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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() public static void Load()
{ {
alarmDic.Clear(); alarmDic.Clear();
names2id2.Clear();
XSSFWorkbook book; XSSFWorkbook book;
FileStream fs = File.Open("报警文本.xlsx", FileMode.Open, FileAccess.Read, FileShare.ReadWrite); FileStream fs = File.Open("报警文本.xlsx", FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
book = new XSSFWorkbook(fs); 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"); 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 public class AlarmEntity
{ {

46
Rs.DeweyTester/Flow/NormalFlow/StockFlowBase.cs
Unescape Escape View File

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

326
Rs.DeweyTester/Flow/NormalFlow/TakeTrayFlow.cs
Unescape Escape View File

@ -25,6 +25,7 @@ namespace Rs.MotionPlat.Flow
到取料盘上方, 到取料盘上方,
等待到取料盘上方, 等待到取料盘上方,
等待料盘准备就绪, 等待料盘准备就绪,
到下方取料位,
等待运动到取料位下方, 等待运动到取料位下方,
//等待夹磁气缸松开, //等待夹磁气缸松开,
取料盘完成抬起, 取料盘完成抬起,
@ -76,7 +77,7 @@ namespace Rs.MotionPlat.Flow
{ {
get get
{ {
if(intance == null) if (intance == null)
intance = new TakeTrayFlow(); intance = new TakeTrayFlow();
return intance; return intance;
} }
@ -98,7 +99,7 @@ namespace Rs.MotionPlat.Flow
/// <param name="toTray"></param> /// <param name="toTray"></param>
/// <param name="isNeedGoDown"></param> /// <param name="isNeedGoDown"></param>
/// <param name="placeTrayGrab">放料盘拍照</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) switch (fromTray)
{ {
@ -144,20 +145,22 @@ namespace Rs.MotionPlat.Flow
switch (step) switch (step)
{ {
case ETakeTrayFlowStep.到取料盘上方: case ETakeTrayFlowStep.到取料盘上方:
if(fromTray== ETrayType.Empty) try
{
if (fromTray == ETrayType.Empty)
{ {
targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist; targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
} }
else if(fromTray== ETrayType.Input) else if (fromTray == ETrayType.Input)
{ {
targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist; targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
} }
else else
{ {
Msg.ShowError($"cann't from take tray from {fromTray}"); Msg.ShowError($"cann't from take tray from {fromTray}");
return ; return;
} }
if(GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed)) if (GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
{ {
if (GlobalVar.VirtualAxis) if (GlobalVar.VirtualAxis)
{ {
@ -166,103 +169,146 @@ namespace Rs.MotionPlat.Flow
AxisPosPrint.PrintTakeTrayXTargetPos($"准备运动到料仓{m_fromTray}取料盘位上方", targetPosition, GetClassName()); AxisPosPrint.PrintTakeTrayXTargetPos($"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; step = ETakeTrayFlowStep.等待到取料盘上方;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.等待到取料盘上方: case ETakeTrayFlowStep.等待到取料盘上方:
try
{
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis) if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
{ {
if(fromTray== ETrayType.Empty) if (fromTray == ETrayType.Empty)
{ {
StockManager.CloseTray(fromStockIndex); StockManager.CloseTray(fromStockIndex);
} }
AxisPosPrint.PrintTakeTrayXCurrentPos($"已运动到料仓{m_fromTray}取料盘位上方", GetClassName()); AxisPosPrint.PrintTakeTrayXCurrentPos($"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; step = ETakeTrayFlowStep.等待料盘准备就绪;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.等待料盘准备就绪: case ETakeTrayFlowStep.等待料盘准备就绪:
try
{
if (Ops.IsOn($"满料{fromStockIndex}对射光电")) if (Ops.IsOn($"满料{fromStockIndex}对射光电"))
{ {
logInfo = GetClassName() + $"料仓{m_fromTray}料盘准备就绪"; logInfo = GetClassName() + $"料仓{m_fromTray}料盘准备就绪";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
TakeTrayModule.CylinderGoDown(GetClassName());
stopwatch.Restart(); step = ETakeTrayFlowStep.上升一层;
step = ETakeTrayFlowStep.等待运动到取料位下方; //step = ETakeTrayFlowStep.等待运动到取料位下方;
} }
else else
{ {
alarmEntity = AlarmCollection.Get(AlarmConstID.料仓无料盘报警).Transform(fromTray); alarmEntity = AlarmCollection.Get(AlarmConstID.料仓无料盘报警).Transform(fromTray);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry); Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
}
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.上升一层:
try
{
StockManager.Up(fromStockIndex);
logInfo = GetClassName() + $"料仓{fromTray}上升一层";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.到下方取料位;
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break;
case ETakeTrayFlowStep.到下方取料位:
{
TakeTrayModule.CylinderGoDown(GetClassName());
stopwatch.Restart();
step = ETakeTrayFlowStep.等待运动到取料位下方;
} }
break; break;
case ETakeTrayFlowStep.等待运动到取料位下方: case ETakeTrayFlowStep.等待运动到取料位下方:
try
{
if (Ops.IsOn("料盘搬运气缸动位")) if (Ops.IsOn("料盘搬运气缸动位"))
{ {
logInfo = GetClassName() + $"料盘搬运气缸动位 OK"; logInfo = GetClassName() + $"料盘搬运气缸动位 OK";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop(); stopwatch.Stop();
//打开真空 //打开真空
TakeTrayModule.VacOperation(EIoOperate.Open,GetClassName()); TakeTrayModule.VacOperation(EIoOperate.Open, GetClassName());
//松开夹爪 StockManager.CloseTray(fromStockIndex);
//StockModule.ClampTrayCylinder(EIoOperate.Open, fromStockIndex,GetClassName()); //stopwatch.Restart();
StockManager.OpenTray(fromStockIndex);
stopwatch.Restart();
step = ETakeTrayFlowStep.取料盘完成抬起; step = ETakeTrayFlowStep.取料盘完成抬起;
} }
else if (stopwatch.ElapsedMilliseconds > 5000) else if (stopwatch.ElapsedMilliseconds > 5000)
{ {
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸动位异常); AlarmCollection.ShowMsg(AlarmConstID.料盘搬运气缸动位异常, () => { step = ETakeTrayFlowStep.等待运动到取料位下方; });
if (alarmEntity != null) //alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸动位异常);
{ //if (alarmEntity != null)
Msgbox.ShowDialog (alarmEntity, EButtonType.Retry); //{
step = ETakeTrayFlowStep.等待运动到取料位下方; // Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
// step = ETakeTrayFlowStep.等待运动到取料位下方;
//}
//else
//{
// Msg.ShowError("翻译文件中未找到料盘搬运气缸动位异常");
//}
//stopwatch.Restart();
} }
else
{
Msg.ShowError("翻译文件中未找到料盘搬运气缸动位异常");
} }
stopwatch.Restart(); catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
} }
break; break;
//case ETakeTrayFlowStep.等待夹磁气缸松开:
// if(Ops.IsOn($"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: case ETakeTrayFlowStep.取料盘完成抬起:
{
try
{
TakeTrayModule.CylinderGoUp(GetClassName()); TakeTrayModule.CylinderGoUp(GetClassName());
stopwatch.Restart(); stopwatch.Restart();
step = ETakeTrayFlowStep.等待取料盘完成抬起; step = ETakeTrayFlowStep.等待取料盘完成抬起;
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
}
break; break;
case ETakeTrayFlowStep.等待取料盘完成抬起: case ETakeTrayFlowStep.等待取料盘完成抬起:
try
{
if ((Ops.IsOn("料盘搬运气缸原位"))) if ((Ops.IsOn("料盘搬运气缸原位")))
{ {
logInfo = GetClassName()+$"检测到上下气缸原位 OK"; logInfo = GetClassName() + $"检测到上下气缸原位 OK";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
stopwatch.Stop(); stopwatch.Stop();
step = ETakeTrayFlowStep.料盘是否抓起检测; step = ETakeTrayFlowStep.料盘是否抓起检测;
} }
else if(stopwatch.ElapsedMilliseconds > 5000) else if (stopwatch.ElapsedMilliseconds > 5000)
{ {
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸原位异常); alarmEntity = AlarmCollection.Get(AlarmConstID.料盘搬运气缸原位异常);
if (alarmEntity != null) if (alarmEntity != null)
{ {
MessageQueue.Instance.Warn(GetClassName() + alarmEntity.CN); MessageQueue.Instance.Warn(GetClassName() + alarmEntity.CN);
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry); Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
} }
else else
{ {
@ -270,61 +316,81 @@ namespace Rs.MotionPlat.Flow
} }
stopwatch.Restart(); stopwatch.Restart();
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.料盘是否抓起检测: case ETakeTrayFlowStep.料盘是否抓起检测:
try
{
if (TakeTrayModule.HasTray()) if (TakeTrayModule.HasTray())
{ {
logInfo = GetClassName() + $"料盘已被抓起 OK"; logInfo = GetClassName() + $"料盘已被抓起 OK";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
if ( StockManager.GetCurrentLayer(fromStockIndex) == 1) if (fromTray == ETrayType.Input)
{ {
step = ETakeTrayFlowStep.到放料盘上方; step = ETakeTrayFlowStep.上料仓拍照处理;
} }
else else
{ {
step = ETakeTrayFlowStep.上升一层; 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 else
{ {
alarmEntity = AlarmCollection.Get(AlarmConstID.料盘未抓起报警).Transform(fromTray.ToString()); alarmEntity = AlarmCollection.Get(AlarmConstID.料盘未抓起报警).Transform(fromTray.ToString());
if (alarmEntity != null) if (alarmEntity != null)
{ {
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry); Msgbox.ShowDialog(alarmEntity, EButtonType.Retry, true);
step = ETakeTrayFlowStep.到取料盘上方; step = ETakeTrayFlowStep.到下方取料位;
} }
else else
{ {
Msg.ShowError("翻译文件中未找到抓料盘未抓起"); 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)
{
step = ETakeTrayFlowStep.上料仓拍照处理;
} }
else catch (Exception ex)
{
if (placeTrayGrab && GlobalVar.EnableBeforePlaceTrayToOkGrab)
{ {
step = ETakeTrayFlowStep.放料盘前拍照; AlarmCollection.SystemExceptionAlarm(ex);
}
else
{
step = ETakeTrayFlowStep.到放料盘上方;
}
} }
break; 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: case ETakeTrayFlowStep.上料仓拍照处理:
try
{
StockGrabFlow.Instance.Grab(fromTray); StockGrabFlow.Instance.Grab(fromTray);
if(placeTrayGrab) if (placeTrayGrab)
{ {
step = ETakeTrayFlowStep.放料盘前拍照; step = ETakeTrayFlowStep.放料盘前拍照;
} }
@ -332,32 +398,46 @@ namespace Rs.MotionPlat.Flow
{ {
step = ETakeTrayFlowStep.到放料盘上方; step = ETakeTrayFlowStep.到放料盘上方;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.放料盘前拍照: case ETakeTrayFlowStep.放料盘前拍照:
try
{
StockGrabFlow.Instance.Grab(toTray); StockGrabFlow.Instance.Grab(toTray);
step = ETakeTrayFlowStep.到放料盘上方; step = ETakeTrayFlowStep.到放料盘上方;
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.到放料盘上方: 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); 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; targetPosition.TakeTrayX = GlobalVar.OkStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
} }
else if(toTray== ETrayType.Input) else if (toTray == ETrayType.Input)
{ {
targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist; targetPosition.TakeTrayX = GlobalVar.InputStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
} }
else if(toTray== ETrayType.Empty) else if (toTray == ETrayType.Empty)
{ {
targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist; targetPosition.TakeTrayX = GlobalVar.EmptyStockGrabPos + GlobalVar.ClampCenter2CameraCenterDist;
} }
//takeTrayFinishedEvent?.Invoke(); //takeTrayFinishedEvent?.Invoke();
if(GroupAxisMove.TakeXMove(GetClassName(),targetPosition.TakeTrayX,GlobalVar.WholeSpeed)) if (GroupAxisMove.TakeXMove(GetClassName(), targetPosition.TakeTrayX, GlobalVar.WholeSpeed))
{ {
if (GlobalVar.VirtualAxis) if (GlobalVar.VirtualAxis)
{ {
@ -368,13 +448,14 @@ namespace Rs.MotionPlat.Flow
step = ETakeTrayFlowStep.等待到放料盘上方; step = ETakeTrayFlowStep.等待到放料盘上方;
} }
} }
//else catch (Exception ex)
//{ {
// //alarmEntity = AlarmCollection.Get(AlarmConstID.运动不安全).Transform("LoadY", "TurnvoerY"); AlarmCollection.SystemExceptionAlarm(ex);
// //AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null); }
//}
break; break;
case ETakeTrayFlowStep.等待到放料盘上方: case ETakeTrayFlowStep.等待到放料盘上方:
try
{
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis) if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
{ {
//if(toTray== ETrayType.Empty) //if(toTray== ETrayType.Empty)
@ -390,17 +471,30 @@ namespace Rs.MotionPlat.Flow
//arrivedDumpPosEvent?.Invoke(); //arrivedDumpPosEvent?.Invoke();
step = ETakeTrayFlowStep.到放料盘位下方; step = ETakeTrayFlowStep.到放料盘位下方;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.到放料盘位下方: 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) //if ((StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Unloaded || StockManager.Instance.GetStock(m_toTray).Status == EStockTrayStatus.Empty) || GlobalVar.VirtualAxis)
try
{ {
StockManager.OpenTray(toStockIndex); StockManager.OpenTray(toStockIndex);
TakeTrayModule.CylinderGoDown(GetClassName()); TakeTrayModule.CylinderGoDown(GetClassName());
step = ETakeTrayFlowStep.等待运动到放料位下方; step = ETakeTrayFlowStep.等待运动到放料位下方;
stopwatch.Restart(); stopwatch.Restart();
} }
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.等待运动到放料位下方: case ETakeTrayFlowStep.等待运动到放料位下方:
try
{
if (Ops.IsOn("料盘搬运气缸动位")) 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"; logInfo = GetClassName() + "检测到料盘搬运气缸动位 OK";
@ -420,16 +514,17 @@ namespace Rs.MotionPlat.Flow
//logInfo = GetClassName() + $"料盘真空关 on"; //logInfo = GetClassName() + $"料盘真空关 on";
//MessageQueue.Instance.Insert(logInfo); //MessageQueue.Instance.Insert(logInfo);
//Thread.Sleep(100); //Thread.Sleep(100);
if(isNeedGoDown) //关闭真空吸
TakeTrayModule.VacOperation(EIoOperate.Close, GetClassName());
if (isNeedGoDown)
{ {
StockManager.Down(toStockIndex); StockManager.Down(toStockIndex);
} }
StockManager.CloseTray(toStockIndex); StockManager.CloseTray(toStockIndex);
//关闭真空吸
TakeTrayModule.VacOperation(EIoOperate.Close,GetClassName());
step = ETakeTrayFlowStep.放料盘完成后抬起; step = ETakeTrayFlowStep.放料盘完成后抬起;
} }
else if(stopwatch.ElapsedMilliseconds>5000) else if (stopwatch.ElapsedMilliseconds > 5000)
{ {
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸动位异常); alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸动位异常);
if (alarmEntity != null) if (alarmEntity != null)
@ -445,20 +540,36 @@ namespace Rs.MotionPlat.Flow
stopwatch.Stop(); stopwatch.Stop();
stopwatch.Restart(); stopwatch.Restart();
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.放料盘完成后抬起: case ETakeTrayFlowStep.放料盘完成后抬起:
try
{
TakeTrayModule.CylinderGoUp(GetClassName()); TakeTrayModule.CylinderGoUp(GetClassName());
step = ETakeTrayFlowStep.等待放料完成抬起; step = ETakeTrayFlowStep.等待放料完成抬起;
stopwatch.Restart(); stopwatch.Restart();
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.等待放料完成抬起: case ETakeTrayFlowStep.等待放料完成抬起:
try
{
if (Ops.IsOn("料盘搬运气缸原位")) if (Ops.IsOn("料盘搬运气缸原位"))
{ {
logInfo = GetClassName() + "料盘搬运气缸原位 OK"; logInfo = GetClassName() + "料盘搬运气缸原位 OK";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.放料完成后真空检测; step = ETakeTrayFlowStep.放料完成后真空检测;
} }
else if(stopwatch.ElapsedMilliseconds>5000) else if (stopwatch.ElapsedMilliseconds > 5000)
{ {
alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸原位异常); alarmEntity = AlarmCollection.Get(AlarmConstID.上下气缸原位异常);
if (alarmEntity != null) if (alarmEntity != null)
@ -474,14 +585,22 @@ namespace Rs.MotionPlat.Flow
stopwatch.Stop(); stopwatch.Stop();
stopwatch.Restart(); stopwatch.Restart();
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.放料完成后真空检测: case ETakeTrayFlowStep.放料完成后真空检测:
try
{
if (!TakeTrayModule.HasTray()) if (!TakeTrayModule.HasTray())
{ {
logInfo = GetClassName() + $"放料盘完成"; logInfo = GetClassName() + $"放料盘完成";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.到待机位; step = ETakeTrayFlowStep.到待机位;
if(toTray== ETrayType.Empty) if (toTray == ETrayType.Empty)
{ {
StockManager.CloseTray(toStockIndex); StockManager.CloseTray(toStockIndex);
StockManager.OpenTray(toStockIndex); StockManager.OpenTray(toStockIndex);
@ -501,17 +620,33 @@ namespace Rs.MotionPlat.Flow
//TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm); //TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm);
//step = ETakeTrayFlowStep.到放料盘上方; //step = ETakeTrayFlowStep.到放料盘上方;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.到待机位: case ETakeTrayFlowStep.到待机位:
if(GroupAxisMove.TakeXMove(GetClassName(), GlobalVar.TakeTrayXWaitPos, GlobalVar.WholeSpeed)) try
{
if (GroupAxisMove.TakeXMove(GetClassName(), GlobalVar.TakeTrayXWaitPos, GlobalVar.WholeSpeed))
{ {
logInfo = GetClassName() + $"到待机位"; logInfo = GetClassName() + $"到待机位";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.等待运动到待机位; step = ETakeTrayFlowStep.等待运动到待机位;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
case ETakeTrayFlowStep.等待运动到待机位: case ETakeTrayFlowStep.等待运动到待机位:
if(Ops.IsStop("TakeTrayX")) try
{
if (Ops.IsStop("TakeTrayX"))
{ {
logInfo = GetClassName() + $"从{fromTray}搬运到{toTray}完成"; logInfo = GetClassName() + $"从{fromTray}搬运到{toTray}完成";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
@ -519,6 +654,11 @@ namespace Rs.MotionPlat.Flow
//dumpTrayFinishedEvent?.Invoke(); //dumpTrayFinishedEvent?.Invoke();
finisehd = true; finisehd = true;
} }
}
catch (Exception ex)
{
AlarmCollection.SystemExceptionAlarm(ex);
}
break; break;
} }
Thread.Sleep(10); Thread.Sleep(10);

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