XRayMachine.SideMove.cs
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using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using CodeLibrary;
using ConfigHelper;
using Newtonsoft.Json;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
namespace DeviceLibrary
{
using crc = OnlineStore.CodeResourceControl;
public partial class XRayMachine
{
int suckReelRetryTimes = 0;
ReelParam ExitLine_Reel_Info
{
get => JsonConvert.DeserializeObject<ReelParam>(ConfigHelper.Config.Get("Runtime_ExitLine_Reel"));
set => ConfigHelper.Config.Set("Runtime_ExitLine_Reel", value == null ? null : JsonConvert.SerializeObject(value));
}
ReelParam SideMove_Reel_Info
{
get => JsonConvert.DeserializeObject<ReelParam>(ConfigHelper.Config.Get("Runtime_SideMove_Reel"));
set => ConfigHelper.Config.Set("Runtime_SideMove_Reel", value == null ? null : JsonConvert.SerializeObject(value));
}
bool ExitLine_Reel_IsSafe {
get => SideMoveInfo.MoveStep == MoveStep.Wait || SideMoveInfo.MoveStep >= MoveStep.SideMove_07;
}
int ZDiff = 0;
void SideMoveProcess()
{
if (CheckWait(SideMoveInfo))
return;
switch (SideMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IOValue(IO_XRay_Type.ExitLine_Reel_Check).Equals(IO_VALUE.HIGH) && ExitLine_Reel_Info != null)
{
SideMoveInfo.NextMoveStep(MoveStep.SideMove_01);
SideMoveInfo.ReelParam = ExitLine_Reel_Info.clone();
SideMoveInfo.log("检测到料盘到位");
}
else if (ExitLine_Reel_Info != null)
{
if (SideMoveInfo.IsTimeOut(10)) {
Msg.add("等待料盘到达横移机构超时", MsgLevel.warning);
SideMoveInfo.log("等待料盘到达横移机构超时");
}
}
else
{
Msg.add("横移机构等待料盘", MsgLevel.info);
}
break;
case MoveStep.SideMove_01:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_02);
SideMove_Z_Axis.AbsMove(SideMoveInfo, Config.SideMove_Z_P1, Config.SideMove_Z_P1_speed);
SideMoveInfo.log("出料档停退到P1");
suckReelRetryTimes = 0;
break;
case MoveStep.SideMove_02:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_03);
SideMove_X_Axis.AbsMove(SideMoveInfo, Config.SideMove_X_P2, Config.SideMove_X_P2_speed);
SideMoveInfo.log("横移到取料点P2");
break;
case MoveStep.SideMove_03:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_04);
var p2 = Config.SideMove_Z_P2 - (SideMoveInfo.ReelParam.PlateH - 8 - suckReelRetryTimes*4) * 1000;
p2 = Config.SideMove_Z_P2;
SideMove_Z_Axis.AbsMove(SideMoveInfo, p2, Config.SideMove_Z_P2_speed);
CylinderMove(SideMoveInfo, IO_XRay_Type.SideMove_SuckerReel_Off, IO_XRay_Type.SideMove_SuckerReel_On, IO_VALUE.HIGH);
SideMoveInfo.log("升降轴到取料点P2:"+ p2);
break;
case MoveStep.SideMove_04:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_05);
var ah = SideMove_Z_Axis.GetAclPosition();
ZDiff = Config.SideMove_Z_P2 - ah;
SideMoveInfo.log($"升降轴下降高度:P2:{Config.SideMove_Z_P2}-AH:{ah} = {ZDiff}");
break;
case MoveStep.SideMove_05:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_06);
SideMove_Z_Axis.AbsMove(SideMoveInfo, Config.SideMove_Z_P1, Config.SideMove_Z_P1_speed);
SideMoveInfo.log("升降轴到P1");
break;
case MoveStep.SideMove_06:
if (IOValue(IO_XRay_Type.SideMove_SuckerReel_Check).Equals(IO_VALUE.HIGH))
{
SideMoveInfo.NextMoveStep(MoveStep.SideMove_07);
SideMove_Reel_Info = ExitLine_Reel_Info.clone();
ExitLine_Reel_Info = null;
SideMoveInfo.log("吸盘成功");
}
else
{
if (suckReelRetryTimes > 3)
{
Msg.add("吸盘失败", MsgLevel.warning);
SideMoveInfo.log("吸盘失败, suckReelRetryTimes:" + suckReelRetryTimes);
}
else
{
SideMoveInfo.NextMoveStep(MoveStep.SideMove_03);
suckReelRetryTimes++;
SideMoveInfo.log("吸盘失败, suckReelRetryTimes:" + suckReelRetryTimes);
}
}
break;
case MoveStep.SideMove_07:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_08);
SideMove_X_Axis.AbsMove(SideMoveInfo, Config.SideMove_X_P3, Config.SideMove_X_P3_speed);
SideMoveInfo.log("横移到放料点P3");
break;
case MoveStep.SideMove_08:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_09);
SideMoveInfo.log("等待可以放料");
break;
case MoveStep.SideMove_09:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_10);
var p3 = Config.SideMove_Z_P3 - (SideMoveInfo.ReelParam.PlateH - 8 - suckReelRetryTimes * 4) * 1000;
SideMove_Z_Axis.AbsMove(SideMoveInfo, p3, Config.SideMove_Z_P3_speed);
SideMoveInfo.log("升降轴到放料点P2:" + p3);
break;
case MoveStep.SideMove_10:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_11);
CylinderMove(SideMoveInfo, IO_XRay_Type.SideMove_SuckerReel_Off, IO_XRay_Type.SideMove_SuckerReel_On, IO_VALUE.LOW);
SideMoveInfo.log("释放料盘");
break;
case MoveStep.SideMove_11:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_12);
SideMove_Reel_Info = null;
break;
case MoveStep.SideMove_12:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_13);
SideMove_Z_Axis.AbsMove(SideMoveInfo, Config.SideMove_Z_P1, Config.SideMove_Z_P1_speed);
SideMoveInfo.log("升降轴到P1");
break;
case MoveStep.SideMove_13:
SideMoveInfo.NextMoveStep(MoveStep.SideMove_14);
SideMove_X_Axis.AbsMove(SideMoveInfo, Config.SideMove_X_P1, Config.SideMove_X_P1_speed);
SideMoveInfo.log("横移到待机点P1");
break;
case MoveStep.SideMove_14:
SideMoveInfo.NextMoveStep(MoveStep.Wait);
break;
default:
break;
}
}
}
}