MainMachine_LabelProcess.cs
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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}");
Label_p3.X =Label_p3.X < 0 ? 0: Label_p3.X;
Label_p3.Y = Label_p3.Y < 0 ? 0: Label_p3.Y;
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;
}
}
}