MoveEquip_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;
using System.Timers;
namespace OnlineStore.DeviceLibrary
{
partial class MoveEquip
{
#region 出库
public override bool StartOutStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
//调试模式移栽装置不需要有操作
if (IsDebug)
{
LogInfo("需要出库【" + posId + "】处于调试模式，暂时不再进行出入库操作");
return false;
}
if (param.Equals(null))
{
LogUtil.error(Name + "出库【" + posId + "】失败，param=null");
return false;
}
if (runStatus.Equals(LineRunStatus.Runing))
{
LogInfo("启动出库【" + posId + "】：开始叫托盘 ");
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = param;
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
TrayManager.AddNeedEmptyTrayNum();
return true;
}
else
{
LogUtil.error(Name + " 启动出库【" + posId + "】失败，当前状态，storeStatus=" + runStatus);
return false;
}
}
protected override void OutStoreProcess()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 移载装置 移栽物品操作
if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_50_StartOutProcess))
{
OutStoreLog("出库： MO_51_BeforeAfterCylinderBefore ( 前后气缸前进 )");
MoveInfo.NextMoveStep(LineMoveStep.MO_51_BeforeAfterCylinderBefore);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_BeforeAfterCylinderBefore))
{
OutStoreLog("出库： MO_52_UpDownCylinderDown ( 上下气缸1下降 )");
MoveInfo.NextMoveStep(LineMoveStep.MO_52_UpDownCylinderDown);
UpdownDownBoxMove(MoveInfo.MoveParam.PlateH);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_52_UpDownCylinderDown))
{
OutStoreLog("出库： MO_53_UpDownCylinderDownWait ( 上下气缸1下降 后，等待0.3秒再夹紧，防止没有下降到位就夹紧操作）");
MoveInfo.NextMoveStep(LineMoveStep.MO_53_UpDownCylinderDownWait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_53_UpDownCylinderDownWait))
{
OutStoreLog("出库： MO_54_ClampCylinderSlack ( 夹料气缸1夹紧)");
MoveInfo.NextMoveStep(LineMoveStep.MO_54_ClampCylinderSlack);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_54_ClampCylinderSlack))
{
OutStoreLog("出库： MO_55_UpDownCylinderUp ( 上下气缸1上升)");
MoveInfo.NextMoveStep(LineMoveStep.MO_55_UpDownCylinderUp);
UpdownUpMove();
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_55_UpDownCylinderUp))
{
OutStoreLog("出库： MO_56_BeforeAfterCylinderAfter( 前后气缸1后退)");
MoveInfo.NextMoveStep(LineMoveStep.MO_56_BeforeAfterCylinderAfter);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
}
#endregion
#region 移载装置，放物品到流水线操作
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_05_CodeRember)
&& MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_BeforeAfterCylinderAfter)
&& !SecondMoveInfo.IsInWait)
{
OutStoreLog("出库：（ MO_06_UpDownCylinderDown，夹具检测编码完成， 上下气缸1下降 ）");
if (MoveInfo.MoveParam != null)
{
MoveInfo.MoveParam.TrayNumber = SecondMoveInfo.MoveParam.TrayNumber;
}
else
{
MoveInfo.MoveParam = SecondMoveInfo.MoveParam;
}
//去掉直接丢盘处理
MoveInfo.NextMoveStep(LineMoveStep.MO_58_UpDownCylinderDown);
UpdownDownMove(MoveInfo.MoveParam.PlateH);
////判断盘号，如果是七寸盘，不需要下降，直接放盘
//bool isNeedPush = MoveInfo.MoveParam.PlateW.Equals(TrayManager.CanPushBagWidth);
//if (isNeedPush)
//{
// MoveInfo.NextMoveStep(LineMoveStep.MO_58_UpDownCylinderDown);
// MoveInfo.EndStepWait();
//}
//else
//{
// MoveInfo.NextMoveStep(LineMoveStep.MO_58_UpDownCylinderDown);
// UpdownDownMove(MoveInfo.MoveParam.PlateH);
// // CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
//}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_58_UpDownCylinderDown))
{
OutStoreLog("出库：(MO_07_ClampCylinderTighten 夹料气缸1放松 ）");
int bagWidth = MoveInfo.MoveParam.PlateW;
LogInfo("【" + posId + "】出库时，更新盘空满信息 托盘号【" + MoveInfo.MoveParam.TrayNumber + "】，是否有料盘【" + true + "】,出库入库【" + 2 + "】");
TrayManager.UpdateFixtureValue(MoveInfo.MoveParam.TrayNumber, true, 2, MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PlateH, bagWidth);
//出库全部完成
lineStatus = LineStatus.StoreOnline;
MoveInfo.NextMoveStep(LineMoveStep.MO_59_ClampCylinderTighten);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_59_ClampCylinderTighten))
{
OutStoreLog("出库：(MO_08_UpDownCylinderUp 上下气缸1上升）");
this.MoveInfo.NextMoveStep(LineMoveStep.MO_60_UpDownCylinderUp);
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_UpDownCylinderUp))
{
// 减去需要的盘数
TrayManager.DelNeedEmptyTrayNum();
OutStoreLog("出库 SecondStoreMove：移栽完成，放行托盘");
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_06_TopCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
LogInfo("【" + posId + "】出库处理结束，！");
lineStatus = LineStatus.StoreOnline;
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
}
#endregion
}
#endregion
#region 入库
/// <summary>
/// 入库移动移动
/// </summary>
public override void StartInStoreMove(InOutParam param)
{
string posId = param != null ? param.PosId : "";
//调试模式移栽装置不需要有操作
if (IsDebug)
{
LogInfo("需要入库【" + posId + "】处于调试模式，暂时不再进行出入库操作");
return;
}
if (runStatus.Equals(LineRunStatus.Runing))
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.InStoreExecute;
MoveInfo.MoveParam = param;
MoveInfo.NewMove(LineMoveType.InStore);
LogInfo("入库【" + posId + "】处理（移栽）：(MI_07_UpDownCylinderDown,上下气缸1下降）");
MoveInfo.NextMoveStep(LineMoveStep.MI_07_UpDownCylinderDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
UpdownDownMove(MoveInfo.MoveParam.PlateH);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
else
{
LogUtil.error(Name + " 启动一个 入库【" + posId + "】运动失败，当前状态，storeStatus=" + runStatus);
}
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_07_UpDownCylinderDown))
{
InStoreLog("入库：(MI_07_UpDownCylinderDownWait, 编码与仓位一致，上下气缸1下降后等待0.3秒再夹紧，防止没有下降到位就夹紧");
MoveInfo.NextMoveStep(LineMoveStep.MI_07_UpDownCylinderDownWait);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
//只有当BOX可以进行出入库时，移栽物品，防止卡住
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_07_UpDownCylinderDownWait))
{
InStoreLog("入库：(MI_08_ClampCylinderSlack，夹料气缸1夹紧）");
MoveInfo.NextMoveStep(LineMoveStep.MI_08_ClampCylinderSlack);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_08_ClampCylinderSlack))
{
InStoreLog("入库：(MI_09_UpDownCylinderUp，上下气缸1上升）");
MoveInfo.NextMoveStep(LineMoveStep.MI_09_UpDownCylinderUp);
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_09_UpDownCylinderUp))
{
int num = MoveInfo.MoveParam.TrayNumber;
MoveInfo.NextMoveStep(LineMoveStep.MI_10_WaitBox);
LogInfo("入库【" + posId + "】处理（等待移栽）：(判断box门口没有盘, 且可以入库)，更新盘号【" + num + "】为空盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray());
TrayManager.UpdateFixtureValue(num );
//阻挡气缸移动
InStoreLog("放托盘（放开阻挡）：SecondStoreMove=MO_09_TopCylinder_Down 物品已移走，顶升气缸1下降）");
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_06_TopCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_WaitBox))
{
InStoreLog("入库：(MI_10_BeforeAfterCylinderBefore，前后气缸1前进）");
MoveInfo.NextMoveStep(LineMoveStep.MI_10_BeforeAfterCylinderBefore);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_BeforeAfterCylinderBefore))
{
InStoreLog("入库：(MI_11_UpDownCylinderDown ，上下气缸1下降）");
MoveInfo.NextMoveStep(LineMoveStep.MI_11_UpDownCylinderDown);
UpdownDownBoxMove(MoveInfo.MoveParam.PlateH);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_11_UpDownCylinderDown))
{
InStoreLog("入库： (MI_12_ClampCylinderTighten，夹料气缸1放松）");
MoveInfo.NextMoveStep(LineMoveStep.MI_12_ClampCylinderTighten);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_12_ClampCylinderTighten))
{
InStoreLog("入库：(MI_13_UpdownCylinderUp，上下气缸1上升）");
MoveInfo.NextMoveStep(LineMoveStep.MI_13_UpdownCylinderUp);
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_13_UpdownCylinderUp))
{
InStoreLog("入库：(MI_14_BeforeAfterCylinderAfter，前后气缸1后退，等待4000 ）");
MoveInfo.NextMoveStep(LineMoveStep.MI_14_BeforeAfterCylinderAfter);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
//此时box就可以入库操作了 //触发事件，BOX入库
LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_14_BeforeAfterCylinderAfter))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendEnd);
//判断料仓是否在入库中，如果么有在入库中，需要重新发送入库消息
if (!LineServer.IsInStorePro(DeviceID))
{
InStoreLog("入库：(MI_15_SendEnd ， 送料流程完成，料仓还未开始入库，再次发送starIn命令）");
LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
}
else
{
InStoreLog("入库：(MI_15_SendEnd ， 送料流程完成，料仓已开始入库）");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_15_SendEnd))
{
LogInfo("入库【" + posId + "】处理（移栽）全部完成！");
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
MoveInfo.EndMove();
}
}
private bool IsInStoreNeed()
{
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
//判断是否是自己排队列表中的入库信息
foreach (InOutParam cc in waitInStoreList)
{
if (cc.TrayNumber.Equals(currMoveTrayNum) && (!cc.WareCode.Equals("")))
{
return true;
}
}
}
}
return false;
}
/// <summary>
/// 是否需要出库的托盘
/// </summary>
/// <param name="currMoveTrayNum"></param>
/// <returns></returns>
private bool CheckIsNeedOutStore()
{
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && (MoveInfo.MoveStep >= LineMoveStep.MO_56_BeforeAfterCylinderAfter)
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_UpDownCylinderUp)))
{
if (isFull.Equals(false))
{
LogInfo(" 托盘号【" + preTrayNum + "】，当前托盘号【(isFull=" + isFull + ")：" + currMoveTrayNum + "】需要出库，不顶升直接让移栽放盘~");
return true;
}
//去掉直接丢料盘处理
//else if (MoveInfo.MoveParam.PlateW.Equals(TrayManager.CanPushBagWidth) && TrayManager.IsCanOutPush(currMoveTrayNum))
//{
// LogInfo(" 托盘号【" + preTrayNum + "】，当前托盘号【(isFull=" + isFull + ")：" + currMoveTrayNum + "】需要出库，" + TrayManager.CanPushBagWidth + "寸小盘可以直接出库累积~");
// return true;
//}
}
return false;
}
/// <summary>
/// 判断盘号是否需要入库
/// </summary>
/// <returns></returns>
private bool CheckIsNeedInStore()
{
bool isfull = TrayManager.IsFixTureFull(currMoveTrayNum);
LogInfo("***************入库*****验证入库编号，托盘号【" + currMoveTrayNum + "】,isfull【" + isfull + "】");
//FixtureCodeInfo code = GetBox().currInOutFixture;
if (!isfull)
{
LogInfo("***************入库*****空盘直接放行");
return false;
}
InOutParam currCode = null;
if (waitInStoreList.Count > 0)
{
lock (waitInListLock)
{
//判断是否是自己排队列表中的入库信息
int reIndex = -1;
for (int i = 0; i < waitInStoreList.Count; i++)
{
InOutParam cc = waitInStoreList[i];
if (cc.TrayNumber.Equals(currMoveTrayNum) && (!cc.WareCode.Equals("")))
{
reIndex = i;
currCode = cc;
LogInfo("*******托盘" + currMoveTrayNum + "需要入库【" + currCode.ToStr() + "】 ，开始入库移栽");
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW);
break;
}
}
if (reIndex >= 0)
{
waitInStoreList.RemoveAt(reIndex);
if (!LineServer.BoxCanInStore(DeviceID))
{
LogUtil.info(Name + "*******托盘" + currMoveTrayNum + "需要入库【" + currCode.ToStr() + "】，BoxCanInStore验证失败，先移栽再等待料仓可入库，开始入库移栽");
return true;
}
else
{
return true;
}
}
}
}
return false;
}
#endregion
#region 托盘检测
private void StartCheckFixture()
{
int num = TrayManager.GetNum(DeviceID);
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
//托盘在两个阻挡内
if (num > 0)
{
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));
// SecondMoveInfo.EndStepWait();
}
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);
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.WaitIO(IO_Type.Fixture_Check_4, 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
{
//KTK_LA_BoxBean Box = GetBox();
//判断是否需要顶升
bool isNeed = false;
//此处先对托盘号进行验证
currMoveTrayNum = TrayManager.GetNum(DeviceID);
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (TrayManager.RightTrayCode(currMoveTrayNum, preTrayNum, false))
{
//出库中，需要拦盘
if (CheckIsNeedOutStore())
{
//preTrayNum = currMoveTrayNum;
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_05_CodeRember);
SecondMoveInfo.EndStepWait();
return;
}
else if (isFull && IsInStoreNeed())
{
isNeed = true;
}
}
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;
}
if (isNeed)
{
CheckLog("托盘检测（流水线阻挡）SecondStoreMove：(MIO_05_WaitTime 等待一秒钟）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currMoveTrayNum + "】没有出入库任务，放盘通过~");
// preTrayNum = currMoveTrayNum;
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
CheckLog("托盘放行 SecondStoreMove：(MO_07_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_07_WaitCanGo);
if (DeviceID.Equals(2))
{
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitSideWay());
SecondMoveInfo.OneWaitCanEndStep = true;
}
}
}
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;
bool isNeedMove = false;
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (CheckIsNeedOutStore())
{
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
isNeedMove = true;
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】可以放出库托盘，正在出库中，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_05_CodeRember);
SecondMoveInfo.EndStepWait();
}
else
{
if (CheckIsNeedInStore())
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】不是空盘，有对应的入库任务，等待移栽");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_08_WaitInStore);
isNeedMove = true;
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】不是空盘, 放盘通过");
}
}
if (!isNeedMove)
{
//preTrayNum = num;
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
CheckLog("托盘检测 SecondStoreMove：(MO_09_TopCylinder_Down ，托盘号【" + currMoveTrayNum + "】,直接放盘通过，顶升气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_06_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）");
StartInStoreMove(SecondMoveInfo.MoveParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_09_WaitLetFixtureGo);
}
#endregion
#region 不需要出入库，直接放行
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_06_TopCylinder_Down))
{
CheckLog("托盘放行 SecondStoreMove：(MO_07_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_07_WaitCanGo);
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_07_WaitCanGo))
{
CheckLog("托盘放行 SecondStoreMove：(MO_10_StopCylinder2_Down ，阻挡气缸1-2下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_10_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_10_StopCylinder2_Down))
{
CheckLog("托盘放行 SecondStoreMove：(MO_11_Tray_Check ， 阻挡2托盘检测=0）, 延时2秒）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_Tray_Check);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.LOW));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_Tray_Check))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_StopCylinder_Back);
CheckLog("托盘放行 SecondStoreMove：(MO_12_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_12_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
}
}