InputEquip_InStore.cs
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using Asa;
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;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class InputEquip
{
protected override bool CheckWaitResult(RobotMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
}
else if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
}
return false;
}
#region 取放料
public override bool StartWorking(WorkParam param)
{
if (!NoAlarm())
{
WorkLog("报警中，无法开始取放料：" + param.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(RobotMoveType.None))
{
MoveInfo.NewMove(RobotMoveType.Working, StepEnum.IW01_InoutToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.MoveParam = param;
//如果升降轴，旋转轴，进出轴都在指定位置，直接进出轴前进
if (InOutAxis.IsInPosition(Config.InoutAxis_P1))
{
if (UpdownAxis.IsInPosition(Config.UpdownAxis_P1))
{
if (MiddleAxis.IsInPosition(MoveInfo.MoveParam.Get_Middle_P2(Config)))
{
IW04_InoutToP2();
}
else
{
IW03_MiddleToP2();
}
}
else
{
IW02_UpdownToP1();
}
}
else
{
WorkLog("开始取料：" + param.ToStr() + ",进出轴返回待机点");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
}
return true;
}
return false;
}
private void IW02_UpdownToP1()
{
MoveInfo.NextMoveStep(StepEnum.IW02_UpdownToP1);
WorkLog("取料： 升降轴到待机点P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
private void IW03_MiddleToP2()
{
MoveInfo.NextMoveStep(StepEnum.IW03_MiddleToP2);
WorkLog("取料： 旋转轴到取料位置P2");
MiddleAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Middle_P2(Config), Config.MiddleAxis_P2Speed);
}
private void IW04_InoutToP2()
{
MoveInfo.NextMoveStep(StepEnum.IW04_InoutToP2);
WorkLog("取料： 进出轴前进到P2");
InOutAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Inout_P2(Config), Config.InoutAxis_P2Speed);
}
protected override void WorkingProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 取料
if (MoveInfo.IsStep(StepEnum.IW01_InoutToP1))
{
IW02_UpdownToP1();
}
else if (MoveInfo.IsStep(StepEnum.IW02_UpdownToP1))
{
IW03_MiddleToP2();
}
else if (MoveInfo.IsStep(StepEnum.IW03_MiddleToP2))
{
IW04_InoutToP2();
}
else if (MoveInfo.IsStep(StepEnum.IW04_InoutToP2))
{
MoveInfo.NextMoveStep(StepEnum.IW05_UpdownToP2);
WorkLog("取料： 升降轴下降到P2");
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_P2(Config), Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW05_UpdownToP2))
{
MoveInfo.NextMoveStep(StepEnum.IW06_Clamping_Work);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
WorkLog("取料： 夹料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work);
}
else if (MoveInfo.IsStep(StepEnum.IW06_Clamping_Work))
{
if (CylinderIsOk(IO_Type.Clamping_Relax, IO_Type.Clamping_Work))
{
MoveInfo.NextMoveStep(StepEnum.IW07_UpdownToP1);
WorkLog("取料： 升降轴到待机点P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IW06_Clamping_Work);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
WorkLog("取料： 夹料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work);
}
}
else if (MoveInfo.IsStep(StepEnum.IW07_UpdownToP1))
{
MoveInfo.NextMoveStep(StepEnum.IW08_WaitAxisCheck);
WorkLog("取料： 等待伺服检测信号消失");
if (MoveInfo.MoveParam.InPosType.Equals(1))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.L_AxisTrayCheck, IO_VALUE.LOW));
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.R_AxisTrayCheck, IO_VALUE.LOW));
}
}
else if (MoveInfo.IsStep(StepEnum.IW08_WaitAxisCheck))
{
MoveInfo.NextMoveStep(StepEnum.IW09_InoutToP1);
WorkLog("取料： 进出轴返回P1");
if (MoveInfo.MoveParam.InPosType.Equals(1))
{
LeftBatchMove.GetTrayOK();
}
else
{
RightBatchMove.GetTrayOK();
}
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW09_InoutToP1))
{
bool isOk = MoveInfo.MoveParam.PlateH > 0 && MoveInfo.MoveParam.PlateW > 0;
BatchMoveBean moveBean = MoveInfo.MoveParam.InPosType.Equals(1) ? LeftBatchMove : RightBatchMove;
if (moveBean.LastHeight > 0 || isOk)
{
MoveInfo.NextMoveStep(StepEnum.IW10_SaveSize);
WorkLog(" 测宽度，记录条码高度宽度，开始下一盘预扫码");
MoveInfo.MoveParam.PlateH = moveBean.LastHeight;
MoveInfo.MoveParam.PlateW = GetWidth();
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg =Name+ "等待" + moveBean.Name + "测高结束超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(Name + WarnMsg);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StepEnum.IW10_SaveSize))
{
MoveInfo.NextMoveStep(StepEnum.IW11_GetTargetPosition);
if (MoveInfo.MoveParam.TargetPosType.Equals(0))
{
if (DefautTargetP > 0)
{
MoveInfo.MoveParam.TargetPosType = DefautTargetP;
}
}
WorkLog(" 根据条码获取目标位置：" + MoveInfo.MoveParam.ToStr());
}
#endregion
else if (MoveInfo.IsStep(StepEnum.IW11_GetTargetPosition))
{
if (MoveInfo.MoveParam.TargetPosType.Equals(0))
{
//随机目标地址
Random r = new Random();
int targetP = r.Next(1, 100) % 3 + 1;
MoveInfo.MoveParam.TargetPosType = targetP;
WorkLog(" 随机放料目标：" + targetP);
}
if (MoveInfo.MoveParam.TargetPosType.Equals(1))
{
MoveInfo.NextMoveStep(StepEnum.IW21_MiddleToP3);
WorkLog(" 开始放料到XRay皮带线，旋转轴到P3");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IW31_MIddleToP4);
WorkLog(" 开始放料到人工工位，旋转轴到P4");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P4, Config.MiddleAxis_P4Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.IW21_MiddleToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW22_UpdownToP3);
WorkLog(" 放料到XRay： 升降轴到P3");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW22_UpdownToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW23_InoutToP3);
WorkLog(" 放料到XRay：进出轴到P3");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P3, Config.InoutAxis_P3Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW23_InoutToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW24_WaitCanPut);
WorkLog(" 放料到XRay：等待XRay可放料");
//TODO
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_InLine_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_InLine_Run, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StepEnum.IW24_WaitCanPut))
{
MoveInfo.NextMoveStep(StepEnum.IW41_Clamping_Relax);
RobotManager.robot.XrayBean.In_ReelInfo = new ReelInfo(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH);
WorkLog(" 放料到XRay：夹料气缸放松，更新XRay入口料盘信息：" + RobotManager.robot.XrayBean.In_ReelInfo.ToStr());
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IW31_MIddleToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW32_UpdownToP4);
WorkLog(" 放料到工位：升降轴到P4");
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_PutP(Config), Config.UpdownAxis_P4Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW32_UpdownToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW33_InoutToP4);
WorkLog(" 放料到工位：进出轴到P4");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P4, Config.InoutAxis_P4Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW33_InoutToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW41_Clamping_Relax);
WorkLog(" 放料到工位：夹料气缸放松");
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IW41_Clamping_Relax))
{
MoveInfo.NextMoveStep(StepEnum.IW42_InoutToP1);
WorkLog(" 放料完成：进出轴返回P1");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW42_InoutToP1))
{
MoveInfo.NextMoveStep(StepEnum.IW43_UpdownToP1);
WorkLog(" 放料完成：升降轴旋转轴返回P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW43_UpdownToP1))
{
MoveInfo.NextMoveStep(StepEnum.IW44_MiddleToP2);
WorkLog(" 放料完成：旋转轴返回P2");
MiddleAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Middle_P2(Config), Config.MiddleAxis_P2Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW44_MiddleToP2))
{
MoveInfo.EndMove();
WorkLog(" 放料完成");
}
}
public int GetWidth()
{
int width = 15;
if (IOValue(IO_Type.TrayCheck_15).Equals(IO_VALUE.HIGH))
{
width = 15;
}
else if (IOValue(IO_Type.TrayCheck_13).Equals(IO_VALUE.HIGH))
{
width = 13;
}
else if (IOValue(IO_Type.TrayCheck_11).Equals(IO_VALUE.HIGH))
{
width = 11;
}
else if (IOValue(IO_Type.TrayCheck_7).Equals(IO_VALUE.HIGH))
{
width = 7;
}
else
{
width = 7;
}
return width;
}
#endregion
#region Label处理
public override bool StartLabelling(WorkParam param)
{
return false;
}
protected override void LabellingProcess()
{
}
#endregion
}
}