HY_SLStation.cs
21.6 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
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
{
/// <summary>
/// 此类对应上料工位横移：HY2,HY3
/// </summary>
public class HY_SLStation : HYEquipBase
{
public HY_SLStation(string cid, HYEquip_Config config) : base(cid, config)
{
Name = ("横移" + (DeviceID % 100).ToString().PadLeft(2, '0')).ToUpper();
MoveInfo.Name = Name;
SecondMoveInfo.Name = Name;
}
public override bool StartRun(bool isDebug = false)
{
if (CanStartRun().Equals(false))
{
return false;
}
mainTimer.Enabled = false;
MoveInfo.EndMove();
runStatus = LineRunStatus.HomeMoving;
MoveInfo.NewMove(LineMoveType.RHome);
StartReset();
if (isDebug)
{
mainTimer.Enabled = true;
}
return true;
}
public override bool Reset()
{
StopMove();
runStatus = LineRunStatus.Reset;
MoveInfo.NewMove(LineMoveType.Reset);
StartReset();
return true;
}
private void StartReset()
{
StartEquip();
ResetClearData();
SecondMoveInfo.EndMove();
MoveInfo.NextMoveStep(LineMoveStep.HY_R_01StopMove);
LogInfo("开始复位，横移线体停止 ");
LineStop(MoveInfo);
if (IsHY2() &&IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
JackingDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
}
isInPro = false;
}
protected override void ResetProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
if (MoveInfo.IsStep(LineMoveStep.HY_R_01StopMove))
{
MoveInfo.NextMoveStep(LineMoveStep.HY_R_02StopMove);
if (IsHY2())
{
LogInfo("顶升上升");
JackingUp(MoveInfo);
}
else
{
StopUp(MoveInfo);
JackingDown(MoveInfo);
FrontStopUp(1, MoveInfo);
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH))
{
FrontStopUp(2, MoveInfo);
LogInfo("前阻挡1位置有容器，顶升下降,前阻挡1、2上升，前阻挡3下降");
}
else
{
FrontStopDown(2, MoveInfo);
LogInfo("前阻挡1位置无容器，顶升下降,前阻挡1上升，前阻挡3下降");
}
FrontStopDown(3, MoveInfo);
}
isInPro = false;
}
else if (MoveInfo.IsStep(LineMoveStep.HY_R_02StopMove))
{
LogInfo("完成！");
MoveEndS();
}
}
}
private bool IsHY2()
{
return DeviceID.Equals(202);
}
internal override void StopMove(string stopDes = "")
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogInfo("停止运动：关闭所有DO ");
CloseAllDO();
//LineStop();
//CylinderMove( null , IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
//LocationCylinderDown(null);
}
public override void StopRun()
{
if (mainTimer != null)
{
mainTimer.Enabled = false;
}
StopMove();
StopEquip();
runStatus = LineRunStatus.Wait;
}
private Stopwatch trayCheckWait = new Stopwatch();
private Stopwatch trayCheckLowWait = new Stopwatch();
private Stopwatch trayCheckFrontWait = new Stopwatch();
private Stopwatch trayCheckFrontLowWait = new Stopwatch();
private void stopWatchCheck()
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckLowWait.Stop();
CheckStopWatch(trayCheckWait, 30000, false);
}
else
{
trayCheckWait.Stop();
CheckStopWatch(trayCheckLowWait, 30000, false);
}
if (!IsHY2())
{
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH))
{
trayCheckFrontLowWait.Stop();
CheckStopWatch(trayCheckFrontWait, 30000, false);
}
else
{
trayCheckFrontWait.Stop();
CheckStopWatch(trayCheckFrontLowWait, 30000, false);
}
}
}
protected override void BaseTimerProcess()
{
if (isInSuddenDown || isNoAirCheck)
{
return;
}
IOTimeOutProcess();
stopWatchCheck();
if ((!MoveStop))
{
//判断流水线打开了才可以运行
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (LineManager.Line?.CanProcessLine() ?? false)
{
CheckBox();
}
if (IsHY2() && !LineManager.IsFeedingHasBox() && IOValue(IO_Type.Jacking_UpCheck).Equals(IO_VALUE.LOW))
{
CheckAndMove(IO_Type.Jacking_Up, IO_VALUE.LOW);
CheckAndMove(IO_Type.Jacking_Down, IO_VALUE.HIGH);
}
}
else
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
if (IsHY2())
{
containerArrived = true;
}
}
if (MoveInfo.MoveType.Equals(LineMoveType.RHome) || MoveInfo.MoveType.Equals(LineMoveType.Reset))
{
ResetProcess();
}
else
{
BoxProcess();
}
}
}
}
private void CheckBox()
{
{
try
{
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
LogUtil.error(Name + " CheckBox " + " 不在空闲中，直接返回 ");
return;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
if (Config.IsSideWayIn)//横移3
{
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY33_UpdateBoxInfo);
UpdateContainerCode();
LogInfo(" 获取容器信息");
HY33_GetBoxInfo();
}
}
}
else
{
bool check2IsOk = CheckStopWatch(trayCheckLowWait, TrayWaitTime, false);
if (Config.IsSideWayIn)//横移3
{
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Jacking_DownCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckFrontWait, TrayWaitTime, true) && check2IsOk)
{
//托盘在第一个阻挡处
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY30_FrontStop2Up);
LogInfo("前阻挡1检测到容器，前阻挡2上升，横移下降");
FrontStopUp(2, MoveInfo);
JackingDown(MoveInfo);
}
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " CheckBox " + " 出错：" + ex.ToString());
}
}
}
void HY33_GetBoxInfo()
{
UpdateContainerCode();
}
protected override void BoxProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 横移3入口箱子处理
if (MoveInfo.IsStep(LineMoveStep.HY30_FrontStop2Up))
{
if (IOValue(IO_Type.FrontStop1_BoxCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(LineMoveStep.HY31_FrontStop1Down);
LogInfo(" 容器准备流入横移，前阻挡1下降");
FrontStopDown(1, MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo("未等到信号 横移3前阻挡1物料检测亮且横移物料检测灭， 结束处理 ");
MoveEndS();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY31_FrontStop1Down))
{
MoveInfo.NextMoveStep(LineMoveStep.HY32_WaitBoxInPos);
LogInfo(" 等待容器到位");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.IsStep(LineMoveStep.HY32_WaitBoxInPos))
{
MoveInfo.NextMoveStep(LineMoveStep.HY33_UpdateBoxInfo);
FrontStopUp(1, MoveInfo);
FrontStopDown(2, MoveInfo);
LogInfo("容器到位，前阻挡1上升，前阻挡2下降，更新容器信息");
HY33_GetBoxInfo();
}
else if (MoveInfo.IsStep(LineMoveStep.HY33_UpdateBoxInfo))
{
MoveInfo.NextMoveStep(LineMoveStep.HY34_GetBoxInfo);
LogInfo(" 获取容器信息");
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (trayInfo?.InOrOutStore == ContainerType.InStore)//入库
{
JackingDown(MoveInfo);
}
else
{
JackingUp(MoveInfo);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY34_GetBoxInfo))
{
MoveInfo.NextMoveStep(LineMoveStep.HY35_CheckDownriver);
LogInfo(" 检查下游状态");
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (trayInfo?.InOrOutStore == ContainerType.InStore)//入库
{
JackingDown(MoveInfo);
}
else
{
JackingUp(MoveInfo);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY35_CheckDownriver))
{
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (trayInfo?.InOrOutStore == ContainerType.InStore)//入库
{
if (IsDischargeIdle())
{
MoveInfo.NextMoveStep(LineMoveStep.HY36_ReleaseBox);
ClearSpecifiedWarnMsg("等待出料工位空闲超时");
LogInfo(" 容器向出料工位流转");
FrontStopUp(1, MoveInfo);
StopDown(MoveInfo);
LineManager.StartDisChargeMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsTimeOut(30))
{
SetWarnMsg("等待出料工位空闲超时");
}
}
else
{
EquipBase equipBase = GetOutEquip();
if (equipBase != null && equipBase.IsIdle())
{
MoveInfo.NextMoveStep(LineMoveStep.HY36_ReleaseBox);
LineRun(MoveInfo);
ClearSpecifiedWarnMsg("等待横移4空闲超时");
LogInfo(" 容器向横移流转");
equipBase.StartMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MoveInfo.IsTimeOut(30))
{
SetWarnMsg("等待横移4空闲超时");
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY36_ReleaseBox))
{
ContainerInfo trayInfo = ContainerManager.GetTrayInfo(CurContainerId);
if (trayInfo?.InOrOutStore == ContainerType.InStore)//入库
{
if (BoxReachDischarge())
{
MoveInfo.NextMoveStep(LineMoveStep.HY37_ReleaseOK);
ClearSpecifiedWarnMsg("容器流转到出料工位超时");
LogInfo(" 箱子流转到出料工位");
StopUp(MoveInfo);
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg("容器流转到出料工位超时");
}
}
else
{
EquipBase equipBase = GetOutEquip();
if (equipBase != null && equipBase.IsContainerArrived())
{
MoveInfo.NextMoveStep(LineMoveStep.HY37_ReleaseOK);
ClearSpecifiedWarnMsg("等待横移4空闲超时");
LogInfo(" 容器流转到横移4,顶升下降");
JackingDown(MoveInfo);
}
else if (MoveInfo.IsTimeOut(15))
{
SetWarnMsg("容器流转到横移4超时");
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY37_ReleaseOK))
{
LineStop(MoveInfo);
MoveEndS();
}
#endregion
#region 横移2出口箱子处理
else if (MoveInfo.IsStep(LineMoveStep.HY20_LineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.HY21_WaitBoxCheck);
LogInfo($"等待容器到位");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsStep(LineMoveStep.HY21_WaitBoxCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.HY22_JackingDown);
LogInfo($"容器到位,停止链条，顶升下降");
LineStop(MoveInfo);
JackingDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY22_JackingDown))
{
MoveInfo.NextMoveStep(LineMoveStep.HY23_WaitBoxLeave);
LogInfo($"等待容器流走");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsStep(LineMoveStep.HY23_WaitBoxLeave))
{
MoveInfo.NextMoveStep(LineMoveStep.HY24_JackingUp);
if (LineManager.IsFeedingHasBox())
{
LogInfo($"入料工位有容器，顶升不动作");
}
else
{
LogInfo($"入料工位无容器，顶升上升");
JackingUp(MoveInfo);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY24_JackingUp))
{
ClearTrayRFID();
MoveEndS();
}
else
{
LogUtil.error(Name + "BoxProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
}
#endregion
}
/// <summary>
/// 出料工位是否空闲
/// </summary>
/// <returns></returns>
bool IsDischargeIdle()
{
return LineManager.IsDisChargeIdle();
}
bool BoxReachDischarge()
{
return LineManager.Line?.AllEquipMap[102]?.IsContainerArrived() ?? false;
}
/// <summary>
/// 横移2
/// </summary>
/// <param name="type"></param>
/// <returns></returns>
public override bool IsIdle(int type)
{
if (!IsHY2())
return true;
//if (Monitor.TryEnter(lockObj, ContainerManager.mTimeOut))
{
try
{
if (MoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
return false;
}
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.LOW))
{
if (CheckStopWatch(trayCheckLowWait, TrayWaitTime, false))
{
if (IsHY2())
{
if (type == 1)
return true;
if (type == 0)
return IOValue(IO_Type.Jacking_UpCheck).Equals(IO_VALUE.HIGH);
}
}
}
}
}
catch (Exception ex)
{
LogUtil.error(Name + " IsIdle " + " 出错：" + ex.ToString());
}
finally
{
// Monitor.Exit(lockObj);
}
return false;
}
//else
//{
// return false;
//}
}
public override bool BoxCheck()
{
if (IOValue(IO_Type.HY_BoxCheck).Equals(IO_VALUE.HIGH))//入口横移执行
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, true))
{
return true;
}
}
return false;
}
/// <summary>
/// 箱子从上游横移流入
/// 0：从横移
/// 1：从入料工位
/// </summary>
/// <param name="type"></param>
public override void StartMove(int type = 0)
{
ResetContarinerArrivedState();
switch (type)
{
case 0://从横移
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY20_LineRun);
LogInfo("容器检测,电机运转");
LineRun(MoveInfo);
break;
case 1://从入料工位
MoveInfo.NewMove(LineMoveType.Box);
runStatus = LineRunStatus.Busy;
MoveInfo.NextMoveStep(LineMoveStep.HY22_JackingDown);
LogInfo($"顶升下降，等待容器流过");
JackingDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_BoxCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
break;
}
}
}
}