FeedingEquip_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.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class FeedingEquip
{
#region 托盘检测
private void StartCheckFixture()
{
int num = TrayManager.GetTrayNum(DeviceID);
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
//托盘在两个阻挡内
if (num > 0)
{
TrayManager.UpdateSWState(Config.SidesWayNum, 2);
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_03_StopCylinder2Down 阻挡气缸1-1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
}
else
{
LogUtil.error(Name + "检测到check4亮，但是为获取到托盘号，StartCheckFixture失败~");
}
}
else if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.HIGH))
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
TrayManager.UpdateSWState(Config.SidesWayNum, 2);
CheckLog(" 托盘检测：料盘检测 SecondStoreMove（MIO_01_StopCylinder1Down阻挡气缸1-1下降 ，最多等待1秒）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
}
}
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_01_StopCylinder1Down))
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_02_FixtureCheck 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_FixtureCheck))
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_03_StopCylinder2Down 阻挡气缸1-1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_StopCylinder2Down))
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_04_Wait ,等待编码信号稳定）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
try
{
//判断是否需要顶升
// bool isNeed = false;
//此处先对托盘号进行验证
currMoveTrayNum = TrayManager.GetTrayNum(DeviceID);
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (TrayManager.RightTrayCode(currMoveTrayNum, preTrayNum, false))
{
//出料中，需要拦盘
if (NeedCurrTray())
{
//preTrayNum = currMoveTrayNum;
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
return;
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currMoveTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
}
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currMoveTrayNum + "】没有出入料任务，放盘通过~");
// preTrayNum = currMoveTrayNum;
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
CheckLog("托盘放行 SecondStoreMove：(MO_13_WaitCanGo ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_WaitCanGo);
}
catch (Exception ex)
{
LogUtil.error("判断托盘是否需要顶升出错：" + ex.ToString());
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_05_WaitTime))
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_06_TopCylinderUp 顶升气缸上 升 ）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopCylinderUp);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopCylinderUp))
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_07_TopCylinderUpWait ,顶升气缸上升时等待1秒钟，再下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_07_TopCylinderUpWait);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_07_TopCylinderUpWait))
{
CheckLog("托盘检测（流水线阻挡）*************** 托盘号【" + currMoveTrayNum + "】");
//托盘号正确
//preTrayNum = num;
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (TrayIsNeedOutStore())
{
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】可以放出料托盘，正在出料中，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else
{
//preTrayNum = num;
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
CheckLog("托盘检测 SecondStoreMove：(MO_12_TopCylinder_Down ，托盘号【" + currMoveTrayNum + "】,直接放盘通过，顶升气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_TopCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_08_WaitInStore) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
CheckLog("托盘放行 SecondStoreMove：(MIO_09_WaitLetFixtureGo ，等待移栽完成后放开阻挡）");
StartOutStoreMove(SecondMoveInfo.MoveParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_09_WaitLetFixtureGo);
}
#endregion
#region 不需要出出料，直接放行
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_12_TopCylinder_Down))
{
CheckLog("托盘放行 SecondStoreMove：(MO_13_WaitCanGo ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_WaitCanGo);
//更新横移托盘已处理完成
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
//if (DeviceID.Equals(2))
//{
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitSideWay());
// SecondMoveInfo.OneWaitCanEndStep = true;
//}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_13_WaitCanGo))
{
CheckLog("托盘放行 SecondStoreMove：(MO_14_StopCylinder2_Down ，阻挡气缸1-2下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_StopCylinder2_Down);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH));
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_StopCylinder2_Down))
{
CheckLog("托盘放行 SecondStoreMove：(MO_15_Tray_Check ， 阻挡2托盘检测=0）, 延时2秒）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_Tray_Check);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_Tray_Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_StopCylinder_Back);
CheckLog("托盘放行 SecondStoreMove：(MO_16_StopCylinder_Back ， 阻挡气缸1-2上升 ）");
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down2, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_StopCylinder_Back))
{
preTrayNum = currMoveTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
}
#endregion
}
#endregion
#region 入料流程
/// <summary>
/// 判断是否有料架，若有开始入库
/// </summary>
/// <returns></returns>
private bool StartInStoreP()
{
//定位工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)){
return true;
}
//阻挡工位有料架
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_InLineStart);
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_Check, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.LOW));
InStoreLog(" 检测到SL_Stop_Check=1， FI_03_InLineStart 开始：进料线体运转，进料阻挡上升，等待SL_Stop_Check=0");
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
return true;
}
//入料口有料架
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NewMove(LineMoveType.InStore);
MoveInfo.NextMoveStep(LineMoveStep.FI_01_InLineStart);
IOMove(IO_Type.SL_Entry_Check, IO_VALUE.HIGH);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Entry_Check, IO_VALUE.LOW));
InStoreLog("检测到SL_Entry_Check信号，进料线体运转，进料阻挡下降，等待SL_Entry_Check=0");
return true;
}
return false ;
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_01_InLineStart))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_02_InLineRun);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
InStoreLog(" FI_02_InLineRun 开始：等待SL_Stop_Check=1");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_02_InLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_InLineStart);
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_Check, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.LOW));
InStoreLog(" FI_03_InLineStart 开始：进料线体运转，进料阻挡上升，等待SL_Stop_Check=0");
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_03_InLineStart))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_04_InLineRun);
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
InStoreLog(" FI_04_InLineRun 开始：SL_Location_Check=1");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_04_InLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_05_LocationUp);
InStoreLog(" FI_05_LocationUp 开始：进料线体停止，定位气缸上升");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_05_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_06_TrayLocationUp);
InStoreLog(" FI_06_TrayLocationUp 开始：托盘定位气缸前进");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_06_TrayLocationUp))
{
}
return;
} // if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I01_Wait))
// {
// MoveInfo.NextMoveStep(LineMoveStep.AUTO_I02_MoveToUp);
// if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
// {
// LogUtil.info(Name + " 入料 ，已检测到料盘，轴不需要上升");
// }
// else
// {
// LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + Config.Batch_Axis.TargetSpeed + "】");
// ACAxisSpeedMove(Config.Batch_Axis, Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I02_MoveToUp))
// {
// IsNeedScanCode();
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I03_ScanCode))
// {
// MoveInfo.NextMoveStep(LineMoveStep.AUTO_I04_SuckingDisc_Down);
// LogUtil.info(Name + "入料: 扫码结束，二维码【" + LastCode + "】 吸盘开始下降");
// CylinderMove(IO_Type.ClampingDisc_Down, IO_Type.ClampingDisc_Up, true);
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I04_SuckingDisc_Down))
// {
// SuckingDiscWork();
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I05_SuckingDisc_Work))
// {
// // if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
// if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
// {
// MoveInfo.NextMoveStep(LineMoveStep.AUTO_I06_SuckingDisc_Up);
// LogUtil.info(Name + "入料: 吸盘上升");
// CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, false);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
// }
// else if (SuckingDisc_WorkCount < 3)
// {
// SuckingDiscWork();
// }
// else
// {
// //TODO 报警
// //WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
// SetWarnMsg(ResourceControl.XiLiaoError);
// StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
// LogUtil.error(WarnObj.WarnMsg, 103);
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I06_SuckingDisc_Up))
// {
// if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
// // if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
// {
// MoveInfo.NextMoveStep(LineMoveStep.AUTO_I07_BatchAxisUp);
// LogUtil.info(Name + "入料: 批量轴匀速上升【" + Config.BatchAxis_SlowSpeed + "】");
// ACAxisSpeedMove(Config.Batch_Axis, Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial);
// CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true);
// if (Config.Default_TrayWidth.Equals(7))
// {
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
// }
// else if (Config.Default_TrayWidth.Equals(13))
// {
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.HIGH));
// }
// else if (Config.Default_TrayWidth.Equals(0))
// {
// }
// }
// else
// {
// // WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
// SetWarnMsg(ResourceControl.XiLiaoError);
// StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
// LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I07_BatchAxisUp))
// {
// // if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
// if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
// {
// TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
// //需要判断入库超时
// if (StoreManager.Store.CanStarInOut())
// {
// LastWidth = Config.Default_TrayWidth;
// if (LastWidth.Equals(0))
// {
// //料盘检测2亮为13寸盘，其他都认为是7寸盘
// if (IOManager.IOValue(IO_Type.WidthCheck2).Equals(IO_VALUE.HIGH))
// {
// LastWidth = 13;
// }
// else
// {
// LastWidth = 7;
// }
// }
// LastHeight = GetHeight();
// BatchInStoreCount++;
// BatchInStoreHeight += LastHeight;
// if (LastCode.Equals(""))
// {
// LogUtil.info(Name + "入料: 未扫到二维码尺寸：【" + LastWidth + "*" + LastHeight + "】，将料盘送出，等待料盘拿走");
// SendTrayOut();
// }
// else
// {
// MoveInfo.NextMoveStep(LineMoveStep.AUTO_I08_GetPosId);
// LogUtil.debug(Name + "入料: 从服务器获取入库PosId，尺寸：【" + LastWidth + "*" + LastHeight + "】二维码【" + LastCode + "】");
// GetInStorePosId(ProcessMsg());
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// }
// }
// else if (span.TotalSeconds > 60)
// {
// StoreManager.Store.LoguStatus();
// //一分钟还未开始，报警超时
// // WarnMsg = "[" + MoveInfo.MoveStep + "]" + ResourceControl.GetString(ResourceControl.TimeOut, "超时") + "[等待可以入库][" + Math.Round(span.TotalSeconds, 0) + "秒]";
// SetWarnMsg(ResourceControl.WaitInstoreTimeOut, MoveInfo.MoveStep + "", Math.Round(span.TotalSeconds, 0) + "");
// LogUtil.error(WarnObj.WarnMsg, 105);
// StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, "", WarnObj.WarnMsg, MoveInfo.MoveType);
// }
// }
// else
// {
// //WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
// SetWarnMsg(ResourceControl.XiLiaoError);
// StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnObj.WarnMsg, StoreMoveType.InStore);
// LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I08_GetPosId))
// {
// //判断是否开始入库
// if (StoreManager.Store.MoveInfo.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
// {
// MoveInfo.NextMoveStep(LineMoveStep.AUTO_I09_WaitTrayLeave);
// LogUtil.info(Name + "入料: 开始入库【" + LastPosId + "】，等待料盘拿走");
// //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Relax, IO_VALUE.HIGH));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Work, IO_VALUE.LOW));
// }
// else
// {
// LogUtil.info(Name + "入料: 入库失败，尺寸：【" + LastWidth + "*" + LastHeight + "】将料盘送出，等待料盘拿走");
// SendTrayOut();
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I09_WaitTrayLeave))
// {
// if (StoreManager.Store.MoveInfo.MoveType.Equals(StoreMoveType.None) ||
// (StoreManager.Store.MoveInfo.IsNeedInStore && StoreManager.Store.MoveInfo.MoveStep >= LineMoveStep.SI_09_MoveToBag))
// {
// IsNeedScanCode();
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I10_WaitTrayGo))
// {
// if (StoreManager.Store.CanStarInOut())
// {
// IsNeedScanCode();
// }
// }
// else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I11_BatchAxisHome))
// {
// //TODO
// LogUtil.info(Name + "入料：已经没有料盘，批量上料结束");
// MoveInfo.EndMove();
// AutoBaitingStatus = StoreRunStatus.Runing;
// }
// else
// {
// LogUtil.error(Name + "未找到步骤：" + MoveInfo.MoveType);
// }
// } }
}
private int StartMovePosition = 0;
private int EndMovePosition = 0;
private int AxisChangeValue = 0;
private int LastHeight = 0;
private int GetHeight()
{
//计算高度
EndMovePosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
if (EndMovePosition.Equals(-1))
{
EndMovePosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
}
LastHeight = (int)Math.Ceiling(1F * (EndMovePosition - StartMovePosition) / AxisChangeValue);
int addHeight = 0;
//如果检测信号未亮，极限亮了，需要补充高
//if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
//{
// addHeight = Config.LastTrayAddHeight;
//}
LastHeight += addHeight;
string msg = Name + " 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【" + addHeight + "】计算后【" + LastHeight + "】";
if (LastHeight <= 8) { LastHeight = 8; }
else
{
LastHeight = (int)Math.Ceiling(1F * LastHeight / 4) * 4;
}
LogUtil.info(msg + ",归类为" + LastHeight);
return LastHeight;
}
#endregion
#region 出料流程
/// <summary>
/// 判断当前托盘是否需出库
/// </summary>
/// <returns></returns>
private bool TrayIsNeedOutStore()
{
return false;
}
public override bool StartOutStoreMove(InOutParam param)
{
return true;
}
protected override void OutStoreProcess()
{
}
#endregion
}
}