BoxBean_Partial.cs
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using Asa;
using DeviceLib;
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 ACServerManager.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 + " 启动出库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return 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");
return false;
}
LogInfo(" 启动入库【" + param.ToStr() + "】 ");
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))
{
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))
{
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))
{
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))
{
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))
{
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);
}
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) + "】");
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);
InOutStoreLog(outType + "打开出料口门 ");
CylinderMove(MoveInfo, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
}
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);
OutDoorReelType = 1;
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_25_InoutToP1))
{
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");
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.SI_26_GoBack))
{
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 (StoreManager.Store.CanOut(true))
{
result = StartOutStoreMove(param);
}
if (!result)
{
LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
waitOutStoreList.Enqueue(param);
}
}
public override bool StartOutStoreMove(InOutParam param)
{
startOutStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!runStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None)))
{
LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + runStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirCheck);
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() + "】 ");
//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;
}
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))
{
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))
{
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))
{
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))
{
if (StoreManager.Store.BoxDoorFree(ID))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_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.SO_07_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_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_08_PutReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_09_InoutBack);
InOutStoreLog(outType + "进出轴返回P1[" + moveP.InOut_P1 + "]");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_09_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_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 + "] ");
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_10_GoBack))
{
if (AutoInout.autoNext)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_WaitTrayGo);
InOutStoreLog(outType + "自动出入库，等待提升机构拿走料盘 或等待1000");
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_11_WaitTrayGo);
InOutStoreLog(outType + "等待提升机构拿走料盘 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.InDoor_Check, IO_VALUE.LOW));
ClearTimeoutAlarm("提升机构夹爪开始取料");
ClearTimeoutAlarm("提升机构夹爪可以取料");
}
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))
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 提升机构夹爪可以取料 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
Alarm(AlarmType.IoSingleTimeOut);
}
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_11_WaitTrayGo))
{
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 单盘出料，到出料口
else if (MoveInfo.IsStep(StoreMoveStep.SO_21_ToOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_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_22_OpenOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_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.SO_23_InoutToP11))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_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.SO_24_PurReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_25_InoutToP1);
InOutStoreLog(outType + "进出轴返回待机点P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep( StoreMoveStep.SO_25_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_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");
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_26_GoBack))
{
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
}
}