MoveEquip_Partial.cs
63.4 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
partial class MoveEquip
{
#region 出库
public override bool StartOutStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
if (param.Equals(null))
{
LogUtil.error(Name + "出库【" + posId + "】失败，param=null");
return false;
}
if (runStatus.Equals(LineRunStatus.Runing))
{
LogInfo("启动出库【" + posId + "】升降气缸上升 ");
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = param;
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
UpdownUpMove();
// TrayManager.AddNeedEmptyTrayNum();
return true;
}
else
{
LogUtil.error(Name + " 启动出库【" + posId + "】失败，runStatus=" + runStatus);
return false;
}
}
protected override void OutStoreProcess()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 移载装置 移栽物品操作
if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_50_StartOutProcess))
{
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进，等待夹爪无料");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
if (ClampNeedCheck)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
OutLog("出库 " + MoveInfo.MoveStep + ": 升降气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_52_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸下降 ");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_52_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_53_DownWait);
OutLog("出库 " + MoveInfo.SLog + ": 等待200ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_53_DownWait))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_54_CylinderOpen);
OutLog("出库 " + MoveInfo.SLog + ": 夹料气缸夹紧，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【MOVING】【" + DeviceID + "】");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.MOVING, DeviceID.ToString());
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_54_CylinderOpen))
{
MO_55_CylinderUp();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_55_CylinderUp))
{
if (UpdownIsUp())
{
if (ClampNeedCheck && IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
//MoveInfo.NextMoveStep(LineMoveStep.MO_56_ClarmpCheck);
//OutLog("出库 " + MoveInfo.SLog + ": 等待夹爪有料");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
LogUtil.info("出库 " + MoveInfo.SLog + ": 出库从仓门口抓料后， 夹爪检测信号无料， 忽略此信号");
}
//else
{
if (IsBigStore())
{
if (TrayIsOk())
{
MO_61_CylinderAfter();
}
}
else
{
MO_61_CylinderAfter();
}
}
}
else
{
MO_55_CylinderUp();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_ClarmpCheck))
{
if (UpdownIsUp())
{
if (IsBigStore())
{
if (TrayIsOk())
{
MO_61_CylinderAfter();
}
}
else
{
MO_61_CylinderAfter();
}
}
else
{
MO_55_CylinderUp();
}
}
#endregion
#region 移载装置，放物品到流水线操作
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_61_CylinderAfter))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
if (TrayIsOk())
{
int trayNum = SecondMoveInfo.MoveParam.TrayNumber;
//去掉直接丢盘处理
MoveInfo.NextMoveStep(LineMoveStep.MO_62_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 拦截到空托盘【" + trayNum + "】， 上下气缸下降 ,顶升气缸上升");
if (MoveInfo.MoveParam != null)
{
MoveInfo.MoveParam.TrayNumber = trayNum;
}
else
{
MoveInfo.MoveParam = SecondMoveInfo.MoveParam;
}
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_62_CylinderDown))
{
OutLog("出库 " + MoveInfo.SLog + ": 夹料气缸放松 ");
int trayNum = MoveInfo.MoveParam.TrayNumber;
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INLINE, "E" + trayNum.ToString().PadLeft(2, '0'));
TrayManager.UpdateTrayInfo(MoveInfo.MoveParam.TrayNumber, true, ReelType.OutStore, MoveInfo.MoveParam);
TrayInfo tray = TrayManager.GetTrayInfo(trayNum);
LogInfo("出库 " + MoveInfo.SLog + ": 夹料气缸放松，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【INLINE】更新托盘【" + trayNum + "】 " + tray.ToStr() + "");
//出库全部完成
lineStatus = LineStatus.StoreOnline;
MoveInfo.NextMoveStep(LineMoveStep.MO_63_CylinderRelax);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_63_CylinderRelax))
{
if (MoveInfo.MoveParam.PlateW > 7)
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_64_CylinderWork);
OutLog("出库 " + MoveInfo.SLog + ": 夹紧气缸夹紧");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
}
else
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_66_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升，同时顶升气缸先下降");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_64_CylinderWork))
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_65_CylinderRelax2);
OutLog("出库 " + MoveInfo.SLog + ": 夹紧气缸再次放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_65_CylinderRelax2))
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_66_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升，同时顶升气缸先下降");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_66_CylinderUp))
{
// 减去需要的盘数
// TrayManager.DelNeedEmptyTrayNum();
SOutLog("出库 ：移栽完成，放行托盘");
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
OutLog("出库处理结束！");
RunLogUtil.MoveEndLog(new MoveEndLog(Name, "出库", MoveInfo.MoveStartTime, DateTime.Now, MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.WareCode));
MoveEndS();
}
#endregion
}
private void MO_55_CylinderUp()
{
MoveInfo.NextMoveStep(LineMoveStep.MO_55_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove();
}
private void MO_61_CylinderAfter()
{
MoveInfo.NextMoveStep(LineMoveStep.MO_61_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 前后气缸后退");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
}
private bool TrayIsOk()
{
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember) && !SecondMoveInfo.IsInWait)
{
return true;
}
else if (MoveInfo.IsTimeOut(300))
{
MoveTimeoutAlarm(MoveInfo, "等待空托盘到达超时");
//WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.SLog + "]等待空托盘到达超时[" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 12);
//Alarm(LineAlarmType.IoSingleTimeOut);
return false;
}
return false;
}
private bool IsBigStore()
{
return Config.IsBigTray.Equals(1);
}
#endregion
#region 入库
public override bool StartInStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
if (runStatus.Equals(LineRunStatus.Runing))
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.InStoreExecute;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.InStore);
LogInfo("入库【" + posId + "】处理（移栽）：MI_01_ToLineUp, 前后气缸后退，等待夹爪无料");
MoveInfo.NextMoveStep(LineMoveStep.MI_01_ToLineUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
if (ClampNeedCheck)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
return true;
}
else
{
LogUtil.error(Name + " 启动一个 入库【" + posId + "】运动失败，当前状态，storeStatus=" + runStatus);
}
return false;
}
private void MI_18_UpdownUp()
{
MoveInfo.NextMoveStep(LineMoveStep.MI_18_UpdownUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
//CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
UpdownUpMove();
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.IsInWait)
{
if (!UseAxis)
{
if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_03_CylinderDown) && MoveInfo.IsTimeOut(20))
{
//顶升气缸上升到位，升降气缸下降不到位
if (CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP) &&
IOValue(IO_Type.UpDownCylinder_Up).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.UpDownCylinder_Down).Equals(IO_VALUE.LOW))
{
LogUtil.error(Name + "入库 [" + posId + "]，升降气缸下降到托盘[" + currTrayNum + "]取料失败，升降轴上升，禁用托盘，同时放行托盘");
LogInfo("入库 [" + posId + "]" + MoveInfo.SLog + ": 升降轴上升，禁用托盘，同时放行托盘，顶升气缸1下降");
TrayDisableManager.AddDisable(currTrayNum, Name, "入库取料失败",0, DeviceID);
MI_18_UpdownUp();
}
}
}
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_01_ToLineUp))
{
if (MoveInfo.MoveParam?.PlateH >= 30)
{
MoveInfo.NextMoveStep(LineMoveStep.MI_02_TopUP);
InLog("入库 " + MoveInfo.SLog + ": 顶升上升");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_03_CylinderDown);
InLog("入库 " + MoveInfo.SLog + ": 升降下降，顶升上升");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_02_TopUP))
{
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
bool needCheck = (tray == null || (!tray.InoutPar.Corrected));
if (!needCheck)
{
LogInfo("入库 [" + posId + "]" + MoveInfo.SLog + ": 托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号");
}
//判断料盘检测信号是否正确
if (needCheck&&
CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP) &&
LineManager.useTrayCheck.Contains(DeviceID) &&
IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
{
ConfigIO io = Config.getWaitIO(IO_Type.TrayCheck);
if (io != null)
{
LogInfo("当前托盘上的料盘检测信号[" + io.ConfigStr + "]的值：" + IOValue(IO_Type.TrayCheck));
}
LogUtil.error(Name + "入库 [" + posId + "]，托盘【 " + currTrayNum + "】，有料托盘料盘检测信号不亮，升降轴上升，禁用托盘，同时放行托盘");
LogInfo("入库 [" + posId + "]" + MoveInfo.SLog + ": 升降轴上升，禁用托盘，同时放行托盘，顶升气缸1下降");
TrayDisableManager.AddDisable(currTrayNum, Name, "有料托盘料盘检测信号不亮", 1, DeviceID);
MI_18_UpdownUp();
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_03_CylinderDown);
InLog("入库 " + MoveInfo.SLog + ": 升降下降，顶升上升");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_03_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_04_DownWait);
InLog("入库 " + MoveInfo.SLog + ": 等待200ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
//只有当BOX可以进行出入库时，移栽物品，防止卡住
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_04_DownWait))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_05_CylinderOpen);
InLog("入库 " + MoveInfo.SLog + ": 夹料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_05_CylinderOpen))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_06_CylinderUp);
InLog("入库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_06_CylinderUp))
{
if (ClampNeedCheck && IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_07_ClampCheck);
InLog("入库 " + MoveInfo.SLog + ": 等待夹爪有料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
}
else
{
MI_08_WaitBox();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_07_ClampCheck))
{
MI_08_WaitBox();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_08_WaitBox))
{
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MI_09_CylinderBefore);
InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_08_WaitBox);
InLog("入库： " + MoveInfo.SLog + " 升降气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_09_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_11_CylinderDown);
InLog("入库 " + MoveInfo.SLog + " ，上下气缸下降");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
if (IsBigStore())
{
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_09_CylinderBefore);
InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_11_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_12_CylinderRelax);
InLog("入库 " + MoveInfo.SLog + "，夹料气缸放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_12_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_13_UpdownCylinderUp);
InLog("入库 " + MoveInfo.SLog + "，上下气缸上升");
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_13_UpdownCylinderUp))
{
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MI_14_CylinderAfter);
InLog("入库 " + MoveInfo.SLog + "，前后气缸后退，等待300 ");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
//此时box就可以入库操作了 //触发事件，BOX入库
// LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_13_UpdownCylinderUp);
InLog("入库 " + MoveInfo.SLog + "，上下气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_14_CylinderAfter))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore);
InLog("入库 " + MoveInfo.SLog + "，通知BOX开始入库，等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineServer.StartInStore(StoreID, MoveInfo.MoveParam);
sendCount = 1;
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_15_SendPosToStore))
{
if (!LineServer.IsInStorePro(StoreID, MoveInfo.MoveParam.PosId))
{
//InLog("入库 " + MoveInfo.SLog + " ， 送料流程完成，料仓还未开始入库，再次发送starIn命令");
//LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore);
InLog("入库 " + MoveInfo.SLog + "，再次通知BOX开始入库，等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LineServer.StartInStore(StoreID, MoveInfo.MoveParam);
sendCount++;
if (sendCount >= 3)
{
SetWarnMsg(MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + " 等待BOX开始入库超时 已发送" + sendCount + "次", "等待BOX开始入库超时");
//LogUtil.error(WarnMsg);
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
else
{
RunLogUtil.MoveEndLog(new MoveEndLog(Name, "入库", MoveInfo.MoveStartTime, DateTime.Now, MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.WareCode));
sendCount = 0;
LogInfo("入库【" + posId + "】处理（移栽）全部完成！");
MoveEndS();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_16_SendEnd))
{
RunLogUtil.MoveEndLog(new MoveEndLog(Name, "入库", MoveInfo.MoveStartTime, DateTime.Now, MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.WareCode));
LogInfo("入库【" + posId + "】处理（移栽）全部完成！");
MoveEndS();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_18_UpdownUp))
{
LogInfo("入库【" + posId + "】失败，自动复位完成");
MoveEndS();
}
}
private int sendCount = 0;
private void MI_08_WaitBox()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
int num = MoveInfo.MoveParam.TrayNumber;
MoveInfo.NextMoveStep(LineMoveStep.MI_08_WaitBox);
LogInfo("入库【" + posId + "】 " + MoveInfo.SLog + ": 等待box可入库，更新托盘【" + num + "】为空盘，清理入库任务 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray());
TrayManager.UpdateTrayInfo(num);
RemoveInStore(MoveInfo.MoveParam);
if (IsBigStore()) { }
else
{
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
private bool IsInStoreNeed()
{
if (TrayDisableManager.DisableTray(currTrayNum))
{
return false;
}
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
bool needRemove = false;
int index = 0;
//判断是否是自己排队列表中的入库信息
foreach (InOutParam cc in waitInStoreList)
{
if (cc.TrayNumber.Equals(currTrayNum) && (!cc.WareCode.Equals("")))
{
//TODO 需要判断托盘的料盘信息与入库的是否一致
TrayInfo trayInfo = TrayManager.GetTrayInfo(currTrayNum);
if (trayInfo.IsFull && trayInfo.InOrOutStore.Equals(1) && trayInfo.InoutPar.PosId.Equals(cc.PosId)){
}
else
{
LogUtil.error(Name + "托盘号【" + currTrayNum + "】的入库任务【" + cc.ToStr() + "】与托盘实际信息不一致：【" + trayInfo.ToStr() + "】不拦截托盘入库");
return false;
}
//if (LineManager.useTrayCheck.Contains(DeviceID) && IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
//{
// LogInfo(" 入库需拦截有料托盘【 " + currTrayNum + "】，有料托盘料盘检测信号不亮，禁用托盘");
// TrayDisableManager.AddDisable(currTrayNum, Name, "有料托盘料盘检测信号不亮");
// return false;
//}
//判断是否验证成功，如果验证失败，不入库
if (LineServer.RightInPosId(StoreID, cc.PosId))
{
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW, cc.InStoreNg);
return true;
}
else
{
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW, cc.InStoreNg);
LogUtil.error(Name + "托盘号【" + currTrayNum + "】入库信息【" + cc.ToStr() + "】料仓未验证成功，重新发送验证消息");
LineServer.CheckInStorePos(DeviceID, cc);
return true;
}
}
index++;
}
if (needRemove && index >= 0 && index < waitInStoreList.Count)
{
waitInStoreList.RemoveAt(index);
LogUtil.info("从waitInStoreList中删除 index=" + index + "的任务");
}
}
}
return false;
}
private bool CheckIsNeedOutStore()
{
if (currTrayNum <= 0)
{
return false;
}
if (TrayDisableManager.DisableTray(currTrayNum))
{
return false;
}
bool isFull = TrayManager.TrayIsFull(currTrayNum);
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_55_CylinderUp) || MoveInfo.MoveStep >= LineMoveStep.MO_61_CylinderAfter;
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_66_CylinderUp)))
{
if (isFull.Equals(false))
{
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
bool needCheck = (tray == null || (!tray.InoutPar.Corrected));
if (!needCheck)
{
LogInfo("出库中，拦截空托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号");
}
//顶升上升时才判断
if (needCheck&& CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP) &&
LineManager.useTrayCheck.Contains(DeviceID) &&
IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.HIGH))
{
ConfigIO io = Config.getWaitIO(IO_Type.TrayCheck);
if (io != null)
{
LogInfo("当前托盘上的料盘检测信号[" + io.ConfigStr + "]的值：" + IOValue(IO_Type.TrayCheck));
}
LogInfo(" 出库中，需拦截空托盘【 " + currTrayNum + "】，空托盘料盘检测信号亮，禁用托盘");
TrayDisableManager.AddDisable(currTrayNum, Name, "空托盘料盘检测信号亮", 2, DeviceID);
}
else
{
LogInfo(" 出库中，拦截空托盘【 " + currTrayNum + "】~");
return true;
}
}
}
return false;
}
internal bool IsWaitEmptyTray()
{
if (isInSuddenDown || isNoAirCheck)
{
return false;
}
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_55_CylinderUp) || MoveInfo.MoveStep >= LineMoveStep.MO_61_CylinderAfter;
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_66_CylinderUp)))
{
return true;
}
return false;
}
private bool CheckIsNeedInStore()
{
if (currTrayNum <= 0)
{
return false;
}
if (TrayDisableManager.DisableTray(currTrayNum))
{
return false;
}
//如果正在出库执行中，不能拦截入库托盘
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
return false;
}
else if (waitOutStoreList.Count > 0)
{
return false;
}
bool isfull = TrayManager.TrayIsFull(currTrayNum);
if (!isfull)
{
return false;
}
InOutParam currCode = null;
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
//判断是否是自己排队列表中的入库信息
int reIndex = -1;
for (int i = 0; i < waitInStoreList.Count; i++)
{
InOutParam cc = waitInStoreList[i];
if (cc.TrayNumber.Equals(currTrayNum) && (!cc.WareCode.Equals("")))
//if (cc.TrayNumber.Equals(currTrayNum) && (!cc.WareCode.Equals("")) && LineServer.RightInPosId(DeviceID, cc.PosId))
{
reIndex = i;
currCode = cc;
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW, cc.InStoreNg);
break;
}
}
if (reIndex >= 0)
{
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
bool needCheck = (tray == null || (!tray.InoutPar.Corrected));
if (!needCheck)
{
LogInfo("入库需拦截有料托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号");
}
if (needCheck&& CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP) &&
LineManager.useTrayCheck.Contains(DeviceID) &&
IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
{
ConfigIO io = Config.getWaitIO(IO_Type.TrayCheck);
if (io != null)
{
LogInfo("当前托盘上的料盘检测信号[" + io.ConfigStr + "]的值：" + IOValue(IO_Type.TrayCheck));
}
LogInfo(" 入库需拦截有料托盘【 " + currTrayNum + "】，有料托盘料盘检测信号不亮，禁用托盘");
TrayDisableManager.AddDisable(currTrayNum, Name, "有料托盘料盘检测信号不亮", 1,DeviceID);
return false;
}
else if (!LineServer.BoxCanInStore(StoreID))
{
LogInfo("*******托盘" + currTrayNum + "需要入库【" + currCode.ToStr() + "】，BoxCanInStore验证失败，先放托盘通过");
return false;
}
else
{
//判断是否验证成功，如果验证失败，不入库
if (LineServer.RightInPosId(StoreID, currCode.PosId))
{
//waitInStoreList.RemoveAt(reIndex);
LogInfo("*******托盘" + currTrayNum + "需要入库【" + currCode.ToStr() + "】 ，开始入库移栽，清理托盘时再删除入库任务");
return true;
}
else
{
//LogUtil.error(Name + "托盘号【" + currTrayNum + "】入库信息【" + currCode.ToStr() + "】料仓未验证成功，不拦截托盘，更新此托盘为NG，从waitInStoreList中删除，取消入库任务");
//TrayManager.UpdateInStoreNG(currTrayNum, true, "Box验证入库失败");
//waitInStoreList.RemoveAt(reIndex);
//SServerManager.cancelPutInTask(Name, currCode.WareCode, true);
//return false;
LogUtil.error(Name + "托盘号【" + currTrayNum + "】入库信息【" + currCode.ToStr() + "】料仓未验证成功，重新发送验证消息, 先放托盘通过");
LineServer.CheckInStorePos(DeviceID, currCode);
return false;
}
}
}
}
}
return false;
}
public bool RemoveInStore(InOutParam param, string logName = "料盘已移走", bool IsCancel = false)
{
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
//判断是否是自己排队列表中的入库信息
int reIndex = -1;
for (int i = 0; i < waitInStoreList.Count; i++)
{
InOutParam cc = waitInStoreList[i];
//托盘号一致，二维码一致，库位号一致
if (cc.TrayNumber.Equals(param.TrayNumber) && cc.PosId.Equals(param.PosId) && cc.WareCode.Equals(param.WareCode))
{
reIndex = i;
break;
}
}
if (reIndex >= 0)
{
waitInStoreList.RemoveAt(reIndex);
LogInfo("*******" + logName + "，清理入库任务：【" + param.ToStr() + "】");
if (IsCancel)
{
SServerManager.cancelPutInTask(Name, param.WareCode, false);
}
return true;
}
}
}
return false;
}
#endregion
#region 托盘检测
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheck2LowWait = new Stopwatch();
private object lockObj = "";
private void StartCheckFixture()
{
if (Monitor.TryEnter(lockObj, TrayManager.mTimeOut))
{
try
{
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
}
else
{
TrayManager.checkWatch(trayCheck2LowWait, 30000, false);
}
LogUtil.error(Name + " StartCheckFixture " + " 不在空闲中，直接返回 ");
return;
}
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
bool canpro = LineManager.Line.Move5CanProcessTray(DeviceID);
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
trayCheck2LowWait.Stop();
if (canpro && TrayManager.checkWatch(trayCheckWait, TrayManager.SwTrayWaitTime, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升）");
if (TrayManager.HasCheck1(DeviceID))
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
}
}
}
else
{
bool check2IsOk = TrayManager.checkWatch(trayCheck2LowWait, TrayManager.SwTrayWaitTime, false);
if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.HIGH) && TrayManager.HasCheck1(DeviceID))
{
if (TrayManager.checkWatch(trayCheckWait, TrayManager.SwTrayWaitTime, false) && check2IsOk && canpro)
{
trayCheckWait.Stop();
trayCheck2LowWait.Stop();
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
ClearTrayRFID();
//ClearAllBuff();
//StartReadRfid();
CheckLog(" 托盘检测：料盘检测StopCylinder_Check1 " + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ， 等待 StopCylinder_Check1=0，清理托盘RFID,开始记录rfid缓存");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);//TrayManager.StopDTime
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
}
else
{
trayCheckWait.Stop();
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " StartCheckFixture " + " 出错：" + ex.ToString());
}
finally
{
Monitor.Exit(lockObj);
}
}
else
{
LogUtil.error(Name + " StartCheckFixture " + "失败，未得到锁");
}
}
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_Stop1Down))
{
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
MIO_02_FixtureCheck();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopDownWait);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待前阻挡检测消失");
//CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 100ms后StopCylinder_Check1上升");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
// SecondMoveInfo.OneWaitCanEndStep = true;
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_StopDownWait))
{
MIO_02_FixtureCheck();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_FixtureCheck))
{
//if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
//{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待托盘信号");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
//}
//else
//{
// //未检测到信号或阻挡下降失败，结束处理
// LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCylinder_Check2=HIGH，结束处理 ");
// SecondMoveInfo.EndMove();
//}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1");
CheckAndMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
try
{
//try
//{
// //StopReadRfid();
// LogUtil.debug($"【{Name}】停止记录rfid缓存");
//}
//catch (Exception ex1)
//{
// LogUtil.error($"【{Name}】停止记录rfid缓存：", ex1);
//}
//判断是否需要顶升
bool isNeed = false;
//UpdateTrayNumFromBuff();
UpdateTrayNum();
bool isFull = TrayManager.TrayIsFull(currTrayNum);
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
if (tray.InoutPar?.ManualJudgeNG ?? false)
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】被为标记判定NG,放盘通过");
}
//出库中，需要拦盘
else if (CheckIsNeedOutStore())
{
isNeed = true;
}
else if (isFull && IsInStoreNeed())
{
isNeed = true;
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
}
if (isNeed)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待200");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else
{
LogUtil.debug(Name + SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入库任务，放盘通过~");
// preTrayNum = currMoveTrayNum;
if (TrayManager.ErrorDeviceId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
}
}
catch (Exception ex)
{
LogUtil.error("判断托盘是否需要顶升出错：", ex);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_05_WaitTime))
{
//如果是出库，且盘高大于30，暂不顶升
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopUp);
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
//出库托盘全部顶升，等会再下降
//if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PlateH >= 30)
//{
// CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 高度>30，暂不顶升上升");
//}
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 顶升气缸上 升 ）");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
else
{
if (!LineServer.RightInPosId(StoreID, SecondMoveInfo.MoveParam?.PosId))
{
LogUtil.error(Name + " " + SecondMoveInfo.SLog + "[" + SecondMoveInfo.MoveParam.PosId + "]料仓未验证成功，等待9秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(9000));
}
if (SecondMoveInfo.MoveParam?.PlateH >= 30)
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 高度>=30，暂不顶升上升");
}
else
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 顶升气缸上 升 ）");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
}
//else
//{
// CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 顶升气缸上 升 ）");
// CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
//}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopUp))
{
CheckLog("托盘阻挡*************** 托盘号【" + currTrayNum + "】");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
//托盘号正确
//preTrayNum = num;
bool isNeedMove = false;
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
if(tray.InoutPar?.ManualJudgeNG??false)
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】被为标记判定NG,放盘通过");
}
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
else if (CheckIsNeedOutStore())
{
SecondMoveInfo.MoveParam = new InOutParam(currTrayNum);
isNeedMove = true;
//如果是>=30的盘，需要先下降顶升
if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PlateH >= 30)
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 空托盘【" + currTrayNum + "】，正在出库>=30的盘中，顶升先下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_10_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 空托盘【" + currTrayNum + "】，正在出库中，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
}
else if (CheckIsNeedInStore())
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_08_WaitInStore);
//if (LineManager.useTrayCheck.Contains(DeviceID))
//{
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck, IO_VALUE.HIGH));
// LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】，有对应的入库任务，等待料盘检测信号，等待移栽");
//}
//else
//{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】，有对应的入库任务，等待移栽");
//}
isNeedMove = true;
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘【" + currTrayNum + "】不需要出入库, 放盘通过");
}
if (!isNeedMove)
{
//preTrayNum = num;
if (TrayManager.ErrorDeviceId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CheckLog("托盘检测" + SecondMoveInfo.SLog + " ，托盘号【" + currTrayNum + "】,直接放盘通过，顶升气缸下降 ");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_10_TopDown))
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 空托盘【" + currTrayNum + "】，顶升已下下降，正在出库中，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_08_WaitInStore))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
StartInStoreMove(SecondMoveInfo.MoveParam);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ，等待移栽完成后放开阻挡）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_09_WaitLetFixtureGo);
}
else if (SecondMoveInfo.IsTimeOut(30))
{
string msg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveStep + "] 等待开始入库超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(msg + "，暂时放托盘离开");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 入库超时，放托盘离开，顶升气缸1下降");
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
#endregion
#region 不需要出入库，直接放行
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopDown))
{
MO_16_Stop2Down();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo))
{
MO_16_Stop2Down();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_Stop2Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Stop2Check);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ， 等待StopCylinder_Check2=0");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_17_Stop2Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_18_WaitTime);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ， 等待2000ms后阻挡2上升");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_WaitTime))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_19_StopCylinder_Back);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ， 阻挡气缸1-2上升 ）");
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_19_StopCylinder_Back))
{
CheckLog("托盘放行 SecondMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
}
#endregion
}
private void MIO_02_FixtureCheck()
{
//if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW) || IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
//{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_FixtureCheck);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
if (DeviceID.Equals(5))
{
SecondMoveInfo.TimeOutSeconds = 20;
}
//SecondMoveInfo.OneWaitCanEndStep = true;
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
//最多等待30秒
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//}
//else
//{
// //未检测到信号或阻挡下降失败，结束处理
// LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCylinder_Check1=LOW，或 StopCylinder_Check2=HIGH，结束处理 ");
// SecondMoveInfo.EndMove();
//}
}
private void MO_16_Stop2Down()
{
if (LineManager.Line.Move9CanStop2Down(DeviceID, currTrayNum))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
CheckLog("托盘放行" + SecondMoveInfo.SLog + " ，阻挡气缸1-2下降 ");
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.IsTimeOut(120))
{
MoveTimeoutAlarm(SecondMoveInfo, $"等待分流横移1空闲【{LineManager.Line.ShuntWaitTrayNum}】");
//WarnMsg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveType + "][" + SecondMoveInfo.SLog + "]等待分流横移1空闲[" + Math.Round(SecondMoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
//LogUtil.error(WarnMsg, DeviceID * 1000 + 12);
//Alarm(LineAlarmType.IoSingleTimeOut);
}
}
#endregion
#region 如果是进仓5，托盘横移后直接结束处理
internal void EndProcessTray()
{
if (DeviceID.Equals(5))
{
if (SecondMoveInfo.MoveType.Equals(LineMoveType.CheckFixture) && SecondMoveInfo.MoveStep < LineMoveStep.MIO_03_Stop2Down)
{
UpdateTrayNum();
LogUtil.info(Name + " EndProcessTray ,结束当前托盘[" + currTrayNum + "]处理【" + SecondMoveInfo.MoveType + "】【" + SecondMoveInfo.MoveStep + "】 ");
SecondMoveInfo.EndMove();
}
}
}
//判断移栽是否正在处理托盘
internal bool HasTray()
{
if (CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP))
{
return true;
}
if (SecondMoveInfo.MoveType.Equals(LineMoveType.CheckFixture))
{
return true;
}
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH) )
{
return true;
}
return false;
}
#endregion
}
}