PackageLine_PkgStation.cs
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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 PackageLine
{
public StepInfo<PKG_STATION_STEP> pkgStationStep = new StepInfo<PKG_STATION_STEP>(PKG_STATION_STEP.NONE);
/// <summary>
/// 包装料架工位
/// </summary>
public enum PKG_STATION_STEP
{
NONE,
/// <summary>
/// 等待料架
/// </summary>
WAIT_SHELF,
/// <summary>
/// 等待料架进入工位
/// </summary>
WAIT_SHELF_TO_STATION,
/// <summary>
/// 等待读取RFID
/// </summary>
READ_RFID,
/// <summary>
/// 等待顶升上升
/// </summary>
WAIT_STATION_UP,
/// <summary>
/// 等待机器人抓取
/// </summary>
WAIT_ROBOT,
/// <summary>
/// 料架已空
/// </summary>
SHELF_EMPTY,
/// <summary>
/// 等待顶升下降
/// </summary>
WAIT_STATION_DOWN,
/// <summary>
/// 去空料架位置（线体右侧）
/// </summary>
TO_EMPTY_STATION,
}
/// <summary>
/// 包装线工位
/// </summary>
private void ProcessPkgStation()
{
if (pkgStationStep.IsStep(PKG_STATION_STEP.NONE))
{
bool hasPkgShelf = IOValue(IO_Type.Pkg_Station_Check).Equals(IO_VALUE.HIGH);
if (hasPkgShelf)
{
pkgStationStep.Msg = "包装线已有料架，等待读取RFID";
pkgStationStep.ToNextStep(PKG_STATION_STEP.READ_RFID);
}
else
{
pkgStationStep.Msg = "包装线无料架,等待料架进入";
pkgStationStep.ToNextStep(PKG_STATION_STEP.WAIT_SHELF);
}
}
else if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_SHELF))
{
bool hasWaitShelf = IOValue(IO_Type.Pkg_Stop_Check2).Equals(IO_VALUE.HIGH);
//有等待的料架
if (hasWaitShelf)
{
pkgStationStep.Msg = "包装线等待位发现料架, 将其送入工位";
pkgStationStep.ToNextStep(PKG_STATION_STEP.WAIT_SHELF_TO_STATION);
pkgStationStep.AddIoWait(IO_Type.Pkg_Station_Check, IO_VALUE.HIGH,3000);
//IOMove(IO_Type.Pkg_Line1_Forward, IO_VALUE.HIGH);
IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.HIGH);
IOMove(IO_Type.Pkg_Stop2_Down, IO_VALUE.HIGH, 2000);
}
}
else if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_SHELF_TO_STATION))
{
if (pkgStationStep.IsFinished())
{
pkgStationStep.Msg = "包装线料架到达工位,停止线体1和2，等待读取RFID";
pkgStationStep.ToNextStep(PKG_STATION_STEP.READ_RFID);
IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.LOW);
}
else
{
bool line2Stop = IOValue(IO_Type.Pkg_Line2_Forward).Equals(IO_VALUE.LOW);
if (line2Stop)
{
LogUtil.info("包装线线体2已停止，但料架还未到达工位,重新启动");
IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.HIGH);
}
}
}
else if (pkgStationStep.IsStep(PKG_STATION_STEP.READ_RFID))
{
if (pkgStationStep.IsTimeOut(1000))
{
//1秒读取1次
PkgShelfRFID = "";
string rfid = RFIDManager.ReadRFID(Config.Pkg_Rfid, true).NumStr();
if (rfid.Contains("A"))
{
pkgStationStep.Msg = "包装线读取到RFID[" + rfid + "], 工位顶升";
pkgStationStep.ToNextStep(PKG_STATION_STEP.WAIT_STATION_UP);
pkgStationStep.AddIoWait(IO_Type.Pkg_Station_Down, IO_VALUE.LOW);
pkgStationStep.AddIoWait(IO_Type.Pkg_Station_Up, IO_VALUE.HIGH);
PkgShelfRFID = rfid;
//包装线体工位上升
CylinderMove(null, IO_Type.Pkg_Station_SOL_Down, IO_Type.Pkg_Station_SOL_UP);
}
else
{
pkgStationStep.Msg = "包装线读取到的RFID数据[" + rfid + "]错误";
pkgStationStep.ToNextStep(PKG_STATION_STEP.READ_RFID);
}
}
}
else if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_STATION_UP))
{
if (pkgStationStep.IsFinished())
{
pkgStationStep.Msg = "包装线工位顶升到位,等待机器人抓取[" + PkgShelfRFID + "]";
pkgStationStep.ToNextStep(PKG_STATION_STEP.WAIT_ROBOT);
}
}else if (pkgStationStep.IsStep(PKG_STATION_STEP.SHELF_EMPTY))
{
pkgStationStep.Msg = "包装线工位料架[" + PkgShelfRFID + "]已空，下降顶升，准备放行";
pkgStationStep.ToNextStep(PKG_STATION_STEP.WAIT_STATION_DOWN);
pkgStationStep.AddIoWait(IO_Type.Pkg_Station_Down, IO_VALUE.HIGH);
pkgStationStep.AddIoWait(IO_Type.Pkg_Station_Up, IO_VALUE.LOW);
//包装线体工位下降
CylinderMove(null, IO_Type.Pkg_Station_SOL_UP, IO_Type.Pkg_Station_SOL_Down);
}
else if (pkgStationStep.IsStep(PKG_STATION_STEP.WAIT_STATION_DOWN))
{
if (pkgStationStep.IsFinished())
{
pkgStationStep.Msg = "包装线工位料架[" + PkgShelfRFID + "]顶升下降到位，开始放行";
pkgStationStep.ToNextStep(PKG_STATION_STEP.TO_EMPTY_STATION);
pkgStationStep.AddIoWait(IO_Type.Pkg_Out_Stop_Check, IO_VALUE.HIGH);
pkgStationStep.AddIoWait(IO_Type.Pkg_Rotot_Forbidden_Check, IO_VALUE.HIGH);
pkgStationStep.AddTimeWait(20000);
IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.HIGH);
IOMove(IO_Type.Pkg_Line3_Forward, IO_VALUE.HIGH);
IOMove(IO_Type.Pkg_Station_Stop_Down, IO_VALUE.HIGH, 3000);
IOMove(IO_Type.Pkg_Stop2_Down, IO_VALUE.HIGH, 3000);
}
}else if (pkgStationStep.IsStep(PKG_STATION_STEP.TO_EMPTY_STATION))
{
if (pkgStationStep.IsFinished())
{
pkgStationStep.Msg = "包装线工位料架[" + PkgShelfRFID + "放行完成";
PkgShelfRFID = "";
//IOMove(IO_Type.Pkg_Line2_Forward, IO_VALUE.LOW);
//IOMove(IO_Type.Pkg_Line3_Forward, IO_VALUE.LOW);
pkgStationStep.ToNextStep(PKG_STATION_STEP.NONE);
agvA4Step.ToNextStep(AGV_LEAVE_A4_STEP.WAIT_TO_EXIT);
}
}
}
}
}