MainMachine _LeftProcess.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;
namespace DeviceLibrary
{
partial class MainMachine
{
bool LeftShelfNoTray = false;
int LeftCount = 0;
public bool SafeReleaseLeftShelf = false;
void LeftProcess()
{
if (CheckWait(LeftMoveInfo))
return;
switch (LeftMoveInfo.MoveStep)
{
case MoveStep.L01:
LeftCount = 0;
LeftShelfNoTray = false;
LeftMoveInfo.NextMoveStep(MoveStep.L03);
CylinderMove(null, IO_Type.LeftStopDown, IO_Type.LeftStopUP);
LeftBatchAxisToP2(true);
LeftMoveInfo.log($"批量轴上升到P2位置,第一次提升,LeftStartMovePosition={LeftStartMovePosition}");
break;
case MoveStep.L02:
LeftMoveInfo.NextMoveStep(MoveStep.L03);
LeftBatchAxisToP2(false);
LeftMoveInfo.log($"批量轴上升到P2位置,二次提升,LeftStartMovePosition={LeftStartMovePosition}");
break;
case MoveStep.L03:
//if (IOValue(IO_Type.LeftOverHead_Check).Equals(IO_VALUE.HIGH))
//{
// LeftMoveInfo.NextMoveStep(MoveStep.L02);
// Left_Batch_Axis.AbsMove(LeftMoveInfo, LeftStartMovePosition, Config.Left_Batch_P2_speed);
// LeftMoveInfo.log($"批量轴上升过头,下降到:LeftStartMovePosition={LeftStartMovePosition}");
//}
//else
{
LeftMoveInfo.NextMoveStep(MoveStep.L04);
}
break;
case MoveStep.L04:
var currpos = Left_Batch_Axis.GetAclPosition();
if (currpos <= Config.Left_Batch_P1)
{
//LeftShelfNoTray = true;
LeftMoveInfo.NextMoveStep(MoveStep.L40_ShelfFull);
LeftMoveInfo.log($"批量轴已下降到底,料串已满,Left_Batch_P1={Config.Left_Batch_P1},needpos={currpos}");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L10_WaitReelPut);
//Left_Batch_Axis.AbsMove(LeftMoveInfo, currpos, Config.Left_Batch_P1_speed);
//LeftMoveInfo.log($"批量轴已下降一张料盘位置,等待料盘放入,needpos={currpos}");
}
break;
case MoveStep.L10_WaitReelPut:
Msg.add(crc.GetString("Res0095", "左侧空闲中"), MsgLevel.info);
break;
case MoveStep.L11_ReelPutted:
LeftCount++;
LeftMoveInfo.NextMoveStep(MoveStep.L12);
LeftBatchAxisToP1();
//LeftMoveInfo.log($"料盘已放入,批量轴上升,LeftStartMovePosition={LeftStartMovePosition}");
LeftMoveInfo.log($"左侧料盘已放入,批量轴下降");
break;
case MoveStep.L12:
//if (IOValue(IO_Type.LeftOverHead_Check).Equals(IO_VALUE.HIGH))
//{
// LeftMoveInfo.NextMoveStep(MoveStep.L11_ReelPutted);
// Left_Batch_Axis.AbsMove(LeftMoveInfo, LeftStartMovePosition, Config.Left_Batch_P2_speed);
// LeftMoveInfo.log($"批量轴上升过头,下降到:LeftStartMovePosition={LeftStartMovePosition}");
//}
//else
{
LabelMoveInfo.MoveParam = LeftMoveInfo.MoveParam.clone();
LeftMoveInfo.NextMoveStep(MoveStep.L20_WaitLabel);
LeftMoveInfo.log($"批量轴完成上升,等待贴标");
}
break;
case MoveStep.L20_WaitLabel:
break;
case MoveStep.L30_LabelFinish:
if (SafeReleaseLeftShelf)
{
//LeftShelfNoTray = true;
SafeReleaseLeftShelf = false;
LeftMoveInfo.NextMoveStep(MoveStep.L40_ShelfFull);
LeftMoveInfo.log($"用户请求释放料架");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L04);
LeftBatchAxisToP2(false);
LeftMoveInfo.log($"贴标完成,准备下一盘料,批量轴上升到P2位置,二次提升,LeftStartMovePosition={LeftStartMovePosition}");
}
break;
case MoveStep.L40_ShelfFull:
LeftShelfNoTray = true;
LeftMoveInfo.NextMoveStep(MoveStep.LEND);
Left_Batch_Axis.AbsMove(LeftMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
LeftMoveInfo.log($"料串已满,批量轴下降到P1位置");
break;
case MoveStep.LEND:
LeftMoveInfo.EndMove();
LeftMoveInfo.log($"结束运动");
break;
//}
//料串出料流程
//switch (LeftMoveInfo.MoveStep)
//{
case MoveStep.L50_OutShelf:
LeftMoveInfo.NextMoveStep(MoveStep.L51);
Left_Batch_Axis.AbsMove(LeftMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
LeftMoveInfo.log($"批量轴下降到P1位置");
break;
case MoveStep.L51:
LeftMoveInfo.NextMoveStep(MoveStep.L52);
CylinderMove(null, IO_Type.LeftStopUP, IO_Type.LeftStopDown);
LeftMoveInfo.log($"阻挡下降");
break;
case MoveStep.L52:
LeftMoveInfo.NextMoveStep(MoveStep.L53);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH);
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.LOW));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
LeftMoveInfo.log($"电滚筒向外滚动");
break;
case MoveStep.L53:
LeftMoveInfo.NextMoveStep(MoveStep.L54);
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftFornt_Check, IO_VALUE.LOW));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
LeftMoveInfo.OneWaitCanEndStep = true;
LeftMoveInfo.log($"等待前置检测拉低");
break;
case MoveStep.L54:
LeftMoveInfo.NextMoveStep(MoveStep.L55);
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
break;
case MoveStep.L55:
LeftMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500);
LeftMoveInfo.log($"电滚停止");
break;
//}
//料串入料流程
//switch (LeftMoveInfo.MoveStep)
//{
case MoveStep.L60_InShelf:
LeftMoveInfo.NextMoveStep(MoveStep.L61);
Left_Batch_Axis.AbsMove(LeftMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
LeftMoveInfo.log($"批量轴下降到P1位置");
break;
case MoveStep.L61:
LeftMoveInfo.NextMoveStep(MoveStep.L62);
CylinderMove(null, IO_Type.LeftStopUP, IO_Type.LeftStopDown);
LeftMoveInfo.log($"阻挡下降");
break;
case MoveStep.L62:
LeftMoveInfo.NextMoveStep(MoveStep.L63);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH);
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.HIGH));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
LeftMoveInfo.TimeOutSeconds = 60;
LeftMoveInfo.OneWaitCanEndStep = true;
LeftMoveInfo.log($"等待料串到位");
break;
case MoveStep.L63:
LeftMoveInfo.NextMoveStep(MoveStep.L64);
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.L64:
LeftMoveInfo.NextMoveStep(MoveStep.L65);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH, false, 500);
CylinderMove(null, IO_Type.LeftStopDown, IO_Type.LeftStopUP);
LeftMoveInfo.log($"电滚筒停止,阻挡上升");
break;
case MoveStep.L65:
if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
LeftMoveInfo.NewMove(MoveStep.L01);
LeftMoveInfo.log($"料串进入开始上料");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.LEND);
LeftMoveInfo.log($"料串进入失败");
}
break;
default:
LeftMoveInfo.log($"未找到对应步骤:{LeftMoveInfo.MoveStep}");
break;
}
}
string LeftState()
{
string state = "";
if (IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
{
state += string.Format(crc.GetString("Res0069", "有料串,已放置{0}张料盘"), LeftCount);
if (LeftShelfNoTray)
state += "," + crc.GetString("Res0043", "料串已满");
else
state += ".";
state += crc.GetString("Res0045", "当前ReelID:") + LeftMoveInfo.MoveParam.WareCode;
}
else
{
return crc.GetString("Res0046", "无料串");
}
return state;
}
int LeftStartMovePosition = 0;
void LeftBatchAxisToP2(bool isFirstMove = true)
{
int targetP2 = Config.Left_Batch_P2;
int targetSpeed = Config.Left_Batch_P2_speed;
if (!isFirstMove)
{
int currPosition = Left_Batch_Axis.GetAclPosition();
if (currPosition != -1)
{
//targetP2 = currPosition + Config.Left_Batch_ChangeValue * 80;
if (targetP2 > Config.Left_Batch_P2)
{
targetP2 = Config.Left_Batch_P2;
}
LeftMoveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
targetSpeed = Config.Left_Batch_P2_speed / 10;
}
LeftMoveInfo.TimeOutSeconds = 200;
LeftMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
LeftStartMovePosition = Left_Batch_Axis.GetAclPosition();
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Left_Batch_Axis, targetP2, targetSpeed));
Config.Left_Batch_Axis.TargetPosition = targetP2;
Left_Batch_Axis.AbsMove(null, targetP2, targetSpeed);
//开始检测信号
Left_Batch_Axis.BatchAxisStartCheck(IO_Type.LeftTop_Check, IO_VALUE.HIGH);
}
/// <summary>
/// 左批量轴下降到X23对射信号灭
/// </summary>
void LeftBatchAxisToP1()
{
int targetP1 = Config.Left_Batch_P1;
int targetSpeed = Config.Left_Batch_P2_speed / 10;
LeftMoveInfo.TimeOutSeconds = 200;
LeftMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
LeftStartMovePosition = Left_Batch_Axis.GetAclPosition();
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Left_Batch_Axis, targetP1, targetSpeed));
Config.Left_Batch_Axis.TargetPosition = targetP1;
Left_Batch_Axis.AbsMove(null, targetP1, targetSpeed);
//开始检测信号
Left_Batch_Axis.BatchAxisStartCheck(IO_Type.LeftTop_Check, IO_VALUE.LOW);
}
}
}