AC_BOX_Bean_InStore.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class AC_BOX_Bean
{
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 入库NG的料架位置
/// </summary>
Dictionary<string, bool> inNGShelfPos = new Dictionary<string, bool>();
void addNGShelfPos(string shelfPos, bool ok = false)
{
inNGShelfPos[shelfPos] = ok;
}
/// <summary>
/// 清空料架NG位置信息
/// </summary>
void clearNGShelfPos()
{
inNGShelfPos.Clear();
LogInfo("清空料架NG位置信息");
}
string getNGShelfPos()
{
StringBuilder sb = new StringBuilder();
foreach (var item in inNGShelfPos)
{
sb.Append($"{item.Key}={item.Value},");
}
return sb.ToString();
}
/// <summary>
/// 是否是入库NG料架
/// </summary>
/// <returns></returns>
bool isNGShelf()
{
return !inNGShelfPos.Values.Contains(true);
}
/// <summary>
/// 清空最后一盘的信息
/// </summary>
private void ClearLastTrayInfo()
{
LastScanCodes = new List<string>();
ComTargetPosition = 0;
LastWidth = 0;
LastHeight = 0;
}
/// <summary>
/// 开始单盘入库
/// </summary>
public override void StartInStoreMove(InOutParam param)
{
startInStoreTime = DateTime.Now;
string posId = param != null ? param.PosID : "";
if (isInSuddenDown || isNoAirCheck ||
(!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
return;
}
if (!StoreManager.LoadInoutParam(param, true, this))
{
LogUtil.error(Name + " 启动入库【" + param.ToStr() + "】出错，找不到库位信息");
return;
}
InOutStoreLog(" 启动入库【" + param.ToStr() + "】，压紧点P2【" + param.MoveP.ComPress_P2 + "】压紧前点P3【" + param.MoveP.ComPress_P3 + "】");
setStatus(StoreRunStatus.Busy, StoreStatus.InStoreExecute);
MoveInfo.NewMove(StoreMoveType.InStore, param);
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
MoveInfo.SingleInstore = true;
InOutStoreLog("料架取料： 叉子后退到待机点P1, 重置盘信息");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
//LastRfidID = "";
LastOutParam = new InOutParam();
}
private void GetPosId()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("不扫码 : 获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
if (MoveInfo.IsShelfLocked)
{
bool result = GetPosIdByCode();
if (!result)//获取库位失败
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("锁定库位：获取入库库位失败", false);
}
else
{
MoveInfo.EndStepWait();
}
}
}
private void StartMoveToBag()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_51_MoveToBag);
InOutStoreLog("到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
/// <summary>
/// 入库失败料盘处理
/// </summary>
/// <param name="str"></param>
private void StartSendTray(string str = "扫码失败", bool ok = false)
{
if(!ok)
{
int loc=ShelfPosList.FindIndex(s =>s.Equals(MoveInfo.MoveParam.CurShelfPosID));
StoreManager.LockAShelfLoc(Name, CurrShelfID,loc+1);
}
StartMoveTrayBack(str, ok);
//MoveInfo.NextMoveStep(StoreMoveStep.BI_71_ToNGDoor);
//InOutStoreLog("NG料，升降轴到NG门口高点P12，旋转轴到NG门口P11");
////if(MoveInfo.IsShelfLocked)//锁定料架，扫码失败则清除当前位置
//{
// StoreManager.ClearLockLoc(Name, CurrShelfID, MoveInfo.currShelfIndex);
//}
//ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P12, Config.UpDownAxis_P1_Speed);
//ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P11, Config.MiddleAxis_P1_Speed);
}
/// <summary>
/// 将料盘送回原位
/// </summary>
/// <param name="str"></param>
private void StartMoveTrayBack(string str = "料盘不属于该仓库", bool ok = false)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
addNGShelfPos(MoveInfo.MoveParam.CurShelfPosID, ok);
InOutStoreLog($"送出料盘 ：{str} ，走到料架位置，旋转轴至P101，升降轴至P102");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P101, Config.MiddleAxis_P101_Speed);
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
#region 料架取料盘扫码获取POSID
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_10_StartGetTray))
{
if (MoveInfo.IsShelfLocked)
{
if (MoveInfo.NextLockedShelfPos())
{
//新的料架库位
startInStoreTime = DateTime.Now;
MoveInfo.SingleInstore = false;
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
InOutStoreLog("料架取料，叉子后退到待机点P1, 重置盘信息");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
}
else
{
//所有料盘已取料完成，送出料架
StartShelfOut();
}
}
else
{
if(!IgnoreEmptySig()&&CheckShelfIsEmpty())
{
InOutStoreLog("检测到料架为空，送出料架");
StartShelfOut();
}
else if (MoveInfo.NextShelfPos())
{
//新的料架库位
startInStoreTime = DateTime.Now;
MoveInfo.SingleInstore = false;
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
InOutStoreLog("料架取料，叉子后退到待机点P1, 重置盘信息");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
}
else
{
//所有料盘已取料完成，送出料架
InOutStoreLog("所有料盘已取料完成，送出料架");
StartShelfOut();
}
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
InOutStoreLog("料架取料，升降轴到P101低点[" + moveP.UpDown_LP101 + "]，旋转轴到P101点[" + moveP.Middle_P101 + "]，压紧轴到压紧前点p3[" + Config.CompAxis_Max_P3 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToP101);
InOutStoreLog("料架取料，叉子前进到P101点[" + moveP.InOut_P101 + "]");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_13_InoutToP101))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToP102);
InOutStoreLog("料架取料，升降轴上升到P102点[" + moveP.UpDown_HP102 + "]");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
InOutStoreLog("单盘入库，料架取料，压紧轴走到压紧点P2： " + MoveInfo.MoveParam.MoveP.ComPress_P2);
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
InOutStoreLog("料架取料，压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
ComAxisStartCheck();
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_15_StartCompress))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
InOutStoreLog("料架取料，叉子后退到扫码点");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
{
if (MoveInfo.SingleInstore)
{
//单盘入库，不需要扫码
StartMoveToBag();
}
else if (MoveInfo.IsShelfLocked && !IsScanCodeWithLockedShelf)
{
//该料架已锁定库位，不需要扫码,直接查询服务器
GetPosId();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_ToScanPosition);
InOutStoreLog("扫码，升降轴到P2,旋转轴到P1");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_ToScanPosition))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_22_InOutToP2);
InOutStoreLog("扫码，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown);
InOutStoreLog("扫码，升降轴到扫码低点P1，压紧轴到压紧前点P3");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutTrayDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_24_InOutToP1);
InOutStoreLog("扫码，进出轴返回待机点P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_InOutToP1))
{
IO_VALUE io1 = IOValue(IO_Type.TrayCheck_1);
IO_VALUE io2 = IOValue(IO_Type.TrayCheck_2);
IO_VALUE io3 = IOValue(IO_Type.TrayCheck_3);
IO_VALUE io4 = IOValue(IO_Type.TrayCheck_4);
if (io3.Equals(IO_VALUE.HIGH) || io4.Equals(IO_VALUE.HIGH))
{
LastWidth = 15;
}
else if (io1.Equals(IO_VALUE.HIGH) || io2.Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else
{
LastWidth = 0;
LogUtil.error("未检测到识别区料盘检测信号， 设置默认宽度=0");
}
MoveInfo.NextMoveStep(StoreMoveStep.BI_25_ScanCode);
InOutStoreLog("扫码,料盘识别 [" + io1 + "] [" + io2 + "] [" + io3 + "] [" + io4 + "] ,宽度【" + LastWidth + "】，开始扫码");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(12000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
if (LastScanCodes.Count <= 0)
{
Thread.Sleep(1);
LastScanCodes = CodeManager.CameraScan(Config.GetCameraList(), Name);
}
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_ScanCode))
{
//if (LastScanCodes.Count <= 0 && LastWidth.Equals(0) && LastHeight.Equals(8))
//{
// storeStatus = StoreStatus.InStoreExecute;
// MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
// InOutStoreLog("扫码，扫码失败，尺寸" + LastWidth + "*" + LastHeight + "，认为没拿到料盘，继续循环料架取料盘");
//}
//else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_27_InoutToP2);
InOutStoreLog("扫码，进出轴到P2");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_27_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_28_GetScanPTray);
InOutStoreLog("扫码，升降轴到扫码高P2，压紧轴到压紧点P2");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_28_GetScanPTray))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_29_InoutBackP1);
InOutStoreLog("扫码，进出轴返回");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_29_InoutBackP1))
{
if (LastScanCodes.Count <= 0 && LastWidth.Equals(0) && LastHeight.Equals(8))
{
StartSendTray("未检测到料盘",true);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_30_SetInstoreParam);
InOutStoreLog("扫码 ，获取库位号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime((int)TimeSpan.FromMinutes(75).TotalMilliseconds));
bool result = GetPosIdByCode(MoveInfo.currShelfIndex, out CodeResultType codeResult);
if (!result)//获取库位失败
{
if (codeResult == CodeResultType.NotPosForPutIn)//库位不在该料仓，将该料盘放回料架
{
//MoveInfo.MoveParam.PosID = "";
StartMoveTrayBack("此料盘不属于该仓库,放回料架", true);
}
else//无法获取库位信息
{
MoveInfo.MoveParam.PosID = "";
StartSendTray("获取入库库位失败", false);
}
}
else
{
MoveInfo.EndStepWait();
}
}
}
#endregion
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_30_SetInstoreParam))
{
StartMoveToBag();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_51_MoveToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_52_DeviceToBag);
InOutStoreLog("叉子进入库位中，进出轴到库位P3");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_52_DeviceToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_53_PutWareToBag);
InOutStoreLog("放下物品，升降轴到库位缓冲点P4，压紧轴到P3");
// 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 = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
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);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_53_PutWareToBag))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_54_DeviceBackFromBag);
InOutStoreLog("叉子从库位中返回，进出轴到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_54_DeviceBackFromBag))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_55_GoBack);
InOutStoreLog("返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else
{
TimeSpan span = DateTime.Now - startInStoreTime;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库，上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】，旋转轴返回待机点，继续循环料架取料盘");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_55_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
StoreManager.ClearLockLoc(Name, CurrShelfID, MoveInfo.currShelfIndex);
if (MoveInfo.SingleInstore)
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
InOutStoreLog(" 【" + posId + "】单盘入库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveEndToRuningStatus();
AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
}
else
{
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库，上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】继续循环料架取料盘");
}
}
#endregion
#region 把料盘送到NG口逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_71_ToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_72_NGDoorUp);
InOutStoreLog("NG料，NG升降门上升");
CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_72_NGDoorUp))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_73_InoutToNGDoor);
InOutStoreLog("NG料，进出轴到NG料门口位置P11");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P11, Config.InOutAxis_P2_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_73_InoutToNGDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_74_UpdownDown);
InOutStoreLog("NG料，升降轴到P11,压紧轴到P3，放下料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P11, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_74_UpdownDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_75_InoutToP1);
InOutStoreLog("NG料，叉子后退到P1");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_75_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_76_NGDoorDown);
InOutStoreLog("NG料，关门NG料门，送出料盘结束");
CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_76_NGDoorDown))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_77_NGLineRun);
InOutStoreLog("料架入库，NG流水线转动30s");
IOMove(IO_Type.NGLine_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.NGLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
{
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库，停止NG线体转动，继续循环料架取料盘");
}
#endregion
#region 把料盘送回料架逻辑
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("送出料盘，叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_ToShelf)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_PutReel);
InOutStoreLog("送出料盘，放下物品，压紧轴到P1，升降轴至P101,清空 taskData=null ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_PutReel)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_13_InoutBack);
InOutStoreLog("送出料盘，叉子从出料口返回， 进出轴到P1 ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_InoutBack)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("送出料盘结束，升降轴返回，升降轴到P1，顶升下降,继续循环料架取料盘");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
#endregion
//料架进入逻辑
else if (MoveInfo.MoveStep < StoreMoveStep.BI_10_StartGetTray)
{
ShelfEnterProcess();
}
//料架送出逻辑
else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopDown)
{
ShelfOutProcess();
}
else
{
InOutStoreLog("没有对应的处理！");
}
}
}
}