AC_SA_BoxBean_Partial.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace OnlineStore.DeviceLibrary
{
partial class AC_SA_BoxBean
{
#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 autoPositionIndex = 0;
public string autoMsg = "";
#endregion
#region 出入库参数
/// <summary>
/// 当前出入库的次数，超过配置的数量时，需要自动重置一下，再进行出入库
/// </summary>
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();
KTKSAStorePostion position = param.GetKTKSAPosition();
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.InOut_P2 = position.InOutAxis_DoorPosition_P2;
//p.UpDown_P1 = position.UpDownAxis_DoorOPosition_P1;
//p.UpDown_P8 = position.UpDownAxis_DoorIBPosition_P8;
//p.UpDown_P2 = position.UpDownAxis_DoorIPosition_P2;
//p.UpDown_P7 = position.UpDownAxis_DoorOBPosition_P7;
//p.InOut_P2 = Config.InOutAxis_DoorPosition_P2;
p.UpDown_P1 = Config.UpDownAxis_DoorOPosition_P1;
p.UpDown_P8 = Config.UpDownAxis_DoorIBPosition_P8;
p.UpDown_P2 = Config.UpDownAxis_DoorIPosition_P2;
p.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7;
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;
return true;
}
return true;
}
#endregion
#region 出入库结果验证
private void InOutBackToP1(int InOut_P1)
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
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;
if (span.TotalMinutes > 5)
{
WarnMsg = StoreName + "等待超时【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】已等待【" + span.TotalMinutes + "】分钟，";
foreach (WaitResultInfo wait in list)
{
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
}
LogUtil.error(LOGGER, WarnMsg, 12);
Alarm(StoreAlarmType.IoSingleTimeOut,"",WarnMsg,StoreMove.MoveType);
}
if (list.Count > 0)
{
bool isOk = true;
foreach (WaitResultInfo wait in list)
{
if (wait.WaitType == 1)
{
if (wait.IsHomeMove)
{
if ((!ACHomeMoveIsEnd(wait.AxisInfo)))
{
isOk = false;
break;
}
}
else
{
string msg = "";
bool isEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
if (!msg.Equals(""))
{
isOk = false;
WarnMsg = msg;
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, StoreMove.MoveType);
break;
}
else if (!isEnd)
{
isOk = false;
break;
}
}
}
else if (wait.WaitType == 2)
{
if (!KNDIOValue(wait.IoType).Equals(wait.IoValue))
{
//一分钟还未检测到
if (span.TotalMilliseconds > Config.IOSingle_TimerOut)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = StoreName + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
//SendAlarmCode(StoreID, LineAlarm.IoNotOk, wait.IoType);
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
LogUtil.error(LOGGER, StoreName + wait.IoType + "等待信号（" + io.DisplayStr + "=" + wait.IoValue + "） 超时", 14);
}
isOk = false;
break;
}
}
else if (wait.WaitType == 3)
{
if (span.TotalMilliseconds < wait.TimeMSeconds)
{
isOk = false;
break;
}
}
else if (wait.WaitType == 5)
{
if (wait.IsHomeMove)
{
if (!ShuoKeControls.IsHomeMoveEnd(wait.SlvAddr, StoreMove.LastSetpTime))
{
ShuoKeControls.GetStatus(wait.SlvAddr);
isOk = false;
break;
}
else if (StoreMove.OneWaitCanEndStep)
{
isOk = true; break;
}
}
else
{
if (!ShuoKeControls.IsMoveEnd(wait.SlvAddr, StoreMove.LastSetpTime))
{
ShuoKeControls.GetStatus(wait.SlvAddr);
isOk = false;
break;
}
else if (StoreMove.OneWaitCanEndStep)
{
isOk = true; break;
}
}
}
}
if (isOk)
{
StoreMove.EndStepWait();
}
}
else
{
StoreMove.EndStepWait();
}
}
#endregion
#region 入库
/// <summary>
/// 开始入库移动移动
/// </summary>
public void StartInStoreMove(InOutStoreParam param, bool isNeedCheckIO)
{
string posId = param != null ? param.PositionNum : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error(LOGGER, StoreName + " 启动一个 入库运动出错，找不到库位信息");
return;
}
LogUtil.info(LOGGER, StoreName + " 入库【" + posId + "】处理：启动新的入库,目标位置【" + param.PositionNum + "】", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
StoreMove.NewMove(StoreMoveType.InStore, param);
if (isNeedCheckIO)
{
//料盘检测
InStoreLog(" 入库【" + posId + "】处理：(SI_00_TrayCheck 检测料盘信号");
StoreMove.NextMoveStep(StoreMoveStep.SI_00_TrayCheck);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.TrayCheck_1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.TrayCheck_2, IO_VALUE.HIGH));
}
else
{
if (IsHasCompress_Axis)
{
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 进出轴（叉子）动作至P1, 打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.LOW);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.HIGH));
//ACAxisMove(Config.InOut_Axis, param.MoveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(param.MoveP.InOut_P1);
}
else
{
InStoreLog(" 入库处理：(SI_01_LocationCylinderDown 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
}
}
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动一个 入库【" + posId + "】运动出错，当前状态，storeStatus=" + storeRunStatus);
}
}
/// <summary>
/// 开始入库移动移动
/// </summary>
public override void StartInStoreMove(InOutStoreParam param)
{
StartInStoreMove(param, false);
}
protected override void InStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SI_00_TrayCheck)
{
if (IsHasCompress_Axis)
{
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 进出轴（叉子）动作至P1,打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.LOW);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.HIGH));
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(moveP.InOut_P1);
}
else
{
InStoreLog(" 入库处理：(SI_01_LocationCylinderDown 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
}
}
if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 进出轴（叉子）动作至P1，打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(moveP.InOut_P1);
//打开门 ，门上升
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.LOW);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.HIGH));
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{
InStoreLog(" 入库处理：(SI_03_ReturnHome 所有轴先回到待机点，轴2、轴1 动作到P1,，轴4动作至P3");
StoreMove.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_03_ReturnHome)
{
if (IsHasCompress_Axis)
{
InStoreLog(" 入库处理：(SI_04_CompressWare 压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P3(压紧前点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
}
else
{
InStoreLog(" 入库处理：(SI_05_DeviceToDoor 叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_04_CompressWare)
{
InStoreLog(" 入库处理：(SI_05_DeviceToDoor 叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{
InStoreLog(" 入库处理：（SI_06_DoorWarToDevice 把物品放入叉子上，轴4（ 压紧） 至P2(压紧点)）开始,等待一秒后，轴2（ 上下） 至P7（ 进料口取料缓冲点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false));
//ACAxisMove(Config.Compress_Axis, moveP.ComPress_P2, Config.CompressAxis_P2_Speed, Config.Compress_Axis.StartSpeed);
System.Threading.Thread.Sleep(600);
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed, Config.UpDown_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
{
InStoreLog(" 入库处理：（SI_07_DeviceBackFromDoor 叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
{
if (IsHasCompress_Axis)
{
InStoreLog(" 入库处理：（SI_09_MoveToBag 移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed, Config.UpDown_Axis.StartSpeed);
//关闭舱门
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.LOW);
}
else
{
InStoreLog(" 入库处理：（SI_08_LocationCylinder_Up 定位气缸伸出 (有压紧轴的不需要此步骤)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up);
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
{
InStoreLog(" 入库处理：（SI_09_MoveToBag 移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）)，关闭舱门 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed, Config.UpDown_Axis.StartSpeed);
//关闭舱门
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.LOW);
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.HIGH));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
if (IsHasCompress_Axis)
{
InStoreLog(" 入库处理：（SI_11_DeviceToBag 叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed, Config.InOut_Axis.StartSpeed);
}
else
{
InStoreLog(" 入库处理：（SI_10_LocationCylinder_Down 定位气缸退回 （有压紧轴的不需要此步骤） ）开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down);
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
{
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
InStoreLog(" 入库处理：（SI_11_DeviceToBag 叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed, Config.InOut_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
{
InStoreLog(" 入库处理：（SI_12_PutWareToBag 放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点））开始！");
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
//ACAxisMove(Config.Compress_Axis, moveP.ComPress_P3, Config.CompressAxis_P3_Speed, Config.Compress_Axis.StartSpeed);
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed, Config.UpDown_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
InStoreLog(" 入库处理：（SI_13_DeviceBackFromBag 叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）)开始！");
// 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
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
StoreMove.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag)
{
InStoreLog(" 入库处理：（SI_14_GoBack 返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)，检测门关闭，开始！");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P1, false));
//ACAxisMove(Config.Compress_Axis, moveP.ComPress_P1, Config.CompressAxis_P1_Speed, Config.Compress_Axis.StartSpeed);
}
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
//关闭门
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + " 入库【" + posId + "】处理： 整个入库流程结束！", storeMoveColor);
//MoveEndEvent.Invoke(StoreID, StoreMoveType.InStore, StoreMove.MoveParam);//触发完成事件
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);
}
else
{
LogUtil.info(LOGGER, StoreName + " 入库处理，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
#endregion
#region 出库
/// <summary>
/// 开始出库运动
/// </summary>
public override void StartOutStoreMove(InOutStoreParam param)
{
string posId = param != null ? param.PositionNum : "";
if (storeRunStatus == StoreRunStatus.Runing)
{
if (!LoadParamPosition(param))
{
LogUtil.error(LOGGER, StoreName + " 启动一个 出库【" + posId + "】运动出错，找不到库位信息");
return;
}
storeStatus = StoreStatus.OutStoreExecute;
LogUtil.info(LOGGER, StoreName + " 出库处理：启动一个出库【" + posId + "】 开始处理 ", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore, param);
if (IsHasCompress_Axis)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog(" 出库处理：(SO_02_DeviceBack 叉子先运动到P1 ，打开舱门 开始");
//ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
//打开舱门
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.LOW));
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_01_LocationCylinderDown);
OutStoreLog(" 出库处理：(SO_01_LocationCylinderDown 定位气缸下降");
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
//CylinderMove(StoreMove, Store_IO_Type.LocationCylinder_Up, Store_IO_Type.LocationCylinder_Down);
}
}
else
{
LogUtil.error(LOGGER, StoreName + " 启动一个 出库运动出错，当前状态，storeStatus=" + storeRunStatus);
}
}
protected override void OutStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep == StoreMoveStep.SO_01_LocationCylinderDown)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog(" 出库处理：(SO_02_DeviceBack 叉子先运动到P1 开始");
//ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_02_DeviceBack)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
OutStoreLog(" 出库处理：(SO_03_ToBagPosition 所有轴运行到库位， 轴4（ 压紧） 至P3(压紧前点) ,轴1（ 转盘） 至P2（ 库位点）,轴2(上下） 至P5(库位出库前点） ) 开始");
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
//ACAxisMove(Config.Compress_Axis, StoreMove.MoveParam.MoveP.ComPress_P3, Config.CompressAxis_P3_Speed, Config.Compress_Axis.StartSpeed);
}
ACAxisMove(Config.Middle_Axis, StoreMove.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed, Config.UpDown_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_04_DeviceToBag);
OutStoreLog(" 出库处理：(SO_04_DeviceToBag叉子进入库位中， 轴3（ 叉子） 至P3(库位取放料点））开始");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed, Config.InOut_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_04_DeviceToBag)
{
OutStoreLog(" 出库处理：（SO_05_BagWareToDevice库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点)）开始");
StoreMove.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
//电缸微动至对应料盘的上端位置
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false));
//ACAxisMove(Config.Compress_Axis, moveP.ComPress_P2, Config.CompressAxis_P2_Speed, Config.Compress_Axis.StartSpeed);
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed, Config.UpDown_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack);
OutStoreLog(" 出库处理：（SO_06_BagDeviceBack，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点））开始");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
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;
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{
if (IsHasCompress_Axis)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog(" 出库处理： （SO_08_ToDoorPosition所有设备运行到门，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P2（ 进料口出料前点））,打开舱门 开始");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
//打开舱门
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.LOW));
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_LocationCylinder_Up);
OutStoreLog(" 出库处理： （SO_07_LocationCylinder_Up定位气缸伸出（有压紧轴的不需要此步骤），，定位气缸伸出 ）开始");
//同时运动，电缸移动至入料口的上端位置 旋转电机2反转
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog(" 出库处理： （SO_08_ToDoorPosition所有设备运行到门，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P2（ 进料口出料前点））开始");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
//此处需要等待box门口没有盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.TrayCheck_1, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.TrayCheck_2, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
{
if (IsHasCompress_Axis)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
OutStoreLog(" 出库处理：（SO_10_DeviceToDoor叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点））开始");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down);
OutStoreLog(" 出库处理：（SO_09_LocationCylinder_Down定位气缸退回（有压紧轴的不需要此步骤），，定位气缸退回 ）开始");
KNDIOMove(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
}
}
//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_09_LocationCylinder_Down)
{
OutStoreLog(" 出库处理：（SO_10_DeviceToDoor叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_DeviceToDoor)
{
OutStoreLog(" 出库处理：（SO_11_DevicePutWare把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)） 开始！");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
if (IsHasCompress_Axis)
{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P1, false));
//ACAxisMove(Config.Compress_Axis, moveP.ComPress_P1, Config.CompressAxis_P1_Speed, Config.Compress_Axis.StartSpeed);
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed, Config.UpDown_Axis.StartSpeed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_12_DeviceOutFromDoor);
OutStoreLog(" 出库处理：（SO_12_DeviceOutFromDoor叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）)开始！");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_DeviceOutFromDoor)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_13_GoBack);
OutStoreLog(" 出库处理：（SO_13_GoBack升降轴返回，， 轴2至P1（ 待机点）)开始，关闭舱门！");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
KNDIOMove(Store_IO_Type.Door_Up, IO_VALUE.LOW);
KNDIOMove(Store_IO_Type.Door_Down, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.HIGH));
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_13_GoBack)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
storeStatus = StoreStatus.OutStoreBoxEnd;
LogUtil.info(LOGGER, StoreName + " 出库【" + posId + "】处理： 整个出库流程结束！", storeMoveColor);
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore);
}
else
{
LogUtil.error(LOGGER, StoreName + " 出库处理，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
#endregion
public List<FixtureCodeInfo> waitOutStoreList = new List<FixtureCodeInfo>();
public object waitOutListLock = "";
public static Dictionary<string, List<string>> codeMap = new Dictionary<string, List<string>>();
public void AddWaitOutInfo(FixtureCodeInfo code)
{
lock (waitOutListLock)
{
waitOutStoreList.Add(code);
}
}
private void InOutEndProcess(StoreMoveType storeMoveType)
{
try
{
CurrInOutCount++;
CurrInOutACount++;
//是否自动进入出库状态
if (!autoNext)
{
return;
}
if (storeMoveType.Equals(StoreMoveType.InStore))
{
int newIndex = autoPositionIndex - 1;
if (autoJiange == 0)
{
newIndex = autoPositionIndex;
}
if (newIndex < 0)
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(LOGGER, StoreName + "下一个索引不存在，自动 出入库结束！");
}
else
{
autoPositionIndex = newIndex;
string posid = PositionNumList[autoPositionIndex];
//判断是否需要重置
if (CurrInOutACount >= Config.Box_ResetACount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把出库信息存入排队列表中");
Reset(false);
autoMsg = "自动出库：" + posid;
AddWaitOutInfo(new FixtureCodeInfo(0, "", posid));
}
else if (CurrInOutCount >= Config.Box_ResetMCount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX旋转轴，先把出库信息存入排队列表中");
//ResetMiddleAxis(false);
autoMsg = "自动出库：" + posid;
AddWaitOutInfo(new FixtureCodeInfo(0, "", posid));
}
else
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个出库：posid=" + posid);
autoMsg = "自动出库：" + posid;
StartOutStoreMove(new InOutStoreParam("", posid));
}
}
}
else if (storeMoveType.Equals(StoreMoveType.OutStore))
{
int newIndex = autoPositionIndex - autoJiange;
if (newIndex < 0)
{
autoNext = false;
autoMsg = "自动出入库结束！";
LogUtil.info(LOGGER, StoreName + "下一个索引不存在，自动 出入库结束！");
}
else
{
string posid = PositionNumList[newIndex];
//判断是否需要重置
if (CurrInOutACount >= Config.Box_ResetACount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个入库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把入库信息存入排队列表中");
Reset(false);
autoMsg = "自动入库：" + posid;
AddWaitOutInfo(new FixtureCodeInfo(0, "AAAA", posid));
}
else if (CurrInOutCount >= Config.Box_ResetMCount)
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX旋转轴，先把出库信息存入排队列表中");
//ResetMiddleAxis(false);
autoMsg = "自动入库：" + posid;
AddWaitOutInfo(new FixtureCodeInfo(0, "AAAA", posid));
}
else
{
LogUtil.info(LOGGER, StoreName + "自动进入下一个入库：posid=" + posid);
autoMsg = "自动入库：" + posid;
StartInStoreMove(new InOutStoreParam("AAAA", posid));
}
}
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, ex.ToString());
}
}
private void InStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + "【" + posId + "】" + msg, storeMoveColor);
}
private void OutStoreLog(string msg)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + "【" + posId + "】" + msg, storeMoveColor);
}
}
}