TransplantMove.cs
32.6 KB
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using Newtonsoft.Json;
using OnlineStore;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class TransplantMove : DeviceBase,IDevice
{
public static Dictionary<string, TransplantMove> DeviceList = new Dictionary<string, TransplantMove>();
public static void Init(Robot_Config config, Dictionary<string, DeviceGroup> devices,out string msg) {
msg = "";
foreach (var key in devices.Keys) {
if (!devices[key].DeviceType.StartsWith("SISO"))
continue;
TransplantMove sideMove = new TransplantMove(devices[key],config,out string m);
DeviceList.Add(devices[key].GroupName, sideMove);
msg += m;
DeviceListByAddr[devices[key].addr_1] = sideMove;
}
}
Robot_Config Config;
DeviceGroup DeviceGroup;
MoveInfo MoveInfo;
MoveInfo MoveInfo2;
public PuYueRFID_C2S RFID_1 = null;
AxisBean axis;
CylinderManger Location;
CylinderManger Transplant;
public DeviceStateE DeviceState { get ; set ; }
public TransplantMove(DeviceGroup device, Robot_Config config, out string msg) {
msg = "";
Name = device.Name+"("+ device.GroupName + ")";
Config = config;
DeviceGroup = device;
GroupName = DeviceGroup.GroupName;
Msg = new MsgService(GroupName);
MoveInfo = new MoveInfo(GroupName);
MoveInfo2 = new MoveInfo(GroupName,false);
if (!string.IsNullOrEmpty(DeviceGroup.RFID_1))
{
RFID_1 = new PuYueRFID_C2S(DeviceGroup.RFID_1);
if (!RFID_1.Open()) {
msg += DeviceGroup.GroupName + " RFID 1:" + DeviceGroup.RFID_1 +","+crc.GetString("Res0183","打开失败")+ "\r\n";
}
}
Location = new CylinderManger($"托盘顶升", GroupName, IO_Type.AMH_Location_Up, IO_Type.AMH_Location_Down);
Transplant = new CylinderManger($"移栽", GroupName, IO_Type.AMH_Trans_Fwd, IO_Type.AMH_Trans_Bwd);
var axisc = RobotManage.Config.moveAxisList.Find(ma => ma.GetAxisValue() == RobotManage.DeviceGroup[GroupName].AxisID);
axis = new AxisBean(axisc, GroupName);
}
public void Start()
{
OpenAllServo();
DeviceState = DeviceStateE.HomeReset;
MoveInfo.NewMove(MoveStep.H01_HomeReset);
MoveInfo.log("开始回原");
}
public void Stop()
{
DeviceState = DeviceStateE.Stop;
MoveInfo.log("停止运行");
}
public void Process()
{
if (DeviceState == DeviceStateE.HomeReset)
ResetProcess();
else if (DeviceState == DeviceStateE.Run)
{
OneWayProcess();
SecondProcess();
}
}
int StopBufDelayMS = 500;
int StopDelayMS = 1500;
int MetrialGetRetry = 0;
public void OneWayProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IOValue(IO_Type.AMH_In_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.log("中间检测到托盘");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
Location.ToLow(MoveInfo);
}
else if (IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.TransplantMove_01);
Location.ToLow(MoveInfo);
}
else
{
//Msg.add(crc.GetString("Res0184", "空闲中"), MsgLevel.info);
}
if (TrayManager.TestTrayRequest(GroupName)) {
Transplant.ToHigh(null);
}
break;
case MoveStep.TransplantMove_01:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_02);
//IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.HIGH, IO_Type.AMH_Front_Check,IO_VALUE.LOW, StopDelayMS);
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.HIGH);
MoveInfo.log($"前阻挡放行");
break;
case MoveStep.TransplantMove_02:
if (IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.LOW))
IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
if (IOValue(IO_Type.AMH_In_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.TransplantMove_03);
MoveInfo.CanWhileCount = 3;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
//Location.ToHigh(MoveInfo);
}
else if (MoveInfo.IsTimeOut(10)) {
MoveInfo.log("没有检测到托盘进入");
MoveInfo.NextMoveStep(MoveStep.Wait);
}
break;
case MoveStep.TransplantMove_03:
if (RFID_1.ReadByte(0x20, 16, out byte[] data, out string errmsg))
{
CurrrentRFID = Common.RfidFilter(data);
MoveInfo.MoveParam.RFID = CurrrentRFID;
var through = TrayManager.Process(MoveInfo,CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
MoveInfo.log($"rfid:{CurrrentRFID},TrayManager.Process:{trayInfo.DestinationAddr},{DeviceGroup.addr_1},AMH_Reel_Check:{IOValue(IO_Type.AMH_Reel_Check)},HasLoad:{trayInfo.HasLoad}");
//入库判断
if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
{
if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.HIGH))
{
RemoteLoad remoteLoad1 = new RemoteLoad();
remoteLoad1.Seq = DateTime.Now.Ticks;
remoteLoad1.Action = "DoorLock";
remoteLoad1.RequestLoadInfo = new RequestLoadInfo();
remoteLoad1.RequestLoadInfo.IsEmpty = false;
MoveInfo.MoveParam = trayInfo.TrayParam.clone();
MoveInfo.MoveParam.RFID = CurrrentRFID;
ConfigHelper.Config.Set($"Runtime_{GroupName}_CurrrentRFID", CurrrentRFID);
var remoteresult = RemoteService.SendAndWait(GroupName, remoteLoad1);
if (remoteresult == RemoteResult.True)
{
MoveInfo.log($"{GroupName} 开始转移物料置料仓,{CurrrentRFID},{MoveInfo.MoveParam.ToStr()}");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_10); // 送达料仓
SRec.info(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0026","开始将物料转移至料仓"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
ConfigHelper.Config.Set($"Runtime_{GroupName}_MoveParamJson", JsonConvert.SerializeObject(MoveInfo.MoveParam));
return;
}
else if (remoteresult == RemoteResult.False) {
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
MoveInfo.log($"{GroupName} 舱门口有物料无法转移");
}
else
{
MoveInfo.log($"入库托盘与 {GroupName} 通讯失败,放行托盘,{MoveInfo.MoveParam.ToStr()}");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
SRec.error(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0033","料仓当前不可用,放行托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
}
}
else
{
Msg.add(crc.GetString("Res0034","托盘没有检测到物料"), MsgLevel.warning);
return;
}
}
//出库判断
else if (!trayInfo.HasLoad && TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID,out ReelParam reelParam))
{
if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
{
RemoteLoad remoteLoad2 = new RemoteLoad();
remoteLoad2.Seq = DateTime.Now.Ticks;
remoteLoad2.Action = "DoorLock";
remoteLoad2.RequestLoadInfo = new RequestLoadInfo();
remoteLoad2.RequestLoadInfo.IsEmpty = true;
if (RemoteService.SendAndWait(GroupName, remoteLoad2) == RemoteResult.True)
{
MoveInfo.MoveParam = reelParam.clone();
trayInfo.TrayParam= reelParam.clone();
MoveInfo.MoveParam.RFID = CurrrentRFID;
MoveInfo.NextMoveStep(MoveStep.TransplantMove_20); //从料仓取出
SRec.info(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0035","开始从料仓转移物料至托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
ConfigHelper.Config.Set($"Runtime_{GroupName}_MoveParamJson", JsonConvert.SerializeObject(MoveInfo.MoveParam));
return;
}
else
{
MoveInfo.log($"出库托盘与 {GroupName} 通讯失败,放行托盘");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
SRec.error(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0033","料仓当前不可用,放行托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
}
}
else {
Msg.add(crc.GetString("Res0036","托盘标记为空托盘,但检测到物料"), MsgLevel.warning);
return;
}
}
else
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
}
else if (MoveInfo.CanWhileCount > 0)
{
MoveInfo.CanWhileCount--;
MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次");
MoveInfo.log("RFIDerr:"+errmsg);
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016", "RFid读取失败"), MsgLevel.warning));
}
else
{
MoveInfo.log("RFid读取失败,直接通过");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
}
Location.ToLow(MoveInfo);
break;
case MoveStep.TransplantMove_04:
if (!canpass())
return;
MoveInfo.NextMoveStep(MoveStep.TransplantMove_05);
//IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, IO_Type.AMH_In_Check, IO_VALUE.LOW, StopDelayMS);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH);
Location.ToLow(MoveInfo);
MoveInfo.log($"后阻挡放行");
break;
case MoveStep.TransplantMove_05:
if (IOValue(IO_Type.AMH_In_Check).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
MoveInfo.NextMoveStep(MoveStep.Wait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.log("托盘已放行");
} else if (MoveInfo.IsTimeOut(10)) {
MoveInfo.log("托盘放行失败,重新放行");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
}
break;
//线体=>料仓
case MoveStep.TransplantMove_10:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_11);
Location.ToHigh(MoveInfo);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
Transplant.ToLow(MoveInfo);
MoveInfo.log("顶升上升,取料轴到P1,移栽气缸回位");
MetrialGetRetry = 0;
break;
case MoveStep.TransplantMove_11:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_12);
int ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out int actualheight1))
ReelHeight = actualheight1;
var AMH_TS_P2 = DeviceGroup.p2 - (ReelHeight - 70) * Config.AMH_TS_PoToMM + MetrialGetRetry * 2 * Config.AMH_TS_PoToMM;
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsInStore", true);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSucker", true);
ConfigHelper.Config.Set($"Runtime_{GroupName}_CurrrentRFID", CurrrentRFID);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}");
break;
case MoveStep.TransplantMove_12:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_13);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
MoveInfo.log("取料轴到P1");
if (MoveInfo.MoveParam.PlateH == 120 && MoveInfo.MoveParam.PlateW == 330
|| MoveInfo.MoveParam.PlateH == 72 && MoveInfo.MoveParam.PlateW == 13)
Location.ToLow(MoveInfo);
break;
case MoveStep.TransplantMove_13:
if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.TransplantMove_14);
MoveInfo.log("检测到物料已离开");
}
else {
MetrialGetRetry++;
if (MetrialGetRetry > 3) {
Msg.add($"{MoveInfo.Name}取料失败", MsgLevel.alarm);
RobotManage.UserPause($"{MoveInfo.Name}取料失败");
}
MoveInfo.NextMoveStep(MoveStep.TransplantMove_11);
if (MoveInfo.MoveParam.PlateH == 120 && MoveInfo.MoveParam.PlateW == 330
|| MoveInfo.MoveParam.PlateH == 72 && MoveInfo.MoveParam.PlateW == 13)
Location.ToHigh(MoveInfo);
}
break;
case MoveStep.TransplantMove_14:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_15);
Transplant.ToHigh(MoveInfo);
MoveInfo.log("移栽气缸的前进");
break;
case MoveStep.TransplantMove_15:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_16);
MoveInfo2.NewMove(MoveStep.TransplantMove_01);
MoveInfo2.MoveParam = MoveInfo.MoveParam.clone();
Location.ToLow(MoveInfo);
MoveInfo.log("料盘已取走,放行托盘, 子流程开始移栽入库");
ServerCommunication.UpdateRobotStatus(MoveInfo.MoveParam.WareCode, RobotStatusE.BOXDOOR, MoveInfo.MoveParam.RFID);
TrayManager.SetToEmpty(CurrrentRFID);
break;
case MoveStep.TransplantMove_16:
if (!canpass())
return;
MoveInfo.NextMoveStep(MoveStep.TransplantMove_17);
//IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, IO_Type.AMH_In_Check, IO_VALUE.LOW, StopDelayMS);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AMH_In_Check, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.TransplantMove_17:
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
MoveInfo.log("托盘放行结束");
SRec.info(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0037","物料已取走"));
MoveInfo.NewMove(MoveStep.Wait);
break;
//从料仓=>线体
case MoveStep.TransplantMove_20:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_21);
Location.ToHigh(MoveInfo);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
Transplant.ToHigh(MoveInfo);
MoveInfo.log("顶升上升,取料轴到P1,移栽气缸回位");
MetrialGetRetry = 0;
break;
case MoveStep.TransplantMove_21:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_22);
ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out actualheight1))
ReelHeight = actualheight1;
AMH_TS_P2 = DeviceGroup.p3 - (ReelHeight - 70) * Config.AMH_TS_PoToMM+ (MetrialGetRetry*2* Config.AMH_TS_PoToMM);
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsInStore", false);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSucker", true);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSuckerSuccess", false);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}");
break;
case MoveStep.TransplantMove_22:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_23);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P1:{Config.AMH_TS_P1},MetrialGetRetry:{MetrialGetRetry}");
break;
case MoveStep.TransplantMove_23:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_24);
var remoteLoad = new RemoteLoad();
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.Action = "DoorRelease";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.IsEmpty = true;//true出库 false入库
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();
var tarytype = CurrrentTrayInfo.TrayType;
remoteLoad.RequestLoadInfo.TrayType = tarytype.ToString();
if (tarytype == TrayTypeE.MTP2)
remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_1;
else
remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_2;
var result = RemoteService.SendAndWait(GroupName, remoteLoad);
if (result == RemoteResult.False)
{
MetrialGetRetry++;
if (MetrialGetRetry > 3) {
Msg.add($"{MoveInfo.Name}取料失败", MsgLevel.alarm);
RobotManage.UserPause($"{MoveInfo.Name}取料失败");
MetrialGetRetry = 0;
//return;
}
MoveInfo.NextMoveStep(MoveStep.TransplantMove_21);
return;
}
else if (result == RemoteResult.Timeout)
{
MoveInfo.log("查询料仓状态失败");
MoveInfo.NextMoveStep(MoveStep.TransplantMove_23);
return;
}
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSuckerSuccess", true);
TrayManager.ClearTrayRequest(GroupName);
MoveInfo.log("释放料仓门, 设置托盘信息");
remoteLoad.RequestLoadInfo.IsEmpty = false;
TrayManager.SetTrayLoadInfo(CurrrentRFID, remoteLoad.RequestLoadInfo);
//ServerCommunication.UpdateRobotStatus(MoveInfo.MoveParam.WareCode, RobotStatusE.INROBOT, CurrrentRFID);
break;
case MoveStep.TransplantMove_24:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_25);
Transplant.ToLow(MoveInfo);
MoveInfo.log("移栽气缸的前进");
break;
case MoveStep.TransplantMove_25:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_26);
ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out actualheight1))
ReelHeight = actualheight1;
AMH_TS_P2 = DeviceGroup.p2 - (ReelHeight - 70) * Config.AMH_TS_PoToMM;
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P2_speed);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight}");
break;
case MoveStep.TransplantMove_26:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_27);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.LOW);
IOMove(IO_Type.AMH_Sucker_Release, IO_VALUE.HIGH,2000);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSucker", false);
break;
case MoveStep.TransplantMove_27:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_28);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
Location.ToLow(MoveInfo);
break;
case MoveStep.TransplantMove_28:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_29);
break;
case MoveStep.TransplantMove_29:
if (!canpass())
return;
MoveInfo.NextMoveStep(MoveStep.TransplantMove_30);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.HIGH, IO_Type.AMH_In_Check, IO_VALUE.LOW, StopDelayMS);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AMH_In_Check, IO_VALUE.LOW));
break;
case MoveStep.TransplantMove_30:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_31);
IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.TransplantMove_31:
SRec.error(crc.GetString("Res0024","物料横移"), GroupName, crc.GetString("Res0025","载物托盘"), crc.GetString("Res0038","物料已到托盘"), CurrrentRFID, MoveInfo.MoveParam.ToStr());
MoveInfo.log("从线体到料仓移栽结束");
MoveInfo.NewMove(MoveStep.Wait);
break;
}
}
public void SecondProcess()
{
if (CheckWait(MoveInfo2))
return;
switch (MoveInfo2.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.TransplantMove_01:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_02);
Transplant.ToHigh(MoveInfo2);
MoveInfo2.log("移栽气缸的前进");
break;
case MoveStep.TransplantMove_02:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_03);
int ReelHeight = MoveInfo2.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo2.MoveParam.PlateW, MoveInfo2.MoveParam.PlateH, out int actualheight1))
ReelHeight = actualheight1;
var AMH_TS_P2 = DeviceGroup.p3 - (ReelHeight - 70) * Config.AMH_TS_PoToMM;
axis.AbsMove(MoveInfo2, AMH_TS_P2, Config.AMH_TS_P2_speed);
MoveInfo2.log($"PlateH:{MoveInfo2.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight}");
break;
case MoveStep.TransplantMove_03:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_04);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.LOW);
IOMove(IO_Type.AMH_Sucker_Release, IO_VALUE.HIGH, 2000);
ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSucker", false);
break;
case MoveStep.TransplantMove_04:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_05);
axis.AbsMove(MoveInfo2, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
break;
case MoveStep.TransplantMove_05:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_06);
Transplant.ToLow(MoveInfo2);
break;
case MoveStep.TransplantMove_06:
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "DoorRelease";
remoteLoad.Seq = DateTime.Now.Ticks;
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
remoteLoad.RequestLoadInfo.IsEmpty=false;
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo2.MoveParam.clone();
RemoteService.SendAndWait(GroupName, remoteLoad);
MoveInfo2.log("从线体到料仓移栽结束:"+ MoveInfo2.MoveParam.ToStr());
MoveInfo2.NewMove(MoveStep.Wait);
break;
}
}
public void ResetProcess()
{
if (CheckWait(MoveInfo))
return;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
//MoveInfo.NextMoveStep(MoveStep.SideMove_01);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H01_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
axis.HomeMove(MoveInfo);
break;
case MoveStep.H02_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
Location.ToLow(MoveInfo);
Transplant.ToLow(MoveInfo);
break;
case MoveStep.H03_HomeReset:
MoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
if (ConfigHelper.Config.Get($"Runtime_{GroupName}_IsSucker",false))
{
if (string.IsNullOrEmpty(CurrrentRFID))
CurrrentRFID = ConfigHelper.Config.Get($"Runtime_{GroupName}_CurrrentRFID");
TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, out _);
MoveInfo.log("检测到上次已打开吸盘,CurrrentRFID:"+ CurrrentRFID);
//入库过程
if (ConfigHelper.Config.Get($"Runtime_{GroupName}_IsInStore", false) && IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.log("正在入库,并且托盘无料");
MoveInfo2.NewMove(MoveStep.TransplantMove_01);
MoveInfo2.MoveParam = JsonConvert.DeserializeObject<ReelParam>(ConfigHelper.Config.Get($"Runtime_{GroupName}_MoveParamJson"));
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
TrayManager.SetToEmpty(ConfigHelper.Config.Get($"Runtime_{GroupName}_CurrrentRFID"));
}
//出库过程d
if (!ConfigHelper.Config.Get($"Runtime_{GroupName}_IsInStore", false) && IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.log("正在出库,并且托盘无料,_IsSuckerSuccess:" + ConfigHelper.Config.Get<bool>($"Runtime_{GroupName}_IsSuckerSuccess"));
if(ConfigHelper.Config.Get<bool>($"Runtime_{GroupName}_IsSuckerSuccess"))
MoveInfo.NewMove(MoveStep.TransplantMove_24);
else
MoveInfo.NewMove(MoveStep.TransplantMove_22);
Transplant.ToHigh(MoveInfo);
MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(ConfigHelper.Config.Get($"Runtime_{GroupName}_MoveParamJson"));
DeviceState = DeviceStateE.Run;
}
}
break;
case MoveStep.H04_HomeReset:
MoveInfo.EndMove();
DeviceState = DeviceStateE.Run;
break;
}
}
/// <summary>
/// 判断干涉节点是否阻塞
/// </summary>
/// <returns></returns>
bool canpass() {
if (GroupName == "AMH-SBDH2-2")
{
if (IOManager.IOValue(IO_Type.Ls_B_Front_Check, "LS2").Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString("Res0039","LS2-2 堵塞中,暂缓放行"), MsgLevel.warning);
return false;
}
}
else if (GroupName == "AMH-SBSH1")
{
if (IOManager.IOValue(IO_Type.Ls_A_Front_Check, "LS2").Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString("Res0040","LS2-1 堵塞中,暂缓放行"), MsgLevel.warning);
return false;
}
}
return FwdFree(DeviceGroup.addr_1);
}
public void TrayRelease()
{
throw new NotImplementedException();
}
public bool IsFree()
{
if (MoveInfo2.MoveStep != MoveStep.Wait) {
return false;
}
return true;
}
public bool FrontCheck(int curaddr)
{
return IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.LOW);
}
}
}