InputEquip_InStore.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class InputEquip
{
public bool ClampEmptyMove = false;
protected override bool CheckWaitResult(DeviceMoveInfo moveInfo, WaitResultInfo wait)
{
TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
{
if (ClampJaw != null)
{
if (ClampJaw.IsReached())
{
float currp = ClampJaw.GetPosition() - (float)wait.TargetPosition;
if (currp < 1)
{
wait.IsEnd = true;
}
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
{
if (ClampJaw != null)
{
wait.IsEnd = ClampJaw.HasReel();
if ((!wait.IsEnd) && ClampEmptyMove)
{
LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作");
wait.IsEnd = true;
}
//如果是运动中，且到达目标，认为有料
if ((!wait.IsEnd) && ClampJaw.IsMoving() && ClampJaw.IsReached() && span.TotalSeconds > 3)
{
LogUtil.info(Name + " 无料，但在运动中，且运动到位，认为有料");
wait.IsEnd = true;
}
}
}
return wait.IsEnd;
}
#region 入库
private DateTime startInTime = DateTime.Now;
public override bool StartInstore(InOutParam param)
{
if (!NoAlarm())
{
LogInfo("报警中，无法开始取料入库：" + param.PosInfo.ToStr());
return false;
}
if (AxisInWorkingArea(new int[] { 1, 2, 3, 4 }))
{
LogInfo("选择轴在暂存区，请先手动复位。 取料入库失败：" + param.PosInfo.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.None))
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.InStore, param);
startInTime = DateTime.Now;
int updownP = UpdownAxis.GetAclPosition();
//如果升降轴在待机点上方，上方为-
int upP1 = Config.Updown_P1 + 1000;
//if (UpdownAxis.IsInPosition(Config.Updown_P1))
if (UpdownAxis.IsInPosition(Config.Updown_P1) || (updownP <= upP1))
{
ToShelfMove();
}
else
{
MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
MoveLog($"开始入库{param.ShelfType}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
}
return true;
}
return false;
}
protected override void InstoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
int shelf = MoveInfo.MoveParam.ShelfType;
#region 入库取料，获取库位号
//if (MoveInfo.IsStep(StepEnum.II00_MiddleToP1))
//{
// if (UpdownAxis.IsInPosition(Config.Updown_P1))
// {
// ToShelfMove();
// }
// else
// {
// MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
// UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
// MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
// }
//}
if (MoveInfo.IsStep(StepEnum.II01_UpdownToP1))
{
ToShelfMove();
}
else if (MoveInfo.IsStep(StepEnum.II02_MIddleToP2))
{
MoveInfo.NextMoveStep(StepEnum.II03_UpdownToP2);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴到P2（A料口取料点） {Config.Updown_P2_ATake}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2_ATake, Config.Updown_P2_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II05_MIddleToP3))
{
MoveInfo.NextMoveStep(StepEnum.II06_UpdownToP3);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴到P3（B料口取料点） {Config.Updown_P3_BTake}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3_BTake, Config.Updown_P3_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II03_UpdownToP2))
{
II08_ClampWork();
}
else if (MoveInfo.IsStep(StepEnum.II06_UpdownToP3))
{
II08_ClampWork();
}
else if (MoveInfo.IsStep(StepEnum.II08_ClampWork))
{
MoveInfo.NextMoveStep(StepEnum.II09_UpdownToP1);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴到待机点P1 {Config.Updown_P1}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II09_UpdownToP1))
{
// MoveInfo.NextMoveStep(StepEnum.II09_MiddleToP1);
// MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 旋转轴到待机点P1 {Config.Middle_P1}");
// UpdownAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
//}else if (MoveInfo.IsStep(StepEnum.II09_MiddleToP1))
//{
//如果是测试，直接开始取目标位置
if (MoveInfo.MoveParam.PosInfo.barcode.EndsWith("TEST"))
{
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 条码 {MoveInfo.MoveParam.PosInfo.barcode}为测试料，直接去目标位置");
LastPosInfo = MoveInfo.MoveParam.PosInfo;
StrartToTargetP();
}
else
{
II10_WaitAxisCheck();
}
}
else if (MoveInfo.IsStep(StepEnum.II10_WaitAxisCheck))
{
II10_WaitAxisCheck();
}
else if (MoveInfo.IsStep(StepEnum.II11_WaitHeight))
{
BatchMoveBean moveBean = BatchMove_A;
if (shelf.Equals(2))
{
moveBean = BatchMove_B;
}
if (moveBean.LastHeight > 0)
{
ClearTimeoutAlarm("获取料盘高度完成超时");
int Height = moveBean.LastHeight;
int width = 7;
if (IOValue(IO_Type.MAxis_ReelCheck_13).Equals(IO_VALUE.HIGH))
{
width = 13;
}
MoveInfo.MoveParam.PosInfo.PlateH = Height;
MoveInfo.MoveParam.PosInfo.PlateW = width;
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 料盘尺寸{width}X{Height}");
II13_GetPosId();
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeOut(MoveInfo, "" + moveBean.Name + "获取料盘高度完成");
}
}
else if (MoveInfo.IsStep(StepEnum.II13_GetPosId))
{
if (getPosTask != null && getPosTask.IsCompleted && LastPosInfo != null)
{
getPosIdMsg = "";
ClearTimeoutAlarm("获取库位号超时");
InOutPosInfo oldPos = MoveInfo.MoveParam.PosInfo;
if ((!LastPosInfo.PlateH.Equals(oldPos.PlateH)) || (!LastPosInfo.PlateW.Equals(oldPos.PlateW)))
{
MoveLog(" " + MoveInfo.SLog + " 原有料盘尺寸：【" + oldPos.PlateW + "X" + oldPos.PlateH + "】服务器返回尺寸【" + LastPosInfo.PlateW + "X" + LastPosInfo.PlateH + "】 ");
}
MoveInfo.MoveParam.PosInfo = LastPosInfo;
if (LastResult.Equals(98))
{
//出库料 暂不处理出库，全部入库
}
StrartToTargetP();
}
else if (MoveInfo.IsTimeOut(15))
{
MoveTimeOut(MoveInfo, "获取库位号超时 " + getPosIdMsg);
}
}
#endregion
#region 入料->A侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II40_UpdownToP4))
{
//如果无料且暂存区为空，直接过去
bool empty = (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""));
if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.LOW) && empty)
{
II43_MiddleToP4();
}
else
{
int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II41_MiddleTWaitP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料， 旋转轴 到P4{Config.Middle_P4_AUpper}-{Config.MiddleOffsetValue}=目标{targetV}位置等待暂存区无料");
MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P4_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II41_MiddleTWaitP4))
{
if (UpdownAxis.IsInPosition(Config.Updown_P4_AUpperH))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待A上暂存区无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW));
}
else
{
II41_MiddleTWaitP4();
}
}
else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
{
if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""))
{
ClearTimeoutAlarm("A上暂存区物料拿走");
MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区为空， 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "A上暂存区物料拿走");
}
}
else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
{
MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.II43_MiddleToP4))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区放料低点){Config.Updown_P5_AUpperL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5_AUpperL, Config.Updown_P5_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II44_UpdownToP5))
{
MoveInfo.NextMoveStep(StepEnum.II45_ClampRelax);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 夹爪放松");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II45_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II46_UpdownToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II46_UpdownToP4))
{
if (!BatchMove_A.IsInScanCode())
{
int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II47_MiddleToP1);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4(偏移点){targetV}");
MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P1_Speed);
//MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
//MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "等待" + BatchMove_A.Name + "扫码结束");
}
}
else if (MoveInfo.IsStep(StepEnum.II47_MiddleToP1))
{
ClearTimeoutAlarm("扫码结束");
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 入料->A侧放料结束，更新A上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}，耗时【{FormUtil.GetSpanStr(span)}】");
BufferDataManager.AInStoreInfo = MoveInfo.MoveParam.PosInfo;
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
#region 入料->B侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II60_UpdownToP10))
{
bool empty = BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals("");
if (IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.LOW) && empty)
{
II63_MiddleToP5();
}
else
{
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II61_MiddleToWaitP5);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料， 旋转轴 到P5{Config.Middle_P5_BUpper}-{Config.MiddleOffsetValue}=目标{targetValue}位置等待暂存区无料");
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P5_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II61_MiddleToWaitP5))
{
if (UpdownAxis.IsInPosition(Config.Updown_P10_BUpperH))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待B上暂存区无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW));
}
else
{
II61_MiddleToWaitP5();
}
}
else if (MoveInfo.IsStep(StepEnum.II62_WaitNoReel))
{
if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals(""))
{
ClearTimeoutAlarm("B上暂存区物料拿走");
II63_MiddleToP5();
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "B上暂存区物料拿走");
}
}
else if (MoveInfo.IsStep(StepEnum.II63_MiddleToP5))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II64_UpdownToP11);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P11 (B上暂存区放料低点){Config.Updown_P11_BUpperL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11_BUpperL, Config.Updown_P11_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II64_UpdownToP11))
{
MoveInfo.NextMoveStep(StepEnum.II65_ClampRelax);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 夹爪放松");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II65_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II66_UpdownToP10);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P10 (B上暂存区放料高点){Config.Updown_P10_BUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II66_UpdownToP10))
{
//需要等A侧料串不扫码时再过去
if (!BatchMove_B.IsInScanCode())
{
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II67_MiddleToP1);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5(偏移点){targetValue}");
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P1_Speed);
//MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
//MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "等待" + BatchMove_B.Name + "扫码结束");
}
}
else if (MoveInfo.IsStep(StepEnum.II67_MiddleToP1))
{
ClearTimeoutAlarm("扫码结束");
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 入料->B侧放料结束，更新B上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}，耗时【{FormUtil.GetSpanStr(span)}】");
BufferDataManager.BInStoreInfo = MoveInfo.MoveParam.PosInfo;
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
#region 入料->NG箱上暂存区
else if (MoveInfo.IsStep(StepEnum.II81_UpdownToP8))
{
MoveInfo.NextMoveStep(StepEnum.II82_MiddleToNg);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 旋转轴到P6（NG料区放料点）{Config.Middle_P6_NG}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P6_NG, Config.Middle_P6_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II82_MiddleToNg))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II83_UpdownToP9);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 升降轴到P9（NG料区放料低点）{Config.Updown_P9_NGL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9_NGL, Config.Updown_P9_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II83_UpdownToP9))
{
MoveInfo.NextMoveStep(StepEnum.II84_ClampRelax);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 夹爪放松");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.II84_ClampRelax))
{
MoveInfo.NextMoveStep(StepEnum.II85_UpdownToP8);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 升降轴到P8（NG料区放料高点）{Config.Updown_P8_NGH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II85_UpdownToP8))
{
if (shelf.Equals(1))
{
MoveLog($" 入料->NG箱放料结束");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
else
{
//旋转轴暂不回待机点
MoveInfo.NextMoveStep(StepEnum.II86_MiddleToP1);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II86_MiddleToP1))
{
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 入料->NG箱放料结束，耗时【{FormUtil.GetSpanStr(span)}】");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
}
private void II63_MiddleToP5()
{
MoveInfo.NextMoveStep(StepEnum.II63_MiddleToP5);
MoveInfo.TimeOutSeconds = 10;
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区无料，旋转轴 到P5 (B上暂存区放料点){Config.Middle_P5_BUpper}，等待{MiddleAxis.AxisName}原点信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P5_BUpper, Config.Middle_P5_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisOrg(MiddleAxis.Config, IO_VALUE.HIGH));
}
private void II43_MiddleToP4()
{
MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveInfo.TimeOutSeconds = 10;
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区为空， 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
}
private void ToShelfMove()
{
int shelf = MoveInfo.MoveParam.ShelfType;
if (shelf.Equals(1))
{
MoveInfo.NextMoveStep(StepEnum.II02_MIddleToP2);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴下降到P1{Config.Updown_P1}，旋转轴到P2（A料口取料点）{Config.Middle_P2_ATake}，等待{IO_Type.MAxis_Check_A}信号亮");
if (!UpdownAxis.IsInPosition(Config.Updown_P1))
{
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
}
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P2_ATake, Config.Middle_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_A, IO_VALUE.HIGH));
}
else if (shelf.Equals(2))
{
MoveInfo.NextMoveStep(StepEnum.II05_MIddleToP3);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴下降到P1{Config.Updown_P1}，旋转轴到P3（B料口取料点）{Config.Middle_P3_BTake}，等待{IO_Type.MAxis_Check_B}信号亮");
if (!UpdownAxis.IsInPosition(Config.Updown_P1))
{
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
}
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P3_BTake, Config.Middle_P3_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_B, IO_VALUE.HIGH));
}
else
{
MoveLog($"入库{MoveInfo.SLog}未找到料串{shelf},结束处理");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
}
private void StrartToTargetP()
{
InOutPosInfo lastPosInfo = MoveInfo.MoveParam.PosInfo ;
int shelf = MoveInfo.MoveParam.ShelfType;
//判断是A还是B
if (lastPosInfo.IsNG)
{
MoveInfo.NextMoveStep(StepEnum.II81_UpdownToP8);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: NG料{lastPosInfo.ToStr()} 升降轴到P8（NG料区放料高点）{Config.Updown_P8_NGH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
}
else if (lastPosInfo.GetPosSide().Equals("A"))
{
II41_MiddleTWaitP4();
}
else
{
II61_MiddleToWaitP5();
}
TrayStartLeave();
}
private void II61_MiddleToWaitP5()
{
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II61_MiddleToWaitP5);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}， 旋转轴 到P5{Config.Middle_P5_BUpper}-{Config.MiddleOffsetValue}=目标{targetValue}位置等待暂存区无料");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P5_Speed);
}
private void II41_MiddleTWaitP4()
{
int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II41_MiddleTWaitP4);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}， 旋转轴 到P4{Config.Middle_P4_AUpper}-{Config.MiddleOffsetValue}=目标{targetV}位置等待暂存区无料");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P4_Speed);
}
private Task getPosTask = null;
private InOutPosInfo LastPosInfo = null;
private int LastResult = 0;
private string getPosIdMsg = "";
private void II13_GetPosId()
{
MoveInfo.NextMoveStep(StepEnum.II13_GetPosId);
MoveLog($"入库{MoveInfo.SLog}: 清空LastPosResult，从服务器获取入库库位");
LastPosInfo = null;
InOutPosInfo pos = MoveInfo.MoveParam.PosInfo;
List<string> codeList = Regex.Split(pos.barcode, "##", RegexOptions.IgnoreCase).ToList();
getPosTask = Task.Factory.StartNew(delegate
{
//更新托盘条码信息
try
{
int count = 1;
while (MoveInfo.MoveType.Equals(MoveType.InStore))
{
int ms = 5000;
string lastPosId = "";
//如果左侧是空右侧有料
if (BufferDataManager.AInStoreInfo == null && (BufferDataManager.BInStoreInfo != null))
{
lastPosId = BufferDataManager.BInStoreInfo.PosId;
}
else if (BufferDataManager.AInStoreInfo != null && (BufferDataManager.BInStoreInfo == null))
{
lastPosId = BufferDataManager.AInStoreInfo.PosId;
}
//从服务器获取库位号
GetPosResult result = SServerManager.GetPosId(Name, codeList, pos.PlateH, pos.PlateW, pos.rfid, lastPosId);
LastResult = result.Result;
if (result.IsTimeOut)
{
if (count < 5)
{
ms = 2000;
}
Thread.Sleep(ms);
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 超时，等待" + ms + "后重新获取");
}
else if (result.Result.Equals(99) || result.Result.Equals(100))
{
if (count < 5)
{
ms = 3000;
}
getPosIdMsg = result.Msg;
Thread.Sleep(ms);
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 结果【" + result.Result + "】，等待" + ms + "后重新获取");
}
else if (!result.Msg.Equals(""))
{
LastPosInfo = result.Param;
LogUtil.error(Name + "【" + pos.barcode + "】第[" + count + "]次 " + MoveInfo.SLog + " 入库NG：" + result.Msg);
break;
}
else
{
LastPosInfo = result.Param;
break;
}
if (count >= 3)
{
//自动NG
LastPosInfo = new InOutPosInfo(pos.barcode, "");
LastPosInfo.IsNG = true;
LastPosInfo.NgMsg = "获取库位超过三次，直接NG";
break;
}
count++;
}
}
catch (Exception ex)
{
LogUtil.error(Name + "【" + pos.barcode + "】 " + MoveInfo.SLog + " 获取库位号报错：" + ex.ToString());
}
});
}
private void II08_ClampWork()
{
MoveInfo.NextMoveStep(StepEnum.II08_ClampWork);
MoveLog($"入库取料{MoveInfo.MoveParam.ShelfType}{MoveInfo.SLog}: 夹爪夹紧，判断到位 ");
ClampWork(MoveInfo, true, MoveInfo.MoveParam.PosInfo.barcode);
}
private void II10_WaitAxisCheck()
{
int shelf = MoveInfo.MoveParam.ShelfType;
MoveInfo.NextMoveStep(StepEnum.II10_WaitAxisCheck);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待伺服检测信号消失,通知料串料盘已离开");
if (shelf.Equals(1))
{
if (IOValue(IO_Type.ReelCheck_A).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StepEnum.II11_WaitHeight);
BatchMove_A.GetTrayOK();
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelCheck_A, IO_VALUE.LOW));
}
}
else if (shelf.Equals(2))
{
if (IOValue(IO_Type.ReelCheck_B).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StepEnum.II11_WaitHeight);
BatchMove_B.GetTrayOK();
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelCheck_B, IO_VALUE.LOW));
}
}
}
#endregion
#region 出库
private DateTime startOutTime = DateTime.Now;
public override bool StartOutstore(InOutParam param)
{
if (!NoAlarm())
{
LogInfo("报警中，无法开始出库：" + param.PosInfo.ToStr());
return false;
}
if (AxisInWorkingArea(new int[] { 1, 2, 3, 4 }))
{
LogInfo("选择轴在暂存区，请先手动复位。出库失败：" + param.PosInfo.ToStr());
return false;
}
if (MoveInfo.MoveType.Equals(MoveType.None))
{
//获取位置是左侧还是右侧。
int startp = param.PosInfo.GetPosType();
if (startp.Equals(1))
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.OutStore, param);
startOutTime = DateTime.Now;
MoveInfo.NextMoveStep(StepEnum.IO01_ReelCheck);
if (!MiddleAxis.IsInPosition(Config.Middle_P1))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
MoveLog($"开始A下暂存区物料出库{MoveInfo.SLog}: 料串{param.ShelfType}，等待料盘检测=1，旋转轴到P1{Config.Middle_P1}");
}
else
{
MoveLog($"开始A下暂存区物料出库{MoveInfo.SLog}: 料串{param.ShelfType}，等待料盘检测=1");
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UnderArea_Check_A, IO_VALUE.HIGH));
}
else if (startp.Equals(2))
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.OutStore, param);
startOutTime = DateTime.Now;
MoveInfo.NextMoveStep(StepEnum.IO11_ReelCheck);
if (!MiddleAxis.IsInPosition(Config.Middle_P1))
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
MoveLog($"开始B下暂存区物料出库{MoveInfo.SLog}: 料串{param.ShelfType}，等待料盘检测=1，旋转轴到P1{Config.Middle_P1}");
}
else
{
MoveLog($"开始B下暂存区物料出库{MoveInfo.SLog}: 料串{param.ShelfType}，等待料盘检测=1");
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UnderArea_Check_B, IO_VALUE.HIGH));
}
else
{
LogInfo("出库失败，未找到库位位置：" + param.PosInfo.ToStr());
return false;
}
return true;
}
return false;
}
private void TrayHasLeave()
{
}
private void TrayStartLeave()
{
int shelf = MoveInfo.MoveParam.ShelfType;
if (shelf.Equals(1))
{
BatchMove_A.GetTrayStartLeave();
}
else if (shelf.Equals(2))
{
BatchMove_B.GetTrayStartLeave();
}
}
protected override void OutstoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
int shelf = MoveInfo.MoveParam.ShelfType;
#region 出库A侧取料
if (MoveInfo.IsStep(StepEnum.IO01_ReelCheck))
{
MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
ShelfBatchAxisDown();
}
else if (MoveInfo.IsStep(StepEnum.IO02_UpdownToP6))
{
MoveInfo.NextMoveStep(StepEnum.IO03_MiddleToP7);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 旋转轴到P7（A下暂存区取料点）{Config.Middle_P7_AUnder}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P7_AUnder, Config.Middle_P7_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.IO03_MiddleToP7))
{
MoveInfo.NextMoveStep(StepEnum.IO04_UpdownToP7);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P7（A下暂存区取料低点）{Config.Updown_P7_AUnderL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P7_AUnderL, Config.Updown_P7_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO04_UpdownToP7))
{
MoveInfo.NextMoveStep(StepEnum.IO05_ClampWork);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 电卡爪夹紧 判断到位");
ClampWork(MoveInfo, true, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.IO05_ClampWork))
{
MoveInfo.NextMoveStep(StepEnum.IO06_UpdownToP6);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO06_UpdownToP6))
{
if (!MiddleToShelf())
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 等待料串可放料");
}
}
#endregion
#region 出库B侧取料
else if (MoveInfo.IsStep(StepEnum.IO11_ReelCheck))
{
MoveInfo.NextMoveStep(StepEnum.IO12_UpdownToP12);
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 升降轴到P12（B下暂存区取料高点）{Config.Updown_P12_BUnderH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed);
ShelfBatchAxisDown();
}
else if (MoveInfo.IsStep(StepEnum.IO12_UpdownToP12))
{
MoveInfo.NextMoveStep(StepEnum.IO13_MiddleToP8);
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 旋转轴到P8（B下暂存区取料点）{Config.Middle_P8_BUnder}，等待{MiddleAxis.AxisName}原点信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P8_BUnder, Config.Middle_P8_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisOrg(MiddleAxis.Config, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.IO13_MiddleToP8))
{
MoveInfo.NextMoveStep(StepEnum.IO14_UpdownToP13);
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 升降轴到P13（B下暂存区取料低点）{Config.Updown_P13_BUnderL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P13_BUnderL, Config.Updown_P13_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO14_UpdownToP13))
{
MoveInfo.NextMoveStep(StepEnum.IO15_ClampWork);
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 电卡爪夹紧 判断到位");
ClampWork(MoveInfo, true, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.IO15_ClampWork))
{
MoveInfo.NextMoveStep(StepEnum.IO16_UpdownToP6);
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 升降轴到P12（B下暂存区取料高点）{Config.Updown_P12_BUnderH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO16_UpdownToP6))
{
if (!MiddleToShelf())
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 等待料串可放料");
}
}
#endregion
#region 出库放料到料串
else if (MoveInfo.IsStep(StepEnum.IO21_WaitShelfReady))
{
if (MiddleToShelf())
{
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeOut(MoveInfo, "等待料串可放料");
}
}else if (MoveInfo.IsStep(StepEnum.IO23_MiddleToP2))
{
//清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
//if (startp.Equals(1))
//{
// BufferDataManager.AOutStoreInfo = null;
//}
//else
//{
// BufferDataManager.BOutStoreInfo = null;
//}
MoveInfo.NextMoveStep(StepEnum.IO24_UpdownToP2);
MoveLog($"出库->A料串 {MoveInfo.SLog}: 料盘已离开，升降轴到P2（A料口取料点）{Config.Updown_P2_ATake}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2_ATake, Config.Updown_P2_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO27_MiddleToP3))
{
MoveInfo.NextMoveStep(StepEnum.IO28_UpdownToP3);
MoveLog($"出库->A料串 {MoveInfo.SLog}: 升降轴到P3（B料口取料点）{Config.Updown_P3_BTake}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3_BTake, Config.Updown_P3_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO24_UpdownToP2))
{
MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax);
MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松 判断到位");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.IO28_UpdownToP3))
{
MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax);
MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松 判断到位");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.IO31_ClampRelax))
{
if (shelf.Equals(1))
{
BatchMove_A.ReelPutOk();
SServerManager.ShelfFinish(BatchMove_A.CurrShelf.ShelfRfid,MoveInfo.MoveParam.PosInfo.barcode);
}
else
{
BatchMove_B.ReelPutOk();
SServerManager.ShelfFinish(BatchMove_B.CurrShelf.ShelfRfid, MoveInfo.MoveParam.PosInfo.barcode);
}
MoveInfo.NextMoveStep(StepEnum.IO32_UpdownToP1);
MoveLog($"出库->料串 {MoveInfo.SLog}: 升降轴到P1（待机点）{Config.Updown_P1}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO32_UpdownToP1))
{
MoveInfo.NextMoveStep(StepEnum.IO33_MiddleToP1);
MoveLog($"出库->料串 {MoveInfo.SLog}: 旋转轴 到P1（待机点） {Config.Middle_P1}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO33_MiddleToP1))
{
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
TimeSpan span = DateTime.Now - startOutTime;
MoveLog($"出库->料串 {MoveInfo.SLog}: 放料完成，耗时【{FormUtil.GetSpanStr(span)}】");
}
#endregion
}
private bool MiddleToShelf()
{
bool isTest = MoveInfo.MoveParam.PosInfo.barcode.EndsWith("TEST");
int shelf = MoveInfo.MoveParam.ShelfType;
if (shelf.Equals(1))
{
bool shelfOk = BatchMove_A.MoveInfo.MoveType.Equals(MoveType.OutStore) && BatchMove_A.MoveInfo.IsStep(StepEnum.IS13_WaitReel);
if (isTest || shelfOk)
{
ClearTimeoutAlarm("等待料串可放料");
MoveInfo.NextMoveStep(StepEnum.IO23_MiddleToP2);
MoveLog($"出库->A料串 {MoveInfo.SLog}: 清除暂存区。旋转轴到P2（A料口取料点）{Config.Middle_P2_ATake}，等待{IO_Type.MAxis_Check_A}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P2_ATake, Config.Middle_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_A, IO_VALUE.HIGH));
//清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1))
{
BufferDataManager.AOutStoreInfo = null;
}
else
{
BufferDataManager.BOutStoreInfo = null;
}
return true;
}
}
else if (shelf.Equals(2))
{
bool shelfOk = BatchMove_B.MoveInfo.MoveType.Equals(MoveType.OutStore) && BatchMove_B.MoveInfo.IsStep(StepEnum.IS13_WaitReel);
if (isTest || shelfOk)
{
ClearTimeoutAlarm("等待料串可放料");
MoveInfo.NextMoveStep(StepEnum.IO27_MiddleToP3);
MoveLog($"出库->B料串 {MoveInfo.SLog}:清除暂存区。 旋转轴到P3（B料口取料点）{Config.Middle_P3_BTake}，等待{IO_Type.MAxis_Check_B}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P3_BTake, Config.Middle_P3_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_B, IO_VALUE.HIGH));
//清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1))
{
BufferDataManager.AOutStoreInfo = null;
}
else
{
BufferDataManager.BOutStoreInfo = null;
}
return true;
}
}
return false;
}
private void ShelfBatchAxisDown()
{
int shelf = MoveInfo.MoveParam.ShelfType;
//判断料串是否完成
if (shelf.Equals(1))
{
BatchMove_A.NewReelOut(MoveInfo.MoveParam.PosInfo);
}
else if (shelf.Equals(2))
{
BatchMove_B.NewReelOut(MoveInfo.MoveParam.PosInfo);
}
else
{
LogUtil.error($"{Name}{MoveInfo.SLog}出库错误：未找到准备好的料串 ");
}
}
#endregion
}
}