MainMachine_String.cs
23.2 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
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;
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($"升起待机料串");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
return true;
}
return false;
}
StringStateE LastStringState { get => ConfigHelper.Config.Get("Status_LastStringState", StringStateE.None); set => ConfigHelper.Config.Set("Status_LastStringState", value); }
bool newreel = true;
bool downCheck1 = false;
bool downCheck2 = false;
bool downCheck3 = false;
int ReelGetFail = 0;
void StringProcess()
{
if (CheckWait(StringMoveInfo))
return;
switch (StringMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
StringMoveInfo.log($"检测到有料串");
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
StringState = StringStateE.OutStore;
}
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($"当前没有料串");
StringState = StringStateE.None;
LastStringState = StringStateE.None;
}
else if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH))
{
Msg.add(crc.GetString(L.detect_string, "感应到料串"), MsgLevel.info);
StringMoveInfo.log($"感应到料串");
Line.LineRun("n", false, 2);
}
break;
case MoveStep.StringLoad_01:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01a);
StringMoveInfo.log($"批量轴到待机点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
Line.LineRun("n",false, 2);
break;
case MoveStep.StringLoad_01a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_02);
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
Line.LineRun("n", false, 2);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
break;
case MoveStep.StringLoad_02:
if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
StringMoveInfo.log($"顶起料串固定顶升");
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);
}
else
{
StringMoveInfo.log($"料串信号丢失");
StringMoveInfo.NextMoveStep(MoveStep.Wait);
}
newreel = true;
downCheck1 = false;
downCheck2 = false;
downCheck3 = false;
break;
case MoveStep.StringLoad_03:
if (ConfigHelper.Config.Get("Device_Disable_StringDoor", false) || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04);
StringMoveInfo.log($"批量轴到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo);
}
else if (StringMoveInfo.IsTimeOut(10))
{
Msg.add(crc.GetString(L.wait_stringdoor_close, "等待关门折叠门"),MsgLevel.warning);
StringMoveInfo.log($"等待关门");
}
break;
case MoveStep.StringLoad_04:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
if (LastStringState == StringStateE.OutStore)
{
StringMoveInfo.log($"恢复上次料串信息为出库料串");
StringState = StringStateE.OutStore;
}
else if (Batch_Axis.IsInPosition(Config.Batch_P2) && IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
{
StringMoveInfo.log($"料串检测为空");
StringState = StringStateE.OutStore;
if (OutStoreJobList.Count == 0) {
StringMoveInfo.log($"当钱空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
}
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
StringState = StringStateE.InStore;
}
if (!newreel)
SetReelHeight(GetHeight(StringMoveInfo));
newreel = false;
break;
case MoveStep.StringLoad_04a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
//if (StringState == StringStateE.HasReel)
{
StringMoveInfo.log($"料串有盘下降5mm");
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
if (tpos2 < 0)
{
tpos2 = 0;
}
if (StringState == StringStateE.OutStore && tpos2 - Config.Batch_PoToMM * 30 < 0)
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出");
}
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1);
}
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5mm");
var tpos3 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * Config.Batch_DetectDownMM;
Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1);
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);
StringMoveInfo.log($"料串出库模式,下降5cm");
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
if (tpos2 < 0)
{
tpos2 = 0;
}
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1);
StringType = StringTypeE.Out;
}
break;
case MoveStep.StringReadyGet:
Msg.add(crc.GetString(L.string_ready_for_get, "料串取料准备就绪"), MsgLevel.info);
break;
case MoveStep.StringReelGet:
StringMoveInfo.log($"料已取走,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($"料已取走失败,料盘下降");
ReelGetFail++;
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet);
var tpos1 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
if (tpos1 < 0)
tpos1 = 0;
Batch_Axis.AbsMove(StringMoveInfo, tpos1, Config.Batch_P1);
break;
case MoveStep.StringReadyPut:
Msg.add(crc.GetString(L.string_ready_for_put, "料串放料准备就绪"), MsgLevel.info);
StringMoveInfo.log($"料串放料准备就绪");
break;
case MoveStep.StringReelPut:
LastStringState = StringStateE.OutStore;
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($"料串已满可以送出");
}
break;
case MoveStep.StringReelPut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_02);
StringMoveInfo.log($"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_04a);
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo);
break;
case MoveStep.StringOut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_02);
StringMoveInfo.log($"料串下降到P1点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
break;
case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
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:
if (StringState == StringStateE.Full)
Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0427
else
Msg.add(crc.GetString(L.wait_string_take, "等待料串被取走"), MsgLevel.warning);
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($"料串已离开");
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
break;
case MoveStep.StringOut_05:
if (ConfigHelper.Config.Get("Device_Disable_StringDoor", false) || IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.HIGH))
{
StringMoveInfo.NextMoveStep(MoveStep.Wait);
StringMoveInfo.log($"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 (ConfigHelper.Config.Get("Device_Disable_StringDoor", false) || 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($"等待料串被取走超时");
Msg.add(crc.GetString(L.wait_string_take, "等待料串被取走"), MsgLevel.warning);
}
break;
case MoveStep.StringOut_07:
//StringMoveInfo.log($"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 = true)
{
int targetP2 = Config.Batch_P2;
int targetSpeed = Config.Batch_P2_speed;
if (!isFirstMove)
{
int currPosition = Batch_Axis.GetAclPosition();
if (currPosition != -1)
{
//targetP2 = currPosition + Config.Right_Batch_ChangeValue * 80;
if (targetP2 > Config.Batch_P2)
{
targetP2 = Config.Batch_P2;
}
//moveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
}
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);
}
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 + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + LastCode + "】";
LogUtil.info(msg);
return LastHeight;
}
}
}