OutputEquip_Shelf.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class OutputEquip
{
#region 出料信息
private int OutReelHeight = -1;
private int OutReelCount = -1;
#endregion
#region 料串处理
private void StartShelfMove()
{
if (!ShelfMoveInfo.MoveType.Equals(RobotMoveType.None))
{
return;
}
if (IOValue(IO_Type.O_WLine_WorkOutCheck).Equals(IO_VALUE.HIGH))
{
return;
}
if (IOValue(IO_Type.O_WLine_WorkCheck).Equals(IO_VALUE.HIGH))
{
ShelfMoveInfo.NewMove(RobotMoveType.ShelfPro);
OS_12_WorkCheck();
}
else if (IOValue(IO_Type.O_WLine_InCheck).Equals(IO_VALUE.HIGH))
{
ShelfMoveInfo.NewMove(RobotMoveType.ShelfPro);
ShelfMoveInfo.NextMoveStep(StepEnum.OS_09_WaitInWLine);
ShelfWorkLog("接料线体入口有新料串，空料串阻挡上升，等待2000毫秒料串到达接料线体");
IOMove(IO_Type.O_SWLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_InCheck, IO_VALUE.HIGH));
}
else if (IOValue(IO_Type.O_ELine_InCheck).Equals(IO_VALUE.HIGH))
{
ShelfMoveInfo.NewMove(RobotMoveType.ShelfPro);
//判断升降盘是否在后退端
if (TrayFixedIsBack())
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_03_LocationDown);
ShelfWorkLog("空料串入口有新料串， 定位气缸下降，工位阻挡上升");
CylinderMove(ShelfMoveInfo, IO_Type.O_Work_LocationUp, IO_Type.O_Work_LocationDown);
IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW);
}
else
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_01_BatchAxisToP2);
ShelfWorkLog("空料串入口有新料串，升降盘不在后退端，提升轴回到P2");
BatchAxis.AbsMove(ShelfMoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
}
}
private void OS_12_WorkCheck()
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_12_WorkCheck);
IOMove(IO_Type.O_WLine_Run, IO_VALUE.HIGH);
ShelfWorkLog("工位检测信号亮，，在转动5000ms");
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkCheck, IO_VALUE.HIGH));
}
private void ShelfMoveProcess()
{
if (ShelfMoveInfo.IsInWait)
{
CheckWait(ShelfMoveInfo);
}
if (ShelfMoveInfo.IsInWait)
{
return;
}
#region 准备空料串
if (ShelfMoveInfo.IsStep(StepEnum.OS_01_BatchAxisToP2))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_02_TrayL_After);
ShelfWorkLog("升降盘定位气缸后退");
TrayFixedBack(ShelfMoveInfo);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_02_TrayL_After))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_03_LocationDown);
ShelfWorkLog("定位气缸下降，工位阻挡上升");
CylinderMove(ShelfMoveInfo, IO_Type.O_Work_LocationUp, IO_Type.O_Work_LocationDown);
IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_03_LocationDown))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_04_BatchAxisToP1);
ShelfWorkLog("升降盘不在后退端，提升轴到待机P1");
BatchAxis.AbsMove(ShelfMoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_04_BatchAxisToP1))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_05_WaitECheck);
ShelfWorkLog("等待空料串入料口有信号");
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_05_WaitECheck))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_06_TopUp);
ShelfWorkLog("空料串，接料线体，入口顶升上升");
CylinderMove(ShelfMoveInfo, IO_Type.O_ELine_TopDown, IO_Type.O_ELine_TopUp);
CylinderMove(ShelfMoveInfo, IO_Type.O_WLine_TopDown, IO_Type.O_WLine_TopUp);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_06_TopUp))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_07_SWLineRun);
ShelfWorkLog("出料料串：空料串阻挡下降，空料串链条转动，横移电机运转");
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.HIGH);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.O_SWLine_Run, IO_VALUE.HIGH);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_ELine_InStop, IO_VALUE.HIGH));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_ELine_Run, IO_VALUE.HIGH));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_SWLine_Run, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_07_SWLineRun))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_08_WLineInCheck);
ShelfWorkLog("等待入料线进口信号亮");
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_InCheck, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_08_WLineInCheck))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_09_WaitInWLine);
ShelfWorkLog("空料串阻挡上升，等待5秒料串到达接料线体");
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_InCheck, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_09_WaitInWLine))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_10_TopDown);
ShelfWorkLog("空料串阻挡上升，顶升下降，线体停止转动");
IOMove(IO_Type.O_SWLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
CylinderMove(ShelfMoveInfo, IO_Type.O_ELine_TopUp, IO_Type.O_ELine_TopDown);
CylinderMove(ShelfMoveInfo, IO_Type.O_WLine_TopUp, IO_Type.O_WLine_TopDown);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_10_TopDown))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_11_WLineRun);
ShelfWorkLog("接料线体工位阻挡上升，接料线体转动，等待工位检测信号");
IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW);
IOMove(IO_Type.O_WLine_Run, IO_VALUE.HIGH);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkCheck, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_11_WLineRun))
{
OS_12_WorkCheck();
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_12_WorkCheck))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_13_StopLineRun);
ShelfWorkLog("接料线体停止转动");
IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_Run, IO_VALUE.LOW));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_13_StopLineRun))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_14_WLocationUp);
ShelfWorkLog("工位定位气缸上升");
CylinderMove(ShelfMoveInfo, IO_Type.O_Work_LocationDown, IO_Type.O_Work_LocationUp);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_14_WLocationUp))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_15_BatchAxisToP2);
ShelfWorkLog("提升轴下降到P2");
BatchAxis.AbsMove(ShelfMoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_15_BatchAxisToP2))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_16_WTrayLForward);
ShelfWorkLog("托盘定位前进2000");
TrayFixedFoward(null);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_16_WTrayLForward))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_17_WTrayLBack);
ShelfWorkLog("托盘定位后退");
TrayFixedBack(ShelfMoveInfo);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_17_WTrayLBack))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_18_WTrayLForward2);
ShelfWorkLog("托盘定位再次前进");
TrayFixedFoward(ShelfMoveInfo);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_18_WTrayLForward2))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_19_BatchAxisToP3);
ShelfWorkLog("批量轴匀速到P3点，清空出料信息=0");
BatchAxisToP3(ShelfMoveInfo,true);
OutReelHeight = 0;
OutReelCount = 0;
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_19_BatchAxisToP3))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_20_ShelfReady);
if (IOValue(IO_Type.O_WLine_TrayCheck_OverHead).Equals(IO_VALUE.HIGH))
{
ShelfWorkLog("批量提升过头重新下降");
BatchAxis.SuddenStop();
BatchAxisToP1(ShelfMoveInfo);
}
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
ShelfWorkLog("料串准备完成");
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_20_ShelfReady))
{
//判断是否需要送出料串
if (AutoSendShelfOut && OutReelCount > 0)
{
string msg = " OS_18_ShelfReady，收到AutoSendShelfOut ";
ShelfMoveInfo.NextMoveStep(StepEnum.OS_31_ShendShelfOut);
ShelfWorkLog(msg + "开始送出料串");
}
else
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_20_ShelfReady);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
#endregion
#region 放料贴标处理
else if (ShelfMoveInfo.IsStep(StepEnum.OS_21_BatchDownH))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_22_WaitTray);
ShelfWorkLog("等待料盘放入料串,O_WLine_TrayCheck=" + IOValue(IO_Type.O_WLine_TrayCheck).ToString());
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_23_TrayOK))
{
if (IOValue(IO_Type.O_WLine_TrayCheck_OverHead).Equals(IO_VALUE.HIGH))
{
ShelfWorkLog("批量提升过头重新下降");
ShelfMoveInfo.NextMoveStep(StepEnum.OS_24_BatchToP3);
BatchAxisToP1(ShelfMoveInfo);
}
else
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_24_BatchToP3);
ShelfWorkLog("批量轴匀速到P3或信号亮,O_WLine_TrayCheck=" + IOValue(IO_Type.O_WLine_TrayCheck).ToString()); ;
BatchAxisToP3(ShelfMoveInfo);
}
if (!SecMoveInfo.MoveType.Equals(RobotMoveType.None)
&& SecMoveInfo.MoveParam != null
&& MoveInfo.MoveParam != null
&& SecMoveInfo.MoveParam.WareCode != MoveInfo.MoveParam.WareCode)
{
ShelfWorkLog("标签错位，放弃当前标签");
SecMoveInfo.NextMoveStep(StepEnum.OL20_LableCancel);
}
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_24_BatchToP3))
{
if (IOValue(IO_Type.O_WLine_TrayCheck_OverHead).Equals(IO_VALUE.HIGH))
{
BatchAxis.SuddenStop();
ShelfMoveInfo.NextMoveStep(StepEnum.OS_23_TrayOK);
ShelfWorkLog("批量提升运动过度");
return;
}
if (RobotManager.UseLabel)
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_25_WaitLabel);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
ShelfWorkLog("贴标功能启用中，等待贴标");
}
else if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_25_WaitLabel);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
ShelfWorkLog("SecMoveInfo在Labelling中，等待贴标");
}
else
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_26_LabelOk);
ShelfWorkLog("贴标功能未启用，直接结束贴标");
}
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel))
{
//TODO 此处需要验证贴标完成
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
ClearTimeoutAlarm("贴标结束");
ShelfMoveInfo.NextMoveStep(StepEnum.OS_26_LabelOk);
ShelfWorkLog("贴标完成");
}
else if (SecMoveInfo.IsTimeOut(120))
{
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 贴标结束 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType, SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_26_LabelOk))
{
CheckNeedSendShelf();
}
#endregion
#region 送出料串
else if (ShelfMoveInfo.IsStep(StepEnum.OS_31_ShendShelfOut))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_32_BatchToP2);
ShelfWorkLog("批量轴下降到P2");
BatchAxis.AbsMove(ShelfMoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_32_BatchToP2))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_33_TrayFixedBack);
ShelfWorkLog("托盘定位气缸后退");
TrayFixedBack(ShelfMoveInfo);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_33_TrayFixedBack))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_34_LocationDown);
ShelfWorkLog("定位气缸下降");
CylinderMove(ShelfMoveInfo, IO_Type.O_Work_LocationUp, IO_Type.O_Work_LocationDown);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_34_LocationDown))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_35_BatchAxisToP1);
ShelfWorkLog("批量轴到P1");
BatchAxis.AbsMove(ShelfMoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_35_BatchAxisToP1))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_36_WaitOutNoShelf);
ShelfWorkLog("等待出口无料串");
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkOutCheck, IO_VALUE.LOW));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_36_WaitOutNoShelf))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_37_OutStopUp);
ShelfWorkLog("出口阻挡上升，清空出料信息=-1");
OutReelHeight = -1;
OutReelCount = -1;
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.HIGH);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkStop, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_37_OutStopUp))
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_38_LineRun);
ShelfWorkLog("链条正转到出口有检测信号");
IOMove(IO_Type.O_WLine_Run, IO_VALUE.HIGH);
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkCheck, IO_VALUE.LOW));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_WorkOutCheck, IO_VALUE.LOW));
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.O_WLine_OutCheck, IO_VALUE.HIGH));
}
else if (ShelfMoveInfo.IsStep(StepEnum.OS_38_LineRun))
{
TimeSpan span = DateTime.Now - ShelfMoveInfo.MoveStartTime;
ShelfMoveInfo.EndMove();
IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.O_WLine_WorkStop, IO_VALUE.LOW);
ShelfWorkLog("送出料串完成，链条停止转动，阻挡上升, 耗时（" + FormUtil.GetSpanStr(span) + "） ");
}
#endregion
}
private void CheckNeedSendShelf()
{
//判断是否需要送出料串
bool needSendOut = false;
string msg = "";
if (AutoSendShelfOut)
{
msg = "放料完成自动送出料串，";
needSendOut = true;
}
else
{
int currPositon = BatchAxis.GetAclPosition();
int tp = currPositon - Config.Height_ChangeValue * 40;
if (tp <= Config.BatchAxisP2)
{
msg = "料串已满[" + currPositon + "]";
needSendOut = true;
}
}
if (needSendOut)
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_31_ShendShelfOut);
ShelfWorkLog(msg + "开始送出料串");
}
else
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_20_ShelfReady);
ShelfWorkLog("料串准备完成");
}
}
private int StartMovePosition = 0;
private void BatchAxisToP3(RobotMoveInfo moveInfo,bool isFirst=false)
{
int targetP3 = Config.BatchAxisP3;
int targetSpeed = Config.BatchAxis_P3Speed;
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
if (!isFirst)
{
targetP3 = StartMovePosition+Config.Height_ChangeValue * 40;
if (targetP3 > Config.BatchAxisP3) {
targetP3 = Config.BatchAxisP3;
}
}
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(BatchAxis.Config, targetP3, targetSpeed));
BatchAxis.Config.TargetPosition = targetP3;
BatchAxis.AbsMove(null, targetP3, targetSpeed);
//开始检测信号
BatchAxis.BatchAxisStartCheck(IO_Type.O_WLine_TrayCheck,IO_VALUE.HIGH);
}
private void BatchAxisToP1(RobotMoveInfo moveInfo)
{
int targetP3 = Config.BatchAxisP2;
int targetSpeed = Config.BatchAxis_P2Speed;
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(BatchAxis.Config, targetP3, targetSpeed));
BatchAxis.Config.TargetPosition = targetP3;
BatchAxis.AbsMove(null, targetP3, targetSpeed);
//开始检测信号
BatchAxis.BatchAxisStartCheck(IO_Type.O_WLine_TrayCheck_OverHead, IO_VALUE.LOW);
}
#endregion
#region AGV
internal void AgvReady(string id, string rfid)
{
if (id.Equals(Config.AgvInName))
{
ShelfEnterProcess(id,rfid);
}
else if (id.Equals(Config.AgvOutName))
{
ShelfOutProcess(id, rfid);
}
}
private bool ProcessShelfEnter = false;
private bool ProcessShelfOut = false;
internal void ShelfEnterProcess(string id, string rfid)
{
string logName = Name + "料串" + rfid + " [AGV ->" + Config.AgvInName + " ] ";
Task.Factory.StartNew(delegate
{
try
{
if (IOValue(IO_Type.O_ELine_InCheck).Equals(IO_VALUE.LOW))
{
ProcessShelfEnter = true;
LogUtil.info(logName + " 阻挡上升，转动链条");
//AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High);
//转动线体
IOMove(IO_Type.O_ELine_InStop, IO_VALUE.LOW);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH);
//等待进料检测信号
bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 600000, logName + "等待O_ELine_InCheck检测到料架");
if (!result)
{
WarnMsg = logName + "等待 O_ELine_InCheck检测到料架 超时";
LogUtil.error(WarnMsg);
LogUtil.error (logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run");
}
else
{
LogUtil.info(logName + "已收到 O_ELine_InCheck=High ， 等待 5000 后停止 O_ELine_Run");
}
//等待500毫秒后停止转动
Thread.Sleep(5000);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
//料串可离开
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Thread.Sleep(2000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfEnter = false;
LogUtil.info(logName + " 结束");
}
else
{
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
LogUtil.info(logName + " 入口有料架，暂不处理");
}
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
ProcessShelfEnter = false;
}
});
}
internal void ShelfOutProcess(string id, string rfid)
{
string logName = Name + "料串 "+rfid+"[" + Config.AgvOutName + "->AGV ] ";
Task.Factory.StartNew(delegate
{
try
{
//AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
if (true || IOValue(IO_Type.O_WLine_OutCheck).Equals(IO_VALUE.HIGH))
{
LogUtil.info(logName + " 出口阻挡下降，转动线体");
ProcessShelfOut = true;
//出口阻挡下降，出口线体转动
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.HIGH);
IOMove(IO_Type.O_WLine_Run, IO_VALUE.HIGH);
bool result = WaitIo(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW, 60000);
if (!result)
{
LogUtil.error(logName + " 等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 ");
}
else
{
LogUtil.info(logName + " 已收到 O_WLine_OutCheck=LOW ，等待13000后停止转动 ");
}
Thread.Sleep(13000);
//停止转动 ,阻挡上升
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
//此处判断是否需要停止接料线体
IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.FinishLeave, ClientLevel.High, true);
Thread.Sleep(3000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfOut = false;
LogUtil.info(logName + "结束,停止转动 ");
}
else
{
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
LogUtil.info(logName + " 未检测到出口料串，暂不处理");
}
}
catch (TimeoutException te)
{
LogUtil.error(logName + " 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error(logName + " 出错：", ex);
}
finally
{
IOMove(IO_Type.O_WLine_OutStop, IO_VALUE.LOW);
ProcessShelfOut = false;
}
});
}
#endregion
#region 光栅处理
private void GratingSignalProcess()
{
if (runStatus <= RobotRunStatus.Wait)
{
return;
}
if (!RobotManager.GratingSignal)
{
return;
}
if (ProcessShelfEnter)
{
}
else if (IOValue(IO_Type.O_ELine_GratingSignal).Equals(IO_VALUE.LOW))
{
//LogUtil.error (Name + "未检测到入空料串线体光栅信号，报警急停");
//SetWarnMsg("未检测到入空料串线体光栅信号，报警急停");
//Alarm(AlarmType.SuddenStop);
if (!this.MoveStop)
{
LogUtil.error(Name + "未检测到入空料串线体光栅信号，暂停运行");
SetWarnMsg("未检测到入空料串线体光栅信号，暂停运行");
this.MoveStop = true;
}
}
if (ProcessShelfOut)
{
}
else if (IOValue(IO_Type.O_OLine_GratingSignal).Equals(IO_VALUE.LOW))
{
//LogUtil.error(Name + "未检测到出料串线体光栅信号，报警急停");
//SetWarnMsg("未检测到出料串线体光栅信号，报警急停");
//Alarm(AlarmType.SuddenStop);
if (!this.MoveStop)
{
LogUtil.error(Name + "未检测到出料串线体光栅信号，暂停运行");
SetWarnMsg("未检测到出料串线体光栅信号，暂停运行");
this.MoveStop = true;
}
}
}
#endregion
}
}