BoxEquip_OutExecute_Partial.cs
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using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary.deviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
namespace OnlineStore.DeviceLibrary
{
partial class BoxEquip
{
#region 出库
private void OutstoreExecute_BothSide()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.SOB_14_GetReels_Ready:
//两侧已有同尺寸的料
MoveInfo.NextMoveStep(StepEnum.SOB_14_GetReels_Ready1);
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]取料完成，准备送往出料口，料屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
//MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P4_P10();
// BuffAreaOutstoreDoor(true);
break;
case StepEnum.SOB_14_GetReels_Ready1:
if (!CheckBothReel(true))
{
if (isAlarmForkCheck())
SetCriticalMsg($"运动过程中两面的料叉丢失料盘信号【{MoveInfo.MoveParam?.PosInfo?.barcode}】【{MoveInfo.MoveParam?.PosInfoBack?.barcode}】，请检查");
return;
}
SetWarnMsg("");
//两侧已有同尺寸的料
MoveInfo.NextMoveStep(StepEnum.SOB_15_ToBufferArea);
ignoreCurFork = false;
checkForkCnt = 0;
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]取料完成，准备送往出料口。行走机构到待机点P1");
MoveAxisToP1();
//PullAxis_UpdownToP1();
// UpdownAxisTo_P4_P10();
BuffAreaOutstoreDoor(true);
ForkCheckWhenRunning();
break;
case StepEnum.SOB_15_ToBufferArea:
if (!BothOutDoorCheck(MoveInfo.MoveParam))
{
SetWarnMsg($"出库 {MoveInfo.SLog}：出料口有其他料盘，无法放置料盘[barcode={MoveInfo.MoveParam.PosInfo.barcode}][barcode={MoveInfo.MoveParam.PosInfoBack.barcode}]");
}
else
{
MoveInfo.NextMoveStep(StepEnum.SOB_16_VerifyBufferState);
BuffAreaOutstoreDoor(true);
StopForkCheck();
LogInfo($"出库 {MoveInfo.SLog}：出料口无料盘确认，打开出料防护门，准备放料[barcode={MoveInfo.MoveParam.PosInfo.barcode}][barcode={MoveInfo.MoveParam.PosInfoBack.barcode}]");
}
break;
case StepEnum.SOB_16_VerifyBufferState:
if (!CheckInputMiddleAxisInBuff())
{
MoveInfo.NextMoveStep(StepEnum.SOB_17_InOutToBuff);
SetBoxStatus(DeviceStatus.OutStoreBoxEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
LogInfo($"出库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2,行走机构到进出料机构取放点P2");
BothXAxis_To_P2();
MoveAxisToP2();
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break;
case StepEnum.SOB_17_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SOB_18_ReleaseReel);
LogInfo($"出库 {MoveInfo.SLog}：松开料盘，移栽压紧轴到压紧前点P2");
BothComAxis_To_P2();
break;
case StepEnum.SOB_18_ReleaseReel:
MoveInfo.NextMoveStep(StepEnum.SOB_18_PutReel);
LogInfo($"出库 {MoveInfo.SLog}：放料盘，移栽升降轴到下暂存区放料低点P5/P11");
executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
SetBoxStatus(DeviceStatus.OutStoreBoxEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfoBack.PosId, MoveInfo.MoveParam.PosInfoBack.barcode);
UpdownAxisTo_P5_P11();
break;
case StepEnum.SOB_18_PutReel:
MoveInfo.NextMoveStep(StepEnum.SOB_19_InOutBackFromBuff);
LogInfo($"出库 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}]出库完成[耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒],移栽X轴到待机点P1,行走机构到待机点P1");
BothXAxis_To_P1();
MoveAxisToP1();
break;
case StepEnum.SOB_19_InOutBackFromBuff:
if (!CheckBothReel(false))
{
if (isAlarmForkCheck())
SetCriticalMsg($"放完料盘后，两面料叉上还能检测到料盘【{MoveInfo.MoveParam?.PosInfo?.barcode}】【{MoveInfo.MoveParam?.PosInfoBack?.barcode}】，请检查");
return;
}
if (!StoreManager.XLRStore.boxEquip.SendStoreState(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode, DeviceStatus.OutStoreBoxEnd))
return;
if (!StoreManager.XLRStore.boxEquip.SendStoreState(MoveInfo.MoveParam.PosInfoBack.PosId, MoveInfo.MoveParam.PosInfoBack.barcode, DeviceStatus.OutStoreBoxEnd))
return;
SetWarnMsg("");
//出库料盘放置成功，将料盘信息写入对应出料口
if (CheckASide())
{
BufferDataManager.AOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
BufferDataManager.BOutStoreInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
}
else
{
BufferDataManager.BOutStoreInfo = MoveInfo.MoveParam.PosInfo.ToCopy();
BufferDataManager.AOutStoreInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
}
MoveInfo.NextMoveStep(StepEnum.SOB_20_Finish);
BuffAreaOutstoreDoor(false);
checkForkCnt = 0;
ignoreCurFork = false;
LogInfo($"出库 {MoveInfo.SLog}：关闭出料防护门，出库结束");
recentOutstores.Push(MoveInfo.MoveParam.PosInfo.PosId);
recentOutstores.Push(MoveInfo.MoveParam.PosInfoBack.PosId);
LogInfo($"{recentOutstores}");
break;
case StepEnum.SOB_20_Finish:
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
//停止记录
StopRecord();
Alarm(AlarmType.None);
AutoInout.InOutEndProcess(this, MoveType.OutStore);
break;
}
}
#endregion
}
}