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;
using System.Data;
namespace DeviceLibrary
{
partial class MainMachine
{
public bool LeftShelfNoTray = false;
int LeftCount = 0;
public bool SafeReleaseLeftShelf = false;
//int Uppre = -1000;
//int Uplast = -1000;
//int step = 0;
public int LastBatchAxisPosition = 0;
public int PlwHight = 0;
/// <summary>
/// 料盘高度单位脉冲
/// </summary>
//public int PlwHight
//{
// get
// {
// int hight = 0;
// //if (Uppre != -1000 && Uplast != -1000&&step==3)
// if (Uppre != -1000 && Uplast != -1000 && step == 2)
// {
// hight = Math.Abs(Uplast - Uppre) + 2000;
// RightMoveInfo.log($"料盘高度计算：hight：{hight}，Uppre:{Uppre},Uplast:{Uplast}");
// }
// return hight;
// }
//}
int _leftBatchAxisPositionWhileTrayCheck = 0;
/// <summary>
/// 出库上一次料盘定位信号亮时批量轴的位置
/// </summary>
int LeftBatchAxisPositionWhileTrayCheck
{
get => _leftBatchAxisPositionWhileTrayCheck;
set
{
if (_leftBatchAxisPositionWhileTrayCheck != value)
{
_leftBatchAxisPositionWhileTrayCheck = value;
LeftMoveInfo.log($"左侧批量轴定位信号亮时位置：{_leftBatchAxisPositionWhileTrayCheck}");
}
}
}
bool checkReelIsPutOk(int curPos)
{
bool enableCheck = ConfigHelper.Config.Get("左侧料盘放料串检查是否启用", true);
if (enableCheck)
{
var aixH = 1f * Math.Abs(_leftBatchAxisPositionWhileTrayCheck - curPos) / Config.Left_Batch_ChangeValue;
int plateH = LeftMoveInfo.MoveParam.PlateH == 0 ? PlwHight / Config.Right_Batch_ChangeValue:LeftMoveInfo.MoveParam.PlateH;
var canErrorMM = ConfigHelper.Config.Get("左侧料盘放料串检查厚度最大偏差值", 5);
if (Math.Abs(aixH - plateH) <= canErrorMM)
{
LeftMoveInfo.log($"料盘定位信号{IOValue(IO_Type.LeftTop_Check)},批量轴当前位置：{curPos}，" +
$"上次位置{_leftBatchAxisPositionWhileTrayCheck},批量轴厚度{aixH},料盘厚度{plateH},允许的最大差值{canErrorMM}," + $"{Math.Abs(aixH - plateH)}<={canErrorMM},认为放料串成功");
return true;
}
else
{
LeftMoveInfo.log($"料盘定位信号{IOValue(IO_Type.LeftTop_Check)},批量轴当前位置：{curPos}，" +
$"上次位置{_leftBatchAxisPositionWhileTrayCheck},批量轴厚度{aixH},料盘厚度{plateH},允许的最大差值{canErrorMM}," + $"{Math.Abs(aixH - plateH)}>{canErrorMM},认为放料串失败");
return false;
}
}
else
{
return true;
}
}
void LeftProcess()
{
if (CheckWait(LeftMoveInfo))
return;
switch (LeftMoveInfo.MoveStep)
{
//阻挡上升，轴到p2
case MoveStep.L01:
LeftCount = 0;
LeftShelfNoTray = false;
LeftMoveInfo.CurShelfType = "";
LeftMoveInfo.NextMoveStep(MoveStep.L02);
CylinderMove(null, IO_Type.LeftStopDown, IO_Type.LeftStopUP);
LeftBatchAxisToP2(Config.Left_Batch_P2, Config.Left_Batch_P1_speed, IO_VALUE.HIGH);
LeftMoveInfo.log($"批量轴上升到P2位置,第一次提升,LeftStartMovePosition={LeftStartMovePosition}");
break;
case MoveStep.L02:
LeftMoveInfo.NextMoveStep(MoveStep.L03);
LeftBatchAxisPositionWhileTrayCheck = Left_Batch_Axis.GetAclPosition();
break;
//轴下降一点
case MoveStep.L03:
LeftMoveInfo.NextMoveStep(MoveStep.L04);
int targetP1 = Left_Batch_Axis.GetAclPosition() - ConfigHelper.Config.Get("LeftAxisDownValue", 50) * Config.Left_Batch_ChangeValue;
if (PlwHight > 5000)
{
int currpoint = Left_Batch_Axis.GetAclPosition();
int countPleHight = PlwHight / Config.Right_Batch_ChangeValue * Config.Left_Batch_ChangeValue;
targetP1 = currpoint - countPleHight + 5000;
LeftMoveInfo.MoveParam.PlateH = countPleHight / Config.Left_Batch_ChangeValue;
LeftMoveInfo.log($"出料提升机构，获取到料盘高度脉冲{PlwHight},当前位置{currpoint},计算盘高{LeftMoveInfo.MoveParam.PlateH}");
}
int targetSpeed = Config.Left_Batch_P1_speed;
if (targetP1 <= 0)
{
LeftMoveInfo.log("出料提升机构，下降固定值小于0，设置回到0原点。");
targetP1 = 0;
LeftMoveInfo.NextMoveStep(MoveStep.L40_ShelfFull);
LeftMoveInfo.log($"批量轴已下降到底,料串已满,Left_Batch_P1={Config.Left_Batch_P1}");
}
LeftMoveInfo.log($"出料提升机构，下降固定值为{targetP1}脉冲！");
Left_Batch_Axis.AbsMove(LeftMoveInfo, targetP1, targetSpeed);
LeftMoveInfo.log($"批量轴下降固定值");
break;
//根据轴位置判断去料串满步骤还是不满步骤
case MoveStep.L04:
var currpos = Left_Batch_Axis.GetAclPosition();
if (currpos <= Config.Left_Batch_P1 + 2000)
{
LeftMoveInfo.NextMoveStep(MoveStep.L40_ShelfFull);
LeftMoveInfo.log($"批量轴已下降到底,料串已满,Left_Batch_P1={Config.Left_Batch_P1},needpos={currpos}");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L10_WaitReelPut);
}
break;
//等中间步骤抓盘
case MoveStep.L10_WaitReelPut:
Msg.add(crc.GetString("Res0095", "左侧空闲中"), MsgLevel.info);
break;
//中间步骤给盘，下降一点，获取盘信息
case MoveStep.L11_ReelPutted:
//if (RightMoveInfo.MoveStep== MoveStep.Wait)
{
LeftCount++;
LeftMoveInfo.NextMoveStep(MoveStep.L12);
LeftBatchAxisToP2(Config.Left_Batch_P1, Config.Left_Batch_P1_speed, IO_VALUE.LOW);
//LeftBatchAxisDown();
LabelMoveInfo.MoveParam = LeftMoveInfo.MoveParam.clone();
LeftMoveInfo.log($"左侧料盘已放入,批量轴下降固定值");
}
if (LeftMoveInfo.MoveParam.PlateW == 7)
{
LeftMoveInfo.CurShelfType = ShelfType.smallReel.ToString();
}
else if (LeftMoveInfo.MoveParam.PlateW == 13)
{
LeftMoveInfo.CurShelfType = ShelfType.bigReel.ToString();
}
else if (LeftMoveInfo.MoveParam.PlateW == 15)
{
LeftMoveInfo.CurShelfType = ShelfType.bigReel.ToString();
}
//else
//{
// LeftMoveInfo.NextMoveStep(MoveStep.L11_ReelPutted);
//}
break;
//防意外
case MoveStep.L12:
LeftMoveInfo.NextMoveStep(MoveStep.L13);
//LeftBatchAxisToP2(false);
LeftAxisRiseMax();
LeftMoveInfo.log($"批量轴上升到P2位置,LeftStartMovePosition={LeftStartMovePosition}");
break;
case MoveStep.L13:
var curPos = Left_Batch_Axis.GetAclPosition();
//判断当前料盘是否放到料串上
if (checkReelIsPutOk(curPos))
{
LeftMoveInfo.NextMoveStep(MoveStep.L16);
LeftMoveInfo.log("放置料盘检查正常");
}
else
{
//LeftMoveInfo.log("检查到放置料盘检查异常");
Msg.add(crc.GetString("Res0225", "放料失败请手动处理,请将料盘放入: 左侧料串,按左侧按钮继续"), MsgLevel.alarm);
if (IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
{
LeftMoveInfo.NextMoveStep(MoveStep.L14);
LeftMoveInfo.log("放置料盘检查异常,复位继续");
}
return;
}
break;
case MoveStep.L14:
LeftMoveInfo.NextMoveStep(MoveStep.L15);
LeftBatchAxisToP2(Config.Left_Batch_P1, Config.Left_Batch_P1_speed, IO_VALUE.LOW);
LeftMoveInfo.log($"左侧料盘已手动放入,批量轴下降固定值");
break;
case MoveStep.L15:
LeftMoveInfo.NextMoveStep(MoveStep.L16);
LeftAxisRiseMax();
LeftMoveInfo.log($"批量轴重新上升到P2位置,LeftStartMovePosition={LeftStartMovePosition}");
break;
case MoveStep.L16:
LeftBatchAxisPositionWhileTrayCheck = Left_Batch_Axis.GetAclPosition();
LeftMoveInfo.NextMoveStep(MoveStep.L20_WaitLabel);
break;
//等贴标，由贴标流程跳出
case MoveStep.L20_WaitLabel:
break;
//贴标完成，没有释放料串时进入判断料串满/不满流程
case MoveStep.L30_LabelFinish:
if (SafeReleaseLeftShelf)
{
//LeftShelfNoTray = true;
SafeReleaseLeftShelf = false;
LeftMoveInfo.NextMoveStep(MoveStep.L40_ShelfFull);
LeftMoveInfo.log($"用户请求释放料架");
}
else
{
if (PlwHight > 0)
{
LeftMoveInfo.NextMoveStep(MoveStep.L03);
LeftBatchAxisToP2(Config.Left_Batch_P1, Config.Left_Batch_P1_speed, IO_VALUE.LOW);
LeftMoveInfo.log($"贴标完成,批量轴下降固定值");
}
else
{
LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
}
}
break;
//满了下降到p1点，没有agv运输时挡停下降
case MoveStep.L40_ShelfFull:
LeftShelfNoTray = true;
LeftMoveInfo.NextMoveStep(MoveStep.LEND);
Left_Batch_Axis.AbsMove(LeftMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
if (ConfigHelper.Config.Get("UseAGVTransferShelf", false))//是否用AGV运输料串
{
LeftMoveInfo.log($"料串已满,批量轴下降到P1位置");
}
else
{
CylinderMove(LeftMoveInfo, IO_Type.LeftStopUP, IO_Type.LeftStopDown);
LeftMoveInfo.log($"料串已满,批量轴下降到P1位置,阻挡下降");
}
break;
case MoveStep.LEND:
LeftMoveInfo.EndMove();
LeftMoveInfo.log($"结束运动");
break;
//}
//料串出料流程，下降到p1，挡停下降，滚筒反转到后端检测低电平再转10秒，到前端检测低电平再转10秒，再等3秒，再等0.5秒后反转停止
//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.LEND);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500);
LeftMoveInfo.log($"电滚停止");
break;
//}
//料串入料流程，轴下降到p1，挡停下降，滚筒正转到后端检测高电平后再转60秒，再转1秒，再转0.5秒停止，进入上料流程
//switch (LeftMoveInfo.MoveStep)
//{
case MoveStep.L60_InShelf:
LeftMoveInfo.NextMoveStep(MoveStep.L61);
Left_Batch_Axis.AbsMove(LeftMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
LeftMoveInfo.log($"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(int target, int Speed, IO_VALUE ioValue)
{
int targetP2 = target;
int targetSpeed = Speed;
int currPosition = Left_Batch_Axis.GetAclPosition();
LeftMoveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
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, ioValue);
}
/// <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;
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);
}
/// <summary>
/// 下降固定值
/// </summary>
void LeftBatchAxisDown()
{
int targetP1 = Left_Batch_Axis.GetAclPosition() - ConfigHelper.Config.Get("LeftAxisDownValue", 50) * Config.Left_Batch_ChangeValue;
if (PlwHight > 5000)
{
int currpoint = Left_Batch_Axis.GetAclPosition();
int countPleHight = PlwHight / Config.Right_Batch_ChangeValue * Config.Left_Batch_ChangeValue;
targetP1 = currpoint - countPleHight + 5000;
LeftMoveInfo.log($"出料提升机构，获取到料盘高度脉冲{PlwHight},当前位置{currpoint},计算盘高{countPleHight}");
}
int targetSpeed = Config.Left_Batch_P1_speed;
if (targetP1 <= 0)
{
LeftMoveInfo.log("出料提升机构，下降固定值小于0，设置回到0原点。");
targetP1 = 0;
}
LeftMoveInfo.log($"出料提升机构，下降固定值为{targetP1}脉冲！");
Left_Batch_Axis.AbsMove(LeftMoveInfo, targetP1, targetSpeed);
}
/// <summary>
/// 下降在上升以后，上升指定阈值，防止感应器失效
/// </summary>
void LeftAxisRiseMax()
{
//1.获取当前私服下降后的脉冲
LeftStartMovePosition = Left_Batch_Axis.GetAclPosition();
//2.获取下降的高度、冗余高度、一毫米的脉冲值
int downvalue = ConfigHelper.Config.Get("LeftAxisDownValue", 50);
int redundancy = ConfigHelper.Config.Get("LeftAxisRiseRedundancyValue", 10);
int change = Config.Left_Batch_ChangeValue;
int totalpulse = (downvalue + redundancy) * change;
int targetP2 = LeftStartMovePosition + totalpulse;
LeftMoveInfo.log($"下降固定值后提升，感应器亮或提升固定值：当前私服高度={LeftStartMovePosition}，下降的固定高度={downvalue}，" +
$"上升最大高度={redundancy}，每毫米脉冲={change}，上升脉冲为{targetP2}，P2={Config.Left_Batch_P2}");
int targetSpeed = Config.Left_Batch_P2_speed;
LeftMoveInfo.TimeOutSeconds = 200;
LeftMoveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
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);
}
}
}