PackageLine_BenQInShelf.cs
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using OnlineStore.LoadCSVLibrary;
namespace OnlineStore.DeviceLibrary
{
partial class PackageLine
{
/// <summary>
/// 出口料架进入步骤
/// </summary>
public enum BenQ_IN_FROM_OUT_STEP
{
NONE,
/// <summary>
/// 料架手动拉出
/// </summary>
MANNUAL_SHELF_LEAVE,
/// <summary>
/// 料架手动拉出,到达提升机
/// </summary>
MANNUAL_SHELF_TO_UPDOWN,
/// <summary>
/// 料架手动拉出,离开提升机
/// </summary>
MANNUAL_SHELF_LEAVE_SUCCESS,
/// <summary>
/// 等待到达提升机
/// </summary>
SHELF_TO_UPDOWN,
/// <summary>
/// 提升机上升
/// </summary>
SHELF_UP,
/// <summary>
///料盘在上层送入
/// </summary>
SHELF_ENTER,
/// <summary>
/// 提升机下降
/// </summary>
SHELF_DOWN,
/// <summary>
/// 等待料盘运行到中间提升机右侧的开始位置
/// </summary>
WAIT_SHELF_TO_READY_POS,
}
public StepInfo<BenQ_IN_FROM_OUT_STEP> benQInFromOutStep = new StepInfo<BenQ_IN_FROM_OUT_STEP>(BenQ_IN_FROM_OUT_STEP.NONE);
/// <summary>
/// 出口料架进入处理
/// </summary>
private void ProcessBenQEnterFromOut()
{
if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.NONE))
{
bool hasShelfRight = IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.HIGH);
bool noShelfLeft = IOValue(IO_Type.R_LeftStopCheck).Equals(IO_VALUE.LOW);
//上层料满
bool full = IOValue(IO_Type.RHigh_FullCheck).Equals(IO_VALUE.HIGH);
bool chainNoRun = IOValue(IO_Type.R_OutLineRun).Equals(IO_VALUE.LOW);
//判断是否是手动拉料架
if (!hasShelfRight && !noShelfLeft && chainNoRun)
{
benQInFromOutStep.Msg = "检测到正在出料架";
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.MANNUAL_SHELF_LEAVE);
benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.HIGH);
benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.HIGH);
}
else if (!full)
{
if (hasShelfRight && noShelfLeft && chainNoRun)//有料盘从右侧准备进入
{
CheckAndMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_TO_UPDOWN);
benQInFromOutStep.Msg = "检测到BenQ AGV向右侧提升机送入料架,提升机链条反转";
benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.HIGH,5000);
benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.HIGH,5000);
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.HIGH);
}
else if (hasShelfRight && !noShelfLeft && benQOutStep.GetCurStep() <= BenQ_OUT_STEP.WAIT_AGV && chainNoRun)//准备送满料，但提升机上有架子
{
CheckAndMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_TO_UPDOWN);
benQInFromOutStep.Msg = "检测到右侧提升机有料架[准备送满料],提升机上升";
benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.HIGH,5000);
benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.HIGH,5000);
}
else if (hasShelfRight && !noShelfLeft && chainNoRun)
{
CheckAndMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_TO_UPDOWN);
benQInFromOutStep.Msg = "检测到右侧提升机有料架[无满料出],提升机上升";
benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.HIGH,5000);
benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.HIGH,5000);
}
}
else
{
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.NONE);
benQInFromOutStep.Msg = "上层料架满，无法入料架";
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.MANNUAL_SHELF_LEAVE))
{
if (benQInFromOutStep.IsFinished())//进入提升机完成
{
benQInFromOutStep.Msg = "出料架，到达右侧提升机";
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.MANNUAL_SHELF_LEAVE_SUCCESS);
//CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH);
benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.LOW);
benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.LOW);
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.MANNUAL_SHELF_LEAVE_SUCCESS))
{
if (benQInFromOutStep.IsFinished())//离开提升机完成
{
benQInFromOutStep.Msg = "出料架完成";
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.NONE);
CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
}
else
{
bool timeOut = benQInFromOutStep.IsTimeOut(60000);
if (timeOut)
{
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.NONE);
}
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_TO_UPDOWN))
{
bool noShelfRight = IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.LOW);
bool noShelfLeft = IOValue(IO_Type.R_LeftStopCheck).Equals(IO_VALUE.LOW);
if (noShelfRight && noShelfLeft)//员工手动从出口出料架，重置出口处的入料流程
{
benQInFromOutStep.Msg = "从右侧出口出料架，重置BenQ AGV 出口入料流程";
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
CheckAndMove(IO_Type.R_RightStopCylinder, IO_VALUE.LOW);
CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.NONE);
}
if (benQInFromOutStep.IsFinished())//进入提升机完成
{
bool hasShelfRight = IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.HIGH);
bool hasShelfLeft = IOValue(IO_Type.R_LeftStopCheck).Equals(IO_VALUE.HIGH);
if (hasShelfLeft && hasShelfRight)
{
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_UP);
benQInFromOutStep.AddTimeWait(3000);
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
benQInFromOutStep.Msg = "料架到达右侧提升机，提升机上升";
benQInFromOutStep.AddIoWait(IO_Type.R_Updown_Up, IO_VALUE.HIGH,2000);
CylinderMove(MoveInfo, IO_Type.R_Updown_Down, IO_Type.R_Updown_Up);
}
else
{
benQInFromOutStep.Msg = "提升机内料盘在5秒内被搬走，重置AGV 出口入料流程";
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.NONE);
}
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_UP))
{
bool shelfUp = IOValue(IO_Type.R_Updown_Up).Equals(IO_VALUE.HIGH);
if (!shelfUp)
return;
if (benQInFromOutStep.IsFinished())//提升机到达上层
{
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_ENTER);
benQInFromOutStep.Msg = "料架到达右侧提升机上层，准备送出料架";
benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCheck, IO_VALUE.LOW, 5000);
benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCheck, IO_VALUE.LOW, 5000);
benQInFromOutStep.AddIoWait(IO_Type.RHigh_FullCheck, IO_VALUE.HIGH);
CheckAndMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH);//右侧上层链条运行
CheckAndMove(IO_Type.R_OutLineBackRun, IO_VALUE.HIGH);
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH, 5000);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH,5000);
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_ENTER))
{
bool noShelf = IOManager.IOValue(IO_Type.R_LeftStopCheck).Equals(IO_VALUE.LOW) &&
IOManager.IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.LOW);
if (noShelf && benQInFromOutStep.IsFinished())//料盘进入完成
{
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN);
CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
benQInFromOutStep.Msg = "料架到达右侧上层，5秒后允许继续进入";
benQInFromOutStep.AddIoWait(IO_Type.R_Updown_Down, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
benQInFromOutStep.AddTimeWait(5000);
}
else if(benQInFromOutStep.IsTimeOut(10000))
{
KeepLineRun(IO_Type.RHigh_LineRun);
CheckAndMove(IO_Type.R_OutLineBackRun, IO_VALUE.HIGH);
IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH,5000);
IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH,5000);
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN))
{
if (benQInFromOutStep.IsFinished())
{
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.WAIT_SHELF_TO_READY_POS);
benQInFromOutStep.Msg = "BenQ AGV 在右侧提升机将料架送入上层平台完成";
benQInFromOutStep.AddIoWait(IO_Type.RHigh_StopCheck1, IO_VALUE.HIGH);
benQInFromOutStep.AddTimeWait(60000);
}
}
else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.WAIT_SHELF_TO_READY_POS))
{
if (benQInFromOutStep.IsFinished())
{
benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.NONE);
benQInFromOutStep.Msg = "料架已到中间提升机右侧入口，停止链条";
//agvClient_Dbline.FinishEnter("A6");
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.LOW);//上层链条停止
}
else
{
KeepLineRun(IO_Type.RHigh_LineRun);
}
}
}
}
}