DUOStoreBean_Partial.cs
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using DeviceLib;
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 DUOStoreBean
{
public bool InstoreEndSendShelf = false;
public bool OutstoreEndSendShelf = false;
public int CurrShelfNum = 0;
/// <summary>
/// 料架类型，0=空料架，1=入库料架，2=出库料架
/// </summary>
public int CurrShelfType = 0;
/// <summary>
/// 更新料架信息
/// </summary>
/// <param name="num">料架编号</param>
/// <param name="type">料架类型，0=空料架，1=入库料架，2=出库料架</param>
private void UpdateShelfNum(int num,int type)
{
CurrShelfNum = num;
CurrShelfType = type;
ConfigAppSettings.SaveValue(Setting_Init.CurrShelfType, type);
ConfigAppSettings.SaveValue(Setting_Init.CurrShelfNum, num);
if (type.Equals(0) || type.Equals(1))
{
outStoreCount = 0;
}
LogUtil.info(Name + "更新料架信息：【" + CurrShelfNum + "】【" + CurrShelfType + "】");
}
protected override bool CheckWaitResult(StoreMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W008_BatchAxis))
{
//等待信号亮或者走到绝对位置才停止
if (IOValue(T1_BatchAxis.TargetIoType).Equals(T1_BatchAxis.TargetIoValue))
{
LogUtil.debug(Name + "CheckWaitResult 检测到" + T1_BatchAxis.TargetIoType + "=" + T1_BatchAxis.TargetIoValue + ",停止运行");
T1_BatchAxis.StopAxisCheckMove();
if (ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
{
T1_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
T1_BatchAxis.StopAxisCheckMove();
return true;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W009_ScanCode))
{
if (LastCodeList.Count > 0)
{
return true;
}
}
return false;
}
#region 料架出料
public int outStoreCount = 0;
public bool CanOut(bool IsStart = false)
{
if (isInSuddenDown || isNoAirCheck)
{
return false;
}
if (runStatus <= StoreRunStatus.Wait)
{
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{
return true;
}
else if (MoveInfo.MoveType.Equals(MoveType.None))
{
if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{
if (CurrShelfNum >= 0 && (CurrShelfType.Equals(0) || CurrShelfType.Equals(2)))
{
if (IsStart)
{
return StartOutStoreMove(new InOutParam(MoveType.OutStore));
}
else
{
return true;
}
}
}
}
return false;
}
public override bool StartOutStoreMove(InOutParam param)
{
//判断是哪个工位有料架
if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{
if (CurrShelfNum >= 0 && (CurrShelfType.Equals(0) || CurrShelfType.Equals(2)))
{
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.OutStoreExecute;
MoveInfo.NewMove(MoveType.OutStore, new InOutParam(MoveType.OutStore));
LogUtil.info(Name + " 当前料架["+CurrShelfNum+"]["+CurrShelfType+"],开始出库");
UpdateShelfNum(CurrShelfNum, 2);
L_05_WaitTime(StoreMoveStep.LO_05_WaitTime);
return true;
}
}
return false;
}
public bool StartTrayOut(InOutParam outParam)
{
if (outParam == null || outParam.PosID == null || outParam.PosID.Equals(""))
{
LogUtil.error(Name + " StartTrayOut 出库失败，参数不完整：");
LogUtil.error(outParam.ToStr());
return false;
}
//MoveInfo.NextMoveStep(StoreMoveStep.LO_11_BatchAxisDown);
//InOutStoreLog("取料：批量轴下降指定的高度");
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.LO_09_WaitOut))
{
MoveInfo.NewMove(MoveType.OutStore, outParam);
//可以开始出库啦
MoveInfo.NextMoveStep(StoreMoveStep.LO_11_BatchAxisDown);
int height = outParam.PlateH + 4;
int targetPosition = T1_BatchAxis.GetAclPosition() - height * Config.BatchAxis_ChangeValue;
if (targetPosition < Config.BatchAxis_P1)
{
targetPosition = Config.BatchAxis_P1;
}
InOutStoreLog(" StartTrayOut 出库移栽：" + outParam.ToStr() +" 提升伺服下降" + height + "mm，目标：" + targetPosition);
T1_BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
return true;
}
else
{
LogUtil.error(Name + "StartTrayOut 出库" + outParam.ToStr() + "失败，未准备好料架");
return false;
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 料串检测
else if (MoveInfo.IsStep(StoreMoveStep.LO_05_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_06_TopUp);
InOutStoreLog("料架出库： 顶升气缸上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_06_TopUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_07_HoisterForward);
InOutStoreLog("料架出库：取料提升机构前进");
hoisterCylinder.StartForward(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_07_HoisterForward))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_08_AxisUpToP2);
InOutStoreLog("料架出库：上料轴开始慢速上升到P2点["+Config.BatchAxis_P2+"]，等待检测到料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
BatchAxisToP2(true);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_08_AxisUpToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_09_WaitOut);
InOutStoreLog("料架出库：料架准备完成，等待料盘出库");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_09_WaitOut))
{
if (OutstoreEndSendShelf && outStoreCount > 0)
{
InOutStoreLog("料架出库：OutstoreEndSendShelf=true，已出库盘数["+outStoreCount+"]，开始送出料架");
LO_31_BatchAxisToP1();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_09_WaitOut);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
//InOutStoreLog(" 等待料盘出库");
}
}
#endregion
#region 取放料处理
else if (MoveInfo.IsStep(StoreMoveStep.LO_11_BatchAxisDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_12_ToBoxDoor);
if (LastPosParam.TargetBox.Equals(1))
{
InOutStoreLog("取料， BOX1 升降轴到料门口高点[" + Config.UpdownAxis_P4 + "]，旋转轴到料仓门口 P2 [" + Config.MiddleAxis_P2 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P4, Config.UpdownAxis_P4Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P2, Config.MiddleAxis_P2Speed);
}
else
{
InOutStoreLog("取料， BOX2 升降轴到料门口高点[" + Config.UpdownAxis_P6 + "]，旋转轴到料仓门口 P3 [" + Config.MiddleAxis_P3 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P6, Config.UpdownAxis_P6Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_12_ToBoxDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_13_UpdownDown);
if (LastPosParam.TargetBox.Equals(1))
{
InOutStoreLog("取料：BOX1 升降轴到料门口低点P3[" + Config.UpdownAxis_P3 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3, Config.UpdownAxis_P3Speed);
}
else
{
InOutStoreLog("取料：BOX2 升降轴到料门口低点P5[" + Config.UpdownAxis_P5 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P5, Config.UpdownAxis_P5Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_13_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_14_CylinderTighten);
InOutStoreLog("取料：夹爪气缸夹紧");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Clamp);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_14_CylinderTighten))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_15_UpdownUp);
if (LastPosParam.TargetBox.Equals(1))
{
InOutStoreLog("取料：BOX1 升降轴上升到料门口高点P4 [" + Config.UpdownAxis_P4 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P4, Config.UpdownAxis_P4Speed);
}
else
{
InOutStoreLog("取料：BOX2 升降轴上升到料门口高点P6 [" + Config.UpdownAxis_P6 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P6, Config.UpdownAxis_P6Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_15_UpdownUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_16_MiddleToP1);
InOutStoreLog("取料：旋转轴到料串位置P1 ["+Config.MiddleAxis_P1+"]");
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P1, Config.MiddleAxis_P1Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_16_MiddleToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_17_UpdownToP2);
InOutStoreLog("取料：升降轴到料串高点P2 ["+ Config.UpdownAxis_P2 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_17_UpdownToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_18_UpdownDown);
InOutStoreLog("取料：升降轴到料串放料低点P1 ["+ Config.UpdownAxis_P1 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_18_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_19_CylinderRelax);
InOutStoreLog("料盘移栽： 夹爪气缸放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Clamp, IO_Type.ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_19_CylinderRelax))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_20_UpdownUp);
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
//只有提升轴位置过低时才需要到P3
int currPosition = T1_BatchAxis.GetAclPosition();
if (currPosition <= (Config.BatchAxis_P1 + Config.BatchAxis_ChangeValue * 40))
{
InOutStoreLog("料盘移栽： 升降轴到料串高点[" + Config.UpdownAxis_P2 + "]，提升轴[" + currPosition + "]需要到P2");
BatchAxisToP2();
}
else
{
InOutStoreLog("料盘移栽： 升降轴到料串高点[" + Config.UpdownAxis_P2 + "]，提升轴[" + currPosition + "]不需要到P2");
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_20_UpdownUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_21_NeedSendShelf);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog("料盘移栽：判断是否送出料架");
int currPositon = T1_BatchAxis.GetAclPosition();
int tp = currPositon - Config.BatchAxis_ChangeValue * 40;
if (tp <= Config.BatchAxis_P1)
{
LO_31_BatchAxisToP1(" 提升轴位置：" + currPositon + ",料架已满，需要送出料架");
}
else if (OutstoreEndSendShelf)
{
LO_31_BatchAxisToP1(" 提升轴位置：" + currPositon + ",OutstoreEndSendShelf=true，需要送出料架");
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_09_WaitOut);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
InOutStoreLog(" 等待料盘出库");
}
}
#endregion
#region 送出料架处理
else if (MoveInfo.IsStep(StoreMoveStep.LO_31_BatchAxisToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_32_HoisterBack);
InOutStoreLog("送出料架：升降盘定位气缸后退");
hoisterCylinder.StartBack(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_32_HoisterBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_33_TopCylinderDown);
InOutStoreLog("送出料架：顶升气缸下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_33_TopCylinderDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_34_WorkStopDown);
InOutStoreLog("送出料架：上料阻挡下降1秒，流水线开始转动");
UpdateShelfNum(-1, -1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
LineRun(MoveInfo);
IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 1500);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_34_WorkStopDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_35_WaitShelfGo);
InOutStoreLog("送出料架：等待上料无料架");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WaitCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_35_WaitShelfGo))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_36_LineRun);
InOutStoreLog("送出料架：流水线再转动3秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineRun(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_36_LineRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_37_LineStop);
InOutStoreLog("送出料架：流水线停止转动");
LineStop(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LO_37_LineStop))
{
LineStop(MoveInfo);
MoveEndP();
}
#endregion
}
private void LO_31_BatchAxisToP1(string msg = "")
{
MoveInfo.NextMoveStep(StoreMoveStep.LO_31_BatchAxisToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog("出库 ：" + msg + "开始送出料架，提升伺服到P1点 ["+ Config.BatchAxis_P1 + "] ");
UpdateShelfNum(CurrShelfNum, 0);
T1_BatchAxis.SuddenStop();
T1_BatchAxis.AbsMove(MoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P2Speed);
}
#endregion
#region 料架入料
private bool ShelfNoTray = false;
private int StartMovePosition = 0;
private int EndMovePosition = 0;
private int LastHeight = 0;
private int LastWidth = 0;
private List<string> LastCodeList = new List<string>();
private List<string> YuCodeList = new List<string>();
private Task getPosTask = null;
private string lastcode = "";
private InOutParam LastPosParam = null;
private bool InShelfInProcess = false;
private bool StartInStoreP()
{
if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.LOW) && (!InShelfInProcess))
{
ShelfEnterProcess();
}
if (!MoveInfo.MoveType.Equals(MoveType.None))
{
return false;
}
//判断是否检测到料架
if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{
StartInStoreMove(null);
}
return false;
}
private void ShelfEnterProcess()
{
//入口有料架，需要转动链条
Task.Factory.StartNew(delegate
{
InShelfInProcess = true;
try
{
InShelfInProcess = true;
LineRun(null);
//等待进料检测信号
bool result = WaitIo(IO_Type.Line_InCheck, IO_VALUE.LOW, 10000);
}
catch (Exception ex)
{
}
finally
{
InShelfInProcess = false;
LineStop(null);
}
});
}
private void L_05_WaitTime(StoreMoveStep step)
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(step);
InOutStoreLog("上料区检测到料架： 阻挡1上升，阻挡2上升，转动流水线5秒");
IOMove(IO_Type.Line_Stop1_Wait, IO_VALUE.LOW);
IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.LOW);
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WorkCheck, IO_VALUE.HIGH));
}
private void LI_04_LineStart()
{
UpdateShelfNum(GetShelfNum(), 1);
if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{
L_05_WaitTime(StoreMoveStep.LI_05_WaitTime);
}
else if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_04_LineStart);
InOutStoreLog("入料检测： 上料等待区有料架 ，阻挡1下降2000，阻挡2上升，流水线转动 ,等待料架到达上料区");
IOMove(IO_Type.Line_Stop1_Wait, IO_VALUE.HIGH, false, 2000);//进料阻挡下降
IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.LOW);//缓冲阻挡前进1000
LineRun(MoveInfo);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WorkCheck, IO_VALUE.HIGH));
}
else
{
if (!InShelfInProcess)
{
LineStop(null);
}
MoveEndP();
LogUtil.info(" 未检测到料架，入料结束");
}
}
public override bool StartInStoreMove(InOutParam param)
{
//判断是哪个工位有料架
if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
{
if (CurrShelfNum < 0 || CurrShelfType.Equals(1))
{
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore,new InOutParam(MoveType.InStore));
L_05_WaitTime(StoreMoveStep.LI_05_WaitTime);
return true;
}
else if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH))
{
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, new InOutParam(MoveType.InStore));
//先将当前料架送出
LI_31_BatchAxisToP1();
}
}
else if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH))
{
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, new InOutParam(MoveType.InStore));
if (T1_BatchAxis.IsInPosition(Config.BatchAxis_P1))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_02_HoisterBack);
InOutStoreLog("检测到料架：取料提升机构后退端");
hoisterCylinder.StartBack(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_01_BatchAxisToP1);
InOutStoreLog("检测到料架，提升轴先返回P1");
T1_BatchAxis.AbsMove(MoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P1Speed);
}
return true;
}
return false ;
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 料串检测
if (MoveInfo.IsStep(StoreMoveStep.LI_01_BatchAxisToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_02_HoisterBack);
InOutStoreLog("检测到料架：取料提升机构后退端");
hoisterCylinder.StartBack(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_02_HoisterBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_03_LocationDown);
InOutStoreLog("入料检测：定位气缸下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_03_LocationDown))
{
LI_04_LineStart();
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_04_LineStart))
{
LI_04_LineStart();
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_05_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_06_TopUp);
InOutStoreLog("入料检测：链条停止转动， 顶升气缸上升");
LineStop(MoveInfo);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_06_TopUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_07_HoisterForward);
InOutStoreLog("入料检测：取料提升机构前进");
hoisterCylinder.StartForward(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_07_HoisterForward))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_08_AxisUpToP2);
InOutStoreLog("入料检测：上料轴开始慢速上升到P2 [" + Config.BatchAxis_P2 + "]，等待检测到料盘");
BatchAxisToP2(true);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_08_AxisUpToP2))
{
CheckHasTray();
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_09_ScanCode))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_11_AxisToTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog("入料检测：有料盘：升降轴到料串高点P2["+ Config.UpdownAxis_P2 + "]，旋转轴到料串位置P4["+ Config.MiddleAxis_P4 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P4, Config.MiddleAxis_P4Speed);
}
#endregion
#region 取放料处理
else if (MoveInfo.IsStep(StoreMoveStep.LI_11_AxisToTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_12_UpdownAxisToP3);
InOutStoreLog("取料：升降轴到料串低点P1["+ Config.UpdownAxis_P1 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_12_UpdownAxisToP3))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_13_CylinderTighten);
InOutStoreLog("取料：夹爪气缸夹紧");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Clamp);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_13_CylinderTighten))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_14_UpdownToP1);
InOutStoreLog("取料：升降轴到料串高点P2["+ Config.UpdownAxis_P2 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_14_UpdownToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_15_WaitNoCheck);
InOutStoreLog("取料：等待没有提升机构料盘检测");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BatchAxis_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_15_WaitNoCheck))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_16_BatchAxisToP2);
InOutStoreLog("取料：批量轴到P2 ["+Config.BatchAxis_P2+"],计算高度,");
BatchAxisToP2(false);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_16_BatchAxisToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_17_SaveSize);
InOutStoreLog("取料：记录高度尺寸");
LastWidth = GetWidth();
LastHeight = GetHeight();
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_17_SaveSize))
{
LI_18_GetPosID();
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_18_GetPosID))
{
if (getPosTask.IsCompleted && LastPosParam != null)
{
if (LastPosParam.InStoreNg)
{
int box = GetInstoreNgBox();
LastPosParam.TargetBox = box;
}
else
{
int storeId = LastPosParam.GetStoreId();
if (storeId.Equals(1))
{
LastPosParam.TargetBox = 1;
}
else
{
LastPosParam.TargetBox = 2;
}
}
MoveInfo.NextMoveStep(StoreMoveStep.LI_21_WaitToBox);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog("料盘移栽：" + LastPosParam.ToStr() + " 等待料仓门口无信号");
ClearTimeoutAlarm("获取库位号超时");
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 获取库位号超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_21_WaitToBox))
{
int storeId = LastPosParam.GetStoreId();
BoxBean box = BoxMap[storeId];
if (IOManager.IOValue(IO_Type.InDoor_Check, storeId).Equals(IO_VALUE.LOW) && box.waitInStoreParam == null)
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_22_ToBoxDoor);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
//判断是左侧还是右侧
if (LastPosParam.TargetBox.Equals(1))
{
InOutStoreLog("料盘移栽：获取库位号完成， BOX " + storeId + " 升降轴到料门口高点P4[" + Config.UpdownAxis_P4 + "]，旋转轴到料仓门口 P2[" + Config.MiddleAxis_P2 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P4, Config.UpdownAxis_P4Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P2, Config.MiddleAxis_P2Speed);
}
else
{
InOutStoreLog("料盘移栽：获取库位号完成， BOX " + storeId + " 升降轴到料门口高点P6[" + Config.UpdownAxis_P6 + "]，旋转轴到料仓门口 P3[" + Config.MiddleAxis_P3 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P6, Config.UpdownAxis_P6Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
}
ClearTimeoutAlarm("入料口无料盘");
}
else if (MoveInfo.IsTimeOut(120))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待BOX_" + storeId + " 入料口无料盘 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_22_ToBoxDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_23_UpdownDown);
YuScanCode();
if (LastPosParam.TargetBox.Equals(1))
{
InOutStoreLog("料盘移栽： 升降轴到料门口低点P3[" + Config.UpdownAxis_P3 + "]，开始预扫码");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3, Config.UpdownAxis_P3Speed);
}
else
{
InOutStoreLog("料盘移栽： 升降轴到料门口低点P5[" + Config.UpdownAxis_P5 + "]，开始预扫码");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P5, Config.UpdownAxis_P5Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_23_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_24_CylinderRelax);
InOutStoreLog("料盘移栽： 上料气缸放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Clamp, IO_Type.ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_24_CylinderRelax))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_25_UpdownUp);
if (LastPosParam.TargetBox.Equals(1))
{
InOutStoreLog("料盘移栽： 升降轴到料门口高点P4[" + Config.UpdownAxis_P4 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P4, Config.UpdownAxis_P4Speed);
}
else
{
InOutStoreLog("料盘移栽： 升降轴到料门口高点P6[" + Config.UpdownAxis_P6 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P6, Config.UpdownAxis_P6Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_25_UpdownUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_26_AxisToWait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog("料盘移栽：旋转轴返回待机点P1["+ Config.MiddleAxis_P1 + "],升降轴到料串高点P2["+ Config.UpdownAxis_P2 + "]");
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P1, Config.MiddleAxis_P1Speed);
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_26_AxisToWait))
{
CheckHasTray();
}
#endregion
#region 送出料架处理
else if (MoveInfo.IsStep(StoreMoveStep.LI_31_BatchAxisToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_32_HoisterBack);
InOutStoreLog("送出料架：升降盘定位气缸后退");
hoisterCylinder.StartBack(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_32_HoisterBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_33_TopCylinderDown);
InOutStoreLog("送出料架：顶升气缸下降");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_33_TopCylinderDown))
{
//判断是否需要送出料架，如果入口和等待区无料架，暂不送出
if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || InstoreEndSendShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_34_WorkStopDown);
InOutStoreLog("送出料架[" + InstoreEndSendShelf + "]：上料阻挡下降1秒，流水线开始转动");
UpdateShelfNum(-1, -1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LineRun(MoveInfo);
IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 2000);
}
else
{
InOutStoreLog("送出料架：入口和等待区暂无料架，不需要送出料架");
MoveEndP();
}
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_34_WorkStopDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_35_WaitShelfGo);
InOutStoreLog("送出料架：等待上料无料架");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WaitCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_35_WaitShelfGo))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_36_LineRun);
InOutStoreLog("送出料架：流水线再转动3秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineRun(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_36_LineRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_37_LineStop);
InOutStoreLog("送出料架：流水线停止转动");
LineStop(MoveInfo);
}
else if (MoveInfo.IsStep(StoreMoveStep.LI_37_LineStop))
{
LineStop(MoveInfo);
MoveEndP();
}
#endregion
}
private int GetInstoreNgBox()
{
//空闲且门口无料盘
foreach(BoxBean box in BoxMap.Values)
{
if (box.MoveInfo.MoveType.Equals(MoveType.None) && IOManager.IOValue(IO_Type.InDoor_Check, box.ID).Equals(IO_VALUE.LOW))
{
return box.ID;
}
}
//忙碌且目标是出料口
foreach (BoxBean box in BoxMap.Values)
{
if (box.MoveInfo.MoveType.Equals(MoveType.None))
{
if (IOManager.IOValue(IO_Type.InDoor_Check, box.ID).Equals(IO_VALUE.LOW))
{
return box.ID;
}
}
else if (box.MoveInfo.MoveParam.TargetPosition.Equals(1))
{
return box.ID;
}
}
return 1;
}
private void LI_18_GetPosID()
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_18_GetPosID);
InOutStoreLog("料盘移栽：从服务器获取入库库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
LastPosParam = null;
string code = CodeManager.ProcessCode(LastCodeList);
lastcode = code;
getPosTask = Task.Factory.StartNew(delegate
{
//更新托盘条码信息
try
{
int count = 1;
while (MoveInfo.MoveType.Equals(MoveType.InStore))
{
//从服务器获取库位号
GetPosResult result = StoreManager.GetPosId(Name, LastCodeList, LastHeight, LastWidth, CurrShelfNum);
if (result.IsTimeOut)
{
LogUtil.error(Name + "【" + code + "】第[" + count + "]次 LI_18_GetPosID 超时，等待1s后重新获取");
Thread.Sleep(1000);
}
else if (result.Result.Equals(99) || result.Result.Equals(100))
{
LogUtil.error(Name + "【" + code + "】第[" + count + "]次 LI_18_GetPosID 结果【" + result.Result + "】，等待3s后重新获取");
Thread.Sleep(3000);
}
else if (!result.Msg.Equals(""))
{
LastPosParam = result.Param;
LogUtil.error(Name + "【" + code + "】第[" + count + "]次 LI_18_GetPosID 入库NG：" + result.Msg);
break;
}
else
{
LastPosParam = result.Param;
break;
}
count++;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "【" + code + "】获取库位号报错：" + ex.ToString());
}
});
MoveInfo.MoveParam = LastPosParam;
}
private void LI_11_AxisToTray()
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_11_AxisToTray);
InOutStoreLog("入料检测：有料盘：升降轴到料串高点P2 ["+ Config.UpdownAxis_P2 + "]，旋转轴到料串位置P4 ["+ Config.MiddleAxis_P4 + "]");
T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P4, Config.MiddleAxis_P4Speed);
}
private void LI_09_ScanCode()
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_09_ScanCode);
LastCodeList = new List<string>();
if (YuCodeList.Count > 0)
{
InOutStoreLog("入料检测：开始扫码：使用预扫码");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
LastCodeList = new List<string>(YuCodeList);
YuCodeList = new List<string>();
LI_11_AxisToTray();
}
else
{
InOutStoreLog("料盘移栽 ：开始扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitScanCode());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
try
{
Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastCodeList.Count <= 0)
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name, 3000);
}
return LastCodeList;
});
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
}
private void YuScanCode()
{
//TODO 此处需要等待空托盘
if (ShelfNoTray.Equals(false))
{
InOutStoreLog("料盘移栽 ： ，预扫码");
//还有料盘，直接扫码
YuCodeList = new List<string>();
List<string> bijiaoList = new List<string>(LastCodeList);
try
{
Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{
Thread.Sleep(500);
YuCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name.Trim() + "预扫码");
bool isCanUse = true;
//判断是否可用
foreach (string nC in YuCodeList)
{
foreach (string n in bijiaoList)
{
if (nC.Length > 15 && nC.Equals(n))
{
LogUtil.error(Name + "预扫码结果【" + nC + "】与上个条码【" + n + "】重复，预扫码不可用");
isCanUse = false;
break;
}
}
}
if (!isCanUse)
{
YuCodeList = new List<string>();
}
//if (!CodeManager.HasRightCode(YuCodeList.ToArray()))
//{
// YuCodeList = new List<string>();
//}
return YuCodeList;
});
}
catch (Exception ex)
{
LogUtil.error(" 为下一盘料扫码出错：", ex);
}
}
}
private void CheckHasTray()
{
if (IOValue(IO_Type.BatchAxis_Check).Equals(IO_VALUE.HIGH) && ShelfNoTray.Equals(false))
{
LI_09_ScanCode();
}
else
{
if (ShelfNoTray.Equals(false))
{
//判断当前位置是否在指定的位置
int currP = T1_BatchAxis.GetAclPosition();
int chaz = Math.Abs(currP - Config.BatchAxis_P2);
if (chaz > T1_BatchAxis.Config.CanErrorCountMax)
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_08_AxisUpToP2);
InOutStoreLog(" CheckHasTray：上料轴开始慢速上升到P2["+Config.BatchAxis_P2+"]，等待检测到料盘");
ShelfNoTray = false;
BatchAxisToP2(false);
return;
}
}
//无料盘
ShelfNoTray = true;
LI_31_BatchAxisToP1();
}
}
private void LI_31_BatchAxisToP1()
{
MoveInfo.NextMoveStep(StoreMoveStep.LI_31_BatchAxisToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog("料盘移栽 ：未检测到料盘，提升伺服到P1点 ["+ Config.BatchAxis_P1 + "] ");
UpdateShelfNum(CurrShelfNum, 0);
T1_BatchAxis.SuddenStop();
T1_BatchAxis.AbsMove(MoveInfo, Config.BatchAxis_P1, Config.BatchAxis_P2Speed);
}
private void BatchAxisToP2(bool isFirstMove = true)
{
int targetP2 = Config.BatchAxis_P2;
int targetSpeed = Config.BatchAxis_P2Speed;
if (!isFirstMove)
{
int currPosition = T1_BatchAxis.GetAclPosition();
if (currPosition != -1)
{
targetP2 = currPosition + Config.BatchAxis_ChangeValue * 80;
if (targetP2 > Config.BatchAxis_P2)
{
targetP2 = Config.BatchAxis_P2;
}
LogUtil.info(Name + " BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
}
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 = T1_BatchAxis.GetAclPosition();
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.T1_Batch_Axis, targetP2, targetSpeed));
Config.T1_Batch_Axis.TargetPosition = targetP2;
T1_BatchAxis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
T1_BatchAxis.BatchAxisStartCheck(IO_Type.BatchAxis_Check, IO_VALUE.HIGH);
}
private int GetHeight()
{
LastHeight = 0;
int AxisChangeValue = Config.BatchAxis_ChangeValue;
//计算高度
EndMovePosition = T1_BatchAxis.GetAclPosition();
bool isLast = false;
int chaz = Math.Abs(EndMovePosition - Config.BatchAxis_P2);
if (chaz < T1_BatchAxis.Config.CanErrorCountMax)
{
isLast = true;
}
float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
string buchongStr = "";
if (isLast)
{
buchongStr = "(最后一盘料已补充5)";
height += 5;
}
//如果检测出<=15,都按照8计算
if (height <= 15)
{
LastHeight = 8;
}
else
{
List<int> heightList = new List<int> { 8, 12, 16, 20 };
heightList = (from m in heightList orderby m descending select m).ToList<int>();
float minCha = height;
foreach (int h in heightList)
{
//取差值最小的接近值
float cha = Math.Abs(h - (height - 4));
if (cha < minCha)
{
LastHeight = h;
minCha = cha;
}
}
}
if (LastHeight <= 8) { LastHeight = 8; }
string code = CodeManager.ProcessCode(LastCodeList);
string msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + code + "】";
LogUtil.info(msg);
return LastHeight;
}
public int GetWidth()
{
return 7;
}
#endregion
#region MyRegion
internal bool BoxDoorFree(int id)
{
if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{
if (MoveInfo.MoveStep >= StoreMoveStep.LO_13_UpdownDown && MoveInfo.MoveStep <= StoreMoveStep.LO_16_MiddleToP1)
{
if (MoveInfo.MoveParam.TargetBox.Equals(id))
{
return false;
}
}
}else if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
if (MoveInfo.MoveStep >= StoreMoveStep.LI_23_UpdownDown && MoveInfo.MoveStep <= StoreMoveStep.LI_26_AxisToWait)
{
if (MoveInfo.MoveParam.TargetBox.Equals(id))
{
return false;
}
}
}
return true ;
}
#endregion
}
}