FeedingEquip_Partial.cs
41.3 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
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
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(WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
{
string msg = "";
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
return true;
}
else
{
bool result = ACAxisMoveIsEnd(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
currMoveTrayNum = TrayManager.GetTrayNum(DeviceID);
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (TrayManager.RightTrayCode(currMoveTrayNum, preTrayNum, false))
{
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
//出料中，需要拦盘
if (NeedCurrTray())
{
//preTrayNum = currMoveTrayNum;
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
SecondMoveInfo.EndStepWait();
return;
}
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 【" + currMoveTrayNum + "】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【" + currMoveTrayNum + "】");
//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))
{
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】 ，需要入料，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
//TODO
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】 ，需要出库，开始出库处理");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else
{
CheckLog("托盘检测 SecondStoreMove：(MO_13_LoactionCylinder_Down ，托盘号【" + currMoveTrayNum + "】,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(currMoveTrayNum, code);
//从服务器获取库位号
string result = StoreServerManager.CodeReceived(Name, currMoveTrayNum, code, LastHeight, LastWidth);
if (!result.Equals("")) { LogUtil.error(result); }
InStoreLog(" SecondStoreMove=MO_12_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_13_TopCylinder_Down ，托盘号【" + currMoveTrayNum + "】,直接放盘通过，顶升气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopCylinder_Down);
if (Config.SidesWayNum > 0)
{
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 = currMoveTrayNum;
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 = 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
////SL1定位工位检测有信号，阻挡气缸不能下降。
//SL1定位工位检测无信号，阻挡气缸下降，然后料架到工位
//待机位：上料横移机构后退端，上升端，放松端
//移栽伺服原点在上方，只有移栽到流水线时才需要用到，其他时候都在上方待机点
//提升伺服原点在上方，需要配置待机点P1=500？，下降点P5=10000?，回原点负方向
//
//提升伺服先上升到待机点，SL1升降盘定位气缸1后退，定位气缸下降，料架才能进入上料工位
//料架进入上料工位后，定位气缸先上升
//提升伺服下降到P2
////升降盘定位气缸前进
//提升伺服缓慢上升，绝对位置=P1，若上升到P1么有X105,那么没有料盘
// 检测到X105信号，提升伺服停止
// 上料横移机构下降，
// 上料横移机构取料
// 上料横移机构下降
// 上料横移机构夹紧
// 上料横移机构上升
// 提升伺服开始缓慢上升到位
// 计算高度，宽度并记录
// 上料横移机构到放料端
//等待拦截到托盘，并顶升上升，定位上升
// 上料横移机构下降
// 移栽伺服下降到对应盘高位置
//上料气缸放松
// 移栽伺服上升，
// 上料横移机构上升
/// <summary>
/// 判断是否有料架，若有开始入料
/// </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_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(" 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_06_LineRunCheck);
// 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;
//}
//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))
{
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 false ;
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
private void LineRunProcess()
{
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.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，入料结束");
}
}
protected override void InStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog(" FI_01_TrayLocation_After 开始：升降盘定位气缸下降");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_02_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
InStoreLog(" FI_02_LocationCylinder_Down 开始：定位气缸下降");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_02_LocationCylinder_Down))
{
LineRunProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_03_LineStart))
{
LineRunProcess();
}
//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);
ACAxisMove(Config.Batch_Axis, 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");
ACAxisMove(Config.Batch_Axis, 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();
if (IOValue(IO_Type.SL_TrayCheck1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SL_TrayCheck2).Equals(IO_VALUE.HIGH))
{
LastWidth = 7;
}
else if (IOValue(IO_Type.SL_TrayCheck3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SL_TrayCheck4).Equals(IO_VALUE.HIGH))
{
LastWidth = 13;
}
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);
ACAxisMove(Config.UpDown_Axis, 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");
ACAxisMove(Config.UpDown_Axis, 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(currMoveTrayNum, 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.Factory.StartNew(delegate
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
if (LastCodeList.Count <= 0)
{
LastCodeList = CodeManager.CameraScan(Config.GetCameraList());
}
});
}
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");
ACAxisMove(Config.Batch_Axis, 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");
ACAxisMove(Config.Batch_Axis, 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_34_OutCheck))
{
}
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.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");
}
return;
}
}
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 = ACServerManager.GetActualtPosition(Config.Batch_Axis);
if (StartMovePosition.Equals(-1))
{
StartMovePosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
}
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, Config.BatchAxisP3, Config.BatchAxis_P3Speed));
Config.Batch_Axis.TargetPosition = Config.BatchAxisP3;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), 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 = 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
/// <summary>
/// 是否需要拦截当前托盘进行处理
/// </summary>
/// <returns></returns>
internal bool NeedCurrTray()
{
int num = TrayManager.GetTrayNum(Config.Id);
bool isFull = TrayManager.IsFixTureFull(num);
if (Config.IsCanOut.Equals(1))
{
if ((IOValue(IO_Type.SW_ReelCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.FL_ReelCheck).Equals(IO_VALUE.HIGH)))
{
if (isFull && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
// return true;
}
}
}
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)
{
LogUtil.info(Name + "拦截到空托盘【" + num + "】，入料执行中，需要空托盘");
return true;
}
}
}
return false;
}
/// <summary>
/// 判断当前托盘是否需出库
/// </summary>
/// <returns></returns>
private bool TrayIsNeedOutStore()
{
return false;
}
#region 出料流程
public override bool StartOutStoreMove(InOutParam param)
{
return true;
}
protected override void OutStoreProcess()
{
}
#endregion
}
}