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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.Entitys;
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using Rs.MotionPlat.Flow.Common;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.SubFlow;
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using Rs.MotionPlat.Vision;
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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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enum EGrrFlowStep
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{
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//开始排料前准备
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等待启动,
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//料仓取料
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判断是否需要从料仓取料,
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到料仓拍照位上方,
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等待到料仓拍照位上方,
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料仓取料拍照,
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到料仓取料位上方,
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//等待到料仓取料位上方,
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//到料仓取料位下方,
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//等待到料仓取料位下方,
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//料仓取料完成抬起,
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//等待料仓取料完成抬起,
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//料仓取料真空吸检测,
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//治具换料
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到治具取料等待位,
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等待到治具取料等待位,
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等待治具测试完成换料,
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到治具取料位上方,
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等待到治具取料位上方,
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到治具取料位下方1,
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等待到治具取料位下方1,
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到治具取料位下方2,
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等待到治具取料位下方2,
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治具取料打开真空吸,
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治具取料松开治具夹爪,
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治具取料完成抬起1,
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等待治具取料完成抬起1,
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治具取料完成抬起2,
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等待治具取料完成抬起2,
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治具取料完成真空检测,
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到治具拍照位,
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等待到治具拍照位,
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通知相机拍照,
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到治具放料位上方,
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等待到治具放料位上方,
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到治具放料位下方1,
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等待到治具放料位下方1,
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到治具放料位下方2,
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等待到治具放料位下方2,
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治具放料完成后抬起,
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等待治具放料完成后抬起,
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//料仓放料
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判断是否需要放料到料仓,
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到料仓放料位上方,
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等待到料仓放料位上方,
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到料仓放料位下方,
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等待到料仓放料位下方,
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料仓放料完成抬起,
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等待料仓放料完成抬起,
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料仓放料完成粘料检测
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}
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public class GrrFlow
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{
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private Task mainTask;
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private GrrFlow() { }
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private static GrrFlow instance;
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public static GrrFlow 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 GrrFlow();
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}
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return instance;
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}
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}
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private AlarmEntity alarmEntity;
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Stopwatch timeout = new Stopwatch();
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EGrrFlowStep flowStep = EGrrFlowStep.等待启动;
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public event Action CleanDataEvent;
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int scanNum = 0;
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string logInfo = string.Empty;
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string alarmInfo = string.Empty;
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private bool stop = true;
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private bool run = true;
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TargetPosition targetPosition = new TargetPosition();
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ErrorCode errCode = ErrorCode.Ok;
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/// <summary>
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/// 当前取料穴位
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/// </summary>
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TraySlot curTakeSlot = null;
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/// <summary>
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/// 当前取料穴位的点位
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/// </summary>
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SlotPoint curTakeSlotPoint = null;
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//Nozzle curNozzle = null;
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Nozzle curTakeNozzle = null;
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Nozzle curDumpNozzle= null;
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TestFixture curFixture = null;
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//放料穴位
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TraySlot curDumpSlot = null;
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/// <summary>
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/// 最后一次换料的治具编号
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/// </summary>
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private int lastFixtureIndex = 0;
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/// <summary>
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/// 已经取走的产品数量
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/// </summary>
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private int takedNum = 0;
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//相机拍照结果
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VisionResult vResult = new VisionResult();
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ProductLocationResult vProductResult = new ProductLocationResult();
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List<TestFixture> needGrrFixtureList = new List<TestFixture>();
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/// <summary>
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/// 测试完成的数量
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/// </summary>
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private int testFinishedNum = 0;
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private void Reset()
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{
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curTakeSlot = null;
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curTakeSlotPoint = null;
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curTakeNozzle = null;
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curDumpNozzle = null;
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curFixture = null;
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curDumpSlot = null;
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lastFixtureIndex = 0;
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takedNum = 0;
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testFinishedNum = 0;
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VirtualBarCode.Reset();
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}
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public void Init()
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{
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mainTask = new Task(Run);
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mainTask.Start();
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}
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public void Deinit()
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{
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run = false;
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}
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private void Run()
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{
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while (run)
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{
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if (stop)
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{
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Thread.Sleep(10);
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continue;
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}
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switch (flowStep)
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{
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case EGrrFlowStep.等待启动:
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CleanDataEvent?.Invoke();
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needGrrFixtureList.Clear();
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needGrrFixtureList = TestFixtureManager.Instance.GetEnableFixtureList();
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if(needGrrFixtureList != null)
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{
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string fixtureindex = string.Join(",", needGrrFixtureList.Select(f => f.Index));
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MessageQueue.Instance.Insert($"GRR流程开始，启用治具:{fixtureindex},产品数量：{GlobalVar.GrrProductNum}，测试次数:{GlobalVar.GrrTestNum}");
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int i = 0;
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foreach (TestFixture testFixture in needGrrFixtureList)
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{
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if(i==0)
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{
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needGrrFixtureList[i].IsFirstFixture = true;
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}
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else
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{
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needGrrFixtureList[i].IsFirstFixture = false;
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}
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i++;
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}
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}
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flowStep = EGrrFlowStep.判断是否需要从料仓取料;
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break;
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#region 料仓取料
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case EGrrFlowStep.判断是否需要从料仓取料:
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if (takedNum < GlobalVar.GrrProductNum)
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{
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//检测吸嘴有几个产品，少于3个产品则需要从料仓上料
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int idelNozzleNum = NozzleManager.GetIdleNozzleCount();
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if (idelNozzleNum == 1 || takedNum == GlobalVar.GrrProductNum)//如果空闲的吸嘴只剩下1个或者取起来的数量等于要测试的产品数量时，取治具换料
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{
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logInfo = GetClassName() + $"空闲吸嘴的数量为{idelNozzleNum}，没有空闲的吸嘴了，去治具换料";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EGrrFlowStep.等待治具测试完成换料;
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}
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else
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{
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logInfo = GetClassName() + $"空闲吸嘴的数量为{idelNozzleNum}，继续取料";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EGrrFlowStep.到料仓拍照位上方;
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}
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}
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else
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{
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flowStep = EGrrFlowStep.等待治具测试完成换料;
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}
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break;
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case EGrrFlowStep.到料仓拍照位上方:
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curTakeSlot = GlobalTray.GrrTray.GetSlot(ESlotStatus.Have);
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if (curTakeSlot != null)
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{
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curTakeSlotPoint = TrayRunPointManager.GetSlotPoint(ETrayType.Grr, curTakeSlot.Index);
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if (curTakeSlotPoint != null)
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{
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targetPosition.X = curTakeSlotPoint.X;
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targetPosition.Y1 = GlobalVar.StockSideY1;
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targetPosition.Y2 = curTakeSlotPoint.Y;
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//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
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//if(curLoadX-GlobalVar.FixtureSafePosX>50)
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//{
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// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
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//}
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if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
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{
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AxisPosPrint.PrintXY1Y2TargetPos("轴loadx,loady1,loady2已停止运动,", targetPosition, GetClassName());
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flowStep = EGrrFlowStep.等待到料仓拍照位上方;
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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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//没有料了，判断是否需要换料
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GlobalTray.GrabTray.ChangeStatus(ESlotStatus.Have);
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}
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break;
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case EGrrFlowStep.等待到料仓拍照位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓拍照位上方,", GetClassName());
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flowStep = EGrrFlowStep.料仓取料拍照;
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}
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else
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{
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flowStep = EGrrFlowStep.到料仓拍照位上方;
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}
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}
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break;
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case EGrrFlowStep.料仓取料拍照:
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UpCameraHelper.Grab();
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string msg = VisionHelper.OneGrabOne();//.Grab(EVisionScene.SingleScanBarcode);
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vProductResult.Parse(msg);
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if((vProductResult != null && vProductResult.Result== EOneGrabSixteenResult.Ok) || GlobalVar.RunSpace)
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{
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flowStep = EGrrFlowStep.到料仓取料位上方;
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}
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else if(vProductResult != null && vProductResult.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
|
|
|
|
|
|
{
|
|
|
|
|
|
GrrScanFailFrm scanFail = new GrrScanFailFrm((act,qrcode) => {
|
|
|
|
|
|
if(act==1)
|
|
|
|
|
|
{
|
|
|
|
|
|
vProductResult.SN = qrcode;
|
|
|
|
|
|
flowStep = EGrrFlowStep.到料仓取料位上方;
|
|
|
|
|
|
}
|
|
|
|
|
|
});
|
|
|
|
|
|
scanFail.ShowDialog();
|
|
|
|
|
|
//vProductResult.SN = VirtualBarCode.Code;
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
alarmEntity = AlarmCollection.Get(AlarmConstID.料仓取料拍照失败);
|
|
|
|
|
|
Msgbox.ShowDialog(alarmEntity,EButtonType.Retry);
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
case EGrrFlowStep.到料仓取料位上方:
|
|
|
|
|
|
//获取空闲吸嘴
|
|
|
|
|
|
curTakeNozzle = NozzleManager.GetIdelNozzle();
|
|
|
|
|
|
if (curTakeNozzle != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
StockTakeFlow.Instance.Take(ETrayType.Grr, curTakeSlot.Index, curTakeNozzle.NozzleIndex, EStockScanBarcodeMode.Single, vProductResult);
|
|
|
|
|
|
takedNum++;
|
|
|
|
|
|
if (NozzleManager.GetIdleNozzleCount() == 1 || takedNum == GlobalVar.GrrProductNum)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.判断是否需要从料仓取料;
|
|
|
|
|
|
}
|
|
|
|
|
|
//targetPosition = NozzleManager.GetToTraySlot(ETrayType.Grr, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
//if(curTakeNozzle != null)
|
|
|
|
|
|
//{
|
|
|
|
|
|
// targetPosition.X += vProductResult.OffsetX;
|
|
|
|
|
|
// targetPosition.Y2+= vProductResult.OffsetY;
|
|
|
|
|
|
// if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2TargetPos("到料仓取料位上方,", targetPosition, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到料仓取料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
//}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到料仓取料位上方:
|
|
|
|
|
|
// if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("轴XY1Y2已停止运动,",GetClassName());
|
|
|
|
|
|
// if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("已运动到等待到料仓取料位上方,", GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到料仓取料位下方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到料仓取料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到料仓取料位下方:
|
|
|
|
|
|
// targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Grr, curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
// errCode = AxisControl.GetAxis($"NozzleZ{curTakeNozzle.NozzleIndex}").MovePos(targetPosition.NozzleZ, GlobalVar.WholeSpeed);
|
|
|
|
|
|
// if (errCode == ErrorCode.Ok)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}到料仓取料位下方";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到料仓取料位下方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到料仓取料位下方:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}已运动到料仓取料位下方";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// if (GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.料仓取料完成抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// Ops.On($"吸料真空{curTakeNozzle.NozzleIndex}吸");
|
|
|
|
|
|
// Thread.Sleep(100);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.料仓取料完成抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.料仓取料完成抬起:
|
|
|
|
|
|
// if(NozzleManager.GotoSafePos(curTakeNozzle.NozzleIndex))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}料仓取料完成抬起";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待料仓取料完成抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待料仓取料完成抬起:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}料仓取料完成已抬起";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.料仓取料真空吸检测;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.料仓取料真空吸检测:
|
|
|
|
|
|
// if (Ops.IsOn($"吸料真空{curTakeNozzle.NozzleIndex}检测") || GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// takedNum++;
|
|
|
|
|
|
// //curTakeNozzle.Product = new TestProduct() { SN = VirtualBarCode.Code, TestNum = 0 };
|
|
|
|
|
|
// if(GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curTakeNozzle.Product = new TestProduct() { SN = VirtualBarCode.Code, FromSlotIndex = curTakeSlot.Index };
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curTakeNozzle.Product = new TestProduct() { SN = vProductResult.SN, FromSlotIndex = curTakeSlot.Index };
|
|
|
|
|
|
// }
|
|
|
|
|
|
// curTakeNozzle.Status = ENozzleStatus.ToTest;
|
|
|
|
|
|
// GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have);
|
|
|
|
|
|
// GlobalTray.GrrTray.ChangeStatus(curTakeSlot.Index, ESlotStatus.NotHave);
|
|
|
|
|
|
// logInfo = $"{GetClassName()}料仓{curTakeSlot.Index}号穴位取料完成真空检测OK,产品SN:{curTakeNozzle.Product.SN}被吸嘴{curTakeNozzle.NozzleIndex}取走";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// if (NozzleManager.GetIdleNozzleCount() == 1 || takedNum == GlobalVar.GrrProductNum)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.判断是否需要从料仓取料;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// alarmEntity=AlarmCollection.Get(AlarmConstID.GRR取料失败报警);
|
|
|
|
|
|
// Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到料仓取料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
#endregion
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
case EGrrFlowStep.等待治具测试完成换料:
|
|
|
|
|
|
curFixture = needGrrFixtureList[lastFixtureIndex];
|
|
|
|
|
|
if (curFixture.Status == ETestFixtureStatus.IDLE)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (curFixture.Product == null)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (NozzleManager.GetToTestNozzle() != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.到治具拍照位;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
GotoNextFixture();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
if(!string.IsNullOrEmpty(curFixture.Product.Result))
|
|
|
|
|
|
{
|
|
|
|
|
|
//curFixture.AddTestRecordToProduct();
|
|
|
|
|
|
flowStep = EGrrFlowStep.到治具取料位上方;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
case EGrrFlowStep.到治具取料位上方:
|
|
|
|
|
|
//先找出要放的吸嘴
|
|
|
|
|
|
curTakeNozzle = NozzleManager.GetIdelNozzle();
|
|
|
|
|
|
if (curTakeNozzle != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
FixtureTakeFlow.Instance.Take(curFixture.Index, curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
//curTakeNozzle.Product = curFixture.Product;
|
|
|
|
|
|
//string testFixtures = string.Join(",", curTakeNozzle.Product.TestedFixtures);
|
|
|
|
|
|
//logInfo = $"{GetClassName()}取料完成，真空检测OK，吸嘴 {curTakeNozzle.NozzleIndex} 从治具 {curFixture.Index} 把产品SN {curFixture.Product.SN} 取出，测试治具:{testFixtures}，测试次数:{curTakeNozzle.Product.TestNum}";
|
|
|
|
|
|
//MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
//curFixture.Clear();
|
|
|
|
|
|
//GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have);
|
|
|
|
|
|
if (GlobalVar.TestMode == "GRR")
|
|
|
|
|
|
{
|
|
|
|
|
|
if (curTakeNozzle.Product.TestNum >= GlobalVar.GrrTestNum * needGrrFixtureList.Count)
|
|
|
|
|
|
{
|
|
|
|
|
|
testFinishedNum++;
|
|
|
|
|
|
curTakeNozzle.Status = ENozzleStatus.ToUnload;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
curTakeNozzle.Status = ENozzleStatus.ToTest;
|
|
|
|
|
|
}
|
|
|
|
|
|
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count == 3 || testFinishedNum == GlobalVar.GrrProductNum)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.判断是否需要放料到料仓;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
if (NozzleManager.GetToTestNozzle(curTakeNozzle.NozzleIndex) != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.到治具拍照位;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
GotoNextFixture();
|
|
|
|
|
|
flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
curTakeNozzle.Status = ENozzleStatus.ToUnload;
|
|
|
|
|
|
if (NozzleManager.GetIdleNozzleCount() == 1 || TestFixtureManager.Instance.GetHasProuctFixtureCount() == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.判断是否需要放料到料仓;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
//targetPosition = NozzleManager.GetNozzleToFixturePos(curFixture.Index, curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
//targetPosition.X += curFixture.PlaceProductOffsetX;
|
|
|
|
|
|
//targetPosition.Y2+= curFixture.PlaceProductOffsetY;
|
|
|
|
|
|
////if(targetPosition.X-GlobalVar.FixtureSafePosX>50)
|
|
|
|
|
|
////{
|
|
|
|
|
|
//// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToFixture);
|
|
|
|
|
|
////}
|
|
|
|
|
|
//if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.FixtureSide))
|
|
|
|
|
|
//{
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2TargetPos("到治具取料位上方,", targetPosition, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具取料位上方;
|
|
|
|
|
|
//}
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具取料位上方:
|
|
|
|
|
|
// if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
|
|
|
|
|
|
// if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("已运动到治具取料位上方,", GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具取料位下方1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具取料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到治具取料位下方1:
|
|
|
|
|
|
// targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
// if(NozzleManager.Go(curTakeNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}到治具取料位下方1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具取料位下方1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具取料位下方1:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}已运动到治具取料位下方1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具取料位下方2;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到治具取料位下方2:
|
|
|
|
|
|
// targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
// if (NozzleManager.Go(curTakeNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}到治具取料位下方1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具取料位下方2;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具取料位下方2:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}已运动到治具取料位下方2";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// if (GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.治具取料完成抬起1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curTakeNozzle.VacSuction(EIoOperate.Open,GetClassName());
|
|
|
|
|
|
// curFixture.ColletOff(GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.治具取料完成抬起1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.治具取料完成抬起1:
|
|
|
|
|
|
// if(NozzleManager.GotoSafePos(curTakeNozzle.NozzleIndex))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}治具取料完成抬起1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具取料完成抬起1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待治具取料完成抬起1:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}治具取料完成已抬起1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.治具取料完成抬起2;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.治具取料完成抬起2:
|
|
|
|
|
|
// if (NozzleManager.GotoSafePos(curTakeNozzle.NozzleIndex))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}治具取料完成抬起2";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具取料完成抬起2;
|
|
|
|
|
|
// }
|
|
|
|
|
|
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待治具取料完成抬起2:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}治具取料完成已抬起2";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.治具取料完成真空检测;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.治具取料完成真空检测:
|
|
|
|
|
|
// if (Ops.IsOn($"吸料真空{curTakeNozzle.NozzleIndex}检测") || GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curFixture.AddTestRecordToProduct();
|
|
|
|
|
|
// curTakeNozzle.Product = curFixture.Product;
|
|
|
|
|
|
// string testFixtures = string.Join(",", curTakeNozzle.Product.TestedFixtures);
|
|
|
|
|
|
// logInfo = $"{GetClassName()}取料完成，真空检测OK，吸嘴 {curTakeNozzle.NozzleIndex} 从治具 {curFixture.Index} 把产品SN {curFixture.Product.SN} 取出，测试治具:{testFixtures}，测试次数:{curTakeNozzle.Product.TestNum}";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// curFixture.Clear();
|
|
|
|
|
|
// GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have);
|
|
|
|
|
|
// if(GlobalVar.TestMode=="GRR")
|
|
|
|
|
|
// {
|
|
|
|
|
|
// if (curTakeNozzle.Product.TestNum >= GlobalVar.GrrTestNum * needGrrFixtureList.Count)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// testFinishedNum++;
|
|
|
|
|
|
// curTakeNozzle.Status = ENozzleStatus.ToUnload;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curTakeNozzle.Status = ENozzleStatus.ToTest;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count == 3 || testFinishedNum == GlobalVar.GrrProductNum)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.判断是否需要放料到料仓;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// if (NozzleManager.GetToTestNozzle(curTakeNozzle.NozzleIndex) != null)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具拍照位;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// GotoNextFixture();
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curTakeNozzle.Status = ENozzleStatus.ToUnload;
|
|
|
|
|
|
// if (NozzleManager.GetIdleNozzleCount() == 1 || TestFixtureManager.Instance.GetHasProuctFixtureCount()==0)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.判断是否需要放料到料仓;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// //取料失败报警
|
|
|
|
|
|
// Msgbox.ShowTipDialog(EButtonType.Retry, "治具取料失败报警", "error", true);
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
case EGrrFlowStep.到治具拍照位:
|
|
|
|
|
|
if(curFixture!=null)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (NozzleManager.GetIdleNozzleCount() == 2)
|
|
|
|
|
|
{
|
|
|
|
|
|
curDumpNozzle = NozzleManager.GetToTestNozzle(curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
curDumpNozzle = NozzleManager.GetToTestNozzle();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
FixturePlaceFlow.Instance.Place(curFixture.Index, curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
GotoNextFixture();
|
|
|
|
|
|
//lastFixtureIndex = ((lastFixtureIndex + 1) % needGrrFixtureList.Count);
|
|
|
|
|
|
if (takedNum < GlobalVar.GrrProductNum && NozzleManager.GetIdleNozzleCount() == 4)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.判断是否需要从料仓取料;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
}
|
|
|
|
|
|
//targetPosition = curFixture.GetGrabPos();
|
|
|
|
|
|
////if(targetPosition.X-GlobalVar.FixtureSafePosX>50)
|
|
|
|
|
|
////{
|
|
|
|
|
|
//// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToFixture);
|
|
|
|
|
|
////}
|
|
|
|
|
|
//if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.FixtureSide))
|
|
|
|
|
|
//{
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2TargetPos("到治具拍照位,",targetPosition, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具拍照位;
|
|
|
|
|
|
//}
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具拍照位:
|
|
|
|
|
|
// if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
|
|
|
|
|
|
// if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("已运动到治具拍照位,", GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.通知相机拍照;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具拍照位;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.通知相机拍照:
|
|
|
|
|
|
// UpCameraHelper.Grab();
|
|
|
|
|
|
// vResult = VisionHelper.Grab(EVisionScene.FixtureDumpProduct,$"M{curFixture.Index};");
|
|
|
|
|
|
// if((vResult!=null && vResult.Result)||(GlobalVar.RunSpace))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// if(GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// vResult = new VisionResult() { Result = true };
|
|
|
|
|
|
// }
|
|
|
|
|
|
// curFixture.PlaceProductOffsetX = vResult.OffsetX;
|
|
|
|
|
|
// curFixture.PlaceProductOffsetY = vResult.OffsetY;
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具放料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// alarmEntity = AlarmCollection.Get(AlarmConstID.治具放料拍照失败).Transform(curFixture.Index);
|
|
|
|
|
|
// Msgbox.ShowDialog(alarmEntity,EButtonType.Retry);
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到治具放料位上方:
|
|
|
|
|
|
// if(NozzleManager.GetIdleNozzleCount()==2)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curDumpNozzle = NozzleManager.GetToTestNozzle(curTakeNozzle.NozzleIndex);
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curDumpNozzle = NozzleManager.GetToTestNozzle();
|
|
|
|
|
|
// }
|
|
|
|
|
|
// if (curDumpNozzle != null)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// targetPosition = NozzleManager.GetNozzleToFixturePos(curFixture.Index, curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
// targetPosition.X += vResult.OffsetX;
|
|
|
|
|
|
// targetPosition.Y2 += vResult.OffsetY;
|
|
|
|
|
|
// MessageQueue.Instance.Insert($"相机偏移X:{vResult.OffsetX},相机偏移y:{vResult.OffsetY}");
|
|
|
|
|
|
// if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.FixtureSide))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2TargetPos("到治具放料位上方,", targetPosition, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具放料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具放料位上方:
|
|
|
|
|
|
// if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
|
|
|
|
|
|
// if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("已运动到治具放料位上方,", GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具放料位下方1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具放料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到治具放料位下方1:
|
|
|
|
|
|
// targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index,curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
// if(NozzleManager.Go(curDumpNozzle,targetPosition.NozzleZ,GlobalVar.WholeSpeed))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}到治具放料位下方1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具放料位下方1;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具放料位下方1:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}已运动到治具放料位下方1";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到治具放料位下方2;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到治具放料位下方2:
|
|
|
|
|
|
// targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
// if (NozzleManager.Go(curDumpNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}到治具放料位下方2";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到治具放料位下方2;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到治具放料位下方2:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}已运动到治具放料位下方2";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// if (GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.治具放料完成后抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curFixture.ColletOn(GetClassName());
|
|
|
|
|
|
// curDumpNozzle.VacSuction(EIoOperate.Close, GetClassName());
|
|
|
|
|
|
// curDumpNozzle.VacBreak(EIoOperate.Open, GetClassName());
|
|
|
|
|
|
// curDumpNozzle.VacBreak(EIoOperate.Close, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.治具放料完成后抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.治具放料完成后抬起:
|
|
|
|
|
|
// if(NozzleManager.GotoSafePos(curDumpNozzle.NozzleIndex))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}治具放料完成后抬起";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具放料完成后抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待治具放料完成后抬起:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}放料完成已抬起,吸嘴:{curDumpNozzle.NozzleIndex}把产品SN: {curDumpNozzle.Product.SN} 放入治具:{curFixture.Index}";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// curFixture.Product = curDumpNozzle.Product;
|
|
|
|
|
|
// curFixture.StartTest();
|
|
|
|
|
|
// curDumpNozzle.Clear();
|
|
|
|
|
|
// GotoNextFixture();
|
|
|
|
|
|
// //lastFixtureIndex = ((lastFixtureIndex + 1) % needGrrFixtureList.Count);
|
|
|
|
|
|
// if(takedNum<GlobalVar.GrrProductNum && NozzleManager.GetIdleNozzleCount()==4)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.判断是否需要从料仓取料;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//料仓放料
|
|
|
|
|
|
case EGrrFlowStep.判断是否需要放料到料仓:
|
|
|
|
|
|
|
|
|
|
|
|
//检测有没有需要放料到料仓的吸嘴
|
|
|
|
|
|
if (NozzleManager.GetToUnloadNozzle() != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.到料仓放料位上方;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
List<TestFixture> hasProductFixtures = TestFixtureManager.Instance.GetHaveProductFixtureList();
|
|
|
|
|
|
if(hasProductFixtures!=null&&hasProductFixtures.Count>0)
|
|
|
|
|
|
{
|
|
|
|
|
|
flowStep = EGrrFlowStep.等待治具测试完成换料;
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
|
|
|
Msgbox.ShowTipDialog(EButtonType.Ok, "Grr test finished!", "tip", true);
|
|
|
|
|
|
flowStep = EGrrFlowStep.等待启动;
|
|
|
|
|
|
Reset();
|
|
|
|
|
|
Ops.Stop();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
case EGrrFlowStep.到料仓放料位上方:
|
|
|
|
|
|
curDumpNozzle = NozzleManager.GetToUnloadNozzle();
|
|
|
|
|
|
if (curDumpNozzle != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
//吸嘴放料，加测吸嘴上的产品的测试结果，决定把料放到哪个料仓
|
|
|
|
|
|
//目前先都方到OK料仓
|
|
|
|
|
|
//curDumpSlot = GlobalTray.GrrTray.GetSlot(ESlotStatus.NotHave);
|
|
|
|
|
|
curDumpSlot = GlobalTray.GrrTray.GetSlot(curDumpNozzle.Product.FromSlotIndex);
|
|
|
|
|
|
if (curDumpSlot != null)
|
|
|
|
|
|
{
|
|
|
|
|
|
StockPlaceFlow.Instance.Place(ETrayType.Grr, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
flowStep = EGrrFlowStep.判断是否需要放料到料仓;
|
|
|
|
|
|
//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
|
|
|
|
|
|
//if(curLoadX-GlobalVar.FixtureSafePosX>50)
|
|
|
|
|
|
//{
|
|
|
|
|
|
// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
|
|
|
|
|
|
//}
|
|
|
|
|
|
//targetPosition = NozzleManager.GetToTraySlot(ETrayType.Grr, curDumpSlot.Index, curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
//if(GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
|
|
|
|
|
|
//{
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2TargetPos("到料仓放料位上方,", targetPosition, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到料仓放料位上方;
|
|
|
|
|
|
//}
|
|
|
|
|
|
}
|
|
|
|
|
|
else
|
|
|
|
|
|
{
|
|
|
|
|
|
GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到料仓放料位上方:
|
|
|
|
|
|
// if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
|
|
|
|
|
|
// if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// AxisPosPrint.PrintXY1Y2CurrentPos("已运动到料仓放料位上方,", GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到料仓放料位下方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.到料仓放料位上方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.到料仓放料位下方:
|
|
|
|
|
|
// targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Grr, curDumpNozzle.NozzleIndex);
|
|
|
|
|
|
// if(NozzleManager.Go(curDumpNozzle,targetPosition.NozzleZ,GlobalVar.WholeSpeed))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}到料仓放料位下方";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待到料仓放料位下方;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待到料仓放料位下方:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}已运动到料仓放料位下方";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// if (GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// flowStep = EGrrFlowStep.料仓放料完成抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// else
|
|
|
|
|
|
// {
|
|
|
|
|
|
// curDumpNozzle.VacSuction(EIoOperate.Close, GetClassName());
|
|
|
|
|
|
// curDumpNozzle.VacBreak(EIoOperate.Open, GetClassName());
|
|
|
|
|
|
// curDumpNozzle.VacBreak(EIoOperate.Close, GetClassName());
|
|
|
|
|
|
// flowStep = EGrrFlowStep.料仓放料完成抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.料仓放料完成抬起:
|
|
|
|
|
|
// if(NozzleManager.GotoSafePos(curDumpNozzle.NozzleIndex))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}料仓放料完成抬起";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.等待料仓放料完成抬起;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.等待料仓放料完成抬起:
|
|
|
|
|
|
// if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}料仓放料完成已抬起";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// flowStep = EGrrFlowStep.料仓放料完成粘料检测;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
//case EGrrFlowStep.料仓放料完成粘料检测:
|
|
|
|
|
|
// if (!curDumpNozzle.HasProduct() || GlobalVar.RunSpace)
|
|
|
|
|
|
// {
|
|
|
|
|
|
// logInfo = $"{GetClassName()}料仓放料完成,吸嘴 {curDumpNozzle.NozzleIndex} 把产品SN {curDumpNozzle.Product.SN} 放入料仓穴位 {curDumpSlot.Index}";
|
|
|
|
|
|
// MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
|
// GlobalTray.GrrTray.ChangeStatus(curDumpSlot.Index, ESlotStatus.Have);
|
|
|
|
|
|
// curDumpNozzle.Clear();
|
|
|
|
|
|
// flowStep = EGrrFlowStep.判断是否需要放料到料仓;
|
|
|
|
|
|
// }
|
|
|
|
|
|
// break;
|
|
|
|
|
|
}
|
|
|
|
|
|
Thread.Sleep(5);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void Start()
|
|
|
|
|
|
{
|
|
|
|
|
|
stop = false;
|
|
|
|
|
|
}
|
|
|
|
|
|
public void Stop()
|
|
|
|
|
|
{
|
|
|
|
|
|
stop = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
private string GetClassName()
|
|
|
|
|
|
{
|
|
|
|
|
|
return "GrrFlow-";
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/// <summary>
|
|
|
|
|
|
/// 获取吸嘴取料取不起来时，吸嘴在原取料位的偏移
|
|
|
|
|
|
/// 奇数向下偏移
|
|
|
|
|
|
/// 偶数向上偏移
|
|
|
|
|
|
/// </summary>
|
|
|
|
|
|
/// <param name="fetchNum"></param>
|
|
|
|
|
|
/// <returns></returns>
|
|
|
|
|
|
private double GetVacOffsetHeight(int fetchNum)
|
|
|
|
|
|
{
|
|
|
|
|
|
if (fetchNum == 0) return 0;
|
|
|
|
|
|
//先判断是奇数还是偶数
|
|
|
|
|
|
int count = 0;
|
|
|
|
|
|
int oddOrEven = fetchNum & 0x01;
|
|
|
|
|
|
|
|
|
|
|
|
double offsetDisct = 0.0;
|
|
|
|
|
|
if (oddOrEven == 1)
|
|
|
|
|
|
{
|
|
|
|
|
|
count = (fetchNum / 2) + 1;
|
|
|
|
|
|
offsetDisct = -0.1 * count;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
else if (oddOrEven == 0)
|
|
|
|
|
|
{
|
|
|
|
|
|
count = (fetchNum / 2);
|
|
|
|
|
|
offsetDisct = 0.1 * count;
|
|
|
|
|
|
}
|
|
|
|
|
|
return offsetDisct;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public string GetCurStep()
|
|
|
|
|
|
{
|
|
|
|
|
|
return flowStep.ToString();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
public void VirtualAxisSleep()
|
|
|
|
|
|
{
|
|
|
|
|
|
if (GlobalVar.VirtualAxis)
|
|
|
|
|
|
{
|
|
|
|
|
|
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
private void GotoNextFixture()
|
|
|
|
|
|
{
|
|
|
|
|
|
lastFixtureIndex = ((lastFixtureIndex + 1) % needGrrFixtureList.Count);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
