MainMachine _RightProcess.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
bool RightShelfNoTray = false;
int RightCount = 0;
void RightProcess()
{
if (CheckWait(RightMoveInfo))
return;
//常规上料扫码流程
switch (RightMoveInfo.MoveStep)
{
case MoveStep.R01:
RightCount = 0;
RightMoveInfo.NextMoveStep(MoveStep.R03);
RightBatchAxisToP2(true);
RightMoveInfo.log($"批量轴上升到P2位置,第一次提升,RightStartMovePosition={RightStartMovePosition}");
break;
case MoveStep.R02:
RightMoveInfo.NextMoveStep(MoveStep.R03);
RightBatchAxisToP2(false);
RightMoveInfo.log($"批量轴上升到P2位置,二次提升,RightStartMovePosition={RightStartMovePosition}");
break;
case MoveStep.R03:
if (IOValue(IO_Type.RightOverHead_Check).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NextMoveStep(MoveStep.R02);
Right_Batch_Axis.AbsMove(RightMoveInfo, RightStartMovePosition, Config.Right_Batch_P2_speed);
RightMoveInfo.log($"批量轴上升过头,下降到:RightStartMovePosition={RightStartMovePosition}");
}
else
{
RightMoveInfo.NextMoveStep(MoveStep.R04);
}
break;
case MoveStep.R04:
if (IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.LOW) && RightShelfNoTray.Equals(false))
{
RightMoveInfo.NextMoveStep(MoveStep.R06_GettedReelHigh);
GetHeight();
ScanCode();
RightMoveInfo.log($"开始扫码,并获取上一盘料高度,LastHeight={LastHeight}");
}
else
{
if (RightShelfNoTray.Equals(false))
{
//判断当前位置是否在指定的位置
int currP = Right_Batch_Axis.GetAclPosition();
int chaz = Math.Abs(currP - Config.Right_Batch_P2);
if (chaz > Right_Batch_Axis.Config.CanErrorCountMax)
{
//RightMoveInfo.NextMoveStep(MoveStep.R02);
RightMoveInfo.log("CheckHasTray：上料轴开始慢速上升到P2[" + Config.Right_Batch_P2 + "]，等待检测到料盘");
RightShelfNoTray = false;
RightBatchAxisToP2(false);
return;
}
}
//无料盘
RightShelfNoTray = true;
RightMoveInfo.NextMoveStep(MoveStep.R12_ShelfNoTray);
RightMoveInfo.log($"批量轴已上升到顶,料串已满.");
}
break;
case MoveStep.R06_GettedReelHigh:
if (RightScanTask.IsCompleted)
{
var x = RightScanTask.Result;
if (x.Count == 0)
{
RightMoveInfo.log($"未识别到有效二维码,转入NG箱");
RightMoveInfo.MoveParam.IsNg = true;
}
else
{
RightMoveInfo.MoveParam.codeInfos = x;
//调用标签打印
DoPrint("123");
RightMoveInfo.log($"已完成扫码,等待料盘被取走 Count={x.Count}");
}
RightMoveInfo.NextMoveStep(MoveStep.R10_WaitReelLeave);
}
else if (RightMoveInfo.IsTimeOut(10))
{
RightMoveInfo.log($"等待扫码超时");
}
break;
case MoveStep.R10_WaitReelLeave:
break;
case MoveStep.R11_NextReel:
RightCount++;
RightMoveInfo.NextMoveStep(MoveStep.R02);
RightMoveInfo.log($"料盘已取走,开始准备下一盘料");
break;
case MoveStep.R12_ShelfNoTray:
RightMoveInfo.NextMoveStep(MoveStep.REND);
Right_Batch_Axis.AbsMove(RightMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
RightMoveInfo.log($"料窜已取完, 批量轴下降到P1");
break;
case MoveStep.REND:
RightMoveInfo.log($"结束运动");
RightMoveInfo.EndMove();
break;
//}
//料窜出料流程
//switch (RightMoveInfo.MoveStep)
//{
case MoveStep.R30_OutShelf:
RightMoveInfo.NextMoveStep(MoveStep.R31);
Right_Batch_Axis.AbsMove(RightMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
RightMoveInfo.log($"批量轴下降到P1位置");
break;
case MoveStep.R31:
RightMoveInfo.NextMoveStep(MoveStep.R32);
CylinderMove(null, IO_Type.RightStopUP, IO_Type.RightStopDown);
RightMoveInfo.log($"阻挡下降");
break;
case MoveStep.R32:
RightMoveInfo.NextMoveStep(MoveStep.R33);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.LOW));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
RightMoveInfo.log($"电滚筒向外滚动");
break;
case MoveStep.R33:
RightMoveInfo.NextMoveStep(MoveStep.R34);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightFornt_Check, IO_VALUE.LOW));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
RightMoveInfo.OneWaitCanEndStep = true;
RightMoveInfo.log($"等待前置检测拉低");
break;
case MoveStep.R34:
RightMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW, false, 500);
RightMoveInfo.log($"电滚停止");
break;
//}
//料窜入料流程
//switch (RightMoveInfo.MoveStep)
//{
case MoveStep.R40_InShelf:
RightMoveInfo.NextMoveStep(MoveStep.R41);
Right_Batch_Axis.AbsMove(RightMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
RightMoveInfo.log($"批量轴下降到P1位置");
break;
case MoveStep.R41:
RightMoveInfo.NextMoveStep(MoveStep.R42);
IOMove(IO_Type.RightStopUP, IO_VALUE.LOW);
RightMoveInfo.log($"阻挡下降");
break;
case MoveStep.R42:
RightMoveInfo.NextMoveStep(MoveStep.R43);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.HIGH));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
RightMoveInfo.OneWaitCanEndStep = true;
RightMoveInfo.log($"等待料窜到位");
break;
case MoveStep.R43:
RightMoveInfo.NextMoveStep(MoveStep.R44);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW, false,500);
IOMove(IO_Type.RightStopUP, IO_VALUE.HIGH);
RightMoveInfo.log($"电滚筒停止,阻挡上升");
break;
case MoveStep.R44:
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NewMove(MoveStep.R01);
RightMoveInfo.log($"料窜进入开始上料");
}
else
{
RightMoveInfo.NextMoveStep(MoveStep.REND);
RightMoveInfo.log($"料窜进入失败");
}
break;
default:
RightMoveInfo.log($"未找到对应步骤:{RightMoveInfo.MoveStep}");
break;
}
}
string RightState() {
string state = "";
if (IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH))
{
state += $"有料窜,已提取{RightCount}张料盘";
if (RightShelfNoTray)
state += ",料串已清空";
else
state += ".";
state += "当前ReelID:"+ RightMoveInfo.MoveParam.WareCode;
}
else
{
return "无料窜";
}
return state;
}
/// <summary>
/// 扫码线程
/// </summary>
Task<List<CodeInfo>> RightScanTask;
void ScanCode() {
RightMoveInfo.log("开始扫码");
//RightMoveInfo.OneWaitCanEndStep = true;
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitScanCode());
//RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
try
{
RightScanTask = Task.Run(new Func<List<CodeInfo>>(()=>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
Task.Delay(10).Wait();
List<CodeInfo> LastCodeList = CodeManager.CameraScan(new List<string> { Config.RightCameraName });
if (LastCodeList.Count <= 0)
{
Task.Delay(500).Wait();
LastCodeList = CodeManager.CameraScan(new List<string> { Config.RightCameraName });
}
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
return LastCodeList;
}));
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：", ex);
}
}
int RightStartMovePosition = 0;
void RightBatchAxisToP2(bool isFirstMove = true)
{
int targetP2 = Config.Right_Batch_P2;
int targetSpeed = Config.Right_Batch_P2_speed;
if (!isFirstMove)
{
int currPosition = Right_Batch_Axis.GetAclPosition();
if (currPosition != -1)
{
//targetP2 = currPosition + Config.Right_Batch_ChangeValue * 80;
if (targetP2 > Config.Right_Batch_P2)
{
targetP2 = Config.Right_Batch_P2;
}
RightMoveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
}
RightMoveInfo.TimeOutSeconds = 200;
RightMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
RightStartMovePosition = Right_Batch_Axis.GetAclPosition();
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Right_Batch_Axis, targetP2, targetSpeed));
Config.Right_Batch_Axis.TargetPosition = targetP2;
Right_Batch_Axis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
Right_Batch_Axis.BatchAxisStartCheck(IO_Type.RightTop_Check, IO_VALUE.LOW);
}
int RightEndMovePosition = 0;
int LastHeight = 0;
private int GetHeight()
{
LastHeight = 0;
int AxisChangeValue = Config.Right_Batch_ChangeValue;
//计算高度
RightEndMovePosition = Right_Batch_Axis.GetAclPosition();
bool isLast = false;
int chaz = Math.Abs(RightEndMovePosition - Config.Right_Batch_P2);
if (chaz < Right_Batch_Axis.Config.CanErrorCountMax)
{
isLast = true;
}
float height = (float)Math.Ceiling(1F * Math.Abs(RightEndMovePosition - RightStartMovePosition) / AxisChangeValue);
string buchongStr = "";
if (isLast)
{
buchongStr = "(最后一盘料已补充5)";
height += 5;
}
//如果检测出<=15,都按照8计算
if (height <= 15)
{
LastHeight = 8;
}
else
{
List<int> heightList = new List<int> { 8, 12, 16, 20 };
heightList = (from m in heightList orderby m descending select m).ToList<int>();
float minCha = height;
foreach (int h in heightList)
{
//取差值最小的接近值
float cha = Math.Abs(h - (height - 4));
if (cha < minCha)
{
LastHeight = h;
minCha = cha;
}
}
}
if (LastHeight <= 8) { LastHeight = 8; }
string msg = Name + " 计算盘高：上升前 [" + RightStartMovePosition + "]实时[ " + RightEndMovePosition + "]差值[" + (RightEndMovePosition - RightStartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】";
LogUtil.info(msg);
return LastHeight;
}
}
}