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Rs.DeweyTester
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优化8头的料仓搬运料盘动作

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Eight
lhiven 9 months ago
parent fd0f5d1b33
commit dbbc7ac7a2
3 changed files with 420 additions and 260 deletions
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20
Rs.DeweyTester/Entitys/AlarmEntity.cs
Unescape Escape View File

@ -24,6 +24,7 @@ namespace Rs.MotionPlat.Entitys
public static void Load()
{
alarmDic.Clear();
names2id2.Clear();
XSSFWorkbook book;
FileStream fs = File.Open("报警文本.xlsx", FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
book = new XSSFWorkbook(fs);
@ -144,6 +145,25 @@ namespace Rs.MotionPlat.Entitys
Msg.ShowError("Alarm file cann't find 系统异常报警 item");
}
}
public static void ShowMsg(int alarmID,Action act)
{
while (true)
{
AlarmEntity alarmEntity = AlarmCollection.Get(alarmID);
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
act.Invoke();
break;
}
else
{
Msg.ShowError($"The alarmID = {alarmID} was not found in the translation file.");
AlarmCollection.Load();
}
}
}
}
public class AlarmEntity
{

48
Rs.DeweyTester/Flow/NormalFlow/StockFlowBase.cs
Unescape Escape View File

@ -110,11 +110,11 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else if (stopwatch.ElapsedMilliseconds > 5000)
{
Msgbox.ShowTipDialog(EButtonType.Retry, "抽屉锁原位异常，请处理后点击重试","error",true);
Msgbox.ShowTipDialog(EButtonType.Retry, "抽屉锁原位异常，请处理后点击重试", "error", true);
}
break;
case EOutStockFlowStep.到出仓位:
if(StockIndex==1)
if (StockIndex == 1)
{
targetPosition.StockZ = GlobalVar.StockZ1OutStock;
}
@ -185,7 +185,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
/// <summary>
/// 进仓
/// </summary>
public void InStock(bool gotoStartPos=true)
public void InStock(bool gotoStartPos = true)
{
if (inStockFinished)
{
@ -211,7 +211,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
}
else if (stopwatch.ElapsedMilliseconds > 20000)
{
Msgbox.ShowTipDialog(EButtonType.Retry, "抽屉锁原位异常，请处理后点击重试","error",true);
Msgbox.ShowTipDialog(EButtonType.Retry, "抽屉锁原位异常，请处理后点击重试", "error", true);
}
break;
case EInStockFlowStep.等待进仓信号:
@ -234,7 +234,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
else if (stopwatch.ElapsedMilliseconds > 10000)
{
AlarmEntity alarmEntity = AlarmCollection.Get(AlarmConstID.抽屉拉伸气缸原位异常).Transform(StockIndex);
Msgbox.ShowDialog(alarmEntity, EButtonType.Recheck);
Msgbox.ShowDialog(alarmEntity, EButtonType.Recheck, true);
inStockStep = EInStockFlowStep.进仓;
}
@ -248,7 +248,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
if (Ops.IsOn($"抽屉锁{StockIndex}动位"))
{
ResetLayer();
if(gotoStartPos)
if (gotoStartPos)
{
inStockStep = EInStockFlowStep.到起始位;
}
@ -285,13 +285,13 @@ namespace Rs.MotionPlat.Flow.NormalFlow
public void Up()
{
if(CurrentLayer==1)
if (CurrentLayer == 0)
{
logInfo = $"{GetClassName()} 料仓{StockIndex}已处于第一层，不能再上升";
logInfo = $"{GetClassName()} 料仓{StockIndex}已处于第{CurrentLayer}层，不能再上升";
MessageQueue.Instance.Warn(logInfo);
return;
}
if(Ops.IsOn($"料仓夹磁气缸{StockIndex}动位"))
if (Ops.IsOn($"料仓夹磁气缸{StockIndex}动位"))
{
ReleaseTray();
}
@ -311,11 +311,11 @@ namespace Rs.MotionPlat.Flow.NormalFlow
Thread.Sleep(500);
logInfo = $"{GetClassName()} 料仓{StockIndex}已运动到{CurrentLayer}层，cz:{Ops.GetCurPosition($"StockZ{StockIndex}")}";
MessageQueue.Instance.Insert(logInfo);
if (HasTray())
{
ClampTray();
Thread.Sleep(GlobalVar.StepMotorMoveDelayTime);
}
//if (HasTray())
//{
// ClampTray();
// Thread.Sleep(GlobalVar.StepMotorMoveDelayTime);
//}
break;
}
else if (stopwatch.ElapsedMilliseconds > 5000)
@ -329,7 +329,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
public void Down()
{
if(CurrentLayer==20)
if (CurrentLayer == 20)
{
return;
}
@ -362,21 +362,21 @@ namespace Rs.MotionPlat.Flow.NormalFlow
/// </summary>
public void ReleaseTray()
{
StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex,GetClassName());
StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex, GetClassName());
stopwatch.Restart();
while (true)
{
if(Ops.IsOn($"料仓夹磁气缸{StockIndex}原位"))
if (Ops.IsOn($"料仓夹磁气缸{StockIndex}原位"))
{
Thread.Sleep(1000);
break;
}
else if(stopwatch.ElapsedMilliseconds>30000)
else if (stopwatch.ElapsedMilliseconds > 30000)
{
AlarmEntity alarmEntity = AlarmCollection.Get($"料仓{StockIndex}夹磁气缸原位异常");
if(alarmEntity != null )
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex, GetClassName());
stopwatch.Restart();
}
@ -384,7 +384,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
{
Msg.ShowError($"翻译文件中未找到 料仓{StockIndex}夹磁气缸原位异常");
}
}
}
}
@ -408,9 +408,9 @@ namespace Rs.MotionPlat.Flow.NormalFlow
else if (stopwatch.ElapsedMilliseconds > 30000)
{
AlarmEntity alarmEntity = AlarmCollection.Get($"料仓{StockIndex}夹磁气缸动位异常");
if(alarmEntity != null )
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
StockModule.ClampTrayCylinder(EIoOperate.Close, StockIndex, GetClassName());
stopwatch.Restart();
}
@ -453,7 +453,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
/// <returns></returns>
private double GetStockZPosByLayer(int layer)
{
return (GetFirstLayerPos()- ((CurrentLayer - 1) * TrayHeight));
return (GetFirstLayerPos() - ((CurrentLayer - 1) * TrayHeight));
}
/// <summary>

612
Rs.DeweyTester/Flow/NormalFlow/TakeTrayFlow.cs
Unescape Escape View File

@ -25,6 +25,7 @@ namespace Rs.MotionPlat.Flow
到取料盘上方,
等待到取料盘上方,
等待料盘准备就绪,
到下方取料位,
等待运动到取料位下方,
//等待夹磁气缸松开,
取料盘完成抬起,
@ -76,7 +77,7 @@ namespace Rs.MotionPlat.Flow
{
get
{
if(intance == null)
if (intance == null)
intance = new TakeTrayFlow();
return intance;
}
@ -98,7 +99,7 @@ namespace Rs.MotionPlat.Flow
/// <param name="toTray"></param>
/// <param name="isNeedGoDown"></param>
/// <param name="placeTrayGrab">放料盘拍照</param>
public void Take(ETrayType fromTray, ETrayType toTray,bool isNeedGoDown=true,bool placeTrayGrab=false)
public void Take(ETrayType fromTray, ETrayType toTray, bool isNeedGoDown = true, bool placeTrayGrab = false)
{
switch (fromTray)
{
@ -144,175 +145,252 @@ namespace Rs.MotionPlat.Flow
switch (step)
{
case ETakeTrayFlowStep.到取料盘上方:
if(fromTray== ETrayType.Empty)
try
{
targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
}
else if(fromTray== ETrayType.Input)
{
targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
if (fromTray == ETrayType.Empty)
{
targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
}
else if (fromTray == ETrayType.Input)
{
targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
}
else
{
Msg.ShowError($"cann't from take tray from {fromTray}");
return;
}
if (GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
{
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
AxisPosPrint.PrintTakeTrayXTargetPos($"准备运动到料仓{m_fromTray}取料盘位上方", targetPosition, GetClassName());
step = ETakeTrayFlowStep.等待到取料盘上方;
}
}
else
catch (Exception ex)
{
Msg.ShowError($"cann't from take tray from {fromTray}");
return ;
AlarmCollection.SystemExceptionAlarm(ex);
}
if(GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
break;
case ETakeTrayFlowStep.等待到取料盘上方:
try
{
if (GlobalVar.VirtualAxis)
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
if (fromTray == ETrayType.Empty)
{
StockManager.CloseTray(fromStockIndex);
}
AxisPosPrint.PrintTakeTrayXCurrentPos($"已运动到料仓{m_fromTray}取料盘位上方", GetClassName());
//松开夹爪
StockManager.OpenTray(fromStockIndex);
step = ETakeTrayFlowStep.等待料盘准备就绪;
}
AxisPosPrint.PrintTakeTrayXTargetPos($"准备运动到料仓{m_fromTray}取料盘位上方", targetPosition, GetClassName());
step = ETakeTrayFlowStep.等待到取料盘上方;
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.等待到取料盘上方:
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
case ETakeTrayFlowStep.等待料盘准备就绪:
try
{
if(fromTray== ETrayType.Empty)
if (Ops.IsOn($"满料{fromStockIndex}对射光电"))
{
StockManager.CloseTray(fromStockIndex);
logInfo = GetClassName() + $"料仓{m_fromTray}料盘准备就绪";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.上升一层;
//step = ETakeTrayFlowStep.等待运动到取料位下方;
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.料仓无料盘报警).Transform(fromTray);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
}
AxisPosPrint.PrintTakeTrayXCurrentPos($"已运动到料仓{m_fromTray}取料盘位上方", GetClassName());
step = ETakeTrayFlowStep.等待料盘准备就绪;
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.等待料盘准备就绪:
if (Ops.IsOn($"满料{fromStockIndex}对射光电"))
case ETakeTrayFlowStep.上升一层:
try
{
logInfo = GetClassName() + $"料仓{m_fromTray}料盘准备就绪";
StockManager.Up(fromStockIndex);
logInfo = GetClassName() + $"料仓{fromTray}上升一层";
MessageQueue.Instance.Insert(logInfo);
TakeTrayModule.CylinderGoDown(GetClassName());
stopwatch.Restart();
step = ETakeTrayFlowStep.等待运动到取料位下方;
step = ETakeTrayFlowStep.到下方取料位;
}
else
catch (Exception ex)
{
alarmEntity = AlarmCollection.Get(AlarmConstID.料仓无料盘报警).Transform(fromTray);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.等待运动到取料位下方:
if (Ops.IsOn("料盘搬运气缸动位"))
case ETakeTrayFlowStep.到下方取料位:
{
logInfo = GetClassName() + $"料盘搬运气缸动位 OK";
MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop();
//打开真空
TakeTrayModule.VacOperation(EIoOperate.Open,GetClassName());
//松开夹爪
//StockModule.ClampTrayCylinder(EIoOperate.Open, fromStockIndex,GetClassName());
StockManager.OpenTray(fromStockIndex);
TakeTrayModule.CylinderGoDown(GetClassName());
stopwatch.Restart();
step = ETakeTrayFlowStep.取料盘完成抬起;
step = ETakeTrayFlowStep.等待运动到取料位下方;
}
else if (stopwatch.ElapsedMilliseconds > 5000)
break;
case ETakeTrayFlowStep.等待运动到取料位下方:
try
{
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸动位异常);
if (alarmEntity != null)
if (Ops.IsOn("料盘搬运气缸动位"))
{
Msgbox.ShowDialog (alarmEntity, EButtonType.Retry);
step = ETakeTrayFlowStep.等待运动到取料位下方;
logInfo = GetClassName() + $"料盘搬运气缸动位 OK";
MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop();
//打开真空
TakeTrayModule.VacOperation(EIoOperate.Open, GetClassName());
StockManager.CloseTray(fromStockIndex);
//stopwatch.Restart();
step = ETakeTrayFlowStep.取料盘完成抬起;
}
else
else if (stopwatch.ElapsedMilliseconds > 5000)
{
Msg.ShowError("翻译文件中未找到料盘搬运气缸动位异常");
AlarmCollection.ShowMsg(AlarmConstID.料盘搬运气缸动位异常, () => { step = ETakeTrayFlowStep.等待运动到取料位下方; });
//alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸动位异常);
//if (alarmEntity != null)
//{
// Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
// step = ETakeTrayFlowStep.等待运动到取料位下方;
//}
//else
//{
// Msg.ShowError("翻译文件中未找到料盘搬运气缸动位异常");
//}
//stopwatch.Restart();
}
stopwatch.Restart();
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
//case ETakeTrayFlowStep.等待夹磁气缸松开:
// if(Ops.IsOn($"料仓夹磁气缸{fromStockIndex}原位"))
// {
// step = ETakeTrayFlowStep.取料盘完成抬起;
// }
// else if(stopwatch.ElapsedMilliseconds>5000)
// {
// alarmEntity = AlarmCollection.Get($"料仓{fromStockIndex}夹磁气缸原位异常");
// if (alarmEntity != null)
// {
// Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
// step = ETakeTrayFlowStep.等待夹磁气缸松开;
// }
// else
// {
// Msg.ShowError($"料仓{fromStockIndex}夹磁气缸原位异常");
// }
// stopwatch.Restart();
// }
// break;
case ETakeTrayFlowStep.取料盘完成抬起:
TakeTrayModule.CylinderGoUp(GetClassName());
stopwatch.Restart();
step = ETakeTrayFlowStep.等待取料盘完成抬起;
break;
case ETakeTrayFlowStep.等待取料盘完成抬起:
if ((Ops.IsOn("料盘搬运气缸原位")))
{
logInfo = GetClassName()+$"检测到上下气缸原位 OK";
MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop();
step = ETakeTrayFlowStep.料盘是否抓起检测;
}
else if(stopwatch.ElapsedMilliseconds > 5000)
{
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸原位异常);
if (alarmEntity != null)
try
{
MessageQueue.Instance.Warn(GetClassName() + alarmEntity.CN);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
TakeTrayModule.CylinderGoUp(GetClassName());
stopwatch.Restart();
step = ETakeTrayFlowStep.等待取料盘完成抬起;
}
else
catch (Exception ex)
{
Msg.ShowError("翻译文件中未找到料盘搬运气缸原位异常");
AlarmCollection.SystemExceptionAlarm(ex);
}
stopwatch.Restart();
}
break;
case ETakeTrayFlowStep.料盘是否抓起检测:
if (TakeTrayModule.HasTray())
case ETakeTrayFlowStep.等待取料盘完成抬起:
try
{
logInfo = GetClassName() + $"料盘已被抓起 OK";
MessageQueue.Instance.Insert(logInfo);
if ( StockManager.GetCurrentLayer(fromStockIndex) == 1)
if ((Ops.IsOn("料盘搬运气缸原位")))
{
step = ETakeTrayFlowStep.到放料盘上方;
logInfo = GetClassName() + $"检测到上下气缸原位 OK";
MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop();
step = ETakeTrayFlowStep.料盘是否抓起检测;
}
else
else if (stopwatch.ElapsedMilliseconds > 5000)
{
step = ETakeTrayFlowStep.上升一层;
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸原位异常);
if (alarmEntity != null)
{
MessageQueue.Instance.Warn(GetClassName() + alarmEntity.CN);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
}
else
{
Msg.ShowError("翻译文件中未找到料盘搬运气缸原位异常");
}
stopwatch.Restart();
}
}
else
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.料盘是否抓起检测:
try
{
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘未抓起报警).Transform(fromTray.ToString());
if (alarmEntity != null)
if (TakeTrayModule.HasTray())
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
step = ETakeTrayFlowStep.到取料盘上方;
logInfo = GetClassName() + $"料盘已被抓起 OK";
MessageQueue.Instance.Insert(logInfo);
if (fromTray == ETrayType.Input)
{
step = ETakeTrayFlowStep.上料仓拍照处理;
}
else
{
if (placeTrayGrab && GlobalVar.EnableBeforePlaceTrayToOkGrab)
{
step = ETakeTrayFlowStep.放料盘前拍照;
}
else
{
step = ETakeTrayFlowStep.到放料盘上方;
}
}
//if (StockManager.GetCurrentLayer(fromStockIndex) == 1)
//{
// step = ETakeTrayFlowStep.到放料盘上方;
//}
//else
//{
// step = ETakeTrayFlowStep.上升一层;
//}
}
else
{
Msg.ShowError("翻译文件中未找到抓料盘未抓起");
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘未抓起报警).Transform(fromTray.ToString());
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
step = ETakeTrayFlowStep.到下方取料位;
}
else
{
Msg.ShowError("翻译文件中未找到抓料盘未抓起");
}
}
}
break;
case ETakeTrayFlowStep.上升一层:
StockManager.Up(fromStockIndex);
logInfo = GetClassName() + $"料仓{fromTray}上升一层";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.等待上升一层完成;
break;
case ETakeTrayFlowStep.等待上升一层完成:
if(fromTray== ETrayType.Input)
catch (Exception ex)
{
step = ETakeTrayFlowStep.上料仓拍照处理;
AlarmCollection.SystemExceptionAlarm(ex);
}
else
break;
//case ETakeTrayFlowStep.等待上升一层完成:
// try
// {
// }
// catch (Exception ex)
// {
// AlarmCollection.SystemExceptionAlarm(ex);
// }
// break;
case ETakeTrayFlowStep.上料仓拍照处理:
try
{
if (placeTrayGrab && GlobalVar.EnableBeforePlaceTrayToOkGrab)
StockGrabFlow.Instance.Grab(fromTray);
if (placeTrayGrab)
{
step = ETakeTrayFlowStep.放料盘前拍照;
}
@ -321,43 +399,45 @@ namespace Rs.MotionPlat.Flow
step = ETakeTrayFlowStep.到放料盘上方;
}
}
break;
case ETakeTrayFlowStep.上料仓拍照处理:
StockGrabFlow.Instance.Grab(fromTray);
if(placeTrayGrab)
catch (Exception ex)
{
step = ETakeTrayFlowStep.放料盘前拍照;
AlarmCollection.SystemExceptionAlarm(ex);
}
else
break;
case ETakeTrayFlowStep.放料盘前拍照:
try
{
StockGrabFlow.Instance.Grab(toTray);
step = ETakeTrayFlowStep.到放料盘上方;
}
break;
case ETakeTrayFlowStep.放料盘前拍照:
StockGrabFlow.Instance.Grab(toTray);
step = ETakeTrayFlowStep.到放料盘上方;
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.到放料盘上方:
//if (DischargeFlow.Instance.XYCanGoLocalArea())
try
{
if(fromTray!= ETrayType.Input && toTray== ETrayType.Ok && GlobalVar.EnableOkTrayCheckFull)
if (fromTray != ETrayType.Input && toTray == ETrayType.Ok && GlobalVar.EnableOkTrayCheckFull)
{
Msgbox.ShowTipDialog(EButtonType.Ok, "please check product in tray has placed ok?", "Tip", true);
}
if(toTray== ETrayType.Ok)
if (toTray == ETrayType.Ok)
{
targetPosition.TakeTrayX = GlobalVar.OkStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
}
else if(toTray== ETrayType.Input)
else if (toTray == ETrayType.Input)
{
targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
}
else if(toTray== ETrayType.Empty)
else if (toTray == ETrayType.Empty)
{
targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
}
//takeTrayFinishedEvent?.Invoke();
if(GroupAxisMove.TakeXMove(GetClassName(),targetPosition.TakeTrayX,GlobalVar.WholeSpeed))
if (GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
{
if (GlobalVar.VirtualAxis)
{
@ -368,156 +448,216 @@ namespace Rs.MotionPlat.Flow
step = ETakeTrayFlowStep.等待到放料盘上方;
}
}
//else
//{
// //alarmEntity = AlarmCollection.Get(AlarmConstID.运动不安全).Transform("LoadY", "TurnvoerY");
// //AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
//}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.等待到放料盘上方:
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
{
//if(toTray== ETrayType.Empty)
//{
// if(StockManager.HasTray(3))
// {
// StockManager.Down(3);
// }
//}
//StockManager.OpenTray(toStockIndex);
logInfo = GetClassName() + $"已运动到{toTray}料仓放料盘上方";
MessageQueue.Instance.Insert(logInfo);
//arrivedDumpPosEvent?.Invoke();
step = ETakeTrayFlowStep.到放料盘位下方;
try
{
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
{
//if(toTray== ETrayType.Empty)
//{
// if(StockManager.HasTray(3))
// {
// StockManager.Down(3);
// }
//}
//StockManager.OpenTray(toStockIndex);
logInfo = GetClassName() + $"已运动到{toTray}料仓放料盘上方";
MessageQueue.Instance.Insert(logInfo);
//arrivedDumpPosEvent?.Invoke();
step = ETakeTrayFlowStep.到放料盘位下方;
}
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.到放料盘位下方:
//if ((StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Unloaded || StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Empty) || GlobalVar.VirtualAxis)
try
{
StockManager.OpenTray(toStockIndex);
TakeTrayModule.CylinderGoDown(GetClassName());
step = ETakeTrayFlowStep.等待运动到放料位下方;
stopwatch.Restart();
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.等待运动到放料位下方:
if (Ops.IsOn("料盘搬运气缸动位"))
try
{
logInfo = GetClassName() + "检测到料盘搬运气缸动位 OK";
MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop();
//if(toTray!= ETrayType.Empty)
//{
// //夹住料盘
// Ops.On($"料仓夹磁气缸{toStockIndex}夹");
// Ops.Off($"料仓夹磁气缸{toStockIndex}开");
// Thread.Sleep(100);
//}
if (Ops.IsOn("料盘搬运气缸动位"))
{
logInfo = GetClassName() + "检测到料盘搬运气缸动位 OK";
MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop();
//if(toTray!= ETrayType.Empty)
//{
// //夹住料盘
// Ops.On($"料仓夹磁气缸{toStockIndex}夹");
// Ops.Off($"料仓夹磁气缸{toStockIndex}开");
// Thread.Sleep(100);
//}
////关闭真空吸
//Ops.On("料盘真空关");
//Ops.Off("料盘真空开");
//logInfo = GetClassName() + $"料盘真空关 on";
//MessageQueue.Instance.Insert(logInfo);
//Thread.Sleep(100);
if(isNeedGoDown)
////关闭真空吸
//Ops.On("料盘真空关");
//Ops.Off("料盘真空开");
//logInfo = GetClassName() + $"料盘真空关 on";
//MessageQueue.Instance.Insert(logInfo);
//Thread.Sleep(100);
//关闭真空吸
TakeTrayModule.VacOperation(EIoOperate.Close, GetClassName());
if (isNeedGoDown)
{
StockManager.Down(toStockIndex);
}
StockManager.CloseTray(toStockIndex);
step = ETakeTrayFlowStep.放料盘完成后抬起;
}
else if (stopwatch.ElapsedMilliseconds > 5000)
{
StockManager.Down(toStockIndex);
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸动位异常);
if (alarmEntity != null)
{
LogHelper.Debug(GetClassName() + alarmEntity.CN);
Msg.ShowError(alarmEntity.CN);
//AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
else
{
Msg.ShowError("翻译文件中未找到上下气缸动位");
}
stopwatch.Stop();
stopwatch.Restart();
}
StockManager.CloseTray(toStockIndex);
//关闭真空吸
TakeTrayModule.VacOperation(EIoOperate.Close,GetClassName());
step = ETakeTrayFlowStep.放料盘完成后抬起;
}
else if(stopwatch.ElapsedMilliseconds>5000)
catch (Exception ex)
{
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸动位异常);
if (alarmEntity != null)
{
LogHelper.Debug(GetClassName() + alarmEntity.CN);
Msg.ShowError(alarmEntity.CN);
//AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
else
{
Msg.ShowError("翻译文件中未找到上下气缸动位");
}
stopwatch.Stop();
stopwatch.Restart();
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.放料盘完成后抬起:
TakeTrayModule.CylinderGoUp(GetClassName());
step = ETakeTrayFlowStep.等待放料完成抬起;
stopwatch.Restart();
break;
case ETakeTrayFlowStep.等待放料完成抬起:
if (Ops.IsOn("料盘搬运气缸原位"))
try
{
logInfo = GetClassName() + "料盘搬运气缸原位 OK";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.放料完成后真空检测;
TakeTrayModule.CylinderGoUp(GetClassName());
step = ETakeTrayFlowStep.等待放料完成抬起;
stopwatch.Restart();
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
else if(stopwatch.ElapsedMilliseconds>5000)
break;
case ETakeTrayFlowStep.等待放料完成抬起:
try
{
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸原位异常);
if (alarmEntity != null)
if (Ops.IsOn("料盘搬运气缸原位"))
{
LogHelper.Debug(GetClassName() + alarmEntity.CN);
Msg.ShowError(alarmEntity.CN);
//AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
logInfo = GetClassName() + "料盘搬运气缸原位 OK";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.放料完成后真空检测;
}
else
else if (stopwatch.ElapsedMilliseconds > 5000)
{
Msg.ShowError("翻译文件中未找到上下气缸动位");
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸原位异常);
if (alarmEntity != null)
{
LogHelper.Debug(GetClassName() + alarmEntity.CN);
Msg.ShowError(alarmEntity.CN);
//AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
else
{
Msg.ShowError("翻译文件中未找到上下气缸动位");
}
stopwatch.Stop();
stopwatch.Restart();
}
stopwatch.Stop();
stopwatch.Restart();
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.放料完成后真空检测:
if (!TakeTrayModule.HasTray())
try
{
logInfo = GetClassName() + $"放料盘完成";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.到待机位;
if(toTray== ETrayType.Empty)
if (!TakeTrayModule.HasTray())
{
StockManager.CloseTray(toStockIndex);
StockManager.OpenTray(toStockIndex);
logInfo = GetClassName() + $"放料盘完成";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.到待机位;
if (toTray == ETrayType.Empty)
{
StockManager.CloseTray(toStockIndex);
StockManager.OpenTray(toStockIndex);
}
//if (mLoadUnloadType == ELoadUnloadType.Load)
//{
// StockManager.Instance.Load(m_toTray, EStockTrayLoadMode.AfterTakeTray);
//}
}
else
{
step = ETakeTrayFlowStep.到放料盘上方;
//粘料盘
//logInfo = "检测到料盘未放下，请处理后点击确定重放";
//MessageQueue.Instance.Warn(GetClassName() + logInfo);
//TestCenterMessageBox.Show(AlarmConstID.UpDownCylinderExceptionAlarm, logInfo, ETipButton.Ok);
//TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm);
//step = ETakeTrayFlowStep.到放料盘上方;
}
//if (mLoadUnloadType == ELoadUnloadType.Load)
//{
// StockManager.Instance.Load(m_toTray, EStockTrayLoadMode.AfterTakeTray);
//}
}
else
catch (Exception ex)
{
step = ETakeTrayFlowStep.到放料盘上方;
//粘料盘
//logInfo = "检测到料盘未放下，请处理后点击确定重放";
//MessageQueue.Instance.Warn(GetClassName() + logInfo);
//TestCenterMessageBox.Show(AlarmConstID.UpDownCylinderExceptionAlarm, logInfo, ETipButton.Ok);
//TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm);
//step = ETakeTrayFlowStep.到放料盘上方;
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.到待机位:
if(GroupAxisMove.TakeXMove(GetClassName(), GlobalVar.TakeTrayXWaitPos, GlobalVar.WholeSpeed))
try
{
logInfo = GetClassName() + $"到待机位";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.等待运动到待机位;
if (GroupAxisMove.TakeXMove(GetClassName(), GlobalVar.TakeTrayXWaitPos, GlobalVar.WholeSpeed))
{
logInfo = GetClassName() + $"到待机位";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.等待运动到待机位;
}
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.等待运动到待机位:
if(Ops.IsStop("TakeTrayX"))
try
{
logInfo = GetClassName() + $"从{fromTray}搬运到{toTray}完成";
MessageQueue.Instance.Insert(logInfo);
TakeStatus = ETakeStatus.TakeOK;
//dumpTrayFinishedEvent?.Invoke();
finisehd = true;
if (Ops.IsStop("TakeTrayX"))
{
logInfo = GetClassName() + $"从{fromTray}搬运到{toTray}完成";
MessageQueue.Instance.Insert(logInfo);
TakeStatus = ETakeStatus.TakeOK;
//dumpTrayFinishedEvent?.Invoke();
finisehd = true;
}
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
}

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