MainMachine_String.cs
38.0 KB
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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;
using System.Windows.Forms;
namespace DeviceLibrary
{
partial class MainMachine
{
public StringStateE StringState = StringStateE.None;
public StringTypeE StringType = StringTypeE.None;
/// <summary>
/// 返回料盘是否已准备好
/// </summary>
public bool IsGetReelReady
{
get => StringMoveInfo.MoveStep == MoveStep.StringReadyGet;
}
/// <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 (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{
StringMoveInfo.log($"升起待机料串");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.HIGH);
newreel = true;
return true;
}
return false;
}
StringStateE LastStringState { get => ConfigHelper.Config.Get("Buffer_LastStringState", StringStateE.None); set => ConfigHelper.Config.Set("Buffer_LastStringState", value); }
bool newreel = true;
bool downCheck1 = false;
bool downCheck2 = false;
bool downCheck3 = false;
int ReelGetFail = 0;
/// <summary>
/// 出库下降对射触发位置高度
/// </summary>
int LastOutDownPosition = 0;
/// <summary>
/// 入库料盘拿走后，料串下降一段距离
/// </summary>
int batchDownDistance = Setting_Init.Batch_ReelGetedDownMM;
int RealPulse = 0;
void StringProcess()
{
if (CheckWait(StringMoveInfo))
return;
switch (StringMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (StringMoveInfo.IsTimeOut(3) && IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW))
{
StringMoveInfo.NextMoveStep(MoveStep.Wait);
if (!Batch_Axis.IsInPosition(Config.Batch_P1))
{
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
}
}
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
Batch_Axis.SuddenStop();
StringMoveInfo.log($"检测到有料串");
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
}
else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.no_string, "当前没有料串"), MsgLevel.info);
StringMoveInfo.log($"当前没有料串");
StringState = StringStateE.None;
LastStringState = StringStateE.None;
needEnter(AGVLib.NodeStatus.NeedEnter);
}
else if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString(L.detect_string, "感应到料串"), MsgLevel.info);
StringMoveInfo.log($"感应到料串");
Line.LineRun("n", false, 2);
StringState = StringStateE.None;
LastStringState = StringStateE.None;
}
break;
case MoveStep.StringLoad_01:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01a);
StringMoveInfo.log($"批量轴到待机点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
Line.LineRun("n", false, 2);
break;
case MoveStep.StringLoad_01a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02);
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
Line.LineRun("n", false, 2);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
break;
case MoveStep.StringLoad_02:
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02a);
StringMoveInfo.log($"顶起料串固定顶升");
//if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
// StringDoorClose(StringMoveInfo);
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.HIGH);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
Line.LineStop("n");
}
else
{
StringMoveInfo.log($"料串信号丢失");
StringMoveInfo.NextMoveStep(MoveStep.Wait);
}
newreel = true;
downCheck1 = false;
downCheck2 = false;
downCheck3 = false;
break;
case MoveStep.StringLoad_02a:
if (EnableBatchFixCheck)
{
if (IOValue(IO_Type.Laser_Location).Equals(IO_VALUE.LOW))
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
StringMoveInfo.log($"料串未成功放入料叉上，请检查");
Msg.add(crc.GetString(L.bacth_no_fix, "料串未成功放入料叉上，请检查"), MsgLevel.warning);
RobotManage.UserPause(crc.GetString(L.bacth_no_fix, "料串未成功放入料叉上，请检查"), true);
return;
}
}
if (Setting_Init.Disable_StringDoor || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02b);
StringMoveInfo.log($"批量轴高速到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo, true);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009", "料串正在上升"), MsgLevel.info));
}
else if (StringMoveInfo.IsTimeOut(10))
{
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"), MsgLevel.warning);
StringMoveInfo.log($"等待关门");
}
break;
case MoveStep.StringLoad_02b:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
StringMoveInfo.log($"料串下降到x13信号灭");
BatchAxisToTagLow(StringMoveInfo);
break;
case MoveStep.StringLoad_03:
if (Setting_Init.Disable_StringDoor || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04);
StringMoveInfo.log($"批量轴到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo, StringState == StringStateE.OutStore);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009", "料串正在上升"), MsgLevel.info));
}
else if (StringMoveInfo.IsTimeOut(10))
{
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"), MsgLevel.warning);
StringMoveInfo.log($"等待关门");
}
break;
case MoveStep.StringLoad_04:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
//OffsetEmptyToTrayCheck 空料串到P2点与料盘定位信号补偿值
LastOutDownPosition = Batch_Axis.GetAclPosition() + Setting_Init.OffsetEmptyToTrayCheck * Config.Batch_PoToMM;
if (LastStringState == StringStateE.OutStore)
{
StringMoveInfo.log($"恢复上次料串信息为出库料串");
StringState = StringStateE.OutStore;
}
if (Batch_Axis.IsInPosition(Config.Batch_P2) && IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
{
StringMoveInfo.log($"料串检测为空");
StringState = StringStateE.OutStore;
if (Setting_Init.StringStandbyAtBottom && OutStoreJobList.Count == 0 && ServerCM.queueTaskCount <= 0 && boxTransport.IsComplateOrFree)
{
SetReelHeight(GetHeight(ClampMoveInfo));
StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
}
else if (StringState != StringStateE.OutStore)
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
StringState = StringStateE.InStore;
StringMoveInfo.log($"判断为入库料串");
}
break;
case MoveStep.StringLoad_04a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"料串下降到x13信号灭");
BatchAxisToTagLow(StringMoveInfo);
break;
case MoveStep.StringLoad_04b:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
if (!newreel)
SetReelHeight(GetHeight(ClampMoveInfo));
newreel = false;
StringMoveInfo.log($"料串有盘下降{Config.Batch_DetectDownMM}mm");
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
if (tpos2 < 0)
{
tpos2 = 0;
}
int maxReelHeight = Setting_Init.Outstore_ReelMaxHeightMM;
int minPos1 = tpos2 - Config.Batch_PoToMM * maxReelHeight;
if (StringState == StringStateE.OutStore && minPos1 < 0)
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出，提升轴当前={Batch_Axis.GetAclPosition()},最小脉冲值={minPos1}");
}
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
break;
case MoveStep.StringLoad_05:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_06);
StringMoveInfo.log($"检测阻挡避让");
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
break;
case MoveStep.StringLoad_06:
if (StringState == StringStateE.InStore)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.log($"料串有盘上升{Config.Batch_DetectDownMM + 2}mm");
var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
//OpenFlipDoor(StringMoveInfo);
StringType = StringTypeE.In;
}
else if (StringState == StringStateE.OutStore)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
if (tpos2 < 0)
{
tpos2 = 0;
}
StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,={tpos2},{Batch_Axis.GetAclPosition()}");
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
StringType = StringTypeE.Out;
}
break;
case MoveStep.StringReadyGet:
Msg.add(crc.GetString(L.string_ready_for_get, "料串取料准备就绪"), MsgLevel.info);
break;
case MoveStep.StringReelGet:
StringMoveInfo.log($"料已取走,料串下降{batchDownDistance}mm");
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet_01);
tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * batchDownDistance;
if (tpos2 < 0)
{
tpos2 = 0;
}
RealPulse = Batch_Axis.GetAclPosition() - tpos2;
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
break;
case MoveStep.StringReelGet_01:
StringMoveInfo.log($"料已取走,开始测高");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
break;
case MoveStep.StringReelGetFail:
StringMoveInfo.log($"料已取走失败,料盘下降");
ReelGetFail++;
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet);
var tpos1 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
if (tpos1 < 0)
tpos1 = 0;
Batch_Axis.AbsMove(StringMoveInfo, tpos1, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
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($"料串放料准备就绪");
if (Setting_Init.StringStandbyAtBottom && ServerCM.queueTaskCount <= 0 && boxTransport.IsComplateOrFree && OutStoreJobList.Count <= 0 && StoreMoveInfo.MoveStep != MoveStep.StoreOut10)
{
StringMoveInfo.log($"当前没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
break;
case MoveStep.StringReelPut:
LastStringState = StringStateE.OutStore;
if (Setting_Init.OutStore_StringReelCheck)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
StringMoveInfo.log($"检测阻挡工作");
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
return;
}
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH + Config.Batch_OutPlateDownMM);
if (tpos < 0)
tpos = 0;
maxReelHeight = Setting_Init.Outstore_ReelMaxHeightMM;
if (tpos < Config.Batch_P2 * 0.3 && !downCheck1)
{
StringMoveInfo.log($"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($"料串下降到60%位置,重新上升");
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_01);
downCheck2 = true;
}
else if (tpos > Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}mm");
Batch_Axis.AbsMove(StringMoveInfo, tpos, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
}
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,提升轴当前位置={Batch_Axis.GetAclPosition()},最小脉冲值={tpos}");
}
break;
case MoveStep.StringReelPut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_02);
StringMoveInfo.log($"检测阻挡工作");
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
break;
case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo, true);
break;
case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo, true);
break;
case MoveStep.StringReelPut_04:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05);
var heightcheck = (LastOutDownPosition - Batch_Axis.GetAclPosition()) / Config.Batch_PoToMM;
StringMoveInfo.log($"LastOutDownPosition={LastOutDownPosition},CurrentPosition={Batch_Axis.GetAclPosition()},heightcheck={heightcheck}");
int height = StringMoveInfo.MoveParam.PlateH + 3;
int outstoreHeightCheckLowDevia = Setting_Init.Outstore_HeightCheckLowerDeviation;
int outstoreHeightCheckUpDevia = Setting_Init.Outstore_HeightCheckUpperDeviation;
if (heightcheck <= Setting_Init.ReelCheckTriggerDeviation)
{
Msg.add(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"));
}
else if ((heightcheck < height - outstoreHeightCheckLowDevia) || (heightcheck > height + outstoreHeightCheckUpDevia))//
{
Msg.add(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString(L.outstore_abnormal_reel, "出库时料盘未成功放入料串,请检查"));
}
break;
case MoveStep.StringReelPut_05:
LastOutDownPosition = Batch_Axis.GetAclPosition();
maxReelHeight = Setting_Init.Outstore_ReelMaxHeightMM;
var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutPlateDownMM;
if (tpos3 < 0)
tpos3 = 0;
int minPos = Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight;
if (tpos3 > minPos)//料盘最大高度
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
StringMoveInfo.log($"料串已满可以送出,提升轴当前={tpos3},最小脉冲值={minPos}");
}
break;
case MoveStep.StringOut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_02);
StringMoveInfo.log($"料串下降到P1点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0010", "料串正在下降"), MsgLevel.info));
break;
case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
needLeave(AGVLib.NodeStatus.NeedLeave);
StringMoveInfo.log($"呼叫AGV取料串");
// StringMoveInfo.log($"打开门");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
break;
case MoveStep.StringOut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_Released);
StringMoveInfo.log($"放下料串顶升");
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
break;
case MoveStep.StringOut_Released:
ServerCM.storeStatus = StoreStatus.StoreOnline;
if (StringState == StringStateE.Full)
{
//if (ConfigHelper.Config.Get("OpenStringDoorAfterOutStoreEnd", true))
// StringDoorOpen(StringMoveInfo);
Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.info);//0427
}
else
Msg.add(crc.GetString(L.wait_string_take, "等待料串被取走"), MsgLevel.info);
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
StringMoveInfo.NextMoveStep(MoveStep.Wait);
LastStringState = StringStateE.None;
StringState = StringStateE.None;
StringMoveInfo.log($"料串已离开");
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
break;
case MoveStep.StringOut_05:
if (Setting_Init.Disable_StringDoor || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.Wait);
StringMoveInfo.log($"折叠门已关闭");
}
else
{
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"), MsgLevel.info);
}
break;
case MoveStep.StringOut_06:
if (Setting_Init.Disable_StringDoor || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.Wait);
StringMoveInfo.log($"料串未拿走,直接关门");
}
else if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW))
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_05);
StringMoveInfo.log($"料串已离开");
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (StringMoveInfo.IsTimeOut(30))
{
StringMoveInfo.log($"等待料串被取走超时");
Msg.add(crc.GetString(L.wait_string_take, "等待料串被取走"), MsgLevel.info);
}
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.empty_reel, "空料串");
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;
Batch_Axis.SuddenStop();
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = Batch_Axis.GetAclPosition() - (Config.Batch_PoToMM * 2);
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Batch_Axis, targetP2, targetSpeed));
Config.Batch_Axis.TargetPosition = targetP2;
Batch_Axis.AbsMove(null, targetP2, targetSpeed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
//开始检测信号
Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.HIGH);
}
void BatchAxisToTagLow(MoveInfo moveInfo)
{
int targetP1 = Config.Batch_P1;
int targetSpeed = Config.Batch_P2_speed;
moveInfo.log("BatchAxisToLow 目标P1: " + targetP1);
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.WaitIO(IO_Type.TrayCheck, IO_VALUE.LOW));
Config.Batch_Axis.TargetPosition = targetP1;
Batch_Axis.AbsMove(null, targetP1, targetSpeed);
Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
//开始检测信号
Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.LOW);
}
string LastCode = "";
private int GetHeight(MoveInfo moveInfo)
{
int w15SubVal = Setting_Init.CalHeight_Width15HeightSubVal;
int w13SubVal = Setting_Init.CalHeight_Width13HeightSubVal;
int w8MaxVal = Setting_Init.CalHeight_Height8MaxVal;
int LastHeight = 0;
int AxisChangeValue = Config.Batch_PoToMM;
//计算高度
int EndMovePosition = Batch_Axis.GetAclPosition();
StartMovePosition += RealPulse;
float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
string buchongStr = "";
string prefix = $"料盘高度计算({moveInfo.Name})--";
LogUtil.info($"{prefix}计算的原始厚度 {height}mm");
if (Batch_Axis.IsInPosition(Config.Batch_P2))
{
buchongStr = $"(最后一盘料已补充{Config.LastTrayAddHeight})";
height += Config.LastTrayAddHeight;
}
if (moveInfo.MoveParam.PlateW == 15)
{
height -= w15SubVal;
LogUtil.info($"{prefix}宽度15料盘，厚度自减{w15SubVal}mm");
}
else if (moveInfo.MoveParam.PlateW == 13)
{
height -= w13SubVal;
LogUtil.info($"{prefix}宽度13料盘，厚度自减{w13SubVal}mm");
}
else
{
LogUtil.info($"{prefix}宽度为{moveInfo.MoveParam.PlateW}mm");
}
if (height < w8MaxVal)
{
LastHeight = 8;
LogUtil.info($"{prefix}计算出的厚度小于{w8MaxVal}，认为是8mm料盘");
}
else
{
if (Setting_Init.CalHeight_EnableCustHeightList)
{
try
{
string[] heights = Setting_Init.CalHeight_HeightList;
foreach (var item in heights)
{
string[] s1 = item.Split('=');
int curHeight;
int min, max;
curHeight = int.Parse(s1[0]);
string[] s2 = s1[1].Split('#');
min = int.Parse(s2[0]);
max = int.Parse(s2[1]);
if (height >= min && height < max)
{
LastHeight = curHeight;
break;
}
}
}
catch (Exception e)
{
LogUtil.error($"{prefix}使用自定义高度列表异常", e);
List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56, 72 };
float minCha = float.MaxValue;
foreach (int h in heightList)
{
float curCha = Math.Abs(height - h);
if (curCha < minCha)
{
LastHeight = h;
minCha = curCha;
}
}
// List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56 };
// foreach (int h in heightList)
// {
// if (height > h)
// {
// LastHeight = h;
// }
// }
}
}
else
{
List<int> heightList = new List<int> { 8, 12, 16, 24, 32, 44, 56, 72 };
float minCha = float.MaxValue;
foreach (int h in heightList)
{
float curCha = Math.Abs(height - h);
if (curCha < minCha)
{
LastHeight = h;
minCha = curCha;
}
}
}
}
if (LastHeight <= 8) { LastHeight = 8; }
//string code = CodeManager.ProcessCode(LastCodeList);
string msg = Name + prefix + "上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + "[" + height + "]，" + buchongStr + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
LogUtil.info(msg);
return LastHeight;
}
public void StringDoorOpen(MoveInfo moveInfo)
{
if (Setting_Init.Disable_StringDoor)
{
LogUtil.info($"料串门已屏蔽，不打开");
return;
}
if (StringDoor != null)
{
StringDoor.LiftUp(moveInfo);
}
else
{
CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
}
}
public void StringDoorClose(MoveInfo moveInfo)
{
if(Setting_Init.Disable_StringDoor)
{
LogUtil.info($"料串门已屏蔽，不关闭");
return;
}
if (StringDoor != null)
{
StringDoor.LiftDown(moveInfo);
}
else
{
CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
}
}
public void StringDoorPause()
{
if (Setting_Init.Disable_StringDoor)
{
LogUtil.info($"料串门已屏蔽，不暂停");
return;
}
if (StringDoor != null)
StringDoor.Pause();
}
}
}