FeedingEquip.cs
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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
{
/// <summary>
/// 流水线自动料仓-入料装置类
/// </summary>
public partial class FeedingEquip : EquipBase
{
public FeedingEquip_Config Config;
public FeedingEquip(string cid, FeedingEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "_入料_" + DeviceID % 100 + " ").ToUpper();
Init();
MoveInfo = new LineMoveInfo(DeviceID, "入料-" + DeviceID + "-Move");
SecondMoveInfo = new LineMoveInfo(DeviceID, "入料-" + DeviceID + "-SecondMove");
UseAxis = true;
Config.SetAxisParam();
}
/// <summary>
/// 开始运行
/// </summary>
public override bool StartRun(bool isDebug = false )
{
mainTimer.Enabled = false;
MoveInfo.EndMove();
lineStatus = LineStatus.StoreOnline;
//TODO 调试时暂时注释
runStatus = LineRunStatus.HomeMoving;
bool result = ReturnHome();
if (result&&isDebug)
{
mainTimer.Enabled = true;
}
return result;
}
/// <summary>
/// 停止运行
/// </summary>
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
//停止运行时，把所有IO 置零
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.BeforeAfterCylinder_Before, IO_VALUE.LOW);
IOMove(IO_Type.BeforeAfterCylinder_After, IO_VALUE.LOW);
IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.ClampCylinder_Slack, IO_VALUE.LOW);
IOMove(IO_Type.ClampCylinder_Tighten, IO_VALUE.LOW);
runStatus = LineRunStatus.Wait;
}
public override void TimerProcess()
{
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
WarnMsg = Name + "收到急停信号";
LogUtil.error(WarnMsg);
Alarm(LineAlarmType.SuddenStop);
return;
}
if (IOValue(IO_Type.SL_Reset_BTN).Equals(IO_VALUE.HIGH))
{
if (alarmType.Equals(LineAlarmType.None))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
LogUtil.error(Name + "收到复位信号，当前无报警，不需要复位");
}
else
{
LogUtil.error(Name + "收到复位信号，当前无报警,正在" + MoveInfo.MoveType + "处理中，不需要复位");
}
}
else
{
LogUtil.info(Name + "收到复位信号，开始复位");
Reset();
}
return;
}
BusyMoveProcess();
//判断流水线打开了才可以运行
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line.CanProcessLine()&&SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
StartCheckFixture();
}
if (MoveInfo.MoveType.Equals(LineMoveType.None)&&Config.IsCanOut.Equals(false))
{
StartInStoreP();
}
}
IOTimeOutProcess();
}
/// <summary>
/// 入料装置原点返回
/// </summary>
public bool ReturnHome()
{
mainTimer.Stop();
StopMove();
if (!RunAxis(true,Config.Batch_Axis))
{
return false;
}
if (!RunAxis(true, Config.UpDown_Axis))
{
return false;
}
alarmType = LineAlarmType.None;
runStatus = LineRunStatus.HomeMoving;
LogInfo( "开始原点返回： (上下伺服原点返回，上料伺服原点返回 )开始");
MoveInfo.NewMove(LineMoveType.ReturnHome);
return true;
}
/// <summary>
/// 入料装置重置
/// </summary>
public override bool Reset()
{
WarnMsg = "";
StopMove();
if (!RunAxis(true, Config.Batch_Axis))
{
return false;
}
if (!RunAxis(true, Config.UpDown_Axis))
{
return false;
}
alarmType = LineAlarmType.None;
LogInfo("开始重置： （上下伺服原点返回，上料伺服原点返回）开始；");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
LogInfo(MoveInfo.MoveType + "：FR_01_StopCylinderMove：放料阻挡气缸上升,顶升气缸下降");
IOMove(IO_Type.SL_HddLed, IO_VALUE.HIGH);
MoveInfo.NextMoveStep(LineMoveStep.FR_01_StopCylinderMove);
if (Config.SidesWayNum <= 0)
{
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
isInPro = false;
}
/// <summary>
/// 重置处理
/// </summary>
protected override void ResetProcess()
{
ReturnHomeProcess();
}
/// <summary>
/// 原点返回处理
/// </summary>
protected override void ReturnHomeProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.Wait:
LogInfo(MoveInfo.MoveType + "：FR_01_StopCylinderMove：放料阻挡气缸上升,顶升气缸下降");
MoveInfo.NextMoveStep(LineMoveStep.FR_01_StopCylinderMove);
if (Config.SidesWayNum <= 0)
{
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
break;
case LineMoveStep.FR_01_StopCylinderMove:
LogInfo(MoveInfo.MoveType + "：FR_03_TrayLocation_After：升降轴托盘气缸后退");
MoveInfo.NextMoveStep(LineMoveStep.FR_03_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
break;
case LineMoveStep.FR_03_TrayLocation_After:
LogInfo(MoveInfo.MoveType + "：FR_04_LocationCylinder_Down：定位气缸下降");
MoveInfo.NextMoveStep(LineMoveStep.FR_04_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
break;
case LineMoveStep.FR_04_LocationCylinder_Down:
LogInfo(MoveInfo.MoveType + "：FR_05_AxisHomeMove：伺服原点返回");
MoveInfo.NextMoveStep(LineMoveStep.FR_05_AxisHomeMove);
ACAxisHomeMove(Config.Batch_Axis);
ACAxisHomeMove(Config.UpDown_Axis);
break;
case LineMoveStep.FR_05_AxisHomeMove:
LogInfo(MoveInfo.MoveType + "：FR_06_AxisToP1：伺服到P1点");
MoveInfo.NextMoveStep(LineMoveStep.FR_06_AxisToP1);
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break;
case LineMoveStep.FR_06_AxisToP1:
LogInfo(MoveInfo.MoveType + "：FR_07_MoveCylinder_Up：上料横移机构上升SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_07_MoveCylinder_Up);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
break;
case LineMoveStep.FR_07_MoveCylinder_Up:
LogInfo(MoveInfo.MoveType + "：FR_08_MoveCylinder_Slack：上料气缸放松SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_08_MoveCylinder_Slack);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
break;
case LineMoveStep.FR_08_MoveCylinder_Slack:
LogInfo(MoveInfo.MoveType + "：FR_09_MoveCylinder_Take： 上料横移气缸取料端SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_09_MoveCylinder_Take);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
break;
case LineMoveStep.FR_09_MoveCylinder_Take:
LogInfo(MoveInfo.MoveType + "：FR_10_OutTopCylinder_Down： 出口顶升下降SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_10_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
break;
case LineMoveStep.FR_10_OutTopCylinder_Down:
LogInfo("重置完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
break;
default: break;
}
}
}
public override void StopMove()
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
}
/// <summary>
/// 是否需要拦截当前托盘进行处理
/// </summary>
/// <returns></returns>
internal bool NeedCurrTray()
{
int num = TrayManager.GetTrayNum(Config.Id);
bool isFull = TrayManager.IsFixTureFull(num);
if (Config.IsCanOut.Equals(1))
{
if (isFull && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
return true;
}
}
else
{
if (!isFull && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
return true;
}
}
return false;
}
/// <summary>
/// 下降所有阻挡气缸
/// </summary>
internal override void OpenStopCylinder()
{
if (Config.SidesWayNum <= 0)
{
LogInfo("下降阻挡气缸,下降顶升气缸 ");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH);
//顶升气缸下降
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
}
internal override void CloseCylinderStop()
{
if (Config.SidesWayNum <= 0)
{
LogInfo("上升阻挡气缸，关闭 顶升气缸IO");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
IOMove(IO_Type.FL_TopCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.FL_TopCylinder_Down, IO_VALUE.LOW);
}
}
/// <summary>
/// 升降轴定位气缸前进
/// </summary>
public void TrayLCylinderBefore(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.LOW);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.HIGH));
}
}
/// <summary>
/// 升降轴定位气缸后退
/// </summary>
public void TrayLCylinderAfter(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.LOW);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.LOW));
}
}
}
}