MainMachine_ServerControl.cs
3.7 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
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
partial class MainMachine
{
public string doSingleInOpenNgDoor()
{
LogUtil.info("请求单盘入库,打开门");
if (ClampMoveInfo.MoveStep == MoveStep.Wait)
{
ClampMoveInfo.NewMove(MoveStep.SingleIn);
return "开始单盘入库";
}
return "取料机构运转中,无法单盘入库";
}
public string doTakeOutReel()
{
LogUtil.info("请求下降出库料串");
var step = RobotManage.mainMachine.StringMoveInfo.MoveStep;
var clampstep = RobotManage.mainMachine.ClampMoveInfo.MoveStep;
if (step == MoveStep.StringReadyGet && clampstep >= MoveStep.ReelClamp_GetHeight)
{
RobotManage.mainMachine.StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
return "开始释放料串";
}
if (step == MoveStep.StringReadyPut)
{
RobotManage.mainMachine.StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
return "开始释放料串";
}
LogUtil.info($"料串无法释放,料仓正在出入库中:{StringMoveInfo.MoveStep}");
return $"料串无法释放,料仓正在出入库中.";
}
public string doSingleInCloseNgDoor()
{
LogUtil.info("请求单盘入库,关闭门");
if (ClampMoveInfo.MoveStep == MoveStep.SingleInReady)
{
ClampMoveInfo.NewMove(MoveStep.SingleInRun);
return "关闭单料门";
}
LogUtil.info($"取料机构当前没有在等待单盘入库:{ClampMoveInfo.MoveStep}");
return $"取料机构当前没有在等待单盘入库:{ClampMoveInfo.MoveStep}";
}
public string doOpenBatchDoor()
{
LogUtil.info("请求打开批量料门");
var step = RobotManage.mainMachine.StringMoveInfo.MoveStep;
var clampstep = RobotManage.mainMachine.ClampMoveInfo.MoveStep;
StringMoveInfo.LastSetpTime = DateTime.Now;
StringMoveInfo.IsInWait = true;
if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
return "开始打开折叠门";
//LogUtil.info($"批量料门无法打开,料仓正在出入库中:{StringMoveInfo.MoveStep}");
//return $"批量料门无法打开,料仓正在出入库中.";
}
public string doCloseBatchDoor()
{
LogUtil.info("请求关闭批量料门");
if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info("料串尚未到位无法关门X09=High");
return $"料串尚未到位无法关门X09=High";
}
//RobotManage.mainMachine.StringMoveInfo.NewMove(MoveStep.Wait);
//RobotManage.mainMachine.StringMoveInfo.NextMoveStep(RobotManage.mainMachine.StringMoveInfo.MoveStep);
StringMoveInfo.LastSetpTime = DateTime.Now;
StringMoveInfo.IsInWait = true;
if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
return $"批量料门关闭";
}
}
}