AC_BOX_Bean_Shelf.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 料架新增的出入库逻辑
/// </summary>
partial class AC_BOX_Bean
{
/// <summary>
/// 开始入库移动移动
/// </summary>
public void StartShelfInStore()
{
if (storeRunStatus == StoreRunStatus.Runing)
{
if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
LogInfo(" 空闲中，检测到入料口有信号，料架入库：入料口移门打开，");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.SI_S02_DoorOpen);
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
}
}
private void ShelfInStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
#region 料架移入料仓内部处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S01_LineIn_Check))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S02_DoorOpen);
InOutStoreLog("料架入库：入料口移门打开");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S02_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S03_LineRun);
InOutStoreLog("料架入库：线体正转，等待取料位检测到信号");
IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S03_LineRun))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S04_LineStop);
InOutStoreLog("料架入库：取料位检测到信号，停止线体正转");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S04_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S05_DoorClose);
InOutStoreLog("料架入库：入料口移门关闭");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S05_DoorClose))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S06_LocationUp);
InOutStoreLog("料架入库：定位装置上升");
CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S06_LocationUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S07_TopCylinderUp);
InOutStoreLog("料架入库：顶升装置上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S07_TopCylinderUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S08_StartGetTray);
InOutStoreLog("料架入库：开始循环从第一个空位逐个取料盘，扫码入库");
}
#endregion
#region 料架取料盘扫码获取POSID
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S08_StartGetTray))
{
if (MoveInfo.NextShelfPos())
{
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.SI_S11_InoutToP1);
InOutStoreLog("料架取料：叉子后退到待机点P1");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
}
else
{
//所有料盘已取料完成
}
}else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S11_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S12_MoveToShelf);
InOutStoreLog("料架取料：升降轴移动到PA1低点，旋转轴移动到PA1点，压紧轴到压紧前点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LPA1, Config.UpDownAxis_PA1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_PA, Config.MiddleAxis_PA_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_P3_Speed, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S12_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S13_InoutToPA);
InOutStoreLog("料架取料：叉子前进到PA点");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S13_InoutToPA))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S14_UpdownToPA2);
InOutStoreLog("料架取料：升降轴上升到PA2点");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S14_UpdownToPA2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S15_StartCompress);
InOutStoreLog("料架取料：压紧轴开始缓慢压紧");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S15_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S16_ComAxisDownMove);
InOutStoreLog("料架取料：检测到料叉压紧确认信号，再次向下压紧指定的值");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S16_ComAxisDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S17_InoutBack);
InOutStoreLog("料架取料：记录压紧高度，叉子后退到扫码点");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S17_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S18_ScanCode);
InOutStoreLog("料架取料：记录宽度，开始扫码");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S18_ScanCode))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S19_GetPosId);
InOutStoreLog("料架取料：扫码成功，从服务器获取库位号");
StartSendTray();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S19_GetPosId))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S20_CompressWare);
InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
StartSendTray();
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S20_CompressWare))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S21_MoveToBag);
InOutStoreLog("入库：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）");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S21_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S22_DeviceToBag);
InOutStoreLog("入库：叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S22_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S23_PutWareToBag);
InOutStoreLog("入库：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）");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S23_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S24_DeviceBackFromBag);
InOutStoreLog("入库：叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S24_DeviceBackFromBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S25_GoBack);
InOutStoreLog("入库：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S25_GoBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S08_StartGetTray);
InOutStoreLog("料架入库：开始循环从第一个空位逐个取料盘，扫码入库");
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S31_ToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S32_NGDoorUp);
InOutStoreLog("送出料盘：NG料口升降门上升");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S32_NGDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S33_InoutToNGDoor);
InOutStoreLog("送出料盘：进出轴前进到NG料门口位置");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S33_InoutToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S34_UpdownDown);
InOutStoreLog("送出料盘：升降轴缓慢下降，放下料盘");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S34_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S12_MoveToShelf);
InOutStoreLog("料架取料：叉子后退到待机点P1");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S34_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S35_InoutToP1);
InOutStoreLog("送出料盘：叉子后退到P1");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S35_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S36_NGDoorDown);
InOutStoreLog("送出料盘：关门NG料门，送出料盘结束");
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SI_S36_NGDoorDown))
{
}
#endregion
else
{
LogInfo(" 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
private void StartSendTray()
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_S31_ToNGDoor);
InOutStoreLog("送出料盘：扫码或获取库位失败，升降轴移动到NG料门口上端，旋转轴移动到NG料门口");
}
#region 压紧轴压紧处理
private System.Timers.Timer axisCheckTimer = null;
private string TargetIoType = IO_Type.Compress_Check;
private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
private bool ComAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = IO_Type.Compress_Check;
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
private bool ComAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsInProcess) { return; }
IsInProcess = true;
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
ComAxisStopCheck();
}
IsInProcess = false;
}
#endregion
}
}