X_RAY_Equip_Partial.cs
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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;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
partial class X_RAY_Equip
{
#region Label
public override bool StartLabelling(WorkParam param)
{
return false;
}
protected override void LabellingProcess()
{
}
private bool CountIsOk()
{
return false;
}
#endregion
#region 工作
public override bool StartWorking(WorkParam param)
{
if (!MoveInfo.MoveType.Equals(RobotMoveType.None))
{
return false ;
}
//出口有料
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
if (Work_ReelInfo.WareCount <= 0)
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("扫描区有料["+Work_ReelInfo.ToStr()+"]，还未进行点料，开始处理");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
WorkLog("扫描区有料[" + Work_ReelInfo.ToStr() + "]，点料已完成，准备放出料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
}else if (IOValue(IO_Type.X_InLine_Check).Equals(IO_VALUE.HIGH))
{
runStatus = RobotRunStatus.Busy;
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW01_WaitInReel);
WorkLog("入口皮带线有料[" + In_ReelInfo.ToStr() + "]，开始处理");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_InLine_Check,IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.LOW));
}
return false;
}
protected override void WorkingProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.XW01_WaitInReel))
{
MoveInfo.NextMoveStep(StepEnum.XW02_InDoorOpen);
WorkLog("料盘处理：左侧门打开,挡停下降");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen))
{
// MoveInfo.NextMoveStep(StepEnum.XW03_StopCylinderDown);
// WorkLog("料盘处理：挡停下降");
// CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
//}
//else if (MoveInfo.IsStep(StepEnum.XW03_StopCylinderDown))
//{
MoveInfo.NextMoveStep(StepEnum.XW04_InLineRun);
WorkLog("料盘处理：入口和中间皮带线转动，");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.IsStep(StepEnum.XW04_InLineRun))
{
MoveInfo.NextMoveStep(StepEnum.XW05_WaitMCheck);
WorkLog("料盘处理：等待扫描区域信号检测");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW05_WaitMCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("料盘处理：更新Work_ReelInfo，清空 In_ReelInfo，再转动2秒钟");
Work_ReelInfo = In_ReelInfo.GetReelInfo();
In_ReelInfo = new ReelInfo();
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW06_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.XW07_InLineStop);
WorkLog("料盘处理：停止入口皮带线，中间皮带线");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XW07_InLineStop))
{
MoveInfo.NextMoveStep(StepEnum.XW08_DoorClose);
WorkLog("料盘处理：左侧门关闭，右侧门关闭，准备开始点料");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Down, IO_VALUE.HIGH));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Up, IO_VALUE.HIGH));
}
#region 点料处理
else if (MoveInfo.IsStep(StepEnum.XW08_DoorClose))
{
MoveInfo.NextMoveStep(StepEnum.XW11_StartCount);
WorkLog("料盘处理：开始点料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsStep(StepEnum.XW11_StartCount))
{
MoveInfo.NextMoveStep(StepEnum.XW12_EndCount);
if (Work_ReelInfo.WareCount <= 0)
{
MoveInfo.MoveParam.WareCount = 99999;
Work_ReelInfo.WareCount = 99999;
}
WorkLog("料盘处理：点料结束，关闭X关机互锁信号");
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
Task.Factory.StartNew(delegate {
SServerManager.Return_Material(Name, MoveInfo.MoveParam.WareCode, Work_ReelInfo.WareCount);
});
}
#endregion
else if (MoveInfo.IsStep(StepEnum.XW12_EndCount))
{
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
MoveInfo.TimeOutSeconds = 120;
WorkLog("料盘处理：等待出口无料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StepEnum.XW21_WaitOutNoReel))
{
MoveInfo.NextMoveStep(StepEnum.XW22_OutDoorOpen);
WorkLog("料盘处理：右侧门打开，挡停放行");
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Down, IO_Type.X_StopCylinder_Up);
}
else if (MoveInfo.IsStep(StepEnum.XW22_OutDoorOpen))
{
MoveInfo.NextMoveStep(StepEnum.XW23_OutLineRun);
WorkLog("料盘处理：中间皮带线，出口皮带线转动");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.IsStep(StepEnum.XW23_OutLineRun))
{
MoveInfo.NextMoveStep(StepEnum.XW24_WaitOutCheck);
WorkLog("料盘处理：等待出口皮带线检测到料盘");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW24_WaitOutCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW25_WaitTime);
WorkLog("料盘处理：清空 Work_ReelInfo，更新 再转动2秒");
Out_ReelInfo = Work_ReelInfo.GetReelInfo();
Work_ReelInfo = new ReelInfo();
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW25_WaitTime))
{
MoveInfo.NextMoveStep(StepEnum.XW26_OutLineStop);
WorkLog("料盘处理：中间皮带线，出口皮带线停止");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.LOW);
}
else if (MoveInfo.IsStep(StepEnum.XW26_OutLineStop))
{
MoveInfo.NextMoveStep(StepEnum.XW27_OutDoorClose);
WorkLog("料盘处理：出口门关闭，挡停下降");
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW27_OutDoorClose))
{
MoveInfo.EndMove();
WorkLog("料盘处理：料盘处理结束");
// MoveInfo.NextMoveStep(StepEnum.XW28_EndPro);
}
else if (MoveInfo.IsStep(StepEnum.XW28_EndPro))
{
MoveInfo.EndMove();
}
}
private bool IsInStoreNeed()
{
return false;
}
#endregion
}
}