MainMachine_Clamp.cs
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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
{
/// <summary>
/// 正在等待服务器反馈库位
/// </summary>
public bool IsInStoreReady
{
get => ClampMoveInfo.MoveStep == MoveStep.InWaitServerCallback;
}
/// <summary>
/// 料盘已获取库位在翻板门处准备好入库
/// </summary>
public bool IsWaitInStore
{
get => ClampMoveInfo.MoveStep == MoveStep.WaitInStore;
}
void ReelTaked()
{
ClampMoveInfo.NextMoveStep(MoveStep.ReelTaked);
}
public void NGPuted(string msg)
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
if (!string.IsNullOrEmpty(msg))
{
ClampMoveInfo.MoveParam.NgMsg = msg;
}
ClampMoveInfo.log($"接收到NG盘,msg:{msg}");
ClampMoveInfo.MoveParam.IsNg = true;
}
/// <summary>
/// if (InMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
/// </summary>
/// <param name="jobInfo"></param>
/// <returns></returns>
public bool StartInStore(JobInfo jobInfo)
{
if (IsInStoreReady)
{
ClampMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
ClampMoveInfo.MoveParam.PosID = jobInfo.PosId;
ClampMoveInfo.MoveParam.PlateH = jobInfo.plateH;
ClampMoveInfo.MoveParam.PlateW = jobInfo.plateW;
ClampMoveInfo.NextMoveStep(MoveStep.WaitInStore);
ClampMoveInfo.log($"料盘等待入库:{ClampMoveInfo.MoveParam.ToStr()}");
return true;
}
return false;
}
void SetReelHeight(int height)
{
if (ClampMoveInfo.MoveStep != MoveStep.ReelClamp_WaitGaugeHeight)
{
ClampMoveInfo.log($"不再等待测高的步骤们无法设置盘高:{height}");
return; }
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_GetHeight);
ClampMoveInfo.MoveParam.PlateH = height;
ClampMoveInfo.log($"设置盘高:{height}");
}
int ClampErrorCount = 0;
void ClampProcess()
{
if (CheckWait(ClampMoveInfo))
return;
switch (ClampMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (OutSingleJobList.Count > 0 || StoreMoveInfo.MoveStep>= MoveStep.StoreOut10) {
ClampMoveInfo.log($"优先单盘出库,当单盘出库结束后继续");
}
else if (IsGetReelReady) {
ClampMoveInfo.NewMove(MoveStep.ReelClamp_01);
ClampMoveInfo.MoveParam = StringMoveInfo.MoveParam.clone();
}
break;
case MoveStep.ReelClamp_01:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_02);
ClampMoveInfo.log($"取料夹爪下降");
CylinderMove(ClampMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
CylinderMove(ClampMoveInfo, IO_Type.ClampingDisc_Down,IO_Type.ClampingDisc_Up, IO_VALUE.LOW);
break;
case MoveStep.ReelClamp_02:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_03);
ClampMoveInfo.log($"取料夹爪张开");
CylinderMove(ClampMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.HIGH);
break;
case MoveStep.ReelClamp_03:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_04);
ClampMoveInfo.log($"取料夹爪退回待机点");
CylinderMove(ClampMoveInfo, IO_Type.ClampingDisc_Down,IO_Type.ClampingDisc_Up, IO_VALUE.HIGH);
break;
case MoveStep.ReelClamp_04:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_05);
int width = GetWidth();
ClampMoveInfo.log($"检测盘宽={width}");
ClampMoveInfo.MoveParam.PlateW = width;
break;
case MoveStep.ReelClamp_05:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_WaitGaugeHeight);
if (ClampMoveInfo.MoveParam.PlateW == 0)
{
ClampErrorCount++;
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_height, "未检测到盘宽");
ClampMoveInfo.log($"未检测到盘宽");
ReelGetted(false);
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_08);
SingleDoor.ToHigh(ClampMoveInfo);
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("Res0017","未检测到盘"), true);
}
else
{
ClampErrorCount = 0;
ReelGetted();
ClampMoveInfo.log($"检测到盘,盘宽:{ClampMoveInfo.MoveParam.PlateW},通知料串料已取走");
}
break;
case MoveStep.ReelClamp_WaitGaugeHeight:
ClampMoveInfo.log($"等待测高");
Msg.add(crc.GetString(L.wait_detect_reel_height, "等待料盘测高"), MsgLevel.info);
break;
case MoveStep.ReelClamp_GetHeight:
ClampMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
ClampMoveInfo.log($"测高结果:{ClampMoveInfo.MoveParam.PlateH}");
if (RobotManage.InoutDebugMode)
{ }
else if (ClampMoveInfo.MoveParam.IsNg)
{
ClampMoveInfo.NextMoveStep(MoveStep.WaitInStore);
ClampMoveInfo.log($"NG料直接去单料口,NG原因" + ClampMoveInfo.MoveParam.NgMsg);
return;
}
else
{
var x = ClampMoveInfo.MoveParam.codeInfos;
var cc = x.Select((a) => a.CodeStr);
LastCode = String.Join("##", cc);
ServerCM.SendInStoreRequest(cc.ToArray(), ClampMoveInfo.MoveParam, true);
}
break;
case MoveStep.InWaitServerCallback:
if (RobotManage.InoutDebugMode)
{
Msg.add(crc.GetString(L.wait_user_select_pos, "等待手动选择入库库位"), MsgLevel.warning);
}
else if (ClampMoveInfo.IsTimeOut(20))
{
ClampMoveInfo.NextMoveStep(MoveStep.WaitInStore);
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.wait_server_response_pos_timeout, "服务器返回库位超时");
ClampMoveInfo.log($"等待服务器返回库位超时");
}
else if (ClampMoveInfo.IsTimeOut(5))
Msg.add(crc.GetString(L.wait_server_response_pos, "等待服务器返回库位"), MsgLevel.info);
break;
case MoveStep.WaitInStore:
if (ClampMoveInfo.MoveParam.IsNg)
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
else
Msg.add(crc.GetString(L.reel_wait_in_store, "料盘等待入库"), MsgLevel.info);
break;
case MoveStep.ReelTaked:
ClampMoveInfo.log($"料盘已取走");
ClampMoveInfo.NewMove(MoveStep.Wait);
break;
case MoveStep.NGOUT_01:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_06);
ClampMoveInfo.log($"单料口出库");
break;
case MoveStep.NGOUT_06:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_07);
//if (!NGDoor_Tray_Test_Reel)
//{
// Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm);
// Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
// RobotManage.UserPause("传感器X29未检测到单料口料盘");
//}
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(ClampMoveInfo);
break;
case MoveStep.NGOUT_07:
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
if (NGDoor_Tray_Test_Reel)
{
Msg.add(crc.GetString(L.please_take_ngdoor_reel, "等待取走单口料盘"), MsgLevel.alarm);
//RobotManage.UserPause("等待取走单口料盘");
}
else
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_08);
ClampMoveInfo.log("料盘已取走");
}
break;
case MoveStep.NGOUT_08:
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning);
}else if (IOValue(IO_Type.NGDoor_Close).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.wait_ngdoor_close, "等待单料门关闭"), MsgLevel.warning);
}
else
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_09);
}
break;
case MoveStep.NGOUT_09:
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && NGDoor_Tray_Test_Reel)
{
ClampMoveInfo.log("NG口任然检测到料盘");
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_06);
}
else if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.NGDoor_Tray_Check).Equals(IO_VALUE.LOW))
{
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_10);
//ClampMoveInfo.log("关门NG口门");
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
//SingleDoor.ToLow(ClampMoveInfo);
}
else
{
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning);
}
break;
case MoveStep.NGOUT_10:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_11);
ClampMoveInfo.log("进出轴返回待机位boxTransport恢复运行");
boxTransport.Continue();
break;
case MoveStep.NGOUT_11:
ClampMoveInfo.NewMove(MoveStep.Wait);
break;
case MoveStep.SingleIn:
if (boxTransport.IsComplateOrFree)
{
ClampMoveInfo.NextMoveStep(MoveStep.SingleIn_01);
boxTransport.Lock();
ClampMoveInfo.log("开始单盘入库, 4轴到单料口待机位");
//if (Middle_Axis.IsInPosition(Config.Middle_P2))
InOut_Axis.AbsMove(ClampMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
Middle_Axis.AbsMove(ClampMoveInfo, Config.Middle_P2, Config.Middle_P2_speed);
UpDown_Axis.AbsMove(ClampMoveInfo, Config.UpDown_P3, Config.UpDown_P2_speed);
Comp_Axis.AbsMove(ClampMoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
}
break;
case MoveStep.SingleIn_01:
ClampMoveInfo.NextMoveStep(MoveStep.SingleIn_02);
ClampMoveInfo.log("开始单盘入库, 进出轴p2");
InOut_Axis.AbsMove(ClampMoveInfo, Config.InOut_P2, Config.InOut_P2_speed);
break;
case MoveStep.SingleIn_02:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInReady);
ClampMoveInfo.log("开始单盘入库, 打开紧急料口");
SingleDoor.ToHigh(ClampMoveInfo);
break;
case MoveStep.SingleInReady:
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待放入单盘入库料盘"), MsgLevel.warning);
break;
case MoveStep.SingleInRun:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInRun_01);
ClampMoveInfo.log("开始单盘入库, 关闭单料口");
SingleDoor.ToLow(ClampMoveInfo);
ClampMoveInfo.MoveParam.ReelOnFixture = true;
ClampMoveInfo.MoveParam.PlateW = 7;
ClampMoveInfo.MoveParam.PlateH = 100;
break;
case MoveStep.SingleInRun_01:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInRun_02);
ClampMoveInfo.log("开始单盘入库, 进出轴到p1");
InOut_Axis.AbsMove(ClampMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
break;
case MoveStep.SingleInRun_02:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInRun_03);
ClampMoveInfo.log("开始单盘入库, 升降轴到料串高点p4");
UpDown_Axis.AbsMove(ClampMoveInfo, Config.UpDown_P4, Config.UpDown_P1_speed);
break;
case MoveStep.SingleInRun_03:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInRun_04);
ClampMoveInfo.log("开始单盘入库, 进出轴到p4");
InOut_Axis.AbsMove(ClampMoveInfo, Config.InOut_P3, Config.InOut_P3_speed);
break;
case MoveStep.SingleInRun_04:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInRun_05);
scantrytimes = 0;
ScanCode();
break;
case MoveStep.SingleInRun_05:
if (ScanTask.IsCompleted)
{
boxTransport.Unlock();
ClampMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
var xx = ScanTask.Result;
if (xx.Count == 0)
{
ClampMoveInfo.NextMoveStep(MoveStep.WaitInStore);
ClampMoveInfo.log($"未识别到有效二维码,送到NG口");
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
return;
}
else
{
ClampMoveInfo.log($"已完成扫码,无需测高,等待服务器返回高度");
ClampMoveInfo.MoveParam.IsNg = false;
ClampMoveInfo.MoveParam.codeInfos = xx;
var ccc = xx.Select((a) => a.CodeStr);
LastCode = String.Join("##", ccc);
ServerCM.SendInStoreRequest(ccc.ToArray(), ClampMoveInfo.MoveParam, true);
}
}
else if (ClampMoveInfo.IsTimeOut(15))
{
scantrytimes++;
if (scantrytimes < 3)
{
ClampMoveInfo.NextMoveStep(MoveStep.SingleInRun_03);
ClampMoveInfo.log($"扫码超时,第{scantrytimes}次重试,拍照扫码");
ScanTask = null;
ScanCode();
}
else
{
boxTransport.Unlock();
ClampMoveInfo.NextMoveStep(MoveStep.WaitInStore);
ClampMoveInfo.MoveParam.IsNg = true;
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.scan_code_timeout, "扫码超时");
ClampMoveInfo.log($"等待扫码超时,NG口送出");
}
}
break;
default:
ClampMoveInfo.log($"未找到对应步骤:{ClampMoveInfo.MoveStep}");
break;
}
}
bool NGDoor_Tray_Test_Reel
{
get
{
//return IOValue(IO_Type.NGDoor_Tray_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH);
return IOValue(IO_Type.NGDoor_Tray_Check).Equals(IO_VALUE.HIGH);
}
}
private int GetWidth()
{
if(IOManager.IOValue(IO_Type.WidthCheck_13).Equals(IO_VALUE.HIGH))
{
return 13;
}
else if (IOManager.IOValue(IO_Type.WidthCheck_7).Equals(IO_VALUE.HIGH))
{
return 7;
}
return 0;
}
string ClampState()
{
string state = "";
if (ClampMoveInfo.MoveStep == MoveStep.Wait)
{
return crc.GetString(L.free,"空闲中");
}
else if (ClampMoveInfo.MoveStep >= MoveStep.NGOUT_01)
{
state = crc.GetString(L.ngdoor, "单料口:") +ClampMoveInfo.MoveParam.NgMsg;
}
else if (ClampMoveInfo.MoveStep >= MoveStep.ReelClamp_09)
{
return crc.GetString(L.scanning_code, "扫码中");
}
else if (ClampMoveInfo.MoveStep >= MoveStep.ReelClamp_01)
{
return crc.GetString(L.taking_code, "取料中");
}
return state;
}
public bool IsScanRunning() {
if (ScanTask == null)
return false;
return !ScanTask.IsCompleted;
}
int scantrytimes = 0;
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> ScanTask;
string lastcode = "";
public void ScanCode() {
StringMoveInfo.log("开始扫码");
//RightMoveInfo.OneWaitCanEndStep = true;
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitScanCode());
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
int retry = 0;
try
{
ScanTask = Task.Run(new Func<List<CodeInfo>>(()=>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
List<CodeInfo> LastCodeList;
if (Setting_Init.SocketScanner_enable) {
retry:
LastCodeList = new List<CodeInfo>();
if (RobotManage.socketScanner.Scan(Setting_Init.SocketScanner_trigger_code, Setting_Init.SocketScanner_pattern_code, out string code)) {
if (lastcode != code)
{
lastcode = code;
LastCodeList.Add(new CodeInfo(code, 0, 0));
}
else {
LogUtil.info($"前后2次条码相同:{code}");
if (retry < 2)
{
retry++;
LogUtil.info($"重试,第{retry}次");
goto retry;
}
}
}
}
else
{
if (Setting_Init.Device_CloseDeviceLightWhenScan)
IOMove(IO_Type.Device_Led, IO_VALUE.LOW);
LastCodeList = CodeManager.CameraScan(CodeManager.hikNameList);
if (Setting_Init.Device_CloseDeviceLightWhenScan)
IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
}
return LastCodeList;
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
}
}