MainMachine_LabelProcess.cs
9.1 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
using OnlineStore;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
bool LabelBusy { get => LabelMoveInfo.MoveStep >= MoveStep.Lbl_10; }
Point Label_p3;
void LabelProcess()
{
if (CheckWait(LabelMoveInfo))
return;
switch (LabelMoveInfo.MoveStep)
{
case MoveStep.Wait:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_01);
Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P1, Config.Label_Y_P1_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P1, Config.Label_Z_P2_speed);
LabelMoveInfo.log("xy待机点");
break;
case MoveStep.Lbl_01:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_02);
Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_R转到取标点");
if (OutMoveInfo.MoveStep == MoveStep.Out_WaitForLabel)
{
OutMoveInfo.NextMoveStep(MoveStep.Out_LabelFinished);
LabelMoveInfo.log("通知OutMoveInfo贴标完成");
}
break;
case MoveStep.Lbl_02:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_03);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P1_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("xyz取标前点");
break;
case MoveStep.Lbl_03:
if (PrintMoveInfo.MoveStep == MoveStep.Print_WaitTakeLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_04);
LabelMoveInfo.MoveParam = CurrentPrintJob.clone();
LabelMoveInfo.log($"贴标机构读取到贴标参数:" + LabelMoveInfo.MoveParam.ToDetailStr());
PrintMoveInfo.NextMoveStep(MoveStep.Print_LabelTaked);
}
else {
LabelMoveInfo.log("等待标签打印完毕");
}
break;
case MoveStep.Lbl_04:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_05);
IOMove(IO_Type.Unloading_LabelVacuum_On, IO_VALUE.HIGH);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
LabelMoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
break;
case MoveStep.Lbl_05:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_06);
LabelMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
break;
case MoveStep.Lbl_06:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_07);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
break;
case MoveStep.Lbl_07:
if (OutMoveInfo.MoveStep == MoveStep.Out_WaitForLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_10);
LabelMoveInfo.MoveParam.CurrentStringNum = OutCurrentStringNum;
}
else {
LabelMoveInfo.log("等待出料机构完成放料.");
}
break;
case MoveStep.Lbl_10:
//照片中料盘中心点像素位置
Point Pixel_Center_Point = new Point(Config.Graphe_Center_X, Config.Graphe_Center_Y);
var cc = RobotManage.LabellingPostion["Labelling_T"+ LabelMoveInfo.MoveParam.CurrentStringNum];
LabelMoveInfo.log("贴标盘位:"+ "Labelling_T" + LabelMoveInfo.MoveParam.CurrentStringNum);
Point Axis_Center_Point = new Point(cc.X_Base, cc.Y_Base);
//计算照片中贴标的像素位置
Point p = Common.CalcLabelPoint(LabelMoveInfo.MoveParam, Pixel_Center_Point, (int)cc.Label_R_Offset_Angle, 0, out int labelAngle);
LabelMoveInfo.log($"源坐标:{p}");
var x = p.X;
var y = p.Y;
if (x == 0 && y == 0) {
}
p.Y= 5472 - x;
p.X = y;
LabelMoveInfo.log($"变换坐标:{p}");
labelAngle = 360 - labelAngle;
LabelMoveInfo.log($"贴标逆时针角度:{labelAngle}");
if (labelAngle > 180)
labelAngle-= 180;
LabelMoveInfo.log($"贴标逆时针角度:-180={labelAngle}");
labelAngle += 90;
if (labelAngle > 180)
labelAngle -= 180;
Pixel_Center_Point = new Point(Config.Graphe_Center_Y, 5472 - Config.Graphe_Center_X);
//计算贴标角度的脉冲值
int labelAxisPos = Config.Label_R_360 / 180 * labelAngle;
//计算像素点位与中心点的差
Label_p3 = new Point(p.X - Pixel_Center_Point.X , p.Y - Pixel_Center_Point.Y);
//计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
Label_p3.X = (int)(Label_p3.X * Config.PixelToPos_X_Ratio) + Axis_Center_Point.X;
Label_p3.Y = (int)(Label_p3.Y * Config.PixelToPos_Y_Ratio) + Axis_Center_Point.Y;
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW}");
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_11);
Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P1_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P1_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, cc.Label_Z_P4, Config.Label_Z_P1_speed);
LabelMoveInfo.log("Label_X,Y,Z转到贴标点.");
break;
case MoveStep.Lbl_11:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_12);
cc = RobotManage.LabellingPostion["Labelling_T" + LabelMoveInfo.MoveParam.CurrentStringNum];
Label_Z_Axis.AbsMove(LabelMoveInfo, cc.Label_Z_P5, Config.Label_Z_P1_speed);
LabelMoveInfo.log("下降.");
break;
case MoveStep.Lbl_12:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_13);
IOMove(IO_Type.Unloading_LabelVacuum_On, IO_VALUE.LOW);
LabelMoveInfo.log("关闭吸气.");
break;
case MoveStep.Lbl_13:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_14);
cc = RobotManage.LabellingPostion["Labelling_T" + LabelMoveInfo.MoveParam.CurrentStringNum];
Label_Z_Axis.AbsMove(LabelMoveInfo,cc.Label_Z_P4, Config.Label_Z_P1_speed);
LabelMoveInfo.log("上升.");
break;
case MoveStep.Lbl_14:
//OutMoveInfo.NextMoveStep(MoveStep.Out_LabelFinished);
LabelMoveInfo.NextMoveStep(MoveStep.Wait);
LabelMoveInfo.log("完成贴标.");
break;
default:
LabelMoveInfo.log($"未找到对应步骤:{LabelMoveInfo.MoveStep}");
break;
}
}
string LabelState() {
string state = "";
if (LabelMoveInfo.MoveStep == MoveStep.Lbl_03)
{
state += "空闲中";
}else if (LabelMoveInfo.MoveStep > MoveStep.Lbl_03)
{
state += "取标中";
}else if (LabelMoveInfo.MoveStep > MoveStep.Lbl_07)
{
state += "贴标中";
}else if (LabelMoveInfo.MoveStep >= MoveStep.Wait)
{
state += "空闲中";
}
return state;
}
}
}