BatchMoveBean.cs
21.0 KB
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
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
using DeviceLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class BatchMoveBean
{
public string Name = "入料";
public AxisBean BatchAxis = null;
public int EquipType = 1;//1=左侧，2=右侧
public RobotMoveInfo MoveInfo;
public string WarnMsg = "";
private string CameraName = "";
private string AgvName = "";
private string RfidIP = "";
public int BatchAxisP1 = 0;
public int BatchAxisP3 = 0;
private InputEquip Robot
{
get { return RobotManager.robot.inputEquip; }
}
public BatchMoveBean(InputEquip_Config config, AxisBean axis, int inType = 1)
{
this.EquipType = inType;
this.BatchAxis = axis;
string ioAdd = "L_";
if (EquipType.Equals(1))
{
this.BatchAxisP1 = config.L_BatchAxisP1;
this.BatchAxisP3 = config.L_BatchAxisP3;
ioAdd = "L_";
AgvName = config.LeftAgvName;
this.CameraName = config.LeftCamera;
}
else
{
this.BatchAxisP1 = config.R_BatchAxisP1;
this.BatchAxisP3 = config.R_BatchAxisP3;
ioAdd = "R_";
AgvName = config.RightAgvName;
this.CameraName = config.RightCamera;
}
Name = " " + ioAdd + "入料 ";
MoveInfo = new RobotMoveInfo(Name);
IO_In_Start = ioAdd + IO_In_Start;
IO_In_Status = ioAdd + IO_In_Status;
IO_LineRun_Start = ioAdd + IO_LineRun_Start;
IO_LineRun_Back = ioAdd + IO_LineRun_Back;
IO_DoorClose = ioAdd + IO_DoorClose;
IO_LineIn_Check = ioAdd + IO_LineIn_Check;
IO_LineEnd_Check = ioAdd + IO_LineEnd_Check;
IO_LocationUp_1 = ioAdd + IO_LocationUp_1;
IO_LocationDown_1 = ioAdd + IO_LocationDown_1;
IO_LocationUp_2 = ioAdd + IO_LocationUp_2;
IO_LocationDown_2 = ioAdd + IO_LocationDown_2;
IO_LocationUp = ioAdd + IO_LocationUp;
IO_LocationDown = ioAdd + IO_LocationDown;
IO_AxisTrayCheck = ioAdd + IO_AxisTrayCheck;
}
internal void TimerProcess()
{
if (MoveInfo.MoveType.Equals(RobotMoveType.None))
{
if (Robot.MoveInfo.MoveType.Equals(RobotMoveType.Reset) || Robot.MoveInfo.MoveType.Equals(RobotMoveType.RHome))
{
}
else
{
if (Robot.AutoInput && Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.HIGH))
{
//WorkLog("启动位置1");
StartWorking(new WorkParam());
}
}
}
else if (MoveInfo.MoveType.Equals(RobotMoveType.Reset))
{
ResetProcess();
}
else if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
WorkingProcess();
}
//判断是否无料串
if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.LOW)
&& Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.LOW)
&& Robot.CylinderIsOk(IO_LocationUp_1, IO_LocationDown_1)
&& Robot.CylinderIsOk(IO_LocationUp_2, IO_LocationDown_2))
{
if (RobotManager.checkWatch(shelfWatch, 10000, true))
{
var agvcallresult=AgvClient.NeedEnter(AgvName, "", Asa.ClientLevel.High);
WorkLog("无料串,：通知agv来送料串AgvName:" + AgvName + ",agvcallresult:" + agvcallresult.ToString());
}
}
else if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.HIGH) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.HIGH)
&& AgvClient.GetAction(AgvName)!=Asa.ClientAction.NeedLeave && AgvClient.GetAction(AgvName)!=Asa.ClientAction.MayLeave && AgvClient.GetAction(AgvName) != Asa.ClientAction.FinishLeave)
{
shelfWatch.Stop();
AgvClient.SetToNone(AgvName);
}
}
private Stopwatch shelfWatch = new Stopwatch();
public bool Reset(bool needStop = false)
{
if (Robot.CanStartRun())
{
if (needStop)
{
StopMove();
}
WarnMsg = "";
alarmType = AlarmType.None;
MoveInfo.NewMove(RobotMoveType.Reset, StepEnum.IBR01_LocationDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
WorkLog("开始复位，定位气缸下降");
LocationDown(MoveInfo);
}
else
{
WarnMsg = Name + "复位失败";
}
return false;
}
private void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.IBR01_LocationDown))
{
if (Robot.IOValue(IO_LineIn_Check).Equals(Robot.IOValue(IO_LineEnd_Check)))
{
LineStop();
MoveInfo.NextMoveStep(StepEnum.IBR03_BatchHome);
WorkLog("复位：批量轴开始回原点");
BatchAxis.HomeMove(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IBR02_LineRun);
WorkLog("复位：链条正转3秒");
LineRun(MoveInfo);
}
}
else if (MoveInfo.IsStep(StepEnum.IBR02_LineRun))
{
LineStop();
MoveInfo.NextMoveStep(StepEnum.IBR03_BatchHome);
WorkLog("复位：批量轴开始回原点");
BatchAxis.HomeMove(MoveInfo);
}
else if (MoveInfo.IsStep(StepEnum.IBR03_BatchHome))
{
MoveInfo.NextMoveStep(StepEnum.IBR04_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
// WorkLog("复位：顶升气缸下降");
// LocationDown(MoveInfo);
}
else if (MoveInfo.IsStep(StepEnum.IBR04_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.IBR05_BatchToP1);
WorkLog("复位：批量轴走到待机点");
BatchAxis.AbsMove(MoveInfo, BatchAxisP1, Robot.Config.BatchAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IBR05_BatchToP1))
{
WorkLog("复位完成");
MoveInfo.EndMove();
}
}
internal void StopMove()
{
MoveInfo.EndMove();
BatchAxis.AxisStopCheckMove();
BatchAxis.SuddenStop();
}
public DateTime LastAlarmTime = DateTime.Now;
public AlarmType alarmType = AlarmType.None;
internal void Alarm(AlarmType alarmType)
{
if (alarmType.Equals(AlarmType.None).Equals(false))
{
LastAlarmTime = DateTime.Now;
}
if (this.alarmType.Equals(alarmType))
{
return;
}
this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck) || alarmType.Equals(AlarmType.AxisAlarm))
{
StopMove();
}
}
#region 左右入料口共有IO
private string IO_In_Start = "In_Start";
//左右线体运行状态
private string IO_In_Status = "In_Status";
//左右线体启动
private string IO_LineRun_Start = "LineRun_Start";
//左右线体反转
private string IO_LineRun_Back = "LineRun_Back";
//左右上料机构门关闭
private string IO_DoorClose = "DoorClose";
//左右入料线体前端感应
private string IO_LineIn_Check = "LineIn_Check";
//左右入料线体末端感应
private string IO_LineEnd_Check = "LineEnd_Check";
//左右提升机料盘检测
private string IO_AxisTrayCheck = "AxisTrayCheck";
//左右入料线体定位1上升端
private string IO_LocationUp_1 = "LocationUp_1";
//左右入料线体定位1下降端
private string IO_LocationDown_1 = "LocationDown_1";
//左右入料线体定位2上升端
private string IO_LocationUp_2 = "LocationUp_2";
//左右入料线体定位2下降端
private string IO_LocationDown_2 = "LocationDown_2";
////左右托盘定位气缸1前进端
//private string IO_TrayFixed_Forward_1 = "TrayFixed_Forward_1";
////左右托盘定位气缸1后退端
//private string IO_TrayFixed_Back_1 = "TrayFixed_Back_1";
////左右托盘定位气缸2前进端
//private string IO_TrayFixed_Forward_2 = "TrayFixed_Forward_2";
////左右托盘定位气缸2后退端
//private string IO_TrayFixed_Back_2 = "TrayFixed_Back_2";
//左右入料线体定位上升SOL
private string IO_LocationUp = "LocationUp";
//左右入料线体定位下降SOL
private string IO_LocationDown = "LocationDown";
////左右托盘定位气缸前进SOL
//private string IO_TrayFixed_Forward = "TrayFixed_Forward";
////左右托盘定位气缸后退SOL
//private string IO_TrayFixed_Back = "TrayFixed_Back";
#endregion
#region 气缸操作
public void LocationDown(RobotMoveInfo moveinfo = null)
{
Robot.IOMove(IO_LocationUp, IO_VALUE.LOW);
Robot.IOMove(IO_LocationDown, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationUp_1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationDown_1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationUp_2, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationDown_2, IO_VALUE.HIGH));
}
}
public void LocationUp(RobotMoveInfo moveinfo = null)
{
Robot.IOMove(IO_LocationDown, IO_VALUE.LOW);
Robot.IOMove(IO_LocationUp, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationDown_1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationUp_1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationDown_2, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LocationUp_2, IO_VALUE.HIGH));
}
}
public void LineRun(RobotMoveInfo moveInfo = null)
{
Robot.IOMove(IO_LineRun_Back, IO_VALUE.LOW);
Robot.IOMove(IO_LineRun_Start, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LineRun_Back, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LineRun_Start, IO_VALUE.HIGH));
}
}
public void LineBack(RobotMoveInfo moveInfo = null)
{
Robot.IOMove(IO_LineRun_Back, IO_VALUE.HIGH);
Robot.IOMove(IO_LineRun_Start, IO_VALUE.HIGH);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LineRun_Back, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LineRun_Start, IO_VALUE.HIGH));
}
}
public void LineStop(RobotMoveInfo moveInfo = null)
{
Robot.IOMove(IO_LineRun_Back, IO_VALUE.LOW);
Robot.IOMove(IO_LineRun_Start, IO_VALUE.LOW);
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LineRun_Back, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_LineRun_Start, IO_VALUE.LOW));
}
}
#endregion
private DateTime preCheckAxisTime = DateTime.Now;
protected DateTime preRWTime = DateTime.Now;
internal void CheckWait(RobotMoveInfo moveInfo)
{
int DeviceID = 10 + EquipType;
try
{
List<WaitResultInfo> list = moveInfo.WaitList;
if (list.Count <= 0)
{
moveInfo.EndStepWait();
return;
}
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
string NotOkMsg = "";
bool isOk = !moveInfo.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = " [" + wait.ToStr() + "] ";
if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
{
TimeSpan axisSpan = DateTime.Now - preCheckAxisTime;
if (axisSpan.TotalSeconds > 1)
{
preCheckAxisTime = DateTime.Now;
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = AxisBean.HomeMoveIsEnd(moveInfo, wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = Name + msg;
Alarm(AlarmType.AxisMoveError);
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
break;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " [" + IOManager.GetIO(wait.IoType, Robot.DeviceID).DisplayStr + "=" + wait.IoValue + "]";
wait.IsEnd = Robot.IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd && (!moveInfo.IsStep(StepEnum.IB23_ShelfOut)))
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalSeconds > RobotManager.Config.IOSingle_TimerOut && alarmType <= AlarmType.IoSingleTimeOut)
{
ConfigIO io = Robot.Config.getWaitIO(wait.IoType);
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
if (alarmType.Equals(AlarmType.None))
{
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < RobotManager.Config.IOSingle_TimerOut * 2)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && Robot.Config.DOList.ContainsKey(ww.IoType))
{
if (IOManager.DOValue(ww.IoType, Robot.Config.Id).Equals(ww.IoValue).Equals(false))
{
isLog = true;
Robot.IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
}
if (isLog)
{
LogUtil.error(msg);
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
//等待信号亮或者走到绝对位置才停止
if (Robot.IOValue(BatchAxis.TargetIoType).Equals(BatchAxis.TargetIoValue))
{
WorkLog(Name + "CheckWaitResult 检测到" + BatchAxis.TargetIoType + "=" + BatchAxis.TargetIoValue + ",停止运行");
BatchAxis.AxisStopCheckMove();
if (ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
{
BatchAxis.SuddenStop();
}
wait.IsEnd = true;
}
else
{
if (ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0))
{
BatchAxis.AxisStopCheckMove();
wait.IsEnd = true;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
if (LastCodeList.Count > 0)
{
wait.IsEnd = true;
}
}
else
{
LogUtil.error(Name + "未找到WaitType=" + wait.WaitType + "的处理");
}
if (wait.IsEnd)
{
if (moveInfo.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!moveInfo.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
moveInfo.EndStepWait();
}
else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
{
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg + "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
//int second = 10;
//second = (int)(span.TotalSeconds/ moveInfo.TimeOutSeconds) * 10;
//if (second > 120)
//{
// second = 120;
//}
//else if (second < 10)
//{
// second = 10;
//}
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
catch (Exception ex)
{
LogUtil.error(moveInfo.Name + " [" + moveInfo.MoveStep + "] CheckWait 出错：", ex);
}
}
public string GetMoveStr()
{
string code = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.WareCode : "";
return MoveInfo.MoveType + " " + MoveInfo.MoveStep + " " + code + "\n";
}
}
}