HY_Coveryor.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>
/// 接驳台横移, SMove处理托盘，Move处理料盘移栽
/// </summary>
public partial class HY_Coveryor : HYEquipBase
{
public HY_Coveryor(string cid, HYEquip_Config config) : base(cid, config)
{
Name = (" JHY" + (DeviceID % 100).ToString().PadLeft(2, '0') + " ").ToUpper();
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
if (!RunAxis(true, UpdownAxis))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if (isDebug)
{
mainTimer.Enabled = true;
}
return true;
}
public override bool Reset()
{
StopMove();
if (!RunAxis(true, UpdownAxis))
{
return false;
}
runStatus = LineRunStatus.Reset;
SecondMoveInfo.EndMove();
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
MoveInfo.NextMoveStep(LineMoveStep.JHY_R01_UpdownHome);
LogInfo(MoveInfo.MoveType + " " + MoveInfo.MoveStep + ": 电机停止，升降轴回原点，阻挡上升，定位气缸下降，顶升气缸下降");
LineStop(MoveInfo);
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(MoveInfo);
UpdownAxis.HomeMove(MoveInfo);
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
if (MoveInfo.IsStep(LineMoveStep.JHY_R01_UpdownHome))
{
MoveInfo.NextMoveStep(LineMoveStep.JHY_R02_UpdownUp);
LogInfo(MoveInfo.MoveType + " " + MoveInfo.MoveStep + ": 升降轴到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.JHY_R02_UpdownUp))
{
MoveInfo.NextMoveStep(LineMoveStep.JHY_R03_LocationDown);
LogInfo(MoveInfo.MoveType + " " + MoveInfo.MoveStep + ": 接驳台取料端");
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
}
else if (MoveInfo.IsStep(LineMoveStep.JHY_R03_LocationDown))
{
MoveInfo.NextMoveStep(LineMoveStep.JHY_R04_TopDown);
LogInfo(MoveInfo.MoveType + " " + MoveInfo.MoveStep + ": 夹紧气缸放松");
CylinderMove(MoveInfo, IO_Type.HY_ClampCylinder_Work, IO_Type.HY_ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.JHY_R04_TopDown))
{
MoveInfo.NextMoveStep(LineMoveStep.JHY_R05_ClampCheck);
LogInfo(MoveInfo.MoveType + " " + MoveInfo.MoveStep + ": 等待夹爪无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.JHY_R05_ClampCheck))
{
LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
}
else
{
LogUtil.error(Name + " ResetProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
}
}
internal override void StopMove()
{
LogInfo("停止运动：电机停止，阻挡上升，定位气缸下降，顶升气缸下降 ");
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
LineStop();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
CylinderMove(null, IO_Type.HY_LocationCylinder_Up, IO_Type.HY_LocationCylinder_Down);
CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
CheckAndMove(IO_Type.ClampCylinder_Work, IO_VALUE.LOW);
CheckAndMove(IO_Type.ClampCylinder_Relax, IO_VALUE.LOW);
runStatus = LineRunStatus.Wait;
}
private int GetRobotIndex()
{
int robotIndex = 1;
if (DeviceID.Equals(212))
{
robotIndex = 2;
}
return robotIndex;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
IOTimeOutProcess();
BusyMoveProcess();
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line.CanProcessLine())
{
CheckFixture();
}
}
}
}
}