MainMachine _MiddleProcess.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
partial class MainMachine
{
void MiddleProcess()
{
if (CheckWait(MiddleMoveInfo))
return;
switch (MiddleMoveInfo.MoveStep)
{
case MoveStep.M01:
if (RightMoveInfo.MoveStep == MoveStep.R10_WaitReelLeave)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M02);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P2, Config.Take_Middle_P2_speed);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P2, Config.Take_UpDown_P2_speed);
electricClamp.Release();
MiddleMoveInfo.log("右侧可以取料,旋转轴/上下轴转到P2点");
}
else if (MiddleMoveInfo.IsTimeOut(60)) {
MiddleMoveInfo.log("等待右侧可以取料");
}
break;
case MoveStep.M02:
MiddleMoveInfo.NextMoveStep(MoveStep.M03);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P3, Config.Take_UpDown_P3_speed);
MiddleMoveInfo.log("右侧可以取料,上下轴转到P3点,开始取料");
break;
case MoveStep.M03:
if (electricClamp.Clamp())
{
MiddleMoveInfo.NextMoveStep(MoveStep.M04);
MiddleMoveInfo.log("取料气缸夹紧");
}
break;
case MoveStep.M04:
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P2, Config.Take_UpDown_P2_speed);
MiddleMoveInfo.NextMoveStep(MoveStep.M05);
MiddleMoveInfo.log("上下轴返回P2点");
break;
case MoveStep.M05:
MiddleMoveInfo.NextMoveStep(MoveStep.M06);
RightMoveInfo.NextMoveStep(MoveStep.R11_NextReel);
MiddleMoveInfo.log("通知右侧料串,料已取走");
break;
case MoveStep.M06:
if (MiddleMoveInfo.MoveParam.IsNg)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M20_ToNgBox);
MiddleMoveInfo.log("判断为NG料");
}
//等待计算盘高
else if (RightMoveInfo.MoveStep >= MoveStep.R06 && RightMoveInfo.MoveStep <= MoveStep.R10_WaitReelLeave)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M07);
MiddleMoveInfo.MoveParam.IsNg = RightMoveInfo.MoveParam.IsNg;
MiddleMoveInfo.MoveParam.WareCode = RightMoveInfo.MoveParam.WareCode;
MiddleMoveInfo.MoveParam.codeInfos = RightMoveInfo.MoveParam.codeInfos;
MiddleMoveInfo.MoveParam.PlateW = MiddleMoveInfo.MoveParam.PlateW;
MiddleMoveInfo.MoveParam.PlateH = LastHeight;
MiddleMoveInfo.NextMoveStep(MoveStep.M07);
MiddleMoveInfo.log($"已获取盘高,开始往左侧料窜移栽,{MiddleMoveInfo.MoveParam.ToStr()}");
}
else if (MiddleMoveInfo.IsTimeOut(60))
{
MiddleMoveInfo.log("等待计算盘高");
}
break;
case MoveStep.M07:
if (LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M08);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P3, Config.Take_Middle_P3_speed);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P4, Config.Take_UpDown_P4_speed);
MiddleMoveInfo.log("左侧允许放料,旋转轴/上下周到P3/P4");
}
else if (MiddleMoveInfo.IsTimeOut(60))
{
MiddleMoveInfo.log("等待左侧允许放料");
}
break;
case MoveStep.M08:
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
electricClamp.Release();
LeftMoveInfo.NextMoveStep(MoveStep.L11_ReelPutted);
MiddleMoveInfo.log("取料夹爪放松,通知左侧料窜已放入,左侧等待3秒");
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case MoveStep.M_ReturnToP1:
MiddleMoveInfo.NextMoveStep(MoveStep.M01);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
MiddleMoveInfo.log("放料完成,旋转轴/上下轴返回待机点");
break;
case MoveStep.M20_ToNgBox:
MiddleMoveInfo.NextMoveStep(MoveStep.M21);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P5, Config.Take_Middle_P5_speed);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P5, Config.Take_UpDown_P5_speed);
MiddleMoveInfo.log("旋转轴/上下轴转到P5 NG位置");
break;
case MoveStep.M21:
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
electricClamp.Release();
MiddleMoveInfo.log("取料夹爪放松,放料入NG位置.");
break;
}
}
}
}