PackageLine_BuffShelf.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System.Diagnostics;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class PackageLine
{
/// <summary>
/// 双层线右侧缓存步骤
/// </summary>
public enum RBUFF_TRANVERSE_STEP
{
NONE,
#region 右侧上层工作位到缓存位
/// <summary>
/// 右侧上层缓存位需要料架
/// </summary>
SW2B_R1_GetShelf,
/// <summary>
/// 右侧横移上升
/// </summary>
SW2B_R2_Tranverse_Up,
/// <summary>
/// 右侧横移正传
/// </summary>
SW2B_R3_Tranverse_Run,
/// <summary>
/// 料架到达横移缓存位置
/// </summary>
SW2B_R4_Shelf_To_Buf,
/// <summary>
/// 横移下降
/// </summary>
SW2B_R5_Tranverse_Down,
/// <summary>
/// 料架离开横移
/// </summary>
SW2B_R6_Shelf_Leave_Buf,
#endregion
#region 右侧上层缓存位到工作位
SB2W_R0_None,
/// <summary>
/// 右侧缓存到位
/// </summary>
SB2W_R0_GetShelf,
/// <summary>
/// 右侧工作位需要料架
/// </summary>
SB2W_R1_GetShelf,
/// <summary>
/// 右侧缓存横移上升
/// </summary>
SB2W_R2_Tranverse_Up,
/// <summary>
/// 右侧横移反传
/// </summary>
SB2W_R3_Tranverse_Run,
/// <summary>
/// 料架到达横移工作位位置
/// </summary>
SB2W_R4_Shelf_To_Buf,
/// <summary>
/// 横移下降
/// </summary>
SB2W_R5_Tranverse_Down,
/// <summary>
/// 料架离开横移
/// </summary>
SB2W_R6_Shelf_Leave_Buf,
#endregion
}
public StepInfo<RBUFF_TRANVERSE_STEP> rHBuffTransStep = new StepInfo<RBUFF_TRANVERSE_STEP>(RBUFF_TRANVERSE_STEP.NONE);
private Stopwatch rightNeedWatch = new Stopwatch();
private Stopwatch rightFullWatch = new Stopwatch();
private Stopwatch righWatch = new Stopwatch();
private Stopwatch righBufWatch = new Stopwatch();
private bool rightProcess = false;
private bool rightBufProcess = false;
/// <summary>
/// 右侧上层缓存功能
/// </summary>
private void ProcessRBufferTranverse()
{
//工作位未满，直接放料架过去
if (IOValue(IO_Type.Right_Tranverse_Down_Sig1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Right_Tranverse_Down_Sig2).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.Right_Tranverse_BackRun).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Right_Tranverse_Run).Equals(IO_VALUE.LOW) &&
(IOValue(IO_Type.RHigh_StopCheck1).Equals(IO_VALUE.LOW) || IOValue(IO_Type.RHigh_StopCheck2).Equals(IO_VALUE.LOW)) &&
IOValue(IO_Type.Right_Tranverse_Shelf_Sig).Equals(IO_VALUE.HIGH) && rightProcess.Equals(false) &&
benQInFromOutStep.GetCurStep() >= BenQ_IN_FROM_OUT_STEP.NONE && benQInFromOutStep.GetCurStep() <= BenQ_IN_FROM_OUT_STEP.MANNUAL_SHELF_LEAVE_SUCCESS
)
{
if (LineManager.checkWatch(righWatch, 3000))
{
righWatch.Stop();
//右侧上层需要放个料架
Task.Factory.StartNew(delegate
{
rightProcess = true;
LogUtil.info("右侧双层线_" + "右上工作位未满，放料架离开横移");
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, 30000);
IOMove(IO_Type.Right_Tranverse_StopDown, IO_VALUE.HIGH);
if(IOValue(IO_Type.Right_Buf_Full_Shelf_Sig).Equals(IO_VALUE.HIGH) && rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.NONE))
{
CheckAndMove(IO_Type.Right_Buf_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Right_Buf_Run, IO_VALUE.HIGH, 20000);
IOMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH, 20000);
IOMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.HIGH, 20000);
}
if (WaitIo(IO_Type.Right_Tranverse_Shelf_Sig, IO_VALUE.LOW, 30000, "右侧_上层放料架离开横移"))
{
IOMove(IO_Type.Right_Tranverse_StopDown, IO_VALUE.LOW);
//IOMove(IO_Type.RHigh_LineRun, IO_VALUE.LOW);
}
rightProcess = false;
});
}
}
else
{
righWatch.Stop();
}
if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.NONE))
{
//右侧上层无料架，右侧缓存无料架，缓存线反转30秒
if (IOValue(IO_Type.RHigh_StopCheck2).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Right_Buf_Tranverse_Shelf_Sig).Equals(IO_VALUE.LOW) && rightBufProcess.Equals(false))
{
if (LineManager.checkWatch(righBufWatch, 3000))
{
righBufWatch.Stop();
Task.Factory.StartNew(delegate
{
rightBufProcess = true;
CheckAndMove(IO_Type.Right_Buf_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.Right_Buf_BackRun, IO_VALUE.HIGH);
if (WaitIo(IO_Type.Right_Buf_Full_Shelf_Sig, IO_VALUE.HIGH, 120000, "右侧_上层缓存位反转，检查是否有料架"))
{
IOMove(IO_Type.Right_Buf_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.LOW);
//rHBuffTransStep.Msg = "右侧_上层缓存位有空料架，缓存位反转停止，远横移阻挡上升";
}
rightBufProcess = false;
});
}
}
else
{
righBufWatch.Stop();
}
if (benQInFromOutStep.GetCurStep() >= BenQ_IN_FROM_OUT_STEP.NONE && benQInFromOutStep.GetCurStep() <= BenQ_IN_FROM_OUT_STEP.MANNUAL_SHELF_LEAVE_SUCCESS)//无料架从右侧进入
{
if (IOValue(IO_Type.RHigh_StopCheck2).Equals(IO_VALUE.LOW) && rightProcess.Equals(false) && rightBufProcess.Equals(false))
{
if (IOValue(IO_Type.Right_Buf_Full_Shelf_Sig).Equals(IO_VALUE.HIGH)) //右侧缓存位有料架，工作位无料架
{
if (LineManager.checkWatch(rightFullWatch, 5000, true))
{
//开始料架转移处理
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R0_None);
rHBuffTransStep.Msg = "右侧双层线_" + "料架转移处理：缓存->工作位";
}
}
else if (IOValue(IO_Type.Right_Buf_Tranverse_Shelf_Sig).Equals(IO_VALUE.HIGH))//右侧缓存横移有料架，工作位无料架
{
if (LineManager.checkWatch(rightFullWatch, 5000, true))
{
//开始料架转移处理
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R1_GetShelf);
rHBuffTransStep.Msg = "右侧双层线_" + "料架转移处理：缓存横移->工作位";
}
}
else
{
rightFullWatch.Stop();
}
}
else
{
rightFullWatch.Stop();
}
//右侧工作位有料架，缓存位无料架
if (IOValue(IO_Type.Right_Tranverse_Shelf_Sig).Equals(IO_VALUE.HIGH) && rightBufProcess.Equals(false) && rightProcess.Equals(false))
{
if (IOValue(IO_Type.RHigh_StopCheck1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Right_Buf_Full_Shelf_Sig).Equals(IO_VALUE.LOW))
{
if (LineManager.checkWatch(rightNeedWatch, 5000, true))
{
//开始料架转移处理
CheckAndMove(IO_Type.Right_Buf_BackRun, IO_VALUE.LOW);
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SW2B_R1_GetShelf);
rHBuffTransStep.Msg = "右侧双层线_" + "料架转移处理：工作位->缓存层";
}
}
else
{
rightNeedWatch.Stop();
}
}
else
{
rightNeedWatch.Stop();
}
}
}
RTransBuff2WorkProcess();
RTransWork2BuffProcess();
}
/// <summary>
/// 右侧缓存位到工作位
/// </summary>
void RTransBuff2WorkProcess()
{
if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R0_None))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R0_GetShelf);
rHBuffTransStep.Msg = "右侧缓存料架放到横移上";
//IOMove(IO_Type.Right_Buf_Out_StopDown, IO_VALUE.HIGH, 2000);
CheckAndMove(IO_Type.Right_Buf_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.Right_Buf_BackRun, IO_VALUE.HIGH);
//CheckAndMove(IO_Type.Right_Tranverse_Down, IO_VALUE.HIGH);
// CheckAndMove(IO_Type.Right_Tranverse_Up, IO_VALUE.LOW);
CylinderMove(null, IO_Type.Right_Tranverse_Up, IO_Type.Right_Tranverse_Down);
IOMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.HIGH, 2000);
rHBuffTransStep.AddTimeWait(1000);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Shelf_Sig, IO_VALUE.HIGH);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R0_GetShelf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R1_GetShelf);
rHBuffTransStep.Msg = "右侧缓存料架到达横移上，等待5秒";
rHBuffTransStep.AddTimeWait(5000);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Shelf_Sig, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_InPosition_Sig, IO_VALUE.LOW);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R1_GetShelf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R2_Tranverse_Up);
rHBuffTransStep.Msg = "右侧横移上升";
CheckAndMove(IO_Type.Right_Buf_BackRun, IO_VALUE.LOW);
//CheckAndMove(IO_Type.Right_Tranverse_Down, IO_VALUE.LOW);
//IOMove(IO_Type.Right_Tranverse_Up, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Right_Tranverse_Down, IO_Type.Right_Tranverse_Up);
rHBuffTransStep.AddTimeWait(1000);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up_Sig1, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up_Sig2, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Up_Sig1, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Up_Sig2, IO_VALUE.HIGH);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R2_Tranverse_Up))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R3_Tranverse_Run);
rHBuffTransStep.Msg = "右侧横移电机反转";
CheckAndMove(IO_Type.Right_Tranverse_Run, IO_VALUE.LOW);
IOMove(IO_Type.Right_Tranverse_BackRun, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_BackRun, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Run, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_InPosition_Sig, IO_VALUE.HIGH);
rHBuffTransStep.AddTimeWait(2000);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R3_Tranverse_Run))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R4_Shelf_To_Buf);
rHBuffTransStep.Msg = "料架到达工作横移位置";
IOMove(IO_Type.Right_Tranverse_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Right_Tranverse_Up, IO_VALUE.LOW);
//CheckAndMove(IO_Type.Right_Tranverse_Down, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Right_Tranverse_Up, IO_Type.Right_Tranverse_Down);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_BackRun, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down_Sig1, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down_Sig2, IO_VALUE.HIGH);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R4_Shelf_To_Buf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R5_Tranverse_Down);
rHBuffTransStep.Msg = "右侧横移下降";
CheckAndMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH);
IOMove(IO_Type.Right_Tranverse_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.Right_Buf_Run, IO_VALUE.HIGH, 20000);
IOMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH, 20000);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Shelf_Sig, IO_VALUE.LOW);
//rHBuffTransStep.AddTimeWait(10000);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R5_Tranverse_Down))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SB2W_R6_Shelf_Leave_Buf);
CheckAndMove(IO_Type.Right_Tranverse_StopDown, IO_VALUE.LOW);
rHBuffTransStep.Msg = "料架离开右侧工作位横移";
//rHBuffTransStep.AddTimeWait(10000);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SB2W_R6_Shelf_Leave_Buf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.NONE);
//CheckAndMove(IO_Type.Right_Tranverse_StopDown, IO_VALUE.LOW);
rHBuffTransStep.Msg = "料架移到右侧工作位完成，停止链条";
IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, 30000);
}
}
}
/// <summary>
/// 右侧工作位到缓存位
/// </summary>
void RTransWork2BuffProcess()
{
if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SW2B_R1_GetShelf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SW2B_R2_Tranverse_Up);
rHBuffTransStep.Msg = "右侧横移上升";
// CheckAndMove(IO_Type.Right_Tranverse_Down, IO_VALUE.LOW);
// IOMove(IO_Type.Right_Tranverse_Up, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Right_Tranverse_Down, IO_Type.Right_Tranverse_Up);
rHBuffTransStep.AddTimeWait(1000);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up_Sig1, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up_Sig2, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Up_Sig1, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Up_Sig2, IO_VALUE.HIGH);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SW2B_R2_Tranverse_Up))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SW2B_R3_Tranverse_Run);
rHBuffTransStep.Msg = "右侧横移电机正传";
CheckAndMove(IO_Type.Right_Tranverse_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Right_Tranverse_Run, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_BackRun, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Run, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Shelf_Sig, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_InPosition_Sig, IO_VALUE.HIGH);
rHBuffTransStep.AddTimeWait(2000);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SW2B_R3_Tranverse_Run))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SW2B_R4_Shelf_To_Buf);
rHBuffTransStep.Msg = "料架到达缓存横移位置";
IOMove(IO_Type.Right_Tranverse_Run, IO_VALUE.LOW);
// IOMove(IO_Type.Right_Tranverse_Up, IO_VALUE.LOW);
// CheckAndMove(IO_Type.Right_Tranverse_Down, IO_VALUE.HIGH);
CylinderMove(null, IO_Type.Right_Tranverse_Up, IO_Type.Right_Tranverse_Down);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Run, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Up, IO_VALUE.LOW);
rHBuffTransStep.AddIoWait(IO_Type.Right_Tranverse_Down, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Down_Sig1, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_Down_Sig2, IO_VALUE.HIGH);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SW2B_R4_Shelf_To_Buf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SW2B_R5_Tranverse_Down);
rHBuffTransStep.Msg = "右侧横移下降";
CheckAndMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH);
CheckAndMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.LOW);
CheckAndMove(IO_Type.Right_Buf_BackRun, IO_VALUE.LOW);
IOMove(IO_Type.Right_Buf_Run, IO_VALUE.HIGH);
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Full_Shelf_Sig, IO_VALUE.HIGH);
if (IOValue(IO_Type.Right_Buf_Full_Shelf_Sig).Equals(IO_VALUE.LOW))
{
rHBuffTransStep.AddIoWait(IO_Type.Right_Buf_Tranverse_InPosition_Sig, IO_VALUE.LOW);
}
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SW2B_R5_Tranverse_Down))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.SW2B_R6_Shelf_Leave_Buf);
rHBuffTransStep.Msg = "料架离开右侧缓存横移";
CheckAndMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.HIGH);
rHBuffTransStep.AddTimeWait(30000);
}
}
else if (rHBuffTransStep.IsStep(RBUFF_TRANVERSE_STEP.SW2B_R6_Shelf_Leave_Buf))
{
if (rHBuffTransStep.IsFinished())
{
rHBuffTransStep.ToNextStep(RBUFF_TRANVERSE_STEP.NONE);
rHBuffTransStep.Msg = "料架移到右侧缓存完成，停止链条";
CheckAndMove(IO_Type.Right_Buf_BackRun, IO_VALUE.LOW);
CheckAndMove(IO_Type.Right_Buf_Run, IO_VALUE.LOW);
CheckAndMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH);
CheckAndMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.LOW);
}
}
}
}
}