LineSolderingRobot.cs
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using URSoldering.Common;
using URSoldering.LoadCSVLibrary;
using System;
using System.Timers;
namespace URSoldering.DeviceLibrary
{
public partial class URSolderingRobot : RobotBean
{
private AlarmType alarmType = AlarmType.None;
public string WareCode = "";
public SolderingRobotConfig Config;
public LineStepBean LineStep = new LineStepBean();
public URSolderingRobot(SolderingRobotConfig config)
{
RobotName = "焊接机器人";
baseConfig = config;
this.Config = config;
WeldRobotBean.InitData(config);
InitTimer();
URRobotControl.InitConfig(config.UR_IP);
}
public bool StartRun()
{
return RobotReset();
}
public bool RobotReset()
{
alarmType = AlarmType.None;
mainTimer.Enabled = false;
ledTimer.Enabled = false;
IsInSuddendown = false;
WarnMsg = "";
if (!ShuddenOK())
{
WarnMsg = "急停未开";
return false;
}
if (!IsFixtureClamp())
{
WarnMsg = "夹具未夹紧";
return false;
}
//焊接机器人复位
string solderingStr = "";
if (Status > RobotStatus.Wait)
{
StopMove();
solderingStr = WeldRobotBean.GoHome();
}
else
{
solderingStr = WeldRobotBean.StartRun();
}
if (!solderingStr.Equals(""))
{
WarnMsg = solderingStr;
return false;
}
Status = RobotStatus.Reset;
WeldRobotBean.IsInWeld = false;
IsInProcess = false;
ledTimer.Enabled = true;
mainTimer.Enabled = true;
return true;
}
private void SuddendownProcess()
{
WarnMsg = "收到急停信号，设备急停";
LogUtil.error(RobotName + WarnMsg);
IsInSuddendown = true;
Alarm(AlarmType.SuddenStop);
}
private void FixtureRelaxProcess()
{
WarnMsg = "夹具未夹紧，设备急停";
LogUtil.error(RobotName + WarnMsg);
IsInSuddendown = true;
Alarm(AlarmType.SuddenStop);
}
public string StartWeld()
{
string msg = "";
//如果开始焊接，开始焊接
if (Status.Equals(RobotStatus.Runing) && WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
{
msg = WeldRobotBean.StartWeld();
if (msg.Equals(""))
{
Status = RobotStatus.Busy;
}
}
else
{
msg = "无法开始焊接";
}
return msg;
}
private bool IsInProcess = false;
protected override void mainTimer_Elapsed(object sender, ElapsedEventArgs e)
{
if (IsInProcess) {
return;
}
IsInProcess = true;
try
{
//判断急停信号
if (KNDIOValue(IO_Type.SuddenStop_Single).Equals(IO_VALUE.LOW))
{
if (IsInSuddendown.Equals(false))
{
SuddendownProcess();
}
}
else if (IsInSuddendown)
{
}else if (IsFixtureClamp().Equals(false))
{
if (alarmType.Equals(AlarmType.None))
{
FixtureRelaxProcess();
}
}
else
{
if (Status.Equals(RobotStatus.Wait))
{
}
else if (Status.Equals(RobotStatus.Reset))
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None)
&& KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH))
{
LogUtil.info(RobotName + "复位完成");
Status = RobotStatus.Runing;
}
}
else if (Status.Equals(RobotStatus.Runing))
{
}
else if (Status.Equals(RobotStatus.Busy))
{
BusyProcess();
}
else if (Status.Equals(RobotStatus.LineMove))
{
}
}
}catch(Exception ex)
{
LogUtil.error(RobotName+"定时器出错："+ex.ToString());
}
IsInProcess = false;
}
private void StopMove()
{
WeldRobotBean.StopMove();
this.Status = RobotStatus.Runing;
}
public void StopRun()
{
ledTimer.Enabled = false;
mainTimer.Enabled = false;
StopMove();
WeldRobotBean.StopRun();
this.Status = RobotStatus.Wait;
LogUtil.info(RobotName + "停止运行");
}
public DateTime LastStartWeldTime = DateTime.Now;
public DateTime LastEndWeldTime = DateTime.Now;
public bool IsWeld = false;
public delegate void GetCode();
public event GetCode GetCodeFun;
public bool IsAutoRun = false;
private void BusyProcess()
{
if (LineStep.moveStep.Equals(MoveStep.Wait))
{
if (WeldRobotBean.IsInWeld.Equals(false))
{
LastEndWeldTime = DateTime.Now;
TimeSpan span = LastEndWeldTime - LastStartWeldTime;
if (BoardManager.CurrBoard.WeldTime.TotalSeconds <= 0)
{
BoardManager.CurrBoard.WeldTime = span;
}
else
{
BoardManager.CurrBoard.WeldTime = new TimeSpan(0, 0, (int)(BoardManager.CurrBoard.WeldTime.TotalSeconds + span.TotalSeconds) / 2);
}
BoardManager.Update(BoardManager.CurrBoard);
LogUtil.info("Busy处理：" + "焊接结束，焊接耗时" + FormUtil.GetSpanStr(span) + "，累积平均耗时" + FormUtil.GetSpanStr(BoardManager.CurrBoard.WeldTime) + "");
LineStep.EndMove();
Status = RobotStatus.Runing;
}
}
}
/// <summary>
/// 判断是否还有未完成的工作
/// </summary>
public bool NeedWork()
{
if (Status > RobotStatus.Wait)
{
if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
{
return true;
}
}
return false;
}
private void Alarm(AlarmType alarmType)
{
this.alarmType = alarmType;
if (AlarmType.SuddenStop.Equals(alarmType))
{
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
StopMove();
}
}
}
}