MainMachine_String.cs
27.2 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
using CodeLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
public StringStateE StringState = StringStateE.None;
/// <summary>
/// 返回料盘是否已准备好
/// </summary>
public bool IsGetReelReady
{
get => StringMoveInfo.MoveStep == MoveStep.StringReadyGet && (boxTransport.To == null || boxTransport.To.posid != BoxStorePosition.ngdoor);
}
/// <summary>
/// 返回料串是否准备好放料盘
/// </summary>
public bool IsPutReelReady
{
get => StringMoveInfo.MoveStep == MoveStep.StringReadyPut;
}
/// <summary>
/// 通知料盘已取走
/// </summary>
void ReelGetted(bool success = true)
{
if (StringMoveInfo.MoveStep == MoveStep.StringReadyGet)
if (success)
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet);
else
StringMoveInfo.NextMoveStep(MoveStep.StringReelGetFail);
else
StringMoveInfo.log($"无法执行ReelGetted,因为当前步骤为:{StringMoveInfo.MoveStep}");
}
/// <summary>
/// 通知料盘已放下
/// </summary>
void ReelPutted(int plateH)
{
if (StringMoveInfo.MoveStep == MoveStep.StringReadyPut)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut);
StringMoveInfo.MoveParam.PlateH = plateH;
}
else
StringMoveInfo.log($"无法执行ReelPutted,因为当前步骤为:{StringMoveInfo.MoveStep}");
}
/// <summary>
/// 强制转换料串为出库模式
/// </summary>
public bool TurnToOut() {
if (!IsBatchDoorClosed) {
return false;
}
if (StringState>= StringStateE.Full)
{
return false;
}
if (StringMoveInfo.MoveStep == MoveStep.Wait)
{
StringMoveInfo.log($"升起待机料串");
StringState = StringStateE.OutStore;
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
newreel = true;
return true;
}
return false;
}
public string StartBatchIn()
{
if (!IsBatchDoorClosed)
{
LogUtil.info("批量门未关闭无法锁门X07=High");
return crc.GetString(L.batch_door_not_close_cant_lock, "批量门未关闭无法锁门X07=High");//0704
}
if (StringMoveInfo.MoveStep == MoveStep.Wait)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
CylinderMove(StringMoveInfo, IO_Type.BatchDoor_Close, IO_Type.BatchDoor_Open, IO_VALUE.LOW);
StringMoveInfo.log($"开始批量入库");
StringState = StringStateE.InStore;
return crc.GetString("Res0025","开始批量入库");
}
return crc.GetString("Res0026","系统忙碌,无法批量入库");
}
bool IsBatchDoorClosed => IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH);
//StringStateE LastStringState { get => ConfigHelper.Config.Get("Status_LastStringState", StringStateE.None); set => ConfigHelper.Config.Set("Status_LastStringState", value); }
bool newreel = true;
bool downCheck1 = false;
bool downCheck2 = false;
bool downCheck3 = false;
int ReelGetFail = 0;
Task TestHeightTask = null;
const bool oldtestheight = true;
/// <summary>
/// 出库下降对射触发位置高度
/// </summary>
int LastOutDownPosition = 0;
void StringProcess()
{
if (CheckWait(StringMoveInfo))
return;
switch (StringMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (StringState == StringStateE.Full)
Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0704
else if (StringState == StringStateE.ManualOut)
Msg.add(crc.GetString(L.string_manual_takeout, "手动请求取出料串"), MsgLevel.warning);//0704
else if (StringState == StringStateE.OutStore)
{
Msg.add(crc.GetString(L.out_store_free, "舱内有出库料盘"), MsgLevel.warning);//0704
}
if (StringState < StringStateE.Full && StoreMoveInfo.MoveStep >= MoveStep.StoreOut10 && !StoreMoveInfo.MoveParam.IsNg && IsBatchDoorClosed)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
StringState = StringStateE.OutStore;
StringMoveInfo.log($"有料盘在出库, 强制转为出库料串");
}
break;
case MoveStep.StringLoad_01:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01a);
StringMoveInfo.log($"批量轴到待机点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
break;
case MoveStep.StringLoad_01a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02);
break;
case MoveStep.StringLoad_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02a);
lastcode = "";
newreel = true;
downCheck1 = false;
downCheck2 = false;
downCheck3 = false;
break;
case MoveStep.StringLoad_02a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02b);
StringMoveInfo.log($"批量轴高速上升到顶部检测点");
BatchAxisToP2(StringMoveInfo, true);
break;
case MoveStep.StringLoad_02b:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
var tpos1 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * 10;
if (tpos1 < 0)
tpos1 = 0;
Batch_Axis.AbsMove(StringMoveInfo, tpos1, Config.Batch_P1_speed);
StringMoveInfo.log($"批量轴下降1cm");
break;
case MoveStep.StringLoad_03:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04);
if (oldtestheight)
{
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo);
TestHeightTask = null;
}
else {
TestHeightTask = TestReelHeight();
}
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0027","料串正在上升"),MsgLevel.warning));
break;
case MoveStep.StringLoad_04:
if (oldtestheight)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
if (Batch_Axis.IsInPosition(Config.Batch_P2) && IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
{
StringMoveInfo.log($"料串检测为空");
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0 && StoreMoveInfo.MoveStep < MoveStep.StoreOut10)
{
StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
}
if (!newreel)
SetReelHeight(GetHeight(StringMoveInfo));
newreel = false;
}
else if (TestHeightTask.IsCompleted){
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
}
break;
case MoveStep.StringLoad_05:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_06);
break;
case MoveStep.StringLoad_06:
if (StringState == StringStateE.InStore)
{
if (ClampMoveInfo.MoveStep == MoveStep.Wait && (!Middle_Axis.IsInPosition(Config.Middle_P2) || InOut_Axis.IsInPosition(Config.InOut_P1)))
{
if (RobotManage.InoutDebugMode) {
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.log($"出入库测试模式跳过拍照扫码");
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_07);
StringMoveInfo.log($"拍照扫码");
scantrytimes = 0;
ScanCode();
}
}
else
Msg.add(crc.GetString("Res0028","扫码等待夹爪空闲"), MsgLevel.info);
}
else if (StringState == StringStateE.OutStore)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
LastOutDownPosition = Batch_Axis.GetAclPosition();
var tpos4 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
if (tpos4 < 0)
{
tpos4 = 0;
}
StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,{tpos4},{Batch_Axis.GetAclPosition()}");
if (tpos4 < Config.Batch_P1)
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满,无法出库,开始送出");
}
Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
}
break;
case MoveStep.StringLoad_07:
if (ScanTask.IsCompleted)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
var x = ScanTask.Result;
if (x.Count == 0)
{
StringMoveInfo.log($"未识别到有效二维码,送到NG口");
StringMoveInfo.MoveParam.IsNg = true;
StringMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
return;
}
else
{
StringMoveInfo.log($"已完成扫码,等待等待测高 Count={x.Count}");
StringMoveInfo.MoveParam.IsNg = false;
StringMoveInfo.MoveParam.codeInfos = x;
//var cc = x.Select((a) => a.CodeStr);
//LastCode = String.Join("##", cc);
//ServerCM.SendInStoreRequest(cc.ToArray(), ClampMoveInfo.MoveParam, true);
}
}
else if (StringMoveInfo.IsTimeOut(15))
{
scantrytimes++;
if (scantrytimes < 3)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_07);
StringMoveInfo.log($"扫码超时,第{scantrytimes}次重试,拍照扫码");
ScanTask = null;
ScanCode();
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.MoveParam.IsNg = true;
StringMoveInfo.MoveParam.NgMsg = crc.GetString(L.scan_code_timeout, "扫码超时");
StringMoveInfo.log($"等待扫码超时,NG口送出");
}
}
break;
case MoveStep.StringReadyGet:
Msg.add(crc.GetString(L.string_ready_for_get, "料串取料准备就绪"), MsgLevel.info);
break;
case MoveStep.StringReelGet:
StringMoveInfo.log($"料已取走,开始测高");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
break;
case MoveStep.StringReelGetFail:
StringMoveInfo.log($"料盘取走失败,料盘下降");
ReelGetFail++;
StringMoveInfo.NextMoveStep(MoveStep.StringReelGetFail_02);
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * 20;
if (tpos2 < 0)
tpos2 = 0;
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
break;
case MoveStep.StringReelGetFail_02:
StringMoveInfo.log($"料盘取走失败,重新上升");
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet);
BatchAxisToP2(StringMoveInfo);
break;
case MoveStep.StringReadyPut:
Msg.add(crc.GetString(L.string_ready_for_put, "料串放料准备就绪"), MsgLevel.info);
StringMoveInfo.log($"料串放料准备就绪");
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && ServerCM.queueTaskCount == 0 && boxTransport.IsComplateOrFree)
{
StringMoveInfo.log($"当前服务器反馈没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
break;
case MoveStep.StringReelPut:
if (Setting_Init.Device_OutStoreStringReelCheck) {
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
BatchAxisToP2(StringMoveInfo,true);
return;
}
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH+Config.Batch_OutPlateDownMM);
if (tpos < 0)
tpos = 0;
if (tpos < Config.Batch_P2 * 0.3 && !downCheck1)
{
StringMoveInfo.log($"料串下降到30%位置,重新上升");
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_01);
downCheck1 = true;
}
else if (tpos < Config.Batch_P2 * 0.7 && !downCheck2)
{
StringMoveInfo.log($"料串下降到60%位置,重新上升");
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_01);
downCheck2 = true;
}
else if (tpos > Config.Batch_P1)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}cm");
Batch_Axis.AbsMove(StringMoveInfo, tpos, Config.Batch_P1_speed);
}
else if (!downCheck3)
{
StringMoveInfo.log($"料串下降到0%位置,重新上升");
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_01);
downCheck3 = true;
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出");
}
break;
case MoveStep.StringReelPut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_02);
break;
case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo);
break;
case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
var heightcheck = (LastOutDownPosition - Batch_Axis.GetAclPosition()) / Config.Batch_PoToMM;
StringMoveInfo.log($"LastOutDownPosition={LastOutDownPosition},CurrentPosition={Batch_Axis.GetAclPosition()},heightcheck={heightcheck}");
if (heightcheck <= 5) {
Msg.add(crc.GetString("Res0029","出库时料盘未成功放入料串,请检查"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("Res0029","出库时料盘未成功放入料串,请检查"));
}
break;
case MoveStep.StringReelPut_04:
LastOutDownPosition = Batch_Axis.GetAclPosition();
var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutPlateDownMM;
if (tpos3 < 0)
tpos3 = 0;
if (tpos3 > Config.Batch_P1)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
StringMoveInfo.log($"料盘放入料串,下降{Config.Batch_OutPlateDownMM}cm");
Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1_speed);
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出");
}
break;
case MoveStep.StringOut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_Released);
StringMoveInfo.log($"料串下降到P1点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0030","料串正在下降"), MsgLevel.warning));
break;
case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_Released);
StringMoveInfo.log($"打开门");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
break;
case MoveStep.StringOut_Released:
StringMoveInfo.log($"料串已回到待机点");
StringMoveInfo.NewMove(MoveStep.Wait);
break;
case MoveStep.StringOut_07:
//StringMoveInfo.log($"关闭折叠门");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
StringMoveInfo.EndMove();
break;
default:
StringMoveInfo.log($"未找到对应步骤:{StringMoveInfo.MoveStep}");
break;
}
}
string StringProcessState() {
string state = "";
if (StringState == StringStateE.OutStore)
state = crc.GetString(L.out_string, "出库料串");
else if (StringState >= StringStateE.Full)
{
state = crc.GetString(L.full_reel, "满料串");
}
else if (StringState == StringStateE.InStore)
state = crc.GetString(L.instore_reel, "入库料串");
//else if (StringState == StringStateE.None)
// state = crc.GetString(L.no_string, "无料串");
if (StringMoveInfo.MoveStep == MoveStep.Wait)
{
return crc.GetString(L.free, "空闲中");
}
else if (StringMoveInfo.MoveStep <= MoveStep.StringLoad_06)
{
return crc.GetString(L.string_prepare, "料串准备中");
}
else if (StringMoveInfo.MoveStep >= MoveStep.StringOut_01)
{
return crc.GetString(L.string_releasing, "料串释放中");
}
else if (StringMoveInfo.MoveStep > MoveStep.StringLoad_06)
{
return state;
}
return state;
}
int StartMovePosition = 0;
void BatchAxisToP2(MoveInfo moveInfo, bool isFirstMove = false)
{
int targetP2 = Config.Batch_P2;
int targetSpeed = Config.Batch_P2_speed;
if (isFirstMove)
{
targetSpeed = Config.Batch_P1_speed;
}
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2);
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = Batch_Axis.GetAclPosition();
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Batch_Axis, targetP2, targetSpeed));
Config.Batch_Axis.TargetPosition = targetP2;
Batch_Axis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.HIGH);
}
Task TestReelHeight() {
return Task.Run(()=> {
int upmm = 0;
for (int i = 0; i < 56 / 2; i++) {
upmm += 2;
LogUtil.info($"上升:{2}mm,累计:{upmm}mm");
var r = TestUp(2);
if (r == 1)
{
SetReelHeight(CalcHeight(upmm));
return;
}
else if (r == -1)
{
LogUtil.info($"上升:{2}mm,累计:{upmm}mm,最后一盘补偿:{Config.LastTrayAddHeight}={upmm + Config.LastTrayAddHeight}");
SetReelHeight(CalcHeight(upmm + Config.LastTrayAddHeight));
return;
}
}
});
}
int TestUp(int mm) {
int currPosition = Batch_Axis.GetAclPosition();
if (currPosition + Config.Batch_PoToMM * mm >= Config.Batch_P2)
{
Batch_Axis.AbsMove(null, Config.Batch_P2, Config.Batch_P1_speed);
Task.Delay(50).Wait();
while (Batch_Axis.IsBusy)
{
Task.Delay(20).Wait();
}
Task.Delay(160).Wait();
if (IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.HIGH))
return 1;
else
return -1;
}
Batch_Axis.RelMove(Config.Batch_PoToMM * mm, Config.Batch_P1_speed);
Task.Delay(20).Wait();
while (Batch_Axis.IsBusy)
{
Task.Delay(20).Wait();
}
if (IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.HIGH))
return 1;
else
return 0;
}
int CalcHeight(int mm)
{
LogUtil.info($"获取mm:{mm}");
List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
heightList.Reverse();
//heightList = (from m in heightList orderby m descending select m).ToList<int>();
//float minCha = height;
foreach (int h in heightList)
{
if (mm > h + 1)
{
return h;
}
}
return 8;
}
string LastCode = "";
private int GetHeight(MoveInfo moveInfo)
{
int LastHeight = 0;
int AxisChangeValue = Config.Batch_PoToMM;
//计算高度
int EndMovePosition = Batch_Axis.GetAclPosition();
float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
string buchongStr = "";
if (Batch_Axis.IsInPosition(Config.Batch_P2))
{
buchongStr = $"(最后一盘料已补充{Config.LastTrayAddHeight})";
height += Config.LastTrayAddHeight;
}
if (moveInfo.MoveParam.PlateW == 15)
{
height -= 2;
}
else if (moveInfo.MoveParam.PlateW == 13)
{
//height -= 3;
}
//如果检测出<=15,都按照8计算
if (height < 12)
{
LastHeight = 8;
}
else
{
List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
//heightList = (from m in heightList orderby m descending select m).ToList<int>();
//float minCha = height;
foreach (int h in heightList)
{
if (height > h)
{
LastHeight = h;
}
}
}
if (LastHeight <= 8) { LastHeight = 8; }
//string code = CodeManager.ProcessCode(LastCodeList);
string msg = Name + crc.GetString("Res0031"," 计算盘高：上升前 [") + StartMovePosition + crc.GetString("Res0032","]实时[ ") + EndMovePosition + crc.GetString("Res0033","]差值[") + (EndMovePosition - StartMovePosition) + crc.GetString("Res0034","]系数[") + AxisChangeValue + crc.GetString("Res0035","] 计算后") + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
LogUtil.info(msg);
return LastHeight;
}
}
}