FeedingEquip_Partial.cs
54.3 KB
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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
{
protected override bool CheckWaitResult(LineMoveInfo moveInfo,WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
string msg = "";
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
return true;
}
else
{
bool result = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
if (!result)
{
LogUtil.error(msg);
}
return result;
}
}
else if (wait.WaitType.Equals(WaitEnum.W102_FeedScanCode))
{
if (LastCodeList.Count > 0)
{
return true;
}
}
return false;
}
#region 托盘检测
private void StartCheckFixture()
{
if (Config.SidesWayNum > 0)
{
int num = TrayManager.GetTrayNum(DeviceID);
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && num > 0 && preTrayNum.Equals(num).Equals(false) && LineManager.Line.SwNoProcess(Config.SidesWayNum))
{
//判断是否是需要的托盘
if (NeedCurrTray())
{
TrayManager.UpdateSWState(Config.SidesWayNum, 2);
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_06_TopCylinderUp 横移顶升气缸上 升 ）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopCylinderUp);
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
}
else
{
preTrayNum = num;
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
}
}
}
else
{
if (IOValue(IO_Type.FL_TrayCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.FL_StopCheck).Equals(IO_VALUE.HIGH))
{
int num = TrayManager.GetTrayNum(DeviceID);
//托盘在两个阻挡内
if (num > 0 && IOValue(IO_Type.FL_TrayCheck).Equals(IO_VALUE.HIGH))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_03_StopCylinder2Down FL阻挡1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
}
else if (IOValue(IO_Type.FL_StopCheck).Equals(IO_VALUE.HIGH))
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
CheckLog(" 托盘检测：料盘检测 SecondStoreMove（MIO_01_StopCylinder1Down FL阻挡1下降 ，最多等待1秒）");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_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 FL阻挡1上升，等待FL_TrayCheck=1）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, 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 FL阻挡1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
}
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))
{
//此处先对托盘号进行验证
preTrayNum = currTrayNum;
currTrayNum = TrayManager.GetTrayNum(DeviceID);
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
//出料中，需要拦盘
if (NeedCurrTray(true))
{
//preTrayNum = currMoveTrayNum;
// SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
SecondMoveInfo.EndStepWait();
return;
}
else
{
bool isFull = TrayManager.TrayIsFull(currTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入料任务，放盘通过~");
CheckLog("托盘放行 SecondStoreMove：(MO_14_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_15_WaitCanGo);
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
}
}
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.FL_TopCylinder_Down, IO_Type.FL_TopCylinder_Up);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopCylinderUp))
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_07_LocationCylinderUp , 定位气缸上升 ）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_07_LocationCylinderUp);
if (Config.SidesWayNum > 0)
{
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Down, IO_Type.SW_LocationCylinder_Up);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_07_LocationCylinderUp))
{
CheckLog("托盘检测（流水线阻挡）*************** 托盘号【" + currTrayNum + "】");
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】 ，需要入料，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】 ，需要出库，开始出库处理，升降伺服到P1点");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_UpDownToP1);
InStoreLog(" MO_201_UpDownToP1 紧急出料移栽：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else
{
CheckLog("托盘检测 SecondStoreMove：(MO_13_LoactionCylinder_Down ，托盘号【" + currTrayNum + "】,直接放盘通过，定位气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_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_MoveOk))
{
//更新托盘条码信息
string code = CodeManager.ProcessCode(LastCodeList);
TrayManager.UpdateTrayCode(currTrayNum, code);
if (code.Equals(""))
{
TrayManager.UpdateInStoreNG(currTrayNum, true);
}
//从服务器获取库位号
string result = StoreServerManager.CodeReceived(Name, currTrayNum, LastCodeList, LastHeight, LastWidth);
if (!result.Equals(""))
{
TrayManager.UpdateInStoreNG(currTrayNum, true);
LogUtil.error(result);
}
InStoreLog(" SecondStoreMove=MO_13_LoactionCylinder_Down 上料横移机构上升，托盘开始放行，定位气缸下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_13_LoactionCylinder_Down))
{
CheckLog("托盘检测 SecondStoreMove：(MO_14_TopCylinder_Down ，托盘号【" + currTrayNum + "】,直接放盘通过，顶升气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopCylinder_Down);
//只有2号横移不需要下降
if (Config.SidesWayNum.Equals(2))
{
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
}
else
{
CylinderMove(SecondMoveInfo, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopCylinder_Down))
{
if (Config.SidesWayNum > 0)
{
//更新横移托盘已处理完成
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
SecondMoveInfo.EndMove();
}
else
{
CheckLog("托盘放行 SecondStoreMove：(MO_14_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_15_WaitCanGo);
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo))
{
CheckLog("托盘放行 SecondStoreMove：(MO_15_StopCylinder2_Down ，阻挡气缸1-2下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_StopCylinder2_Down);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH));
// SecondMoveInfo.EndStepWait();
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_StopCylinder2_Down))
{
CheckLog("托盘放行 SecondStoreMove：(MO_16_Tray_Check ， 阻挡2托盘检测=0）, 延时2秒）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Tray_Check);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_17_Tray_Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_18_StopCylinder_Back);
CheckLog("托盘放行 SecondStoreMove：(MO_17_StopCylinder_Back ，FL阻挡2上升 ）");
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
}
#endregion
#region 紧急出料，先移载料盘
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_201_UpDownToP1) && MoveInfo.MoveStep >= (LineMoveStep.FO_07_LocationCylinder_Up))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_202_MoveCylinder_Give);
InStoreLog(" MO_202_MoveCylinder_Give 紧急出料移栽：上料横移机构到放料端");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_202_MoveCylinder_Give))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_203_MoveCylinder_Down);
InStoreLog(" MO_203_MoveCylinder_Down 紧急出料移栽：上料横移机构下降");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_203_MoveCylinder_Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_204_UpdownAxisToP2);
int targetP = Config.GetUpdownPositionP2(SecondMoveInfo.MoveParam.PlateH);
InStoreLog(" MO_204_UpdownAxisToP2 紧急出料移栽：升降伺服下降到指定位置" + targetP);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_204_UpdownAxisToP2))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_205_MoveCylinder_Tighten);
InStoreLog(" MO_205_MoveCylinder_Tighten 紧急出料移栽：上料气缸夹紧");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_205_MoveCylinder_Tighten))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_206_UpdownAxisToP1);
InStoreLog(" MO_206_UpdownAxisToP1 紧急出料移栽：升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_206_UpdownAxisToP1))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_207_MoveCylinder_Up);
InStoreLog(" MO_207_MoveCylinder_Up 紧急出料移栽：上料横移机构上升，更新【" + currTrayNum + "】为空托盘");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(currTrayNum, false);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_207_MoveCylinder_Up))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_208_MoveCylinder_Take);
InStoreLog(" MO_208_MoveCylinder_Take 紧急出料移栽：上料横移机构到取料端");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_208_MoveCylinder_Take))
{
InStoreLog(" SecondStoreMove=MO_13_LoactionCylinder_Down 托盘开始放行，定位气缸下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
#endregion
}
#endregion
#region 入料流程
private bool StartInStoreP()
{
//若定位工位，阻挡工位，入料口有一个有料架，需要进行处理
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))
{
StartInStoreMove(null);
}
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
}
return false ;
}
public override bool StartInStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.InStoreExecute;
MoveInfo.NewMove(LineMoveType.InStore);
MoveInfo.MoveParam = new InOutParam();
//判断是哪个工位有料架
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.FI_07_LocationCylinder_Up);
InStoreLog(" 定位工位检测到料架：FI_07_LocationCylinder_Up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.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog("检测到料架， FI_01_TrayLocation_After ：升降盘定位气缸下降");
}
return true ;
}
private void LineInStoreProcess()
{
IOMove(IO_Type.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))
{
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
InStoreLog(" FI_07_LocationCylinder_Up 定位工位检测到料架：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);
}
//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);
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.Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" FI_03_InLineStart 入料检测：阻挡检测有料架，进料阻挡上升，缓冲阻挡下降，流水线转动2000");
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
//判断料架的编码是否正确
int num = TrayManager.GetShelfNum(DeviceID);
if (num <= 0)
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogUtil.info(" 入料检测有料架，获取不到正确的料架编号，入料结束");
return;
}
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);//进料阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡上升
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" FI_03_InLineStart 入料检测：入料检测有料架，进料阻挡下降，缓冲阻挡上升，流水线转动2000");
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogUtil.info(" 未检测到料架，入料结束");
}
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
InStoreLog(" FI_01_TrayLocation_After 开始：升降盘定位气缸下降");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_02_LocationCylinder_Down);
InStoreLog(" FI_02_LocationCylinder_Down 开始：定位气缸下降，提升伺服移动到P1");
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
BatchAxis.AbsMove(Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_02_LocationCylinder_Down))
{
LineInStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_03_LineStart))
{
LineInStoreProcess();
}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_04_LineRunCheck))
//{
// MoveInfo.NextMoveStep(LineMoveStep.FI_05_LineStart);
// 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_05_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_05_LineStart))
//{
// MoveInfo.NextMoveStep(LineMoveStep.FI_06_LineRunCheck);
// IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
// InStoreLog(" FI_06_InLineRun 开始：SL_Location_Check=1");
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_06_LineRunCheck))
//{
// MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
// InStoreLog(" FI_07_LocationCylinder_Up 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_07_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_BatchAxisToP2);
InStoreLog(" FI_08_BatchAxisToP2 开始：提升轴下降到位P2");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_08_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_09_TrayLocation_Before);
InStoreLog(" FI_09_TrayLocation_Before 开始：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_09_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
InStoreLog(" FI_10_AxisUpMove 开始：上料轴开始慢速上升到P3点，等待加测到料盘");
BatchAxisToP3();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_10_AxisUpMove))
{
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
//有料盘
MoveInfo.NextMoveStep(LineMoveStep.FI_11_MoveCylinder_Take);
InStoreLog(" FI_11_MoveCylinder_Take 料盘移栽：检测到料盘，上料横移气缸到取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
//无料盘
MoveInfo.NextMoveStep(LineMoveStep.FI_31_BatchAxisToP2);
InStoreLog(" FI_31_BatchAxisToP2 料盘移栽：未检测到料盘，提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_11_MoveCylinder_Take))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_12_MoveCylinder_Down);
InStoreLog(" FI_12_MoveCylinder_Down 料盘移栽：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.FI_12_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_13_MoveCylinder_Tighten);
InStoreLog(" FI_13_MoveCylinder_Tighten 料盘移栽：上料横移机构夹紧");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_13_MoveCylinder_Tighten))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_14_MoveCylinder_Up);
InStoreLog(" FI_14_MoveCylinder_Up 料盘移栽：上料横移机构上升，同时伺服运动到P3");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
BatchAxisToP3();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_14_MoveCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_15_SaveSize);
LastHeight = GetHeight();
LastWidth = GetWidth();
InStoreLog(" FI_15_SaveSize 料盘移栽：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_15_SaveSize))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_16_MoveCylinder_Emptying);
InStoreLog(" FI_16_MoveCylinder_Emptying 料盘移栽：上料横移气缸放料SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Take);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_16_MoveCylinder_Emptying))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_17_WaitTray);
InStoreLog(" FI_17_WaitTray 料盘移栽：等待空托盘到达，并顶升上升，定位上升");
//TODO 此处需要等待空托盘
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_17_WaitTray) && SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))//TODO
{
MoveInfo.NextMoveStep(LineMoveStep.FI_18_MoveCylinder_Down);
InStoreLog(" FI_18_MoveCylinder_Down 料盘移栽：上料机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_19_UpdownAxisToP2);
int targetPositon = Config.GetUpdownPositionP2(LastHeight);
InStoreLog(" FI_19_UpdownAxisToP2 料盘移栽：移栽伺服下降到指定位置:" + targetPositon);
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_UpdownAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_20_MoveCylinder_Slack);
InStoreLog(" FI_20_MoveCylinder_Slack 料盘移栽：上料气缸放松");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_MoveCylinder_Slack))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_UpDownAxisToP1);
InStoreLog(" FI_21_UpDownAxisToP1 料盘移栽：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_UpDownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_22_MoveCylinder_Up);
InStoreLog(" FI_22_MoveCylinder_Up 料盘移栽：上料横移机构上升，记录托盘尺寸， 开始放行，");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
TrayManager.UpdateTrayInfo(currTrayNum, true, 1, "", "", LastHeight, LastWidth);
LastCodeList = new List<string>();
InStoreLog(" SecondStoreMove=MO_12_MoveOk 开始扫码");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
if (LastCodeList.Count <= 0)
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
}
return LastCodeList;
});
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_MoveCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_23_MoveCylinder_Take);
InStoreLog(" FI_23_MoveCylinder_Take 料盘移栽：上料横移机构到取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_MoveCylinder_Take))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_31_BatchAxisToP2);
InStoreLog(" FI_31_BatchAxisToP2 上料完成：未检测到料盘，提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_32_TrayLocationCylinder_After);
InStoreLog(" FI_32_TrayLocationCylinder_After 上料完成： 升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_32_TrayLocationCylinder_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1);
InStoreLog(" FI_33_BatchAxisToP1 上料完成：提升伺服到P1点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_33_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_35_OutTopCylinder_Up);
InStoreLog(" FI_34_LocationCylinder_Down 上料完成，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.FI_35_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FI_36_SideWayLineRun);
InStoreLog(" FI_36_SideWayLineRun 上料完成， 线体横移电机运转，等待SL1线体出口横移检测");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_SideWay_OutCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_36_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_37_LineStop);
InStoreLog(" FI_37_LineStop 上料完成， 料架到达出口，线体横移电机停止 ");
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.FI_37_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_38_TopCylinderDown);
InStoreLog(" FI_38_TopCylinderDown 上料完成， 料架到达出口，出口顶升下降，定位气缸下降, ");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_38_TopCylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun);
InStoreLog(" FI_39_OutLineRun 上料完成， 出口线体运转，料架到达出口处, 通知AGV取空料架, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_40_OutLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_40_OutLineRun);
InStoreLog(" FI_40_OutLineRun 上料完成， AGV到达，继续转动出口线体，送走出料料架, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_40_OutLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_41_OutLineRun);
InStoreLog(" FI_41_OutLineRun 上料完成， 上料完成， 料架送出, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_41_OutLineRun))
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogUtil.info("空料架已送出，入料结束");
}
}
private void BatchAxisToP3()
{
MoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, Config.BatchAxisP3, Config.BatchAxis_P3Speed));
Config.Batch_Axis.TargetPosition = Config.BatchAxisP3;
BatchAxis.AbsMove(Config.BatchAxisP3, Config.BatchAxis_P3Speed);
//开始检测信号
BatchAxisStartCheck();
}
private int StartMovePosition = 0;
private int EndMovePosition = 0;
private int LastHeight = 0;
private int LastWidth = 0;
private List<string> LastCodeList = new List<string>();
private int GetHeight()
{
int AxisChangeValue = Config.Height_ChangeValue;
//计算高度
EndMovePosition = BatchAxis.GetAclPosition();
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;
}
private int GetWidth()
{
int width = 15;
if (IOValue(IO_Type.SL_TrayCheck4).Equals(IO_VALUE.HIGH))
{
width = 15;
}
else if (IOValue(IO_Type.SL_TrayCheck3).Equals(IO_VALUE.HIGH))
{
width = 13;
}
else if (IOValue(IO_Type.SL_TrayCheck2).Equals(IO_VALUE.HIGH))
{
width = 11;
}
else if (IOValue(IO_Type.SL_TrayCheck1).Equals(IO_VALUE.HIGH))
{
width = 7;
}
return width;
}
#endregion
/// <summary>
/// 是否需要拦截当前托盘进行处理
/// </summary>
/// <returns></returns>
internal bool NeedCurrTray(bool checkAndMove = false )
{
int trayNum = TrayManager.GetTrayNum(Config.Id);
bool isFull = TrayManager.TrayIsFull(trayNum);
TrayInfo info = TrayManager.GetTrayInfo(trayNum);
InOutParam param = new InOutParam(trayNum, info.WareCode, info.PosId, info.PlateH, info.PlateW);
//是出料的模块
if (Config.IsCanOut.Equals(1))
{
//此托盘是紧急出料盘，需要通过料架出库
if ((IOValue(IO_Type.SW_ReelCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.FL_ReelCheck).Equals(IO_VALUE.HIGH))&&info.EmergencyOut)
{
if (isFull && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
lastOutParam = param;
if (checkAndMove)
{
SecondMoveInfo.MoveParam = param;
}
// return true;
//TODO 开始出库
StartOutStoreMove(param);
}
}
}
else
{
if (!isFull && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
//入料执行中， 且需要空托盘
if (MoveInfo.MoveStep >= LineMoveStep.FI_11_MoveCylinder_Take && MoveInfo.MoveStep <= LineMoveStep.FI_17_WaitTray)
{
if (checkAndMove)
{
SecondMoveInfo.MoveParam = param;
}
LogUtil.info(Name + "拦截到空托盘【" + trayNum + "】，入料执行中，需要空托盘");
return true;
}
}
}
return false;
}
#region 出料流程
private InOutParam lastOutParam = null;
public override bool StartOutStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = new InOutParam();
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog("检测到料架， FO_01_TrayLocation_After ：升降盘定位气缸后退");
return true;
}
private void LineOutStoreProcess()
{
IOMove(IO_Type.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))
{
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_07_LocationCylinder_Up);
InStoreLog(" FO_07_LocationCylinder_Up 定位工位检测到料架：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);
}
//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.FO_03_LineStart);
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.Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" FO_03_InLineStart 出料检测：阻挡工位有料架，进料阻挡上升，缓冲阻挡下降，流水线转动2000");
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);//进料阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡上升
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" FO_03_InLineStart 出料检测：入料工位有料架，进料阻挡下降，缓冲阻挡上升，流水线转动2000");
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogUtil.info(" 未检测到料架，出料结束");
}
}
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);
InStoreLog("检测到料架， FO_01_TrayLocation_After ：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);
InStoreLog(" FO_02_LocationCylinder_Down 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(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_07_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_BatchAxisToP2);
InStoreLog(" FO_08_BatchAxisToP2 开始：提升轴下降到位P2");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_08_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_09_TrayLocation_Before);
InStoreLog(" FO_09_TrayLocation_Before 开始：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_09_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_10_AxisUpMove);
InStoreLog(" FO_10_AxisUpMove 开始：上料轴开始慢速上升到P3点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP3, Config.BatchAxis_TargetSpeed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_10_AxisUpMove))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_11_AxisDownMove);
InStoreLog(" FO_31_BatchAxisToP2 料盘移栽：提升伺服下降指定的高度");
int targetPosition = Config.BatchAxisP3 + lastOutParam.PlateH * Config.Height_ChangeValue;
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_TargetSpeed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_11_AxisDownMove))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_12_MoveCylinder_Down);
InStoreLog(" FO_12_MoveCylinder_Down 料盘移栽：出料横移机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_12_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_13_MoveCylinder_Slack);
InStoreLog(" FO_13_MoveCylinder_Slack 料盘移栽：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_13_MoveCylinder_Slack))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_14_MoveCylinder_Up);
InStoreLog(" FO_14_MoveCylinder_Up 料盘移栽：上料横移机构上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_14_MoveCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_BatchAxisToP2);
InStoreLog(" FO_31_BatchAxisToP2 出料完成：未检测到料盘，提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_TrayLocationCylinder_After);
InStoreLog(" FO_32_TrayLocationCylinder_After 出料完成： 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);
InStoreLog(" FO_33_BatchAxisToP1 出料完成：提升伺服到P1点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_33_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_35_OutTopCylinder_Up);
InStoreLog(" FO_34_LocationCylinder_Down 出料完成，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_OutCheck))
{
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_35_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_36_SideWayLineRun);
InStoreLog(" FO_36_SideWayLineRun 出料完成， 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.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_36_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_37_LineStop);
InStoreLog(" FO_37_LineStop 出料完成， 料架到达出口，线体横移电机停止 ");
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);
InStoreLog(" FO_38_TopCylinderDown 出料完成， 料架到达出口，出口顶升下降，定位气缸下降, ");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_38_TopCylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
InStoreLog(" FO_39_OutLineRun 出料完成， 出口线体运转，料架到达出口处, 通知AGV取空料架, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_40_OutLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_40_OutLineRun);
InStoreLog(" FO_40_OutLineRun 出料完成， 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);
InStoreLog(" FO_41_OutLineRun 出料完成， 上料完成， 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");
}
}
#endregion
}
}