FeedingEquip.cs
26.8 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
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
using Asa;
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-入料装置类
/// </summary>
public partial class FeedingEquip : EquipBase
{
public FeedingEquip_Config Config;
public AxisBean BatchAxis = null;
public FeedingEquip(string cid, FeedingEquip_Config config)
{
this.DeviceID = config.Id;
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "_入料_" + DeviceID % 100 + " ").ToUpper();
Init();
UseAxis = true;
Config.SetAxisParam();
UpdownAxis = new AxisBean(config.UpDown_Axis);
BatchAxis = new AxisBean(config.Batch_Axis);
MoveInfo = new LineMoveInfo(DeviceID, "入料-" + DeviceID + "-Move");
SecondMoveInfo = new LineMoveInfo(DeviceID, "入料-" + DeviceID + "-SecondMove");
}
/// <summary>
/// 开始运行
/// </summary>
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
if (isDebug)
{ //连接AGV调度
if (!AgvClient.ISConnected())
{
AgvClient.Init();
}
}
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg(Name + "启动失败：急停未开");
return false;
}
if (RunAxis(true, BatchAxis) && RunAxis(true, UpdownAxis))
{
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
lineStatus = LineStatus.StoreOnline;
runStatus = LineRunStatus.HomeMoving;
LogInfo("开始原点返回： ");
MoveInfo.NewMove(LineMoveType.ReturnHome);
StartReset();
if (isDebug)
{
LogInfo("开始调试，启动定时器 ");
mainTimer.Start();
}
return true;
}
return false;
}
public override bool Reset()
{
StopMove();
if (RunAxis(true, BatchAxis) && RunAxis(true, UpdownAxis))
{
alarmType = LineAlarmType.None;
LogInfo("开始重置： ");
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
return false;
}
private void StartReset()
{
BatchAxisStopCheck();
ResetClearData();
lineStatus = LineStatus.ResetMove;
IOMove(IO_Type.SL_HddLed, IO_VALUE.HIGH);
MoveInfo.NextMoveStep(LineMoveStep.FR_01_MoveCylinder_Up);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：上料横移机构上升，出口顶升下降，所有阻挡气缸上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
if (Config.SidesWayNum <= 0)
{
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
CylinderMove(MoveInfo, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
else if (LineManager.Line.runStatus <= LineRunStatus.Wait)
{
CylinderMove(MoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
}
//线体停止
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
//阻挡上升
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
isInPro = false;
}
//复位时，应该先提升伺服回原点，然后提升伺服下降到P2点，放开定位气缸，顶升气缸下降，提升伺服在上升到P1点。
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.Wait:
StartReset();
break;
case LineMoveStep.FR_01_MoveCylinder_Up:
MoveInfo.NextMoveStep(LineMoveStep.FR_02_BatchAxisHome);
MoveInfo.TimeOutSeconds = 120;
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服回原点，升降伺服回原点，所有阻挡气缸上升");
BatchAxis.HomeMove(MoveInfo);
UpdownAxis.HomeMove(MoveInfo);
break;
case LineMoveStep.FR_02_BatchAxisHome:
LogInfo(MoveInfo.MoveType + "：FR_03_BatchAxisToP2：提升伺服下降到P2点，升降伺服上升到待机点");
MoveInfo.TimeOutSeconds = 120;
MoveInfo.NextMoveStep(LineMoveStep.FR_03_BatchAxisToP2);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break;
case LineMoveStep.FR_03_BatchAxisToP2:
LogInfo(MoveInfo.MoveType + "：FR_04_LocationCylinder_Down： 放开定位气缸");
MoveInfo.NextMoveStep(LineMoveStep.FR_04_LocationCylinder_Down);
TrayLCylinderAfter(MoveInfo);
break;
case LineMoveStep.FR_04_LocationCylinder_Down:
LogInfo(MoveInfo.MoveType + "：FR_05_TopCylinderDown：SL1定位气缸下降SOL，出口顶升气缸下降");
MoveInfo.NextMoveStep(LineMoveStep.FR_05_TopCylinderDown);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
break;
case LineMoveStep.FR_05_TopCylinderDown:
//判断定位工位是否有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
LogInfo(MoveInfo.MoveType + "：FR_06_BatchAxisToP1：定位工位有料架，提升伺服不需要到P1");
MoveInfo.NextMoveStep(LineMoveStep.FR_06_BatchAxisToP1);
// BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else
{
LogInfo(MoveInfo.MoveType + "：FR_06_BatchAxisToP1：定位工位无料架，提升伺服上升到P1点");
MoveInfo.NextMoveStep(LineMoveStep.FR_06_BatchAxisToP1);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
break;
case LineMoveStep.FR_06_BatchAxisToP1:
// LogInfo(MoveInfo.MoveType + "：FR_07_MoveCylinder_Up：上料横移机构上升SOL");
// MoveInfo.NextMoveStep(LineMoveStep.FR_07_MoveCylinder_Up);
// CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
// break;
//case LineMoveStep.FR_07_MoveCylinder_Up:
// LogInfo(MoveInfo.MoveType + "：FR_08_MoveCylinder_Slack：上料气缸放松SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_08_MoveCylinder_Slack);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
break;
case LineMoveStep.FR_07_MoveCylinder_Up:
LogInfo(MoveInfo.MoveType + "：FR_08_MoveCylinder_Slack：上料气缸放松SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_08_MoveCylinder_Slack);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
break;
case LineMoveStep.FR_08_MoveCylinder_Slack:
if (MoveCylineCanTakeOrGive())
{
LogInfo(MoveInfo.MoveType + "：FR_09_MoveCylinder_Give： 上料横移气缸放料端SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_09_MoveCylinder_Give);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
{
LogInfo(MoveInfo.MoveType + "：FR_07_MoveCylinder_Up：上料横移机构上升SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_07_MoveCylinder_Up);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
break;
case LineMoveStep.FR_09_MoveCylinder_Give:
// LogInfo(MoveInfo.MoveType + "：FR_10_OutTopCylinder_Down： 出口顶升下降SOL");
// MoveInfo.NextMoveStep(LineMoveStep.FR_10_OutTopCylinder_Down);
// CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
// break;
//case LineMoveStep.FR_10_OutTopCylinder_Down:
LogInfo("重置完成！");
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
MoveInfo.EndMove();
break;
default: break;
}
}
}
internal override void StopMove()
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
BatchAxisStopCheck();
BatchAxis.SuddenStop();
UpdownAxis.SuddenStop();
CloseAxis(BatchAxis);
CloseAxis(UpdownAxis);
if (Config.SidesWayNum <= 0)
{
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
IOMove(IO_Type.FL_TopCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.FL_TopCylinder_Up, IO_VALUE.LOW);
}
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
/// <summary>
/// 停止运行
/// </summary>
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
runStatus = LineRunStatus.Wait;
}
public override void TimerProcess()
{
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
if (isInSuddenDown.Equals(false))
{
SetWarnMsg(Name + "收到急停信号");
Alarm(LineAlarmType.SuddenStop);
}
return;
}
if (IOValue(IO_Type.SL_Reset_BTN).Equals(IO_VALUE.HIGH))
{
if (alarmType.Equals(LineAlarmType.None))
{
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 (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if ( Config.IsCanOut.Equals(0))
{
StartInStoreP();
}
}
if ( SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
StartCheckFixture();
}
IOTimeOutProcess();
}
/// <summary>
/// 下降所有阻挡气缸
/// </summary>
internal override void OpenStopCylinder()
{
if (Config.SidesWayNum <= 0)
{
LogInfo("下降阻挡气缸,下降顶升气缸 ");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH);
//顶升气缸下降
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
}
internal override void CloseCylinderStop()
{
if (Config.SidesWayNum <= 0)
{
LogInfo("上升阻挡气缸，关闭 顶升气缸IO");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
IOMove(IO_Type.FL_TopCylinder_Up, IO_VALUE.LOW);
IOMove(IO_Type.FL_TopCylinder_Down, IO_VALUE.LOW);
}
}
/// <summary>
/// 升降盘定位气缸前进
/// </summary>
public void TrayLCylinderBefore(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.LOW);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.HIGH));
}
}
/// <summary>
/// 升降盘定位气缸后退
/// </summary>
public void TrayLCylinderAfter(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.LOW);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.LOW));
}
}
/// <summary>
/// 判断上料横移机构是否可以横移运动
/// </summary>
/// <returns></returns>
public bool MoveCylineCanTakeOrGive()
{
if (IOValue(IO_Type.SL_MoveCylinder_Down).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_MoveCylinder_Up).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
#region 提升轴匀速上升处理
private System.Timers.Timer axisCheckTimer = null;
private string TargetIoType = IO_Type.SL_AxisLocationCheck;
private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
private bool BatchAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
{
if (String.IsNullOrEmpty(targetIo))
{
targetIo = IO_Type.SL_AxisLocationCheck;
}
if (axisCheckTimer == null)
{
axisCheckTimer = new System.Timers.Timer();
axisCheckTimer.AutoReset = true;
axisCheckTimer.Interval += 30;
axisCheckTimer.Elapsed += CheckTimer_Elapsed;
axisCheckTimer.Enabled = false;
}
TargetIoValue = value;
TargetIoType = targetIo;
axisCheckTimer.Start();
return true;
}
private bool BatchAxisStopCheck()
{
if (!(axisCheckTimer == null))
{
axisCheckTimer.Stop();
}
return true;
}
private bool IsInProcess = false;
private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsInProcess) { return; }
IsInProcess = true;
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
BatchAxis.SuddenStop();
BatchAxisStopCheck();
}
IsInProcess = false;
}
#endregion
#region AGV
private bool ProcessShelfEnter = false;
private bool ProcessShelfOut = false;
internal bool ProcessAGVAction(string name, Actions action)
{
string logN = name + "收到调度【" + name + "】=【" + action + "】";
if (name.Equals(Config.AgvInName))
{
//状态处理
if (action.Equals(Asa.Actions.Usable))
{
//判断入口是否可用：入口无料架，缓冲工位无料架，不在入料架处理中
bool usable = (runStatus.Equals(LineRunStatus.Runing)
&& MoveInfo.MoveType.Equals(LineMoveType.None)
&& ProcessShelfEnter.Equals(false)
&& IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW)
&& IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW));
LogUtil.info(logN + "：" + usable);
return usable;
}
else if (action.Equals(Asa.Actions.Arrive))
{
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logN + " ，未检测到：SL_Entry_Check，不处理");
return false;
}
//小车到达，开始处理
if (runStatus >= (LineRunStatus.Runing)
&& MoveInfo.MoveType.Equals(LineMoveType.None)
&& ProcessShelfEnter.Equals(false)
&& IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW))
{
ShelfEnterProcess();
return true;
}
}
else
{
LogUtil.info(name + logN + " ，未找到相关处理");
}
}
else if (name.Equals(Config.AgvOutName))
{
if (action.Equals(Asa.Actions.Arrive))
{
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(name + logN + " ，未检测到：SL_Out_Check，不处理");
return false;
}
//小车到达，开始处理
if (runStatus >= (LineRunStatus.Runing) &&
MoveInfo.MoveType.Equals(LineMoveType.None) &&
ProcessShelfOut.Equals(false) &&
IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
ShelfOutProcess();
return true;
}
}
else if (action.Equals(Asa.Actions.FinishOut))
{
LogUtil.info(name + logN + " ，停止SL_OutLine_Run");
//停止转动
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
return true;
}
else
{
LogUtil.info(name + logN + " ，未找到相关处理");
return false;
}
}
return false;
}
internal void ShelfOutProcess()
{
//AGV已到达，将料架送入AGV中
Task.Factory.StartNew(delegate
{
try
{
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info(Name + "出库料架送入AGV 开始");
AgvClient.MayOut(Config.AgvOutName);
ProcessShelfOut = true;
//出口阻挡下降，出口线体转动
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.HIGH);
if (WaitIo(IO_Type.SL_Out_Check, IO_VALUE.LOW, 2000))
{
//等待收到AGV消息
WaitUtil.Wait(3000, delegate
{
return AgvClient.GetAction(Config.AgvOutName).Equals(Actions.FinishOut);
}, "等待AGV收到料架");
//停止转动
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
ProcessShelfOut = false;
LogUtil.info(Name + "出库料架送入AGV 结束");
}
else
{
LogUtil.info(Name + "出库料架送入AGV 等待SL_Out_Check=LOW超时");
}
}
}
catch (TimeoutException te)
{
LogUtil.error("出库料架送入AGV超时：" + te);
}
catch (Exception ex)
{
LogUtil.error("出库料架送入AGV出错：" + ex);
}
finally
{
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
ProcessShelfOut = false;
}
});
}
internal void ShelfEnterProcess()
{
//判断料架的编码是否正确
RFIDData data = TrayManager.GetShelfData(DeviceID);
if (data.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 ;
}
//发送料架信息给调度系统
AgvClient.SendRFID(Config.AgvInName, data.ToData());
LogUtil.info(Name + "入料口读取到料架：" + data.ToStr());
Task.Factory.StartNew(delegate
{
try
{
if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(Name + "AGV料架进入缓冲工位 开始");
AgvClient.MayEnter(Config.AgvInName);
ProcessShelfEnter = true;
//进料阻挡下降，缓冲阻挡上升
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
//转动线体
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待阻挡检测信号
if (WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 3000))
{
//料架完成进入
//AgvClient.FinishEnter(Config.AgvInName);
//上升入口阻挡信号
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);
//等待200毫秒后停止转动
Thread.Sleep(200);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//料架可离开
AgvClient.FinishEnter(Config.AgvInName);
ProcessShelfEnter = false;
LogUtil.info(Name + "AGV料架进入缓冲工位 结束");
}
else
{
LogUtil.info(Name + "AGV料架进入缓冲工位 等待SL_Stop_Check=High超时");
}
}
}
catch (TimeoutException te)
{
LogUtil.error("AGV料架进入缓冲工位 超时：" + te);
}
catch (Exception ex)
{
LogUtil.error("AGV料架进入缓冲工位 出错：" + ex);
}
finally
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
ProcessShelfEnter = false;
}
});
}
#endregion
}
}