HY_C1_SLStation.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;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 此类对应上料工位横移：HY1,HY2,HY20,HY21
/// </summary>
public class HY_C1_SLStation : HYEquipBase
{
public HY_C1_SLStation(string cid, HYEquip_Config config) : base(cid, config)
{
Name = (" C1HY" + (DeviceID % 100).ToString().PadLeft(2, '0') + " ").ToUpper();
MoveInfo.Name = Name;
SecondMoveInfo.Name = Name;
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.RHome);
StartReset();
if (isDebug)
{
mainTimer.Enabled = true;
}
return true;
}
public override bool Reset()
{
StopMove();
if (!RunAxis(true, UpdownAxis))
{
return false;
}
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
SecondMoveInfo.EndMove();
MoveInfo.NextMoveStep(LineMoveStep.HY_R_01StopMove);
LogInfo("开始"+MoveInfo.MoveType+"： 横移线体停止，阻挡气缸上升 ");
if (IsDebug)
{
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
}
LineStop();
CylinderMove(null , IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(null);
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
if (MoveInfo.IsStep(LineMoveStep.HY_R_01StopMove))
{
MoveInfo.NextMoveStep(LineMoveStep.HY_R_02StopMove);
DebugInfo(MoveInfo.MoveType + " ： 顶升气缸下降，定位气缸下降");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(MoveInfo);
isInPro = false;
}
else if (MoveInfo.IsStep(LineMoveStep.HY_R_02StopMove))
{
LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
}
}
}
internal override void StopMove()
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogInfo("停止运动：横移线体停止，阻挡上升，顶升气缸下降，定位气缸下降 ");
if (IsDebug)
{
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
}
LineStop();
CylinderMove( null , IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(null);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
runStatus = LineRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
IOTimeOutProcess();
if ((!MoveStop))
{
//判断流水线打开了才可以运行
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line.CanProcessLine())
{
CheckFixture();
}
}
else
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
}
else
{
CheckStopWatch(trayCheck2LowWait, 30000, false);
}
if (MoveInfo.MoveType.Equals(LineMoveType.RHome) || MoveInfo.MoveType.Equals(LineMoveType.Reset))
{
ResetProcess();
}
else
{
FixtureProcess();
}
}
}
}
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheck2LowWait = new Stopwatch();
private object lockObj = "";
private void CheckFixture()
{
if (Monitor.TryEnter(lockObj, 100))
{
try
{
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
LogUtil.error(Name + " CheckFixture " + " 不在空闲中，直接返回 ");
return;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
if (CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
MoveInfo.NewMove(LineMoveType.Fixture);
runStatus = LineRunStatus.Busy;
if (Config.IsSideWayIn)
{
MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp);
LogInfo("检测托盘，" + MoveInfo.SLog + " ，阻挡上升");
UpdateTrayNum();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.HY56_CheckWait);
LogInfo("检测托盘，" + MoveInfo.SLog + " ，阻挡上升，等待托盘检测");
UpdateTrayNum();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheck2LowWait, TrayWaitTime, false);
if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk)
{
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
//托盘在第一个阻挡处
MoveInfo.NewMove(LineMoveType.Fixture);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY02_FrontStopDown);
LogInfo(" 托盘检测：" + MoveInfo.SLog + "，检测到前阻挡托盘检测，前阻挡下降，清理托盘RFID");
ClearTrayRFID();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
}
else
{
trayCheckWait.Stop();
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " CheckFixture " + " 出错：" + ex.ToString());
}
finally
{
Monitor.Exit(lockObj);
}
}
else
{
LogUtil.error(Name + " CheckFixture " + "失败，未得到锁");
}
}
protected override void FixtureProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 横移入口托盘处理
if (MoveInfo.IsStep(LineMoveStep.HY02_FrontStopDown))
{
if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.LOW) || IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 托盘检测到信号，前阻挡上升");
CheckAndMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_FrontStopCheck=HIGH 或 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY03_FrontStopUp))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.HY04_WaitTime);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY04_WaitTime))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
//更新托盘号
UpdateTrayNum();
//判断托盘是否需要横移，或进出料线
MoveInfo.NextMoveStep(LineMoveStep.HY05_TrayCheck);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
if (TrayNeedSL(currTrayNum))
{
MoveInfo.NextMoveStep(LineMoveStep.HY06_SL_TopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 需要拦截托盘，顶升上升");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
else
{
HY11_TopUpToHY();
}
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY06_SL_TopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY07_SL_LocationUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 需要拦截托盘，定位上升");
LocationCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY07_SL_LocationUp))
{
if (TrayNeedSL(currTrayNum))
{
FeedingEquip feed = LineManager.Line.FeedingEquipMap[Config.WorkDeviceId];
if (feed.Config.IsCanOut.Equals(1))
{
//紧急出料
if (feed.StartTrayOut(MoveInfo.MoveParam))
{
MoveInfo.NextMoveStep(LineMoveStep.HY08_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " " + feed.Name + "始抓料，等待料盘放入或料盘离开 ");
}
else if (MoveInfo.IsTimeOut(30))
{
MoveTimeOut(MoveInfo, "等待" + feed.Name + "开始出库超时");
//如果当前无料串，或者料串已离开，直接放行 托盘
TrayCanLeave();
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "等待" + feed.Name + "开始出库超时");
}
}
else
{
//如果是出库，且盘高大于30，暂不顶升
MoveInfo.NextMoveStep(LineMoveStep.HY08_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待料盘放入或料盘离开 ");
}
}
else
{
HY11_TopUpToHY();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY09_SL_ReelProEnd))
{
HY11_TopUpToHY();
}
else if (MoveInfo.IsStep(LineMoveStep.HY11_TopUpToHY))
{
MoveInfo.NextMoveStep(LineMoveStep.HY12_WaitHY2Free);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待HY" + HyOutDeviceId + "空闲，可以开始横移 ");
}
else if (MoveInfo.IsStep(LineMoveStep.HY12_WaitHY2Free))
{
HYEquipBase hyOut = GetHyOutEquip();
if (hyOut.CanStartMove())
{
MoveInfo.NextMoveStep(LineMoveStep.HY13_WaitHY2Ready);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待" + hyOut.Name + "准备完成(顶升上升，定位下降) ");
hyOut.MoveInfo.NewMove(LineMoveType.Fixture);
hyOut.MoveInfo.NextMoveStep(LineMoveStep.HY51_WaitFree);
ClearTimeoutAlarm("等待" + hyOut.Name + "可以横移超时");
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeOut(MoveInfo, "等待" + hyOut.Name + "可以横移超时");
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY13_WaitHY2Ready))
{
HYEquipBase hyOut = GetHyOutEquip();
bool result = hyOut.MoveInfo.MoveStep >= LineMoveStep.HY54_HY2Ready;
if (result)
{
MoveInfo.NextMoveStep(LineMoveStep.HY14_HYLineRun);
CheckLog("托盘横移" + MoveInfo.SLog + " ，横移电机转动 ");
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
ClearTimeoutAlarm("等待" + hyOut + "顶升上升完成超时");
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeOut(MoveInfo, "等待" + hyOut + "顶升上升完成超时");
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY14_HYLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.HY15_WaitOutCheck);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待托盘到达HY" + HyOutDeviceId + " ");
LineRun();
}
else if (MoveInfo.IsStep(LineMoveStep.HY15_WaitOutCheck))
{
HYEquipBase hyOut = GetHyOutEquip();
bool result = (hyOut.MoveInfo.MoveStep >= LineMoveStep.HY56_CheckWait) || hyOut.MoveInfo.MoveType.Equals(LineMoveType.None);
if (result)
{
MoveInfo.NextMoveStep(LineMoveStep.HY17_TopDown);
CheckLog("托盘横移" + MoveInfo.SLog + " ，横移电机停止，顶升下降，定位下降 ");
LineStop(MoveInfo);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(MoveInfo);
ClearTimeoutAlarm("等待托盘到达" + hyOut.Name + "");
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeOut(MoveInfo, "等待托盘到达" + hyOut.Name + "");
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY17_TopDown))
{
CheckLog("托盘横移" + MoveInfo.SLog + " ，结束横移处理 ");
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
}
#endregion
#region 横移出口托盘处理
else if (MoveInfo.IsStep(LineMoveStep.HY51_WaitFree))
{
MoveInfo.NextMoveStep(LineMoveStep.HY52_TopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升上升，定位下降");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
LocationCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY52_TopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY53_LineRun);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 横移电机开始转动");
LineRun(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY53_LineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.HY54_HY2Ready);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 准备接收横移托盘完成");
}
else if (MoveInfo.IsStep(LineMoveStep.HY54_HY2Ready))
{
MoveInfo.NextMoveStep(LineMoveStep.HY55_WaitTrayCheck);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待检测到托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.HY55_WaitTrayCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.HY56_CheckWait);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.HY56_CheckWait))
{
//托盘已到位，更新托盘号，判断是否需要取放料
UpdateTrayNum();
if (TrayNeedSL(currTrayNum))
{
MoveInfo.NextMoveStep(LineMoveStep.HY57_SL_TopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升上升，横移电机停止 ");
LineStop(MoveInfo);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.HY61_TopDown);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升下降，横移电机停止 ");
LineStop(MoveInfo);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY57_SL_TopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY58_SL_LocationUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 是出入库需要的空托盘，定位上升");
LocationCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY58_SL_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY59_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待料盘放入或料盘离开");
}
else if (MoveInfo.IsStep(LineMoveStep.HY59_SL_WaitProcessReel))
{
}
else if (MoveInfo.IsStep(LineMoveStep.HY60_SL_ReelProEnd))
{
MoveInfo.NextMoveStep(LineMoveStep.HY61_TopDown);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升下降 ");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
else if (MoveInfo.IsStep(LineMoveStep.HY61_TopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.HY62_LocationDown);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 定位下降");
LocationCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY62_LocationDown))
{
MoveInfo.NextMoveStep(LineMoveStep.HY63_WaitTrayGo);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待托盘检测信号消失");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.HY63_WaitTrayGo))
{
MoveInfo.NextMoveStep(LineMoveStep.HY64_CheckWait);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待托盘检测信号消失500");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.HY64_CheckWait))
{
MoveInfo.NextMoveStep(LineMoveStep.HY65_TopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升提前上升");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
else if (MoveInfo.IsStep(LineMoveStep.HY65_TopUp))
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
CheckLog("托盘阻挡" + MoveInfo.SLog + " 处理完成");
}
else
{
LogUtil.error(Name + "FixtureProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
#endregion
}
private void HY11_TopUpToHY( )
{
MoveInfo.NextMoveStep(LineMoveStep.HY11_TopUpToHY);
CheckLog("托盘横移" + MoveInfo.SLog + " 不需要拦截托盘，开始横移，顶升上升，定位下降");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
LocationCylinderDown(MoveInfo);
}
private bool TrayNeedSL(int trayNum)
{
try
{
if (Config.WorkDeviceId > 0)
{
TrayInfo trayInfo = TrayManager.GetTrayInfo(trayNum);
if (trayInfo.IsFull)
{
return false;
}
//判断上料T是否在入库等待托盘
FeedingEquip feedT = LineManager.Line.FeedingEquipMap[Config.WorkDeviceId];
if (feedT.CurrTrayIsNeed(currTrayNum, false))
{
LogInfo(" " + feedT.Name + "拦截托盘【" + currTrayNum + "】");
return true;
}
}
}
catch (Exception ex)
{
LogUtil.error("TrayNeed 出错：" + ex.ToString());
}
return false;
}
internal override bool TrayIsReady()
{
if (Config.IsSideWayIn)
{
if (MoveInfo.MoveType.Equals(LineMoveType.Fixture) && MoveInfo.IsStep(LineMoveStep.HY08_SL_WaitProcessReel))
{
return true;
}
}
else
{
if (MoveInfo.MoveType.Equals(LineMoveType.Fixture) && MoveInfo.IsStep(LineMoveStep.HY59_SL_WaitProcessReel))
{
return true;
}
}
return false;
}
internal override void TrayCanLeave()
{
if (runStatus <= LineRunStatus.Wait)
{
LogUtil.error(Name + "TrayCanLeave ：当前未启动，不需要处理");
return;
}
if (TrayIsReady())
{
if (Config.IsSideWayIn)
{
MoveInfo.NextMoveStep(LineMoveStep.HY09_SL_ReelProEnd);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 料盘处理完成，开始横移或放行");
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.HY60_SL_ReelProEnd);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 料盘处理完成，开始横移或放行");
}
}
else
{
LogUtil.error(Name + "TrayCanLeave ：当前托盘不在等待中，不需要处理");
}
}
#region 阻挡气缸处理
internal override void OpenStopBlock()
{
preRWTime = DateTime.Now;
LogInfo("OpenStopCylinder: 下降阻挡气缸，上下气缸上升，顶升气缸下降");
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH);
//IOMove(IO_Type.HY_StopDown, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
CylinderMove(null, IO_Type.HY_LocationCylinder_Up, IO_Type.HY_LocationCylinder_Down);
}
internal override bool OpenStopBlockOk(TimeSpan span)
{
TimeSpan rwSpan = DateTime.Now - preRWTime;
bool frontIsOk = !Config.DOList.ContainsKey(IO_Type.HY_FrontStopDown) || IOValue(IO_Type.HY_FrontStopDown).Equals(IO_VALUE.HIGH);
if (frontIsOk
&& CylinderIsOk(IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down)
&& CylinderIsOk(IO_Type.HY_LocationCylinder_Up, IO_Type.HY_LocationCylinder_Down))
{
return true;
}
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
{
preRWTime = DateTime.Now;
OpenStopBlock();
}
return false;
}
internal override void CloseStopBlock()
{
LogInfo("CloseCylinderStop: 上升阻挡气缸，上下气缸上升，顶升气缸下降");
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
CylinderMove(null, IO_Type.HY_LocationCylinder_Up, IO_Type.HY_LocationCylinder_Down);
}
#endregion
}
}