成人精品一区二区久久久 I 国产美女永久无遮挡 I 中文字幕+乱码+中文字幕明步 I 国产在视频一区二区三区吞精 I 日韩精品小视频 I 成人性生交大片免费4 I 免费aaa级毛片在线视频 I 一级片毛片 I 大型成人社区 I 国模在线播放 I 欧美大荫蒂毛茸茸视频 I 偷偷色噜狠狠狠狠的777米奇 I www.久久亚洲 I 日日搞夜夜操 I 亚洲成色777777女色窝 I 毛片黄色毛片 I 午夜片在线观看 I 国产一区二区三区中文字幕 I 天天干夜夜骑 I 日韩在线视频一区二区三区 I 久久久无码精品亚洲a片0000 I 写真福利片hd在线播放 I 欧美成人一区二免费视频 I 色噜噜狠狠爱综合视频 I 中文字幕无线码免费人妻 I 国产精品久久久久久久久久不蜜臀 I 欧美综合人人做人人爱 I 1024成人网色www I 国产精品视频一二三区 I 亚洲免费美女视频

(*----------------------------------------------------------------------------*)
IF  NOT EmergencyStop    THEN
    VisionXYAlignmentBusy       := FALSE;
    VisionXYAlignmentComplete := FALSE;
    AxisRun1                   := FALSE;
    AxisRun2                   := FALSE;
    AxisRun3                   := FALSE;
END_IF;

(*----------------------------------------------------------------------------*)
IF     SaveBasePoint THEN
    InspectBasePos[0] := InspectResultPos[0];
    InspectBasePos[1] := InspectResultPos[1];
    InspectBasePos[2] := InspectResultPos[2];
    InspectBasePos[3] := InspectResultPos[3];
END_IF;

(*----------------------------------------------------------------------------*)
IF     VisionXYAlignmentStart AND NOT VisionXYAlignmentBusy    THEN
    VisionXYAlignmentBusy := TRUE;
    VisionXYAlignmentComplete := FALSE;
    VisionXYAlignmentStep := 0;
    RETURN;
END_IF;

(*----------------------------------------------------------------------------*)
IF     VisionXYAlignmentBusy    THEN
    IF     VisionXYAlignmentStep = 0    THEN
        TempFloatValue1 := InspectResultPos[0] - InspectBasePos[0];
        TempFloatValue2 := InspectResultPos[2] - InspectBasePos[2];
        TempFloatValue3 := ((TempFloatValue1 + TempFloatValue2) / 2.0) * 3.7;
        TempRunPos1 := CurrentAxisPos1 - REAL_TO_DINT(TempFloatValue3);
        
        TempFloatValue1 := InspectResultPos[1] - InspectBasePos[1];
        TempFloatValue2 := InspectResultPos[3] - InspectBasePos[3];
        TempFloatValue3 := ((TempFloatValue1 + TempFloatValue2) / 2.0) * 3.7;
        TempIntegerValue3 := ABS(REAL_TO_DINT(TempFloatValue3));
        
        IF TempFloatValue3 >= 0.0    THEN
            TempRunPos2 := CurrentAxisPos2 - TempIntegerValue3;
            TempRunPos3 := CurrentAxisPos3 + TempIntegerValue3;
        ELSE
            TempRunPos2 := CurrentAxisPos2 + TempIntegerValue3;
            TempRunPos3 := CurrentAxisPos3 - TempIntegerValue3;
        END_IF;
        
        AxisRunPos1 := TempRunPos1;
        AxisRun1 := TRUE;        
        AxisRunPos2 := TempRunPos2;
        AxisRun2 := TRUE;
        AxisRunPos3 := TempRunPos3;
        AxisRun3 := TRUE;

        VisionXYAlignmentStep := 1;
        RETURN;
    END_IF;

    IF     VisionXYAlignmentStep = 1    THEN
        IF    CurrentAxisPos1 = AxisRunPos1 AND IsAxisInPos1 AND NOT IsAxisMoving1    AND
            CurrentAxisPos2 = AxisRunPos2 AND IsAxisInPos2 AND NOT IsAxisMoving2    AND
            CurrentAxisPos3 = AxisRunPos3 AND IsAxisInPos3 AND NOT IsAxisMoving3    THEN
            AxisRun1 := FALSE;
            AxisRun2 := FALSE;
            AxisRun3 := FALSE;
        
            VisionXYAlignmentBusy := FALSE;
            VisionXYAlignmentComplete := TRUE;
        END_IF;
        RETURN;
    END_IF;
END_IF;
(*----------------------------------------------------------------------------*)