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(),1);
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",1);
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",0);
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",0);
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 ，升降轴下降到P2");
MoveInfo.NextMoveStep(StepEnum.IW05_UpdownToP2);
InOutAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Inout_P2(Config), Config.InoutAxis_P2Speed);
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_P2(Config), Config.UpdownAxis_P2Speed);
}
//private Task GetTargetPTask = null;
int getretry = 0;
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();
NeedAlarm = false;
}
else if (MoveInfo.IsStep(StepEnum.IW04_ReTry))
{
//MoveInfo.NextMoveStep(StepEnum.IW05_UpdownToP2);
//CylinderMove(MoveInfo,IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
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1", 0);
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", 0);
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
WorkLog("取料： 进出轴返回P1", 1);
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IW06_Clamping_Work);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
WorkLog("取料： 夹料气缸夹紧2", 0);
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work);
}
}
else if (MoveInfo.IsStep(StepEnum.IW07_UpdownToP1))
{
WorkLog("取料： 等待伺服检测信号消失");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_7, IO_VALUE.HIGH));
string it = IO_Type.R_AxisTrayCheck;
if (MoveInfo.MoveParam.InPosType.Equals(1))
it = IO_Type.L_AxisTrayCheck;
if (IOValue(it).Equals(IO_VALUE.LOW))
{
getretry = 0;
MoveInfo.NextMoveStep(StepEnum.IW08_WaitAxisCheck);
NeedAlarm = false;
}
else if (MoveInfo.IsTimeOut(4))
{
getretry++;
if (getretry > 3)
{
WorkLog("取料： 重试失败");
MoveInfo.NextMoveStep(StepEnum.IW08_WaitAxisCheck);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(it, IO_VALUE.LOW));
NeedAlarm = true;
}
else
{
MoveInfo.NextMoveStep(StepEnum.IW50_InOutToP2);
WorkLog("取料： 开始重试 第" + getretry + "次");
var b = LeftBatchMove;
if (MoveInfo.MoveParam.InPosType.Equals(2))
b = RightBatchMove;
int xpos = b.BatchAxis.GetAclPosition() - Config.Height_ChangeValue * 50;
if (xpos < b.BatchAxisP1)
xpos = b.BatchAxisP1;
b.BatchAxis.AbsMove(MoveInfo, xpos, Config.BatchAxis_P3Speed);
}
}
}
else if (MoveInfo.IsStep(StepEnum.IW08_WaitAxisCheck))
{
NeedAlarm = false;
getretry = 0;
MoveInfo.NextMoveStep(StepEnum.IW11_GetTargetPosition);
if (MoveInfo.MoveParam.InPosType.Equals(1))
{
MoveInfo.MoveParam.PlateH=LeftBatchMove.GetTrayOK();
}
else
{
MoveInfo.MoveParam.PlateH=RightBatchMove.GetTrayOK();
}
}
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)
{
ClearTimeoutAlarm("测高结束超时");
MoveInfo.NextMoveStep(StepEnum.IW10_SaveSize);
MoveInfo.MoveParam.PlateH = moveBean.LastHeight;
MoveInfo.MoveParam.PlateW = GetWidth();
WorkLog("测高结束， 记录尺寸【" + MoveInfo.MoveParam.PlateW + "X" + MoveInfo.MoveParam.PlateH + "】，开始下一盘预扫码",1);
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = Name + "等待" + moveBean.Name + "测高结束超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType,MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
*/
}
else if (MoveInfo.IsStep(StepEnum.IW10_SaveSize))
{
WorkLog(" IW10_SaveSize");
MoveInfo.NextMoveStep(StepEnum.IW11_GetTargetPosition);
}
#endregion
else if (MoveInfo.IsStep(StepEnum.IW11_GetTargetPosition))
{
WorkLog(" IW11_GetTargetPosition, TrayCheck_7=" + IOValue(IO_Type.TrayCheck_7));
if (MoveInfo.MoveParam.TargetPosType.Equals(0))
{
WorkLog(" TargetPosType：0");
MoveInfo.MoveParam.TargetPosType = 1;
}
//if (GetTargetPTask == null || GetTargetPTask.IsCompleted)
//{
/*
if (MoveInfo.MoveParam.TargetPosType.Equals(0))
{
if (SServerManager.CanConnect())
{
if (MoveInfo.IsTimeOut(120))
{
WarnMsg = Name + "等待" + MoveInfo.MoveParam.WareCode + "验证是否测值 超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
else
{
////随机目标地址
//Random r = new Random();
//int targetP = r.Next(1, 100) % 3 + 1;
MoveInfo.MoveParam.TargetPosType = 1;
WorkLog(" 随机放料目标：" + 1, 1);
}
}
*/
if (MoveInfo.MoveParam.TargetPosType.Equals(1))
{
//ClearTimeoutAlarm("验证是否测值");
MoveInfo.NextMoveStep(StepEnum.IW21_MiddleToP3);
WorkLog(" 开始放料到XRay入口，旋转轴到P3", 1);
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
}
else
{
//ClearTimeoutAlarm("验证是否测值");
MoveInfo.NextMoveStep(StepEnum.IW31_MIddleToP4);
WorkLog(" 开始放料到测值工位，旋转轴到P4", 1);
string outF = MoveInfo.MoveParam.TargetPosType.Equals(2) ? "电容" : "电阻";
outF += "需测值";
RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, outF);
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P4, Config.MiddleAxis_P4Speed);
}
if (MoveInfo.MoveParam.IsNgReel) {
RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, MoveInfo.MoveParam.NgMsg);
}
// }else if (MoveInfo.IsTimeOut(120))
//{
// WarnMsg = Name + "等待" + MoveInfo.MoveParam.WareCode + "验证是否测值 超时[" + MoveInfo.TimeOutSeconds + "]秒";
// LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
// Alarm(AlarmType.IoSingleTimeOut);
//}
}
else if (MoveInfo.IsStep(StepEnum.IW21_MiddleToP3))
{
if (IOValue(IO_Type.TakeAxis_Location_1).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(StepEnum.IW22_UpdownToP3);
//MoveInfo.NextMoveStep(StepEnum.IW23_InoutToP3);
WorkLog("->XRay： 升降轴到P3", 1);
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3, Config.UpdownAxis_P3Speed);
WorkLog("->XRay：进出轴到P3", 1);
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P3, Config.InoutAxis_P3Speed);
}
else if (MiddleAxis.IsInPosition(Config.MiddleAxis_P3))
{
WorkLog("旋转轴已经到P3，但X42传感器没有检测到。");
}
else
{
WorkLog("旋转轴没有到位。");
}
}
else if (MoveInfo.IsStep(StepEnum.IW22_UpdownToP3))
{
//向上合并
//MoveInfo.NextMoveStep(StepEnum.IW23_InoutToP3);
bool isOk = MoveInfo.MoveParam.PlateH > 0 && MoveInfo.MoveParam.PlateW > 0;
BatchMoveBean moveBean = MoveInfo.MoveParam.InPosType.Equals(1) ? LeftBatchMove : RightBatchMove;
if (moveBean.LastHeight > 0 || isOk)
{
ClearTimeoutAlarm("测高结束超时");
//MoveInfo.NextMoveStep(StepEnum.IW10_SaveSize);
MoveInfo.NextMoveStep(StepEnum.IW23_InoutToP3);
if (MoveInfo.MoveParam.PlateH==0)
MoveInfo.MoveParam.PlateH = moveBean.LastHeight;
MoveInfo.MoveParam.PlateW = GetWidth();
WorkLog("测高结束， 记录尺寸【" + MoveInfo.MoveParam.PlateW + "X" + MoveInfo.MoveParam.PlateH + "】，开始下一盘预扫码", 1);
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = Name + "等待" + moveBean.Name + "测高结束超时[" + MoveInfo.TimeOutSeconds + "]秒";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StepEnum.IW23_InoutToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW24_WaitCanPut);
WorkLog("->XRay：等待XRay可放料", 1);
MoveInfo.TimeOutSeconds = 120;
//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))
{
//TickLog("等待XRay可放料", true);
MoveInfo.NextMoveStep(StepEnum.IW41_Clamping_Relax);
RobotManager.robot.XrayBean.In_ReelInfo = MoveInfo.MoveParam.GetReelInfo();
WorkLog("->XRay：夹料气缸放松，更新XRay入口料盘：" + RobotManager.robot.XrayBean.In_ReelInfo.ToStr(), 1);
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IW31_MIddleToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW32_UpdownToP4);
WorkLog("->测值工位：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("->测值工位：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("->测值工位：夹料气缸放松");
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IW41_Clamping_Relax))
{
//可下合并
//MoveInfo.NextMoveStep(StepEnum.IW42_InoutToP1);
MoveInfo.NextMoveStep(StepEnum.IW43_UpdownToP1);
WorkLog("放料完成：进出轴返回P1,升降轴返回P1");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsStep(StepEnum.IW42_InoutToP1))
{
//可上合并
//MoveInfo.NextMoveStep(StepEnum.IW43_UpdownToP1);
}
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))
{
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
TickLog("放料完成", false);
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
MoveInfo.EndMove();
}
//放料重试复位
else if (MoveInfo.IsStep(StepEnum.IW50_InOutToP2))
{
MoveInfo.NextMoveStep(StepEnum.IW51_Clamping_Relax);
WorkLog("取料： 重试复位 进出轴上下轴到P2");
InOutAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Inout_P2(Config), Config.InoutAxis_P2Speed);
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_P5(Config), Config.UpdownAxis_P2Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.IsStep(StepEnum.IW51_Clamping_Relax))
{
MoveInfo.NextMoveStep(StepEnum.IW52_InOutToP1);
WorkLog("取料： 重试复位 气缸放松,UpdownAxisPos=" + UpdownAxis.GetAclPosition());
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.IsStep(StepEnum.IW52_InOutToP1))
{
WorkLog("取料： 重试复位 升降轴到待机点P1,进出轴返回P1");
MoveInfo.NextMoveStep(StepEnum.IW53_ResetFinish);
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (MoveInfo.MoveParam.InPosType.Equals(1))
{
LeftBatchMove.MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
}
else
{
RightBatchMove.MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
}
}
else if (MoveInfo.IsStep(StepEnum.IW53_ResetFinish))
{
WorkLog("放料重试复位完成");
MoveInfo.EndMove();
}
}
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
#region 光栅处理
private void GratingSignalProcess()
{
if (runStatus <= RobotRunStatus.Wait)
{
return;
}
if (!RobotManager.GratingSignal)
{
return;
}
if (LeftBatchMove.ProcessShelfOut || LeftBatchMove.ProcessShelfEnter || RightBatchMove.ProcessShelfOut || RightBatchMove.ProcessShelfEnter)
{
return;
}
if (IOValue(IO_Type.LineIn_GratingSignal).Equals(IO_VALUE.LOW))
{
//LogUtil.error(Name+ "未检测到上料线体光栅信号，报警急停");
//SetWarnMsg("未检测到上料线体光栅信号，报警急停");
//Alarm(AlarmType.SuddenStop);
if (!this.MoveStop)
{
LogUtil.error(Name + "未检测到上料线体光栅信号，暂停运行");
SetWarnMsg("未检测到上料线体光栅信号，暂停运行");
this.MoveStop = true;
}
}
}
#endregion
}
}