Jun Suto / Mbed OS STM32F446_MG400_DIRECT_V0R17

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Dependencies:  

APP_ROBO2_ADJ_PAGE.cpp@3:8e445135859e, 2022-10-21 (annotated)

Committer:
js
Date:
Fri Oct 21 10:55:00 2022 +0000
Revision:
3:8e445135859e
Parent:
2:71b3736a1bd7 
test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
js 2:71b3736a1bd7 1 #include "mbed.h"
js 2:71b3736a1bd7 2 #include "main.h"
js 2:71b3736a1bd7 3 #include "nextion_lcd.h"
js 2:71b3736a1bd7 4 #include "APP.h"
js 2:71b3736a1bd7 5 #include "WORK_START.h"
js 2:71b3736a1bd7 6 ///////////////////////
js 2:71b3736a1bd7 7 #include "ROBO1_CONT.h"
js 2:71b3736a1bd7 8 #include "ROBO2_CONT.h"
js 2:71b3736a1bd7 9 #include "ROBO_TWIN_CONT.h"
js 2:71b3736a1bd7 10 #include "SAVE_CONT.h"
js 2:71b3736a1bd7 11 ///////////////////////
js 2:71b3736a1bd7 12 #include "PS3_BT_CTL.h"
js 2:71b3736a1bd7 13 #include "WD_CONT.h"
js 2:71b3736a1bd7 14 #include "DiNi_supplyr.h"
js 2:71b3736a1bd7 15
js 2:71b3736a1bd7 16 void ROBO2_ADJ_PAGE(void){
js 2:71b3736a1bd7 17 if(touch_id!=0) { //作業中は、一時停止受付るため、マスクしない
js 2:71b3736a1bd7 18 tp_mask=1;//1=タッチパネルマスク
js 2:71b3736a1bd7 19 }
js 2:71b3736a1bd7 20 switch (touch_id) {
js 2:71b3736a1bd7 21 ////caseはnextion lcdのSWに割り当てられたidを記載する///
js 2:71b3736a1bd7 22 case BT10_PSEL :
js 2:71b3736a1bd7 23 RB2_PSEL=nx_val_get("cb0");
js 2:71b3736a1bd7 24 sprintf(lcd_print_buf,"ポジション選択 :%02d",RB2_PSEL);
js 2:71b3736a1bd7 25 lcd_print("t0",lcd_print_buf);
js 2:71b3736a1bd7 26 touch_id=0;
js 2:71b3736a1bd7 27 break;
js 2:71b3736a1bd7 28 case BT10_X_M :
js 2:71b3736a1bd7 29 if(touch_t==1){
js 2:71b3736a1bd7 30 lcd_print("t0","JOG X-");
js 2:71b3736a1bd7 31 RB2_SEND_CMD("MoveJog(x-)");
js 2:71b3736a1bd7 32 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 33 }else{
js 2:71b3736a1bd7 34 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 35 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 36 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 37 }
js 2:71b3736a1bd7 38 touch_id=0;
js 2:71b3736a1bd7 39 break;
js 2:71b3736a1bd7 40 case BT10_X_P :
js 2:71b3736a1bd7 41 if(touch_t==1){
js 2:71b3736a1bd7 42 lcd_print("t0","JOG X+");
js 2:71b3736a1bd7 43 RB2_SEND_CMD("MoveJog(x+)");
js 2:71b3736a1bd7 44 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 45 }else{
js 2:71b3736a1bd7 46 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 47 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 48 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 49
js 2:71b3736a1bd7 50 }
js 2:71b3736a1bd7 51 touch_id=0;
js 2:71b3736a1bd7 52 break;
js 2:71b3736a1bd7 53 case BT10_Y_M :
js 2:71b3736a1bd7 54 if(touch_t==1){
js 2:71b3736a1bd7 55 lcd_print("t0","JOG Y-");
js 2:71b3736a1bd7 56 RB2_SEND_CMD("MoveJog(y-)");
js 2:71b3736a1bd7 57 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 58 }else{
js 2:71b3736a1bd7 59 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 60 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 61 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 62 }
js 2:71b3736a1bd7 63 touch_id=0;
js 2:71b3736a1bd7 64 break;
js 2:71b3736a1bd7 65 case BT10_Y_P :
js 2:71b3736a1bd7 66 if(touch_t==1){
js 2:71b3736a1bd7 67 lcd_print("t0","JOG Y+");
js 2:71b3736a1bd7 68 RB2_SEND_CMD("MoveJog(y+)");
js 2:71b3736a1bd7 69 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 70 }else{
js 2:71b3736a1bd7 71 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 72 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 73 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 74 }
js 2:71b3736a1bd7 75 touch_id=0;
js 2:71b3736a1bd7 76 break;
js 2:71b3736a1bd7 77 case BT10_Z_M :
js 2:71b3736a1bd7 78 if(touch_t==1){
js 2:71b3736a1bd7 79 lcd_print("t0","JOG Z-");
js 2:71b3736a1bd7 80 RB2_SEND_CMD("MoveJog(z-)");
js 2:71b3736a1bd7 81 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 82 }else{
js 2:71b3736a1bd7 83 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 84 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 85 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 86 }
js 2:71b3736a1bd7 87 touch_id=0;
js 2:71b3736a1bd7 88 break;
js 2:71b3736a1bd7 89 case BT10_Z_P :
js 2:71b3736a1bd7 90 if(touch_t==1){
js 2:71b3736a1bd7 91 lcd_print("t0","JOG Z+");
js 2:71b3736a1bd7 92 RB2_SEND_CMD("MoveJog(z+)");
js 2:71b3736a1bd7 93 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 94 }else{
js 2:71b3736a1bd7 95 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 96 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 97 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 98 }
js 2:71b3736a1bd7 99 touch_id=0;
js 2:71b3736a1bd7 100 break;
js 2:71b3736a1bd7 101 case BT10_R_M :
js 2:71b3736a1bd7 102 if(touch_t==1){
js 2:71b3736a1bd7 103 lcd_print("t0","JOG R-");
js 2:71b3736a1bd7 104 RB2_SEND_CMD("MoveJog(j4-)");
js 2:71b3736a1bd7 105 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 106 }else{
js 2:71b3736a1bd7 107 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 108 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 109 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 110 }
js 2:71b3736a1bd7 111 touch_id=0;
js 2:71b3736a1bd7 112 break;
js 2:71b3736a1bd7 113 case BT10_R_P :
js 2:71b3736a1bd7 114 if(touch_t==1){
js 2:71b3736a1bd7 115 lcd_print("t0","JOG R+");
js 2:71b3736a1bd7 116 RB2_SEND_CMD("MoveJog(j4+)");
js 2:71b3736a1bd7 117 RB2_POSE_DISP_EN=1;//位置表示自動更新ON
js 2:71b3736a1bd7 118 }else{
js 2:71b3736a1bd7 119 RB2_SEND_CMD("MoveJog()");
js 2:71b3736a1bd7 120 RB2_POSE_DISP_EN=0;
js 2:71b3736a1bd7 121 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 122 }
js 2:71b3736a1bd7 123 touch_id=0;
js 2:71b3736a1bd7 124 break;
js 2:71b3736a1bd7 125 case BT10_R0 :
js 2:71b3736a1bd7 126 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 127 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 128 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 129 if(RB2_R_GET !=0.0){
js 2:71b3736a1bd7 130 lcd_print("t0","ハンド整列 0度");
js 2:71b3736a1bd7 131 RB2_MovJ(RB2_X_GET,RB2_Y_GET,RB2_Z_GET,0,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ);
js 2:71b3736a1bd7 132 RB2_MOVE_WAIT(10000);
js 2:71b3736a1bd7 133 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 134 lcd_print("t0","ハンド整列 0度移動完了");
js 2:71b3736a1bd7 135 }else{
js 2:71b3736a1bd7 136 lcd_print("t0","現在位置です");
js 2:71b3736a1bd7 137 }
js 2:71b3736a1bd7 138 touch_id=0;
js 2:71b3736a1bd7 139 break;
js 2:71b3736a1bd7 140 case BT10_RM90 :
js 2:71b3736a1bd7 141 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 142 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 143 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 144 if(RB2_R_GET !=-90.0){
js 2:71b3736a1bd7 145 lcd_print("t0","ハンド整列 -90度");
js 2:71b3736a1bd7 146 RB2_MovJ(RB2_X_GET,RB2_Y_GET,RB2_Z_GET,-90,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ);
js 2:71b3736a1bd7 147 RB2_MOVE_WAIT(10000);
js 2:71b3736a1bd7 148 lcd_print("t0","ハンド整列 -90度移動完了");
js 2:71b3736a1bd7 149 }else{
js 2:71b3736a1bd7 150 lcd_print("t0","現在位置です");
js 2:71b3736a1bd7 151 }
js 2:71b3736a1bd7 152 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 153
js 2:71b3736a1bd7 154 touch_id=0;
js 2:71b3736a1bd7 155 break;
js 2:71b3736a1bd7 156 case BT10_RP90 :
js 2:71b3736a1bd7 157 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 158 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 159 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 160 if(RB2_R_GET !=90.0){
js 2:71b3736a1bd7 161 lcd_print("t0","ハンド整列 90度");
js 2:71b3736a1bd7 162 RB2_MovJ(RB2_X_GET,RB2_Y_GET,RB2_Z_GET,90,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ);
js 2:71b3736a1bd7 163 RB2_MOVE_WAIT(10000);
js 2:71b3736a1bd7 164 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 165 lcd_print("t0","ハンド整列 90度移動完了");
js 2:71b3736a1bd7 166 }else{
js 2:71b3736a1bd7 167 lcd_print("t0","現在位置です");
js 2:71b3736a1bd7 168 }
js 2:71b3736a1bd7 169 touch_id=0;
js 2:71b3736a1bd7 170 break;
js 2:71b3736a1bd7 171 case BT10_RM180 :
js 2:71b3736a1bd7 172 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 173 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 174 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 175 if(RB2_R_GET !=-180.0){
js 2:71b3736a1bd7 176 lcd_print("t0","ハンド整列 -180度");
js 2:71b3736a1bd7 177 RB2_MovJ(RB2_X_GET,RB2_Y_GET,RB2_Z_GET,-180,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ);
js 2:71b3736a1bd7 178 RB2_MOVE_WAIT(10000);
js 2:71b3736a1bd7 179 lcd_print("t0","ハンド整列 -180度移動完了");
js 2:71b3736a1bd7 180 }else{
js 2:71b3736a1bd7 181 lcd_print("t0","現在位置です");
js 2:71b3736a1bd7 182 }
js 2:71b3736a1bd7 183 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 184
js 2:71b3736a1bd7 185 touch_id=0;
js 2:71b3736a1bd7 186 break;
js 2:71b3736a1bd7 187 case BT10_RP180 :
js 2:71b3736a1bd7 188 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 189 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 190 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 191 if(RB2_R_GET !=180.0){
js 2:71b3736a1bd7 192 lcd_print("t0","ハンド整列 180度");
js 2:71b3736a1bd7 193 RB2_MovJ(RB2_X_GET,RB2_Y_GET,RB2_Z_GET,180,0,0,RB2_SPEED_ADJ,RB2_ACC_ADJ);
js 2:71b3736a1bd7 194 RB2_MOVE_WAIT(10000);
js 2:71b3736a1bd7 195 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 196 lcd_print("t0","ハンド整列 180度移動完了");
js 2:71b3736a1bd7 197 }else{
js 2:71b3736a1bd7 198 lcd_print("t0","現在位置です");
js 2:71b3736a1bd7 199 }
js 2:71b3736a1bd7 200 touch_id=0;
js 2:71b3736a1bd7 201 break;
js 2:71b3736a1bd7 202
js 2:71b3736a1bd7 203 case BT10_SPD_M :
js 2:71b3736a1bd7 204
js 2:71b3736a1bd7 205 if(RB2_SPEED_ADJ>=5){
js 2:71b3736a1bd7 206 //RB2_SPEED_SET(RB2_SPEED_ADJ-5);
js 2:71b3736a1bd7 207 RB2_SPEED_ADJ=RB2_SPEED_ADJ-5;
js 2:71b3736a1bd7 208 sprintf(lcd_print_buf,"%03d",RB2_SPEED_ADJ);
js 2:71b3736a1bd7 209 lcd_print("t9",lcd_print_buf);
js 2:71b3736a1bd7 210 lcd_progressbar("j0",RB2_SPEED_ADJ,50);//プログレスバー表示が50になる wait 50ms
js 2:71b3736a1bd7 211 wait_ms(300);
js 2:71b3736a1bd7 212 }else{
js 2:71b3736a1bd7 213 lcd_print("t0","下限値です");
js 2:71b3736a1bd7 214 }
js 2:71b3736a1bd7 215 touch_id=0;
js 2:71b3736a1bd7 216 break;
js 2:71b3736a1bd7 217 case BT10_SPD_P :
js 2:71b3736a1bd7 218 if(RB2_SPEED_ADJ<=95){
js 2:71b3736a1bd7 219 //RB2_SPEED_SET(RB2_SPEED_ADJ+5);
js 2:71b3736a1bd7 220 RB2_SPEED_ADJ=RB2_SPEED_ADJ+5;
js 2:71b3736a1bd7 221 sprintf(lcd_print_buf,"%03d",RB2_SPEED_ADJ);
js 2:71b3736a1bd7 222 lcd_print("t9",lcd_print_buf);
js 2:71b3736a1bd7 223 lcd_progressbar("j0",RB2_SPEED_ADJ,50);//プログレスバー表示が50になる wait 50ms
js 2:71b3736a1bd7 224 wait_ms(300);
js 2:71b3736a1bd7 225 }else{
js 2:71b3736a1bd7 226 lcd_print("t0","上限値です");
js 2:71b3736a1bd7 227 }
js 2:71b3736a1bd7 228 touch_id=0;
js 2:71b3736a1bd7 229 break;
js 2:71b3736a1bd7 230
js 2:71b3736a1bd7 231 case BT10_PSAVE :
js 2:71b3736a1bd7 232 lcd_print("t0","位置保存");
js 2:71b3736a1bd7 233 RB2_PSEL=nx_val_get("cb0");
js 2:71b3736a1bd7 234 ///ダイレクトティーチング用に位置を取り込んでから保存////
js 2:71b3736a1bd7 235 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 236 RB2_SEND_CMD("EnableRobot()");//ダイレクトティーチの場合一度イネーブルをなげないとmovコマンドが使えない
js 2:71b3736a1bd7 237 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 238 RB2_PSEL_BAK=0xFF;
js 2:71b3736a1bd7 239 ////////////////////////////////////////////////
js 2:71b3736a1bd7 240 RB2_POINT_RD[RB2_PSEL][PX]=RB2_X_GET;
js 2:71b3736a1bd7 241 RB2_POINT_RD[RB2_PSEL][PY]=RB2_Y_GET;
js 2:71b3736a1bd7 242 RB2_POINT_RD[RB2_PSEL][PZ]=RB2_Z_GET;
js 2:71b3736a1bd7 243 RB2_POINT_RD[RB2_PSEL][PR]=RB2_R_GET;
js 2:71b3736a1bd7 244 RB2_LIST_WRITE();//保存
js 2:71b3736a1bd7 245 lcd_print("t0","位置保存完了");
js 2:71b3736a1bd7 246 touch_id=0;
js 2:71b3736a1bd7 247 break;
js 2:71b3736a1bd7 248 case BT10_MOVE :
js 2:71b3736a1bd7 249 if(RB2_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 250 if(RB2_PSEL !=RP_WORK_UP){
js 2:71b3736a1bd7 251 lcd_print("t0","ロボットを上昇させてから移動させてください。");
js 2:71b3736a1bd7 252 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 253 touch_id=0;
js 2:71b3736a1bd7 254 break;
js 2:71b3736a1bd7 255 }
js 2:71b3736a1bd7 256 }
js 2:71b3736a1bd7 257 sprintf(lcd_print_buf,"移動開始 :%02d",RB2_PSEL);
js 2:71b3736a1bd7 258 lcd_print("t0",lcd_print_buf);
js 2:71b3736a1bd7 259 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 260 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 261
js 2:71b3736a1bd7 262 RB2_SEL_MOVE(RB2_PSEL,RB2_SPEED_ADJ,RB2_ACC_ADJ);
js 2:71b3736a1bd7 263 RB2_MOVE_WAIT(5000);
js 2:71b3736a1bd7 264 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 265 lcd_print("t0","移動完了");
js 2:71b3736a1bd7 266 touch_id=0;
js 2:71b3736a1bd7 267 break;
js 2:71b3736a1bd7 268 case BT10_ROSGET ://位置表示更新///
js 2:71b3736a1bd7 269 //ダイレクトティーチ時に手で動かした座標を取得する　＊EnableRobot()しないとMOVコマンドが使用できない
js 2:71b3736a1bd7 270 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 271 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 272 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 273 RB2_PSEL_BAK=0xFF;
js 2:71b3736a1bd7 274 touch_id=0;
js 2:71b3736a1bd7 275 break;
js 2:71b3736a1bd7 276 case BT10_X_KEY :
js 2:71b3736a1bd7 277 lcd_page_set(P_ROBO2_KEY,100);
js 2:71b3736a1bd7 278 sprintf(lcd_print_buf,"%8.4lf",RB2_X_GET);
js 2:71b3736a1bd7 279 lcd_print("t0",lcd_print_buf);
js 2:71b3736a1bd7 280 EDIT_SEL=PX;
js 2:71b3736a1bd7 281 touch_id=0;
js 2:71b3736a1bd7 282 break;
js 2:71b3736a1bd7 283 case BT10_Y_KEY :
js 2:71b3736a1bd7 284 lcd_page_set(P_ROBO2_KEY,100);
js 2:71b3736a1bd7 285 sprintf(lcd_print_buf,"%8.4lf",RB2_Y_GET);
js 2:71b3736a1bd7 286 lcd_print("t0",lcd_print_buf);
js 2:71b3736a1bd7 287 EDIT_SEL=PY;
js 2:71b3736a1bd7 288 touch_id=0;
js 2:71b3736a1bd7 289 break;
js 2:71b3736a1bd7 290 case BT10_Z_KEY :
js 2:71b3736a1bd7 291 lcd_page_set(P_ROBO2_KEY,100);
js 2:71b3736a1bd7 292 sprintf(lcd_print_buf,"%8.4lf",RB2_Z_GET);
js 2:71b3736a1bd7 293 lcd_print("t0",lcd_print_buf);
js 2:71b3736a1bd7 294 EDIT_SEL=PZ;
js 2:71b3736a1bd7 295 touch_id=0;
js 2:71b3736a1bd7 296 break;
js 2:71b3736a1bd7 297 case BT10_R_KEY :
js 2:71b3736a1bd7 298 lcd_page_set(P_ROBO2_KEY,100);
js 2:71b3736a1bd7 299 sprintf(lcd_print_buf,"%8.4lf",RB2_R_GET);
js 2:71b3736a1bd7 300 lcd_print("t0",lcd_print_buf);
js 2:71b3736a1bd7 301 EDIT_SEL=PR;
js 2:71b3736a1bd7 302 touch_id=0;
js 2:71b3736a1bd7 303 break;
js 2:71b3736a1bd7 304 case BT10_LWD_PU :
js 2:71b3736a1bd7 305 lcd_print("t0","加圧軸1 加圧位置");
js 2:71b3736a1bd7 306 PS1_MOVE2(EWAIT_ENB);
js 2:71b3736a1bd7 307 touch_id=0;
js 2:71b3736a1bd7 308 break;
js 2:71b3736a1bd7 309 case BT10_LWD_WT :
js 2:71b3736a1bd7 310 lcd_print("t0","加圧軸1 待機位置");
js 2:71b3736a1bd7 311 PS1_MOVE0(EWAIT_ENB);
js 2:71b3736a1bd7 312 touch_id=0;
js 2:71b3736a1bd7 313 break;
js 2:71b3736a1bd7 314 case BT10_RWD_PU :
js 2:71b3736a1bd7 315 lcd_print("t0","加圧軸2 加圧位置");
js 2:71b3736a1bd7 316 PS2_MOVE2(EWAIT_ENB);
js 2:71b3736a1bd7 317 touch_id=0;
js 2:71b3736a1bd7 318 break;
js 2:71b3736a1bd7 319 case BT10_RWD_WT :
js 2:71b3736a1bd7 320 lcd_print("t0","加圧軸2 待機位置");
js 2:71b3736a1bd7 321 PS2_MOVE0(EWAIT_ENB);
js 2:71b3736a1bd7 322 touch_id=0;
js 2:71b3736a1bd7 323 break;
js 2:71b3736a1bd7 324 case BT10_R_HAND :
js 2:71b3736a1bd7 325 //RB2_SEND_CMD("EnableRobot()");//だんまり防止テスト（治具干渉するとだんまりになる？？）
js 2:71b3736a1bd7 326 //RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 327 if(RB2_HAND_ST!=RB2_HAND_CLOSE){
js 2:71b3736a1bd7 328 RB2_HAND_CONT(RB2_HAND_CLOSE);
js 2:71b3736a1bd7 329 lcd_bc_color_chg("b6",LCD_RED,50);
js 2:71b3736a1bd7 330 }else{
js 2:71b3736a1bd7 331 RB2_HAND_CONT(RB2_HAND_OPEN);
js 2:71b3736a1bd7 332 lcd_bc_color_chg("b6",65520,50);
js 2:71b3736a1bd7 333 }
js 2:71b3736a1bd7 334 touch_id=0;
js 2:71b3736a1bd7 335 break;
js 2:71b3736a1bd7 336 case BT10_WORK_WT ://ワーク搬送軸//////
js 2:71b3736a1bd7 337 if(RB1_PSEL_BAK==RP_WORK_UP || RB1_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 338 lcd_print("t0","ロボット１が干渉位置にあります。");
js 2:71b3736a1bd7 339 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 340 touch_id=0;
js 2:71b3736a1bd7 341 break;
js 2:71b3736a1bd7 342 }
js 2:71b3736a1bd7 343 if(RB2_PSEL_BAK==RP_WORK_UP || RB2_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 344 lcd_print("t0","ロボット２が干渉位置にあります。");
js 2:71b3736a1bd7 345 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 346 touch_id=0;
js 2:71b3736a1bd7 347 break;
js 2:71b3736a1bd7 348 }
js 2:71b3736a1bd7 349 if(WT_POS_ST!=POS_WT_WAIT){
js 2:71b3736a1bd7 350 lcd_print("t0","投入待機位置移動開始");
js 2:71b3736a1bd7 351 WT_MOVE(POS_WT_WAIT);
js 2:71b3736a1bd7 352 WT_MOVE_EWAIT();
js 2:71b3736a1bd7 353 lcd_print("t0","投入待機位置移動完了");
js 2:71b3736a1bd7 354 }else{
js 2:71b3736a1bd7 355 lcd_print("t0","現在位置です。");
js 2:71b3736a1bd7 356 }
js 2:71b3736a1bd7 357 touch_id=0;
js 2:71b3736a1bd7 358 break;
js 2:71b3736a1bd7 359 case BT10_WORK_EJ ://ワーク搬送軸//////
js 2:71b3736a1bd7 360 if(RB1_PSEL_BAK==RP_WORK_UP || RB1_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 361 lcd_print("t0","ロボット１が干渉位置にあります。");
js 2:71b3736a1bd7 362 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 363 touch_id=0;
js 2:71b3736a1bd7 364 break;
js 2:71b3736a1bd7 365 }
js 2:71b3736a1bd7 366 if(RB2_PSEL_BAK==RP_WORK_UP || RB2_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 367 lcd_print("t0","ロボット２が干渉位置にあります。");
js 2:71b3736a1bd7 368 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 369 touch_id=0;
js 2:71b3736a1bd7 370 break;
js 2:71b3736a1bd7 371 }
js 2:71b3736a1bd7 372 if(WT_POS_ST!=POS_WT_EJECT){
js 2:71b3736a1bd7 373 lcd_print("t0","排出位置移動開始");
js 2:71b3736a1bd7 374 WT_MOVE(POS_WT_EJECT);
js 2:71b3736a1bd7 375 WT_MOVE_EWAIT();
js 2:71b3736a1bd7 376 lcd_print("t0","排出位置移動開始完了");
js 2:71b3736a1bd7 377 }else{
js 2:71b3736a1bd7 378 lcd_print("t0","現在位置です。");
js 2:71b3736a1bd7 379 }
js 2:71b3736a1bd7 380 touch_id=0;
js 2:71b3736a1bd7 381 break;
js 2:71b3736a1bd7 382 case BT10_WORK_ST ://ワーク搬送軸//////
js 2:71b3736a1bd7 383 if(RB1_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 384 lcd_print("t0","ロボット１が干渉位置にあります。");
js 2:71b3736a1bd7 385 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 386 touch_id=0;
js 2:71b3736a1bd7 387 break;
js 2:71b3736a1bd7 388 }
js 2:71b3736a1bd7 389 if(RB2_PSEL_BAK==RP_WORK_DW){
js 2:71b3736a1bd7 390 lcd_print("t0","ロボット２が干渉位置にあります。");
js 2:71b3736a1bd7 391 lcd_audio_play( AU_ERR,0,80);
js 2:71b3736a1bd7 392 touch_id=0;
js 2:71b3736a1bd7 393 break;
js 2:71b3736a1bd7 394 }
js 2:71b3736a1bd7 395 if(WT_POS_ST!=POS_WT_START){
js 2:71b3736a1bd7 396 lcd_print("t0","作業開始位置移動開始");
js 2:71b3736a1bd7 397 WT_MOVE(POS_WT_START);
js 2:71b3736a1bd7 398 WT_MOVE_EWAIT();
js 2:71b3736a1bd7 399 lcd_print("t0","作業開始位置位置移動開始完了");
js 2:71b3736a1bd7 400 }else{
js 2:71b3736a1bd7 401 lcd_print("t0","現在位置です。");
js 2:71b3736a1bd7 402 }
js 2:71b3736a1bd7 403 touch_id=0;
js 2:71b3736a1bd7 404 break;
js 2:71b3736a1bd7 405
js 2:71b3736a1bd7 406
js 2:71b3736a1bd7 407 case BT10_BACK :
js 2:71b3736a1bd7 408 lcd_page_set(P_MAIN,100);
js 2:71b3736a1bd7 409 MAIN_PAGE_DISP();
js 2:71b3736a1bd7 410 RB2_SPEED_SET(RB_HIGH);
js 2:71b3736a1bd7 411 RB2_SEND_CMD("EnableRobot()");
js 2:71b3736a1bd7 412 RB2_CMD_WAIT(RB_SWAIT);
js 2:71b3736a1bd7 413 touch_id=0;
js 2:71b3736a1bd7 414 break;
js 2:71b3736a1bd7 415 }
js 2:71b3736a1bd7 416 //コントローラ制御//
js 2:71b3736a1bd7 417 PS3_ROBO2_CONT();
js 2:71b3736a1bd7 418 if(RB2_POSE_DISP_EN==1){
js 2:71b3736a1bd7 419 RB2_POSE_DISP();//座標表示（このなかでIDLEになっているかも確認している）
js 2:71b3736a1bd7 420 }
js 2:71b3736a1bd7 421 if(touch_id==0 && tp_mask==1) {
js 2:71b3736a1bd7 422 tp_mask=0;//1=タッチパネルマスク
js 2:71b3736a1bd7 423 }
js 2:71b3736a1bd7 424
js 2:71b3736a1bd7 425 }