FeedingEquip_InStore.cs
50.2 KB
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class FeedingEquip
{
protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
//等待信号亮或者走到绝对位置才停止
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogInfo("CheckWaitResult 检测到" + TargetIoType + "=" + TargetIoValue + ",停止运行");
BatchAxis.SuddenStop();
BatchAxisStopCheck();
return true;
}
else
{
bool isOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isOk)
{
//TODO 判断是否达到高度，如果未达到，继续上升
BatchAxisStopCheck();
return true;
}
}
}
else if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
if (LastCodeList.Count > 0)
{
return true;
}
}
return false;
}
public event TrayProcessEnd TrayPEndEvent;
#region 托盘检测
private InOutParam CheckParam = new InOutParam();
private DateTime lastStopDown = DateTime.Now;
private Stopwatch swWaitWatch = new Stopwatch();
private void StartCheckFixture()
{
if (!LineManager.Line.CanProcessLine())
{
swWaitWatch.Stop();
return;
}
if (Config.SidesWayNum > 0)
{
bool canProcess = (LineManager.Line.SwNoProcess(Config.SidesWayNum));
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && canProcess)
{
if (TrayManager.checkWatch(swWaitWatch, TrayManager.SwTrayWaitTime, true))
{
UpdateTrayNum();
//判断是否是需要的托盘
if (CurrTrayIsNeed(currTrayNum, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopCylinderUp);
CheckLog("检测到SW_TrayCheck：" + SecondMoveInfo.SLog + "横移顶升气缸上升 ）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
}
else
{
SMoveEnd();
}
}
}
else if (Config.SidesWayNum.Equals(2) && IOValue(IO_Type.SW_StopCheck).Equals(IO_VALUE.HIGH) && canProcess
&& (DateTime.Now - lastStopDown).TotalSeconds > 4)
{
if (TrayManager.checkWatch(swWaitWatch, TrayManager.SwTrayWaitTime, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
CheckLog("检测到SW_StopCheck：" + SecondMoveInfo.SLog + "阻挡气缸下降 ，等待" + TrayManager.StopDownWaitTime);
IOMove(IO_Type.SW_StopDown, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_StopDown, IO_VALUE.HIGH));
lastStopDown = DateTime.Now;
//IOMove(IO_Type.SW_StopDown, IO_VALUE.HIGH, TrayManager.StopDownWaitTime);
}
}
else
{
swWaitWatch.Stop();
}
}
else
{
//托盘在两个阻挡内
if (IOValue(IO_Type.FL_TrayCheck).Equals(IO_VALUE.HIGH))
{
if (TrayManager.checkWatch(swWaitWatch, TrayManager.SwTrayWaitTime, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
CheckLog("检测到FL_TrayCheck：" + SecondMoveInfo.SLog + " FL阻挡1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
}
}
else if (IOValue(IO_Type.FL_StopCheck).Equals(IO_VALUE.HIGH))
{
if (TrayManager.checkWatch(swWaitWatch, TrayManager.SwTrayWaitTime, true))
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
CheckLog(" 检测到FL_StopCheck：" + SecondMoveInfo.SLog + " FL阻挡1下降 ，等待 "+ TrayManager.StopDownWaitTime);
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
}
else
{
swWaitWatch.Stop();
}
}
}
protected override void CheckFixtureProcess()
{
if (!LineManager.Line.LineCanRun())
{
return;
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
return;
}
#region 托盘检测
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_00_StopCylinder1Down))
{
if (Config.SidesWayNum <= 0)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡1上升，等待FL_TrayCheck=1）");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.HIGH));
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_FixtureCheck);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸上升，等待SW_TrayCheck=1）");
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_FixtureCheck))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_WaitFixture);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "再次等待SW_TrayCheck=1并需要持续：" + TrayManager.SwTrayWaitTime);
CheckAndMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_WaitFixture))
{
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸上升，等待SW_TrayCheck=1）");
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_WaitFixture);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "再次等待SW_TrayCheck=1并需要持续：" + TrayManager.SwTrayWaitTime);
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_StopCylinder2Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + " ,等待编码信号稳定）");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
//preTrayNum = currTrayNum;
//currTrayNum = TrayManager.GetTrayNum(DeviceID);
UpdateTrayNum();
//出料中，需要拦盘
if (CurrTrayIsNeed(currTrayNum, true))
{
SecondMoveInfo.MoveParam = CheckParam;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopCylinderUp);
if (Config.SidesWayNum <= 0)
{
CheckLog("托盘检测： " + SecondMoveInfo.SLog + " 顶升气缸上 升 ）");
CylinderMove(SecondMoveInfo, IO_Type.FL_TopCylinder_Down, IO_Type.FL_TopCylinder_Up);
}
else
{
CheckLog("托盘检测：" + SecondMoveInfo.SLog + " 需要此托盘，横移顶升气缸上 升 ）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
}
}
else
{
if (Config.SidesWayNum <= 0)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前 【" + tray.ToStr() + "】没有出入料任务，放盘通过~");
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
}
else
{
CheckLog("托盘检测：不需要次托盘，结束处理 ）");
SMoveEnd();
}
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopCylinderUp))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_07_LocationCylinderUp);
CheckLog("托盘检测： " + SecondMoveInfo.SLog + " , 定位气缸上升 ）");
if (Config.SidesWayNum > 0)
{
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Down, IO_Type.SW_LocationCylinder_Up);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_07_LocationCylinderUp))
{
CheckLog("托盘阻挡*************** 托盘号【" + currTrayNum + "】");
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + "*************** 托盘号【" + currTrayNum + "】 ，需要入料，移栽料盘");
SecondMoveInfo.EndStepWait();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_200_WaitInoutParam);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitFeedNoMove());
LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " ，托盘号【" + currTrayNum + "】需要出库，等待开始出库");
}
}
#endregion
#region 不需要托盘或移栽入库料盘完成
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_12_MoveOk))
{
if (Config.SidesWayNum > 0)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
SInLog("托盘放行， " + SecondMoveInfo.SLog + " 托盘开始放行，环形线定位气缸下降");
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopCylinder_Down);
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ， 顶升气缸下降）");
CylinderMove(SecondMoveInfo, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_13_LoactionCylinder_Down))
{
if (Config.SidesWayNum.Equals(2))
{
//preTrayNum = currTrayNum;
CheckLog("托盘放行： 此处为环形线横移2，顶升气缸不需要下降， (托盘放行结束） ");
SMoveEnd();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopCylinder_Down);
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ，环形线顶升气缸下降）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopCylinder_Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
if (Config.SidesWayNum > 0)
{
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.LOW));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo))
{
if (Config.SidesWayNum > 0)
{
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
SMoveEnd();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_StopCylinder2_Down);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡气缸1-2下降，等待"+TrayManager.StopDownWaitTime);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_StopCylinder2_Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Tray_Check);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，上升阻挡气缸2， 等待托盘离开");
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_17_Tray_Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_18_StopCylinder_Back);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开 ）");
//IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
//preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
SMoveEnd();
}
#endregion
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_200_WaitInoutParam))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && StartTrayOut(SecondMoveInfo.MoveParam))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_WaitOutEnd);
}
else
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
if (span.TotalSeconds > 180)
{
WarnMsg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveType + "][" + SecondMoveInfo.MoveStep + "]等待横移机构空闲可出库超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, DeviceID + 11);
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
}
}
private void SMoveEnd()
{
lastStopDown = DateTime.Now.AddSeconds(-2);
SecondMoveInfo.EndMove();
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
#endregion
#region 入料流程
private bool StartInStoreP()
{
//若定位工位，阻挡工位，有 料架，需要进行处理
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
StartInStoreMove(null);
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
//小车到达，开始处理
if (runStatus >= (LineRunStatus.Runing) &&
MoveInfo.MoveType.Equals(LineMoveType.None) &&
ProcessShelfEnter.Equals(false) &&
IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW))
{
ShelfEnterProcess();
}
}
else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
//线体出口检测到料架，需要通知AGV小车
AgvClient.ReadyEmpty(Config.AgvOutName);
// SendShelfToAGV();
}
return false;
}
public override bool StartInStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.InStoreExecute;
MoveInfo.NewMove(LineMoveType.InStore);
MoveInfo.MoveParam = new InOutParam();
//判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FI_04_WaitTime();
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InLog("检测到料架， "+MoveInfo.MoveStep+" ：升降盘定位气缸下降");
}
return true ;
}
private void FI_04_WaitTime()
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FI_04_WaitTime);
InLog("定位工位检测到料架： " + MoveInfo.SLog + "，进料阻挡上升，缓冲阻挡上升， 等待1秒再次检测");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
private void LineInStoreProcess()
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FI_04_WaitTime();
}
//阻挡工位有料架，流水线转动一个工位
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InLog("入料检测： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡下降，缓冲阻挡下降，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);//进料阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
} else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InLog("入料检测： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡上升，缓冲阻挡上升，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH);//缓冲阻挡上升
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogUtil.info(" 未检测到料架，入料结束");
}
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 入料：料架进入并开始检测托盘
if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
{
//MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
//InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸下降");
//TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_02_LocationCylinder_Down);
InLog("料架入库" + MoveInfo.SLog + "：定位气缸下降，提升伺服移动到P1");
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_02_LocationCylinder_Down))
{
LineInStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_03_LineStart))
{
LineInStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_04_WaitTime))
{
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.ShelfNoTray = false;
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 定位气缸上升");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
InLog(" 未检测到料架，入料结束");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_05_WaitS))
{
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 定位气缸上升");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_07_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_BatchAxisToP2);
InLog("料架入库" + MoveInfo.SLog + "：提升轴下降到位P2，定位气缸上升");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_08_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_09_TrayLocation_Before);
InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_09_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
InLog("料架入库" + MoveInfo.SLog + "：上料轴开始慢速上升到P3点，等待检测到料盘");
MoveInfo.ShelfNoTray = false;
BatchAxisToP3();
}
#endregion
#region 检测到托盘，扫码，取料并放入托盘
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_10_AxisUpMove))
{
CheckHasTray();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_11_MoveCylinder_Up))
{
FI_12_MoveCylinder_Give();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_12_MoveCylinder_Give))
{
if (IOValue(IO_Type.SL_MoveCylinder_Give).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SL_MoveCylinder_Take).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_13_ScanCode);
bool isScan = ConfigAppSettings.GetIntValue(Setting_Init.NeedScanCode).Equals(1);
InLog("料盘移栽" + MoveInfo.SLog + "：开始扫码：是否需要扫码【" + isScan + "】");
LastCodeList = new List<string>();
if (isScan)
{
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
try
{
Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
if (LastCodeList.Count <= 0)
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
}
return LastCodeList;
});
}
catch (Exception ex)
{
LogUtil.error("FI_13_ScanCode扫码出错：" + ex.ToString());
}
}
}
else
{
FI_12_MoveCylinder_Give();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_13_ScanCode))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_14_MoveCylinder_Take);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_14_MoveCylinder_Take))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_15_UpdownAxisToP3);
InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P3");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_15_UpdownAxisToP3))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_16_MoveCylinder_Tighten);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构夹紧");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_16_MoveCylinder_Tighten))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_17_UpdownAxisToP1);
InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_17_UpdownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_17_BatchAxisToP3);
InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，横移气缸上升");
CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
BatchAxisToP3();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_17_BatchAxisToP3))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_18_SaveSize);
LastHeight = GetHeight();
LastWidth = GetWidth();
//判断是否还有料盘
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
{
int currP = BatchAxis.GetAclPosition();
int chaz = Math.Abs(currP - Config.BatchAxisP3);
if (chaz < BatchAxis.Config.CanErrorCountMax)
{
InLog("料盘移栽" + MoveInfo.SLog + "：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】,已经没有料盘，且已达到P3："+Config.BatchAxisP3+"，提升轴开始回下降待机点P2");
MoveInfo.ShelfNoTray = true;
BatchAxis.AbsMove(null, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
{
InLog("料盘移栽" + MoveInfo.SLog + "：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】,此时未检测到料盘，上料轴位置【"+ currP + "】不在P3：" + Config.BatchAxisP3 + "");
}
}
else
{
InLog("料盘移栽" + MoveInfo.SLog + "：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_SaveSize))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_19_MoveCylinder_Emptying);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_18_SaveSize);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_MoveCylinder_Emptying))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_20_WaitTray);
InLog("料盘移栽" + MoveInfo.SLog + "：等待空托盘到达");
//TODO 此处需要等待空托盘
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_WaitTray))//TODO
{
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_MoveCylinder_Down);
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，托盘号【"+currTrayNum+"】，获取库位号，更新托盘信息");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
Task.Factory.StartNew(delegate
{
//更新托盘条码信息
string code = CodeManager.ProcessCode(LastCodeList);
TrayManager.UpdateTrayInfo(currTrayNum, true, 1, code, "", LastHeight, LastWidth);
if (code.Equals(""))
{
TrayManager.UpdateInStoreNG(currTrayNum, true, "扫码失败");
}
//从服务器获取库位号
string result = StoreServerManager.CodeReceived(Name, currTrayNum, LastCodeList, LastHeight, LastWidth);
if (!result.Equals(""))
{
TrayManager.UpdateInStoreNG(currTrayNum, true, result);
LogUtil.error(Name + "托盘【" + currTrayNum + "】" + result);
}
});
}
else
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
if (span.TotalSeconds > 180)
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.SLog + "]等待空托盘到达超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, DeviceID + 12);
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_22_UpdownAxisToP2);
int targetPositon = Config.GetUpdownPositionP2(LastHeight);
InLog("料盘移栽" + MoveInfo.SLog + "：移栽伺服下降到指定位置:" + targetPositon);
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_UpdownAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_23_MoveCylinder_Slack);
InLog("料盘移栽" + MoveInfo.SLog + "：上料气缸放松");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_MoveCylinder_Slack))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_24_UpDownAxisToP1);
InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_24_UpDownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_25_MoveCylinder_Up);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升 ");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_MoveCylinder_Up))
{
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位，托盘开始放行 ");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
CheckHasTray();
}
#endregion
#region 未检测到托盘或放料完成
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_32_TrayLocationCylinder_After);
InLog("上料完成" + MoveInfo.SLog + "： 升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_32_TrayLocationCylinder_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1);
InLog("上料完成" + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_33_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_35_OutTopCylinder_Up);
InLog("上料完成" + MoveInfo.SLog + "，出口顶升气缸上升,出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_35_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FI_36_SideWayLineRun);
InLog("上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开上料工位");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_36_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_37_WaitShelfGo);
InLog("上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架到达出口");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
//MoveInfo.OneWaitCanEndStep = true;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_37_WaitShelfGo))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_38_LineStop);
InLog("上料完成" + MoveInfo.SLog + "， 料架到达出口，线体横移电机停止 ");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_38_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_39_TopCylinderDown);
InLog("上料完成" + MoveInfo.SLog + "， 料架到达出口，出口顶升下降 , ");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_39_TopCylinderDown))
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
// MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun);
InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束");
AgvClient.ReadyEmpty(Config.AgvOutName);
}
#endregion
}
private void FI_12_MoveCylinder_Give()
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_12_MoveCylinder_Give);
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构检测到料盘，横移机构到放料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
{
//有料盘
MoveInfo.NextMoveStep(LineMoveStep.FI_11_MoveCylinder_Up);
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构检测到料盘，横移机构上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
private void CheckHasTray()
{
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) && MoveInfo.ShelfNoTray.Equals(false))
{
FI_12_MoveCylinder_Give();
}
else
{
if (MoveInfo.ShelfNoTray.Equals(false))
{
//判断当前位置是否在指定的位置
int currP = BatchAxis.GetAclPosition();
int chaz = Math.Abs(currP - Config.BatchAxisP3);
if (chaz > BatchAxis.Config.CanErrorCountMax)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
MoveInfo.ShelfNoTray = false;
BatchAxisToP3();
return;
}
}
//无料盘
MoveInfo.ShelfNoTray = true;
MoveInfo.NextMoveStep(LineMoveStep.FI_31_BatchAxisToP2);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InLog("料盘移栽" + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点");
BatchAxis.SuddenStop();
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
}
private void BatchAxisToP3()
{
MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, Config.BatchAxisP3, Config.BatchAxis_P3Speed));
Config.Batch_Axis.TargetPosition = Config.BatchAxisP3;
BatchAxis.AbsMove( null, Config.BatchAxisP3, Config.BatchAxis_P3Speed);
//开始检测信号
BatchAxisStartCheck();
}
private int StartMovePosition = 0;
private int EndMovePosition = 0;
private int LastHeight = 0;
private int LastWidth = 0;
private List<string> LastCodeList = new List<string>();
private int GetHeight()
{
int AxisChangeValue = Config.Height_ChangeValue;
//计算高度
EndMovePosition = BatchAxis.GetAclPosition();
LastHeight = (int)Math.Ceiling(1F * (EndMovePosition - StartMovePosition) / AxisChangeValue);
int addHeight = 0;
//如果检测信号未亮，极限亮了，需要补充高
//if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
//{
// addHeight = Config.LastTrayAddHeight;
//}
LastHeight += addHeight;
string msg = Name + " 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【" + addHeight + "】计算后【" + LastHeight + "】";
if (LastHeight <= 8) { LastHeight = 8; }
else
{
LastHeight = (int)Math.Floor(1F * (LastHeight-4) / 4) * 4;
}
if (LastHeight <= 8) { LastHeight = 8; }
LogUtil.info(msg + ",归类为" + LastHeight);
return LastHeight;
}
public int GetWidth()
{
int width = 15;
if (IOValue(IO_Type.SL_TrayCheck4).Equals(IO_VALUE.HIGH))
{
width = 15;
}
else if (IOValue(IO_Type.SL_TrayCheck3).Equals(IO_VALUE.HIGH))
{
width = 13;
}
else if (IOValue(IO_Type.SL_TrayCheck2).Equals(IO_VALUE.HIGH))
{
width = 11;
}
else if (IOValue(IO_Type.SL_TrayCheck1).Equals(IO_VALUE.HIGH))
{
width = 7;
}else
{
width = 7;
}
return width;
}
#endregion
internal bool CurrTrayIsNeed(int trayNum, bool NeedSaveParam )
{
try
{
if (IsDebug && runStatus <= LineRunStatus.Wait)
{
return false;
}
if (trayNum <= 0)
{
return false;
}
TrayInfo info = TrayManager.GetTrayInfo(trayNum);
InOutParam param = new InOutParam(trayNum, info.WareCode, info.PosId, info.PlateH, info.PlateW);
//是出料的模块
if (Config.IsCanOut.Equals(1))
{
//此托盘是紧急出料盘，需要通过料架出库
bool debugNeed = (runStatus >= LineRunStatus.Runing)&&info.IsFull&&info.InOrOutStore.Equals(2);
if (info.PosId.Equals(""))
{
param = new InOutParam(trayNum, "紧急出料测试", "1#AC1_3_2", 12, 7);
}
bool isJinji = info.EmergencyOut && info.IsFull && runStatus >= LineRunStatus.Runing;
if (debugNeed || isJinji)
{
//判断是否有料架，是否可以出库
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW))
{
LogUtil.error(Name + " 【" + info.ToStr() + "】需要出库，定位工位无料架，暂不处理", DeviceID + 16);
}
else if (OutStoreHeight < 0)
{
LogUtil.error(Name + " 【" + info.ToStr() + "】需要出库，料架未准备好，暂不处理", DeviceID + 17);
}
else
{
if (NeedSaveParam)
{
LogInfo(" 【" + info.ToStr() + "】需要出库，参数信息：" + param.ToStr());
CheckParam = param;
}
return true;
}
}
}
else
{
bool trayCanUse = LineManager.Line.runStatus <= LineRunStatus.Wait || (!info.IsFull);
if (trayCanUse && runStatus.Equals(LineRunStatus.Busy) && MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
//入料执行中， 且需要空托盘
if (MoveInfo.MoveStep >= LineMoveStep.FI_11_MoveCylinder_Up && MoveInfo.MoveStep <= LineMoveStep.FI_20_WaitTray)
{
if (NeedSaveParam)
{
CheckParam = param;
LogUtil.info(Name + "拦截到空托盘【" + trayNum + "】，入料执行中，需要空托盘");
}
return true;
}
}
}
if (NeedSaveParam&&LineManager.Line.runStatus>=LineRunStatus.HomeMoving&& LineManager.Line.CanProcessLine())
{
LogInfo(" 托盘【" + info.ToStr() + "】不需要出入库" );
}
}
catch (Exception ex)
{
LogUtil.error(Name + "CurrTrayIsNeed出错：" + ex.StackTrace);
}
return false;
}
}
}