AC_SA_BoxBean_Partial.cs
63.4 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_SA_BoxBean
{
static AxisManager ACServerManager = AxisManager.instance;
#region 自动出入库参数
/// <summary>
/// 料仓内所有的位置列表
/// </summary>
public List<string> PositionNumList = new List<string>();
/// <summary>
/// 入库完成后自动出库，出库完成后自动入库
/// </summary>
public bool autoNext = false;
/// <summary>
/// 自动出入库间隔
/// </summary>
public int autoJiange = 3;
public int AutoStartIndex = 0;
public int autoPositionIndex = 0;
public string autoMsg = "";
//private static StoreMoveType lastMoveType = StoreMoveType.None;
#endregion
#region 出入库参数
private int CurrInOutCount = 0;
private int CurrInOutACount = 0;
private bool LoadParamPosition(InOutStoreParam param)
{
if (param == null)
{
return false;
}
//加载位置
if (param.MoveP == null)
{
LineMoveP p = new LineMoveP();
AutoStorePosition position = param.GetPosition();
if (position == null)
{
LogUtil.error(LOGGER, StoreName + "出入库时发现param中取到的Position=null,没有库位不能执行出入库");
return false;
}
p.ComPress_P1 = Config.CompressAxis_P1_Position;
p.InOut_P1 = Config.InOutAxis_P1_Position;
p.Middle_P1 = Config.MiddleAxis_P1_Position;
p.UpDown_Door_P7 = Config.UpDownAxis_Door_P7;
p.UpDown_OutHigh_P2 = Config.UpDownAxis_OutHigh_P2;
p.UpDown_OutLow_P8 = Config.UpDownAxis_OutLow_P8;
p.InOut_P2 = position.InOutAxis_Batch_P2;
p.InOut_P4 = position.InOutAxis_DoorOutPosition_P4;
p.UpDown_P1 = Config.GetUpDownP1(param.PlateH);
p.ComPress_P2 = position.CompressAxis_Position_P2;
p.ComPress_P3 = position.CompressAxis_CPosition_P3;
p.InOut_P3 = position.InOutAxis_Position_P3;
p.Middle_P2 = position.MiddleAxis_Position_P2;
p.UpDown_P3 = position.UpDownAxis_IHPosition_P3;
p.UpDown_P4 = position.UpDownAxis_ILPosition_P4;
p.UpDown_P5 = position.UpDownAxis_OHPosition_P5;
p.UpDown_P6 = position.UpDownAxis_OLPosition_P6;
param.MoveP = p;
}
int com2Value = Config.GetComP2(param.PlateH);
if (com2Value.Equals(-1).Equals(false))
{
param.MoveP.ComPress_P2 = com2Value;
//LogUtil.debug("【" + param.PositionNum + "】高度【" + param.PlateH + "】压紧点2位置【" + param.MoveP.ComPress_P2 + "】");
}
//出库时批量上下料轴需要下降的高度
param.MoveP.BatchAxis_DownValue = AutomaticBaiting.AxisChangeValue * param.PlateH + Config.BatchAxis_OutDownPosition;
//LogUtil.debug("【" + param.PositionNum + "】高度【" + param.PlateH + "】批量上下料轴需要下降【" + param.MoveP.BatchAxis_DownValue + "】");
param.MoveP.UpDown_P1 = Config.GetUpDownP1(param.PlateH);
LogUtil.debug("【" + param.PositionNum + "】高【" + param.PlateH + "】升降轴P1【" + param.MoveP.UpDown_P1 + "】压紧轴P2【" + param.MoveP.ComPress_P2 + "】批量上下料轴需要下降【" + param.MoveP.BatchAxis_DownValue + "】");
return true;
}
#endregion
#region 出入库结果验证
private bool InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
int outCount = ACServerManager.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
int errorCount = Math.Abs(outCount - InOut_P1);
if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
{
LogUtil.debug("进出轴当前位置：" + outCount + "，已经在P1，不需要再回P1");
return false;
}
else
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
return true;
}
}
private DateTime preRWTime = DateTime.Now;
private void CheckWait()
{
List<WaitResultInfo> list = StoreMove.WaitList;
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
string NotOkMsg = "";
int waitType = 0;
if (list.Count <= 0)
{
StoreMove.EndStepWait();
return;
}
bool isOk = true;
if (StoreMove.OneWaitCanEndStep)
{
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
waitType = wait.WaitType;
if (wait.WaitType == (int)Wait_Type.AxisMove_1)
{
string msg = "";
if (wait.IsHomeMove)
{
wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
}
else
{
wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
}
if (!msg.Equals(""))
{
isOk = false;
//WarnMsg = msg;
//LogUtil.info(msg);
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnObj.WarnMsg, StoreMove.MoveType);
return;
break;
}
}
else if (wait.WaitType == (int)Wait_Type.IOMove_2)
{
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if (StoreMove.MoveStep == StoreMoveStep.SO_14_WaitTake)
{
timeOutMs = 650000;
}
TimeSpan rwSpan = DateTime.Now - preRWTime;
if (wait.IsEnd.Equals(false) && rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < 30 && Config.DOList.ContainsKey(wait.IoType))
{
preRWTime = DateTime.Now;
string msg = " [" + StoreMove.MoveType + "][" + StoreMove.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
bool isLog = false;
foreach (WaitResultInfo ww in list)
{
if (ww != null && ww.WaitType.Equals(2) && Config.DOList.ContainsKey(ww.IoType))
{
if (IOManager.DOValue(ww.IoType).Equals(ww.IoValue).Equals(false))
{
isLog = true;
IOManager.IOMove(ww.IoType, ww.IoValue);
msg += ww.ToStr() + "，";
}
}
}
if (isLog)
{
LogUtil.error(StoreName + msg);
}
}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
// WarnMsg = StoreName + ResourceControl.GetString(ResourceControl.WaitSingle, " 等待信号") + io.DisplayStr + "=" + wait.IoValue + ResourceControl.GetString(ResourceControl.TimeOut, "超时！");
SetWarnMsg(ResourceControl.WaitSingleTimeOut, io.ElectricalDefinition + "_" + io.ProName, wait.IoValue + "");
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnObj.WarnMsg, StoreMove.MoveType);
LogUtil.error(WarnObj.WarnMsg, 14);
isOk = false;
return;
break;
}
}
else if (wait.WaitType == (int)Wait_Type.Time_3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType == (int)Wait_Type.WaitHeight_7)
{
//wait.IsEnd = (wait.HeightValue.Equals(GetHeight()));
}
else if (wait.WaitType == (int)Wait_Type.TakeTrayGo_12)
{
wait.IsEnd = AutomaticBaiting.IsGetTrayGo;
}
else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10)
{
if (!wait.IsEnd)
{
wait.IsEnd = AutomaticBaiting.BatchAxisIsEnd(wait, span);
}
//if (!wait.IsEnd)
//{
// bool MoveEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
// int outCount = ACServerManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
// int errorCount = Math.Abs(outCount - wait.TargetPosition);
// if (MoveEnd && errorCount < wait.AxisInfo.CanErrorCountMax)
// {
// wait.IsEnd = true;
// }
//}
if (wait.IsEnd)
{
BatchAxisController.StopCheck();
}
}
else if (wait.WaitType == (int)Wait_Type.ShuoKe_5)
{
//string msg = "";
//wait.IsEnd = ShuoKeIsEnd(wait, out msg);
//NotOkMsg = NotOkMsg + " " + msg;
}
if (wait.IsEnd)
{
if (StoreMove.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!StoreMove.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
if (isOk)
{
StoreMove.EndStepWait();
}
else if (span.TotalSeconds > StoreMove.TimeOutSeconds)
{
string p1 = "[" + StoreMove.MoveStep + "]";
string p2 = "[" + NotOkMsg + "]";
string p3 = "[" + Math.Round(span.TotalSeconds, 1) + "]";
string msg = ResourceControl.GetString(ResourceControl.MoveTimeOut, p1 + ResourceControl.GetString(ResourceControl.TimeOut, "超时") + p2 + p3, p1, p2, p3);
string newType = ResourceControl.MoveTimeOut;
SetWaitWarnMsg(msg, newType, p1, p2, p3);
LogUtil.error(WarnObj.WarnMsg, 15);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnObj.WarnMsg, StoreMove.MoveType);
}
}
#endregion
#region 入库
private Stopwatch InOutWatch = new Stopwatch();
/// <summary>
/// 开始入库移动移动
/// </summary>
/// <param name="param">入库参数</param>
/// <param name="IsBatchWork">是否批量出库</param>
/// <param name="isNeedInStore">是否需要入库，不需要入库时直接等待拿走料盘</param>
/// <returns></returns>
public bool StartInStoreMove(InOutStoreParam param, bool IsBatchWork = true, bool isNeedInStore = true)
{
InOutWatch.Restart();
string posId = param != null ? param.PositionNum : "";
string logMsg = IsBatchWork ? " 启动批量入库【" + posId + "】" : " 启动入库【" + posId + "】";
if (!AutomaticBaiting.DoorCloseOK())
{
UpdateInOutMsg(logMsg + "失败，门锁未关闭");
return false;
}
if (IsBatchWork && (!SupportBatch(posId)))
{
UpdateInOutMsg(logMsg + "失败，此库位不支持批量操作");
return false;
}
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
UpdateInOutMsg(logMsg + "失败，找不到库位信息");
return false;
}
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
UpdateInOutMsg(logMsg + "失败，叉子料盘检测有料");
return false;
}
LogUtil.info(LOGGER, StoreName + logMsg);
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
StoreMove.NewMove(StoreMoveType.InStore, param);
//lastMoveType = StoreMoveType.InStore;
StoreMove.IsBatchInOutStore = IsBatchWork;
StoreMove.IsNeedInStore = isNeedInStore;
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
}
else
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
//LocationDownAndWait();
}
return true;
}
else
{
UpdateInOutMsg(logMsg + "失败，当前状态：" + storeRunStatus);
return false;
}
}
private void SI_03_AxisToP1(LineMoveP moveP)
{
InStoreLog($"入库：SI_03 所有轴回待机点，轴2({moveP.UpDown_P1})、轴1({moveP.Middle_P1}) 到P1, 轴4({moveP.ComPress_P3})到P3，吸盘在上升端");
StoreMove.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
bool needMove = false;
if (!ACServerManager.isInPosition(Config.Comp_Axis, moveP.ComPress_P3))
{
needMove = true;
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
if (!ACServerManager.isInPosition(Config.UpDown_Axis, moveP.UpDown_P1))
{
needMove = true;
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
if (!ACServerManager.isInPosition(Config.Middle_Axis, moveP.Middle_P1))
{
needMove = true;
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW));
//如果不需要回待机点，直接到下一个步骤
if (!needMove && IOManager.IOValue(IO_Type.ClampingDisc_Down).Equals(IO_VALUE.LOW) && IOManager.IOValue(IO_Type.ClampingDisc_Up).Equals(IO_VALUE.HIGH))
{
SI_04_DeviceToDoor();
}
}
private void SI_02_Move(LineMoveP moveP)
{
InStoreLog($"入库：SI_02_ 进出轴至P1({moveP.InOut_P1})");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
bool result = InOutBackToP1(moveP.InOut_P1);
if (!result && StoreMove.IsBatchInOutStore.Equals(true))
{
SI_03_AxisToP1(moveP);
}
}
private void SI_04_DeviceToDoor()
{
InStoreLog($"入库：SI_04 叉子进入入料口，进出轴至P2({StoreMove.MoveParam.MoveP.InOut_P2}) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_04_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
protected override void InStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.MoveStep >= StoreMoveStep.SIS_31_ToDoor)
{
SingleInStoreProcess();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
SI_02_Move(moveP);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{
if (StoreMove.IsBatchInOutStore)
{
SI_03_AxisToP1(moveP);
}
else
{
int updownPosition = moveP.UpDown_Door_P7 - Config.UpdownAxis_UpPosition;
InStoreLog("入库：SIS_31 单盘入库：旋转轴待机点P1，升降轴走到仓门位置P7下方位置 " + updownPosition);
StoreMove.NextMoveStep(StoreMoveStep.SIS_31_ToDoor);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, updownPosition, Config.UpDownAxis_P7_Speed);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_03_ReturnHome)
{
SI_04_DeviceToDoor();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_04_DeviceToDoor)
{
InStoreLog($"入库：SI_05 等待吸盘放下物品");
InStoreLog(StoreManager.GetAllAxisPos());
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DoorWarToDevice);
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
AutomaticBaiting.CylinderMove(IO_Type.Clamping_Work, IO_Type.Clamping_Relax, StoreMove);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DoorWarToDevice)
{
if (!StoreMove.IsNeedInStore)
{
InStoreLog("送出料盘：SI_21 ，升降轴到门口位置P7 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
}
else
{
if (IsHasCompress_Axis)
{
int targetPosition = moveP.UpDown_P1 - Config.UpDownAxis_DownValue;
InStoreLog("入库：SI_06 压紧轴压紧，压紧轴到P2，升降轴下降【" + Config.UpDownAxis_DownValue + "】目标【" + targetPosition + "】 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_CompressWork);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, targetPosition, Config.UpDownAxis_P4_Speed);
}
else
{
InStoreLog("入库：SI_07 叉子返回，进出轴至P1,检测料仓料盘检测信号 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_InoutToP1);
InOutBackToP1(moveP.InOut_P1);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_CompressWork)
{
InStoreLog("入库：SI_07 叉子返回，进出轴至P1 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_InoutToP1);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_InoutToP1)
{
if (Config.IsUse_Tray_Check.Equals(1))
{
StoreMove.NextMoveStep(StoreMoveStep.SI_071_CheckFixture);
InStoreLog("入库：SI_071_CheckFixture 进出轴到P1后，判断是否拿到物料 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else
{
InStoreLog("入库：SI_08 定位气缸伸出 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up);
//LocationUpAndWait();
}
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_071_CheckFixture)
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else
{
InStoreLog("入库：SI_08 定位气缸伸出 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up);
//LocationUpAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
{
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点)) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else
{
InStoreLog("入库：SI_10 定位气缸退回 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down);
//LocationDownAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
{
//IOManager.IOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
{
InStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
// 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 = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//Task.Factory.StartNew(delegate { SendLineStatus(); });
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
Thread.Sleep(100);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
InStoreLog("入库：SI_13 叉子从库位返回，进出轴至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_InoutBack)
{
InStoreLog("入库：SI_14 返回待机点，轴2/轴1到P1,轴4到P3");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack)
{
preProTime = DateTime.Now.AddSeconds(-5);
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, " 【" + posId + "】 入库结束，耗时【" + FormUtil.GetSpanStr(InOutWatch.Elapsed) + "】！");
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
InOutEndProcess(StoreMoveType.InStore);
}
#region 送出料盘处理
else if (StoreMove.MoveStep == StoreMoveStep.SI_21_DeviceToDoor)
{
InStoreLog("送出料盘：SI_21 ，进出轴到仓门出料点P4 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_22_InoutToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P2_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SafetyLightCurtains, IO_VALUE.HIGH));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SI_22_InoutToDoor))
{
InStoreLog("送出料盘：SI_22 ，压紧轴到压紧前点 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_23_ComToP3);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
//if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
//{
// InStoreLog("送出料盘：SI_22 ，打开仓门 ");
// StoreMove.NextMoveStep(StoreMoveStep.SI_24_OpenDoor);
// OpenDoorAndWait();
//}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SI_23_ComToP3))
{
if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
InStoreLog("送出料盘：SI_23 ，打开仓门 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_24_OpenDoor);
OpenDoorAndWait();
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SI_24_OpenDoor))
{
InStoreLog("送出料盘：SI_24 ，等待操作人员拿走料盘 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_25_WaitTrayGo);
StoreMove.TimeOutSeconds = 120;
AutomaticBaiting.IsGetTrayGo = false;
AutomaticBaiting.IsWaitTragGo = true;
StoreMove.WaitList.Add(WaitResultInfo.WaitTakeTray());
AutomaticBaiting.WaitIoValue = IO_VALUE.LOW;
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_25_WaitTrayGo)
{
if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
InStoreLog("送出料盘：SI_13 叉子从库位返回，进出轴到P1(待机点) ");
CodeOrInoutMsg = "";
// 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 = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = "";
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
InOutBackToP1(moveP.InOut_P1);
CloseDoorAndWait();
}
}
#endregion
else
{
LogUtil.info(LOGGER, StoreName + " 入库，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
protected void SingleInStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_31_ToDoor))
{
InStoreLog("入库：SIS_32 单盘入库：叉子走到门口位置P4， 打开仓门 ,压紧轴到P3");
StoreMove.NextMoveStep(StoreMoveStep.SIS_32_InoutToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P2_Speed);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
OpenDoorAndWait();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_32_InoutToDoor))
{
InStoreLog("入库：SIS_33 等待操作人员放入料盘 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_33_WaitTray);
StoreMove.TimeOutSeconds = 120;
AutomaticBaiting.IsGetTrayGo = false;
AutomaticBaiting.IsWaitTragGo = true;
StoreMove.WaitList.Add(WaitResultInfo.WaitTakeTray());
AutomaticBaiting.WaitIoValue = IO_VALUE.HIGH;
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.HIGH));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_33_WaitTray))
{
//判断是否放入料盘
if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
{
InStoreLog("入库：SI_13 单盘入库未放入料盘，关闭仓门，进出轴至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
CloseDoorAndWait();
InOutBackToP1(moveP.InOut_P1);
}
else
{
InStoreLog("入库：SIS_34 确认放入料盘，关闭仓门，升降轴走门口P7，压紧轴压紧 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_34_GetTray);
CloseDoorAndWait();
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P4_Speed);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_34_GetTray))
{
InStoreLog("入库：SIS_35 确认放入料盘，关闭仓门，进出轴后退到P1 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_35_InoutBack);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_35_InoutBack))
{
InStoreLog("入库：SIS_36 升降轴下降到扫码位置P2 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_36_UpdownDown);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_OutHigh_P2, Config.UpDownAxis_P2_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_36_UpdownDown))
{
InStoreLog("入库：SIS_37 轴3（ 叉子） 至P2（ 进料口取料点） ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_37_InoutToP2);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_37_InoutToP2))
{
InStoreLog("入库：SIS_38 ，清理扫码信息，开始扫码,最多等待6000 ");
AutomaticBaiting.ClearInStoreInfo();
StoreMove.NextMoveStep(StoreMoveStep.SIS_38_ScanCode);
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(9000));
StoreMove.OneWaitCanEndStep = true;
AutomaticBaiting.GetCameraCode();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_38_ScanCode))
{
if (AutomaticBaiting.LastCode.Equals(""))
{
SingleSendOut("未扫到二维码");
}
else
{
InStoreLog("入库：SIS_39 获取入库库位号 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_39_GetPosId);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000));//最多等待十秒
InOutStoreParam param = AutomaticBaiting.GetInStoreParam("单盘入库", AutomaticBaiting.ProcessMsg());
if (param == null)
{
SingleSendOut("从服务器获取入库信息失败");
}
else if (!LoadParamPosition(param))
{
SingleSendOut("加载入库" + param.PositionNum + "参数失败");
}
else
{
//更改当前入库参数
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
StoreMove.MoveParam = param;
moveP = StoreMove.MoveParam.MoveP;
//lastMoveType = StoreMoveType.InStore;
StoreMove.IsBatchInOutStore = true;
StoreMove.IsNeedInStore = true;
LogUtil.info("单盘入库获取库位号成功：" + param.ToStr() + ",叉子后退，压紧轴压紧[" + moveP.ComPress_P2 + "]，开始入库");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_InoutToP1);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Position);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_39_GetPosId))
{
SingleSendOut("启动入库超时 ");
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_40_StartInStore))
{
InStoreLog("入库：SIS_41 开始送出料盘 ,叉子后退 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_41_StartSendTrayOut);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Position);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_41_StartSendTrayOut))
{
StoreMove.IsNeedInStore = false;
InStoreLog("送出料盘：SI_21 ，升降轴到门口位置P7 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
}
}
private void SingleSendOut(string msg)
{
StoreMove.IsBatchInOutStore = true;
StoreMove.IsNeedInStore = false;
InStoreLog(msg + "，将料盘送出，叉子后退");
StoreMove.NextMoveStep(StoreMoveStep.SIS_41_StartSendTrayOut);
ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Position);
}
#endregion
#region 出库
/// <summary>
/// 开始出库运动
/// </summary>
public bool StartOutStoreMove(InOutStoreParam param, bool IsBatchWork)
{
InOutWatch.Restart();
string posId = param != null ? param.PositionNum : "";
string logMsg = IsBatchWork ? " 启动批量出库【" + posId + "】" : " 启动出库【" + posId + "】";
if (!AutomaticBaiting.DoorCloseOK())
{
UpdateInOutMsg(logMsg + "失败，门锁未关闭");
//LogUtil.error(LOGGER, StoreName + logMsg + " 出错，门锁未关闭");
return false;
}
if (IsBatchWork && (!SupportBatch(posId)))
{
UpdateInOutMsg(logMsg + "失败，此库位不支持批量操作");
return false;
}
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
UpdateInOutMsg(logMsg + "失败，找不到库位信息");
return false;
}
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
UpdateInOutMsg(logMsg + "失败，叉子料盘检测有料");
return false;
}
//若自动上料机构正在入库中，不可以出库
if (!AutomaticBaiting.AutoBaitingStatus.Equals(StoreRunStatus.Runing))
{
UpdateInOutMsg(logMsg + "失败，批量上下料机构不在空闲中");
return false;
}
//判断批量上下料机构是否已经满
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH) && IsBatchWork)
{
int currBatchValue = ACServerManager.GetActualtPosition(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue());
if (currBatchValue - param.MoveP.BatchAxis_DownValue < 1000)
{
UpdateInOutMsg(logMsg + "失败，批量上下料机构已满，请先拿出料盘");
return false;
}
}
int height = param.GetPosition().BagHeight;
if (AutomaticBaiting.BatchOutStoreHeight >= Config.BatchAxis_MaxHeight)
{
LogUtil.error(LOGGER, StoreName + logMsg + " 出错，当前高【" + AutomaticBaiting.BatchOutStoreHeight + "】出库料盘高【" + height + "】，最大高【" + Config.BatchAxis_MaxHeight + "】");
UpdateInOutMsg(logMsg + "失败，批量上下料机构已满，请先拿出料盘");
return false;
}
storeStatus = StoreStatus.OutStoreExecute;
LogUtil.info(LOGGER, StoreName + logMsg);
storeRunStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore, param);
//lastMoveType = StoreMoveType.OutStore;
StoreMove.IsBatchInOutStore = IsBatchWork;
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_01_LocationCylinderDown);
//SO_02_DeviceBack();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_01_LocationCylinderDown);
OutStoreLog("出库：SO_01 定位气缸下降");
//LocationDownAndWait();
}
CodeOrInoutMsg = "";
return true;
}
else
{
UpdateInOutMsg(logMsg + "失败，当前状态：" + storeRunStatus);
//LogUtil.error(LOGGER, StoreName + logMsg+ "出错，当前storeStatus=" + storeRunStatus);
return false;
}
}
protected override void OutStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SO_01_LocationCylinderDown)
{
SO_02_DeviceBack();
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_02_DeviceBack)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
bool BatchNeedMove = false;
int targetValue = -1;
int outDownPosition = StoreMove.MoveParam.MoveP.BatchAxis_DownValue;
if (StoreMove.IsBatchInOutStore)
{ //如果料盘检测信号不亮，不需要下降这么多
//判断是否在P1点
int acPosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
bool isIn = Math.Abs(acPosition - Config.BatchAxis_P1) < Config.Batch_Axis.CanErrorCountMax;
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW) && outDownPosition > Config.BatchAxis_OutDownPosition && isIn)
{
outDownPosition = outDownPosition - Config.BatchAxis_OutDownPosition;
}
//如果检测信号亮，需要多下降
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
outDownPosition = outDownPosition + Config.BatchAxis_DownPosition2;
}
//上下料机构下降的距离=料盘最低高度+默认的高度
targetValue = GetBatchTargetValue(outDownPosition);
if (targetValue >= 1000)
{
BatchNeedMove = true;
}
else
{
AutomaticBaiting.BatchOutStoreCount++;
AutomaticBaiting.BatchOutStoreHeight = 1000;
OutStoreLog("出库：SO_03批量上下料轴需下降【" + outDownPosition + "】目标【" + targetValue + "】,实时位置【" + ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis) + "】 ，请检查料盘是否已满");
//停止出库
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
storeStatus = StoreStatus.StoreOnline;
LogUtil.error(LOGGER, StoreName + " 【" + posId + "】 出库中断，请检查料盘是否已满，耗时【" + FormUtil.GetSpanStr(InOutWatch.Elapsed) + "】！");
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore);
return;
}
}
OutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, StoreMove.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
Thread.Sleep(100);
if (BatchNeedMove)
{
StoreMove.TimeOutSeconds = 120;
Thread.Sleep(1000);
ACAxisMove(Config.Batch_Axis, targetValue, Config.BatchAxis_P1_Speed);
OutStoreLog("出库：SO_03 批量轴下降【" + outDownPosition + "】目标【" + targetValue + "】 ");
Thread.Sleep(100);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_04_DeviceToBag);
OutStoreLog("出库：SO_04 叉子进入库位中， 进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_04_DeviceToBag)
{
OutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack);
OutStoreLog("出库：SO_06 叉子从库位返回，进出轴至P1(待机点) ");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
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 = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
//手动发给服务器状态，防止没有手动
//Task.Factory.StartNew(delegate { SendLineStatus(); });
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.error("出库【" + posId + "】取料完成后，未检测到叉子料盘信号 ");
}
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
SO_08_ToDoorPosition();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_LocationCylinder_Up);
OutStoreLog("出库：SO_07 定位气缸伸出 ");
//LocationUpAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up)
{
SO_08_ToDoorPosition();
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
{
if (Config.IsUse_Tray_Check.Equals(1))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_CheckFixture);
OutStoreLog("出库：SO_09_CheckFixture 等待叉子料盘检测信号");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
SO_11_DeviceToDoorPro();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_10_LocationCylinder_Down);
OutStoreLog("出库：SO_10 定位气缸退回 ");
//LocationDownAndWait();
}
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_09_CheckFixture)
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
SO_11_DeviceToDoorPro();
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_10_LocationCylinder_Down);
OutStoreLog("出库：SO_10 定位气缸退回 ");
//LocationDownAndWait();
}
}
//此处需要等待移栽没有工作，才能把盘放入出料口
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_LocationCylinder_Down)
{
SO_11_DeviceToDoorPro();
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DeviceToDoor)
{
if (StoreMove.IsBatchInOutStore)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_12_PutTray);
OutStoreLog("出库：SO_12_PutTray 放下料盘，升降轴到P8(出库低点），压紧轴至P3(压紧前点)");
ComMoveToPosition(StoreMove.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_OutLow_P8, Config.UpDownAxis_P8_Speed);
AutomaticBaiting.BatchOutStoreHeight += StoreMove.MoveParam.PlateH;
AutomaticBaiting.BatchOutStoreCount++;
Thread.Sleep(100);
}
else if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_21_OpenDoor);
OutStoreLog("出库：SO_21打开仓门，压紧轴至P3（压紧前点）,定位气缸下降");
ComMoveToPosition(StoreMove.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
OpenDoorAndWait();
//LocationDownAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_21_OpenDoor)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_22_WaitTrayGo);
OutStoreLog("出库：SO_22 等待操作人员拿走料盘 ");
StoreMove.TimeOutSeconds = 120;
AutomaticBaiting.IsWaitTragGo = true;
AutomaticBaiting.IsGetTrayGo = false;
StoreMove.WaitList.Add(WaitResultInfo.WaitTakeTray());
//需要检测是否已拿走
AutomaticBaiting.WaitIoValue = IO_VALUE.LOW;
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SO_22_WaitTrayGo))
{
if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
{
SO_13_InoutBack();
CloseDoorAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_PutTray)
{
SO_13_InoutBack();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SO_13_InoutBack))
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
storeStatus = StoreStatus.StoreOnline;
LogUtil.info(LOGGER, "【" + posId + "】出库结束，耗时【" + FormUtil.GetSpanStr(InOutWatch.Elapsed) + "】累积出库： " + AutomaticBaiting.BatchOutStoreCount + "盘共" + AutomaticBaiting.BatchOutStoreHeight + "mm");
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore);
}
else
{
LogUtil.error(LOGGER, StoreName + " 出库 moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
private void SO_02_DeviceBack()
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog("出库：SO_02 叉子运动到P1 ");
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
if (StoreMove.IsBatchInOutStore)
{
//如果可以直接下降，则不需要匀速上升
int targetValue = GetBatchTargetValue(StoreMove.MoveParam.MoveP.BatchAxis_DownValue);
if (targetValue >= 300000)
{
OutStoreLog("出库：SO_02 批量上下料轴直接下降后目标位置【" + targetValue + "】不需要匀速上升 ");
}
//如果批量能未检测到料盘，需要把批量轴走到能检测到料盘的位置
else if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{
StoreMove.TimeOutSeconds = 120;
//ACAxisMove(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_P1, IO_Type.TrayCheck_LoadMaterial));
BatchAxisController.StartCheck(IO_Type.TrayCheck_LoadMaterial);
Config.Batch_Axis.TargetPosition = Config.BatchAxis_P1;
int speed = Config.BatchAxis_P1_Speed;
if (AutomaticBaiting.BatchOutStoreHeight > 0)
{
speed = Config.BatchAxis_SlowSpeed * 2;
}
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_P1, speed, Config.Batch_Axis.AddSpeed, Config.Batch_Axis.DelSpeed);
OutStoreLog("出库：SO_02 批量上下料轴到P1点【" + Config.BatchAxis_P1 + "】速度【" + speed + "】 ");
}
//第一盘料先上升盘高，若检测信号不亮，则可以出库
//拿盘的同时 批量轴上升到检测信号亮，计算可用盘高=（位置-待机位）/系数
//批量轴下降指定的高度，开始放盘
//第二盘以后的料，若信号亮，先下降到信号不亮
//信号不亮，批量轴下降指定的位置
}
}
private int GetBatchTargetValue(int downValue)
{
int currPosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
if (currPosition.Equals(-1))
{
currPosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
}
int targetValue = currPosition - downValue;
return targetValue;
}
//private void BatchAxisUpTrayHeight()
//{
// int targetValue = GetBatchTargetValue(StoreMove.MoveParam.MoveP.BatchAxis_DownValue);
// //记录高度
// AutomaticBaiting.BatchOutStoreCount++;
// AutomaticBaiting.BatchOutStoreHeight += StoreMove.MoveParam.GetACPosition().BagHeight;
// OutStoreLog(" 批量上下料轴下降【" + StoreMove.MoveParam.MoveP.BatchAxis_DownValue + "】，目标位置【" + targetValue + "】");
// //判断盘满后，需要报警?
// if (targetValue <= 0)
// {
// //TODO
// WarnMsg = "库已满，请先拿走！";
// }
// else
// {
// ACAxisMove(StoreManager.Config.Batch_Axis, targetValue, StoreManager.Config.Batch_Axis.TargetSpeed);
// }
//}
private void SO_13_InoutBack()
{
StoreMove.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
OutStoreLog("出库：SO_13 叉子返回");
ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed);
if (IsHasCompress_Axis)
{
ComMoveToPosition(StoreMove.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
}
/// <summary>
/// 出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点)
/// </summary>
private void SO_08_ToDoorPosition()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
if (StoreMove.IsBatchInOutStore)
{
OutStoreLog("出库：SO_08 升降轴到出料高点P2，旋转轴至P1(待机点)，等待吸盘处于上升端");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_OutHigh_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//BatchAxisUpTrayHeight();
}
else
{
OutStoreLog("出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点)，等待吸盘处于上升端 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
//此处需要等待吸盘在上升位置
IOManager.IOMove(IO_Type.ClampingDisc_Up, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.ClampingDisc_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW));
}
private void SO_11_DeviceToDoorPro()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DeviceToDoor);
if (StoreMove.IsBatchInOutStore)
{
OutStoreLog("出库：SO_11 叉子进出料口，进出轴至P2(进料口吸盘取料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else
{
OutStoreLog("出库：SO_11 叉子进出料口，进出轴至P4(仓门出料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P2_Speed);
}
}
#endregion
public bool SupportBatch(string posId)
{
AutoStorePosition position = CSVPositionReader<AutoStorePosition>.GetPositon(posId);
if (position != null && position.SupportBatch.Equals(1))
{
return true;
}
else
{
return false;
}
}
public void UpdateInOutMsg(string Msg)
{
CodeOrInoutMsg = Msg;
//WarnMsg = Msg;
LogUtil.error(Msg);
}
public List<FixtureCodeInfo> waitOutStoreList = new List<FixtureCodeInfo>();
public object waitOutListLock = "";
public void AddWaitOutInfo(FixtureCodeInfo code)
{
lock (waitOutListLock)
{//判断已经有此库位号的出库信息，直接抛弃不处理
List<FixtureCodeInfo> list = (from m in waitOutStoreList where m.PosId.Equals(code.PosId) select m).ToList<FixtureCodeInfo>();
if (list.Count > 0)
{
LogUtil.info("【" + code.ToStr() + "】 加入等待队列失败，【" + code.PosId + "】已在出库队列中");
}
else
{
waitOutStoreList.Add(code);
}
}
}
#region 自动出入库循环代码
public string GetAutoPosid(bool isNext)
{
string posid = "";
if (autoNext)
{
if (PositionNumList.Count > autoPositionIndex)
{
posid = PositionNumList[autoPositionIndex];
autoMsg = ResourceControl.GetString("自动入库", "自动入库") + "：" + posid;
//到下一个库位
if (isNext)
{
int newIndex = autoPositionIndex - autoJiange;
if (newIndex < 0)
{
newIndex = AutoStartIndex;
}
autoPositionIndex = newIndex;
}
}
}
return posid;
}
private void InOutEndProcess(StoreMoveType storeMoveType)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
if (CycleOut && storeMoveType.Equals(StoreMoveType.OutStore))
{
AutomaticBaiting.ClearOutStoreInfo();
FixtureCodeInfo currInOutFixture = new FixtureCodeInfo(0, "", CyclePosId);
AddWaitOutInfo(currInOutFixture);
LogUtil.info("循环出库结束，将库位号【" + currInOutFixture.ToStr() + "】加入出库等待中");
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, ex.ToString());
}
}
#endregion
private void InStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
string isBatchMsg = StoreMove.IsBatchInOutStore ? "批量" : "";
LogUtil.info(LOGGER, isBatchMsg + "【" + posId + "】" + msg);
}
private void OutStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
string isBatchMsg = StoreMove.IsBatchInOutStore ? "批量" : "";
LogUtil.info(LOGGER, isBatchMsg + "【" + posId + "】" + msg);
}
#region 循环出入库功能
public bool CycleOut = false;
public string CyclePosId = "";
#endregion
}
}