|
|
|
|
@ -1,517 +0,0 @@
|
|
|
|
|
using Rs.Controls;
|
|
|
|
|
using Rs.Framework;
|
|
|
|
|
using Rs.Motion;
|
|
|
|
|
using Rs.MotionPlat.Commom;
|
|
|
|
|
using Rs.MotionPlat.Entitys;
|
|
|
|
|
using Rs.MotionPlat.Flow.Common;
|
|
|
|
|
using Rs.MotionPlat.Flow.NormalFlow;
|
|
|
|
|
using Rs.MotionPlat.Flow.SafePosFlow;
|
|
|
|
|
using Rs.MotionPlat.Vision;
|
|
|
|
|
using System;
|
|
|
|
|
using System.Collections.Generic;
|
|
|
|
|
using System.Diagnostics;
|
|
|
|
|
using System.Linq;
|
|
|
|
|
using System.Text;
|
|
|
|
|
using System.Threading;
|
|
|
|
|
using System.Threading.Tasks;
|
|
|
|
|
|
|
|
|
|
namespace Rs.MotionPlat.Flow.SubFlow
|
|
|
|
|
{
|
|
|
|
|
enum EFiveProductTestFlowStep
|
|
|
|
|
{
|
|
|
|
|
OK盘三点定位,
|
|
|
|
|
到料仓拍照位上方,
|
|
|
|
|
等待到料仓拍照位上方,
|
|
|
|
|
料仓取料拍照,
|
|
|
|
|
到料仓取料位上方,
|
|
|
|
|
等待到料仓取料位上方,
|
|
|
|
|
到料仓取料位下方,
|
|
|
|
|
等待到料仓取料位下方,
|
|
|
|
|
料仓取料完成抬起,
|
|
|
|
|
等待料仓取料完成抬起,
|
|
|
|
|
料仓取料真空吸检测,
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
到料仓放料位上方,
|
|
|
|
|
等待到料仓放料位上方,
|
|
|
|
|
到料仓放料位下方,
|
|
|
|
|
等待到料仓放料位下方,
|
|
|
|
|
料仓放料完成抬起,
|
|
|
|
|
等待料仓放料完成抬起,
|
|
|
|
|
料仓放料完成粘料检测
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public class FiveProductTestFlow
|
|
|
|
|
{
|
|
|
|
|
private Task mainTask;
|
|
|
|
|
private FiveProductTestFlow() { }
|
|
|
|
|
|
|
|
|
|
private static FiveProductTestFlow instance;
|
|
|
|
|
public static FiveProductTestFlow Instance
|
|
|
|
|
{
|
|
|
|
|
get
|
|
|
|
|
{
|
|
|
|
|
if (instance == null)
|
|
|
|
|
{
|
|
|
|
|
instance = new FiveProductTestFlow();
|
|
|
|
|
}
|
|
|
|
|
return instance;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
private AlarmEntity alarmEntity;
|
|
|
|
|
Stopwatch timeout = new Stopwatch();
|
|
|
|
|
EFiveProductTestFlowStep flowStep = EFiveProductTestFlowStep.OK盘三点定位;
|
|
|
|
|
|
|
|
|
|
int scanNum = 0;
|
|
|
|
|
string logInfo = string.Empty;
|
|
|
|
|
string alarmInfo = string.Empty;
|
|
|
|
|
|
|
|
|
|
private bool stop = true;
|
|
|
|
|
private bool run = true;
|
|
|
|
|
TargetPosition targetPosition = new TargetPosition();
|
|
|
|
|
ErrorCode errCode = ErrorCode.Ok;
|
|
|
|
|
/// <summary>
|
|
|
|
|
/// 当前取料穴位
|
|
|
|
|
/// </summary>
|
|
|
|
|
TraySlot curTakeSlot = null;
|
|
|
|
|
/// <summary>
|
|
|
|
|
/// 当前取料穴位的点位
|
|
|
|
|
/// </summary>
|
|
|
|
|
SlotPoint curTakeSlotPoint = null;
|
|
|
|
|
//Nozzle curNozzle = null;
|
|
|
|
|
Nozzle curTakeNozzle = null;
|
|
|
|
|
Nozzle curDumpNozzle = null;
|
|
|
|
|
TestFixture curFixture = null;
|
|
|
|
|
//放料穴位
|
|
|
|
|
TraySlot curDumpSlot = null;
|
|
|
|
|
/// <summary>
|
|
|
|
|
/// 最后一次换料的治具编号
|
|
|
|
|
/// </summary>
|
|
|
|
|
private int lastFixtureIndex = 0;
|
|
|
|
|
/// <summary>
|
|
|
|
|
/// 已经取走的产品数量
|
|
|
|
|
/// </summary>
|
|
|
|
|
private int takedNum = 0;
|
|
|
|
|
//相机拍照结果
|
|
|
|
|
VisionResult vResult = new VisionResult();
|
|
|
|
|
ProductLocationResult vProductResult = new ProductLocationResult();
|
|
|
|
|
|
|
|
|
|
List<TestFixture> needGrrFixtureList = new List<TestFixture>();
|
|
|
|
|
/// <summary>
|
|
|
|
|
/// 测试完成的数量
|
|
|
|
|
/// </summary>
|
|
|
|
|
private int testFinishedNum = 0;
|
|
|
|
|
|
|
|
|
|
private void Reset()
|
|
|
|
|
{
|
|
|
|
|
curTakeSlot = null;
|
|
|
|
|
curTakeSlotPoint = null;
|
|
|
|
|
curTakeNozzle = null;
|
|
|
|
|
curDumpNozzle = null;
|
|
|
|
|
curFixture = null;
|
|
|
|
|
curDumpSlot = null;
|
|
|
|
|
lastFixtureIndex = 0;
|
|
|
|
|
takedNum = 0;
|
|
|
|
|
testFinishedNum = 0;
|
|
|
|
|
VirtualBarCode.Reset();
|
|
|
|
|
}
|
|
|
|
|
bool binit = false;
|
|
|
|
|
public void Init()
|
|
|
|
|
{
|
|
|
|
|
if(binit)
|
|
|
|
|
{
|
|
|
|
|
return;
|
|
|
|
|
}
|
|
|
|
|
binit = true;
|
|
|
|
|
mainTask = new Task(Run);
|
|
|
|
|
mainTask.Start();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public void Deinit()
|
|
|
|
|
{
|
|
|
|
|
run = false;
|
|
|
|
|
}
|
|
|
|
|
int takeNum = 0;
|
|
|
|
|
private void Run()
|
|
|
|
|
{
|
|
|
|
|
while (run)
|
|
|
|
|
{
|
|
|
|
|
if (stop)
|
|
|
|
|
{
|
|
|
|
|
Thread.Sleep(10);
|
|
|
|
|
continue;
|
|
|
|
|
}
|
|
|
|
|
switch (flowStep)
|
|
|
|
|
{
|
|
|
|
|
#region 料仓取料
|
|
|
|
|
case EFiveProductTestFlowStep.OK盘三点定位:
|
|
|
|
|
ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.到料仓拍照位上方:
|
|
|
|
|
//GlobalTray.InputTray.ChangeStatus(1, ESlotStatus.Have);
|
|
|
|
|
//GlobalTray.InputTray.ChangeStatus(2, ESlotStatus.Have);
|
|
|
|
|
//GlobalTray.InputTray.ChangeStatus(3, ESlotStatus.Have);
|
|
|
|
|
//GlobalTray.InputTray.ChangeStatus(4, ESlotStatus.Have);
|
|
|
|
|
//GlobalTray.InputTray.ChangeStatus(5, ESlotStatus.Have);
|
|
|
|
|
curTakeSlot = GlobalTray.InputTray.GetSlot(ESlotStatus.Have);
|
|
|
|
|
if (curTakeSlot != null)
|
|
|
|
|
{
|
|
|
|
|
curTakeSlotPoint = TrayPointManager.GetSlotPoint(ETrayType.Input, curTakeSlot.Index);
|
|
|
|
|
if (curTakeSlotPoint != null)
|
|
|
|
|
{
|
|
|
|
|
targetPosition.X = curTakeSlotPoint.X;
|
|
|
|
|
targetPosition.Y1 = GlobalVar.StockSideY1;
|
|
|
|
|
targetPosition.Y2 = curTakeSlotPoint.Y;
|
|
|
|
|
//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
|
|
|
|
|
//if (curLoadX - GlobalVar.FixtureSafePosX > 50)
|
|
|
|
|
//{
|
|
|
|
|
// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
|
|
|
|
|
//}
|
|
|
|
|
if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
|
|
|
|
|
{
|
|
|
|
|
AxisPosPrint.PrintXY1Y2TargetPos("轴loadx,loady1,loady2已停止运动,", targetPosition, GetClassName());
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待到料仓拍照位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
//没有料了，判断是否需要换料
|
|
|
|
|
GlobalTray.GrabTray.ChangeStatus(ESlotStatus.Have);
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待到料仓拍照位上方:
|
|
|
|
|
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("已运动到料仓拍照位上方,", GetClassName());
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.料仓取料拍照;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.料仓取料拍照:
|
|
|
|
|
UpCameraHelper.Grab();
|
|
|
|
|
string msg = VisionHelper.OneGrabOne();//.Grab(EVisionScene.SingleScanBarcode);
|
|
|
|
|
vProductResult.Parse(msg);
|
|
|
|
|
if (vProductResult != null && (vProductResult.Result == EOneGrabSixteenResult.Ok || vProductResult.Result== EOneGrabSixteenResult.LocationOkScanBarcodeFail))
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
|
|
|
|
|
}
|
|
|
|
|
else if (vProductResult != null && vProductResult.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
|
|
|
|
|
{
|
|
|
|
|
GrrScanFailFrm scanFail = new GrrScanFailFrm((act, qrcode) => {
|
|
|
|
|
if (act == 1)
|
|
|
|
|
{
|
|
|
|
|
vProductResult.SN = qrcode;
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.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 EFiveProductTestFlowStep.到料仓取料位上方:
|
|
|
|
|
//获取空闲吸嘴
|
|
|
|
|
//curTakeNozzle = NozzleManager.GetIdelNozzle();
|
|
|
|
|
curTakeNozzle = NozzleManager.GetNozzle(1);
|
|
|
|
|
if (curTakeNozzle != null)
|
|
|
|
|
{
|
|
|
|
|
targetPosition = NozzleManager.GetToTraySlot(ETrayType.Input, curTakeSlot.Index, curTakeNozzle.NozzleIndex);
|
|
|
|
|
if (curTakeNozzle != null)
|
|
|
|
|
{
|
|
|
|
|
targetPosition.X += vProductResult.OffsetX + offsetX;
|
|
|
|
|
targetPosition.Y2 += vProductResult.OffsetY + offsetY;
|
|
|
|
|
if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed, EGoWhichSide.StockSide))
|
|
|
|
|
{
|
|
|
|
|
AxisPosPrint.PrintXY1Y2TargetPos("到料仓取料位上方,", targetPosition, GetClassName());
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待到料仓取料位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.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 = EFiveProductTestFlowStep.到料仓取料位下方;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.到料仓取料位下方:
|
|
|
|
|
targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Input, curTakeNozzle.NozzleIndex);
|
|
|
|
|
errCode = AxisControl.GetAxis($"NozzleZ{curTakeNozzle.NozzleIndex}").MovePos(targetPosition.NozzleZ, GlobalVar.WholeSpeed);
|
|
|
|
|
if (errCode == ErrorCode.Ok)
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}到料仓取料位下方";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待到料仓取料位下方;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待到料仓取料位下方:
|
|
|
|
|
if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}已运动到料仓取料位下方";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
if (GlobalVar.RunSpace)
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.料仓取料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
Ops.On($"吸料真空{curTakeNozzle.NozzleIndex}吸");
|
|
|
|
|
Thread.Sleep(100);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.料仓取料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.料仓取料完成抬起:
|
|
|
|
|
if (NozzleManager.GotoSafePos(curTakeNozzle.NozzleIndex))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}料仓取料完成抬起";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待料仓取料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待料仓取料完成抬起:
|
|
|
|
|
if (Ops.IsStop($"NozzleZ{curTakeNozzle.NozzleIndex}"))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}料仓取料完成已抬起";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.料仓取料真空吸检测;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.料仓取料真空吸检测:
|
|
|
|
|
if (Ops.IsOn($"吸料真空{curTakeNozzle.NozzleIndex}检测") || GlobalVar.RunSpace)
|
|
|
|
|
{
|
|
|
|
|
curTakeNozzle.Product = new TestProduct() { SN = "", FromSlotIndex = curTakeSlot.Index };
|
|
|
|
|
curTakeNozzle.Status = ENozzleStatus.ToUnload;
|
|
|
|
|
GlobalTray.NozzleTray.ChangeStatus(curTakeNozzle.NozzleIndex, ESlotStatus.Have);
|
|
|
|
|
GlobalTray.InputTray.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);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓放料位上方;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
alarmEntity = AlarmCollection.Get(AlarmConstID.GRR取料失败报警);
|
|
|
|
|
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓取料位上方;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
#endregion
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
//料仓放料
|
|
|
|
|
|
|
|
|
|
case EFiveProductTestFlowStep.到料仓放料位上方:
|
|
|
|
|
//curDumpNozzle = NozzleManager.GetToUnloadNozzle();
|
|
|
|
|
curDumpNozzle = NozzleManager.GetNozzle(1);
|
|
|
|
|
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.OkTary.GetSlot(ESlotStatus.NotHave);
|
|
|
|
|
if (curDumpSlot != null)
|
|
|
|
|
{
|
|
|
|
|
//double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
|
|
|
|
|
//if (curLoadX - GlobalVar.FixtureSafePosX > 50)
|
|
|
|
|
//{
|
|
|
|
|
// DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
|
|
|
|
|
//}
|
|
|
|
|
targetPosition = NozzleManager.GetToTraySlot(ETrayType.Ok, 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 = EFiveProductTestFlowStep.等待到料仓放料位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
GlobalTray.GrrTray.ChangeStatus(ESlotStatus.NotHave);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.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 = EFiveProductTestFlowStep.到料仓放料位下方;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓放料位上方;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.到料仓放料位下方:
|
|
|
|
|
targetPosition.NozzleZ = NozzleManager.GetNozzleToTrayTakeProductPos(ETrayType.Ok, curDumpNozzle.NozzleIndex);
|
|
|
|
|
if (NozzleManager.Go(curDumpNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}到料仓放料位下方";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待到料仓放料位下方;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待到料仓放料位下方:
|
|
|
|
|
if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}已运动到料仓放料位下方";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
if (GlobalVar.RunSpace)
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.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 = EFiveProductTestFlowStep.料仓放料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.料仓放料完成抬起:
|
|
|
|
|
if (NozzleManager.GotoSafePos(curDumpNozzle.NozzleIndex))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}料仓放料完成抬起";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.等待料仓放料完成抬起;
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
case EFiveProductTestFlowStep.等待料仓放料完成抬起:
|
|
|
|
|
if (Ops.IsStop($"NozzleZ{curDumpNozzle.NozzleIndex}"))
|
|
|
|
|
{
|
|
|
|
|
logInfo = $"{GetClassName()}料仓放料完成已抬起";
|
|
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
|
|
takedNum++;
|
|
|
|
|
curDumpNozzle.Status = ENozzleStatus.IDLE;
|
|
|
|
|
GlobalTray.OkTary.ChangeStatus(curDumpSlot.Index, ESlotStatus.Have);
|
|
|
|
|
|
|
|
|
|
if (takedNum < 5)
|
|
|
|
|
{
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.到料仓拍照位上方;
|
|
|
|
|
}
|
|
|
|
|
else
|
|
|
|
|
{
|
|
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
|
|
|
|
|
stop = true;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
}
|
|
|
|
|
Thread.Sleep(5);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public void Start()
|
|
|
|
|
{
|
|
|
|
|
GlobalTray.InputTray.ChangeStatus(1, ESlotStatus.Have);
|
|
|
|
|
GlobalTray.InputTray.ChangeStatus(2, ESlotStatus.Have);
|
|
|
|
|
GlobalTray.InputTray.ChangeStatus(3, ESlotStatus.Have);
|
|
|
|
|
GlobalTray.InputTray.ChangeStatus(4, ESlotStatus.Have);
|
|
|
|
|
GlobalTray.InputTray.ChangeStatus(5, ESlotStatus.Have);
|
|
|
|
|
|
|
|
|
|
GlobalTray.OkTary.ChangeStatus(1, ESlotStatus.NotHave);
|
|
|
|
|
GlobalTray.OkTary.ChangeStatus(2, ESlotStatus.NotHave);
|
|
|
|
|
GlobalTray.OkTary.ChangeStatus(3, ESlotStatus.NotHave);
|
|
|
|
|
GlobalTray.OkTary.ChangeStatus(4, ESlotStatus.NotHave);
|
|
|
|
|
GlobalTray.OkTary.ChangeStatus(5, ESlotStatus.NotHave);
|
|
|
|
|
flowStep = EFiveProductTestFlowStep.OK盘三点定位;
|
|
|
|
|
takedNum = 0;
|
|
|
|
|
stop = false;
|
|
|
|
|
}
|
|
|
|
|
public void Stop()
|
|
|
|
|
{
|
|
|
|
|
stop = true;
|
|
|
|
|
}
|
|
|
|
|
private string GetClassName()
|
|
|
|
|
{
|
|
|
|
|
return "GrrFlow-";
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
private double offsetX = 0;
|
|
|
|
|
private double offsetY = 0;
|
|
|
|
|
public void SetOffset(double x,double y)
|
|
|
|
|
{
|
|
|
|
|
offsetX = x;
|
|
|
|
|
offsetY = y;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/// <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);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
}
|
lhiven
2 months ago