TinStoreBean_Partial.cs
43.6 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
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
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 DeviceLib;
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");
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))
{
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(1000));
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))
{
TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
MoveInfo.NextMoveStep(StoreMoveStep.MP_11_MoveToTBag);
UpdateLastStatus(StoreStatus.Rewarm_Putting, MoveInfo.MoveParam.TarPosId);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
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))
{
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))
{
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);
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);
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);
}
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))
{
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);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_10_LocationDown))
{
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_14_InoutToP1))
{
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))
{
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));
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 + "]");
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_30_LocationDown))
{
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.ST_34_InoutToP1))
{
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);
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_53_LocationDown))
{
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_57_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_58_MoveToBag);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
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))
{
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))
{
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));
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);
}
else if (MoveInfo.IsStep(StoreMoveStep.SR_73_LocationDown))
{
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))
{
MoveInfo.NextMoveStep(StoreMoveStep.SR_78_MoveToBag);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
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))
//{
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);
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))
{
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);
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;
}
}
}