MainMachine _LabelProcess.cs
13.5 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
using OnlineStore;
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Threading;
using System.Timers;
using System.IO;
namespace DeviceLibrary
{
partial class MainMachine
{
Point Label_p3;
void LabelProcess()
{
if (CheckWait(LabelMoveInfo))
return;
switch (LabelMoveInfo.MoveStep)
{
case MoveStep.Lbl01:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X到待机点,Label_Y到贴标前点");
break;
case MoveStep.Lbl02:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02_1);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_YR转到取标点");
break;
case MoveStep.Lbl02_1:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrint);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
LabelMoveInfo.log("Label_X转到取标点,等待标签打印完毕");
break;
case MoveStep.Lbl_WaitPrint:
string version = ConfigHelper.Config.Get("Hardwareversion", "V2");
if (version == "V2")
{
Thread.Sleep(1000);
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.HIGH))
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
Thread.Sleep(500);
}
}
else
{
var isPrinted = RobotManage.printerHelper.IsLabelOnPeeler();
isPrinted.Wait();
if (isPrinted.Result.Item1)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
Thread.Sleep(500);
}
}
break;
case MoveStep.Lbl_Printted:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl03);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.HIGH);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
//CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Bck, IO_Type.LabelCylinder_Fwd);
LabelMoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
break;
case MoveStep.Lbl03:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl04);
LabelMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.Lbl04:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl05);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
//CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Fwd, IO_Type.LabelCylinder_Bck);
LabelMoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
break;
case MoveStep.Lbl05:
string versions = ConfigHelper.Config.Get("Hardwareversion", "V2");
if (versions == "V2")
{
Thread.Sleep(1000);
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW))
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl06);
}
else
{
Msg.add(crc.GetString("Res0122.62c858d3", "标签取起失败!"), MsgLevel.warning);
}
}
else
{
var ip = RobotManage.printerHelper.IsLabelOnPeeler();
ip.Wait();
var r = ip.Result;
if (r.Item1)
{
Msg.add(crc.GetString("Res0122.62c858d3", "标签取起失败!"), MsgLevel.warning);
}
else
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl06);
}
}
break;
case MoveStep.Lbl06:
//if (LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel)
//{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10);
//}
//else if (LabelMoveInfo.IsTimeOut(60))
//{
// LabelMoveInfo.log("等待左侧料串可贴标.");
//}
break;
case MoveStep.Lbl10:
if (!Label_Y_Axis.IsSafe(Config.Label_Y_P3, out string msg))
{
Msg.add(msg, MsgLevel.warning);
return;
}
if (LabelMoveInfo.MoveParam.codeInfos == null || LabelMoveInfo.MoveParam.codeInfos.Count == 0)
{
break;
}
Point p = new Point(LabelMoveInfo.MoveParam.codeInfos[0].X, LabelMoveInfo.MoveParam.codeInfos[0].X);
int labelAngle = 0;
//照片中料盘中心点像素位置
Point Right_Batch_Point = new Point(RobotManage.Config.Right_Batch_X, RobotManage.Config.Right_Batch_Y);
bool isthiscount = ConfigHelper.Config.Get<bool>("Labeling_isthiscount", false);
if (isthiscount)
{
//不同尺寸料盘需要在照片上便宜的贴标像素
int widthOffset = Config.Label_Offset_Pixel_7;
switch (LabelMoveInfo.MoveParam.PlateW)
{
case 13:
widthOffset = Config.Label_Offset_Pixel_13;
break;
case 15:
widthOffset = Config.Label_Offset_Pixel_15;
break;
}
//计算照片中贴标的像素位置
bool isOverlaylabel = ConfigHelper.Config.Get<bool>("Labeling_isOverlaylabel", true);
if (isOverlaylabel)
{
//bool isCustom = ConfigHelper.Config.Get<bool>("Labeling_isCustom", false);
//if (isCustom)
//{
// p = Common.Customlabeling(LabelMoveInfo.MoveParam, Right_Batch_Point, out labelAngle);
//}
//else
//{ }
LabelMoveInfo.MoveParam.NewXYAngle.TryGetValue("IsCodeUsed", out int idnex);
if (idnex==-1)
{
idnex = 0;
}
p = Common.Overlaylabel(LabelMoveInfo.MoveParam, Right_Batch_Point, idnex, out labelAngle);
}
else
{
p = Common.CalcLabelPoint(LabelMoveInfo.MoveParam, Right_Batch_Point, Config.Label_R_Offset, Config.Label_R_Angle_Diff, out labelAngle);
}
LogUtil.info($"NS200计算贴标位置{p};角度={labelAngle}");
}
else
{
var newpoint = LabelMoveInfo.MoveParam.NewXYAngle;
if (newpoint.TryGetValue("PointX", out var pointX) && newpoint.TryGetValue("PointY", out var pointY))
{
p = new Point(pointX, pointY);
}
if (newpoint.TryGetValue("Angle", out var Angle))
{
labelAngle = Angle;
}
Common.RenderedImage(LabelMoveInfo.MoveParam, Right_Batch_Point, p);
LogUtil.info($"NS200接收贴标位置{p};角度={labelAngle}");
}
if (labelAngle > 350 && labelAngle < 355)
labelAngle = 350;
else if (labelAngle > 355)
labelAngle = 0;
//计算贴标角度的脉冲值
int labelAxisPos = Config.Label_R_360 / 350 * labelAngle;
LogUtil.info($"完整贴标脉冲{labelAxisPos}");
//计算像素点位与中心点的差
Label_p3 = new Point(p.X - Right_Batch_Point.X, p.Y - Right_Batch_Point.Y);
//计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
int xDiff = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio);
int yDiff = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio);
Label_p3.X = xDiff + Config.Label_X_P3;
Label_p3.Y = yDiff + Config.Label_Y_P3;
if (Label_p3.Y > 710000)
{
LabelMoveInfo.log($"计算Y轴脉冲：{Label_p3.Y};");
Label_p3.Y = 710000;
}
//labelAxisPos += 85700;
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},X脉冲差值={xDiff},Y脉冲差值={yDiff},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW};角度脉冲{labelAxisPos}");
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_1);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("Label_X到待机点,Z转到贴标点.");
break;
case MoveStep.Lbl10_1:
if (LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel)
{
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_2);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed);
LabelMoveInfo.log("Label_Y到贴标点.");
}
else if (LabelMoveInfo.IsTimeOut(60))
{
LabelMoveInfo.log("等待左侧料串可贴标.");
}
break;
case MoveStep.Lbl10_2:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl11);
Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P3_speed);
LabelMoveInfo.log("Label_X到贴标点.");
break;
case MoveStep.Lbl11:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl12);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P5, Config.Label_Z_P5_speed);
LabelMoveInfo.log("下降.");
break;
case MoveStep.Lbl12:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl13);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.LOW);
LabelMoveInfo.log("关闭吸气.");
break;
case MoveStep.Lbl13:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl14);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("上升.");
break;
case MoveStep.Lbl14:
LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
LabelMoveInfo.NextMoveStep(MoveStep.Lbl01);
LabelMoveInfo.log("完成贴标.");
break;
default:
LabelMoveInfo.log($"未找到对应步骤:{LabelMoveInfo.MoveStep}");
break;
}
}
string LabelState()
{
string state = "";
if (LabelMoveInfo.MoveStep >= MoveStep.Lbl_Printted)
{
state += crc.GetString("Res0072", "标签已打印,当前ReelID:") + LabelMoveInfo.MoveParam.WareCode;
}
if (LabelMoveInfo.MoveStep == MoveStep.Lbl01)
{
state += crc.GetString("Res0073", "等待标签打印");
}
if (LabelMoveInfo.MoveStep == MoveStep.Wait)
{
state += crc.GetString("Res0074", "等待中");
}
return state;
}
}
}