MainMachine _MiddleProcess.cs
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using OnlineStore;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Threading;
using OnlineStore.Common.util;
using Newtonsoft.Json;
namespace DeviceLibrary
{
partial class MainMachine
{
void MiddleProcess()
{
if (CheckWait(MiddleMoveInfo))
return;
switch (MiddleMoveInfo.MoveStep)
{
case MoveStep.M_Standby:
//如果右侧可取料那么那么移动轴到p2点，夹爪释放。获取右侧的标签信息，右侧标签信息复位，否则等待
if (RightMoveInfo.MoveStep == MoveStep.R10_WaitReelLeave)
{
PlwHight = 0;
MiddleMoveInfo.NextMoveStep(MoveStep.M02);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P2, Config.Take_Middle_P2_speed);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P2, Config.Take_UpDown_P2_speed);
clampTool.Release();
//复制右侧料盘信息
MiddleMoveInfo.MoveParam = RightMoveInfo.MoveParam.clone();
addParam(MiddleMoveInfo.MoveParam);
RightMoveInfo.MoveParam = new LabelParam() { PreUID = MiddleMoveInfo.MoveParam.UID};
MiddleMoveInfo.log($"右侧可以取料,旋转轴/上下轴转到P2点:{JsonConvert.SerializeObject(MiddleMoveInfo.MoveParam)}");
//MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightArm_Check, IO_VALUE.HIGH));
}
else if (MiddleMoveInfo.IsTimeOut(60))
{
MiddleMoveInfo.log("等待右侧可以取料");
}
break;
//z轴移动到p3点，抓取，返回p2点
case MoveStep.M02:
MiddleMoveInfo.NextMoveStep(MoveStep.M03);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P3, Config.Take_UpDown_P3_speed);
MiddleMoveInfo.log("右侧可以取料,上下轴转到P3点,开始取料");
break;
case MoveStep.M03:
if (clampTool.Clamp())
{
MiddleMoveInfo.NextMoveStep(MoveStep.M04);
MiddleMoveInfo.log("取料气缸夹紧");
}
break;
case MoveStep.M04:
MiddleMoveInfo.NextMoveStep(MoveStep.M05);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P2, Config.Take_UpDown_P2_speed);
MiddleMoveInfo.log("上下轴返回P2点");
break;
//如果抓取完成或者定位低电平，进入下一步，右侧进行下一盘；如果左侧空闲，存在NG或抓取失败人工处理，如果右侧进料确认右侧进入继续取料步骤，如果中间ng轴会p1点否则继续下一个流程
case MoveStep.M05:
if (clampTool.IsClamp() || IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.LOW))
{
bool isclamp = clampTool.IsClamp();
bool che = IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.LOW);
MiddleMoveInfo.log($"取起物料状态{isclamp};io状态{che}");
MiddleMoveInfo.NextMoveStep(MoveStep.M06);
RightMoveInfo.NextMoveStep(MoveStep.R11_NextReel);
MiddleMoveInfo.MoveParam.PlateW = GetTrayWidth();
MiddleMoveInfo.log($"通知右侧料串,料已取走,获取盘宽{MiddleMoveInfo.MoveParam.PlateW}");
//Task.Run(() => {
// CodeManager.NS100Service(MiddleMoveInfo, MiddleMoveInfo.MoveParam.BitmapBase64, MiddleMoveInfo.MoveParam.codeInfos, MiddleMoveInfo.MoveParam.PlateW);
//}).ContinueWith((t) => {
// MiddleMoveInfo.NextMoveStep(MoveStep.M06);
//});
}
else if (LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut)
{
if (MiddleMoveInfo.MoveParam.IsNg)
{
Msg.add(crc.GetString("Res0096", "抓料失败请手动处理,请将料盘放入:NG箱,按右侧按钮继续"), MsgLevel.alarm);
MiddleMoveInfo.log("抓料失败请手动处理,请将料盘放入:NG箱,按右侧按钮继续");
}
else
{
Msg.add(crc.GetString("Res0097", "抓料失败请手动处理,请将料盘放入: 左侧料串,按右侧按钮继续"), MsgLevel.alarm);
MiddleMoveInfo.log("抓料失败请手动处理,请将料盘放入: 左侧料串,按右侧按钮继续");
}
if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NextMoveStep(MoveStep.R11_NextReel);
if (MiddleMoveInfo.MoveParam.IsNg)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
}
else
{
MiddleMoveInfo.NextMoveStep(MoveStep.M06);
}
}
}
else if (MiddleMoveInfo.IsTimeOut(60))
{
MiddleMoveInfo.log("抓料失败,等待左侧允许放料");
}
break;
//NG料进入NG流程，正常入正常流程
case MoveStep.M06_Wait:
break;
case MoveStep.M06:
if (MiddleMoveInfo.MoveParam.IsNg)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M20_ToNgBox);
MiddleMoveInfo.log("判断为NG料");
}
//等待右侧料串计算盘高
//else if (RightMoveInfo.MoveStep >= MoveStep.R06_GettedReelHigh && RightMoveInfo.MoveStep <= MoveStep.R10_WaitReelLeave)
else //if (LastHeightPos > 0)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M07);
MiddleMoveInfo.log($"开始往左侧料串移栽,{MiddleMoveInfo.MoveParam.ToStr()}");
}
//else if (MiddleMoveInfo.IsTimeOut(60))
//{
// MiddleMoveInfo.log("等待计算盘高");
//}
break;
case MoveStep.M07:
if (!Take_Middle_Axis.IsSafe(Config.Take_Middle_P3, out string msg))
{
Msg.add(msg, MsgLevel.info);
}
//左侧空闲，等待贴标流程为打印标签，复制信息给标签流程，进入下一步，移动旋转轴到p3
else if (LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut)
{
if (clampTool.IsClamp())
{
if (!LabelMoveInfo.IsStep(MoveStep.Lbl_WaitPrintInfo))
{
MiddleMoveInfo.log("等待贴标流程空闲");
return;
}
MiddleMoveInfo.NextMoveStep(MoveStep.M08);
CurrentPrintInfo = MiddleMoveInfo.MoveParam.clone();
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintLabel);
LabelMoveInfo.MoveParam = MiddleMoveInfo.MoveParam.clone();
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P3, Config.Take_Middle_P3_speed);
MiddleMoveInfo.log($"左侧允许放料,旋转轴P3");
}
else
{
Msg.add(crc.GetString("Res0097", "抓料失败请手动处理,请将料盘放入: 左侧料串,按右侧按钮继续"), MsgLevel.alarm);
if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH))
{
RightMoveInfo.NextMoveStep(MoveStep.R11_NextReel);
MiddleMoveInfo.NextMoveStep(MoveStep.M09);
CurrentPrintInfo = MiddleMoveInfo.MoveParam.clone();
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_PrintLabel);
LabelMoveInfo.MoveParam = MiddleMoveInfo.MoveParam.clone();
MiddleMoveInfo.log("用户按下右侧Reset,继续贴标");
}
else
{
bool isclamp = clampTool.IsClamp();
bool che = IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.LOW);
MiddleMoveInfo.log($"物料掉落, 取起物料状态{isclamp};io状态{che}");
}
}
}
else if (MiddleMoveInfo.IsTimeOut(60))
{
MiddleMoveInfo.log("等待左侧允许放料");
Msg.add(crc.GetString("Res0098", "等待左侧允许放料"), MsgLevel.info);
}
break;
//z轴到p4
case MoveStep.M08:
MiddleMoveInfo.NextMoveStep(MoveStep.M08_01);
if (MiddleMoveInfo.MoveParam.PlateW > 7)
{
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
MiddleMoveInfo.log($"尺寸：{MiddleMoveInfo.MoveParam.PlateW},停留1500ms");
}
else
{
MiddleMoveInfo.log($"尺寸：{MiddleMoveInfo.MoveParam.PlateW},不停留");
}
break;
case MoveStep.M08_01:
MiddleMoveInfo.NextMoveStep(MoveStep.M09);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P4, Config.Take_UpDown_P4_speed);
MiddleMoveInfo.log("左侧允许放料,上下轴到P4");
break;
//夹爪释放复制信息给左侧流程，左侧进入到收到料流程
case MoveStep.M09:
if (clampTool.Release())
{
MiddleMoveInfo.NextMoveStep(MoveStep.M10);
LeftMoveInfo.MoveParam = MiddleMoveInfo.MoveParam.clone();
LeftMoveInfo.NextMoveStep(MoveStep.L11_ReelPutted);
MiddleMoveInfo.log("取料夹爪放松,通知左侧料串已放入,左侧等待1秒");
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (MiddleMoveInfo.IsTimeOut(10))
{
MiddleMoveInfo.NextMoveStep(MoveStep.M09);
MiddleMoveInfo.log("等待夹爪放松");
}
Msg.add(crc.GetString("Res0050", "等待夹爪放松"), MsgLevel.info);
break;
//待机流程
case MoveStep.M10:
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
MiddleMoveInfo.log("放料完成,上下轴返回待机点");
break;
case MoveStep.M_ReturnToP1:
//检查是否在拍照，避免干涉 R06_GettedReelInfo
if (RightMoveInfo.IsStep(MoveStep.R06_GettedReelInfo))
{
MiddleMoveInfo.log("等待右侧拍照完成，避免干涉");
return;
}
MiddleMoveInfo.NextMoveStep(MoveStep.M_Standby);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
MiddleMoveInfo.log("放料完成,旋转轴返回待机点");
break;
//NG流程
case MoveStep.M20_ToNgBox:
if (PlwHight > 65 * 1000)
{
Msg.add(crc.GetString("Res0166.2bf72810", "NG物料厚度超过72mm无法放入NG箱"), MsgLevel.alarm);
}
else if (PlwHight > 0)
{
MiddleMoveInfo.NextMoveStep(MoveStep.M20_1_ToNgBox);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
MiddleMoveInfo.log("NG时上下轴转到P1");
}
else
{
Msg.add(crc.GetString("Res0182.2def73c9", "NG物料, 等待测高"), MsgLevel.info);
MiddleMoveInfo.log("NG物料, 等待测高");
}
break;
case MoveStep.M20_ToNgBox_72HRelease:
if (IOValue(IO_Type.GratingSignal_Check).Equals(IO_VALUE.HIGH))
{
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
MiddleMoveInfo.log("光栅恢复,回待机点");
}
break;
case MoveStep.M20_1_ToNgBox:
MiddleMoveInfo.NextMoveStep(MoveStep.M21);
Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P5, Config.Take_Middle_P5_speed);
MiddleMoveInfo.log("旋转轴转到P5 NG位置");
break;
case MoveStep.M21:
MiddleMoveInfo.NextMoveStep(MoveStep.M22);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P5, Config.Take_UpDown_P5_speed);
MiddleMoveInfo.log("上下轴转到P5 NG位置");
break;
case MoveStep.M22:
if (clampTool.Release())
{
MiddleMoveInfo.NextMoveStep(MoveStep.M23);
clampTool.Release();
removeParam(MiddleMoveInfo.MoveParam.UID);
MiddleMoveInfo.log("取料夹爪放松,放料入NG位置.");
}
else if (MiddleMoveInfo.IsTimeOut(10))
{
MiddleMoveInfo.NextMoveStep(MoveStep.M22);
MiddleMoveInfo.log("等待夹爪放松");
}
Msg.add(crc.GetString("Res0050", "等待夹爪放松"), MsgLevel.info);
break;
case MoveStep.M23:
//检查是否在拍照，避免干涉 R06_GettedReelInfo
if (RightMoveInfo.IsStep(MoveStep.R06_GettedReelInfo))
{
MiddleMoveInfo.log("等待右侧拍照完成，避免干涉");
return;
}
MiddleMoveInfo.NextMoveStep(MoveStep.M_ReturnToP1);
Take_UpDown_Axis.AbsMove(MiddleMoveInfo, Config.Take_UpDown_P2, Config.Take_UpDown_P5_speed);
MiddleMoveInfo.log("上下轴转到P2 位置");
break;
default:
MiddleMoveInfo.log($"未找到对应步骤:{MiddleMoveInfo.MoveStep}");
break;
}
}
private int GetTrayWidth()
{
if (IOValue(IO_Type.TraySize_15).Equals(IO_VALUE.HIGH))
return 15;
else if (IOValue(IO_Type.TraySize_13).Equals(IO_VALUE.HIGH))
return 13;
//else if (IOValue(IO_Type.TraySize_7).Equals(IO_VALUE.HIGH))
// return 7;
else
return 7;
}
string MiddleState()
{
string state = "";
if (MiddleMoveInfo.MoveStep == MoveStep.M_Standby || MiddleMoveInfo.MoveStep == MoveStep.Wait)
state += crc.GetString("Res0074", "等待中");
else
state += crc.GetString("Res0045", "当前ReelID:") + MiddleMoveInfo.MoveParam.WareCode;
return state;
}
}
}