MoveEquip_Partial.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;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
partial class MoveEquip
{
#region 出库
private int ClampCount = 0;
public override bool StartOutStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
if (param.Equals(null))
{
LogUtil.error(Name + "出库【" + posId + "】失败，param=null");
return false;
}
if (runStatus.Equals(LineRunStatus.Runing))
{
LogInfo("启动出库【" + posId + "】升降气缸上升 ");
runStatus = LineRunStatus.Busy;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = param;
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
UpdownUpMove();
// TrayManager.AddNeedEmptyTrayNum();
return true;
}
else
{
LogUtil.error(Name + " 启动出库【" + posId + "】失败，runStatus=" + runStatus);
return false;
}
}
protected override void OutStoreProcess()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 移载装置 移栽物品操作
if (MoveInfo.IsStep(LineMoveStep.MO_50_StartOutProcess))
{
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进，等待夹爪料盘检测信号=LOW");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
OutLog("出库 " + MoveInfo.MoveStep + ": 升降气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.MO_51_CylinderBefore))
{
//重置夹料次数=0
ClampCount = 0;
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_52_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸下降 ");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.IsStep(LineMoveStep.MO_52_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_53_DownWait);
OutLog("出库 " + MoveInfo.SLog + ": 等待200ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.IsStep(LineMoveStep.MO_53_DownWait))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_54_CylinderOpen);
OutLog("出库 " + MoveInfo.SLog + ": 夹料气缸夹紧，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【MOVING】【" + DeviceID + "】");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Work);
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.MOVING, DeviceID.ToString());
}
else if (MoveInfo.IsStep(LineMoveStep.MO_54_CylinderOpen))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_55_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove();
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
else if (MoveInfo.IsStep(LineMoveStep.MO_56_ResetClamp))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_52_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸下降 ");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
}
else if (MoveInfo.IsStep(LineMoveStep.MO_55_CylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_57_ClampCheck);
if (ClampCount.Equals(0))
{
OutLog("出库 " + MoveInfo.SLog + ": 检测夹爪料盘检测=HIGH,超时1000");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 检测夹爪料盘检测=HIGH ，超时200ms");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
}
}
else if (MoveInfo.IsStep(LineMoveStep.MO_57_ClampCheck))
{
if (UpdownIsUp())
{
//判断夹爪是否有料，无料打印日志
if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
OutLog("出库 " + MoveInfo.SLog + ": 夹爪料盘检测信号=LOW");
}
if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.HIGH) || ClampCount > 0)
{
if (IsBigStore())
{
MoveInfo.NextMoveStep(LineMoveStep.MO_58_WaitTray);
OutLog("出库 " + MoveInfo.SLog + ": 等待托盘到达");
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_59_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 前后气缸后退");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_56_ResetClamp);
ClampCount = 1;
OutLog("出库 " + MoveInfo.SLog + ": 第一次未抓到料，重新抓一次，夹爪先放松", 1);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_55_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.MO_58_WaitTray))
{
if (TrayIsOk())
{
MoveInfo.NextMoveStep(LineMoveStep.MO_59_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 前后气缸后退");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
}
}
#endregion
#region 移载装置，放物品到流水线操作
else if (MoveInfo.IsStep(LineMoveStep.MO_59_CylinderAfter))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
if (TrayIsOk())
{
int trayNum = SecondMoveInfo.MoveParam.TrayNumber;
//去掉直接丢盘处理
MoveInfo.NextMoveStep(LineMoveStep.MO_60_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 拦截到空托盘【" + trayNum + "】， 上下气缸下降 ,顶升气缸上升");
if (MoveInfo.MoveParam != null)
{
MoveInfo.MoveParam.TrayNumber = trayNum;
}
else
{
MoveInfo.MoveParam = SecondMoveInfo.MoveParam;
}
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.MO_60_CylinderDown))
{
OutLog("出库 " + MoveInfo.SLog + ": 夹料气缸放松， ");
int trayNum = MoveInfo.MoveParam.TrayNumber;
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INLINE, "E" + trayNum.ToString().PadLeft(2, '0'));
TrayManager.UpdateTrayInfo(MoveInfo.MoveParam.TrayNumber, true, ReelType.OutStore, MoveInfo.MoveParam.Clone());
TrayInfo tray = TrayManager.GetTrayInfo(MoveInfo.MoveParam.TrayNumber);
LogInfo("出库 " + MoveInfo.SLog + ": 夹料气缸放松，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【INLINE】更新托盘【" + trayNum + "】 " + tray.ToStr() + "");
//出库全部完成
MoveInfo.NextMoveStep(LineMoveStep.MO_61_CylinderRelax);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.MO_61_CylinderRelax))
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_62_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升，同时顶升气缸先下降");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.IsStep(LineMoveStep.MO_62_CylinderUp))
{
// 减去需要的盘数
// TrayManager.DelNeedEmptyTrayNum();
OutLog("出库 ：移栽完成，放行托盘");
SecondMoveInfo.NewMove(LineMoveType.Fixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
OutLog("出库处理结束！");
MoveEndS();
}
#endregion
}
private bool TrayIsOk()
{
if (SecondMoveInfo.IsStep(LineMoveStep.MO_11_CodeRember) && !SecondMoveInfo.IsInWait)
{
ClearTimeoutAlarm("等待空托盘到达超时");
return true;
}
else if (MoveInfo.IsTimeOut(180))
{
MoveTimeoutAlarm(MoveInfo, "等待空托盘到达超时");
return false;
}
return false;
}
private bool IsBigStore()
{
return Config.IsBigTray.Equals(1);
}
#endregion
#region 入库
/// <summary>
/// 入库移动移动
/// </summary>
public override bool StartInStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
if (runStatus.Equals(LineRunStatus.Runing))
{
runStatus = LineRunStatus.Busy;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.InStore);
if (UpdownIsUp())
{
LogInfo("入库【" + posId + "】处理（移栽）：MI_02_ToLineUp, 前后气缸后退，等待夹爪检测=LOW");
MoveInfo.NextMoveStep(LineMoveStep.MI_02_ToLineUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
LogInfo("入库【" + posId + "】处理（移栽）：MI_01_UpdownUp, 顶升气缸先上升");
MoveInfo.NextMoveStep(LineMoveStep.MI_01_UpdownUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
UpdownUpMove();
}
return true;
}
else
{
LogUtil.error(Name + " 启动一个 入库【" + posId + "】运动失败，当前状态，storeStatus=" + runStatus);
}
return false;
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.IsStep(LineMoveStep.MI_01_UpdownUp))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_02_ToLineUp);
InLog("入库 " + MoveInfo.SLog + ": 前后气缸后退，等待夹爪检测=LOW");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(LineMoveStep.MI_02_ToLineUp))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_03_CylinderDown);
InLog("入库 " + MoveInfo.SLog + ": 升降下降，顶升上升");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_03_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_04_DownWait);
InLog("入库 " + MoveInfo.SLog + ": 等待200ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
//只有当BOX可以进行出入库时，移栽物品，防止卡住
else if (MoveInfo.IsStep(LineMoveStep.MI_04_DownWait))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_05_CylinderOpen);
InLog("入库 " + MoveInfo.SLog + ": 夹料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Work);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_05_CylinderOpen))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_06_CylinderUp);
InLog("入库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_06_CylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_07_ClampCheck);
InLog("入库 " + MoveInfo.SLog + ": 等待抓到料盘：夹爪料盘检测信号=HIGH，最多等待10秒");
MoveInfo.TimeOutSeconds = 15;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
MoveInfo.OneWaitCanEndStep = true;
}
else if (MoveInfo.IsStep(LineMoveStep.MI_07_ClampCheck))
{
//判断是否拿起来料
if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.HIGH))
{
InLog("入库 " + MoveInfo.SLog + "：成功抓取料盘");
int num = MoveInfo.MoveParam.TrayNumber;
MoveInfo.NextMoveStep(LineMoveStep.MI_10_WaitBox);
LogInfo("入库【" + posId + "】 " + MoveInfo.SLog + ": 物品（高" + MoveInfo.MoveParam.PlateH + "）已移走，更新托盘【" + num + "】为空盘，删除入库任务");
MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray());
TrayManager.UpdateTrayInfo(num);
RemoveInStore(MoveInfo.MoveParam);
if (MoveInfo.MoveParam.PlateH < 44)
{
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
}
else
{
//int num = MoveInfo.MoveParam.TrayNumber;
//InLog("入库 " + MoveInfo.SLog + "：抓取料盘失败，取消入库任务，清空托盘[" + num + "]信息。报警：未抓起料盘,请取走料盘后复位。");
////未抓起料盘，直接报警
//MoveInfo.NextMoveStep(LineMoveStep.MI_07_ClampCheck);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitNoTrayAlarm());
//SetWarnMsg("未抓起料盘,请取走料盘后复位", MoveInfo.GetStepDes() + "_" + "未抓起料", MoveInfo);
//Alarm(LineAlarmType.IoSingleTimeOut);
//TrayInfo tray = TrayManager.GetTrayInfo(num);
//LogUtil.error(Name + " 抓料失败自动清空入库任务 :" + tray.InoutPar.ToStr());
//TrayManager.ClearInstore(tray, "抓料失败自动清空入库任务");
//TrayManager.UpdateTrayInfo(num);
MoveInfo.NextMoveStep(LineMoveStep.MI_21_CylinderDown);
int num = MoveInfo.MoveParam.TrayNumber;
InLog("入库 " + MoveInfo.SLog + "：抓取料盘失败，取消入库任务，更新托盘[" + num + "]为NG ，将料再放到托盘上");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
TrayInfo tray = TrayManager.GetTrayInfo(num);
TrayManager.ClearInstore(tray, "抓料失败自动清空入库任务");
TrayManager.UpdateInStoreNG(num, true, "入库抓料失败");
InLog("入库： " + MoveInfo.SLog + " 抓料失败，升降气缸下降");
}
}
else if (MoveInfo.IsStep(LineMoveStep.MI_21_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_22_CylinderRelax);
InLog("入库： " + MoveInfo.SLog + " 抓料失败，夹爪放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_22_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_23_UpdownUp);
InLog("入库： " + MoveInfo.SLog + " 抓料失败，升降上升");
UpdownUpMove();
}
else if (MoveInfo.IsStep(LineMoveStep.MI_23_UpdownUp))
{
LogInfo("入库【" + posId + "】抓料失败，已放料回托盘，放托盘离开");
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
MoveEndS();
}
else if (MoveInfo.IsStep(LineMoveStep.MI_10_WaitBox))
{
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MI_08_CylinderBefore);
InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_10_WaitBox);
InLog("入库： " + MoveInfo.SLog + " 升降气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.MI_08_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
if (MoveInfo.MoveParam.PlateH >= 44)
{
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
MoveInfo.NextMoveStep(LineMoveStep.MI_11_CylinderDown);
InLog("入库 " + MoveInfo.SLog + " ，上下气缸下降");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_08_CylinderBefore);
InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.IsStep(LineMoveStep.MI_11_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_12_CylinderRelax);
InLog("入库 " + MoveInfo.SLog + "，夹料气缸放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_12_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_13_UpdownCylinderUp);
InLog("入库 " + MoveInfo.SLog + "，上下气缸上升");
UpdownUpMove();
}
else if (MoveInfo.IsStep(LineMoveStep.MI_13_UpdownCylinderUp))
{
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MI_14_CylinderAfter);
InLog("入库 " + MoveInfo.SLog + "，前后气缸后退，等待300 ");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
//此时box就可以入库操作了 //触发事件，BOX入库
// LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_13_UpdownCylinderUp);
InLog("入库 " + MoveInfo.SLog + "，上下气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.MI_14_CylinderAfter))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore);
InLog("入库 " + MoveInfo.SLog + "，通知BOX开始入库，等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
sendCount = 1;
}
else if (MoveInfo.IsStep(LineMoveStep.MI_15_SendPosToStore))
{
String notOkMsg = "";
if (!LineServer.IsInStorePro(DeviceID, MoveInfo.MoveParam.PosId, out notOkMsg))
{
//InLog("入库 " + MoveInfo.SLog + " ， 送料流程完成，料仓还未开始入库，再次发送starIn命令");
//LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore);
InLog("入库 " + MoveInfo.SLog + "，再次通知BOX开始入库，等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
sendCount++;
if (sendCount >= 3)
{
SetWarnMsg(MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + " 等待BOX开始入库超时 " + notOkMsg + " 已发送" + sendCount + "次", "等待BOX开始入库超时");
//WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + " 等待BOX开始入库超时 已发送" + sendCount + "次";
//LogUtil.error(WarnMsg);
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
else
{
sendCount = 0;
LogInfo("入库【" + posId + "】处理（移栽）全部完成！");
MoveEndS();
}
}
else if (MoveInfo.IsStep(LineMoveStep.MI_16_SendEnd))
{
sendCount = 0;
LogInfo("入库【" + posId + "】处理（移栽）全部完成！");
MoveEndS();
}
}
private int sendCount = 0;
private bool IsInStoreNeed()
{
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
bool needRemove = false;
int index = 0;
//判断是否是自己排队列表中的入库信息
foreach (InOutParam cc in waitInStoreList)
{
if (cc.TrayNumber.Equals(currTrayNum) && (!cc.PosId.Equals("")))
{
//判断是否验证成功，如果验证失败，不入库
if (LineServer.RightInPosId(DeviceID, cc.PosId))
{
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW, cc.IsNG);
return true;
}
else
{
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW, cc.IsNG);
LogUtil.error(Name + "托盘号【" + currTrayNum + "】入库信息【" + cc.ToStr() + "】料仓未验证成功，重新发送验证消息");
LineServer.CheckInStorePos(DeviceID, cc);
return true;
}
}
index++;
}
if (needRemove && index >= 0 && index < waitInStoreList.Count)
{
waitInStoreList.RemoveAt(index);
LogUtil.info("从waitInStoreList中删除 index=" + index + "的任务");
}
}
}
return false;
}
/// <summary>
/// 是否需要出库的托盘
/// </summary>
/// <param name="currMoveTrayNum"></param>
/// <returns></returns>
private bool CheckIsNeedOutStore()
{
if (currTrayNum <= 0)
{
return false;
}
bool isFull = TrayManager.TrayIsFull(currTrayNum);
if (isFull)
{
return false;
}
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_58_WaitTray) || MoveInfo.MoveStep >= LineMoveStep.MO_59_CylinderAfter;
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
&& (!MoveInfo.IsStep(LineMoveStep.MO_62_CylinderUp)))
{
if (isFull.Equals(false))
{
LogInfo(" 出库中，拦截空托盘【 " + currTrayNum + "】~");
return true;
}
}
return false;
}
internal bool IsWaitEmptyTray()
{
if (isInSuddenDown || isNoAirCheck)
{
return false;
}
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_58_WaitTray) || MoveInfo.MoveStep >= LineMoveStep.MO_59_CylinderAfter;
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
&& (!MoveInfo.IsStep(LineMoveStep.MO_62_CylinderUp)))
{
return true;
}
return false;
}
/// <summary>
/// 判断盘号是否需要入库
/// </summary>
/// <returns></returns>
private bool CheckIsNeedInStore()
{
if (currTrayNum <= 0)
{
return false;
}
if (LineManager.DisGetWare)
{
return false;
}
//如果正在出库执行中，不能拦截入库托盘
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
return false;
}
else if (waitOutStoreList.Count > 0)
{
return false;
}
bool isfull = TrayManager.TrayIsFull(currTrayNum);
if (!isfull)
{
return false;
}
InOutParam currCode = null;
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
//判断是否是自己排队列表中的入库信息
int reIndex = -1;
for (int i = 0; i < waitInStoreList.Count; i++)
{
InOutParam cc = waitInStoreList[i];
if (cc.TrayNumber.Equals(currTrayNum) && (!cc.WareCode.Equals("")))
{
reIndex = i;
currCode = cc;
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW, cc.IsNG);
break;
}
}
if (reIndex >= 0)
{
if (currCode.PosId.Equals(tray.InoutPar.PosId) && tray.InOrOutStore.Equals(1) && tray.InoutPar.IsNG.Equals(false))
{
if (!LineServer.BoxCanInStore(DeviceID))
{
LogInfo("*******托盘" + currTrayNum + "需要入库【" + currCode.ToStr() + "】，BoxCanInStore验证失败，先放托盘通过");
return false;
}
else
{
//判断是否验证成功，如果验证失败，不入库
if (LineServer.RightInPosId(DeviceID, currCode.PosId))
{
//waitInStoreList.RemoveAt(reIndex);
LogInfo("*******托盘" + currTrayNum + "需要入库【" + currCode.ToStr() + "】 ，开始入库移栽");
return true;
}
else
{
LogUtil.error(Name + "托盘号【" + currTrayNum + "】入库信息【" + currCode.ToStr() + "】料仓未验证成功，更新为入库NG料，从waitInStoreList中删除" + reIndex + "，取消入库任务");
TrayManager.UpdateInStoreNG(currTrayNum, true, "Box验证入库失败");
waitInStoreList.RemoveAt(reIndex);
SServerManager.cancelPutInTask(Name, currCode.WareCode, true);
return false;
}
}
}
else
{
LogUtil.error(Name + "托盘信息 " + tray.ToStr() + " 与入库任务 " + currCode.ToStr() + " 不一致，从waitInStoreList中删除" + reIndex + "，取消入库任务");
waitInStoreList.RemoveAt(reIndex);
SServerManager.cancelPutInTask(Name, currCode.WareCode, true);
return false;
}
}
}
}
return false;
}
public bool RemoveInStore(InOutParam param, string logName = "料盘已移走")
{
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
//判断是否是自己排队列表中的入库信息
int reIndex = -1;
for (int i = 0; i < waitInStoreList.Count; i++)
{
InOutParam cc = waitInStoreList[i];
//托盘号一致，二维码一致，库位号一致
if (cc.TrayNumber.Equals(param.TrayNumber) && cc.PosId.Equals(param.PosId) && cc.WareCode.Equals(param.WareCode))
{
reIndex = i;
break;
}
}
if (reIndex >= 0)
{
waitInStoreList.RemoveAt(reIndex);
LogInfo("*******" + logName + "，清理入库任务：【" + param.ToStr() + "】");
return true;
}
}
}
return false;
}
public bool RemoveOutStore(InOutParam param, string logName = "料盘已移走")
{
if (waitOutStoreList.Count > 0)
{
//判断是否是自己排队列表中的出库信息
//托盘号一致，二维码一致，库位号一致
List<InOutParam> paramList = (from m in waitOutStoreList where m.TrayNumber.Equals(param.TrayNumber) && m.PosId.Equals(param.PosId) && m.WareCode.Equals(param.WareCode) select m).ToList<InOutParam>();
if (paramList!=null && paramList.Count > 0)
{
waitInStoreList.RemoveAt(0);
LogInfo("*******" + logName + "，清理出库任务：【" + param.ToStr() + "】");
return true;
}
}
return false;
}
#endregion
#region 托盘检测
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheck2LowWait = 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.StopCheck2).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
}
else
{
CheckStopWatch(trayCheck2LowWait, 30000, false);
}
LogUtil.error(Name + " CheckFixture " + " 不在空闲中，直接返回 ");
return;
}
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
//bool canpro = LineManager.Line.Move5CanProcessTray(DeviceID);
bool canpro = true;
if (IOValue(IO_Type.StopCheck2).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
if (canpro && CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
SecondMoveInfo.NewMove(LineMoveType.Fixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升）");
IOMove(IO_Type.StopDown1, IO_VALUE.LOW);
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopDown1, IO_VALUE.LOW));
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheck2LowWait, TrayWaitTime, false);
if (IOValue(IO_Type.StopCheck1).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk && canpro)
{
StopDownCount = 0;
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.Fixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
CheckLog(" 托盘检测：料盘检测StopCylinder_Check1 " + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ， 等待 StopCylinder_Check1=0，清理托盘RFID");
ClearTrayRFID();
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
IOMove(IO_Type.StopDown1, IO_VALUE.HIGH, TrayManager.StopDTime);
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
//最多等待30秒
SecondMoveInfo.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");
}
}
private int StopDownCount = 0;
protected override void FixtureProcess()
{
if (!LineManager.Line.CanProcessLine())
{
return;
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
return;
}
#region 托盘检测
if (SecondMoveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down))
{
if (IOValue(IO_Type.StopCheck1).Equals(IO_VALUE.LOW))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopDownWait);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 前阻挡检测消失后再等待300ms上升阻挡");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else
{
MIO_02_TrayCheck();
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_01_StopDownWait))
{
MIO_02_TrayCheck();
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_02_TrayCheck))
{
if (IOValue(IO_Type.StopCheck2).Equals(IO_VALUE.HIGH))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待托盘信号");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
}
else
{
////未检测到信号或阻挡下降失败，结束处理
//LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCheck2=HIGH，结束处理 ");
//SecondMoveInfo.EndMove();
EndOrReStopDown("未等到信号 StopCheck2=HIGH，结束处理");
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_03_StopUp))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1");
CheckAndMove(IO_Type.StopDown1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_04_Wait))
{
try
{
//判断是否需要顶升
bool isNeed = false;
bool result = UpdateTrayNum();
bool isFull = TrayManager.TrayIsFull(currTrayNum);
if (result)
{
//出库中，需要拦盘
if (CheckIsNeedOutStore())
{
isNeed = true;
}
else if (isFull && IsInStoreNeed())
{
isNeed = true;
}
}
if (isNeed)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待200");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else
{
LogUtil.debug(Name + SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入库任务，放盘通过~");
// preTrayNum = currMoveTrayNum;
if (TrayManager.ErrorDeviceId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
}
}
catch (Exception ex)
{
LogUtil.error("判断托盘是否需要顶升出错：", ex);
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_05_WaitTime))
{
//如果是出库，且盘高大于30，暂不顶升
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopUp);
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PlateH >= 30)
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 高度>30，暂不顶升上升");
}
}
else if (SecondMoveInfo.MoveParam != null)
{
if (!LineServer.RightInPosId(DeviceID, SecondMoveInfo.MoveParam.PosId))
{
LogUtil.error(Name + " " + SecondMoveInfo.SLog + "[" + SecondMoveInfo.MoveParam.PosId + "]料仓未验证成功，等待9秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(9000));
}
if (SecondMoveInfo.MoveParam.PlateH >= 30)
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 高度>30，暂不顶升上升");
}
}
else
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 顶升气缸上 升 ）");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_06_TopUp))
{
CheckLog("托盘阻挡*************** 托盘号【" + currTrayNum + "】");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
//托盘号正确
//preTrayNum = num;
bool isNeedMove = false;
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (CheckIsNeedOutStore())
{
SecondMoveInfo.MoveParam = new InOutParam(currTrayNum);
isNeedMove = true;
LogInfo(SecondMoveInfo.MoveNum + "*************** 空托盘【" + currTrayNum + "】，正在出库中，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else if (CheckIsNeedInStore())
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】，有对应的入库任务，等待移栽");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_08_WaitInStore);
isNeedMove = true;
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】不需要出入库, 放盘通过");
}
if (!isNeedMove)
{
//preTrayNum = num;
if (TrayManager.ErrorDeviceId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CheckLog("托盘检测" + SecondMoveInfo.SLog + " ，托盘号【" + currTrayNum + "】,直接放盘通过，顶升气缸下降 ");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_08_WaitInStore) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
StartInStoreMove(SecondMoveInfo.MoveParam);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ，等待移栽完成后放开阻挡）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_09_WaitTrayCanGo);
}
#endregion
#region 不需要出入库，直接放行
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_14_TopDown))
{
MO_16_Stop2Down();
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_15_WaitCanGo))
{
MO_16_Stop2Down();
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_16_Stop2Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Stop2Check);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ， 等待StopCylinder_Check2=0");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_17_Stop2Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_18_WaitTime);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ， 等待300ms后阻挡2上升");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
//LineManager.Line.Move5Stop2Down(DeviceID);
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_18_WaitTime))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_19_StopUp);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ， 阻挡气缸1-2上升 ）");
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopDown2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_19_StopUp))
{
ClearTrayRFID();
CheckLog("托盘放行 SecondMove：(托盘放行结束） ");
SecondMoveInfo.EndMove();
}
#endregion
}
private void MIO_02_TrayCheck()
{
if (IOValue(IO_Type.StopCheck1).Equals(IO_VALUE.LOW) || IOValue(IO_Type.StopCheck2).Equals(IO_VALUE.HIGH))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_TrayCheck);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
SecondMoveInfo.OneWaitCanEndStep = true;
IOMove(IO_Type.StopDown1, IO_VALUE.LOW);
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
//最多等待30秒
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
EndOrReStopDown("未等到信号 StopCheck1=LOW，或 StopCheck2=HIGH，结束处理");
////未检测到信号或阻挡下降失败，结束处理
//LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCheck1=LOW，或 StopCheck2=HIGH，结束处理 ");
//SecondMoveInfo.EndMove();
}
}
private void EndOrReStopDown(string msg= "未等到信号 StopCheck2=HIGH，结束处理")
{
if (StopDownCount == 0)
{
LogInfo(SecondMoveInfo.SLog + msg+"，暂不结束，重新下降一次前阻挡");
//阻挡重新下降一次
StopDownCount ++;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
CheckLog(" 托盘检测：料盘检测StopCylinder_Check1 " + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ， 等待 StopCylinder_Check1=0，清理托盘RFID");
ClearTrayRFID();
IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
IOMove(IO_Type.StopDown1, IO_VALUE.HIGH, TrayManager.StopDTime);
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
//最多等待30秒
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
LogInfo(SecondMoveInfo.SLog + msg);
SecondMoveInfo.EndMove();
}
}
private void MO_16_Stop2Down()
{
if (LineManager.Line.Move5CanStop2Down(DeviceID))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ，阻挡气缸1-2下降 ");
IOMove(IO_Type.StopDown2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopDown2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.IsTimeOut(120))
{
MoveTimeoutAlarm(SecondMoveInfo, "等待HY8空闲超时");
//WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.SLog + "]等待HY8空闲[" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 12);
//Alarm(LineAlarmType.IoSingleTimeOut);
}
}
#endregion
#region 如果是进仓5，托盘横移后直接结束处理
internal void EndProcessTray()
{
if (DeviceID.Equals(5))
{
if (SecondMoveInfo.MoveType.Equals(LineMoveType.Fixture) && SecondMoveInfo.MoveStep <= LineMoveStep.MIO_04_Wait)
{
UpdateTrayNum();
LogUtil.info(Name + " EndProcessTray ,结束当前托盘[" + currTrayNum + "]处理【" + SecondMoveInfo.MoveType + "】【" + SecondMoveInfo.MoveStep + "】 ");
SecondMoveInfo.EndMove();
}
}
}
#endregion
}
}