Robot GSLine: августа 2018

73523A5 diff 73523A51

73523A51 has Mode = 9, After RichMaxPos Helper for M50, but Reset after PosNegative

A5(sw=0) analog A54(sw=2)
A51(sw=0) analog A52(sw=2)
A50(sw=0) analog A55(sw=2)

SwingCountEntry = 2

73523A52 has Mode = 9, After RichMaxPos Helper for M50, but Reset after PosNegative,
73523A55 has Mode = 5, After PosMaxAbsValue WAS Reached,
73523A54 Has Clean Mode=5, Has no Helper After Mode=5 Exit Failed, Only Mode=5 - Best Result

73523A52 Analog 73523A51
if (IsPosPositive)
{
if (IsPosAbsMaxReached)
Mode = Mode == 9 ? 9 : 5;
else
{
if ((Mode == 5 && !IsPosAbsMaxReached) || Mode == 9)
{
Mode = 9;
return;

}

735223A54 - Clean Mode5 Analog 73523A5

if (IsPosAbsMaxReached)
Mode = 5;
else
{
if (PositionStop.HasValue)

{

73523A55 - Full protection After failure in Mode 5. We have Trigger WAS Mode5 with Failure
A55 have no analog in SingCountEntry= 0 system (A5)

if (IsPosAbsMaxWasReached.Value)
Mode = 5;
else
{
if (PositionStop.HasValue)