WeldRobotBean_Partial.cs
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using URSoldering.Common;
using URSoldering.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Threading;
namespace URSoldering.DeviceLibrary
{
partial class WeldRobotBean
{
public static bool IsInWeld=false;
public static bool LastAOIResult = true;
//public delegate void GetCode();
//public static event GetCode GetCodeFun;
public delegate bool AOICheck( );
public static event AOICheck AOICheckFun;
public delegate List<PositionResult> PositionOffset();
public static event PositionOffset PositionOffsetFun;
public static string StartWeld( )
{
StopSleep();
KeepTemp();
if ((!alarmType.Equals(AlarmType.None)) && (!WarnMsg.Equals("")))
{
return "开始焊接失败：" + WarnMsg;
}
if (URRobotControl.IsRun == false)
{
return "机器人未连接，无法开始焊接";
}
if (!WeldMoveStep.moveType.Equals(MoveType.None))
{
return "忙碌中，无法开始焊接";
}
if (BoardManager.CurrBoard == null)
{
return "没有找到电路板信息，无法开始焊接";
}
//记录焊接板子数量
WeldCount++;
LogUtil.info(RobotName + "开始【" + BoardManager.CurrBoard.boardName + "】的焊接 ,WeldCount="+WeldCount);
if (!WeldMoveStep.NewWeld(MoveType.Weld, BoardManager.CurrBoard))
{
return "没有找到需要焊接的焊点，启动焊接失败！";
}
LastAOIResult = true;
IsInWeld = true ;
return "";
}
private static void WeldProcess()
{
if (WeldMoveStep.IsInWait)
{
CheckWait();
}
if (WeldMoveStep.IsInWait)
{
return;
}
if (WeldMoveStep.moveStep.Equals(MoveStep.Wait))
{
NewPoint();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W01_RobotToHighPoint))
{
WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint);
LogUtil.info(" " + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint );
WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W02_RobotMoveToPoint))
{
if (WeldMoveStep.CurrPoint.pointType.Equals(0))
{
if (WeldMoveStep.IsSlowSendWire)
{
//已经慢速送丝
WeldMoveStep.NextMoveStep(MoveStep.W04_SendWire);
SendWire();
}
else
{
if (WeldMoveStep.CurrPoint.startSendWireTime > 0 && WeldMoveStep.CurrPoint.startSendWireSpeed > 0)
{
WeldMoveStep.NextMoveStep(MoveStep.W03_SlowSendWire);
SlowSendWire();
}
else
{
WeldMoveStep.NextMoveStep(MoveStep.W04_SendWire);
SendWire();
}
}
}
else
{
PointEndPross();
}
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W03_SlowSendWire))
{
WeldMoveStep.NextMoveStep(MoveStep.W04_SendWire);
SendWire();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W04_SendWire))
{
if (WeldMoveStep.CurrPoint.weldTime > 0)
{
WeldMoveStep.NextMoveStep(MoveStep.W05_WeldWait);
SetTemp(false, true);
}
else
{
PointEndPross();
}
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W05_WeldWait))
{
PointEndPross();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W11_ToClear1))
{
WeldMoveStep.NextMoveStep(MoveStep.W12_ToClear2);
MoveToClear2(RobotConfig.ClearMSenconds);
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W12_ToClear2))
{
KeepTemp();
WeldMoveStep.NextMoveStep(MoveStep.W15_ClearEnd);
MoveToOrg();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W15_ClearEnd))
{
WeldEnd();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W20_MoveToClear1))
{
WeldMoveStep.NextMoveStep(MoveStep.W21_MoveToClear2);
//焊点清洗，根据焊点配置的时间来
MoveToClear2(WeldMoveStep.CurrPoint.ClearTime);
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W21_MoveToClear2))
{
WeldMoveStep.NextMoveStep(MoveStep.W22_MoveToOrg);
MoveToOrg();
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W22_MoveToOrg))
{
if (WeldMoveStep.NextPoint())
{
NewPoint();
}
else
{
WeldEnd();
}
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W13_GoOrg))
{
WeldLog("焊接结束，等待AOI检测");
WeldMoveStep.NextMoveStep(MoveStep.W14_AOICheck);
int AOIWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.AOIWaitSeconds);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(AOIWaitSeconds));
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
{
LastAOIResult= AOICheckFun.Invoke();
Thread.Sleep(300);
IsInWeld = false;
if (WeldCount >= RobotConfig.ClearCount)
{
WeldLog("已经连续焊" + WeldCount + "块板子，清洗烙铁");
WeldMoveStep.NextMoveStep(MoveStep.W11_ToClear1);
SendWireUpToClear1();
}
else
{
WeldEnd();
}
}
}
private static void NewPoint()
{
//运动到焊点，送丝下降，烙铁加温，
WeldMoveStep.NextMoveStep(MoveStep.W02_RobotMoveToPoint);
if (WeldMoveStep.IsFirstPoint())
{
SetPreTemp(true, true);
}
else
{
SetPreTemp(true, false);
}
if (WeldMoveStep.CurrPoint.pointType.Equals(0))
{
if (ZUpLiftValue>0)
{
//普通焊点先移动至高位
WeldMoveStep.NextMoveStep(MoveStep.W01_RobotToHighPoint);
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】移动至焊点高处");
MoveToHighPoint(WeldMoveStep.CurrPoint);
}
else
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint);
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
}
WorkCountManager.AddWeldPint();
}
else if (WeldMoveStep.CurrPoint.pointType.Equals(2))
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint );
WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
}
else
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】 移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint );
}
}
private static void PointEndPross()
{
//判断是否需要清洗烙铁
if (WeldMoveStep.CurrPoint.isNeedClear)
{
WeldMoveStep.NextMoveStep(MoveStep.W20_MoveToClear1);
SendWireUpToClear1();
}
else
{
if (WeldMoveStep.NextPoint())
{
//WeldMoveStep.NextMoveStep(MoveStep.Wait);
//WeldLog("开始下一个焊点：" + WeldMoveStep.CurrPoint.pointName);
NewPoint();
}
else
{
//AOICheckFun?.Invoke();
////判断是否需要清洗
//if (WeldCount >= RobotConfig.ClearCount)
//{
// WeldLog("已经连续焊" + WeldCount + "块板子，清洗烙铁");
// WeldMoveStep.NextMoveStep(MoveStep.W11_ToClear1);
// SendWireUpToClear1();
//}
//else
{
WeldMoveStep.NextMoveStep(MoveStep.W13_GoOrg);
MoveToOrg();
KeepTemp();
}
}
}
}
private static void WeldEnd()
{
IsInWeld = false;
WeldLog("焊接结束");
WeldMoveStep.EndMove();
}
private static void KeepTemp()
{
if (WeldMoveStep.currBoard != null && WeldMoveStep.currBoard.pointList.Count > 1)
{
int temp = WeldMoveStep.currBoard.pointList[0].preheatTemperature;
SolderingManager.setTemp(temp + "");
WeldLog("烙铁保持【" + temp + "】度");
}
}
//设置预热焊接温度
private static void SetPreTemp(bool isNeedCheck, bool IsWaitTime)
{
int temp = WeldMoveStep.CurrPoint.preheatTemperature;
//等待温度到达，并达到指定时间
SolderingManager.setTemp(temp.ToString());
int time = (int)(WeldMoveStep.CurrPoint.preheatTime * 1000);
if (isNeedCheck)
{
//WeldLog(" 设置焊接温度：" + temp + "°，等待达到温度");
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTemperature(temp, WeldMoveStep.CurrPoint.preheatTemperatureMax, WeldMoveStep.CurrPoint.preheatTemperatureMin));
}
if (IsWaitTime)
{
//WeldLog("焊接温度：" + temp + "°，焊接等待" + time);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(time));
}
}
//设置焊接温度
private static void SetTemp(bool isNeedCheck, bool IsWaitTime)
{
int temp = WeldMoveStep.CurrPoint.weldTemperature;
//等待温度到达，并达到指定时间
SolderingManager.setTemp(temp.ToString());
int time = (int)(WeldMoveStep.CurrPoint.weldTime * 1000);
if (isNeedCheck)
{
WeldLog(" 设置焊接温度：" + temp + "°，等待达到温度");
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTemperature(temp, WeldMoveStep.CurrPoint.weldTemperatureMax, WeldMoveStep.CurrPoint.weldTemperatureMin));
}
if (IsWaitTime)
{
WeldLog("焊接温度：" + temp + "°，焊接等待" + time);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(time));
}
}
private static void SlowSendWire()
{
SetTemp(false, false);
double time = WeldMoveStep.CurrPoint.startSendWireTime;
if (time > 0)
{
double speed = WeldMoveStep.CurrPoint.startSendWireSpeed;
WeldLog(" 慢速送丝，速度：" + speed + " ：" + time.ToString() + "秒");
SendWireManager.SendWire( time, speed);
int ms = (int)(time * 1000+100);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitSendWire(ms,false));
}
else
{
WeldLog(" 慢速送丝时间：" + time + " 不需要慢速送丝");
}
}
private static void SendWire()
{
SetTemp(false, false);
double time = WeldMoveStep.CurrPoint.sendWireTime;
double speed =WeldMoveStep.CurrPoint.sendWireSpeed ;
WeldLog(" 送丝，速度：" + speed + " ：" + time.ToString() + "秒");
if (time > 0)
{
SendWireManager.SendWire( time, speed);
int ms = (int)(time * 1000+100);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitSendWire(ms,false));
}
}
public static void SolderingDown(bool isWait)
{
if(RobotBean.KNDIOValue(IO_Type.Soldering_Down).Equals(IO_VALUE.HIGH)&&
RobotBean.KNDIOValue(IO_Type.Soldering_Up).Equals(IO_VALUE.LOW))
{
return;
}
RobotBean.KNDIOMove(IO_Type.Soldering_Down, IO_VALUE.HIGH);
RobotBean.KNDIOMove(IO_Type.Soldering_Up, IO_VALUE.LOW);
if (isWait)
{
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Soldering_Down, IO_VALUE.HIGH));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Soldering_Up, IO_VALUE.LOW));
}
}
public static void SolderingUp(bool isWait)
{
if (RobotBean.KNDIOValue(IO_Type.Soldering_Down).Equals(IO_VALUE.LOW) &&
RobotBean.KNDIOValue(IO_Type.Soldering_Up).Equals(IO_VALUE.HIGH))
{
return;
}
RobotBean.KNDIOMove(IO_Type.Soldering_Down, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.Soldering_Up, IO_VALUE.HIGH);
if (isWait)
{
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Soldering_Down, IO_VALUE.LOW));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Soldering_Up, IO_VALUE.HIGH));
}
}
public static void SendWireWork(bool isWait)
{
if (RobotBean.KNDIOValue(IO_Type.SendWire_Clear).Equals(IO_VALUE.LOW) &&
RobotBean.KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH))
{
return;
}
RobotBean.KNDIOMove(IO_Type.SendWire_Clear, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.SendWire_Work, IO_VALUE.HIGH);
if (isWait)
{
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Clear, IO_VALUE.LOW));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Work, IO_VALUE.HIGH));
}
}
public static void SendWireClear(bool isWait)
{
if (RobotBean.KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.LOW) &&
RobotBean.KNDIOValue(IO_Type.SendWire_Clear).Equals(IO_VALUE.HIGH))
{
return;
}
RobotBean.KNDIOMove(IO_Type.SendWire_Clear, IO_VALUE.HIGH);
RobotBean.KNDIOMove(IO_Type.SendWire_Work, IO_VALUE.LOW);
if (isWait)
{
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Clear, IO_VALUE.HIGH));
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SendWire_Work, IO_VALUE.LOW));
}
}
private static DateTime preGetStatusTime = DateTime.Now;
private static void CheckWait()
{
int ioSingleTimeOutSeconds = 10000;
List<WaitResultInfo> list = new List<WaitResultInfo>(WeldMoveStep.WaitList);
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - WeldMoveStep.LastSetpTime;
string NotOkMsg = "";
if (list.Count > 0)
{
bool isOk = true;
foreach (WaitResultInfo wait in list)
{
if (wait.WaitType == 1)
{
if (!RobotBean.KNDIOValue(wait.IoType).Equals(wait.IoValue))
{
//一分钟还未检测到
if (span.TotalMilliseconds > ioSingleTimeOutSeconds)
{
ConfigIO io = RobotBean.getWaitIO(wait.IoType);
NotOkMsg = "信号（" + io.Explain + "=" + wait.IoValue + "）";
WarnMsg = RobotName + " 等待信号（" + io.Explain + "=" + wait.IoValue + "） 超时！";
Alarm(AlarmType.IoSingleTimeOut);
LogUtil.error(LOGGER, WarnMsg, 13);
}
isOk = false;
break;
}
else if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
}
}
else if (wait.WaitType == 2)
{
if (span.TotalMilliseconds < wait.TimeMSeconds)
{
NotOkMsg = "时间[" + wait.TimeMSeconds + "]毫秒";
isOk = false;
break;
}
else if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
}
}
else if (wait.WaitType == 3)
{
if (URRobotControl.MoveOK(wait.UrPoint, WeldMoveStep.LastSetpTime).Equals(false))
{
NotOkMsg = "机械臂移动到位"+wait.UrPoint.ToShowStr();
isOk = false;
break;
}
else if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
}
}
else if (wait.WaitType == 4)
{
if (!wait.IsEnd)
{
if (HasSoldering)
{
int temp = SolderingManager.queryActualTemp();
if (wait.Temperature != temp && (temp < wait.TemperatureMin || temp > wait.TemperatureMax))
{
NotOkMsg = "烙铁温度[" + wait.Temperature + "]";
isOk = false;
break;
}
else
{
if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
}
else
{
wait.IsEnd = true;
}
}
}
wait.IsEnd = true;
}
}
else if (wait.WaitType == 5)
{
bool isAlarm = false;
if (RobotManager.SolderingRobot.IsDebug.Equals(false))
{
if (WeldMoveStep.ResetCount < 3)
{
isAlarm = SendWireManager.IsAlarm();
preCheckSendWireTime = DateTime.Now;
if (isAlarm)
{
SendWireManager.StopSend();
WeldMoveStep.ResetCount++;
SendWireManager.Reset();
//反向送丝
int speed = ConfigAppSettings.GetIntValue(Setting_Init.ReverseSendWireSpeed) ;
double time = (double)ConfigAppSettings.GetNumValue(Setting_Init.ReverseSendWireTime);
if (speed.Equals(0) || time <= 0)
{
isAlarm = false;
LogUtil.error("焊接中第【" + WeldMoveStep.ResetCount + "】次 检测到送丝器报警， 速度【" + speed + "】时间【" + time + "】配置不完整，不反转处理");
}
else
{
LogUtil.error("焊接中第【" + WeldMoveStep.ResetCount + "】次 检测到送丝器报警， 开始反向送丝，速度【" + speed + "】时间【" + time + "】");
WeldMoveStep.LastSetpTime = DateTime.Now;
WeldMoveStep.WaitList.Clear();
SendWireManager.SendWireBack(time, speed);
int ms = (int)((time * 1000) + 100);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitSendWire(ms, true));
isOk = false;
}
}
}
}
if (wait.ShuoKeISReverse.Equals(false) && isAlarm.Equals(false))
{
if (span.TotalMilliseconds < wait.TimeMSeconds)
{
NotOkMsg = "送丝时间[" + wait.TimeMSeconds + "]毫秒";
isOk = false;
break;
}
else if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
}
}
else if (wait.ShuoKeISReverse.Equals(true) && isAlarm.Equals(false))
{
if (span.TotalMilliseconds < wait.TimeMSeconds)
{
NotOkMsg = "送丝时间[" + wait.TimeMSeconds + "]毫秒";
isOk = false;
break;
}
else
{
//反转已经停止，直接重新运行次步骤
//MoveStep step = (MoveStep)((int)WeldMoveStep.moveStep - 1);
LogUtil.info(RobotName + " 送丝反转结束，重新开始当前焊点焊接");
WeldMoveStep.NextMoveStep(MoveStep.Wait);
}
}
}
else if (wait.WaitType == 6)
{
if (!URRobotControl.IsRun)
{
NotOkMsg = "机器人连接";
isOk = false;
break;
}
else if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
}
}
}
if (isOk)
{
WeldMoveStep.EndStepWait();
}
if (WeldMoveStep.IsInWait)
{
if (span.TotalMinutes > 1)
{
if (NotOkMsg.Equals(""))
{
WarnMsg = "等待超时[" + WeldMoveStep.moveType + "][" + WeldMoveStep.moveStep + "]已等待[" + Math.Round(span.TotalMinutes, 1) + "]分钟,";
foreach (WaitResultInfo wait in list)
{
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
}
}
else
{
WarnMsg = "等待超时[" + WeldMoveStep.moveType + "][" + WeldMoveStep.moveStep + "][" + NotOkMsg + "]已等待[" + Math.Round(span.TotalMinutes, 1) + "]分钟";
}
Alarm(AlarmType.StepTimeOut);
LogUtil.error(LOGGER, WarnMsg, 12);
//Alarm(StoreAlarmType.IoSingleTimeOut);
}
else if (span.TotalSeconds > 5 && WeldMoveStep.moveType.Equals(MoveType.Weld))
{
LogUtil.info("焊接[" + WeldMoveStep.moveStep + "][" + NotOkMsg + "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒");
}
}
}
else
{
WeldMoveStep.EndStepWait();
}
}
private static void WeldLog(string str)
{
if (WeldMoveStep.moveType.Equals(MoveType.Weld))
{
if (WeldMoveStep.CurrPoint != null)
{
LogUtil.info( "焊点【" + WeldMoveStep.CurrPoint.pointName + "】" + str);
}
else
{
LogUtil.info(RobotName + " 工作中 " + str);
}
}
else if (WeldMoveStep.moveType.Equals(MoveType.GoHome))
{
LogUtil.info( " 重置 " + str);
}
}
}
}