DoubleLineBean_bufShelf.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class DoubleLineBean
{
#region 缓存线运行
private Stopwatch leftFullWatch = new Stopwatch();
private Stopwatch leftNeedWatch = new Stopwatch();
private Stopwatch leftWatch = new Stopwatch();
private bool LeftProcess = false;
private bool LeftBufBackProcess = false;
/// <summary>
/// 检查工作位料架
/// </summary>
private void WorkShelfCheck()
{
//工作位未满，直接放料架过去
if (IOValue(IO_Type.Left_Tranverse_Down_Sig1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Left_Tranverse_Down_Sig2).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.Left_Tranverse_BackRun).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Left_Tranverse_Run).Equals(IO_VALUE.LOW) &&
(IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW) || IOValue(IO_Type.LHigh_StopCheck1).Equals(IO_VALUE.LOW)) &&
IOValue(IO_Type.Left_Tranverse_Shelf_Sig).Equals(IO_VALUE.HIGH) && LeftProcess.Equals(false)
)
{
if (LineManager.checkWatch(leftWatch, 3000))
{
leftWatch.Stop();
//左侧上层需要放个料架
Task.Factory.StartNew(delegate
{
LeftProcess = true;
MoveInfo.Msg = ("左侧双层线_" + "左上工作位未满，放料架离开横移");
IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH, 30000);
CheckAndMove(IO_Type.Left_Buf_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Left_Buf_Run, IO_VALUE.HIGH, 10000);
IOMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH,10000);
IOMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.HIGH, 5000);
IOMove(IO_Type.Left_Tranverse_StopDown, IO_VALUE.HIGH, 3000);
//if (WaitIo(IO_Type.LHigh_StopCheck1, IO_VALUE.HIGH, 30000, "左侧_上层放料架离开横移"))
//{
//}
LeftProcess = false;
});
}
}
else
{
leftWatch.Stop();
}
//左侧工作位有料架
if (
IOValue(IO_Type.Left_Tranverse_Down_Sig1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Left_Tranverse_Down_Sig2).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.Left_Tranverse_BackRun).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Left_Tranverse_Run).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.Left_Buf_Tranverse_InPosition_Sig).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Left_Buf_Tranverse_Shelf_Sig).Equals(IO_VALUE.LOW)&&
IOValue(IO_Type.Left_Tranverse_Shelf_Sig).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.LHigh_StopCheck1).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.Left_Buf_Full_Shelf_Sig).Equals(IO_VALUE.LOW))
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && LineManager.checkWatch(leftFullWatch, 3000, true))
{
MoveInfo.Msg = ("左侧双层线_" + "上层工作位满，缓存位未满 开始料架转移处理");
//开始料架转移处理
MoveInfo.NewMove(LineMoveType.LTransWork2Buf, MoveStep.SW2B_L1_GetShelf);
}
}
else
{
leftFullWatch.Stop();
}
}
else
{
leftFullWatch.Stop();
}
if (IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW))
{
if (IOValue(IO_Type.Left_Buf_Full_Shelf_Sig).Equals(IO_VALUE.HIGH))//左侧缓存位有料架，工作位无料架
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && LineManager.checkWatch(leftNeedWatch, 3000, true))
{
MoveInfo.Msg = ("左侧双层线_" + "上层工作位需要料架，且缓存位有料架 开始料架转移处理");
//开始料架转移处理
MoveInfo.NewMove(LineMoveType.LTransBuf2Work, MoveStep.SB2W_L0_None);
}
}
else if (IOValue(IO_Type.Left_Buf_Full_Shelf_Sig).Equals(IO_VALUE.HIGH))//左侧缓存横移有料架，工作位无料架
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && LineManager.checkWatch(leftNeedWatch, 3000, true))
{
MoveInfo.Msg = ("左侧双层线_" + "上层工作位需要料架，且缓存横移上有料架 开始料架转移处理");
//开始料架转移处理
MoveInfo.NewMove(LineMoveType.LTransBuf2Work, MoveStep.SB2W_L1_GetShelf);
}
}
else if(!LeftBufBackProcess && LineManager.checkWatch(leftNeedWatch, 3000, true))//左侧缓存位无料架，工作位无料架
{
leftNeedWatch.Stop();
Task.Factory.StartNew(delegate
{
LeftBufBackProcess = true;
CheckAndMove(IO_Type.Left_Buf_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.Left_Buf_BackRun, IO_VALUE.HIGH);
if (WaitIo(IO_Type.Left_Buf_Full_Shelf_Sig, IO_VALUE.HIGH, 120000, "左侧_上层缓存位反转，检查是否有料架"))
{
IOMove(IO_Type.Left_Buf_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.LOW);
//LogUtil.info("左侧_上层缓存位有空料架，缓存位反转停止，远横移阻挡上升");
}
LeftBufBackProcess = false;
});
}
}
else
{
leftNeedWatch.Stop();
}
}
/// <summary>
/// 左侧缓存位到工作位
/// </summary>
internal void LTransBuff2WorkProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L0_None))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L0_GetShelf);
//IOMove(IO_Type.Left_Buf_Out_StopDown, IO_VALUE.HIGH, 2000);
CheckAndMove(IO_Type.Left_Buf_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.Left_Buf_BackRun, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Type.Left_Tranverse_Up, IO_Type.Left_Tranverse_Down);
//CheckAndMove(IO_Type.Left_Tranverse_Up, IO_VALUE.LOW);
// CheckAndMove(IO_Type.Left_Tranverse_Down, IO_VALUE.HIGH);
IOMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.HIGH, 2000);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Shelf_Sig, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.Msg = "链条反转，横移下降，近端阻挡下降2s，左侧缓存料架放到横移上";
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L0_GetShelf))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L1_GetShelf);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Shelf_Sig, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_InPosition_Sig, IO_VALUE.LOW));
MoveInfo.Msg = " 左侧缓存料架到达横移上，等待5秒";
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L1_GetShelf))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L2_Tranverse_Up);
CheckAndMove(IO_Type.Left_Buf_BackRun, IO_VALUE.LOW);
CheckAndMove(IO_Type.Left_Buf_Run, IO_VALUE.LOW);
//CheckAndMove(IO_Type.Left_Tranverse_Down, IO_VALUE.LOW);
//IOMove(IO_Type.Left_Tranverse_Up, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Type.Left_Tranverse_Down, IO_Type.Left_Tranverse_Up);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up_Sig1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up_Sig2, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Up_Sig1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Up_Sig2, IO_VALUE.HIGH));
MoveInfo.Msg = " 左侧横移上升";
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L2_Tranverse_Up))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L3_Tranverse_Run);
MoveInfo.Msg = " 左侧横移电机反转";
CheckAndMove(IO_Type.Left_Tranverse_Run, IO_VALUE.LOW);
IOMove(IO_Type.Left_Tranverse_BackRun, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_BackRun, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Run, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_InPosition_Sig, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L3_Tranverse_Run))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L4_Shelf_To_Buf);
MoveInfo.Msg = "料架到达工作横移位置";
IOMove(IO_Type.Left_Tranverse_BackRun, IO_VALUE.LOW);
//IOMove(IO_Type.Left_Tranverse_Up, IO_VALUE.LOW);
// CheckAndMove(IO_Type.Left_Tranverse_Down, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Type.Left_Tranverse_Up, IO_Type.Left_Tranverse_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_BackRun, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Down_Sig1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Down_Sig2, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L4_Shelf_To_Buf))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L5_Tranverse_Down);
MoveInfo.Msg = "左侧横移下降";
IOMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH,20000);
IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH);
IOMove(IO_Type.Left_Buf_Run, IO_VALUE.HIGH, 20000);
IOMove(IO_Type.Left_Tranverse_StopDown, IO_VALUE.HIGH,5000);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Shelf_Sig, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(20000));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L5_Tranverse_Down))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L6_Shelf_Leave_Buf);
MoveInfo.Msg = "料架离开左侧工作位横移";
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SB2W_L6_Shelf_Leave_Buf))
{
MoveInfo.NextMoveStep(MoveStep.SB2W_L7_Tranverse_Finish);
CheckAndMove(IO_Type.LHigh_LineRun, IO_VALUE.LOW);
MoveInfo.Msg = "料架移到左侧工作位完成，停止链条";
MoveInfo.EndMove();
}
}
/// <summary>
/// 左侧工作位到缓存位
/// </summary>
internal void LTransWork2BuffProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(MoveStep.SW2B_L1_GetShelf))
{
MoveInfo.NextMoveStep(MoveStep.SW2B_L2_Tranverse_Up);
// CheckAndMove(IO_Type.Left_Tranverse_Down, IO_VALUE.LOW);
//IOMove(IO_Type.Left_Tranverse_Up, IO_VALUE.HIGH);
CylinderMove(MoveInfo, IO_Type.Left_Tranverse_Down, IO_Type.Left_Tranverse_Up);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Down, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up_Sig1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up_Sig2, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Up_Sig1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Up_Sig2, IO_VALUE.HIGH));
MoveInfo.Msg = " 左侧横移上升";
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SW2B_L2_Tranverse_Up))
{
MoveInfo.NextMoveStep(MoveStep.SW2B_L3_Tranverse_Run);
MoveInfo.Msg = " 左侧横移电机正转";
CheckAndMove(IO_Type.Left_Tranverse_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Left_Tranverse_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_BackRun, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Run, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_InPosition_Sig, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SW2B_L3_Tranverse_Run))
{
MoveInfo.NextMoveStep(MoveStep.SW2B_L4_Shelf_To_Buf);
MoveInfo.Msg = "料架到达缓存横移位置";
IOMove(IO_Type.Left_Tranverse_Run, IO_VALUE.LOW);
IOMove(IO_Type.Left_Tranverse_Up, IO_VALUE.LOW);
CylinderMove(MoveInfo, IO_Type.Left_Tranverse_Up, IO_Type.Left_Tranverse_Down);
// CheckAndMove(IO_Type.Left_Tranverse_Down, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Run, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Up, IO_VALUE.LOW));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Tranverse_Down, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Down_Sig1, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_Down_Sig2, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SW2B_L4_Shelf_To_Buf))
{
if (IOValue(IO_Type.Left_Buf_Full_Shelf_Sig).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.SW2B_L5_Tranverse_Down);
MoveInfo.Msg = "左侧横移下降";
CheckAndMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH);
CheckAndMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.LOW);
CheckAndMove(IO_Type.Left_Buf_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Left_Buf_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Tranverse_InPosition_Sig, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Left_Buf_Full_Shelf_Sig, IO_VALUE.HIGH));
}
else
{
CheckAndMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH);
CheckAndMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.LOW);
MoveInfo.Msg = " 左侧缓存已满，无法将料架运离横移，结束处理";
MoveInfo.EndMove();
}
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SW2B_L5_Tranverse_Down))
{
MoveInfo.NextMoveStep(MoveStep.SW2B_L6_Shelf_Leave_Buf);
MoveInfo.Msg = "料架离开左侧缓存横移";
CheckAndMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.HIGH, 10000);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else if (MoveInfo.MoveStep.Equals(MoveStep.SW2B_L6_Shelf_Leave_Buf))
{
MoveInfo.NextMoveStep(MoveStep.SW2B_L7_Tranverse_Finish);
CheckAndMove(IO_Type.Left_Buf_BackRun, IO_VALUE.LOW);
CheckAndMove(IO_Type.Left_Buf_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH);
CheckAndMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.LOW);
MoveInfo.Msg = "料架移到左侧缓存完成，停止链条";
MoveInfo.EndMove();
}
}
#endregion
}
}