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Rs.DeweyTester
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XY运动不到位时，增加报警功能

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8Nozzle
lhiven 6 months ago
parent 5d14fa61f9
commit b258f911b3
15 changed files with 137 additions and 32 deletions
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5
Rs.DeweyTester/Flow/AlarmConstID.cs
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@ -250,5 +250,10 @@ namespace Rs.MotionPlat.Flow
/// </summary>
public const int Input料盘开始搬运到Empty前报警 = 1050;
/// <summary>
/// 轴未到位异常
/// </summary>
public const int 轴未到位异常 = 1051;
}
}

17
Rs.DeweyTester/Flow/NormalFlow/CalibrationFlow.cs
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@ -180,7 +180,12 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if(alarmEntity!=null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
step = ECalibrationFlowStep.到取印尼位上方;
}
}
}
break;
@ -346,11 +351,16 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
step = ECalibrationFlowStep.到拍照位;
}
}
}
break;
case ECalibrationFlowStep.通知视觉拍照:
@ -516,11 +526,16 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
checkStep = ECalibrationCheckFlowStep.到拍照位;
}
}
}
break;
case ECalibrationCheckFlowStep.通知视觉拍照:

7
Rs.DeweyTester/Flow/NormalFlow/DischargeFlow.cs
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@ -632,9 +632,16 @@ namespace Rs.MotionPlat.Flow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
flowStep = EDischargeFlowStep.到治具取料等待位;
}
}
}
break;
case EDischargeFlowStep.等待治具测试完成换料:
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count==3)

8
Rs.DeweyTester/Flow/NormalFlow/GrrFlow.cs
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@ -263,8 +263,16 @@ namespace Rs.MotionPlat.Flow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
flowStep = EGrrFlowStep.到料仓拍照位上方;
}
}
}
break;
case EGrrFlowStep.料仓取料拍照:

7
Rs.DeweyTester/Flow/NormalFlow/ThreePointLocationFlow.cs
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@ -102,9 +102,16 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
step = EThreePointLocationFlowStep.到拍照位;
}
}
}
break;
case EThreePointLocationFlowStep.相机拍照处理:
if (GlobalVar.RunSpace)

15
Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
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@ -4,6 +4,7 @@ using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Flow.Common;
using Rs.MotionPlat.Flow.NormalFlow;
using System;
using System.Collections.Generic;
using System.Linq;
@ -177,9 +178,16 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
moveXStep = EDischargeModuleGoSafePosFlowStep.到安全位;
}
}
}
break;
default:
break;
@ -230,9 +238,16 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
logInfo = $"{GetClassName()}轴不在目标位置";
MessageQueue.Instance.Warn(logInfo);
moveY1Step = EDischargeModuleGoSafePosFlowStep.到安全位;
}
}
}
break;
default:
break;

5
Rs.DeweyTester/Flow/SubFlow/FixedGrabProductFlow.cs
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@ -114,9 +114,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
step = EFixedGrabProductFlowStep.到拍照位上方;
}
}
}
break;
case EFixedGrabProductFlowStep.相机拍照处理:
if(hasProdcutCheck)

10
Rs.DeweyTester/Flow/SubFlow/FixturePlaceFlow.cs
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@ -109,9 +109,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EFixturePlaceFlowStep.到治具拍照位;
}
}
}
break;
case EFixturePlaceFlowStep.通知相机拍照:
logInfo = $"{GetClassName()} 通知相机拍照";
@ -187,9 +192,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EFixturePlaceFlowStep.到治具放料位上方;
}
}
}
break;
case EFixturePlaceFlowStep.到治具放料位下方1:
targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curNozzle.NozzleIndex);

5
Rs.DeweyTester/Flow/SubFlow/FixtureTakeFlow.cs
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@ -120,9 +120,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EFixtureTakeFlowStep.到治具取料位上方;
}
}
}
break;
case EFixtureTakeFlowStep.到治具取料位下方1:
targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curNozzle.NozzleIndex);

14
Rs.DeweyTester/Flow/SubFlow/ProductLocationFlow.cs
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@ -118,11 +118,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
logInfo = $"{GetClassName()} 轴不在目标位置，重新运动一次";
MessageQueue.Instance.Warn(logInfo);
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EProductLocationFlowStep.到料仓拍照起始位;
}
}
}
break;
case EProductLocationFlowStep.到料仓拍照结束位:
if (grabEndSlot != null)
@ -155,11 +158,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
logInfo = $"{GetClassName()} 轴不在目标位置，重新运动一次";
MessageQueue.Instance.Warn(logInfo);
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EProductLocationFlowStep.到料仓拍照结束位;
}
}
}
break;
case EProductLocationFlowStep.拍照结果处理:
if (GlobalVar.RunSpace)

14
Rs.DeweyTester/Flow/SubFlow/StockLocationFlow.cs
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@ -107,11 +107,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
logInfo = $"{GetClassName()} 轴不在目标位置，重新运动一次";
MessageQueue.Instance.Warn(logInfo);
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EStockLocationFlowStep.到料仓拍照起始位;
}
}
}
break;
case EStockLocationFlowStep.到料仓拍照结束位:
if (grabEndSlot != null)
@ -143,11 +146,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
logInfo = $"{GetClassName()} 轴不在目标位置，重新运动一次";
MessageQueue.Instance.Warn(logInfo);
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EStockLocationFlowStep.到料仓拍照结束位;
}
}
}
break;
case EStockLocationFlowStep.拍照结果处理:
//VisionResult vr = VisionHelper.Grab(Vision.EVisionScene.TrayLocation);

10
Rs.DeweyTester/Flow/SubFlow/StockPlaceFlow.cs
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@ -160,9 +160,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EStockPlaceFlowStep.到料仓拍照位上方;
}
}
}
break;
case EStockPlaceFlowStep.料仓穴位拍照:
if(VisionHelper.trayLocationVision.ClearQueue())
@ -250,9 +255,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EStockPlaceFlowStep.到料仓放料位上方;
}
}
}
break;
case EStockPlaceFlowStep.到料仓放料位下方:
targetPosition.StockZ = NozzleManager.GetNozzleToTrayTakeProductPos(trayType, curNozzle.NozzleIndex)-GlobalVar.PlaceProdcutToStockTrayOffsetHeight;

5
Rs.DeweyTester/Flow/SubFlow/StockTakeFlow.cs
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@ -146,9 +146,14 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
else
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.轴未到位异常);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Ok, true);
flowStep = EStockTakeFlowStep.到料仓取料位上方;
}
}
}
break;
case EStockTakeFlowStep.到料仓取料位下方:

2
Rs.DeweyTester/Properties/AssemblyInfo.cs
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@ -31,6 +31,6 @@ using System.Runtime.InteropServices;
//
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示:
[assembly: AssemblyVersion("20.25.39.1")]
[assembly: AssemblyVersion("20.25.40.1")]
//[assembly: AssemblyVersion("1.0.0.0")]
//[assembly: AssemblyFileVersion("1.0.0.0")]

1
Rs.DeweyTester/TestFrm.cs
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@ -147,6 +147,7 @@ namespace Rs.MotionPlat
MessageQueue.Instance.Insert(logInfo);
step++;
}
//Thread.Sleep(1000);
}

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