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370 lines
18 KiB
C#
370 lines
18 KiB
C#
using HalconDotNet;
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using Rs.Camera;
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using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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namespace Rs.MotionPlat.Flow.Space
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{
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enum ETakeDumpTestStep
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{
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到料盘取料位上方,
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等待到料盘取料位上方,
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到料盘取料位下方,
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等待到料盘取料位下方,
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料盘取料完成抬起,
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等待料盘取料完成抬起,
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料盘取料完成真空检测,
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到下相机拍照起始位,
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等待到下相机拍照起始位,
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到下相机拍照结束位,
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等待到下相机拍照结束位,
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等待相机拍照完成,
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等待相机处理结果,
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到周转盘放料位上方,
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等待到周转盘放料位上方,
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到周转盘放料位下方,
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等待到周转盘放料位下方,
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周转盘放料位下方真空检测,
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到周转盘关闭破真空位,
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等待到周转盘关闭破真空位,
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周转盘破真空位真空检测,
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周转盘放料完成抬起,
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等待周转盘放料完成抬起,
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到料盘放料位上方,
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等待到料盘放料位上方,
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到料盘放料位下方,
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等待到料盘放料位下方,
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料盘放料完成抬起,
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等待料盘放料完成抬起
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}
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public class TakeDumpTest:BaseFlow
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{
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int traySlot = 1;
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int turnoverSlot = 1;
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private ETakeDumpTestStep step = ETakeDumpTestStep.到料盘取料位上方;
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private static TakeDumpTest instance;
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public static TakeDumpTest Instance
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{
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get
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{
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if(instance==null)
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instance = new TakeDumpTest();
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return instance;
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}
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}
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private TraySlot trayPoint;
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int NozzleIndex = 1;
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SlotPoint nozzleDist;
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SlotPoint curSlotPoint;
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double targetX, targetY;
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int FetchNum = 0;
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HObject[] imgs;
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List<MatchResult> mrs = new List<MatchResult>();
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Motion.ErrorCode errCode = Motion.ErrorCode.Ok;
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public override void Run()
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{
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switch (step)
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{
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case ETakeDumpTestStep.到料盘取料位上方:
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curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Input", traySlot, EPointType.BASE);
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nozzleDist = TrayPointManager.GetDistToNozzle1(NozzleIndex);
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targetX = curSlotPoint.X + nozzleDist.X;
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targetY = curSlotPoint.Y + nozzleDist.Y;
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errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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errCode = AxisControl.GetAxis($"NozzleR{NozzleIndex}").MovePos(SysConfigParam.GetValue<Double>($"NozzleR{NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed));
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errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到料盘取料位上方;
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}
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}
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break;
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case ETakeDumpTestStep.等待到料盘取料位上方:
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if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{NozzleIndex}"))
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{
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Thread.Sleep(100);
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step = ETakeDumpTestStep.到料盘取料位下方;
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}
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break;
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case ETakeDumpTestStep.到料盘取料位下方:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TrayNozzle{NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到料盘取料位下方;
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}
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break;
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case ETakeDumpTestStep.等待到料盘取料位下方:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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//Thread.Sleep(GlobalVar.AxisArrivedWaittime);
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Ops.On($"{NozzleIndex}号吸嘴真空吸电磁阀");
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Thread.Sleep(100);
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step = ETakeDumpTestStep.料盘取料完成抬起;
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}
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break;
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case ETakeDumpTestStep.料盘取料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待料盘取料完成抬起;
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}
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break;
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case ETakeDumpTestStep.等待料盘取料完成抬起:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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step = ETakeDumpTestStep.料盘取料完成真空检测;
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}
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break;
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case ETakeDumpTestStep.料盘取料完成真空检测:
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if (Ops.IsOn($"{NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace)
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{
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step = ETakeDumpTestStep.到下相机拍照起始位;
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}
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else
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{
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FetchNum++;
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if (FetchNum == 6)
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{
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Msg.ShowError($"吸嘴{NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定");
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FetchNum = 0;
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}
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step = ETakeDumpTestStep.到料盘取料位下方;
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}
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break;
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case ETakeDumpTestStep.到下相机拍照起始位:
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ImageProcess.ClearAutoTrigger();
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HikCamera.Instance.SetExposure("locationCamera", 50);
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HikCamera.Instance.SetGain("locationCamera", 20);
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AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterX") - 10, GlobalVar.WholeSpeed);
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AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterY"), GlobalVar.WholeSpeed);
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step = ETakeDumpTestStep.到下相机拍照结束位;
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break;
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case ETakeDumpTestStep.等待到下相机拍照起始位:
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if (Ops.IsStop("LoadX", "LoadY"))
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{
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Thread.Sleep(100);
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HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);
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List<double> grabPoints = new List<double>();
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grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle1CenterX"));
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errCode = AxisControl.LoadX.SetPosCompare(1, grabPoints.ToArray());
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.到下相机拍照结束位;
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}
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}
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break;
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case ETakeDumpTestStep.到下相机拍照结束位:
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IoManager.Instance.WriteOut("下左相机光源触发", 1);
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Thread.Sleep(50);
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AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle1CenterX") + 10, GlobalVar.FlyCameraSpeed);
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step = ETakeDumpTestStep.等待到下相机拍照结束位;
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break;
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case ETakeDumpTestStep.等待到下相机拍照结束位:
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Stopwatch stopwatch = new Stopwatch();
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if (Ops.IsStop("LoadX"))
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{
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AxisControl.LoadX.ClearCompare(1);
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IoManager.Instance.WriteOut("下左相机光源触发", 0);
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step = ETakeDumpTestStep.等待相机拍照完成;
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stopwatch.Start();
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}
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break;
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case ETakeDumpTestStep.等待相机拍照完成:
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imgs = ImageProcess.GetAutoImage();
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if (imgs != null && imgs.Length == 1)
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{
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//拍照完成
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step = ETakeDumpTestStep.等待相机处理结果;
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}
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break;
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case ETakeDumpTestStep.等待相机处理结果:
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mrs = VisionProcess.Instance.MatchDownCam(imgs);
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if (mrs != null && mrs.Count == imgs.Length && mrs.Where(m => m.IsOK == true).Count() == imgs.Length)
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{
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step = ETakeDumpTestStep.到周转盘放料位上方;
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}
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break;
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case ETakeDumpTestStep.到周转盘放料位上方:
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curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", 1, EPointType.RUN);
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nozzleDist = TrayPointManager.GetDistToNozzle1(NozzleIndex);
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if (mrs[NozzleIndex - 1].OffsetRow > 5 || mrs[NozzleIndex - 1].OffsetCol > 5)
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{
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Msg.ShowError("image process ng");
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}
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else
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{
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targetX = mrs[NozzleIndex - 1].OffsetCol + curSlotPoint.X + nozzleDist.X;
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targetY = mrs[NozzleIndex - 1].OffsetRow + curSlotPoint.Y + nozzleDist.Y;
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errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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errCode = AxisControl.GetAxis($"NozzleR{NozzleIndex}").MoveOffset((mrs[NozzleIndex - 1].OffsetA), GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到周转盘放料位上方;
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}
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}
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}
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}
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break;
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case ETakeDumpTestStep.等待到周转盘放料位上方:
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if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{NozzleIndex}"))
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{
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Thread.Sleep(100);
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step = ETakeDumpTestStep.到周转盘放料位下方;
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}
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break;
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case ETakeDumpTestStep.到周转盘放料位下方:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到周转盘放料位下方;
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}
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break;
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case ETakeDumpTestStep.等待到周转盘放料位下方:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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//IoManager.Instance.WriteOut($"{NozzleIndex}号吸嘴真空吸电磁阀", 0);//关闭真空
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Thread.Sleep(50);
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//打开周转盘真空吸
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Ops.On($"周转盘1号穴位真空吸");
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Thread.Sleep(100);
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if (Ops.IsOn("周转盘1号穴位真空吸检测"))
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{
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//如果检测到真空，则把吸头真空吸关掉
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IoManager.Instance.WriteOut($"{NozzleIndex}号吸嘴真空吸电磁阀", 0);//关闭真空
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Thread.Sleep(50);
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IoManager.Instance.WriteOut($"{NozzleIndex}号吸嘴真空破电磁阀", 1);
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Thread.Sleep(100);
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}
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//Thread.Sleep(SysConfigParam.GetValue<int>("WholeVacWaitTime"));
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//IoManager.Instance.WriteOut($"{NozzleIndex}号吸嘴真空破电磁阀", 0);
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step = ETakeDumpTestStep.到周转盘关闭破真空位;
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}
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break;
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case ETakeDumpTestStep.周转盘放料位下方真空检测:
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break;
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case ETakeDumpTestStep.到周转盘关闭破真空位:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{NozzleIndex}TakeHeight") + 1, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到周转盘关闭破真空位;
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}
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break;
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case ETakeDumpTestStep.等待到周转盘关闭破真空位:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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if (Ops.IsOn("周转盘1号穴位真空吸检测"))
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{
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IoManager.Instance.WriteOut($"{NozzleIndex}号吸嘴真空破电磁阀", 0);
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step = ETakeDumpTestStep.周转盘放料完成抬起;
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}
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else
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{
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Msg.ShowError("周转盘1号穴位真空吸检测异常");
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step = ETakeDumpTestStep.周转盘放料完成抬起;
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}
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}
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break;
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case ETakeDumpTestStep.周转盘破真空位真空检测:
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break;
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case ETakeDumpTestStep.周转盘放料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待周转盘放料完成抬起;
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}
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break;
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case ETakeDumpTestStep.等待周转盘放料完成抬起:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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step = ETakeDumpTestStep.到料盘放料位上方;
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}
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break;
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case ETakeDumpTestStep.到料盘放料位上方:
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curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Input", traySlot, EPointType.BASE);
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nozzleDist = TrayPointManager.GetDistToNozzle1(NozzleIndex);
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targetX = curSlotPoint.X + nozzleDist.X;
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targetY = curSlotPoint.Y + nozzleDist.Y;
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errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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errCode = AxisControl.GetAxis($"NozzleR{NozzleIndex}").MovePos(SysConfigParam.GetValue<Double>($"NozzleR{NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed));
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errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到料盘取料位上方;
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}
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}
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break;
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case ETakeDumpTestStep.等待到料盘放料位上方:
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if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{NozzleIndex}"))
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{
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Thread.Sleep(100);
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step = ETakeDumpTestStep.到料盘放料位下方;
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}
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break;
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case ETakeDumpTestStep.到料盘放料位下方:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TrayNozzle{NozzleIndex}TakeHeight")+1, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待到料盘放料位下方;
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}
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break;
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case ETakeDumpTestStep.等待到料盘放料位下方:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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Thread.Sleep(GlobalVar.AxisArrivedWaittime);
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Ops.Off($"{NozzleIndex}号吸嘴真空吸电磁阀");
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Thread.Sleep(100);
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Ops.On($"{NozzleIndex}号吸嘴真空破电磁阀");
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Thread.Sleep(100);
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Ops.Off($"{NozzleIndex}号吸嘴真空破电磁阀");
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step = ETakeDumpTestStep.料盘放料完成抬起;
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}
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break;
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case ETakeDumpTestStep.料盘放料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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step = ETakeDumpTestStep.等待料盘放料完成抬起;
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}
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break;
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case ETakeDumpTestStep.等待料盘放料完成抬起:
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if (Ops.IsStop($"NozzleZ{NozzleIndex}"))
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{
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step = ETakeDumpTestStep.到料盘取料位上方;
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}
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break;
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default:
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break;
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}
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}
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}
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}
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