TinStoreBean_Partial.cs
49.0 KB
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Collections.Concurrent;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
partial class TinStoreBean
{
public StirInfo CurrStirInfo = null;
public ConcurrentQueue<InOutParam> WaitMoveParamList = new ConcurrentQueue<InOutParam>();
public void AddWaitMoveParam(InOutParam code)
{
WaitMoveParamList.Enqueue(code);
}
#region 回温移库
public bool StartMovement(InOutParam param)
{
if (runStatus == StoreRunStatus.Runing && MoveInfo.MoveType.Equals(MoveType.None))
{
if (!param.LoadParam(Config))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位 " + param.PosId + "");
return false;
}
if (IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，夹爪检测有料");
return false;
}
if (param.TarPosition == null)
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，未找到目标位置" + param.TarPosId + "");
return false;
}
if (param.Position.PosType.Equals(1) && param.TarPosition.PosType.Equals(2))
{
moveWatch.Restart();
LogUtil.info(Name + "启动 " + param.LogName + " ");
runStatus = StoreRunStatus.Busy;
// storeStatus = StoreStatus.Rewarm_Taking;
MoveInfo.NewMove(MoveType.MovePos, param);
UpdateLastStatus(StoreStatus.Rewarm_Taking, param.PosId);
MoveInfo.NextMoveStep(StoreMoveStep.MG_01_InoutToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ConfigMoveAxis axis = GetPosTAxis();
MovePosLog(" 移库：进出轴到P1," + axis.ProName + "停止匀速旋转");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
ACServerManager.SuddenStop(axis.DeviceName,axis.GetAxisValue());
return true;
}
else
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，库位不匹配，需要 冷藏区->回温区");
return false;
}
}
else
{
LogUtil.error(Name + " 启动 " + param.LogName + "出错，当前状态:[" + runStatus + "],[" + MoveInfo.MoveType + "]");
return false;
}
}
protected override void MovementProcess()
{
StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StoreMoveStep.MG_01_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.MG_02_AxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ConfigMoveAxis axis = GetPosTAxis();
MovePosLog("移库：" + axis.ProName + "回原点");
int pos = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
if (Math.Abs(pos) > Spin_around_pos)
{
ACAxisHomeMove(axis);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_02_AxisHome))
{
MoveInfo.NextMoveStep(StoreMoveStep.MG_03_OpenCold);
MovePosLog("移库：开冷藏门");
CylinderMove(MoveInfo, IO_Type.ColdDoor_Close, IO_Type.ColdDoor_Open);
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_03_OpenCold))
{
MoveInfo.NextMoveStep(StoreMoveStep.MG_04_ToBag);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MovePosLog("移库：旋转轴至P2["+ moveP.Middle_P2 + "]（ 库位点）,升降轴至P5["+ moveP.UpDown_P5 + "](库位出库前点） ,冷藏轴到P2["+ moveP.Cold_P2 + "]");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
ACAxisMove(Config.Colding_Axis, moveP.Cold_P2, Config.ColdingAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_04_ToBag))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.MG_05_InoutToP3);
MovePosLog("移库：进出轴 至P3["+ moveP.InOut_P3 + "](库位取放料点）");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_05_InoutToP3))
{
MoveInfo.NextMoveStep(StoreMoveStep.MG_06_Clamping_Work);
MovePosLog("移库： 夹爪夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_06_Clamping_Work))
{
MoveInfo.NextMoveStep(StoreMoveStep.MG_07_UpdownToP6);
MovePosLog("移库：升降轴到缓冲点P6["+ moveP.UpDown_P6 + "]，更新状态为 回温取料完成");
UpdateLastStatus(StoreStatus.Rewarm_Taking_End, MoveInfo.MoveParam.PosId);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_07_UpdownToP6))
{
MoveInfo.NextMoveStep(StoreMoveStep.MG_08_InoutToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MovePosLog("移库：进出轴返回P1,停止回温轴匀速运动");
InOutBackToP1(moveP.InOut_P1);
AxisSuddenStop(Config.Warming_Axis);
}
else if (MoveInfo.IsStep(StoreMoveStep.MG_08_InoutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
MoveInfo.NextMoveStep(StoreMoveStep.MP_11_MoveToTBag);
UpdateLastStatus(StoreStatus.Rewarm_Putting, MoveInfo.MoveParam.TarPosId);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (Config.IsUse_Tray_Check==1)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
MovePosLog("移库：开始到回温库位，旋转轴 至P2["+ tPosition.MiddleAxis_P2 + "]（ 库位点）升降轴至P3["+ tPosition.UpDownAxis_IH_P3 + "](库位入库前点），回温区旋转轴回原点，");
ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IH_P3, Config.UpDownAxis_P3_Speed);
ACAxisHomeMove(Config.Warming_Axis);
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_11_MoveToTBag))
{
TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
MoveInfo.NextMoveStep(StoreMoveStep.MP_12_TargetAxisToP2);
MovePosLog("移库：回温轴到P2["+ tPosition.WarmAxis_P2 + "]，关闭冷藏区门");
CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
ACAxisMove(Config.Warming_Axis, tPosition.WarmAxis_P2, Config.WarmingAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_12_TargetAxisToP2))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
MoveInfo.NextMoveStep(StoreMoveStep.MP_14_InoutToP3);
MovePosLog("移库：叉子进入库位中，进出轴至P3["+ tPosition.InOutAxis_P3 + "]");
ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_14_InoutToP3))
{
TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
MoveInfo.NextMoveStep(StoreMoveStep.MP_15_UpdownToP4);
MovePosLog("移库：放下物品，升降轴至P4 ["+ tPosition.UpDownAxis_IL_P4 + "]（ 库位入料缓冲点）");
ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IL_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_15_UpdownToP4))
{
MoveInfo.NextMoveStep(StoreMoveStep.MP_16_Clamping_Relax);
MovePosLog("移库：夹爪放松，回温放料完成");
CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
UpdateLastStatus(StoreStatus.Rewarm_Putting_End, MoveInfo.MoveParam.TarPosId);
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_16_Clamping_Relax))
{
MoveInfo.NextMoveStep(StoreMoveStep.MP_17_InOutToP1);
MovePosLog("入库。。叉子从库位中返回，进出轴动作至P1");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_17_InOutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.MP_19_GoBack);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MovePosLog("移库：返回待机点，轴2/轴1动作至P1， 回温轴冷藏轴开始匀速旋转，");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
StartWork();
}
else if (MoveInfo.IsStep(StoreMoveStep.MP_19_GoBack))
{
TimeSpan span = moveWatch.Elapsed;
moveWatch.Stop();
LogUtil.info(Name + " " + MoveInfo.MoveParam.LogName + " 结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
UpdateLastStatus(StoreStatus.StoreOnline);
runStatus = StoreRunStatus.Runing;
}
}
#endregion
#region 搅拌数据加载
private void LoadCurrStirInfo()
{
string jsonData = ConfigAppSettings.GetValue(Setting_Init.CurrStirInfo);
CurrStirInfo = JsonHelper.DeserializeJsonToObject<StirInfo>(jsonData);
if (CurrStirInfo == null)
{
LogUtil.info(Name + "读取搅拌区信息【" + jsonData + "】为空，重新初始化搅拌信息");
CurrStirInfo = new StirInfo();
jsonData = JsonHelper.SerializeObject(CurrStirInfo);
ConfigAppSettings.SaveValue(Setting_Init.CurrStirInfo, jsonData);
}
}
public bool UpdateCurrStirInfo(bool isStir, InOutParam param)
{
LogUtil.info(Name + "更新搅拌区信息：【" + isStir + "】 【" + param.LogName + "】");
if (CurrStirInfo == null)
{
CurrStirInfo = new StirInfo();
}
CurrStirInfo.InStirWork = isStir;
CurrStirInfo.StartTime = DateTime.Now;
CurrStirInfo.StirParam = param;
CurrStirInfo.MoveStatus = 0;
string jsonData = JsonHelper.SerializeObject(CurrStirInfo);
ConfigAppSettings.SaveValue(Setting_Init.CurrStirInfo, jsonData);
return true;
}
/// <summary>
/// 更新搅拌区状态，1=物料1已放入，2=物料2已放入，3=搅拌中，4=搅拌完成，等待取出物料，5=物料1已取出，6=物料2已取出，7=全部完成
/// </summary>
/// <param name="state">搅拌区状态：1=物料1已放入，2=物料2已放入，3=搅拌中，4=搅拌完成，等待取出物料，5=物料1已取出，6=物料2已取出，7=全部完成</param>
/// <returns></returns>
private bool UpdateCurrStirState(int state, int stirSeconds = 0)
{
if (CurrStirInfo == null || CurrStirInfo.StirParam == null)
{
return false;
}
CurrStirInfo.MoveStatus = state;
CurrStirInfo.StartTime = DateTime.Now;
CurrStirInfo.StopTime = DateTime.Now.AddSeconds(stirSeconds);
if (state.Equals(3))
{
LogUtil.info(Name + "更新搅拌区【" + CurrStirInfo.StirParam.LogName + "】状态=【" + state + "】,需搅拌"+stirSeconds+"秒，预计搅拌结束时间【" + CurrStirInfo.StopTime.ToLongTimeString() + "】 ");
}
else
{
LogUtil.info(Name + "更新搅拌区【" + CurrStirInfo.StirParam.LogName + "】状态=【" + state + "】 ");
}
string jsonData = JsonHelper.SerializeObject(CurrStirInfo);
ConfigAppSettings.SaveValue(Setting_Init.CurrStirInfo, jsonData);
return true;
}
#endregion
#region 搅拌
public bool StartStirring(InOutParam param)
{
if (runStatus == StoreRunStatus.Runing && MoveInfo.MoveType.Equals(MoveType.None))
{
if (CurrStirInfo != null && CurrStirInfo.InStirWork && CurrStirInfo.MoveStatus >= 2)
{
string json = JsonHelper.SerializeObject(CurrStirInfo);
LogUtil.error(Name + " 启动 " + param.LogName + "失败，搅拌区已被占用： " + CurrStirInfo.StirParam.LogName + "[" + json + "]");
return false;
}
if (!param.LoadParam(Config))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位 " + param.PosId + "");
return false;
}
if (IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，夹爪检测有料");
return false;
}
if (!param.Position.PosType.Equals(2))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，[" + param.PosId + "]不是回温区库位");
return false;
}
moveWatch.Restart();
LogUtil.info(Name + "启动 " + param.LogName + "，保存搅拌区参数 ");
UpdateCurrStirInfo(true, param);
runStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(MoveType.Stirring, param);
UpdateLastStatus(StoreStatus.Mix_Taking, param.PosId);
ConfigMoveAxis axis = GetPosTAxis();
AxisSuddenStop(axis);
Thread.Sleep(1000);
MoveInfo.NextMoveStep(StoreMoveStep.ST_01_InoutToP1);
OutStoreLog(" 送料1搅拌：进出轴到P1," + axis.ProName + "停止匀速旋转");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
else
{
LogUtil.error(Name + " 启动 " + param.LogName + "出错，当前状态:[" + runStatus + "],[" + MoveInfo.MoveType + "]");
return false;
}
}
protected override void StirringProcess()
{
StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 送料1去搅拌位1
if (MoveInfo.IsStep(StoreMoveStep.Wait))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_01_InoutToP1);
ConfigMoveAxis axis = GetPosTAxis();
OutStoreLog(" 送料1搅拌：进出轴到P1," + axis.ProName + "停止匀速旋转");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
AxisSuddenStop(axis);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_01_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_02_AxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutStoreLog(" 送料1搅拌：,回温轴回原点");
ACAxisHomeMove(Config.Warming_Axis);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_02_AxisHome))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_03_ToBag);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutStoreLog(" 送料1搅拌： 旋转轴至P2[" + moveP.Middle_P2 + "],升降轴至P5[" + moveP.UpDown_P5 + "]， 回温轴到P2[" + moveP.Warm_P2 + "]");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_03_ToBag))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.ST_05_InoutToP3);
OutStoreLog(" 送料1搅拌：进出轴 至P3[" + moveP.InOut_P3 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_05_InoutToP3))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_06_Clamping_Work);
OutStoreLog(" 送料1搅拌： 夹爪夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_06_Clamping_Work))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_07_UpdownToP6);
OutStoreLog(" 送料1搅拌：升降轴到缓冲点P6[" + moveP.UpDown_P6 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_07_UpdownToP6))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_08_InoutToP1);
OutStoreLog(" 送料1搅拌：进出轴返回P1，搅拌气缸上升");
InOutBackToP1(moveP.InOut_P1);
CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_08_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_09_MoveToStir);
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
Stir_Axis_ServOn();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (Config.IsUse_Tray_Check == 1)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
OutStoreLog(" 送料1搅拌：移动到搅拌位置，升降轴到搅拌区高点P101 [" + Config.UpDownAxis_StirH_P101 + "],旋转轴到P101 [" + Config.UpDownAxis_StirH_P101 + "], 搅拌轴到P1[" + Config.Stir_Axis_P1 + "]");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Stir_Axis, Config.Stir_Axis_P1, Config.StirAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_09_MoveToStir))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_10_LocationDown);
OutStoreLog(" 送料1搅拌：搅拌气缸下降");
CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
Stir_Axis_ServOff();
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_10_LocationDown))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.ST_11_InoutToP101);
OutStoreLog(" 送料1搅拌：进出轴移动到搅拌区取放料点P101[" + Config.InOutAxis_Stir_P101 + "]");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_11_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_12_UpdownToP102);
OutStoreLog(" 送料1搅拌：升降轴下降到P102 [" + Config.UpDownAxis_StirL_P102 + "] ,更新搅拌区信息");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_12_UpdownToP102))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_13_Clamping_Relax);
OutStoreLog(" 送料1搅拌：夹爪放松，更新搅拌状态：物料1已放入搅拌区");
CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
UpdateCurrStirState(1);
UpdateLastStatus(StoreStatus.Wait_Mix, MoveInfo.MoveParam.PosId);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_13_Clamping_Relax))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_14_InoutToP1);
OutStoreLog(" 送料1搅拌：进出轴后退到P1");
InOutBackToP1(Config.InOutAxis_P1);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Stir, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_14_InoutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.ST_15_MatchMixSolder);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
OutStoreLog(" 送料1搅拌完成，判断是否需要 获取匹配的锡膏");
//判断是否需要使用砝码
if (MoveInfo.MoveParam.TarPosId.Equals(""))
{
//先从服务器获取砝码
string msg = "";
MixData data = StoreManager.matchMixSolder(MoveInfo.MoveParam.PosCode, out msg);
if (msg.Equals("") && (data != null) && (data.posId != "") && (data.posId != MoveInfo.MoveParam.PosId))
{
TinStorePosition p = CSVPositionReader<TinStorePosition>.GetPositon(data.posId);
if (p != null && p.PosType.Equals(2))
{
MoveInfo.MoveParam.TarPosCode = data.barcode;
MoveInfo.MoveParam.TarPosId = data.posId;
MoveInfo.MoveParam.TarWeight = data.weight;
LogUtil.info(MoveInfo.MoveParam.LogName + "搅拌前，matchMixSolder：[" + data.posId + "][" + data.barcode + "][" + data.weight + "]G");
}
else
{
MoveInfo.MoveParam.UpdateFama();
}
}
else
{
MoveInfo.MoveParam.UpdateFama();
}
}
MoveInfo.EndStepWait();
}
#endregion
#region 送料2去搅拌位2
else if (MoveInfo.IsStep(StoreMoveStep.ST_15_MatchMixSolder)) {
MoveInfo.NextMoveStep(StoreMoveStep.ST_23_ToBag);
UpdateLastStatus(StoreStatus.Mix_Taking, MoveInfo.MoveParam.TarPosId);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutStoreLog(" 送料2搅拌： 旋转轴至P2["+ tPosition.MiddleAxis_P2 + "],升降轴至P5["+ tPosition.UpDownAxis_OH_P5 + "] ,回温轴到P2["+ tPosition.WarmAxis_P2 + "]");
ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_OH_P5, Config.UpDownAxis_P5_Speed);
ACAxisMove(Config.Warming_Axis, tPosition.WarmAxis_P2, Config.WarmingAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_23_ToBag))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.ST_25_InoutToP3);
OutStoreLog(" 送料2搅拌：进出轴 至P3["+ tPosition.InOutAxis_P3 + "]");
ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_25_InoutToP3))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_26_Clamping_Work);
OutStoreLog(" 送料2搅拌： 夹爪夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_26_Clamping_Work))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_27_UpdownToP6);
OutStoreLog(" 送料2搅拌：升降轴到缓冲点P6["+ tPosition.UpDownAxis_OL_P6 + "]");
ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_OL_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_27_UpdownToP6))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_28_InoutToP1);
OutStoreLog(" 送料2搅拌：进出轴返回P1，搅拌气缸上升");
InOutBackToP1(Config.InOutAxis_P1);
CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_28_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_29_MoveToStir);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
Stir_Axis_ServOn();
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
OutStoreLog(" 送料2搅拌：移动到搅拌位置，升降轴到搅拌区高点P101["+ Config.MiddleAxis_Stir_P101 + "],旋转轴到P101 ["+ Config.UpDownAxis_StirH_P101 + "], 搅拌轴到P2["+ Config.Stir_Axis_P2 + "]");
if (Config.IsUse_Tray_Check == 1)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
ACAxisMove(Config.Stir_Axis, Config.Stir_Axis_P2, Config.StirAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_29_MoveToStir))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_30_LocationDown);
OutStoreLog(" 送料2搅拌：搅拌气缸下降");
CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
Stir_Axis_ServOff();
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_30_LocationDown))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.ST_31_InoutToP101);
OutStoreLog(" 送料2搅拌：进出轴移动到搅拌区取放料点P101 ["+ Config.InOutAxis_Stir_P101 + "]");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_31_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_32_UpdownToP102);
OutStoreLog(" 送料2搅拌：升降轴下降到P102 ["+ Config.UpDownAxis_StirL_P102 + "]");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_32_UpdownToP102))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_33_Clamping_Relax);
OutStoreLog(" 送料2搅拌：夹爪放松，更新搅拌状态：物料2已放入搅拌区");
CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
UpdateCurrStirState(2);
UpdateLastStatus(StoreStatus.Wait_Mix, MoveInfo.MoveParam.TarPosId);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_33_Clamping_Relax))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_34_InoutToP1);
OutStoreLog(" 送料2搅拌：进出轴后退到P1");
InOutBackToP1(Config.InOutAxis_P1);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Stir, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_34_InoutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.ST_35_LocationUp);
OutStoreLog(" 送料2搅拌：搅拌气缸上升");
CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_35_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.ST_41_StartStir);
Stir_Axis_ServOn();
OutStoreLog(" 搅拌：开始搅拌，回温轴，搅拌轴，开始匀速旋转");
ACServerManager.SpeedMove(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue(), Config.StirAxis_P1_Speed);
StartWork(2);
UpdateCurrStirState(3,MoveInfo.MoveParam.StirSecsond );
if (MoveInfo.MoveParam.TarPosition.PosType >= 100)
{
UpdateLastStatus(StoreStatus.Mixing, MoveInfo.MoveParam.PosId );
}
else
{
UpdateLastStatus(StoreStatus.Mixing, MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.TarPosId);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_41_StartStir))
{
TimeSpan span = moveWatch.Elapsed;
moveWatch.Stop();
LogUtil.info(Name + " " + MoveInfo.MoveParam.LogName + " 送料去搅拌结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
runStatus = StoreRunStatus.Runing;
storeStatus = StoreStatus.StoreOnline;
}
#endregion
#region 搅拌完成：搅拌位1物料回库位
else if (MoveInfo.IsStep(StoreMoveStep.SR_51_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_52_MoveToStir);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
//if (ACServerManager.GetBusyStatus(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue()).Equals(1))
//{
// AxisSuddenStop(Config.Stir_Axis);
//}
OutStoreLog(" 搅拌1回库：移动到搅拌位置，升降轴到搅拌区低点P102 ["+ Config.UpDownAxis_StirL_P102 + "]，旋转轴到P101 ["+ Config.MiddleAxis_Stir_P101 + "], 搅拌轴到P1["+ Config.Stir_Axis_P1 + "]");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Stir_Axis, Config.Stir_Axis_P1, Config.StirAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_52_MoveToStir))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_53_LocationDown);
OutStoreLog(" 搅拌1回库：搅拌气缸下降");
CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
Stir_Axis_ServOff();
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_53_LocationDown))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.SR_54_InoutToP101);
OutStoreLog(" 搅拌1回库：进出轴到P101 ["+ Config.InOutAxis_Stir_P101 + "]");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_54_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_55_Clamping_Work);
OutStoreLog(" 搅拌1回库：夹爪气缸夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_55_Clamping_Work))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_56_UpdownToP101);
OutStoreLog(" 搅拌1回库：升降轴上升到高点P101 ["+ Config.UpDownAxis_StirH_P101 + "]");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_56_UpdownToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_57_InoutToP1);
OutStoreLog(" 搅拌1回库：进出轴返回P1，更新搅拌状态为物料1已取出");
InOutBackToP1(Config.InOutAxis_P1);
UpdateCurrStirState(5);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_57_InoutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.SR_58_MoveToBag);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (Config.IsUse_Tray_Check == 1)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
OutStoreLog(" 搅拌1回库：移动到库位点，旋转轴 至P2["+ moveP.UpDown_P3 + "],升降轴至P3["+ moveP.Middle_P2 + "]，回温轴回原点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisHomeMove(Config.Warming_Axis);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_58_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_59_TargetAxisToP2);
OutStoreLog(" 搅拌1回库：回温轴到P2 ["+ moveP.Warm_P2 + "]");
ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_59_TargetAxisToP2))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.SR_61_InoutToP3);
OutStoreLog(" 搅拌1回库：叉子进入库位中，进出轴至P3["+ moveP.InOut_P3 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_61_InoutToP3))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_62_UpdownToP4);
OutStoreLog(" 搅拌1回库：放下物品，升降轴至P4["+ moveP.UpDown_P4 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_62_UpdownToP4))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_63_Clamping_Relax);
OutStoreLog(" 搅拌1回库：夹爪放松");
CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_63_Clamping_Relax))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_64_InOutToP1);
OutStoreLog(" 搅拌1回库：叉子从库位中返回，进出轴动作至P1");
InOutBackToP1(moveP.InOut_P1);
UpdateLastStatus(StoreStatus.MixEnd, MoveInfo.MoveParam.PosId);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_64_InOutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
MoveInfo.NextMoveStep(StoreMoveStep.SR_71_LocationUp);
OutStoreLog(" 搅拌2回库：进出轴返回，定位气缸上升，");
CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
}
#endregion
#region 搅拌完成：搅拌位2物料回库位
else if (MoveInfo.IsStep(StoreMoveStep.SR_71_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_72_MoveToStir);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
Stir_Axis_ServOn();
OutStoreLog(" 搅拌2回库：移动到搅拌位置，升降轴到搅拌区低点P102 ["+ Config.UpDownAxis_StirL_P102 + "]，旋转轴到P101 ["+ Config.MiddleAxis_Stir_P101 + "], 搅拌轴到P2 ["+ Config.Stir_Axis_P2 + "]");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Stir_Axis, Config.Stir_Axis_P2, Config.StirAxis_P2_Speed);
UpdateLastStatus(StoreStatus.Mix_Putting, MoveInfo.MoveParam.TarPosId);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_72_MoveToStir))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_73_LocationDown);
OutStoreLog(" 搅拌2回库：搅拌气缸下降");
CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
Stir_Axis_ServOff();
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_73_LocationDown))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.SR_74_InoutToP101);
OutStoreLog(" 搅拌2回库：进出轴到P101 ["+ Config.InOutAxis_Stir_P101 + "]");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_74_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_75_Clamping_Work);
OutStoreLog(" 搅拌2回库：夹爪气缸夹紧");
CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Tighten);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_75_Clamping_Work))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_76_UpdownToP101);
OutStoreLog(" 搅拌2回库：升降轴上升到高点P101 ["+ Config.UpDownAxis_StirH_P101 + "]");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_76_UpdownToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_77_InoutToP1);
OutStoreLog(" 搅拌2回库：进出轴返回P1,更改搅拌状态为物料2已取出 ");
InOutBackToP1(Config.InOutAxis_P1);
UpdateCurrStirState(6);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_77_InoutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.SR_78_MoveToBag);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (Config.IsUse_Tray_Check == 1)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
OutStoreLog(" 搅拌2回库：移动到库位点，旋转轴 至P2["+ tPosition.MiddleAxis_P2 + "],升降轴至P3["+ tPosition.UpDownAxis_IH_P3 + "]，回温轴到P2 ["+ tPosition.WarmAxis_P2 + "]");
ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IH_P3, Config.UpDownAxis_P3_Speed);
ACAxisMove(Config.Warming_Axis, tPosition.WarmAxis_P2, Config.WarmingAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_78_MoveToBag))
{
// MoveInfo.NextMoveStep(StoreMoveStep.SR_79_TargetAxisToP2);
// OutStoreLog(" 搅拌2回库：冷藏轴或回温轴到P2点");
//}
//else if (MoveInfo.IsStep(StoreMoveStep.SR_79_TargetAxisToP2))
//{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.SR_81_InoutToP3);
OutStoreLog(" 搅拌2回库：叉子进入库位中，进出轴至P3 ["+ tPosition.InOutAxis_P3 + "]");
ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_81_InoutToP3))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_82_UpdownToP4);
OutStoreLog(" 搅拌2回库：放下物品，升降轴至P4 ["+ tPosition.UpDownAxis_IL_P4 + "] ");
ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IL_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_82_UpdownToP4))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_83_Clamping_Relax);
OutStoreLog(" 搅拌2回库：夹爪放松");
CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_83_Clamping_Relax))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_84_InOutToP1);
Stir_Axis_ServOn();
OutStoreLog(" 搅拌2回库：叉子从库位中返回，进出轴动作至P1，搅拌气缸上升，更新搅拌状态为全部完成");
CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
InOutBackToP1(Config.InOutAxis_P1);
UpdateCurrStirState(7);
UpdateLastStatus(StoreStatus.MixEnd, MoveInfo.MoveParam.TarPosId);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_84_InOutToP1))
{
HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
TimeSpan span = moveWatch.Elapsed;
moveWatch.Stop();
LogUtil.info(Name + " " + MoveInfo.MoveParam.LogName + " 搅拌物料回库完成，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
runStatus = StoreRunStatus.Runing;
storeStatus = StoreStatus.StoreOnline;
UpdateCurrStirInfo(false, new InOutParam(MoveType.None, ""));
}
#endregion
}
private bool StartStirBackPos(InOutParam param)
{
if (runStatus == StoreRunStatus.Runing && MoveInfo.MoveType.Equals(MoveType.None))
{
if (!param.LoadParam(Config))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位 " + param.PosId + "");
return false;
}
if (IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，夹爪检测有料");
return false;
}
if (!param.Position.PosType.Equals(2))
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，[" + param.PosId + "]不是回温区库位");
return false;
}
if (param.TarPosition==null)
{
LogUtil.error(Name + " 启动 " + param.LogName + "失败，找不到库位 [" + param.TarPosition + "]");
return false;
}
moveWatch.Restart();
LogUtil.info(Name + "启动 " + param.LogName + "，回库操作 ");
runStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(MoveType.Stirring, param);
//Thread.Sleep(2000);
UpdateLastStatus(StoreStatus.Mix_Putting, MoveInfo.MoveParam.PosId);
MoveInfo.NextMoveStep(StoreMoveStep.SR_51_InoutBack);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
OutStoreLog(" 搅拌1回库：进出轴到P1，搅拌轴停止转动，搅拌轴开始回原点，回温区停止匀速运动，搅拌气缸上升");
AxisSuddenStop(Config.Stir_Axis);
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
AxisSuddenStop(Config.Warming_Axis );
CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
ACAxisHomeMove(Config.Stir_Axis);
return true;
}
else
{
LogUtil.error(Name + " 启动 " + param.LogName + "出错，当前状态:[" + runStatus + "],[" + MoveInfo.MoveType + "]");
return false;
}
}
#endregion
public bool StirAxisCanMove()
{
if(IOManager.IOValue(IO_Type.StirLocation_Up).Equals(IO_VALUE.HIGH)
&&IOManager.IOValue(IO_Type.StirLocation_Down).Equals(IO_VALUE.LOW)
)
{
return true;
}return false;
}
}
}