BoxBean_Partial.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class BoxBean
{
public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
public InOutParam waitInStoreParam = null;
#region 出入库结果验证
private bool AcInPosition(ConfigMoveAxis axis, int p)
{
return AxisManager.instance.isInPosition(axis.DeviceName, axis.GetAxisValue(), p, axis.CanErrorCountMax);
}
private static DateTime lastComRHomeTime = DateTime.Now;
private void InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
if (AcInPosition(Config.InOut_Axis, InOut_P1))
{
LogUtil.debug(Name + "进出轴当前已经在P1，不需要再回P1");
}
else
{
InoutAxis.AbsMove(MoveInfo, InOut_P1, Config.InOutAxis_P1_Speed);
}
}
/// <summary>
///是否已经接收到过出库信息
///</summary>
public bool IsReviceInPosId(string posId)
{
bool isReviceInfo = false;
try
{
if (MoveInfo.MoveType.Equals(MoveType.InStore) && MoveInfo.MoveParam != null && MoveInfo.MoveParam.PosID.Equals(posId))
{
LogInfo(" IsReviceInPosId 正在入库中：" + MoveInfo.MoveParam.ToStr());
isReviceInfo = true;
}
if (!isReviceInfo && (waitInStoreParam != null))
{
if (waitInStoreParam.PosID.Equals(posId) && (!waitInStoreParam.WareCode.Equals("")))
{
LogInfo(" IsReviceInPosId 已存在入库任务：" + waitInStoreParam.ToStr());
isReviceInfo = true;
}
}
}
catch (Exception ex)
{
LogUtil.error("IsReviceInPosId【" + posId + "】出错：" + ex.ToString());
}
return isReviceInfo;
}
#endregion
#region 入库
private DateTime startInStoreTime = DateTime.Now;
public override bool StartInStoreMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!runStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None)))
{
LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return false;
}
if (!AutoInout.autoNext && IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW))
{
LogUtil.error(Name + " 启动入库出错，入口没有检测到料盘, 任务取消");
StoreManager.cancelPutInTask(Name, param.WareCode);
return true;
}
bool GetOut = false;
if (!StoreManager.LoadInoutParam(param, MoveType.InStore, true, this))
{
LogUtil.error(Name + " 启动入库【" + param.ToStr() + "】出错，找不到库位信息");
GetOut = true;
}
LogInfo(" 启动入库【" + param.ToStr() + "】 ");
LogInfo("LoadInoutParam" + JsonHelper.SerializeObject(param.MoveP));
if (AutoInout.autoNext || param.WareCode == "#test#")
{
LogInfo(" 循环测试入库, 不做入库验证. ");
}
else
{
if (param.InStoreNg)
{
LogInfo(" NG料送出. ");
GetOut = true;
}
else if (!ReviceInStoreCMD(param.PosID, param.PlateH, param.PlateW, param.WareCode))
{
LogInfo(" 入库验证失败送出. ");
GetOut = true;
}
}
if (GetOut)
{
param.TargetPosition = 1;
param.InStoreNg = true;
param.MoveP = null;
StoreManager.LoadInoutParam(param, MoveType.InStore, true, this);
}
runStatus = StoreRunStatus.Busy;
if (param.TargetPosition.Equals(0))
{
storeStatus = StoreStatus.InStoreExecute;
}
param.moveType = MoveType.InStore;
MoveInfo.NewMove(MoveType.InStore, param);
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.SI_01_InoutToP1);
InOutStoreLog("启动入料： 进出轴返回P1");
InoutAxis.AbsMove(MoveInfo, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
return true;
}
protected override void InStoreProcess()
{
string outType = "入库：";
if (MoveInfo.MoveParam.TargetPosition.Equals(1))
{
outType = "NG料：";
}
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StoreMoveStep.SI_01_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_02_AxisBack);
InOutStoreLog(outType + " 升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P3[" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_02_AxisBack))
{
if (StoreManager.Store.BoxDoorFree(ID))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.SI_03_InoutToP2);
InOutStoreLog(outType + "进出轴到P2[" + moveP.InOut_P2 + "] ");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
ClearTimeoutAlarm("进出轴可以到P2");
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 进出轴可以到P2 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_03_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_04_GetReel);
InOutStoreLog(outType + "升降轴到入料口高点P2 [" + moveP.UpDown_P2 + "],压紧轴到P2 [" + moveP.ComPress_P2 + "] ");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_04_GetReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_05_InoutToP1);
InOutStoreLog(outType + "进出轴返回P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_05_InoutToP1))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_FixtureCheck);
InOutStoreLog(outType + "等待料叉检测信号 ");
if (Config.IsUse_Tray_Check.Equals(1))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_06_FixtureCheck))
{
if (MoveInfo.MoveParam.TargetPosition.Equals(0))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_ToPos);
InOutStoreLog(outType + "移动到库位点，旋转轴到P2[" + moveP.Middle_P2 + "]，升降轴到P3 [" + moveP.UpDown_P3 + "] ");
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_21_ToOutDoor);
InOutStoreLog(outType + "移动到出料口，旋转轴到P11[" + Config.MiddleAxis_P11 + "]，升降轴到P12高点[" + Config.UpDownAxis_P12 + "] ");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P11, Config.MiddleAxis_P11_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxis_P12, Config.UpDownAxis_P12_Speed);
}
}
#region 正常入库处理
else if (MoveInfo.IsStep(StoreMoveStep.SI_06_ToPos))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_07_InoutToP3);
InOutStoreLog(outType + "进出轴到P3 [" + moveP.InOut_P3 + "] ");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_07_InoutToP3))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.SI_08_PutReel);
InOutStoreLog(outType + "升降轴到P4[" + moveP.UpDown_P4 + "]，压紧轴到P3[" + moveP.ComPress_P3 + "]");
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = MoveInfo.MoveParam.PosID;
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_08_PutReel))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.Down));
MoveInfo.NextMoveStep(StoreMoveStep.SI_09_InoutToP1);
InOutStoreLog(outType + "进出轴返回P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
//OutDoorReelType = 2;
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_09_InoutToP1))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.Out));
MoveInfo.NextMoveStep(StoreMoveStep.SI_10_GoBack);
InOutStoreLog(outType + "升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P1[" + moveP.ComPress_P1 + "]，");
//ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
InOutStoreLog(outType + "等待料叉检测信号 ");
if (Config.IsUse_Tray_Check.Equals(1))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_10_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
LogUtil.info(Name + " 【" + posId + "】入库结束，耗时【" + FormUtil.GetSpanStr(span) + "】");
OutDoorReelType = 0;
MoveEndP();
AutoInout.InOutEndProcess(this, MoveType.InStore);
}
#endregion
#region 送NG料到出口
else if (MoveInfo.IsStep(StoreMoveStep.SI_21_ToOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_22_OpenOutDoor);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_22_OpenOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_23_InoutToP11);
InOutStoreLog(outType + "进出轴到_P11-出料口取放料点 [" + Config.InOutAxis_P11 + "] ");
InoutAxis.AbsMove(MoveInfo, Config.InOutAxis_P11, Config.InOutAxis_P11_Speed);
//关闭舱门
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_23_InoutToP11))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_24_PurReel);
InOutStoreLog(outType + "升降轴到_P11-出料口-低点[" + Config.UpDownAxis_P11 + "]，压紧轴到压紧前点P3[" + moveP.ComPress_P3 + "] ");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxis_P11, Config.UpDownAxis_P11_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_24_PurReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_25_InoutToP1);
InOutStoreLog(outType + "进出轴返回P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
if (MoveInfo.MoveParam.InStoreNg)
OutDoorReelType = 2;
else
OutDoorReelType = 1;
InOutStoreLog(outType + "打开出料口门 OutDoor_Check:" + IOValue(IO_Type.OutDoor_Check).ToString());
CylinderMove(MoveInfo, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutDoor_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_25_InoutToP1))
{
if (IOValue(IO_Type.OutDoor_SafeSignal).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_26_GoBack);
InOutStoreLog(outType + "升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P1[" + moveP.ComPress_P1 + "]，关闭出料口门");
//ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_26_GoBack))
{
CylinderMove(MoveInfo, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
OutDoorReelType = 0;
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
LogUtil.info(Name + " 【" + posId + "】NG料送料结束，耗时【" + FormUtil.GetSpanStr(span) + "】");
MoveEndP();
}
#endregion
else
{
LogUtil.error(Name + " 入库，MoveInfo.MoveStep=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
#region 出库
private DateTime startOutStoreTime = DateTime.Now;
private void StartExecuctOut(InOutParam param)
{
bool result = false;
if (param.TargetPosition == 1 || StoreManager.Store.CanOut(true))
{
result = StartOutStoreMove(param);
}
if (!result)
{
if (lastOutPosID != param.PosID)
{
LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
lastOutPosID = param.PosID;
}
LogUtil.OutputDebugString(Name + " 执行出库【" + param.ToStr() + "】失败，加入等待队列");
if (MoveInfo.MoveType.Equals(MoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(param.PosID))
{
LogUtil.error(Name + " 出库命令【" + param.ToStr() + "】重复，正在【" + MoveInfo.MoveParam.PosID + "】出库中");
return;
}
List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosID.Equals(param.PosID) select m).ToList<InOutParam>();
if (reviceList.Count == 0)
{
waitOutStoreList.Enqueue(param);
}
if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH))
{
}
}
}
public override bool StartOutStoreMove(InOutParam param,bool Shelfisready=false)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck
|| !runStatus.Equals(StoreRunStatus.Runing)
|| !MoveInfo.MoveType.Equals(MoveType.None)
|| (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && param.TargetPosition != 1)//出口有料, 但是排除是紧急出料
)
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + runStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirCheck+ ",IO_Type.InDoor_Check;"+ IOValue(IO_Type.InDoor_Check));
return false;
}
if (!StoreManager.LoadInoutParam(param, MoveType.OutStore, false, this))
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】出错，找不到库位信息");
return false;
}
param.TargetBox = ID;
storeStatus = StoreStatus.OutStoreExecute;
runStatus = StoreRunStatus.Busy;
param.moveType = MoveType.OutStore;
MoveInfo.NewMove(MoveType.OutStore, param);
LogInfo("启动出库【" + param.ToStr() + "】 ");
LogInfo("LoadInoutParam" + JsonHelper.SerializeObject(param.MoveP));
//出库前shelfPosID需要固定，出库时根据rfid判断是否需要出入料架
MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutBack);
InOutStoreLog("出库 ：进出轴到P1 开始");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
return true;
}
//修正库位
LineMoveP fixMoveP = new LineMoveP();
protected override void OutStoreProcess()
{
string outType = "出库：";
if (MoveInfo.MoveParam.TargetPosition.Equals(1))
{
outType = "单盘出库：";
}
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.IsStep(StoreMoveStep.SO_01_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_02_ToPosition);
InOutStoreLog(outType + "压紧轴到压紧前点P3[" + moveP.ComPress_P3 + "] ，旋转轴到库位点P2[" + moveP.Middle_P2 + "]，升降轴到P5 [" + moveP.UpDown_P5 + "] ");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_02_ToPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_InoutToP3);
InOutStoreLog(outType + " 进出轴至P3 [" + moveP.InOut_P3 + "] ");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_03_InoutToP3))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.In));
MoveInfo.NextMoveStep(StoreMoveStep.SO_04_GetReel);
InOutStoreLog(outType + "升降轴到P6[" + moveP.UpDown_P6 + "]，压紧轴到P2[" + moveP.ComPress_P2 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_04_GetReel))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.Up));
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_InoutBack);
InOutStoreLog(outType + "进出轴返回P1[" + moveP.InOut_P1 + "]");
InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = MoveInfo.MoveParam.PosID;
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_05_InoutBack))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.Out));
if (MoveInfo.MoveParam.TargetPosition.Equals(0))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_ToDoor);
InOutStoreLog(outType + "旋转轴 至P1[" + moveP.Middle_P1 + "],升降轴到P2[" + moveP.UpDown_P2 + "] ");
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_21_ToOutDoor);
InOutStoreLog(outType + "移动到出料口，旋转轴到P11[" + Config.MiddleAxis_P11 + "]，升降轴到P12高点[" + Config.UpDownAxis_P12 + "] ");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P11, Config.MiddleAxis_P11_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxis_P12, Config.UpDownAxis_P12_Speed);
}
}
#region 批量出料，到料串
else if (MoveInfo.IsStep(StoreMoveStep.SO_06_ToDoor))
{
var fixposid = $"fix_{this.ID}#{MoveInfo.MoveParam.PlateW}";
var fixposition = CSVPositionReader<ACBoxPosition>.GetPositon(fixposid);
InOutStoreLog(outType + $"获取修正库位置{fixposid}={fixposition}");
if (fixposition == null)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_FixtureCheck);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_01_FixDisk);
fixMoveP.ComPress_P1 = Config.CompAxis_P1;
fixMoveP.InOut_P1 = Config.InOutAxis_P1;
fixMoveP.Middle_P1 = Config.MiddleAxis_P1;
fixMoveP.InOut_P2 = Config.InOutAxis_P2;
fixMoveP.UpDown_P1 = Config.UpDownAxis_P1;
fixMoveP.UpDown_P2 = Config.UpDownAxis_P2;
fixMoveP.ComPress_P2 = Config.GetComP2(MoveInfo.MoveParam.PlateH);
fixMoveP.ComPress_P3 = fixposition.ComAxis_P3;
fixMoveP.InOut_P3 = fixposition.InoutAxis_P3;
fixMoveP.Middle_P2 = fixposition.MiddleAxis_P2;
fixMoveP.UpDown_P3 = fixposition.UpdownAxis_IH_P3;
fixMoveP.UpDown_P4 = fixposition.UpdownAxis_IL_P4;
fixMoveP.UpDown_P5 = fixposition.UpdownAxis_OH_P5;
fixMoveP.UpDown_P6 = fixposition.UpdownAxis_OL_P6;
}
InOutStoreLog(outType + "等待料叉检测信号 ");
if (Config.IsUse_Tray_Check.Equals(1))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
}
#region 修正料盘
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_01_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_02_FixDisk);
InOutStoreLog(outType + "[修正]升降轴到P3[" + fixMoveP.UpDown_P3 + "]");
UpdownAxis.AbsMove(MoveInfo, fixMoveP.UpDown_P3, Config.UpDownAxis_P4_Speed * 3);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_02_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_03_FixDisk);
InOutStoreLog(outType + "[修正]进出轴到P3 [" + fixMoveP.InOut_P3 + "] ");
InoutAxis.AbsMove(MoveInfo, fixMoveP.InOut_P3, Config.InOutAxis_P3_Speed*3);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_03_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_04_FixDisk);
InOutStoreLog(outType + "[修正]升降轴到P4[" + fixMoveP.UpDown_P4 + "]，压紧轴到P3[" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, fixMoveP.ComPress_P3, Config.CompAxis_P3_Speed * 3);
UpdownAxis.AbsMove(MoveInfo, fixMoveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_04_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_05_FixDisk);
InOutStoreLog(outType + "[修正]升降轴到P6[" + fixMoveP.UpDown_P6 + "]，压紧轴到P2[" + fixMoveP.ComPress_P2 + "]");
ComAxis.AbsMove(MoveInfo, fixMoveP.ComPress_P2, Config.CompAxis_P2_Speed * 3);
UpdownAxis.AbsMove(MoveInfo, fixMoveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_05_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_06_FixDisk);
InOutStoreLog(outType + "[修正]进出轴返回P1[" + fixMoveP.InOut_P1 + "]");
InOutBackToP1(fixMoveP.InOut_P1 * 3);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_06_FixDisk))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_FixtureCheck);
InOutStoreLog(outType + "[修正]升降轴到P2[" + fixMoveP.UpDown_P2 + "] ");
UpdownAxis.AbsMove(MoveInfo, fixMoveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
}
#endregion
else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck))
{
bool waitLeftStore = false;
if (StoreManager.Store.HasT4Axis && ID == 2 && StoreManager.Store.MoveInfo.MoveParam!=null && StoreManager.Store.MoveInfo.MoveParam.TargetBox==1)
{
if (StoreManager.Store.MoveInfo.MoveStep >= StoreMoveStep.LO_11_BatchAxisDown && StoreManager.Store.MoveInfo.MoveStep <= StoreMoveStep.LO_16_MiddleToP1)
waitLeftStore = true;
}
if (!waitLeftStore) {
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2);
InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
ClearTimeoutAlarm("进出轴可以到P2");
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_08_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_09_PutReel);
InOutStoreLog(outType + "放下物品 升降轴至P1[" + moveP.UpDown_P1 + "]，压紧轴到P3 [" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_09_PutReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_InoutBack);
InOutStoreLog(outType + "进出轴返回P1[" + moveP.InOut_P1 + "]");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_10_InoutBack))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.DoorBack));
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_GoBack);
InOutStoreLog(outType + "升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P1[" + moveP.ComPress_P1 + "] ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_11_GoBack))
{
if (AutoInout.autoNext)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitTrayGo);
InOutStoreLog(outType + "自动出入库，等待提升机构拿走料盘 或等待1000毫秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.InDoor_Check, IO_VALUE.LOW));
MoveInfo.OneWaitCanEndStep = true;
}
else
{
if (StoreManager.Store.MoveInfo.MoveType.Equals(MoveType.OutStore) && StoreManager.Store.MoveInfo.MoveStep.Equals(StoreMoveStep.LO_09_WaitOut))
{
bool result = StoreManager.Store.StartTrayOut(MoveInfo.MoveParam);
if (result)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitTrayGo);
InOutStoreLog(outType + "等待提升机构拿走料盘 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ClearTimeoutAlarm("提升机构夹爪开始取料");
ClearTimeoutAlarm("提升机构可以取料");
}
else if (MoveInfo.IsTimeOut(60))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 提升机构夹爪开始取料 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsTimeOut(60))
{
if (StoreManager.Store.MoveInfo.MoveStep == StoreMoveStep.LI_17_SaveSize) {
InOutStoreLog(outType + " 线体开始入库, 将当前滞留盘送往紧急出料口");
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_InoutToP1);
}
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 提升机构可以取料 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
//Alarm(AlarmType.IoSingleTimeOut);
}
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_12_WaitTrayGo))
{
if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && MoveInfo.IsTimeOut(30) && !AutoInout.autoNext)
{
LogUtil.info(Name + " 等待夹爪取料超时,送至紧急出料口！");
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_InoutToP1);
}
else if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW)|| AutoInout.autoNext)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam.PosID;
LogUtil.info(Name + " 【" + posId + "】 出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveEndP();
AutoInout.InOutEndProcess(this, MoveType.OutStore);
}
}
#endregion
#region 出料移栽失败,送至紧急出料口
else if (MoveInfo.IsStep(StoreMoveStep.SO_14_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_15_AxisBack);
MoveInfo.MoveParam.TargetPosition = 1;
InOutStoreLog(outType + " 升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P3[" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_15_AxisBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_16_InoutToP2);
InOutStoreLog(outType + "进出轴到P2[" + moveP.InOut_P2 + "] ");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_16_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_17_GetReel);
InOutStoreLog(outType + "升降轴到入料口高点P2 [" + moveP.UpDown_P2 + "],压紧轴到P2 [" + moveP.ComPress_P2 + "] ");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_17_GetReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_InoutBack);
InOutStoreLog(outType + "进出轴返回P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
#endregion
#region 单盘出料，到出料口
else if (MoveInfo.IsStep(StoreMoveStep.SO_21_ToOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_FixtureCheck);
InOutStoreLog(outType + "等待料叉检测信号 ");
if (Config.IsUse_Tray_Check.Equals(1))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutDoor_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_22_FixtureCheck))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_23_OpenOutDoor);
InOutStoreLog(outType + "打开出料口门 ");
CylinderMove(MoveInfo, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_23_OpenOutDoor))
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.SO_24_InoutToP11);
InOutStoreLog(outType + "进出轴到_P11-出料口取放料点 [" + Config.InOutAxis_P11 + "] ");
InoutAxis.AbsMove(null, Config.InOutAxis_P11, Config.InOutAxis_P11_Speed);
//关闭舱门
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_24_InoutToP11))
{
bool IsInoutAxisBusy = AxisManager.instance.GetBusyStatus(InoutAxis.Config.DeviceName, InoutAxis.Config.GetAxisValue()).Equals(1);
if (!IsInoutAxisBusy && InoutAxis.IsInPosition(Config.InOutAxis_P11))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_25_PurReel);
InOutStoreLog(outType + "升降轴到_P11-出料口-低点[" + Config.UpDownAxis_P11 + "]，压紧轴到压紧前点P3 [" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxis_P11, Config.UpDownAxis_P11_Speed);
}
else if (IsInoutAxisBusy && IOValue(IO_Type.OutDoor_SafeSignal).Equals(IO_VALUE.LOW))
{
InOutStoreLog(outType + "触发出口安全光栅,进出轴暂停运行");
InoutAxis.SuddenStop();
}
else if (!IsInoutAxisBusy) {
InOutStoreLog(outType + "进出轴恢复运行");
InoutAxis.AbsMove(null, Config.InOutAxis_P11, Config.InOutAxis_P11_Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_25_PurReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_26_InoutToP1);
InOutStoreLog(outType + "进出轴返回待机点P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
OutDoorReelType = 1;
CylinderMove(MoveInfo, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutDoor_Check, IO_VALUE.LOW));
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_26_InoutToP1))
{
if (IOValue(IO_Type.OutDoor_SafeSignal).Equals(IO_VALUE.HIGH))
{
StoreManager.putShelfFinished(MoveInfo.MoveParam.PosID, "0", "0", MoveInfo.MoveParam.WareCode);
int gongdan = StoreManager.unfinishedTaskCount(Name, "0");
if (gongdan == 0)
{
InOutStoreLog("单盘出库：工单已结束");
lock (StoreManager.Store)
{
StoreManager.LastVisualRfid = "";
StoreManager.ShelfNeedOut = false;
}
}
MoveInfo.NextMoveStep(StoreMoveStep.SO_27_GoBack);
InOutStoreLog(outType + "升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "]，压紧轴到P1[" + moveP.ComPress_P1 + "]，关闭出料口门");
//CylinderMove(MoveInfo, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_27_GoBack))
{
CylinderMove(MoveInfo, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
OutDoorReelType = 0;
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
LogUtil.info(Name + " 【" + posId + "】 单盘出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveEndP();
AutoInout.InOutEndProcess(this, MoveType.OutStore);
}
#endregion
else
{
LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
#endregion
}
}