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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 Rs.MotionPlat.Flow.Space;
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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.IO;
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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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using System.Windows.Forms;
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namespace Rs.MotionPlat.Flow
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{
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public enum EWorkFlowStep
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{
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等待任务,
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到取料位上方,
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等待到取料位上方,
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到取料位下方,
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等待到取料位下方,
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开真空,
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取料真空检测,
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取料完成抬起,
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等待取料完成抬起,
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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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等待视觉处理结果,
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到放料位上方,
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等待到放料位上方,
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到放料位下方,
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等待到放料位下方,
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到放料破真空位,
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等待到放料破真空位,
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周转盘放料位真空检测,
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放料完成抬起,
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等待放料完成抬起,
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放料真空检测,
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放料任务完成,
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任务结束到安全位,
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等待任务结束到安全位,
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测试工位上料,
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等待测试工位上料完成,
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测试工位下料,
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等待测试工位下料完成,
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等待Input料盘搬运完成,
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等待Input料仓上料完成,
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IDLE
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}
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public class WorkFlow : BaseFlow
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{
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private bool grabOK = false;
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private static WorkFlow instance;
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public event Action<List<MatchResult>> OnMatchResult;
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public static WorkFlow 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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{
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instance = new WorkFlow();
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}
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return instance;
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}
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}
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enum ELoadUnloadAction
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{
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/// <summary>
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/// 上料
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/// </summary>
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LOAD,
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/// <summary>
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/// 下料
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/// </summary>
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UNLOAD
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}
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private WorkFlow()
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{
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//HikCamera.Instance.GrabOkEvent += (camIndex,img) => {
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// grabOK = true;
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//};
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}
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EWorkFlowStep flowStep = EWorkFlowStep.等待任务;
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EWorkFlowStep restoreFlowStep = EWorkFlowStep.IDLE;
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HObject[] imgs = new HObject[2];
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List<MatchResult> mrs = new List<MatchResult>();
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int FetchNum = 0;//取料次数
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bool bFetchBack = false;
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double targetX = 0.0;
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double targetY = 0.0;
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TraySlot tray = new TraySlot();
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// List<TurnoverInfo> totalTask = new List<TurnoverInfo>();
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List<TurnoverInfo> dealTask = new List<TurnoverInfo>();
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//TurnoverInfo curTurnoverTask = new TurnoverInfo();
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TurnoverInfo curTask = new TurnoverInfo();
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List<Nozzle> idleNozzle = new List<Nozzle>();
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Nozzle curNozzle = new Nozzle();
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SlotPoint curSlotPoint = new SlotPoint();
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SlotPoint nozzleDist = new SlotPoint();
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//List<Nozzle> unloadNozzles = new List<Nozzle>();
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TraySlot downSlot = new TraySlot();
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OffsetPoint turnoverOffsetPoint = new OffsetPoint();
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int needGrabNum = 0;//需要拍照的吸嘴数量
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ErrorCode errCode = ErrorCode.Ok;
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public override void Run()
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{
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switch (flowStep)
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{
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case EWorkFlowStep.等待任务:
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if (LoadAndUnloadTask.Instance.Count > 0)
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{
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if(LoadAndUnloadTask.Instance.CanRunTask())
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{
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if(LoadAndUnloadTask.Instance.GetTaskNum(ETaskMode.TestLoad)>0)
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{
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flowStep = EWorkFlowStep.测试工位上料;
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}
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else if(LoadAndUnloadTask.Instance.GetTaskNum( ETaskMode.TestUnload)>0)
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{
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flowStep = EWorkFlowStep.测试工位下料;
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}
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else
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{
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flowStep = EWorkFlowStep.到取料位上方;
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}
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}
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}
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break;
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case EWorkFlowStep.到取料位上方:
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//先取下料任务,再取上料任务，最后取换料任务
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if(LoadAndUnloadTask.Instance.GetTaskNum(ETaskMode.Unload)>0)
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{
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curTask = LoadAndUnloadTask.Instance.GetUnLoadTask();
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}
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else if(LoadAndUnloadTask.Instance.GetTaskNum( ETaskMode.Load)>0)
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{
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curTask = LoadAndUnloadTask.Instance.GetLoadTask();
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}
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else if (LoadAndUnloadTask.Instance.GetTaskNum(ETaskMode.Change) > 0)
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{
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curTask = LoadAndUnloadTask.Instance.GetChangeTask();
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}
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curNozzle = NozzleManager.GetIdelNozzle();
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if (curTask!=null && curNozzle != null)
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{
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if (XYCanMove())
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{
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curSlotPoint = null;
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if (curTask.FromType == TurnoverType.Turnover)
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{
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curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", curTask.FromIndex + 1, EPointType.RUN);
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MessageQueue.Instance.Insert($"吸嘴{curTask.FromIndex + 1} 去周转盘 {curTask.FromIndex + 1} 号穴位取料");
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}
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else if (curTask.FromType == TurnoverType.ToBeTested)
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{
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TraySlot slot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
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if (slot != null)
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{
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curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Input", slot.Index, EPointType.BASE);
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MessageQueue.Instance.Insert($"吸嘴{curNozzle.NozzleIndex} 去Input盘 {slot.Index} 号穴位取料");
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}
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else
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{
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Msg.ShowInfo("tray has take over,please change tray");
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GlobalTray.InputTray.ResetTray();
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GlobalTray.InputTray.Fill();
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//TakeTrayFlow.Instance.Take(EStockType.Input, EStockType.Empty1, ELoadUnloadType.Unload);
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//restoreFlowStep = EWorkFlowStep.到取料位上方;
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//flowStep = EWorkFlowStep.等待Input料盘搬运完成;
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}
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}
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if (curSlotPoint != null)
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{
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nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.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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//if(Ops.IsHomedAndNearStartPos($"NozzleR{NozzleIndex}"))
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{
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errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<Double>($"NozzleR{curNozzle.NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed));
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errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
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if (errCode == ErrorCode.Ok)
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{
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flowStep = EWorkFlowStep.等待到取料位上方;
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}
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}
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//else
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// {
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// Msg.ShowError($"吸头 NozzleR{NozzleIndex} 不在起始位，请手动手动回原后运动到起始位");
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// }
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}
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}
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}
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else
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{
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Msg.ShowError("x y move isn't safe");
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}
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}
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break;
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case EWorkFlowStep.等待到取料位上方:
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if (Ops.IsStop("LoadX","LoadY", $"NozzleR{curNozzle.NozzleIndex}"))
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{
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Thread.Sleep(100);
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flowStep = EWorkFlowStep.到取料位下方;
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MessageQueue.Instance.Insert("已运动到取料位上方");
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}
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break;
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case EWorkFlowStep.到取料位下方:
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if(AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus== EHomeStatus.Finished)
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{
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MessageQueue.Instance.Insert("准备运动到取料位下方");
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if (curTask.FromType == TurnoverType.Turnover)
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{
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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}
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else if (curTask.FromType == TurnoverType.ToBeTested)
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{
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
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}
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if (errCode == ErrorCode.Ok)
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{
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flowStep = EWorkFlowStep.等待到取料位下方;
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}
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}
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else
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{
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Msg.ShowError($"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定");
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}
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break;
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case EWorkFlowStep.等待到取料位下方:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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Thread.Sleep(GlobalVar.AxisArrivedWaittime);
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MessageQueue.Instance.Insert("已运动到取料位下方");
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flowStep = EWorkFlowStep.开真空;
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}
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break;
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case EWorkFlowStep.开真空:
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Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
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MessageQueue.Instance.Insert($"打开{curNozzle.NozzleIndex}号吸嘴真空吸");
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Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime);
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if (curTask.FromType == TurnoverType.Turnover)
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{
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Ops.Off($"周转盘{curTask.FromIndex+1}号穴位真空吸");
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Thread.Sleep(GlobalVar.TurnoverTrayCloseVacSuctionDelaytime);
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Ops.On($"周转盘{curTask.FromIndex + 1}号穴位真空破");
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Thread.Sleep(GlobalVar.TurnoverTrayOpenVacBreakDelaytime);
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Ops.Off($"周转盘{curTask.FromIndex + 1}号穴位真空破");
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Thread.Sleep(GlobalVar.TurnoverTrayCloseVacBreakDelaytime);
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}
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flowStep = EWorkFlowStep.取料完成抬起;
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break;
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case EWorkFlowStep.取料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok)
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{
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flowStep = EWorkFlowStep.等待取料完成抬起;
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}
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break;
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case EWorkFlowStep.等待取料完成抬起:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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flowStep = EWorkFlowStep.取料真空检测;
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}
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break;
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case EWorkFlowStep.取料真空检测:
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if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace)
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{
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curNozzle.Status = ENozzleStatus.ToUnload;
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curNozzle.FromType = curTask.FromType;
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curNozzle.FromFloor = curTask.FromFloor;
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curNozzle.ToType = curTask.ToType;
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curNozzle.ToIndex = curTask.ToIndex;
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curTask.SuckerNo = curNozzle.NozzleIndex ;
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curNozzle.TurnoverGUID = curTask.GUID;
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FetchNum = 0;
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if (curTask.FromType == TurnoverType.Turnover)
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{
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curNozzle.SN = curTask.SN;
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex+1, ESlotStatus.NotHave);
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}
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else if (curTask.FromType == TurnoverType.ToBeTested)
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{
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curNozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index;
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GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
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}
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curNozzle.Update();
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curTask.Dealed = true;
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if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode)>0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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{
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flowStep = EWorkFlowStep.到取料位上方;
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}
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else
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{
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flowStep = EWorkFlowStep.到下相机拍照起始位;
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}
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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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DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel);
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if(dr== DialogResult.Retry)
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{
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FetchNum = 0;
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flowStep = EWorkFlowStep.到取料位下方;
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}
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else
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{
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FetchNum = 0;
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curNozzle.Status = ENozzleStatus.ToUnload;
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curNozzle.FromType = curTask.FromType;
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curNozzle.FromFloor = curTask.FromFloor;
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curNozzle.ToType = curTask.ToType;
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curNozzle.ToIndex = curTask.ToIndex;
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curTask.SuckerNo = curNozzle.NozzleIndex;
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curNozzle.TurnoverGUID = curTask.GUID;
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FetchNum = 0;
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if (curTask.FromType == TurnoverType.Turnover)
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{
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curNozzle.SN = curTask.SN;
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curNozzle.FromIndex = curTask.FromIndex;
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GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
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}
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else if (curTask.FromType == TurnoverType.ToBeTested)
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{
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curNozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index;
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GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
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}
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curNozzle.Update();
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curTask.Dealed = true;
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if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
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{
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flowStep = EWorkFlowStep.到取料位上方;
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}
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else
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{
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flowStep = EWorkFlowStep.到下相机拍照起始位;
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}
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}
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}
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flowStep = EWorkFlowStep.到取料位上方;
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}
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break;
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case EWorkFlowStep.到下相机拍照起始位:
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if (XYCanMove())
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{
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ImageProcess.ClearAutoTrigger();
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HikCamera.Instance.SetExposure("locationCamera", GlobalVar.FlyGrabExposureTime);
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HikCamera.Instance.SetGain("locationCamera", GlobalVar.FlyGrabGain);
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if(NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType== TurnoverType.Turnover)
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{
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needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
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AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 30, GlobalVar.WholeSpeed);
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AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>($"Nozzle8CenterY"), GlobalVar.WholeSpeed);
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}
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else
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{
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AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterX") + 30, GlobalVar.WholeSpeed);
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|
|
AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterY"), GlobalVar.WholeSpeed);
|
|
|
}
|
|
|
flowStep = EWorkFlowStep.等待到下相机拍照起始位;
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case EWorkFlowStep.等待到下相机拍照起始位:
|
|
|
if (Ops.IsStop("LoadX", "LoadY"))
|
|
|
{
|
|
|
Thread.Sleep(100);
|
|
|
HikCamera.Instance.SetTrigger("locationCamera", ETriggerMode.Auto);
|
|
|
List<double> grabPoints = new List<double>();
|
|
|
//获取有几个吸嘴需要拍照
|
|
|
needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
for (int i = needGrabNum; i >= 1; i--)
|
|
|
{
|
|
|
grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
for (int i = 1; i < needGrabNum + 1; i++)
|
|
|
{
|
|
|
grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
|
|
|
}
|
|
|
}
|
|
|
|
|
|
errCode = AxisControl.LoadX.SetPosCompare(1, grabPoints.ToArray());
|
|
|
if(errCode== ErrorCode.Ok)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.到下相机拍照结束位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EWorkFlowStep.到下相机拍照结束位:
|
|
|
if (XYCanMove())
|
|
|
{
|
|
|
IoManager.Instance.WriteOut("下左相机光源触发", 1);
|
|
|
Thread.Sleep(50);
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle1CenterX") + 10, GlobalVar.FlyCameraSpeed);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 10, GlobalVar.FlyCameraSpeed);
|
|
|
}
|
|
|
|
|
|
flowStep = EWorkFlowStep.等待到下相机拍照结束位;
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
case EWorkFlowStep.等待到下相机拍照结束位:
|
|
|
Stopwatch stopwatch = new Stopwatch();
|
|
|
|
|
|
if (Ops.IsStop("LoadX"))
|
|
|
{
|
|
|
AxisControl.LoadX.ClearCompare(1);
|
|
|
IoManager.Instance.WriteOut("下左相机光源触发", 0);
|
|
|
flowStep = EWorkFlowStep.等待相机拍照完成;
|
|
|
stopwatch.Start();
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待相机拍照完成:
|
|
|
imgs = ImageProcess.GetAutoImage();
|
|
|
if (imgs != null && imgs.Length == needGrabNum)
|
|
|
{
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
imgs = imgs.Reverse().ToArray();
|
|
|
}
|
|
|
if (GlobalVar.RunSpace)
|
|
|
{
|
|
|
foreach(Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
|
|
|
{
|
|
|
nl.SN = nl.FromIndex.ToString().PadLeft(18, '0');
|
|
|
//nl.SN = GuidHelper.Create();
|
|
|
}
|
|
|
flowStep = EWorkFlowStep.到放料位上方;
|
|
|
mrs = new List<MatchResult>();
|
|
|
for(int i=0;i<needGrabNum;i++)
|
|
|
{
|
|
|
mrs.Add(new MatchResult());
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
//拍照完成
|
|
|
flowStep = EWorkFlowStep.等待视觉处理结果;
|
|
|
}
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待视觉处理结果:
|
|
|
mrs = VisionProcess.Instance.MatchDownCam(imgs);
|
|
|
if (mrs != null && mrs.Count == imgs.Length && mrs.Where(m=>m.IsOK==true).Count()==imgs.Length)
|
|
|
{
|
|
|
//foreach (Nozzle nozzle in NozzleManager.GetNozzles())
|
|
|
//{
|
|
|
// nozzle.SN = Guid.NewGuid().ToString();
|
|
|
//}
|
|
|
int ni = 1;
|
|
|
foreach (MatchResult item in mrs)
|
|
|
{
|
|
|
NozzleManager.GetNozzle(ni).SN = item.SN;
|
|
|
//File.AppendAllText("D://OFFSET.TXT",$"SN:{item.SN},X:{item.OffsetRow},Y:{item.OffsetCol},R:{AngleTool.Rad2Deg(item.Angle)}\r\n");
|
|
|
ni++;
|
|
|
}
|
|
|
//CameraOkEvent?.Invoke(imgs, mrs);
|
|
|
OnMatchResult?.Invoke(mrs);
|
|
|
flowStep = EWorkFlowStep.到放料位上方;
|
|
|
//Thread.Sleep(2000);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
int ni = 1;
|
|
|
List<int> errCodeList = new List<int>();
|
|
|
foreach (MatchResult item in mrs)
|
|
|
{
|
|
|
if(item.IsOK)
|
|
|
{
|
|
|
NozzleManager.GetNozzle(ni).SN = item.SN;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
errCodeList.Add(ni);
|
|
|
NozzleManager.GetNozzle(ni).SN = null;
|
|
|
}
|
|
|
ni++;
|
|
|
}
|
|
|
OnMatchResult?.Invoke(mrs);
|
|
|
DialogResult dr = Msg.ShowQuestion($"吸嘴{string.Join(",",errCodeList)}扫描失败,点击取消则不再扫码", System.Windows.Forms.MessageBoxButtons.RetryCancel);
|
|
|
if(dr== DialogResult.Cancel)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.到放料位上方;
|
|
|
}
|
|
|
else if(dr== DialogResult.Retry)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.到下相机拍照起始位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.到放料位上方:
|
|
|
if (XYCanMove())
|
|
|
{
|
|
|
turnoverOffsetPoint.Reset();
|
|
|
tray = null;
|
|
|
targetX = 0.0;
|
|
|
targetY = 0.0;
|
|
|
///获取需要放料的吸嘴
|
|
|
curSlotPoint = null;
|
|
|
curNozzle = NozzleManager.GetToUnloadNozzle();
|
|
|
if (curNozzle != null)
|
|
|
{
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Turnover", curNozzle.ToIndex + 1, EPointType.RUN);
|
|
|
turnoverOffsetPoint = TurnoverSlotOffset.GetOffsetPoint(curNozzle.ToIndex + 1);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Passed)
|
|
|
{
|
|
|
downSlot = GlobalTray.OkTary.GetSlot(ESlotStatus.NotHave);
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "OK", downSlot.Index, EPointType.RUN);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Msg.ShowInfo("tray has take over,please change tray");
|
|
|
GlobalTray.OkTary.ResetTray();
|
|
|
GlobalTray.OkTary.Clear();
|
|
|
//Msg.ShowError("last slot");
|
|
|
}
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Failed)
|
|
|
{
|
|
|
downSlot = GlobalTray.NgTray.GetSlot(ESlotStatus.NotHave);
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "NG", downSlot.Index, EPointType.RUN);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.NgTray.ResetTray();
|
|
|
GlobalTray.NgTray.Clear();
|
|
|
}
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Multifunction)
|
|
|
{
|
|
|
downSlot = GlobalTray.MultiTray.GetSlot(ESlotStatus.NotHave);
|
|
|
if (downSlot != null)
|
|
|
{
|
|
|
curSlotPoint = TrayPointManager.GetSlotPoint(GlobalVar.CurRecipe, "Multi", downSlot.Index, EPointType.RUN);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
GlobalTray.MultiTray.ResetTray();
|
|
|
GlobalTray.MultiTray.Clear();
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
if (curSlotPoint!=null)
|
|
|
{
|
|
|
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
|
|
|
if(mrs[curNozzle.NozzleIndex - 1].OffsetRow <5 && mrs[curNozzle.NozzleIndex - 1].OffsetCol<5)
|
|
|
{
|
|
|
targetX = mrs[curNozzle.NozzleIndex -1].OffsetCol + curSlotPoint.X + nozzleDist.X+ turnoverOffsetPoint.X;
|
|
|
targetY = mrs[curNozzle.NozzleIndex- 1].OffsetRow +curSlotPoint.Y + nozzleDist.Y + turnoverOffsetPoint.Y;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
targetX = curSlotPoint.X + nozzleDist.X + turnoverOffsetPoint.X;
|
|
|
targetY = curSlotPoint.Y + nozzleDist.Y + turnoverOffsetPoint.Y;
|
|
|
}
|
|
|
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok)
|
|
|
{
|
|
|
errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MoveOffset((mrs[curNozzle.NozzleIndex - 1].OffsetA)+ turnoverOffsetPoint.A, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.等待到放料位上方;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Msg.ShowError("x y move isn't safe");
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待到放料位上方:
|
|
|
if (Ops.IsStop("LoadX", "LoadY",$"NozzleR{curNozzle.NozzleIndex}"))
|
|
|
{
|
|
|
Thread.Sleep(100);
|
|
|
flowStep = EWorkFlowStep.到放料位下方;
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.到放料位下方:
|
|
|
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") +3, GlobalVar.WholeSpeed);
|
|
|
}
|
|
|
|
|
|
if (errCode== ErrorCode.Ok)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.等待到放料位下方;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待到放料位下方:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
|
|
|
{
|
|
|
if (curNozzle.ToType== TurnoverType.Turnover)
|
|
|
{
|
|
|
Ops.On($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸");
|
|
|
Thread.Sleep(GlobalVar.TurnoverTrayOpenVacSuctionDelaytime);
|
|
|
Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
|
|
|
Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
|
|
|
Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
|
|
|
Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
|
|
|
flowStep = EWorkFlowStep.放料完成抬起;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
|
|
|
Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
|
|
|
Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
|
|
|
Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
|
|
|
Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
|
|
|
flowStep = EWorkFlowStep.放料完成抬起;
|
|
|
}
|
|
|
|
|
|
}
|
|
|
break;
|
|
|
//case EWorkFlowStep.到放料破真空位:
|
|
|
// errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight")+1, GlobalVar.WholeSpeed);
|
|
|
// if (errCode == ErrorCode.Ok)
|
|
|
// {
|
|
|
// flowStep = EWorkFlowStep.等待到放料破真空位;
|
|
|
// }
|
|
|
// break;
|
|
|
//case EWorkFlowStep.等待到放料破真空位:
|
|
|
// if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
|
|
|
// {
|
|
|
// flowStep = EWorkFlowStep.周转盘放料位真空检测;
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
//case EWorkFlowStep.周转盘放料位真空检测:
|
|
|
// if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
// {
|
|
|
// Thread.Sleep(100);
|
|
|
// if(Ops.IsOn($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测") || GlobalVar.RunSpace)
|
|
|
// {
|
|
|
// flowStep = EWorkFlowStep.放料完成抬起;
|
|
|
// }
|
|
|
// else
|
|
|
// {
|
|
|
// DialogResult dr = Msg.ShowError($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常,点击确定后跳过");
|
|
|
// if (dr == DialogResult.OK)
|
|
|
// {
|
|
|
// flowStep = EWorkFlowStep.放料完成抬起;
|
|
|
// }
|
|
|
// }
|
|
|
// }
|
|
|
// break;
|
|
|
case EWorkFlowStep.放料完成抬起:
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
|
|
|
if (errCode == ErrorCode.Ok)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.等待放料完成抬起;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待放料完成抬起:
|
|
|
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.放料真空检测;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.放料真空检测:
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
if (Ops.IsOn($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸检测") || GlobalVar.RunSpace)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.放料任务完成;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
DialogResult dr = Msg.ShowError($"周转盘{curNozzle.ToIndex + 1}号穴位真空吸异常,点击确定后跳过");
|
|
|
if (dr == DialogResult.OK)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.放料任务完成;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.放料任务完成;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.放料任务完成:
|
|
|
AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
|
|
|
//Ops.HomeAndGoStartPos($"NozzleR{NozzleIndex}");
|
|
|
if (curNozzle.ToType == TurnoverType.Turnover)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Passed)
|
|
|
{
|
|
|
GlobalTray.OkTary.ChangeStatus(downSlot.Index, ESlotStatus.Have);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Failed)
|
|
|
{
|
|
|
GlobalTray.NgTray.ChangeStatus(downSlot.Index, ESlotStatus.Have);
|
|
|
}
|
|
|
else if (curNozzle.ToType == TurnoverType.Multifunction)
|
|
|
{
|
|
|
GlobalTray.MultiTray.ChangeStatus(downSlot.Index, ESlotStatus.Have);
|
|
|
}
|
|
|
curNozzle.Reset();
|
|
|
Thread.Sleep(100);
|
|
|
LoadAndUnloadTask.Instance.AddTurnoverResult(curNozzle);
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.到放料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (LoadAndUnloadTask.Instance.GetUnDealedTask().Count > 0)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.到取料位上方;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
|
|
|
case EWorkFlowStep.任务结束到安全位:
|
|
|
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
|
|
|
if(errCode== ErrorCode.Ok)
|
|
|
{
|
|
|
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
|
|
|
if(errCode== ErrorCode.Ok)
|
|
|
{
|
|
|
flowStep = EWorkFlowStep.等待任务结束到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待任务结束到安全位:
|
|
|
if(Ops.IsStop("LoadX","LoadY"))
|
|
|
{
|
|
|
if (TestCenter.Instance.LoadResult())
|
|
|
{
|
|
|
LoadAndUnloadTask.Instance.Clear();
|
|
|
}
|
|
|
MachineManage.Instance.RunState = ERunState.Waiting;
|
|
|
flowStep = EWorkFlowStep.等待任务;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.测试工位上料:
|
|
|
TurnoverFlow.Instance.PressLoad(LoadAndUnloadTask.Instance.GetTestLoadTasks());
|
|
|
flowStep = EWorkFlowStep.等待测试工位上料完成;
|
|
|
break;
|
|
|
case EWorkFlowStep.等待测试工位上料完成:
|
|
|
if (TurnoverFlow.Instance.LoadFinished())
|
|
|
{
|
|
|
TestCenter.Instance.LoadTestLoadResult();
|
|
|
LoadAndUnloadTask.Instance.Clear();
|
|
|
MachineManage.Instance.RunState = ERunState.Waiting;
|
|
|
//切换穴位状态
|
|
|
for (int i = 1; i < 9; i++)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
|
|
|
}
|
|
|
for (int i = 17; i < 25; i++)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.NotHave);
|
|
|
}
|
|
|
flowStep = EWorkFlowStep.等待任务;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.测试工位下料:
|
|
|
TurnoverFlow.Instance.PressUnload(LoadAndUnloadTask.Instance.GetTestUnLoadTasks());
|
|
|
flowStep = EWorkFlowStep.等待测试工位下料完成;
|
|
|
break;
|
|
|
case EWorkFlowStep.等待测试工位下料完成:
|
|
|
if (TurnoverFlow.Instance.UnloadFinished())
|
|
|
{
|
|
|
TestCenter.Instance.LoadTestUnLoadResult();
|
|
|
LoadAndUnloadTask.Instance.Clear();
|
|
|
//切换穴位状态
|
|
|
for (int i = 9; i < 17; i++)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.Have);
|
|
|
}
|
|
|
for (int i = 25; i < 33; i++)
|
|
|
{
|
|
|
GlobalTray.TurnoverTray.ChangeStatus(i, ESlotStatus.Have);
|
|
|
}
|
|
|
MachineManage.Instance.RunState = ERunState.Waiting;
|
|
|
flowStep = EWorkFlowStep.等待任务;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待Input料盘搬运完成:
|
|
|
if(TakeTrayFlow.Instance.TakeStatus== ETakeStatus.TakeOK)
|
|
|
{
|
|
|
StockManager.Instance.UnLoad(EStockType.Empty1);
|
|
|
StockManager.Instance.Load(EStockType.Input);
|
|
|
flowStep = EWorkFlowStep.等待Input料仓上料完成;
|
|
|
}
|
|
|
break;
|
|
|
case EWorkFlowStep.等待Input料仓上料完成:
|
|
|
if(StockManager.Instance.GetStockStatus(EStockType.Input)== AutoDischarge.V3.Flow.ETrayStatus.Loaded)
|
|
|
{
|
|
|
flowStep = restoreFlowStep;
|
|
|
restoreFlowStep = EWorkFlowStep.IDLE;
|
|
|
}
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private double GetVacOffsetHeight(int fetchNum)
|
|
|
{
|
|
|
switch (fetchNum)
|
|
|
{
|
|
|
case 0:
|
|
|
return 0;
|
|
|
case 1:
|
|
|
return -0.1;
|
|
|
case 2:
|
|
|
return -0.2;
|
|
|
case 3:
|
|
|
return -0.3;
|
|
|
case 4:
|
|
|
return 0.1;
|
|
|
case 5:
|
|
|
return 0.2;
|
|
|
case 6:
|
|
|
return 0.3;
|
|
|
default:
|
|
|
return 0;
|
|
|
}
|
|
|
}
|
|
|
/// <summary>
|
|
|
/// 检测排料Y轴是否可以到周转盘
|
|
|
/// </summary>
|
|
|
/// <returns></returns>
|
|
|
private bool CanGoTurnoverTray()
|
|
|
{
|
|
|
//获取周转Y轴的位置，当排料Y轴去周转盘的时候，检测是否安全
|
|
|
double turnoverYPos = Ops.GetCurPosition("TurnoverY");
|
|
|
if (turnoverYPos - SysConfigParam.GetValue<double>("PressY") < -1)
|
|
|
return false;
|
|
|
return true;
|
|
|
}
|
|
|
private bool XYCanMove()
|
|
|
{
|
|
|
if (!CanGoTurnoverTray())
|
|
|
return false;
|
|
|
//AxisControl.VacZ1.GetOrgStatus(out bool bOrgZ1);
|
|
|
//AxisControl.VacZ2.GetOrgStatus(out bool bOrgZ2);
|
|
|
//if (AxisControl.LoadX.HomeStatus == EHomeStatus.Finished
|
|
|
// && AxisControl.LoadY.HomeStatus == EHomeStatus.Finished
|
|
|
// && bOrgZ1 && bOrgZ2)
|
|
|
//{
|
|
|
// return true;
|
|
|
//}
|
|
|
return true;
|
|
|
}
|
|
|
}
|
|
|
}
|