MainMachine_InMove.cs
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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;
namespace DeviceLibrary
{
partial class MainMachine
{
void SetReelHeight(int height)
{
//if (InMoveInfo.MoveStep != MoveStep.In_WaitGaugeHeight)
//{
// InMoveInfo.log($"不再等待测高的步骤们无法设置盘高:{height}");
// return; }
//InMoveInfo.NextMoveStep(MoveStep.In_GetHeight);
if (InMoveInfo.MoveParam.PlateH == 0)
{
InMoveInfo.MoveParam.PlateH = height;
InMoveInfo.log($"设置盘高:{height}");
}
else {
InMoveInfo.log($"设置盘高失败:{height}");
}
}
InCarReelPostion InFromPos;
InCarReelPostion InToPos;
void InMoveProcess()
{
if (CheckWait(InMoveInfo))
return;
switch (InMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (InCarMoveInfo.MoveStep== MoveStep.InCarReadyGet) {
Setting_Init.Runtime_StartMovePosition = Loading_Batch_Axis.GetAclPosition();
InMoveInfo.NewMove(MoveStep.In_01);
InMoveInfo.MoveParam = InCarMoveInfo.MoveParam.clone();
InMoveInfo.MoveParam.UID= databaseProc.Current.GetID();
InMoveInfo.log("当前UID:" + InMoveInfo.MoveParam.UID);
var frompos = "Loading_T" + InCurrentStringNum;
InFromPos = RobotManage.InCarReelPostion[frompos];
InToPos= RobotManage.InCarReelPostion["Loading_Counting_T" + InCurrentStringNum];
InMoveInfo.log($"料盘已经准备好:{frompos}");
InMoveInfo.MoveParam.PlateH = 0;
Setting_Init.Temp_Last_InMove_Reel_Height = 0;
Setting_Init.Temp_Last_InMove_Reel_Width = 0;
}
break;
case MoveStep.In_01:
InMoveInfo.NextMoveStep(MoveStep.In_02);
Loading_Middle_Axis.AbsMove(InMoveInfo,InFromPos.Middle_P2, Config.Loading_Middle_Axis_P1_speed);
Loading_UpDown_Axis.AbsMove(InMoveInfo,InFromPos.UpDown_P2, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"旋转轴,升降轴到达p2点");
break;
case MoveStep.In_02:
InMoveInfo.NextMoveStep(MoveStep.In_03);
Loading_InOut_Axis.AbsMove(InMoveInfo, InFromPos.InOut_P2, Config.Loading_InOut_Axis_P1_speed);
InMoveInfo.log($"进出轴达p2点");
break;
case MoveStep.In_03:
InMoveInfo.NextMoveStep(MoveStep.In_04);
Loading_UpDown_Axis.AbsMove(InMoveInfo, InFromPos.UpDown_P3, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"升降轴到达p3点");
break;
case MoveStep.In_04:
InMoveInfo.NextMoveStep(MoveStep.In_05);
IOMove(IO_Type.Loading_ReelVacuum_On, IO_VALUE.HIGH);
InMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
InMoveInfo.log($"打开吸盘");
break;
case MoveStep.In_05:
InMoveInfo.NextMoveStep(MoveStep.In_06);
Loading_UpDown_Axis.AbsMove(InMoveInfo, InFromPos.UpDown_P2, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"升降轴到达p2点");
break;
case MoveStep.In_06:
if (IOValue(IO_Type.Loading_VacuumDegree_Check).Equals(IO_VALUE.HIGH))
{
InMoveInfo.NextMoveStep(MoveStep.In_07);
Loading_InOut_Axis.AbsMove(InMoveInfo, Config.Unloading_InOut_Axis_P1, Config.Loading_InOut_Axis_P1_speed);
InMoveInfo.log($"进出轴到达p1点");
ReelGetted(true);
InMoveInfo.log($"成功取到料盘");
}
else if (InMoveInfo.IsTimeOut(6))
{
InMoveInfo.NextMoveStep(MoveStep.Wait);
//ReelGetted(false);
InMoveInfo.log($"未取到料盘");
}
break;
case MoveStep.In_07:
InMoveInfo.NextMoveStep(MoveStep.In_GetHeight);
Loading_Middle_Axis.AbsMove(null, Config.Loading_Middle_Axis_P1, Config.Loading_Middle_Axis_P1_speed);
InMoveInfo.log($"旋转轴到达p1点");
break;
case MoveStep.In_GetHeight:
if (InMoveInfo.MoveParam.PlateH > 0)
{
InMoveInfo.NextMoveStep(MoveStep.In_10);
if (InCarType == CarTypeE.Car7)
InMoveInfo.MoveParam.PlateW = 7;
else
InMoveInfo.MoveParam.PlateW = 13;
Setting_Init.Temp_Last_InMove_Reel_Height = InMoveInfo.MoveParam.PlateH;
Setting_Init.Temp_Last_InMove_Reel_Width = InMoveInfo.MoveParam.PlateW;
InMoveInfo.log($"获取到尺寸{InMoveInfo.MoveParam.PlateW}x{InMoveInfo.MoveParam.PlateH}");
}
else {
Msg.add("等待测高结果", MsgLevel.info);
}
break;
case MoveStep.In_10:
InMoveInfo.NextMoveStep(MoveStep.In_11);
Loading_Middle_Axis.AbsMove(InMoveInfo, Config.Loading_Middle_Axis_P1, Config.Loading_Middle_Axis_P1_speed);
Loading_UpDown_Axis.AbsMove(InMoveInfo, InToPos.UpDown_P2, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"旋转轴到达p1点,升降轴到放料P2");
break;
case MoveStep.In_11:
if (CountMoveInfo.MoveStep == MoveStep.Wait)
{
InMoveInfo.NextMoveStep(MoveStep.In_12);
InMoveInfo.log($"点料机已空闲");
}
else {
Msg.add("等待点料机空闲", MsgLevel.info);
}
break;
case MoveStep.In_12:
InMoveInfo.NextMoveStep(MoveStep.In_13);
CylinderMove(InMoveInfo, IO_Type.Counting_EnterDoor_Close, IO_Type.Counting_EnterDoor_Open, IO_VALUE.HIGH);
InMoveInfo.log($"打开点料机入口大门");
break;
case MoveStep.In_13:
InMoveInfo.NextMoveStep(MoveStep.In_14);
Loading_Middle_Axis.AbsMove(InMoveInfo, InToPos.Middle_P2, Config.Loading_Middle_Axis_P1_speed);
Loading_UpDown_Axis.AbsMove(InMoveInfo, InToPos.UpDown_P2, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"旋转轴,升降轴到达放料p2点");
break;
case MoveStep.In_14:
InMoveInfo.NextMoveStep(MoveStep.In_15);
Loading_InOut_Axis.AbsMove(InMoveInfo, InToPos.InOut_P2, Config.Loading_InOut_Axis_P1_speed);
InMoveInfo.log($"进出轴达放料p2点");
break;
case MoveStep.In_15:
if (IOValue(IO_Type.Counting_Reel_Check).Equals(IO_VALUE.LOW))
{
InMoveInfo.NextMoveStep(MoveStep.In_16);
var pos = InToPos.UpDown_P3 - (InMoveInfo.MoveParam.PlateH-8)*Config.Loading_UpDown_Axis_MMtoPOS;
Loading_UpDown_Axis.AbsMove(InMoveInfo, pos, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"升降轴到达放料p3点,pos:{pos},PlateH:{InMoveInfo.MoveParam.PlateH}");
Setting_Init.Temp_Last_Reel_Height = InMoveInfo.MoveParam.PlateH;
Setting_Init.Temp_Last_Reel_Width = InMoveInfo.MoveParam.PlateW;
}
else {
Msg.add("点料区有料盘无法继续",MsgLevel.alarm);
//RobotManage.UserPause("点料区有料盘无法继续");
}
break;
case MoveStep.In_16:
InMoveInfo.NextMoveStep(MoveStep.In_17);
IOMove(IO_Type.Loading_ReelVacuum_On, IO_VALUE.LOW);
InMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InMoveInfo.log($"关闭吸盘");
break;
case MoveStep.In_17:
InMoveInfo.NextMoveStep(MoveStep.In_18);
Loading_UpDown_Axis.AbsMove(InMoveInfo, InToPos.UpDown_P2, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"升降轴到达放料p2点");
break;
case MoveStep.In_18:
InMoveInfo.NextMoveStep(MoveStep.In_19);
Loading_InOut_Axis.AbsMove(InMoveInfo, Config.Loading_InOut_Axis_P1, Config.Loading_InOut_Axis_P1_speed);
InMoveInfo.log($"进出轴达p1点");
break;
case MoveStep.In_19:
InMoveInfo.NextMoveStep(MoveStep.In_20);
Loading_Middle_Axis.AbsMove(InMoveInfo, Config.Loading_Middle_Axis_P1, Config.Loading_Middle_Axis_P1_speed);
Loading_UpDown_Axis.AbsMove(InMoveInfo, Config.Loading_UpDown_Axis_P1, Config.Loading_UpDown_Axis_P1_speed);
InMoveInfo.log($"旋转轴,升降轴到达p1点");
break;
case MoveStep.In_20:
InMoveInfo.NextMoveStep(MoveStep.In_21);
CylinderMove(null, IO_Type.Counting_EnterDoor_Close, IO_Type.Counting_EnterDoor_Open, IO_VALUE.LOW);
InMoveInfo.log($"关闭点料机入口大门");
break;
case MoveStep.In_21:
CountMoveInfo.MoveParam = InMoveInfo.MoveParam.clone();
CountMoveInfo.NextMoveStep(MoveStep.Count_01);
InMoveInfo.log("点料机开始点料");
InMoveInfo.EndMove();
break;
default:
InMoveInfo.log($"未找到对应步骤:{InMoveInfo.MoveStep}");
break;
}
}
string InMoveState()
{
string state = "";
if (InMoveInfo.MoveStep == MoveStep.Wait)
{
return "空闲中";
}
else if (InMoveInfo.MoveStep > MoveStep.Wait)
{
state = "取料位置"+":"+InCurrentStringNum;
}
return state;
}
}
}