DischargeLine_Partial.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class DischargeLine
{
private int LastWidth = 0;
protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W301_DLineScanCode))
{
//if (String.IsNullOrEmpty(LastCode).Equals(false))
//{
// return true;
//}
}
return false;
}
private int GetRobotIndex()
{
int robotIndex = 1;
if (DeviceID.Equals(301))
{
robotIndex = 2;
}return robotIndex;
}
#region 是否可移栽料盘
internal bool CanStartOut(int lineNum)
{
if (NoErrorAlarm() || runStatus > LineRunStatus.HomeMoving)
{
if (lineNum.Equals(1) && TrayLine1.MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
if (lineNum.Equals(2) && TrayLine2.MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
}
return false;
}
#endregion
#region 料盘移栽处理
public override bool StartOutStoreMove(InOutParam param)
{
if (runStatus.Equals(LineRunStatus.Runing))
{
StationInfo_Move = new StationTrayInfo(StationInfo_NG.TrayValue, StationInfo_NG.CodeStr);
runStatus = LineRunStatus.Busy;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.OutStore);
LogUtil.info(hengyiName + "出口有料，NG气缸后退，等待100后获取盘尺寸");
MoveInfo.NextMoveStep(LineMoveStep.DO_02_ScanCode);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
ScanNgBack(MoveInfo);
//LastCodeList = new List<string>();
// LastCode = StationInfo_Move.CodeStr;
LastWidth = 0;
// scanCodeCount = 0;
return true;
}
else
{
LogUtil.error(Name + " 启动出料失败，当前 storeStatus=" + runStatus);
return false;
}
}
private bool TrayProcessCanStartLine()
{
if (TrayLine2.Line3CanRun && TrayLine1.Line3CanRun
&& Line3TurnIsStop()
&& Line3Turn.CanStart()
&& ScanNgIsBack()
&& (ScanIsEnd())
)
{
return true;
}
return false;
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 原有方式的横移料盘处理
//if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_01_WaitTime))
//{
// ScanCode();
//}
if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_02_ScanCode))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_03_GetTraySize);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LastWidth = 0;
int robotIndex = GetRobotIndex();
string result = SServerManager.GetTraySize(Name, robotIndex, StationInfo_Move.CodeStr, out LastWidth);
LogUtil.info(hengyiName + "出口有料，二维码[" + StationInfo_Move.CodeStr + "] 获取料盘尺寸【" + LastWidth + "】【" + result + "】");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_03_GetTraySize))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_04_SUpDownMove);
if (LastWidth.Equals(7))
{
LogUtil.info(hengyiName + "出口有料，料盘尺寸【" + LastWidth + "】上升分盘定位气缸");
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Down, IO_Type.SeparateDevice_Up);
}
else if (LastWidth > 0)
{
LogUtil.info(hengyiName + "出口有料，料盘尺寸【" + LastWidth + "】下降分盘定位气缸");
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.DO_10_StopSeparateLine);
LogUtil.info(hengyiName + "扫码NG料， 先转动NG料到扫码后一个工位，需要停止接驳台皮带线");
SeparateStopRun(MoveInfo);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_10_StopSeparateLine))
{
if (TrayProcessCanStartLine())
{
MoveInfo.NextMoveStep(LineMoveStep.DO_11_NGToNextStation);
LogUtil.info(hengyiName + "扫码NG料， 先转动NG料到扫码后一个工位");
Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
Task.Factory.StartNew(delegate
{
Thread.Sleep(1000);
SeparateBackRun(null);
});
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_04_SUpDownMove))
{
if (TrayProcessCanStartLine())
{
MoveInfo.NextMoveStep(LineMoveStep.DO_05_LineRun1);
LogUtil.info(hengyiName + "出口有料，转动皮带线到扫码后一个工位，同时转动分盘装置");
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_05_LineRun1))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_07_SeparateCheck);
// Line3LastTrayP++;
LogUtil.info(hengyiName + "出口有料，等待料盘到达分盘装置位置，最多等待60000");
MoveInfo.TimeOutSeconds = 40;
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SeparateDevice_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_07_SeparateCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_08_CRun);
if (IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.HIGH))
{
int robotIndex = GetRobotIndex();
LogUtil.info(hengyiName + "出口有料，转动接驳台皮带线2000 , 收到SeparateDevice_Check信号，调用arriveRobotLocation=" + robotIndex);
SServerManager.arriveRobotLocation(Name, robotIndex, StationInfo_Move.CodeStr);
}
else
{
LogUtil.info(hengyiName + "出口有料，转动接驳台皮带线2000 ,未收到SeparateDevice_Check信号");
}
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_08_CRun))
{
MoveEndS();
// IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
LogUtil.info(hengyiName + "出口有料，送料结束 ");
}
#endregion
#region NG料处理
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_11_NGToNextStation))
{
//如果是301，接驳台皮带倒转
if (DeviceID.Equals(301))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_15_SeparateBackRun);
LogUtil.info(hengyiName + "扫码NG料，接驳台开始倒转");
SeparateBackRun(MoveInfo);
}
//如果是302，NG气缸前进
else
{
MoveInfo.NextMoveStep(LineMoveStep.DO_12_NGCylinderForward);
LogUtil.info(hengyiName + "扫码NG料，NG气缸前进");
ScanNgForward(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_12_NGCylinderForward))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_13_NGCylinderWait);
LogUtil.info(hengyiName + "扫码NG料，NG气缸等待1500后后退");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_13_NGCylinderWait))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_14_NGCylinderBack);
LogUtil.info(hengyiName + "扫码NG料，NG气缸后退");
ScanNgBack(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_14_NGCylinderBack))
{
MoveEndS();
LogUtil.info(hengyiName + "扫码NG料结束，NG气缸已后退 ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_15_SeparateBackRun))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_16_SeparateBackRunWait);
LogUtil.info(hengyiName + "扫码NG料，接驳台反转等待3000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_16_SeparateBackRunWait))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_17_SeparateStopRun);
LogUtil.info(hengyiName + "扫码NG料，接驳台停止反转");
SeparateStopRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_17_SeparateStopRun))
{
MoveInfo.NextMoveStep(LineMoveStep.DO_18_SeparateRun);
LogUtil.info(hengyiName + "扫码NG料，接驳台恢复正转");
SeparateLineRun(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_18_SeparateRun))
{
MoveEndS();
LogUtil.info(hengyiName + "扫码NG料结束，皮带线已正转 ");
}
#endregion
#region 新方式的横移料盘处理，扫码工位与NG工位分开处理
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_01_WaitTime))
{
MoveInfo.NextMoveStep(LineMoveStep.DON_03_GetTraySize);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LastWidth = 0;
int robotIndex = GetRobotIndex();
string result = SServerManager.GetTraySize(Name, robotIndex, StationInfo_Move.CodeStr, out LastWidth);
LogUtil.info(hengyiName + MoveInfo.SLog + "送料： [" + StationInfo_Move.CodeStr + "] 获取尺寸【" + LastWidth + "】【" + result + "】");
if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_03_GetTraySize))
{
MoveInfo.EndStepWait();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_03_GetTraySize))
{
MoveInfo.NextMoveStep(LineMoveStep.DON_04_SUpDownMove);
if (LastWidth.Equals(7))
{
LogUtil.info(hengyiName + MoveInfo.SLog + "送料：【" + LastWidth + "】寸，上升分盘定位气缸");
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Down, IO_Type.SeparateDevice_Up);
}
else if (LastWidth > 0)
{
LogUtil.info(hengyiName + MoveInfo.SLog + "送料： 【" + LastWidth + "】寸，下降分盘定位气缸");
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.DON_12_NGCylinderForward);
LogUtil.info(hengyiName + MoveInfo.SLog + "NG料：NG气缸前进");
ScanNgForward(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_04_SUpDownMove))
{
if (TrayProcessCanStartLine())
{
MoveInfo.NextMoveStep(LineMoveStep.DON_05_LineRun);
LogUtil.info(hengyiName + MoveInfo.SLog + "送料，NG->接驳台，转动接驳台皮带");
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_05_LineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.DON_07_SeparateCheck);
// Line3LastTrayP++;
LogUtil.info(hengyiName + MoveInfo.SLog + "送料，等待料盘到达接驳台，最多等待65000");
MoveInfo.TimeOutSeconds = 40;
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(65000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SeparateDevice_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_07_SeparateCheck))
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
MoveInfo.NextMoveStep(LineMoveStep.DON_08_CRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
if (IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.HIGH))
{
int robotIndex = GetRobotIndex();
LogUtil.info(hengyiName + MoveInfo.SLog + "送料，接驳台有料，调用arriveRobotLocation=" + robotIndex + "[" + StationInfo_Move.CodeStr + "]");
SServerManager.arriveRobotLocation(Name, robotIndex, StationInfo_Move.CodeStr);
}
else if (span.TotalSeconds <= 60)
{
int robotIndex = GetRobotIndex();
LogUtil.info(hengyiName + MoveInfo.SLog + "送料，接驳台应有料"+FormUtil.GetSpanStr(span)+"，调用arriveRobotLocation=" + robotIndex + "[" + StationInfo_Move.CodeStr + "]");
SServerManager.arriveRobotLocation(Name, robotIndex, StationInfo_Move.CodeStr);
}
else
{
LogUtil.info(hengyiName + MoveInfo.SLog + "送料，接驳台无料");
}
MoveInfo.EndStepWait();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_08_CRun))
{
MoveEndS();
LogUtil.info(hengyiName + MoveInfo.SLog + "送料结束 ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_12_NGCylinderForward))
{
MoveInfo.NextMoveStep(LineMoveStep.DON_13_NGCylinderWait);
LogUtil.info(hengyiName + MoveInfo.SLog + "，NG气缸等待1500后后退");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_13_NGCylinderWait))
{
MoveInfo.NextMoveStep(LineMoveStep.DON_14_NGCylinderBack);
LogUtil.info(hengyiName + MoveInfo.SLog + "NG气缸后退");
ScanNgBack(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_14_NGCylinderBack))
{
MoveEndS();
LogUtil.info(hengyiName + MoveInfo.SLog + "NG处理结束 ");
// StationInfo_NG = new StationTrayInfo();
}
#endregion
}
#endregion
#region 料盘新移栽处理：扫码提前，增加NG气缸
public bool StartNOutStoreMove(InOutParam param)
{
if (runStatus.Equals(LineRunStatus.Runing))
{
StationInfo_Move = new StationTrayInfo(StationInfo_NG.TrayValue, StationInfo_NG.CodeStr);
runStatus = LineRunStatus.Busy;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.OutStore);
LogUtil.info(hengyiName + "NG工位有料，NG气缸后退，等待100后获取尺寸，清理NG工位");
StationInfo_NG = new StationTrayInfo();
MoveInfo.NextMoveStep(LineMoveStep.DON_01_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ScanNgBack(MoveInfo);
// LastCodeList = new List<string>();
LastWidth = 0;
// scanCodeCount = 0;
return true;
}
else
{
LogUtil.error(Name + " 启动出料失败，当前 storeStatus=" + runStatus);
return false;
}
}
#endregion
}
}