HY_Coveryor_Partial.cs
38.0 KB
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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
{
partial class HY_Coveryor
{
#region 托盘检测处理
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheckLowWait = new Stopwatch();
private object lockObj = "";
private void CheckFixture()
{
if (Monitor.TryEnter(lockObj, TrayManager.mTimeOut))
{
try
{
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
}
else
{
CheckStopWatch(trayCheckLowWait, 30000, false);
}
LogUtil.error(Name + " CheckFixture " + " 不在空闲中，直接返回 ");
return;
}
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None)&&IOValue(IO_Type.HY_OL_Full_Check).Equals(IO_VALUE.LOW))
{
bool canpro = true;
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
if (canpro && CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
SecondMoveInfo.NewMove(LineMoveType.Fixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_05_TrayCheck);
CheckLog("接驳台托盘" + SecondMoveInfo.SLog + "前阻挡上升，等待托盘到位 ");
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheckLowWait, TrayWaitTime, false);
if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk && canpro)
{
trayCheckWait.Stop();
trayCheckLowWait.Stop();
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.Fixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_01_TrayCheck);
if (IsNgPro())
{
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：前阻挡检测到托盘");
ClearTrayRFID();
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.HIGH));
}
else
{
if (IOValue(IO_Type.HY_TopCylinder_Up).Equals(IO_VALUE.LOW))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_03_StopDown);
LineStop();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：前阻挡下降");
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_02_TopMove);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：顶升气缸下降 ");
IOMove(IO_Type.HY_TopCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.HY_TopCylinder_Down, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TopCylinder_Up, IO_VALUE.LOW));
LineStop();
}
}
}
}
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");
}
}
private bool IsNgPro()
{
if (DeviceID.Equals(217))
{
return true;
}
return false;
}
protected override void FixtureProcess()
{
if (!LineManager.Line.OutHyCanProLine())
{
return;
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
return;
}
if (SecondMoveInfo.IsStep(LineMoveStep.JHY_01_TrayCheck))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_02_TopMove);
if (IsNgPro())
{
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：顶升气缸上升 ");
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
//LineRun(SecondMoveInfo);
}
else
{
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：顶升气缸下降 ");
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LineStop();
//LineRun(SecondMoveInfo);
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_02_TopMove))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_03_StopDown);
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200);
if (IsNgPro())
{
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：前阻挡下降,横移电机正转");
LineRun(SecondMoveInfo);
}
else
{
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：前阻挡下降");
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_03_StopDown))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_04_WaitTray);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：等待托盘检测信号");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_04_WaitTray))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_05_TrayCheck);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：前阻挡上升，等待托盘检测信号500ms");
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_05_TrayCheck))
{
//读取托盘号
UpdateTrayNum();
if (ReelNeedMove())
{
//NG接驳台不需要调用
JHY_06_GetTraySize();
}
else if (ReelNeedToNG())
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_07_TopUp);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：需要移到NG箱，顶升气缸上升，横移电机停止，同时定位气缸上升");
LineStop(SecondMoveInfo);
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
LocationCylinderUp(SecondMoveInfo);
}
else
{
JHY_11_TopDown();
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_06_GetTraySize))
{
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_07_TopUp))
{
if (IsLocationCylinderUp())
{
JHY_09_WaitProcessReel();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_08_LocationUp);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘需要横移，定位上升");
LocationCylinderUp(SecondMoveInfo);
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_08_LocationUp))
{
JHY_09_WaitProcessReel();
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel))
{
//等待料盘拿走
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_10_ReelProEnd))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_11_TopDown);
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：阻挡上升，顶升气缸下降，定位气缸下降");
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
LocationCylinderDown(SecondMoveInfo);
if (IsNgPro())
{
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
else
{
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_11_TopDown))
{
if (IsNgPro())
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_12_WaitTrayLeave);
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：，等待托盘检测无信号");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else
{
//SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_12_WaitTrayLeave);
//CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：线体转动 ，等待托盘检测无信号");
//LineRun(SecondMoveInfo);
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_12_WaitTime);
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：顶升上升后等待500ms再转动皮带");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_12_WaitTime))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_12_WaitTrayLeave);
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：线体转动 ，等待托盘检测无信号");
LineRun(SecondMoveInfo);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_12_WaitTrayLeave))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_13_TrayLeave);
int time = 200;
if (IsNgPro())
{
time = 800;
}
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：等待"+ time + "ms,托盘检测无信号");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(time));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_13_TrayLeave))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_14_TopDown);
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：顶升气缸下降，横移电机 停止");
LineStop(SecondMoveInfo);
if (IsNgPro())
{
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
else
{
IOMove(IO_Type.HY_TopCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.HY_TopCylinder_Down, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TopCylinder_Up, IO_VALUE.LOW));
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_14_TopDown))
{
CheckLog(" 托盘放行结束");
ClearTrayRFID();
SecondMoveInfo.EndMove();
}
else
{
LogUtil.error(Name + "FixtureProcess 未找到[" + SecondMoveInfo.MoveType + "][" + SecondMoveInfo.MoveStep + "]的处理");
}
}
private void JHY_09_WaitProcessReel()
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
bool result = StartOutStoreMove(SecondMoveInfo.MoveParam);
if (result)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_09_WaitProcessReel);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：等待拿走料盘" + MoveInfo.MoveParam.ToShortStr());
ClearTimeoutAlarm("等待移栽机构开始抓料超时");
}
else if (SecondMoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(SecondMoveInfo, "等待移栽机构开始抓料超时");
}
}
else if (SecondMoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(SecondMoveInfo, "等待移栽机构开始抓料超时");
}
}
private void JHY_11_TopDown()
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_11_TopDown);
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
if (IsNgPro())
{
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：横移电机停止，阻挡上升，顶升气缸下降");
LineStop(SecondMoveInfo);
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
else
{
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：启动横移电机，阻挡上升，顶升气缸上升");
//LineRun(SecondMoveInfo);
LineStop();
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
}
}
private int LastWidth = 0;
private void JHY_06_GetTraySize()
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_06_GetTraySize);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(8000));
LastWidth = 0;
int robotIndex = GetRobotIndex();
string code = SecondMoveInfo.MoveParam.WareCode;
bool isNg = false;
string result = SServerManager.GetTraySize(Name, robotIndex, code, out LastWidth, out isNg);
OutLog("接驳台托盘[" + currTrayNum + "] [" + code + "] 获取尺寸【" + LastWidth + "】"+(isNg?"NG":"")+"【" + result + "】",1);
if (LastWidth > 0)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_07_TopUp);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：横移电机停止，顶升气缸上升，同时定位气缸上升");
LineStop(SecondMoveInfo);
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
LocationCylinderUp(SecondMoveInfo);
}
else
{
if (isNg)
{
TrayManager.UpdateInStoreNG(currTrayNum, true, result);
LogInfo("更新工单出库料[" + currTrayNum + "] [" + code + "]为NG料：" + result);
}
else if (string.IsNullOrEmpty(code))
{
TrayManager.UpdateInStoreNG(currTrayNum, true, "二维码为空");
LogInfo("更新工单出库料[" + currTrayNum + "] [" + code + "]为NG料：" + "二维码为空");
}
JHY_11_TopDown();
}
}
private void TrayCanGo()
{
//更新托盘为空
if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_10_ReelProEnd);
if (IsNgPro())
{
OutLog(Name + " 料盘已移走，更新托盘[" + currTrayNum + "]为空");
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，更新托盘[" + currTrayNum + "]为空");
TrayManager.UpdateTrayInfo(currTrayNum);
}
else
{
OutLog(Name + " 料盘已移走，暂不更新托盘[" + currTrayNum + "]，先放托盘离开");
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，暂不更新托盘[" + currTrayNum + "]，先放托盘离开");
}
}
else
{
OutLog(logName + MoveInfo.SLog + "：SecondMoveInfo当前无处理，暂时不用 JHY_10_ReelProEnd ");
}
}
private bool ReelNeedMove()
{
try
{
if (currTrayNum > 0)
{
if (IsNgPro())
{
return false;
}
//TODO
TrayInfo trayInfo = TrayManager.GetTrayInfo(currTrayNum);
if (!trayInfo.IsFull)
{
return false;
}
InOutParam inoup = trayInfo.InoutPar;
if (inoup.IsNG)
{
return false;
}
if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel.Equals(false) && inoup.cutReel.Equals(false))
{
LogInfo(" 工单料->接驳台：" + "" + inoup.ToStr());
SecondMoveInfo.MoveParam = inoup;
return true;
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "ReedNeedMove 出错：" + ex.ToString());
}
return false;
}
private bool ReelNeedToNG()
{
try
{
if (currTrayNum > 0)
{
//TODO
TrayInfo trayInfo = TrayManager.GetTrayInfo(currTrayNum);
if (!trayInfo.IsFull)
{
return false;
}
InOutParam inoup = trayInfo.InoutPar;
if (trayInfo.IsFull && trayInfo.InoutPar.IsNG && this.DeviceID.Equals(217)&& trayInfo.InOrOutStore.Equals(1))
{
LogInfo(" NG料->NG箱" + "" + inoup.ToStr());
//如果分配了库位，需要调用取消
if (trayInfo.InoutPar.WareCode != "" && trayInfo.InoutPar.PosId != "")
{
SServerManager.cancelPutInTask(Name, trayInfo.InoutPar.WareCode,false );
}
SecondMoveInfo.MoveParam = inoup;
//MoveInfo.MoveParam = inoup;
return true;
}
else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel && this.DeviceID.Equals(217))
{
//盘点料到NG箱
LogInfo(" 盘点料->NG箱" + "" + inoup.ToStr());
SecondMoveInfo.MoveParam = inoup;
return true;
}
else if (trayInfo.IsFull && trayInfo.InoutPar.IsNG && this.DeviceID.Equals(217) && trayInfo.InOrOutStore.Equals(2))
{
//工单料改为NG料
LogInfo(" 工单NG料->NG箱" + "" + inoup.ToStr());
SecondMoveInfo.MoveParam = inoup;
return true;
}
//else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel && this.DeviceID.Equals(217))
//{
// LogInfo(" 紧急料->NG箱" + "" + inoup.ToStr());
// SecondMoveInfo.MoveParam = inoup;
// //MoveInfo.MoveParam = inoup;
// return true;
//}
}
}
catch (Exception ex)
{
LogUtil.error(Name + "ReedNeedMove 出错：" + ex.ToString());
}
return false;
}
#endregion
#region 接驳台送料
/// <summary>
/// 出库的 托盘号
/// </summary>
public int OutTrayNum = 0;
public override bool StartOutStoreMove(InOutParam param)
{
if (param.Equals(null))
{
LogUtil.error(Name + "托盘移栽【" + param.ToShortStr() + "】失败，param=null");
return false;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (String.IsNullOrEmpty(logName))
{
logName = "工单出料:";
if (IsNgPro())
{
logName = "NG料:";
}
}
OutTrayNum = currTrayNum;
runStatus = LineRunStatus.Busy;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = param;
//判断是否已在p1
if (UpdownAxis.IsInPosition(Config.UpDownAxisP1))
{
JM_02_CylinderTake();
}
else {
MoveInfo.NextMoveStep(LineMoveStep.JM_01_UpdownToP1);
OutLog("托盘移栽 升降气缸上升 ");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
return true;
}
else
{
LogUtil.error(Name + " 启动托盘移栽【" + param.ToShortStr() + "】失败，MoveInfo.MoveType=" + MoveInfo.MoveType);
return false;
}
}
private void JM_02_CylinderTake()
{
if (CylinderIsOk(IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take))
{
int p2 = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
MoveInfo.NextMoveStep(LineMoveStep.JM_03_UpdownToP2);
OutLog(logName + MoveInfo.SLog + "：横移气缸已在取料端，升降轴下降到取料点P2 [" + p2 + "]");
UpdownAxis.AbsMove(MoveInfo, p2, Config.UpdownAxis_P2Speed);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.JM_02_CylinderTake);
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
if (IsNgPro())
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端");
}
else
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端 ，暂不等待接驳台无料");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck2, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck3, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck4, IO_VALUE.LOW));
}
}
}
string logName = "";
/// <summary>
/// 紧急料，afterPut是否发送完成
/// </summary>
private bool afterPutCutOK = false;
/// <summary>
/// 从托盘上抓料是否正常抓起来
/// </summary>
private bool getTrayReelOk = true;
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(LineMoveStep.JM_01_UpdownToP1))
{
JM_02_CylinderTake();
}
else if (MoveInfo.IsStep(LineMoveStep.JM_02_CylinderTake))
{
int p2 = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH,MoveInfo.MoveParam.PlateW);
MoveInfo.NextMoveStep(LineMoveStep.JM_03_UpdownToP2);
OutLog(logName + MoveInfo.SLog + "：升降轴下降到取料点P2 [" + p2 + "]");
UpdownAxis.AbsMove(MoveInfo, p2, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_03_UpdownToP2))
{
// MoveInfo.NextMoveStep(LineMoveStep.JM_04_DownWait);
// OutLog(logName + MoveInfo.SLog + "：等待0.3秒后再夹紧 ");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
//}
//else if (MoveInfo.IsStep(LineMoveStep.JM_04_DownWait))
//{
MoveInfo.NextMoveStep(LineMoveStep.JM_05_ClampWork);
OutLog(logName + MoveInfo.SLog + "：夹料气缸夹紧 ");
CylinderMove(MoveInfo, IO_Type.HY_ClampCylinder_Relax, IO_Type.HY_ClampCylinder_Work);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_05_ClampWork))
{
OutTrayNum = currTrayNum;
MoveInfo.NextMoveStep(LineMoveStep.JM_06_UpdownToP1);
OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]，更新 getTrayReelOk=true，更新当前出库托盘号="+ OutTrayNum);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
getTrayReelOk = true;
TrayCanGo();
}
else if (MoveInfo.IsStep(LineMoveStep.JM_06_UpdownToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_07_ClampCheck);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.HIGH));
if (IsNgPro())
{
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料 ");
}
else
{
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料，超时时间500 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.OneWaitCanEndStep = true;
}
}
else if (MoveInfo.IsStep(LineMoveStep.JM_07_ClampCheck))
{
//判断是否正常抓取料
if(IOValue(IO_Type.HY_ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
getTrayReelOk = false;
LogInfo("从托盘["+ OutTrayNum + "]上抓取无料失败，夹爪气缸料盘检测信号=LOW");
}
//TrayCanGo();
if (IsNgPro())
{
MoveInfo.NextMoveStep(LineMoveStep.JM_11_CylinderGive);
OutLog(logName + MoveInfo.SLog + "： 托盘离开，接驳台气缸放料 ");
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Take, IO_Type.HY_MoveCylinder_Give);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.JM_10_WaitJNoReel);
OutLog(logName + MoveInfo.SLog + "：托盘离开，等待接驳台无料 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck2, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck3, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck4, IO_VALUE.LOW));
}
}
else if (MoveInfo.IsStep(LineMoveStep.JM_10_WaitJNoReel))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_11_CylinderGive);
OutLog(logName + MoveInfo.SLog + "：接驳台气缸放料 ");
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Take, IO_Type.HY_MoveCylinder_Give);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_11_CylinderGive))
{
int p3 = Config.GetUpdownP3(MoveInfo.MoveParam.PlateH);
MoveInfo.NextMoveStep(LineMoveStep.JM_12_UpdownToP3);
OutLog(logName + MoveInfo.SLog + "：升降轴下降到P3 [" + p3 + "]");
UpdownAxis.AbsMove(MoveInfo, p3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_12_UpdownToP3))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_13_ClampRelax);
OutLog(logName + MoveInfo.SLog + "：夹料气缸放松 ");
CylinderMove(MoveInfo, IO_Type.HY_ClampCylinder_Work, IO_Type.HY_ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_13_ClampRelax))
{
afterPutCutOK = false;
MoveInfo.NextMoveStep(LineMoveStep.JM_14_UpdownToP1);
OutLog(logName + MoveInfo.SLog + "：升降轴上升到P1 [" + Config.UpDownAxisP1 + "] ");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_14_UpdownToP1))
{
if (IsNgPro())
{
MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料，接驳台有料 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
string code = MoveInfo.MoveParam.WareCode;
if (IOValue(IO_Type.HY_TrayCheck1).Equals(IO_VALUE.HIGH) && getTrayReelOk)
{
//接驳台有料，直接发arrive
int robotIndex = GetRobotIndex();
string msg = SServerManager.arrive3fRobotLocation(Name, robotIndex, code);
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台，更新托盘[" + OutTrayNum + "]为空 ，发送 arrive3fRobotLocation = " + msg,1);
afterPutCutOK = true;
//清空托盘
TrayManager.UpdateTrayInfo(OutTrayNum);
}
else
{
//无料发取消任务
int robotIndex = GetRobotIndex();
string msg = SServerManager.clearOutTask(Name, code);
afterPutCutOK = true;
if (getTrayReelOk)
{
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 ，更新托盘[" + OutTrayNum + "]为NG ，发送 clearOutTask=" + msg,1);
//更新托盘为NG
TrayManager.UpdateInStoreNG(OutTrayNum, true, "工单料放料到接驳台失败");
}
else
{
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 (未抓起料盘），更新托盘[" + OutTrayNum + "]为NG ，发送 clearOutTask=" + msg,1);
//更新托盘为NG
TrayManager.UpdateInStoreNG(OutTrayNum, true, "工单料放料到接驳台失败（未抓起料盘）");
}
}
MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料 ",1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
}
//MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
//OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料，接驳台有料 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
//if (!IsNgPro())
//{
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.HIGH));
//}
}
else if (MoveInfo.IsStep(LineMoveStep.JM_15_ClampCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_16_ReelArrive);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(null, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
string code = MoveInfo.MoveParam.WareCode;
if (MoveInfo.MoveParam.urgentReel)
{
OutLog(logName + MoveInfo.SLog + "，紧急料已放入NG箱，发送 afterPutCut ");
TaskData taskData;
string msg = SServerManager.afterPutCut(Name, "BN", code, "", 1, out taskData);
afterPutCutOK = true;
}
//else if (!MoveInfo.MoveParam.IsNG)
//{
// int robotIndex = GetRobotIndex();
// OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台，发送 arrive3fRobotLocation ");
// string msg = SServerManager.arrive3fRobotLocation(Name, robotIndex, code);
// afterPutCutOK = true;
//}
else
{
afterPutCutOK = true;
}
//TrayCanGo();
}
else if (MoveInfo.IsStep(LineMoveStep.JM_16_ReelArrive))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_17_CylinderTake);
OutLog(logName + MoveInfo.SLog + "：接驳台气缸取料端 ");
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_17_CylinderTake))
{
string log = "arrive3fRobotLocation";
if (IsNgPro())
{
log = "afterPutCutTask";
}
if (afterPutCutOK)
{
ClearTimeoutAlarm("给服务器发送 "+ log + " 完成");
MoveEndS();
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeoutAlarm(MoveInfo, "等待给服务器发送 " + log + " 完成");
}
}
else
{
LogUtil.error(Name + "OutStoreProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
}
#endregion
public override string GetMoveStr()
{
string msg = "";
int tLength = 15;
if (!String.IsNullOrEmpty(RFIDIP))
{
msg += "当前托盘：" + currTrayNum + " 上个托盘：" + preTrayNum + "，料盘托盘："+OutTrayNum+"\n";
}
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + " " + LastAlarmTime.ToLongTimeString() + "\n";
msg += "Move：" + MoveInfo.MoveType + " " + MoveInfo.SLog + "\n";
msg += "SMove：" + SecondMoveInfo.MoveType + " " + SecondMoveInfo.MoveStep + "\n";
return msg;
}
}
}