FeedingEquip_OutStore.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 出料流程
private int OutStoreHeight = -1;
private void StartTrayOut(InOutParam outParam)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore,outParam);
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度，升降轴回原点");
int targetPosition = Config.BatchAxisP3 + outParam.PlateH * Config.Height_ChangeValue;
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_TargetSpeed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
public void StartOutStoreP()
{
if (OutStoreHeight >= 0)
{
return;
}
//若定位工位，阻挡工位，有 料架，直接进入定位工位，并上升好位置，若需要出库，直接下降高度即可
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
StartOutStoreMove(null);
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{//小车到达处理
}
else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
//线体出口检测到料架，需要通知AGV小车
AgvClient.ReadyEmpty(Config.AgvOutName);
}
}
public override bool StartOutStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = new InOutParam();
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FO_04_WaitTime();
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
OutLog("准备出库料架， "+MoveInfo.SLog+" ：升降盘定位气缸后退");
}
return true;
}
private void FO_04_WaitTime()
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FO_04_WaitTime);
OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架： 等待1秒再次检测");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
private void LineOutStoreProcess()
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FO_04_WaitTime();
}
//阻挡工位有料架，流水线转动一个工位
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡上升，缓冲阻挡下降，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡下降，缓冲阻挡上升，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH);//缓冲阻挡下降
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
OutLog(" 未检测到料架， 准备出库料架结束");
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
OutLog("准备出库料架" + MoveInfo.SLog + "：升降盘定位气缸后退");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_LocationCylinder_Down);
OutLog("出库： " + MoveInfo.SLog + " 开始：定位气缸下降，提升轴移动到P1");
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_02_LocationCylinder_Down))
{
LineOutStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_03_LineStart))
{
LineOutStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_04_WaitTime))
{
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_05_LocationCylinder_Up);
OutLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 定位气缸上升");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
OutLog(" 未检测到料架，料架处理结束");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_05_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_06_BatchAxisToP2);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2,定位气缸上升");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_06_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_07_TrayLocation_Before);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_07_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_AxisUpMove);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：上料轴开始慢速上升到P3点，等待检测到料盘");
BatchAxisToP3();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_08_AxisUpMove))
{
//判断信号是否亮
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
{
OutStoreHeight = 0;
//如果再出库中直接出库
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("准备出库料架完成");
// FO_11_AxisDownMove();
}
else
{
//检测到料盘，需要下降指定高度，此处默认下降1cm
int tp = BatchAxis.GetAclPosition() - Config.Height_ChangeValue * 10;
if (tp < Config.BatchAxisP2)
{
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，下降的目标高度为【" + tp + "】<【" + Config.BatchAxisP2 + "】，料架已满，直接送出料架");
MoveInfo.NextMoveStep(LineMoveStep.FO_31_BatchAxisToP2);
OutLog("出库移栽 " + MoveInfo.SLog + "：提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_AxisUpMove);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，需要下降指定高度，目标位置：" + tp + ",等待检测不到料盘");
MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0;
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, tp, Config.BatchAxis_P3Speed));
Config.Batch_Axis.TargetPosition = tp;
BatchAxis.AbsMove(tp, Config.BatchAxis_P3Speed);
//开始检测信号
BatchAxisStartCheck(IO_Type.SL_AxisLocationCheck, IO_VALUE.LOW);
}
}
}
else if (MoveInfo.MoveStep >= LineMoveStep.FO_211_AxisDownMove && MoveInfo.MoveStep <= LineMoveStep.FO_33_BatchAxisToP1)
{
TrayOutProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_TrayLocationCylinder_After);
OutLog("出料完成 " + MoveInfo.SLog + "： 升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_32_TrayLocationCylinder_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_33_BatchAxisToP1);
OutLog("出料完成 " + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_33_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_34_OutTopCylinder_Up);
OutLog("出料完成 " + MoveInfo.SLog + "，出口顶升气缸上升，出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_35_SideWayLineRun);
OutLog("出料完成 " + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开定位工位");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_35_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_36_WaitShelfGo);
OutLog("出料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架到达出口");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_36_WaitShelfGo))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_37_LineStop);
OutStoreHeight = -1;
OutLog("出料完成 " + MoveInfo.SLog + "， 料架到达出口，线体横移电机停止，清空出料高度 ");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_37_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_38_TopCylinderDown);
OutLog("出料完成 " + MoveInfo.SLog + "， 料架到达出口，出口顶升下降 , ");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_38_TopCylinderDown))
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("出料完成 " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, 出料结束");
AgvClient.ReadyEmpty(Config.AgvOutName);
}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_40_OutLineRun))
//{
// MoveInfo.NextMoveStep(LineMoveStep.FO_40_OutLineRun);
// OutLog("出料完成 " + MoveInfo.SLog + "， AGV到达，继续转动出口线体，送走出料料架, ");
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_40_OutLineRun))
//{
// MoveInfo.NextMoveStep(LineMoveStep.FO_41_OutLineRun);
// OutLog("上料完成 " + MoveInfo.SLog + "， 料架送出, ");
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_41_OutLineRun))
//{
// MoveInfo.EndMove();
// runStatus = LineRunStatus.Runing;
// lastOutParam = null;
// LogUtil.info("空料架已送出，出料结束");
//}
}
private void TrayOutProcess()
{
if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_211_AxisDownMove))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_212_MoveCylinder_Take);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料横移机构取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料横移机构取料端 前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_212_MoveCylinder_Take))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_213_MoveCylinder_Down);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料横移机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_213_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_214_UpdownAxisToP2);
int targetP = Config.GetUpdownPositionP2(MoveInfo.MoveParam.PlateH);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：升降伺服下降到指定位置" + targetP);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_214_UpdownAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_215_MoveCylinder_Tighten);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_215_MoveCylinder_Tighten))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_216_UpdownAxisToP1);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_216_UpdownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_217_MoveCylinder_Up);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料横移机构上升，更新【" + currTrayNum + "】为空托盘");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(currTrayNum, false);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
SOutLog("紧急出料移栽" + SecondMoveInfo.MoveStep + " 托盘开始放行，定位气缸下降");
CylinderMove(MoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_217_MoveCylinder_Up))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_218_MoveCylinder_Give);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料横移机构到放料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_217_MoveCylinder_Up);
OutLog("紧急出料移栽" + MoveInfo.MoveStep + "：上料横移机构到放料端前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.FO_218_MoveCylinder_Give))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_219_UpdownAxisToP3);
OutLog("紧急出料移栽 " + MoveInfo.SLog + "：移栽伺服到P3");
UpdownAxis.AbsMove(Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_219_UpdownAxisToP3))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_220_MoveCylinder_Slack);
OutLog("紧急出料移栽 " + MoveInfo.SLog + "：出料横移机构放松");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_220_MoveCylinder_Slack))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_221_UpdownAxisToP1);
OutLog("紧急出料移栽 " + MoveInfo.SLog + "：移栽伺服上升到待机点P1");
UpdownAxis.AbsMove(Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_221_UpdownAxisToP1))
{
//出库结束 TODO
bool isNeedSendShelf = false;
if (isNeedSendShelf)
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_BatchAxisToP2);
OutLog("紧急出料移栽 " + MoveInfo.SLog + "：需要将料架送出，提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
{
OutLog("紧急出料移栽 " + MoveInfo.SLog + "：出料结束");
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
}
}
}
#endregion
}
}