ReelTransport.cs
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using OnlineStore;
using OnlineStore.LoadCSVLibrary;
using System;
namespace DeviceLibrary
{
class ReelTransport
{
Robot_Config Config;
BoxStorePosition From;
public BoxStorePosition To;
BoxStorePosition Fix;
MainMachine mainMachine;
AxisBean Middle_Axis;
AxisBean UpDown_Axis;
AxisBean InOut_Axis;
AxisBean Comp_Axis;
MoveInfo MoveInfo;
public string ErrMsgTxt = "";
public bool IgnoreX09 = false;
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait && !movelock; }
public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.TS10_IOCheck; }
public bool IsPutOnOut { get => MoveInfo.MoveStep >= MoveStep.TS16_Check; }
public ReelTransport(Robot_Config _Config, MainMachine _mainMachine)
{
Config = _Config;
mainMachine = _mainMachine;
MoveInfo = new MoveInfo(crc.GetString("Res0123", "取放料机构"), false);
To = null;
From = null;
#region 初始化伺服轴
Middle_Axis = _mainMachine.Middle_Axis;
UpDown_Axis = _mainMachine.UpDown_Axis;
InOut_Axis = _mainMachine.InOut_Axis;
Comp_Axis = _mainMachine.Comp_Axis;
#endregion
}
public void Reset()
{
MoveInfo.NewMove(MoveStep.Wait);
MoveInfo.log("执行重置");
To = null;
From = null;
pause = false;
}
StoreMoveType storeMoveType = StoreMoveType.None;
string WareCode = "";
int plateH = 0;
bool PreMove = false;
public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, bool premove = false)
{
if (MoveInfo.MoveStep != MoveStep.Wait)
return false;
pause = false;
storeMoveType = _storeMoveType;
PreMove = premove;
if (from == null)
{
WareCode = "NG";
plateH = 56;
To = to.clone();
MoveInfo.NewMove(MoveStep.TS10_IOCheck);
MoveInfo.log($"{storeMoveType}:开始运输料盘,直接到:{to.posid}");
MoveInfo.MoveParam.TargetPos = $"NA=>{To.posid}";
}
else
{
WareCode = from.Reel.WareCode;
plateH = from.Reel.PlateH;
From = from.clone();
To = to.clone();
MoveInfo.NewMove(MoveStep.TS01);
MoveInfo.log($"{storeMoveType}:开始运输料盘,从:{from.posid},到:{to.posid}");
MoveInfo.MoveParam.TargetPos = $"{From.posid}=>{To.posid}";
MoveInfo.MoveParam.ReelOnFixture = From.Reel.ReelOnFixture;
}
MoveInfo.MoveParam.WareCode = WareCode;
ErrMsgTxt = "";
return true;
}
bool pause = false;
public void Pause()
{
pause = true;
}
public void Resume()
{
pause = false;
}
public bool Process()
{
if (pause)
return false;
if (mainMachine.CheckWait(MoveInfo))
return false;
switch (MoveInfo.MoveStep)
{
case MoveStep.Wait:
break;
case MoveStep.TS01:
if (!IgnoreX09 && !MoveInfo.MoveParam.ReelOnFixture && IOManager.IOValue(IO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.HIGH))
{
if (!IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
Msg.add(string.Format(crc.GetString("Res0124", "出入库时料叉{0}检测到有物料无法继续,请检查."), Config.DIList[IO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.TS02_Check);
MoveInfo.log($"{storeMoveType}:检查安全状态");
}
break;
case MoveStep.TS02_Check:
if (MoveInfo.MoveParam.ReelOnFixture)
{
MoveInfo.NextMoveStep(MoveStep.TS08_GetReel);
MoveInfo.log($"{storeMoveType}:料盘已在料叉上,压紧轴压紧,Comp_PL:{From.Comp_PL}");
Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
}
else
{
MoveInfo.NextMoveStep(MoveStep.TS03_InoutTP1);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
Comp_Axis.AbsMove(MoveInfo, From.Comp_PH, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1{Config.InOut_P1}，压紧轴到高点{From.Comp_PH}");
}
break;
case MoveStep.TS03_InoutTP1:
MoveInfo.NextMoveStep(MoveStep.TS04_TSPos);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PL, Config.UpDown_P1_speed);
Middle_Axis.AbsMove(MoveInfo, From.Middle_P2, Config.Middle_P1_speed);
MoveInfo.log($"{storeMoveType}:升降轴到取料低点{From.UpDown_PL}，旋转轴到取料点{From.Middle_P2}");
break;
case MoveStep.TS04_TSPos:
MoveInfo.NextMoveStep(MoveStep.TS06_InoutTP2);
InOut_Axis.AbsMove(MoveInfo, From.InOut_P2, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴到取料点P2{From.InOut_P2}");
break;
case MoveStep.TS06_InoutTP2:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
MoveInfo.NextMoveStep(MoveStep.TS08_GetReel);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PH, Config.UpDown_P1_speed);
Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:升降轴到取料高点{From.UpDown_PH}，压紧轴到低点{From.Comp_PL}");
break;
case MoveStep.TS08_GetReel:
MoveInfo.NextMoveStep(MoveStep.TS09_InoutTP1);
MoveInfo.log($"{storeMoveType}:进出轴到待机点P1{Config.InOut_P1}");
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
IgnoreX09 = false;
break;
case MoveStep.TS09_InoutTP1:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.LOW))
{
Msg.add(string.Format("出入库时料叉{0}没有检测到物料无法继续,请检查.", Config.DIList[IO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.TS10_IOCheck) ;
MoveInfo.log($"{storeMoveType}:TrayCheck_Fixture取到料");
InOutEndProcess(StoreMoveType.OutStore, From.posid);
}
break;
case MoveStep.TS10_IOCheck:
MoveInfo.NextMoveStep(MoveStep.TS11_ToTPos);
Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P1_speed);
MoveInfo.log($"{storeMoveType}");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}::旋转轴到目的地P2{To.Middle_P2}升降轴到目的地高点:{To.UpDown_PH}");
break;
case MoveStep.TS11_ToTPos:
MoveInfo.NextMoveStep(MoveStep.TS13_InoutTP2);
MoveInfo.log($"{storeMoveType}:进出轴到P2{To.InOut_P2}");
InOut_Axis.AbsMove(MoveInfo, To.InOut_P2, Config.InOut_P1_speed);
break;
case MoveStep.TS13_InoutTP2:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
MoveInfo.NextMoveStep(MoveStep.TS14_PutReel);
Comp_Axis.AbsMove(MoveInfo, To.Comp_PH, Config.Comp_P2_speed);
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PL, Config.UpDown_S1_Speed);
MoveInfo.log($"{storeMoveType}:压紧轴到压紧前点:{To.Comp_PH}，升降轴到目的地低点:{To.UpDown_PL}");
break;
case MoveStep.TS14_PutReel:
MoveInfo.NextMoveStep(MoveStep.TS15_InoutTP1);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break;
case MoveStep.TS15_InoutTP1:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.HIGH))
{
Msg.add(string.Format("放料后料叉{0}上任然检测到物料,请检查.", Config.DIList[IO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.TS16_Check);
MoveInfo.log($"{storeMoveType}:安全检查");
InOutEndProcess(StoreMoveType.PutReel, To.posid);
}
break;
case MoveStep.TS16_Check:
MoveInfo.NextMoveStep(MoveStep.TS17_AxisBack);
if (RobotManage.mainMachine.AutoInOutTest)
{
MoveInfo.log($"{storeMoveType}:库位测试模式,升降轴,旋转不返回待机点");
break;
}
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
Middle_Axis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
MoveInfo.log($"{storeMoveType}:升降轴回P1{Config.UpDown_P1},旋转返回待机点P1{Config.Middle_P1}");
ErrMsgTxt = "";
break;
case MoveStep.TS17_AxisBack:
MoveInfo.log($"{storeMoveType}:转移料盘完成");
MoveInfo.EndMove();
ErrMsgTxt = "";
To.posid = "";
storeMoveType = StoreMoveType.None;
break;
case MoveStep.TS_Continue:
MoveInfo.NextMoveStep(MoveStep.TS17_AxisBack);
MoveInfo.log($"{storeMoveType}:继续运行进出轴到达待机点");
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
break;
default:
MoveInfo.log($"{storeMoveType}:未找到对应步骤:{MoveInfo.MoveStep}");
return true;
}
return false;
}
bool movelock = false;
internal void Lock()
{
movelock = true;
}
internal void Unlock()
{
movelock = false;
}
private void InOutEndProcess(StoreMoveType storeMoveType, string posid)
{
InOutEndProcessEvent?.Invoke(posid, storeMoveType, true);
}
}
}