MainMachine_OutMove.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
{
OutCarReelPostion OutFromPos;
OutCarReelPostion OutToPos;
int takeretry = 0;
void OutMoveProcess()
{
if (CheckWait(OutMoveInfo))
return;
switch (OutMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (CountMoveInfo.MoveStep== MoveStep.Count_ReadyOut) {
OutMoveInfo.NewMove(MoveStep.Out_01);
OutMoveInfo.MoveParam = CountMoveInfo.MoveParam.clone();
OutFromPos = RobotManage.OutCarReelPostion["Unloading_Counting"];
OutMoveInfo.log($"点料区料盘已经准备好:"+OutMoveInfo.MoveParam.ToDetailStr());
var cc = OutMoveInfo.MoveParam.codeInfos.Select((a) => a.CodeType + ":" + a.CodeStr);
OutMoveInfo.log(String.Join("##", cc));
}
break;
case MoveStep.Out_01:
OutMoveInfo.NextMoveStep(MoveStep.Out_02);
Unloading_InOut_Axis.AbsMove(OutMoveInfo, Config.Unloading_InOut_Axis_P1, Config.Unloading_InOut_Axis_P1_speed);
OutMoveInfo.log($"进出轴回到p1");
break;
case MoveStep.Out_02:
OutMoveInfo.NextMoveStep(MoveStep.Out_03);
CylinderMove(OutMoveInfo, IO_Type.Counting_ExitDoor_Close, IO_Type.Counting_ExitDoor_Open, IO_VALUE.HIGH);
OutMoveInfo.log($"打开点料机出口大门");
break;
case MoveStep.Out_03:
OutMoveInfo.NextMoveStep(MoveStep.Out_04);
Unloading_Middle_Axis.AbsMove(OutMoveInfo, OutFromPos.Middle_P2, Config.Unloading_Middle_Axis_P1_speed);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutFromPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"旋转轴到达p1点,升降轴到取料P2");
break;
case MoveStep.Out_04:
OutMoveInfo.NextMoveStep(MoveStep.Out_05);
Unloading_InOut_Axis.AbsMove(OutMoveInfo, OutFromPos.InOut_P2, Config.Unloading_InOut_Axis_P1_speed);
OutMoveInfo.log($"进出轴达取料p2点");
takeretry = 0;
break;
case MoveStep.Out_05:
OutMoveInfo.NextMoveStep(MoveStep.Out_06);
var pos = OutFromPos.UpDown_P3 - (OutMoveInfo.MoveParam.PlateH - 8) * Config.Unloading_UpDown_Axis_MMtoPOS;
if (pos < 0)
pos = 0;
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, pos, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"升降轴到达取料p3点,pos:{pos},PlateH:{OutMoveInfo.MoveParam.PlateH}");
break;
case MoveStep.Out_06:
OutMoveInfo.NextMoveStep(MoveStep.Out_07);
IOMove(IO_Type.Unloading_ReelVacuum_On, IO_VALUE.HIGH);
OutMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutMoveInfo.log($"打开吸盘");
break;
case MoveStep.Out_07:
OutMoveInfo.NextMoveStep(MoveStep.Out_08);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutFromPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"升降轴到达取料p2点");
break;
case MoveStep.Out_08:
if (IOValue(IO_Type.Unloading_VacuumDegree_Check).Equals(IO_VALUE.HIGH))
{
OutMoveInfo.NextMoveStep(MoveStep.Out_09);
Unloading_InOut_Axis.AbsMove(OutMoveInfo, Config.Unloading_InOut_Axis_P1, Config.Unloading_InOut_Axis_P1_speed);
OutMoveInfo.log($"进出轴到达p1点");
}
else
{
takeretry++;
OutMoveInfo.MoveParam.PlateH= OutMoveInfo.MoveParam.PlateH-2;
OutMoveInfo.log($"未取到料盘");
if (takeretry < 3 && OutMoveInfo.MoveParam.PlateH>=8)
{
OutMoveInfo.NextMoveStep(MoveStep.Out_05);
OutMoveInfo.log($"重试取盘:"+ OutMoveInfo.MoveParam.PlateH);
}
else
{
Msg.add("出口取盘失败", MsgLevel.alarm);
RobotManage.UserPause("出口取盘失败");
}
}
break;
case MoveStep.Out_09:
OutMoveInfo.NextMoveStep(MoveStep.Out_10);
CylinderMove(null, IO_Type.Counting_ExitDoor_Close, IO_Type.Counting_ExitDoor_Open, IO_VALUE.LOW);
OutMoveInfo.log($"关闭点料机入口大门");
if (OutMoveInfo.MoveParam.IsNg)
OutMoveInfo.NextMoveStep(MoveStep.Out_20);
if (CountMoveInfo.MoveStep == MoveStep.Count_ReadyOut)
CountMoveInfo.NextMoveStep(MoveStep.Count_Outted);
break;
case MoveStep.Out_10:
if (string.IsNullOrEmpty(OutMoveInfo.MoveParam.ReeID)) {
OutMoveInfo.log($"没有获得Reelid");
OutMoveInfo.MoveParam.IsNg = true;
OutMoveInfo.MoveParam.NgMsg = "没有获得Reelid";
OutMoveInfo.NextMoveStep(MoveStep.Out_20);
return;
}
if (CountList.ContainsKey(OutMoveInfo.MoveParam.ReeID))
{
OutMoveInfo.NextMoveStep(MoveStep.Out_11);
OutMoveInfo.MoveParam.QTY = CountList[OutMoveInfo.MoveParam.ReeID];
OutMoveInfo.log($"获得点料结果:{OutMoveInfo.MoveParam.QTY}");
lock (CountList)
{
CountList.Remove(OutMoveInfo.MoveParam.ReeID);
}
if (OutMoveInfo.MoveParam.QTY >= 0)
SetPrintJob(OutMoveInfo);
else {
OutMoveInfo.MoveParam.IsNg = true;
OutMoveInfo.MoveParam.NgMsg = "点料结果为0";
OutMoveInfo.NextMoveStep(MoveStep.Out_20);
}
}
else if (OutMoveInfo.IsTimeOut(10)) {
OutMoveInfo.log($"等待点料结果超时, NG处理");
OutMoveInfo.MoveParam.IsNg = true;
OutMoveInfo.MoveParam.NgMsg = "点料超时";
OutMoveInfo.NextMoveStep(MoveStep.Out_20);
}
break;
case MoveStep.Out_11:
if (false && LabelBusy)
{
OutMoveInfo.log("等待贴标工作完毕");
}
else
{
OutMoveInfo.NextMoveStep(MoveStep.Out_20);
}
break;
case MoveStep.Out_20:
if (OutMoveInfo.MoveParam.IsNg)
{
OutToPos = RobotManage.OutCarReelPostion["Unloading_NgBox"];
if (Setting_Init.Temp_NGBox_Count >= Setting_Init.Temp_NG_BOX_MAXCOUNT)
{
Msg.add("NG箱已满,等待清理", MsgLevel.alarm);
OutMoveInfo.log($"NG箱已满,等待清理");
}
else
{
OutMoveInfo.NextMoveStep(MoveStep.Out_21);
Unloading_Middle_Axis.AbsMove(OutMoveInfo, OutToPos.Middle_P2, Config.Unloading_Middle_Axis_P1_speed);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutToPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"旋转轴,升降轴到达p2点NG");
}
}
else if (OutCarMoveInfo.MoveStep == MoveStep.OutCarReadyPut)
{
OutMoveInfo.MoveParam.CurrentStringNum = OutCurrentStringNum;
var topos = "Unloading_T" + OutCurrentStringNum;
OutToPos = RobotManage.OutCarReelPostion[topos];
OutMoveInfo.NextMoveStep(MoveStep.Out_21);
Unloading_Middle_Axis.AbsMove(OutMoveInfo, OutToPos.Middle_P2, Config.Unloading_Middle_Axis_P1_speed);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutToPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"旋转轴,升降轴到达p2点");
}
else {
Msg.add("等待出口料车可以放料", MsgLevel.info);
LogUtil.info("等待出口料车可以放料");
}
break;
case MoveStep.Out_21:
OutMoveInfo.NextMoveStep(MoveStep.Out_22);
Unloading_InOut_Axis.AbsMove(OutMoveInfo, OutToPos.InOut_P2, Config.Unloading_InOut_Axis_P1_speed);
OutMoveInfo.log($"进出轴达p2点");
break;
case MoveStep.Out_22:
OutMoveInfo.NextMoveStep(MoveStep.Out_23);
var pos1 = OutToPos.UpDown_P3 - (OutMoveInfo.MoveParam.PlateH - 8) * Config.Unloading_UpDown_Axis_MMtoPOS;
if (pos1 < 0)
pos1 = 0;
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, pos1, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"升降轴到达放料p3点,pos:{pos1},PlateH:{OutMoveInfo.MoveParam.PlateH}");
//Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutToPos.UpDown_P3, Config.Unloading_UpDown_Axis_P1_speed);
//OutMoveInfo.log($"升降轴到达p3点");
break;
case MoveStep.Out_23:
OutMoveInfo.NextMoveStep(MoveStep.Out_24);
IOMove(IO_Type.Unloading_ReelVacuum_On, IO_VALUE.LOW);
OutMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
OutMoveInfo.log($"关闭吸盘");
break;
case MoveStep.Out_24:
OutMoveInfo.NextMoveStep(MoveStep.Out_25);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutToPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"升降轴到达p2点");
break;
case MoveStep.Out_25:
OutMoveInfo.NextMoveStep(MoveStep.Out_26);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutToPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"升降轴到达p2点");
break;
case MoveStep.Out_26:
OutMoveInfo.NextMoveStep(MoveStep.Out_27);
Unloading_InOut_Axis.AbsMove(OutMoveInfo, Config.Unloading_InOut_Axis_P1, Config.Unloading_InOut_Axis_P1_speed);
OutMoveInfo.log($"进出轴到达p1点");
break;
case MoveStep.Out_27:
if (OutMoveInfo.MoveParam.IsNg)
{
OutMoveInfo.NextMoveStep(MoveStep.Out_LabelFinished);
Setting_Init.Temp_NGBox_Count = Setting_Init.Temp_NGBox_Count + 1;
}
else
OutMoveInfo.NextMoveStep(MoveStep.Out_28);
Unloading_Middle_Axis.AbsMove(OutMoveInfo, Config.Unloading_Middle_Axis_P1, Config.Unloading_Middle_Axis_P1_speed);
Unloading_UpDown_Axis.AbsMove(OutMoveInfo, Config.Unloading_UpDown_Axis_P1, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"旋转轴,升降轴到达p1点,完成出口放料");
break;
case MoveStep.Out_28:
OutMoveInfo.NextMoveStep(MoveStep.Out_29);
var pos3 = Unloading_Batch_Axis.GetAclPosition();
pos3 = pos3 - Config.Unloading_UpDown_Axis_MMtoPOS * 30;
if (pos3 < 0)
pos3 = 0;
Unloading_Batch_Axis.AbsMove(OutMoveInfo, pos3, Config.Unloading_Batch_Axis_P1_speed);
//Unloading_Batch_Axis.RelMove(OutMoveInfo.MoveParam.PlateH/2 * Config.Unloading_UpDown_Axis_MMtoPOS*-1, Config.Unloading_UpDown_Axis_P1_speed);
OutMoveInfo.log($"批量轴高速下降:{pos3}");
break;
case MoveStep.Out_29:
OutMoveInfo.NextMoveStep(MoveStep.Out_30);
BatchAxisToP2(OutMoveInfo, Unloading_Batch_Axis, OutGetReelCheckIOList(OutCurrentStringNum), IO_VALUE.LOW, Config.Unloading_Batch_Axis_P1, Config.Unloading_Batch_Axis_P1_speed);
OutMoveInfo.log($"批量轴快速下降到监测点灭");
break;
case MoveStep.Out_30:
OutMoveInfo.NextMoveStep(MoveStep.Out_31);
BatchAxisToP2(OutMoveInfo, Unloading_Batch_Axis, OutGetReelCheckIOList(OutCurrentStringNum), IO_VALUE.HIGH, Config.Unloading_Batch_Axis_P2, Config.Unloading_Batch_Axis_P2_speed);
OutMoveInfo.log($"批量轴慢速上升到检测点亮");
break;
case MoveStep.Out_31:
OutMoveInfo.NextMoveStep(MoveStep.Out_WaitForLabel);
break;
case MoveStep.Out_WaitForLabel:
Msg.add("等待贴标", MsgLevel.info);
OutMoveInfo.log($"等待贴标");
break;
case MoveStep.Out_LabelFinished:
if (OutCarMoveInfo.MoveStep==MoveStep.OutCarReadyPut)
OutCarMoveInfo.NextMoveStep(MoveStep.OutCarReelPut);
OutMoveInfo.log("完成贴标");
OutMoveInfo.EndMove();
break;
default:
OutMoveInfo.log($"未找到对应步骤:{OutMoveInfo.MoveStep}");
break;
}
}
string OutMoveState()
{
string state = "";
if (OutMoveInfo.MoveStep == MoveStep.Wait)
{
return "空闲中";
}
else if (OutMoveInfo.MoveStep > MoveStep.Wait)
{
state = "放料位置"+":"+ OutMoveInfo.MoveParam?.CurrentStringNum;
}
return state;
}
}
}