ProvidingEquip.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-出料装置类
/// </summary>
public partial class ProvidingEquip : EquipBase
{
public ProvidingEquip_Config Config;
public ProvidingEquip(string cid, ProvidingEquip_Config config)
{
baseConfig = config;
this.DeviceID = config.Id;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
baseConfig = config;
Name = (" " + "_出料_" + DeviceID % 100 + " ").ToUpper();
Init();
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-SMove]");
UseAxis = config.UpDownUseAxis.Equals(1);
if (UseAxis)
{
Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;
Config.UpDown_Axis.ServerOnDO = IO_Type.UpDownAxis_ServoOn;
Config.UpDown_Axis.BreakOnDO = IO_Type.UpDownAxis_BreakOn;
}
UpdownAxis = new AxisBean(config.UpDown_Axis,Name);
}
public override bool StartRun(bool isDebug=false)
{
if (CanStartRun().Equals(false))
{
return false;
}
if (!RunAxis(true, UpdownAxis))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
LogInfo("开始 原点返回： 升降轴回原点，阻挡气缸上升 ");
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if ( isDebug)
{
mainTimer.Enabled = true;
}
return true ;
}
public override bool Reset()
{
StopMove();
if (!RunAxis(true, UpdownAxis))
{
return false;
}
LogInfo("开始重置：清理盘号，升降轴回原点，阻挡气缸上升 ");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
lineStatus = LineStatus.ResetMove;
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
UpdownHomeMove();
if (IsDebug)
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
}
else
{
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
}
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
else if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.MH_UpDownHome:
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
LogInfo(MoveInfo.MoveType + " ：升降轴走到待机点");
UpdownUpMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case LineMoveStep.MH_CylinderUp:
MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinderBack);
LogInfo(MoveInfo.MoveType + " ：上升气缸到位，顶升气缸下降，前后气缸后退，夹紧气缸放松 ");
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
break;
case LineMoveStep.MH_OtherCylinderBack:
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing;
if (IsDebug)
{
lineStatus = LineStatus.Debugging;
}
else
{
lineStatus = LineStatus.StoreOnline;
}
break;
default: break;
}
}
}
internal override void StopMove()
{
trayCheck2LowWait.Stop();
trayCheckWait.Stop();
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogInfo("停止运动： 上下气缸上升 ，阻挡气缸上升，顶升气缸下降 ");
if (UseAxis)
{
UpdownAxis.SuddenStop();
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
CloseAxis(UpdownAxis);
//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);
if (UseAxis.Equals(false))
{
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;
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
BusyMoveProcess();
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
LineBean lineBean = LineManager.Line;
if (LineManager.Line.CanProcessLine())
{
StartCheckFixture();
}
}
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
protected override void InStoreProcess()
{
}
#region 上下气缸伺服运动
private void UpdownUpMove()
{
if (UseAxis)
{
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else
{
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
private void UpdownDownP2Move(int trayHeight,int traySize)
{
if (UseAxis)
{
int position = Config.GetUpdownP2Detial(trayHeight,traySize);
UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed);
}
else
{
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
}
private void UpdownDownP3Move(int trayHeight)
{
if (UseAxis)
{
int position = Config.GetUpdownP3(trayHeight);
UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P3Speed);
}
else
{
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
}
private void UpdownHomeMove()
{
if (UseAxis)
{
MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
UpdownAxis.HomeMove(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
#endregion
/// <summary>
/// 判断上料横移机构是否可以横移运动
/// </summary>
/// <returns></returns>
public bool CanBeforeAfter()
{
if (UseAxis)
{
int currPosition = UpdownAxis.GetAclPosition() - Config.UpDownAxisP1;
if (Math.Abs(currPosition) < Math.Abs(Config.UpDown_Axis.CanErrorCountMax * 10))
{
return true;
}
}
else
{
if (IOValue(IO_Type.UpDownCylinder_Down).Equals(IO_VALUE.LOW) && IOValue(IO_Type.UpDownCylinder_Up).Equals(IO_VALUE.HIGH))
{
return true;
}
}
return false;
}
}
}