams := THIS^.Invoke();]]> METHOD PROTECTED OnAbort]]> ';END_IF; -inoControl.SoftStop := TRUE; -inoControl.QuickStop := FALSE;]]> +//inoControl.SoftStop := TRUE; +//inoControl.QuickStop := FALSE;]]> @@ -183,8 +186,8 @@ THIS^._errorMessage.Error(_sb.Clear().Append(description).Append(' To restore ac '; END_IF; CallTimers(FALSE); -inoControl.QuickStop:=FALSE; -inoControl.SoftStop:=FALSE;]]> +//inoControl.QuickStop:=FALSE; +//inoControl.SoftStop:=FALSE;]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartProgramTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartProgramTask.TcPOU index 6bad8d138..d6a450be0 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartProgramTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartProgramTask.TcPOU @@ -28,25 +28,56 @@ IF Execute() THEN END_IF END_IF + IF _progress = 1 THEN - inoControl.StartProgram:=_blink.outQ; - _varInfo :=__VARINFO( inoStatus.State.CycleOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.CycleOn).Warning(_sb.Clear().Append('<#Waiting for program running signal! #>').Append(_varInfo.Symbol).ToString()); - - _varInfo :=__VARINFO( inoStatus.State.SystemInputBusy); - THIS^.Messenger.OnCondition(_infoTimer.Q AND inoStatus.State.SystemInputBusy).Warning(_sb.Clear().Append('<#Waiting for system ready signal! #>').Append(_varInfo.Symbol).ToString()); + + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + + IF _progress =3 THEN + Messenger.Debug('<#Robot Error Reset#>'); + inoControl.ErrorReset := inoStatus.State.ErrorReset AND _blink.outQ; + IF NOT inoStatus.State.ErrorReset THEN + inoControl.ErrorReset:=FALSE; + _progress := _progress + 1; + END_IF + END_IF; + + IF _progress = 4 THEN + IF inoStatus.State.HighLevelError OR inoStatus.State.LowLevelError OR inoStatus.State.CautionLevelError OR inoStatus.State.EmergencyError THEN + _progress := 1; + END_IF + inoControl.Start:=_blink.outQ; + _varInfo :=__VARINFO( inoStatus.State.Start); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Start).Warning(_sb.Clear().Append('<#Waiting for program running signal! #>').Append(_varInfo.Symbol).ToString()); - IF inoStatus.State.CycleOn AND NOT inoStatus.State.SystemInputBusy THEN - inoControl.StartProgram:=FALSE; + + IF inoStatus.State.Start AND NOT inoStatus.State.ErrorReset THEN + inoControl.Start:=FALSE; END_IF END_IF; - DoneWhen(inoStatus.State.CycleOn ); + DoneWhen(inoStatus.State.Start AND NOT inoStatus.State.ErrorReset ); CallTimers(TRUE); - THIS^.ThrowWhen(_errorTimer.Q OR inoStatus.State.Error); + THIS^.ThrowWhen(_errorTimer.Q OR inoStatus.State.ErrorReset); END_IF IF THIS^.Error AND NOT _errorMessage.Pinned THEN diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMotorsTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMotorsTask.TcPOU index 4dfee89c8..d77c6f2e0 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMotorsTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMotorsTask.TcPOU @@ -20,21 +20,41 @@ END_IF END_IF + IF _progress = 1 THEN + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 3 THEN + + inoControl.ServoOn := FALSE ; + inoControl.ServoOff := TRUE ; - inoControl.MotorOff := TRUE ; - - IF inoStatus.State.MotorOffState AND NOT inoStatus.State.SystemInputBusy THEN - inoControl.MotorOff :=FALSE; + IF inoStatus.State.ServoOff THEN + inoControl.ServoOff :=FALSE; _progress:=0; END_IF END_IF - _varInfo :=__VARINFO( inoStatus.State.MotorOffState); + _varInfo :=__VARINFO( inoStatus.State.ServoOff); THIS^.Messenger.OnCondition(_infoTimer.Q).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - DoneWhen(inoStatus.State.MotorOffState); + DoneWhen(inoStatus.State.ServoOff); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q); @@ -68,7 +88,7 @@ METHOD PROTECTED OnAbort ]]> ';END_IF; -inoControl.MotorOff :=FALSE; +inoControl.ServoOff :=FALSE; ]]> @@ -127,7 +147,7 @@ THIS^._errorMessage.Error(_sb.Clear().Append(description).Append(' To restore ac METHOD Restore : ITcoRestorable]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU index b8ce38c56..d7069cd0b 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU @@ -26,41 +26,43 @@ IF Execute() THEN END_IF END_IF - IF _progress = 1 THEN - inoControl.SoftStop := TRUE; - inoControl.QuickStop := FALSE; - IF _stopType = TcoAbstractions.eTcoRoboticsStopType.Quick THEN - inoControl.SoftStop := FALSE; - inoControl.QuickStop := TRUE; - END_IF + IF _progress = 1 THEN - IF inoStatus.State.MoveInactive THEN + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN _progress := _progress + 1; - END_IF - END_IF; - + END_IF; + END_IF; + IF _progress = 2 THEN - inoControl.StopProgram:=TRUE; - IF NOT inoStatus.State.CycleOn THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 3 THEN + inoControl.Stop:=TRUE ; + inoControl.Start:=FALSE ; + + + IF inoStatus.State.Stop THEN + inoControl.Stop:=FALSE; END_IF END_IF; - IF _progress = 3 THEN - inoControl.SoftStop := FALSE; - inoControl.QuickStop := FALSE; - inoControl.StopProgram:=FALSE; - END_IF; - - _varInfo :=__VARINFO( inoStatus.State.MoveInactive); - THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.MoveInactive).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - _varInfo :=__VARINFO( inoStatus.State.CycleOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND inoStatus.State.CycleOn) + + _varInfo :=__VARINFO( inoStatus.State.Stop); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Stop) .Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).Append('<# is OFF #>').ToString()); - DoneWhen( inoStatus.State.MoveInactive AND NOT inoStatus.State.CycleOn); + DoneWhen( inoStatus.State.Stop ); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q); @@ -104,9 +106,9 @@ METHOD PROTECTED OnAbort ]]> ';END_IF; -inoControl.SoftStop := FALSE; -inoControl.QuickStop := FALSE; -inoControl.StopProgram:=FALSE;]]> +//inoControl.SoftStop := FALSE; +//inoControl.QuickStop := FALSE; +inoControl.Stop:=FALSE;]]> @@ -165,9 +167,9 @@ CallTimers(FALSE);]]> METHOD Restore : ITcoRestorable]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU index 0b9d1e70e..3c0a40c2d 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU @@ -11,8 +11,7 @@ END_VAR ').Append(_varInfo.Symbol).ToString()).Pin(); @@ -27,25 +26,42 @@ IF Execute() THEN END_IF END_IF + + IF _progress = 1 THEN - inoControl.SoftStop := TRUE ; - inoControl.QuickStop := FALSE; - IF _stopType = TcoAbstractions.eTcoRoboticsStopType.Quick THEN - inoControl.SoftStop := FALSE; - inoControl.QuickStop := TRUE; - END_IF - IF inoStatus.State.MoveInactive THEN - inoControl.SoftStop := FALSE ; - inoControl.QuickStop := FALSE; - END_IF + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN + _progress := _progress + 1; + END_IF; END_IF; - - _varInfo :=__VARINFO( inoStatus.State.MoveInactive); - THIS^.Messenger.OnCondition(_infoTimer.Q).Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).ToString()); - - DoneWhen(inoStatus.State.MoveInactive); + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + IF _progress = 3 THEN + inoControl.Stop:=TRUE ; + inoControl.Start:=FALSE ; + + + IF inoStatus.State.Stop THEN + inoControl.Stop:=FALSE; + END_IF + END_IF; + + + _varInfo :=__VARINFO( inoStatus.State.Stop); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Stop) + .Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).Append('<# is OFF #>').ToString()); + + DoneWhen( inoStatus.State.Stop ); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q); @@ -89,8 +105,8 @@ METHOD PROTECTED OnAbort ]]> ';END_IF; -inoControl.SoftStop := FALSE; -inoControl.QuickStop := FALSE;]]> +//inoControl.SoftStop := FALSE; +//inoControl.QuickStop := FALSE;]]> @@ -148,8 +164,8 @@ CallTimers(FALSE);]]> METHOD Restore : ITcoRestorable]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopProgramTask.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopProgramTask.TcPOU index 3e607e0ad..dd1c59e4f 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopProgramTask.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopProgramTask.TcPOU @@ -26,20 +26,43 @@ IF Execute() THEN END_IF END_IF + + IF _progress = 1 THEN - inoControl.StopProgram:=TRUE ; + + inoControl.AutoEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.AutoEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.AutoEnable).Warning(_sb.Clear().Append('<#Waiting for Auto signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.AutoEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 2 THEN + inoControl.OperationEnable:=TRUE; + _varInfo :=__VARINFO( inoStatus.State.OperationEnable); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.OperationEnable).Warning(_sb.Clear().Append('<#Waiting for Operation enable signal! #>').Append(_varInfo.Symbol).ToString()); + IF inoStatus.State.OperationEnable THEN + _progress := _progress + 1; + END_IF; + END_IF; + + IF _progress = 3 THEN + inoControl.Stop:=TRUE ; + inoControl.Start:=FALSE ; + - IF NOT inoStatus.State.CycleOn AND NOT inoStatus.State.SystemInputBusy THEN - inoControl.StopProgram:=FALSE; + IF inoStatus.State.Stop THEN + inoControl.Stop:=FALSE; END_IF END_IF; - _varInfo :=__VARINFO( inoStatus.State.CycleOn); - THIS^.Messenger.OnCondition(_infoTimer.Q AND inoStatus.State.CycleOn) + _varInfo :=__VARINFO( inoStatus.State.Stop); + THIS^.Messenger.OnCondition(_infoTimer.Q AND NOT inoStatus.State.Stop) .Warning(_sb.Clear().Append('<# Waiting for signal: #>').Append(_varInfo.Symbol).Append('<# is OFF #>').ToString()); - DoneWhen(NOT inoStatus.State.CycleOn ); + DoneWhen( inoStatus.State.Stop ); CallTimers(TRUE); THIS^.ThrowWhen(_errorTimer.Q); @@ -83,7 +106,7 @@ METHOD PROTECTED OnAbort ]]> ';END_IF; -inoControl.StopProgram:=FALSE;]]> +inoControl.Stop:=FALSE;]]> @@ -142,7 +165,7 @@ CallTimers(FALSE);]]> METHOD Restore : ITcoRestorable]]> diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/TcoMitsubishiRoboticsTests.plcproj b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/TcoMitsubishiRoboticsTests.plcproj index 143687139..52a90da10 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/TcoMitsubishiRoboticsTests.plcproj +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/TcoMitsubishiRoboticsTests.plcproj @@ -92,10 +92,10 @@ TcoIo, 0.6.0.913 (Vortex.Library) + TcoIo TcoMitsubishiRobotics, 0.6.0.913 (Vortex.Library) - TcoMitsubishiRobotics TcoUtilities, 0.6.0.913 (Vortex.Library) diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/Tests/TcoContext/WpfContext.TcPOU b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/Tests/TcoContext/WpfContext.TcPOU index ab6a61192..746870b97 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/Tests/TcoContext/WpfContext.TcPOU +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/TcoMitsubishiRoboticsTests/Tests/TcoContext/WpfContext.TcPOU @@ -4,7 +4,7 @@ "} + {attribute addProperty Name "<#Mitsubichi Cr800#>"} _robot1 : TcoMitsubishiRobotics.TcoCr800_v_1_x_x(THIS^); @@ -42,7 +42,8 @@ METHOD PROTECTED Main]]> END_IF -_robot1( +_robot1(inPnIoBoxDiag:=GVL.Robot1.PnIoBoxDiag, + inPnIoBoxState:=gvl.Robot1.PnIoBoxState, inoData := GVL.Robot1); @@ -208,19 +209,6 @@ IF (seq.Step(inStepID := 16, END_IF; - - - - - - - - - - - - - // IF (seq.Step(inStepID := 500, inEnabled := TRUE, diff --git a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/XaeTcoMitsubishiRobotics.tsproj b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/XaeTcoMitsubishiRobotics.tsproj index 0cf30f7c1..5ef8288db 100644 --- a/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/XaeTcoMitsubishiRobotics.tsproj +++ b/src/TcoMitsubishiRobotics/src/XaeTcoMitsubishiRobotics/XaeTcoMitsubishiRobotics.tsproj @@ -2845,7 +2845,7 @@ External Setpoint Generation: - + TcoMitsubishiRoboticsTests Instance {08500001-0000-0000-F000-000000000064} @@ -4459,7 +4459,7 @@ Bit 8 - 15 : reserved]]> - + Device 2 (EtherCAT) @@ -4518,15 +4518,15 @@ Bit 8 - 15 : reserved]]> 0000000000000000002400010100000002000000000000000000000000000000 00000000000000000d0800010100000003000000000000000000000000000000 0010000400140004 - - + + 1f001f00 UINT - + UINT - + ARRAY [0..63] OF BYTE @@ -4536,11 +4536,11 @@ Bit 8 - 15 : reserved]]> ARRAY [0..3] OF BYTE - - + + UINT - + ARRAY [0..63] OF BYTE @@ -6381,20 +6381,20 @@ Bit 8 - 15 : reserved]]> - + Device 3 (EL6631) - 000000001600000000000000000000005465726d2031332028454c3636333129000000000000000000000000000000000000000000000000000000000000000000000000000002000000000000000000000000000000040000000000000000000000000000000000000000000000000000000000000000000000000000000000 - + 000000001600000000000000a08601005465726d2031332028454c3636333129000000000000000000000000000000000000000000000000000000000000000000000000000001000000000000000000000000000000040000000000000000000000000000000000000000000000000000000000000000000000000000000000 + Image - - robot1 - + robot + +SW Release Version: V1.00]]> 121 Inputs @@ -6447,163 +6447,95 @@ SW Release Version: V1.4]]> UINT - - + + 0 - + 1 - - 2 + 3 + 4 + 5 + 6 + 7 + 8 + 9 + 10 + 11 + 12 + 13 + 14 + 15 + 16 + 17 + 18 + 19 + 20 + 21 + 22 + 23 + 24 + 25 + 26 + 27 + 28 + 29 + 30 + 31 + 32 + 33 + 34 + 35 + 36 + 37 + 38 + 39 + 40 + 41 + 42 + 43 + 44 + 45 + 46 + 47 + 48 + 49 + 50 + 51 + 52 + 53 + 54 + 55 + 56 + 57 + 58 + 59 + 60 + 61 + 62 + 63 + 64 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + API 4 - - Term 1 (DAP Module) - + + Term 6 (DAP Module) + 182 - - Subterm 1 (Robot Basic Device) - + + Subterm 16 (2D-TZ535-PN(PROFINET IO)) + 183 Inputs @@ -6612,9 +6544,9 @@ OrderNumber: 888-3]]> Outputs - - Subterm 2 (Interface) - + Subterm 17 (Interface) + 183 @@ -6624,9 +6556,9 @@ OrderNumber: 888-3]]> Outputs - - Subterm 3 (Network Port) - + Subterm 18 (Port 1) + 183 @@ -6636,1617 +6568,46 @@ OrderNumber: 888-3]]> Outputs - - - Term 2 (DI 64 bytes) - - 182 - - Subterm 4 (DI 64 bytes) - + Subterm 19 (Port 2) + 183 Inputs - - Input 0 - BITARR8 - 32 - - - Input 1 - BITARR8 - 40 - - - Input 2 - BITARR8 - 48 - - - Input 3 - BITARR8 - 56 - - - Input 4 - BITARR8 - 64 - - - Input 5 - BITARR8 - 72 - - - Input 6 - BITARR8 - 80 - - - Input 7 - BITARR8 - 88 - - - Input 8 - BITARR8 - 96 - - - Input 9 - BITARR8 - 104 - - - Input 10 - BITARR8 - 112 - - - Input 11 - BITARR8 - 120 - - - Input 12 - BITARR8 - 128 - - - Input 13 - BITARR8 - 136 - - - Input 14 - BITARR8 - 144 - - - Input 15 - BITARR8 - 152 - - - Input 16 - BITARR8 - 160 - - - Input 17 - BITARR8 - 168 - - - Input 18 - BITARR8 - 176 - - - Input 19 - BITARR8 - 184 - - - Input 20 - BITARR8 - 192 - - - Input 21 - BITARR8 - 200 - - - Input 22 - BITARR8 - 208 - - - Input 23 - BITARR8 - 216 - - - Input 24 - BITARR8 - 224 - - - Input 25 - BITARR8 - 232 - - - Input 26 - BITARR8 - 240 - - - Input 27 - BITARR8 - 248 - - - Input 28 - BITARR8 - 256 - - - Input 29 - BITARR8 - 264 - - - Input 30 - BITARR8 - 272 - - - Input 31 - BITARR8 - 280 - - - Input 32 - BITARR8 - 288 - - - Input 33 - BITARR8 - 296 - - - Input 34 - BITARR8 - 304 - - - Input 35 - BITARR8 - 312 - - - Input 36 - BITARR8 - 320 - - - Input 37 - BITARR8 - 328 - - - Input 38 - BITARR8 - 336 - - - Input 39 - BITARR8 - 344 - - - Input 40 - BITARR8 - 352 - - - Input 41 - BITARR8 - 360 - - - Input 42 - BITARR8 - 368 - - - Input 43 - BITARR8 - 376 - - - Input 44 - BITARR8 - 384 - - - Input 45 - BITARR8 - 392 - - - Input 46 - BITARR8 - 400 - - - Input 47 - BITARR8 - 408 - - - Input 48 - BITARR8 - 416 - - - Input 49 - BITARR8 - 424 - - - Input 50 - BITARR8 - 432 - - - Input 51 - BITARR8 - 440 - - - Input 52 - BITARR8 - 448 - - - Input 53 - BITARR8 - 456 - - - Input 54 - BITARR8 - 464 - - - Input 55 - BITARR8 - 472 - - - Input 56 - BITARR8 - 480 - - - Input 57 - BITARR8 - 488 - - - Input 58 - BITARR8 - 496 - - - Input 59 - BITARR8 - 504 - - - Input 60 - BITARR8 - 512 - - - Input 61 - BITARR8 - 520 - - - Input 62 - BITARR8 - 528 - - - Input 63 - BITARR8 - 536 - Outputs - - Term 3 (DO 64 bytes) - + Term 10 (In/Out 64 byte) + 182 - - Subterm 5 (DO 64 bytes) - + Subterm 20 (In/Out 64 byte) + 183 Inputs + + Input + ARRAY [0..63] OF BYTE + 32 + Outputs - Output 0 - BITARR8 + Output + ARRAY [0..63] OF BYTE 16 - - Output 1 - BITARR8 - 24 - - - Output 2 - BITARR8 - 32 - - - Output 3 - BITARR8 - 40 - - - Output 4 - BITARR8 - 48 - - - Output 5 - BITARR8 - 56 - - - Output 6 - BITARR8 - 64 - - - Output 7 - BITARR8 - 72 - - - Output 8 - BITARR8 - 80 - - - Output 9 - BITARR8 - 88 - - - Output 10 - BITARR8 - 96 - - - Output 11 - BITARR8 - 104 - - - Output 12 - BITARR8 - 112 - - - Output 13 - BITARR8 - 120 - - - Output 14 - BITARR8 - 128 - - - Output 15 - BITARR8 - 136 - - - Output 16 - BITARR8 - 144 - - - Output 17 - BITARR8 - 152 - - - Output 18 - BITARR8 - 160 - - - Output 19 - BITARR8 - 168 - - - Output 20 - BITARR8 - 176 - - - Output 21 - BITARR8 - 184 - - - Output 22 - BITARR8 - 192 - - - Output 23 - BITARR8 - 200 - - - Output 24 - BITARR8 - 208 - - - Output 25 - BITARR8 - 216 - - - Output 26 - BITARR8 - 224 - - - Output 27 - BITARR8 - 232 - - - Output 28 - BITARR8 - 240 - - - Output 29 - BITARR8 - 248 - - - Output 30 - BITARR8 - 256 - - - Output 31 - BITARR8 - 264 - - - Output 32 - BITARR8 - 272 - - - Output 33 - BITARR8 - 280 - - - Output 34 - BITARR8 - 288 - - - Output 35 - BITARR8 - 296 - - - Output 36 - BITARR8 - 304 - - - Output 37 - BITARR8 - 312 - - - Output 38 - BITARR8 - 320 - - - Output 39 - BITARR8 - 328 - - - Output 40 - BITARR8 - 336 - - - Output 41 - BITARR8 - 344 - - - Output 42 - BITARR8 - 352 - - - Output 43 - BITARR8 - 360 - - - Output 44 - BITARR8 - 368 - - - Output 45 - BITARR8 - 376 - - - Output 46 - BITARR8 - 384 - - - Output 47 - BITARR8 - 392 - - - Output 48 - BITARR8 - 400 - - - Output 49 - BITARR8 - 408 - - - Output 50 - BITARR8 - 416 - - - Output 51 - BITARR8 - 424 - - - Output 52 - BITARR8 - 432 - - - Output 53 - BITARR8 - 440 - - - Output 54 - BITARR8 - 448 - - - Output 55 - BITARR8 - 456 - - - Output 56 - BITARR8 - 464 - - - Output 57 - BITARR8 - 472 - - - Output 58 - BITARR8 - 480 - - - Output 59 - BITARR8 - 488 - - - Output 60 - BITARR8 - 496 - - - Output 61 - BITARR8 - 504 - - - Output 62 - BITARR8 - 512 - - - Output 63 - BITARR8 - 520 - - - - - - - - - robot2 - - 121 - - Inputs - - PnIoBoxState - - UINT - - - PnIoBoxDiag - - UINT - 16 - - - - Outputs - - PnIoBoxCtrl - UINT - - - - - 0 - - - 1 - - - 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - API - 4 - - Term 7 (DAP Module) - - 182 - - Subterm 11 (OmniCore Standard PROFINET Device) - - 183 - - Inputs - - - Outputs - - - - Subterm 12 (Interface) - - 183 - - Inputs - - - Outputs - - - - Subterm 13 (Network Port 1) - - 183 - - Inputs - - - Outputs - - - - - Term 8 (DI 64 bytes) - - 182 - - Subterm 14 (DI 64 bytes) - - 183 - - Inputs - - Input 0 - BITARR8 - 32 - - - Input 1 - BITARR8 - 40 - - - Input 2 - BITARR8 - 48 - - - Input 3 - BITARR8 - 56 - - - Input 4 - BITARR8 - 64 - - - Input 5 - BITARR8 - 72 - - - Input 6 - BITARR8 - 80 - - - Input 7 - BITARR8 - 88 - - - Input 8 - BITARR8 - 96 - - - Input 9 - BITARR8 - 104 - - - Input 10 - BITARR8 - 112 - - - Input 11 - BITARR8 - 120 - - - Input 12 - BITARR8 - 128 - - - Input 13 - BITARR8 - 136 - - - Input 14 - BITARR8 - 144 - - - Input 15 - BITARR8 - 152 - - - Input 16 - BITARR8 - 160 - - - Input 17 - BITARR8 - 168 - - - Input 18 - BITARR8 - 176 - - - Input 19 - BITARR8 - 184 - - - Input 20 - BITARR8 - 192 - - - Input 21 - BITARR8 - 200 - - - Input 22 - BITARR8 - 208 - - - Input 23 - BITARR8 - 216 - - - Input 24 - BITARR8 - 224 - - - Input 25 - BITARR8 - 232 - - - Input 26 - BITARR8 - 240 - - - Input 27 - BITARR8 - 248 - - - Input 28 - BITARR8 - 256 - - - Input 29 - BITARR8 - 264 - - - Input 30 - BITARR8 - 272 - - - Input 31 - BITARR8 - 280 - - - Input 32 - BITARR8 - 288 - - - Input 33 - BITARR8 - 296 - - - Input 34 - BITARR8 - 304 - - - Input 35 - BITARR8 - 312 - - - Input 36 - BITARR8 - 320 - - - Input 37 - BITARR8 - 328 - - - Input 38 - BITARR8 - 336 - - - Input 39 - BITARR8 - 344 - - - Input 40 - BITARR8 - 352 - - - Input 41 - BITARR8 - 360 - - - Input 42 - BITARR8 - 368 - - - Input 43 - BITARR8 - 376 - - - Input 44 - BITARR8 - 384 - - - Input 45 - BITARR8 - 392 - - - Input 46 - BITARR8 - 400 - - - Input 47 - BITARR8 - 408 - - - Input 48 - BITARR8 - 416 - - - Input 49 - BITARR8 - 424 - - - Input 50 - BITARR8 - 432 - - - Input 51 - BITARR8 - 440 - - - Input 52 - BITARR8 - 448 - - - Input 53 - BITARR8 - 456 - - - Input 54 - BITARR8 - 464 - - - Input 55 - BITARR8 - 472 - - - Input 56 - BITARR8 - 480 - - - Input 57 - BITARR8 - 488 - - - Input 58 - BITARR8 - 496 - - - Input 59 - BITARR8 - 504 - - - Input 60 - BITARR8 - 512 - - - Input 61 - BITARR8 - 520 - - - Input 62 - BITARR8 - 528 - - - Input 63 - BITARR8 - 536 - - - - Outputs - - - - - Term 9 (DO 64 bytes) - - 182 - - Subterm 15 (DO 64 bytes) - - 183 - - Inputs - - - Outputs - - Output 0 - BITARR8 - 16 - - - Output 1 - BITARR8 - 24 - - - Output 2 - BITARR8 - 32 - - - Output 3 - BITARR8 - 40 - - - Output 4 - BITARR8 - 48 - - - Output 5 - BITARR8 - 56 - - - Output 6 - BITARR8 - 64 - - - Output 7 - BITARR8 - 72 - - - Output 8 - BITARR8 - 80 - - - Output 9 - BITARR8 - 88 - - - Output 10 - BITARR8 - 96 - - - Output 11 - BITARR8 - 104 - - - Output 12 - BITARR8 - 112 - - - Output 13 - BITARR8 - 120 - - - Output 14 - BITARR8 - 128 - - - Output 15 - BITARR8 - 136 - - - Output 16 - BITARR8 - 144 - - - Output 17 - BITARR8 - 152 - - - Output 18 - BITARR8 - 160 - - - Output 19 - BITARR8 - 168 - - - Output 20 - BITARR8 - 176 - - - Output 21 - BITARR8 - 184 - - - Output 22 - BITARR8 - 192 - - - Output 23 - BITARR8 - 200 - - - Output 24 - BITARR8 - 208 - - - Output 25 - BITARR8 - 216 - - - Output 26 - BITARR8 - 224 - - - Output 27 - BITARR8 - 232 - - - Output 28 - BITARR8 - 240 - - - Output 29 - BITARR8 - 248 - - - Output 30 - BITARR8 - 256 - - - Output 31 - BITARR8 - 264 - - - Output 32 - BITARR8 - 272 - - - Output 33 - BITARR8 - 280 - - - Output 34 - BITARR8 - 288 - - - Output 35 - BITARR8 - 296 - - - Output 36 - BITARR8 - 304 - - - Output 37 - BITARR8 - 312 - - - Output 38 - BITARR8 - 320 - - - Output 39 - BITARR8 - 328 - - - Output 40 - BITARR8 - 336 - - - Output 41 - BITARR8 - 344 - - - Output 42 - BITARR8 - 352 - - - Output 43 - BITARR8 - 360 - - - Output 44 - BITARR8 - 368 - - - Output 45 - BITARR8 - 376 - - - Output 46 - BITARR8 - 384 - - - Output 47 - BITARR8 - 392 - - - Output 48 - BITARR8 - 400 - - - Output 49 - BITARR8 - 408 - - - Output 50 - BITARR8 - 416 - - - Output 51 - BITARR8 - 424 - - - Output 52 - BITARR8 - 432 - - - Output 53 - BITARR8 - 440 - - - Output 54 - BITARR8 - 448 - - - Output 55 - BITARR8 - 456 - - - Output 56 - BITARR8 - 464 - - - Output 57 - BITARR8 - 472 - - - Output 58 - BITARR8 - 480 - - - Output 59 - BITARR8 - 488 - - - Output 60 - BITARR8 - 496 - - - Output 61 - BITARR8 - 504 - - - Output 62 - BITARR8 - 512 - - - Output 63 - BITARR8 - 520 - @@ -8263,138 +6624,139 @@ Submodule Info: DO 64 bytes + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRobotics.Wpf.Sandbox/MainWindow.xaml b/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRobotics.Wpf.Sandbox/MainWindow.xaml index b78850500..e8e91d07d 100644 --- a/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRobotics.Wpf.Sandbox/MainWindow.xaml +++ b/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRobotics.Wpf.Sandbox/MainWindow.xaml @@ -13,7 +13,7 @@ - + @@ -25,19 +25,8 @@ - - - - - - - - - - - - - + + @@ -45,15 +34,7 @@ - - - - - - - - - + diff --git a/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.Designer.cs b/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.Designer.cs index c2a47dcb4..ebc05d84d 100644 --- a/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.Designer.cs +++ b/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.Designer.cs @@ -61,20 +61,11 @@ internal Localizations() { } /// - /// Looks up a localized string similar to Abb IRC 5. + /// Looks up a localized string similar to Mitsubichi Cr800. /// - public static string ___Abb_IRC_5__ { + public static string ___Mitsubichi_Cr800__ { get { - return ResourceManager.GetString("___Abb_IRC_5__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Abb Omnicore. - /// - public static string ___Abb_Omnicore__ { - get { - return ResourceManager.GetString("___Abb_Omnicore__", resourceCulture); + return ResourceManager.GetString("___Mitsubichi_Cr800__", resourceCulture); } } } diff --git a/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.resx b/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.resx index d91b46123..8ee1e09c8 100644 --- a/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.resx +++ b/src/TcoMitsubishiRobotics/tests/TcoMitsubishiRoboticsTestsConnector/Properties/Localizations.resx @@ -117,7 +117,7 @@ System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089 - - Abb IRC 5 + + Mitsubichi Cr800 \ No newline at end of file

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