OutputEquip_Partial.cs
35.7 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
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
using CodeLibrary;
using DeviceLib;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
namespace OnlineStore.DeviceLibrary
{
partial class OutputEquip
{
protected override bool CheckWaitResult(RobotMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
//等待信号亮或者走到绝对位置才停止
if (IOValue(BatchAxis.TargetIoType).Equals(BatchAxis.TargetIoValue))
{
LogUtil.debug(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();
}
return true;
}
else
{
bool isOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isOk)
{
//TODO 判断是否达到高度，如果未达到，继续上升
BatchAxis.AxisStopCheckMove();
return true;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
}
return false;
}
#region 取料
internal bool IsInGetWare()
{
if (MoveInfo.MoveStep >= StepEnum.OT06_MoveXToP2 && MoveInfo.MoveStep <= StepEnum.OT09_MoveZToP1)
{
return true;
}
return false;
}
private bool IsStartLabel = false;//当前取的料盘是否开始打印标签
public override bool StartWorking(WorkParam param)
{
if (MoveInfo.MoveType.Equals(RobotMoveType.None).Equals(false))
{
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , MoveInfo 忙碌中=" + MoveInfo.MoveType,201);
return false;
}
if(ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro)&&ShelfMoveInfo.MoveStep>= StepEnum.OS_31_ShendShelfOut)
{
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , ShelfMoveInfo 正在送出料架 " + ShelfMoveInfo.MoveType+"_"+ ShelfMoveInfo.MoveStep,202);
return false;
}
if(SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling)&&SecMoveInfo.MoveStep<= StepEnum.OL03_PrintLabel)
{
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , SecMoveInfo 上个贴标还打印中 " + SecMoveInfo.MoveType + "_" + SecMoveInfo.MoveStep,203);
return false;
}
if (IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
{
IsStartLabel = false;
MoveInfo.NewMove(RobotMoveType.Working, StepEnum.OT01_WaitCheck);
if (param.PlateW > 0 && param.PlateH > 0)
{
MoveInfo.MoveParam = param;
WorkLog(" 检测到XRay出口料盘[" + param.OutStr() + "]，准备开始取料，重置 IsStartLabel = false");
}
else
{
ReelInfo reelInfo = RobotManager.robot.XrayBean.Out_ReelInfo;
if ((reelInfo.PlateH < 0 || reelInfo.PlateW < 0) && IsDebug)
{
reelInfo = new ReelInfo("TEST", 7, 8, 99999);
}
MoveInfo.MoveParam.SetReelInfo(reelInfo);
WorkLog(" 检测到XRay出口料盘[" + reelInfo.ToStr() + "]，准备开始取料，重置 IsStartLabel = false");
}
if (MoveInfo.MoveParam.PlateW <= 0 ||
MoveInfo.MoveParam.PlateH <= 0 ||
String.IsNullOrEmpty(MoveInfo.MoveParam.WareCode))
{
MoveInfo.MoveParam.IsNgReel = true;
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_OLine_Run, IO_VALUE.LOW));
}
return false;
}
private bool CheckStartLabel(bool needAlarm=false)
{
if (MoveInfo.MoveParam == null)
{
return false;
}
if (MoveInfo.MoveParam.IsNgReel)
{
return false;
}
if (IsStartLabel)
{
return true;
}
if (!RobotManager.UseLabel)
{
WorkLog("取料： 贴标功能未启用，不需要启动贴标，设置IsStartLabel=true");
IsStartLabel = true;
return true;
}
//TODO 记录信息，判断贴标模块当前空闲，此时可以打印标签（取码气缸前进，打印标签，取码气缸后退）
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
ClearTimeoutAlarm("等待贴标模块空闲");
WorkLog("取料： 贴标模块开始打印标签");
//TODO
bool result = StartLabelling(MoveInfo.MoveParam);
if (result)
{
IsStartLabel = true;
return true;
}
}
else if (needAlarm && MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]["+ SecMoveInfo.MoveType.ToString() + "]等待贴标模块空闲 超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
return false;
}
private void OT02_MoveZToP1()
{
if (MoveZAxis.IsInPosition(Config.MoveZ_P1))
{
OT03_MoveXToP2();
}
else
{
MoveInfo.NextMoveStep(StepEnum.OT02_MoveZToP1);
WorkLog("取料：取料Z轴到P1 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed);
}
}
private void OT03_MoveXToP2()
{
int position = Config.GetMoveXP2(MoveInfo.MoveParam.PlateW);
if (MoveXAxis.IsInPosition(position))
{
OT05_GetImage();
}
else
{
MoveInfo.NextMoveStep(StepEnum.OT03_MoveXToP2);
WorkLog("取料：取料X轴到P2 ", 0);
MoveXAxis.AbsMove(MoveInfo, position, Config.MoveX_P2Speed);
}
}
private void OT05_GetImage()
{
if (MoveInfo.MoveParam.IsNgReel)
{
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
WorkLog("取料：取料Z轴到P2 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
}
else
{
//暂时不需要拍照
MoveInfo.NextMoveStep(StepEnum.OT05_GetImage);
WorkLog("取料：[" + Config.CameraName + "]拍照并开始识别 ，等待100ms");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
Task.Run(delegate
{
if (string.IsNullOrEmpty(MoveInfo.MoveParam.WareCode))
return;
var cc = new List<CodeInfo>();
//var filename = "need";
CodeManager.CameraScan(Name, out cc,true, Config.CameraName);
if (cc.Count > 0)
{
try
{
MoveInfo.MoveParam.codePointer.X = cc[0].X;
MoveInfo.MoveParam.codePointer.Y = cc[0].Y;
WorkLog("取料：识别到二维码位置：X:" + MoveInfo.MoveParam.codePointer.X + ",Y:" + MoveInfo.MoveParam.codePointer.Y, 1);
//x2230,y2115
//var textxy = string.Join("|",(from a in cc select "X:" + a.X.ToString() + ",Y:" + a.Y.ToString()).ToArray());
//System.IO.File.WriteAllText(filename + ".txt", textxy+ MoveInfo.MoveParam.WareCode);
//filename = filename + ".hobj";
/*
HalconDotNet.HImage image = new HalconDotNet.HImage();
image.ReadImage(filename);
Bitmap i;
CodeManager.HObject2Bpp8(image, out i);
Bitmap bmp = new Bitmap(i.Width, i.Height, System.Drawing.Imaging.PixelFormat.Format32bppPArgb);
Graphics g = Graphics.FromImage(bmp);
g.DrawImage(i, 0, 0);
foreach (CodeInfo ci in cc)
{
Point pt1 = new Point(ci.X, ci.Y);
g.DrawArc(new Pen(Color.Red, 15), new Rectangle(pt1, new Size(15, 15)), 0, 360);
}
g.Save();
bmp.Save(filename + ".bmp");
g.Dispose();
i.Dispose();
bmp.Dispose();
System.IO.File.Delete(filename);
*/
}
catch (Exception ex)
{
WorkLog("取料：识别绘图出错：" + ex.ToString(), 1);
}
}
else {
WorkLog("取料：2次没有识别到二维码", 1);
}
});
//MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
//WorkLog("取料：取料Z轴到P2 ", 0);
//MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
//CheckStartLabel();
}
}
protected override void WorkingProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StepEnum.OT01_WaitCheck))
{
OT02_MoveZToP1();
}
else if (MoveInfo.IsStep(StepEnum.OT02_MoveZToP1))
{
OT03_MoveXToP2();
}
else if (MoveInfo.IsStep(StepEnum.OT03_MoveXToP2))
{
OT05_GetImage();
}
else if (MoveInfo.IsStep(StepEnum.OT05_GetImage))
{
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
WorkLog("取料：取料Z轴到P2 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT06_MoveXToP2))
{
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
WorkLog("取料：取料Z轴到P2 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT07_MoveZToP2))
{
MoveInfo.NextMoveStep(StepEnum.OT08_Clamping_Work);
WorkLog("取料：取料气缸夹紧 ", 0);
CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Relax, IO_Type.TakeT_Clamping_Work);
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT08_Clamping_Work))
{
MoveInfo.NextMoveStep(StepEnum.OT09_MoveZToP1);
WorkLog("取料：取料Z轴返回P1 ，验证Out_TrayCheck消失", 0);
MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
if (MoveInfo.MoveParam.IsNgReel)
{
MoveInfo.NextMoveStep(StepEnum.OT21_NG_MoveXToP1);
WorkLog("NG料：取料X轴到P1 ", 0);
MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P1, Config.MoveX_P1Speed);
}
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT09_MoveZToP1))
{
if (MoveInfo.MoveParam.IsNgReel)
{
MoveInfo.NextMoveStep(StepEnum.OT21_NG_MoveXToP1);
WorkLog("NG料：取料X轴到P1 ", 0);
MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P1, Config.MoveX_P1Speed);
}
else
{
MoveInfo.NextMoveStep(StepEnum.OT11_WaitShelfOk);
WorkLog("取料完成，等待料串可放料 ");
CheckStartLabel();
}
}
else if (MoveInfo.IsStep(StepEnum.OT11_WaitShelfOk))
{
bool shelfOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_20_ShelfReady);
bool debugOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && MoveInfo.MoveParam.IsTest;
if (shelfOk || debugOk)
{
MoveInfo.NextMoveStep(StepEnum.OT12_MoveXToP3);
WorkLog("放料：料串可放料，取料X轴移动到P3 ["+ Config.MoveX_P3 + "]");
MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P3, Config.MoveX_P3Speed);
ClearTimeoutAlarm("等待出料料串准备完成");
if (shelfOk)
{
int trayHeight = MoveInfo.MoveParam.PlateH;
ShelfMoveInfo.NextMoveStep(StepEnum.OS_21_BatchDownH);
int currP = BatchAxis.GetAclPosition();
int targetP = currP - (trayHeight + 20) * Config.Height_ChangeValue;
if (targetP < Config.BatchAxisP2)
{
targetP = Config.BatchAxisP2;
}
ShelfWorkLog("放料： 提升轴下降指定高度 : 盘高【" + trayHeight + "】实时位置【" + currP + "】目标位置【" + targetP + "】");
BatchAxis.AbsMove(ShelfMoveInfo, targetP, Config.BatchAxis_P2Speed);
}
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待出料料串准备完成（OS_18_ShelfReady）超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT12_MoveXToP3))
{
MoveInfo.NextMoveStep(StepEnum.OT13_MoveZToP3);
int p = Config.GetMoveZP3(MoveInfo.MoveParam.PlateH);
WorkLog("放料：取料Z轴下降到P3 ["+p+"] ",1);
MoveZAxis.AbsMove(MoveInfo, p, Config.MoveZ_P3Speed);
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT13_MoveZToP3))
{
bool shelfOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_22_WaitTray);
bool debugOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && MoveInfo.MoveParam.IsTest;
if (shelfOk || debugOk)
{
ClearTimeoutAlarm("等待出料料串可放料");
MoveInfo.NextMoveStep(StepEnum.OT14_Clamping_Relax);
WorkLog("放料：取料气缸放松 ", 0);
CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Work, IO_Type.TakeT_Clamping_Relax);
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待出料料串可放料（OS_22_WaitTray）超时[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, MoveInfo.ErrorLogType, MoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT14_Clamping_Relax))
{
bool shelfOk = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_22_WaitTray);
//MoveInfo.NextMoveStep(StepEnum.OT15_MoveZToP1);
MoveInfo.NextMoveStep(StepEnum.OT16_MoveXToP2);
WorkLog("放料：取料Z轴回到P1 ", 0);
MoveZAxis.AbsMove(MoveInfo, Config.MoveZ_P1, Config.MoveZ_P1Speed);
WorkLog("放料：取料X轴回到P2 ", 0);
MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed);
if (shelfOk)
{
OutReelHeight += MoveInfo.MoveParam.PlateH;
OutReelCount += 1;
ShelfMoveInfo.NextMoveStep(StepEnum.OS_23_TrayOK);
ShelfWorkLog("料盘已放入料串，累积出料 【" + OutReelHeight + "】盘共 " + OutReelHeight + " mm");
}
CheckStartLabel();
}
else if (MoveInfo.IsStep(StepEnum.OT15_MoveZToP1))
{
MoveInfo.NextMoveStep(StepEnum.OT16_MoveXToP2);
}
else if (MoveInfo.IsStep(StepEnum.OT16_MoveXToP2))
{
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
if (IsStartLabel)
{
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
TickLog("出口料串,放料完成");
MoveInfo.EndMove();
}
else
{
bool startOk = CheckStartLabel(true);
if (startOk)
{
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
TickLog("出口料串,放料完成");
MoveInfo.EndMove();
}
}
}
#region NG料
else if (MoveInfo.IsStep(StepEnum.OT21_NG_MoveXToP1))
{
int busyStatus = ACServerManager.GetBusyStatus(MoveZAxis.Config.DeviceName, MoveZAxis.Config.GetAxisValue());
if (busyStatus>0 || !MoveZAxis.IsInPosition(Config.MoveZ_P1) )
{
WorkLog("取料Z轴不在P1位置，不允许NG气缸前进 "+ busyStatus.ToString());
return;
}
MoveInfo.NextMoveStep(StepEnum.OT22_NG_NGForward);
WorkLog("NG料，NG气缸前进 ");
CylinderMove(MoveInfo, IO_Type.NGCylinder_Back, IO_Type.NGCylinder_Forward);
}
else if (MoveInfo.IsStep(StepEnum.OT22_NG_NGForward))
{
MoveInfo.NextMoveStep(StepEnum.OT23_NG_Clamping_Relax);
WorkLog("NG料，取料气缸放松 ");
CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Work, IO_Type.TakeT_Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.OT23_NG_Clamping_Relax))
{
MoveInfo.NextMoveStep(StepEnum.OT24_WaitInNG);
WorkLog("NG料，等待料盘到达NG位 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (MoveInfo.IsStep(StepEnum.OT24_WaitInNG))
{
MoveInfo.NextMoveStep(StepEnum.OT25_NG_NGBack);
WorkLog("NG料，NG气缸后退 ");
CylinderMove(MoveInfo, IO_Type.NGCylinder_Forward, IO_Type.NGCylinder_Back);
}
else if (MoveInfo.IsStep(StepEnum.OT25_NG_NGBack))
{
TimeSpan span = DateTime.Now - MoveInfo.MoveStartTime;
TickLog("出口NG,放料完成");
WorkLog("放料完成，耗时（" + FormUtil.GetSpanStr(span) + "）");
MoveInfo.EndMove();
}
#endregion
}
#endregion
#region 贴标
public override bool StartLabelling(WorkParam param)
{
if (!SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
LogUtil.error(Name + "StartLabelling 失败 , SecMoveInfo 忙碌中=" + SecMoveInfo.MoveType);
return false;
}
SecMoveInfo.NewMove(RobotMoveType.Labelling, StepEnum.Wait);
SecMoveInfo.MoveParam = param;
NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
StickingPosJudgment = ConfigAppSettings.GetIntValue(Setting_Init.StickingPosJudgment).Equals(1);
SecMoveInfo.NextMoveStep(StepEnum.OL01_Paste_Back);
SecWorkLog(" 启动贴标: 贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1 ");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
CylinderMove(SecMoveInfo, IO_Type.PasteCode_Forward, IO_Type.PasteCode_Back);
//CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
if (!LabelZAxis.IsInPosition(Config.LabelZ_P1))
{
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
}
return true;
}
private Task printTask = null;
private bool NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
private bool StickingPosJudgment = ConfigAppSettings.GetIntValue(Setting_Init.StickingPosJudgment).Equals(1);
protected override void LabellingProcess()
{
if (SecMoveInfo.IsInWait)
{
CheckWait(SecMoveInfo);
}
if (SecMoveInfo.IsInWait)
{
return;
}
if (SecMoveInfo.IsStep(StepEnum.OL01_Paste_Back))
{
SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel);
RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
StickingPosJudgment = ConfigAppSettings.GetIntValue(Setting_Init.StickingPosJudgment).Equals(1);
SecWorkLog("贴标: 重置PrintLabel状态=Unknown，开始打印标签[" + NeedPrint + "] ，贴标XYR轴到取标签点P2, 等待1s");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (NeedPrint)
{
printTask = Task.Factory.StartNew(delegate
{
StartPrintLabel(SecMoveInfo.MoveParam.WareCode, SecMoveInfo.MoveParam.WareCount.ToString());
});
IOMove(IO_Type.Nozzle_Work, IO_VALUE.HIGH);
}
else
{
printTask = null;
}
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL03_PrintLabel))
{
bool isPrintOk = RobotManager.LastPrintStatus.Equals(Asa.PrintLabel.PrinterStatus.Idle);
bool isTimeOut = SecMoveInfo.IsTimeOut(120);
if (printTask == null || printTask.IsCompleted)
{
if (isPrintOk || isTimeOut || (!NeedPrint))
{
ClearTimeoutAlarm("打印标签完成");
SecMoveInfo.NextMoveStep(StepEnum.OL05_TakeBack);
SecWorkLog("贴标: 打印结束[" + RobotManager.LastPrintStatus + "][" + (isTimeOut ? "超时120秒" : "") + "], ");
//CylinderMove(SecMoveInfo, IO_Type.TakeCode_Forward, IO_Type.TakeCode_Back);
printTask = null;
SecMoveInfo.NextMoveStep(StepEnum.OL06_ZToP2);
SecWorkLog("贴标: Z轴到取标签点P2");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.HIGH);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P2, Config.LabelZ_P2Speed);
}
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 打印标签完成(OL03_PrintLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType, SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL05_TakeBack))
{
printTask = null;
SecMoveInfo.NextMoveStep(StepEnum.OL06_ZToP2);
SecWorkLog("贴标: Z轴到取标签点P2");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.HIGH);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P2, Config.LabelZ_P2Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL06_ZToP2))
{
SecMoveInfo.NextMoveStep(StepEnum.OL07_Nozzle_Work);
SecWorkLog("贴标: 标签吸盘取码，等待吸盘信号到位 1.5s");
//SecMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Nozzle_Work, IO_VALUE.HIGH));
//SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
//SecMoveInfo.OneWaitCanEndStep = true;
}
else if (SecMoveInfo.IsStep(StepEnum.OL07_Nozzle_Work))
{
SecMoveInfo.NextMoveStep(StepEnum.OL08_ZToP1);
SecWorkLog("贴标: Z轴到P1点",0);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL08_ZToP1))
{
if (LabelYAxis.IsInPosition(Config.LabelY_P1))
{
SecMoveInfo.NextMoveStep(StepEnum.OL10_WaitCanLabel);
SecWorkLog("贴标: 等待取料机构返回待机点并且空闲");
}
else
{
SecMoveInfo.NextMoveStep(StepEnum.OL09_YToP1);
SecWorkLog("贴标: Y轴到P1点");
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL09_YToP1))
{
SecMoveInfo.NextMoveStep(StepEnum.OL10_WaitCanLabel);
SecWorkLog("贴标: 等待取料机构返回待机点并且空闲");
}
else if (SecMoveInfo.IsStep(StepEnum.OL10_WaitCanLabel))
{
bool canLabel = MoveInfo.MoveType.Equals(RobotMoveType.None) ||
((MoveInfo.MoveType.Equals(RobotMoveType.Working) && (MoveInfo.MoveStep <= StepEnum.OT11_WaitShelfOk || MoveInfo.MoveStep >= StepEnum.OT16_MoveXToP2)));
bool isTest = ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && MoveInfo.MoveType.Equals(RobotMoveType.None) && SecMoveInfo.MoveParam.IsTest;
if (canLabel && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel))
{
ClearTimeoutAlarm("料盘可贴标");
SecMoveInfo.NextMoveStep(StepEnum.OL13_RToP3);
SecWorkLog("贴标: XY轴移动到P3点", 0);
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P3, Config.LabelX_P3Speed);
//启用贴标位置判断
if (StickingPosJudgment)
{
//rick切换贴标象限
//圆心位置x2230,y2115
var posL = SecMoveInfo.MoveParam.codePointer.Y < 2115;
if (posL)
{
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P4, Config.LabelY_P3Speed);
}
else {
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P3, Config.LabelY_P3Speed);
}
SecWorkLog("贴标: R轴到P3点,leftpos:" + posL.ToString(), 1);
}
else {
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P3, Config.LabelY_P3Speed);
}
/*
* R=Y_P3
* L=Y_P4
X
___|___
------\ / T \
XRAY出料口 -----| L * R |-----Y 圆心位置x2230,y2115
------/ \ B /
~~~|~~~
|
*/
}
else if (SecMoveInfo.IsTimeOut(120))
{
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 料盘可贴标(OS_25_WaitLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType,SecMoveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL11_XYToP3))
{
//SecMoveInfo.NextMoveStep(StepEnum.OL13_RToP3);
//SecWorkLog("贴标: Z轴先走到旋转点P4", 1);
//LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P4, Config.LabelZ_P4Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL12_ZToP4))
{
//SecMoveInfo.NextMoveStep(StepEnum.OL13_RToP3);
//LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P3, Config.LabelR_P3Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL13_RToP3))
{
if (SecMoveInfo.MoveParam.PlateW.Equals(7))
{
SecMoveInfo.NextMoveStep(StepEnum.OL14_PasteForward);
SecWorkLog("贴标: 七寸盘：贴标气缸后退");
CylinderMove(SecMoveInfo, IO_Type.LablePaste_Forward, IO_Type.PasteCode_Back);
}
else
{
SecMoveInfo.NextMoveStep(StepEnum.OL14_PasteForward);
SecWorkLog("贴标: 大盘：贴标气缸前进");
CylinderMove(SecMoveInfo, IO_Type.PasteCode_Back, IO_Type.LablePaste_Forward);
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL14_PasteForward))
{
SecMoveInfo.NextMoveStep(StepEnum.OL17_ZToP1);
SecWorkLog("贴标: Z轴到P3点", 0);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P3, Config.LabelZ_P3Speed);
IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
}
else if (SecMoveInfo.IsStep(StepEnum.OL15_ZToP3))
{
//SecMoveInfo.NextMoveStep(StepEnum.OL17_ZToP1);
//SecWorkLog("贴标: 放标签到料盘，等待 "+LabelWaitMS);
//SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(LabelWaitMS));
}
else if (SecMoveInfo.IsStep(StepEnum.OL16_Nozzle_Stop))
{
//SecMoveInfo.NextMoveStep(StepEnum.OL17_ZToP1);
}
else if (SecMoveInfo.IsStep(StepEnum.OL17_ZToP1))
{
SecWorkLog("贴标: Z轴返回P1", 1);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
SecMoveInfo.NextMoveStep(StepEnum.OL18_LableBack);
SecWorkLog("贴标: 贴标气缸后退，X轴R轴返回待机点P2，Y轴返回待机点P1, ", 0);
CylinderMove(SecMoveInfo, IO_Type.LablePaste_Forward, IO_Type.PasteCode_Back);
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
bool canLabel = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel);
if (canLabel)
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_26_LabelOk);
SecTickLog("贴标完成1");
ShelfWorkLog("贴标完成");
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL18_LableBack))
{
// SecMoveInfo.NextMoveStep(StepEnum.OL19_XYRBackToP2);
// SecWorkLog("贴标: X轴R轴返回待机点P2，Y轴返回待机点P1, ");
// LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
// LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
// LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
// //CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
//}
//else if (SecMoveInfo.IsStep(StepEnum.OL19_XYRBackToP2))
//{
TimeSpan span = DateTime.Now - SecMoveInfo.MoveStartTime;
SecTickLog("贴标完成2");
LogUtil.info(SecMoveInfo.Name + " 贴标结束, 耗时（" + FormUtil.GetSpanStr(span) + "）");
SecMoveInfo.EndMove();
}
}
public void StartPrintLabel(string wareCode, string wareCount)
{
try
{
LogUtil.info("调用 PrintLabel 打印标签 StartPrintLabel ,[" + wareCode + "] [" + wareCount + "] 开始");
Dictionary<string, string> text = new Dictionary<string, string>();
text.Add("aa", wareCode);
text.Add("bb", wareCount );
text.Add("cc", DateTime.Now.ToLongTimeString());
RobotManager.PrintBean.Print(text);
LogUtil.info(" PrintLabel 打印标签 StartPrintLabel 结束 ");
}
catch (Exception ex)
{
LogUtil.error("PrintLabel 打印标签 StartPrintLabel 错误：" + ex.ToString());
}
}
#endregion
}
}