LineSolderingRobot_Partial.cs
8.7 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
using URSoldering.Common;
using URSoldering.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
namespace URSoldering.DeviceLibrary
{
public partial class URSolderingRobot
{
public DateTime LastStartWeldTime = DateTime.Now;
public DateTime LastEndWeldTime = DateTime.Now;
public bool IsWeld = false;
public delegate void GetCode();
public event GetCode GetCodeFun;
public delegate void AOICheck();
public event AOICheck AOICheckFun;
public bool IsAutoRun = false;
private void LineLog(string msg)
{
LogUtil.debug(RobotName + msg);
}
private void BusyProcess()
{
//if (LineStep.IsInWait)
//{
// CheckWait();
//}
//if(LineStep.IsInWait)
//{
// return;
//}
//if (LineStep.moveStep.Equals(MoveStep.BUSY01_Weld))
//{
// //if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
// 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) + "，阻挡气缸下降");
// LineStep.NextMoveStep(MoveStep.BUSY03_CylinderDown);
// StopCylinderDownAndWait();
// }
//}
////焊接完成，流水线继续转动，直到出料口检测到信号
//else if (LineStep.moveStep.Equals(MoveStep.BUSY03_CylinderDown))
//{
// LineLog("Busy处理：" + "流水线转动，等待出料口信号");
// LineStep.NextMoveStep(MoveStep.BUSY04_LineMove);
// LineStartMove();
// LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineOutCheck, IO_VALUE.HIGH));
//}
//else if (LineStep.moveStep.Equals(MoveStep.BUSY04_LineMove))
//{
// LineStopMove();
// if (IsAutoRun)
// {
// LineLog("Busy处理：" + "等待3秒钟后流水线倒转");
// LineStep.NextMoveStep(MoveStep.BUSY05_Wait);
// LineStep.WaitList.Add(WaitResultInfo.WaitTime(2000));
// }
// else
// {
// LineLog("Busy处理：" + "停止转动");
// StopCylinderUp();
// Status = RobotStatus.Runing;
// }
//}
//else if (LineStep.moveStep.Equals(MoveStep.BUSY05_Wait))
//{
// LineLog("Busy处理：" + "流水线转动，等待出料口信号");
// LineStep.NextMoveStep(MoveStep.BUSY06_WaitInSingle);
// LineBackMove();
// LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineInCheck, IO_VALUE.HIGH));
//}
//else if (LineStep.moveStep.Equals(MoveStep.BUSY06_WaitInSingle))
//{
// LineLog("Busy处理：" + "板子到达入料口，停止转动");
// LineStopMove();
// StopCylinderUp();
// Status = RobotStatus.Runing;
//}
}
//private void LineBackMove()
//{
// ShuoKeControls.VolMove(Config.Line_Slv, Config.Line_EndSpeed);
// KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
//}
//private void LineStartMove()
//{
// ShuoKeControls.VolMove(Config.Line_Slv, 0- Config.Line_EndSpeed);
// KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
//}
//private void LineStopMove()
//{
// ShuoKeControls.SuddownStop(Config.Line_Slv);
// KNDIOMove(IO_Type.LineStart, IO_VALUE.LOW);
//}
/// <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 CheckWait()
{
int ioSingleTimeOutSeconds = 30000;
List<WaitResultInfo> list = new List<WaitResultInfo>(LineStep.WaitList);
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - LineStep.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 (LineStep.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 (LineStep.OneWaitOk)
{
isOk = true;
break;
}
}
}
if (isOk)
{
LineStep.EndStepWait();
}
if (LineStep.IsInWait)
{
if (span.TotalMinutes > 1)
{
if (NotOkMsg.Equals(""))
{
WarnMsg = "等待超时[" + LineStep.moveType + "][" + LineStep.moveStep + "][" + NotOkMsg + "]已等待[" + Math.Round(span.TotalMinutes, 1) + "]分钟";
}
else
{
WarnMsg = "等待超时[" + LineStep.moveType + "][" + LineStep.moveStep + "]已等待[" + Math.Round(span.TotalMinutes, 1) + "]分钟,";
foreach (WaitResultInfo wait in list)
{
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
}
}
Alarm(AlarmType.StepTimeOut);
LogUtil.error(LOGGER, WarnMsg, 12);
}
}
}
else
{
LineStep.EndStepWait();
}
}
private void Alarm(AlarmType alarmType)
{
this.alarmType = alarmType;
if (AlarmType.SuddenStop.Equals(alarmType))
{
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.HIGH);
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
SendWireManager.Release();
StopMove();
}
}
}
}