DischargeLine.cs
8.5 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
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 DischargeLine : EquipBase
{
public DischargeLine_Config Config;
public DischargeLine(string cid, DischargeLine_Config config)
{
baseConfig = config;
this.DeviceID = config.Id;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
baseConfig = config;
Name = (" " + "_出料皮带线_" + DeviceID % 100 + " ").ToUpper();
Init();
UseAxis = false;
MoveInfo = new LineMoveInfo(DeviceID, "出料皮带线-" + DeviceID + "-MoveInfo");
SecondMoveInfo = new LineMoveInfo(DeviceID, "出料皮带线-" + DeviceID + "-SecondMoveInfo");
}
/// <summary>
/// 开始运行
/// </summary>
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false ;
}
mainTimer.Stop();
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
lineStatus = LineStatus.StoreOnline;
runStatus = LineRunStatus.HomeMoving;
LogInfo("开始原点返回： (重置灯状态，定位气缸下降 )开始");
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if ( isDebug)
{
mainTimer.Enabled = true;
}
return true ;
}
/// <summary>
/// 出料装置重置
/// </summary>
public override bool Reset()
{
StopMove();
LogInfo("开始重置： （重置灯状态，定位气缸下降 ）开始；");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
ResetClearData();
lineStatus = LineStatus.ResetMove;
MoveInfo.NextMoveStep(LineMoveStep.DL_R_CylinderDown);
CylinderMove(MoveInfo, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
IOMove(IO_Type.DLine_RunStatus, IO_VALUE.HIGH);
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.LOW);
if (IsDebug)
{
mainTimer.Start();
}
isInPro = false;
}
/// <summary>
/// 复位处理
/// </summary>
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.DL_R_CylinderDown:
LogInfo(MoveInfo.MoveType + "完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
break;
default: break;
}
}
}
/// <summary>
/// 停止运动
/// </summary>
internal override void StopMove()
{
runStatus = LineRunStatus.Busy;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
StopLineRun();
LogInfo("停止运动：（定位气缸下降，皮带线停转 ）开始 ");
CylinderMove(null, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
CheckAndMove(IO_Type.DLine_Run1, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run2, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run3, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
}
/// <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
CheckAndMove(IO_Type.DLine_RunStatus, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_RunAlarm, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run1, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run2, IO_VALUE.LOW);
CheckAndMove(IO_Type.DLine_Run3, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Up, IO_VALUE.LOW);
CheckAndMove(IO_Type.SeparateDevice_Down, IO_VALUE.LOW);
runStatus = LineRunStatus.Wait;
}
protected override void BaseTimerProcess()
{
if (IOValue(IO_Type.DLine_SuddenStop).Equals(IO_VALUE.LOW))
{
SetWarnMsg( Name + "收到急停信号");
Alarm(LineAlarmType.SuddenStop);
return;
}
if (IOValue(IO_Type.DLine_Reset).Equals(IO_VALUE.HIGH))
{
if (NoAlarm())
{
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 (runStatus.Equals(LineRunStatus.Runing) && NoAlarm())
{
//判断是否需要入库
if (IOValue(IO_Type.ExitPosition_Check3).Equals(IO_VALUE.LOW) && LineRuning.Equals(false))
{
//皮带3入口或者中间有料盘，出口无料盘，转动皮带三
if ((IOValue(IO_Type.ExitPosition_Check3).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.MiddlePosition_Check3).Equals(IO_VALUE.HIGH)))
{
StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3);
}
}
if (IOValue(IO_Type.ExitPosition_Check3).Equals(IO_VALUE.LOW) && LineRuning.Equals(false) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
if ((IOValue(IO_Type.ExitPosition_Check1).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.ExitPosition_Check1).Equals(IO_VALUE.HIGH)))
{
StartLineRun(IO_Type.DLine_Run1, IO_Type.Location_Check1);
}
}
if (IOValue(IO_Type.MiddlePosition_Check3).Equals(IO_VALUE.LOW) && LineRuning.Equals(false) && SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
if ((IOValue(IO_Type.ExitPosition_Check2).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.ExitPosition_Check2).Equals(IO_VALUE.HIGH)))
{
StartLineRun(IO_Type.DLine_Run2, IO_Type.Location_Check2);
}
}
//皮带1皮带2先转动，到达位置后，皮带3再转动
}
IOTimeOutProcess();
//判断红灯状态
if (NoAlarm())
{
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.LOW);
}
else if (IOValue(IO_Type.DLine_RunAlarm).Equals(IO_VALUE.LOW))
{
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.HIGH);
}
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
protected override void InStoreProcess()
{
}
protected override void CheckFixtureProcess()
{
}
}
}