MainMachine _LabelProcess.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
{
void LabelProcess()
{
if (CheckWait(LabelMoveInfo))
return;
switch (LabelMoveInfo.MoveStep)
{
case MoveStep.Lbl01:
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrint);
LabelMoveInfo.log("Label_XYZ转到取标点,等待标签打印完毕");
break;
case MoveStep.Lbl_Printted:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02);
CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Bck, IO_Type.LabelCylinder_Fwd);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.HIGH);
LabelMoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
break;
case MoveStep.Lbl02:
CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Fwd, IO_Type.LabelCylinder_Bck);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl03);
LabelMoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
break;
case MoveStep.Lbl03:
if (LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10);
}
else if (LabelMoveInfo.IsTimeOut(60)) {
LabelMoveInfo.log("等待左侧料窜可贴标.");
}
break;
case MoveStep.Lbl10:
Point Right_Batch_Point = new Point(RobotManage.Config.Right_Batch_X, RobotManage.Config.Right_Batch_Y);
int widthOffset = Config.Label_Offset_Pixel_7;
switch (LabelMoveInfo.MoveParam.PlateW) {
case 13:
widthOffset = Config.Label_Offset_Pixel_13;
break;
case 15:
widthOffset = Config.Label_Offset_Pixel_15;
break;
}
Point p = Common.CalcLabelPoint(LabelMoveInfo.MoveParam.codeInfos, Right_Batch_Point, widthOffset);
Point p1 = new Point(p.X*Config.Cam_Pixel_X_Ratio,p.Y* Config.Cam_Pixel_Y_Ratio);
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{p1},盘宽{LabelMoveInfo.MoveParam.PlateW}");
Label_X_Axis.AbsMove(LabelMoveInfo, p.X, Config.Label_X_P2_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, p.Y, Config.Label_Y_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl11);
LabelMoveInfo.log("Label_XYZ转到贴标点.");
break;
case MoveStep.Lbl11:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl12);
CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Bck, IO_Type.LabelCylinder_Fwd);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.LOW);
LabelMoveInfo.log("取标气缸下降,关闭吸气.");
break;
case MoveStep.Lbl12:
CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Fwd, IO_Type.LabelCylinder_Bck);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl13);
LabelMoveInfo.log("取标气缸上升.");
break;
case MoveStep.Lbl13:
LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl01);
LabelMoveInfo.log("完成贴标.");
break;
default:
LabelMoveInfo.log($"未找到对应步骤:{LabelMoveInfo.MoveStep}");
break;
}
}
}
}