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250 lines
12 KiB
C#
250 lines
12 KiB
C#
using Rs.Controls;
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using Rs.Framework;
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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 System;
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using System.Collections.Generic;
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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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namespace Rs.MotionPlat.Flow.SubFlow
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{
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enum EFixtureTakeFlowStep
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{
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待触发,
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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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}
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public class FixtureTakeFlow
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{
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bool finished = true;
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EFixtureTakeFlowStep flowStep = EFixtureTakeFlowStep.待触发;
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public FixtureTakeFlow()
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{
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}
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private static FixtureTakeFlow instance;
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public static FixtureTakeFlow 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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instance = new FixtureTakeFlow();
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return instance;
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}
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}
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public string GetCurStep()
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{
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return flowStep.ToString();
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}
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AlarmEntity alarmEntity = new AlarmEntity();
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public void Take(int fixtureIndex,int nozzleIndex=-1,bool btest=false)
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{
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if (finished)
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finished = false;
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else
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return;
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flowStep = EFixtureTakeFlowStep.待触发;
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string logInfo = string.Empty;
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TargetPosition targetPosition = new TargetPosition();
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TestFixture curFixture = TestFixtureManager.Instance.GetTestFixture(fixtureIndex);
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Nozzle curNozzle = null;
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while (!finished)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.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 EFixtureTakeFlowStep.待触发:
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flowStep = EFixtureTakeFlowStep.到治具取料位上方;
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break;
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case EFixtureTakeFlowStep.到治具取料位上方:
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//先找出要放的吸嘴
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if(nozzleIndex==-1)
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{
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curNozzle = NozzleManager.GetIdelNozzle();
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}
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else
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{
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curNozzle = NozzleManager.GetNozzle(nozzleIndex);
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}
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if (curNozzle != null)
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{
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targetPosition = NozzleManager.GetNozzleToFixturePos(curFixture.Index, curNozzle.NozzleIndex);
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targetPosition.X += curFixture.PlaceProductOffsetX;
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targetPosition.Y2 += curFixture.PlaceProductOffsetY;
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if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
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{
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AxisPosPrint.PrintXY1Y2TargetPos($"到治具{curFixture.Index}取料位上方", targetPosition, GetClassName());
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flowStep = EFixtureTakeFlowStep.等待到治具取料位上方;
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}
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}
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break;
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case EFixtureTakeFlowStep.等待到治具取料位上方:
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if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos("轴loadx,loady1,loady2已停止运动,",GetClassName());
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if (AxisArrived.LoadXY1Y2IsArrived(targetPosition.X, targetPosition.Y1, targetPosition.Y2))
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{
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AxisPosPrint.PrintXY1Y2CurrentPos($"已运动到治具{curFixture.Index}取料位上方,", GetClassName());
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flowStep = EFixtureTakeFlowStep.到治具取料位下方1;
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}
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else
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{
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flowStep = EFixtureTakeFlowStep.到治具取料位上方;
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}
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}
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break;
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case EFixtureTakeFlowStep.到治具取料位下方1:
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targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curNozzle.NozzleIndex);
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if (NozzleManager.Go(curNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
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{
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logInfo = GetClassName() + $"到治具{curFixture.Index}取料位下方1";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.等待到治具取料位下方1;
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}
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break;
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case EFixtureTakeFlowStep.等待到治具取料位下方1:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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logInfo = GetClassName() + $"已运动到治具{curFixture.Index}取料位下方1";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.到治具取料位下方2;
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}
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break;
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case EFixtureTakeFlowStep.到治具取料位下方2:
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targetPosition.NozzleZ = NozzleManager.GetFixtureTakeProductPos(curFixture.Index, curNozzle.NozzleIndex);
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if (NozzleManager.Go(curNozzle, targetPosition.NozzleZ, GlobalVar.WholeSpeed))
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{
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logInfo = GetClassName() + $"到治具{curFixture.Index}取料位下方2";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.等待到治具取料位下方2;
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}
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break;
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case EFixtureTakeFlowStep.等待到治具取料位下方2:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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Thread.Sleep(100);
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logInfo = GetClassName() + $"已运动到治具{curFixture.Index}取料位下方2";
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MessageQueue.Instance.Insert(logInfo);
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if (GlobalVar.RunSpace)
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{
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flowStep = EFixtureTakeFlowStep.治具取料完成抬起1;
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}
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else
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{
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//打开真空吸
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curNozzle.VacSuction(EIoOperate.Open, GetClassName());
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//松开夹头
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curFixture.ColletOff(GetClassName());
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flowStep = EFixtureTakeFlowStep.治具取料完成抬起1;
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}
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}
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break;
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case EFixtureTakeFlowStep.治具取料完成抬起1:
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if (NozzleManager.GotoSafePos(curNozzle.NozzleIndex))
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{
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logInfo = GetClassName() + $"治具{curFixture.Index}取料完成抬起1";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.等待治具取料完成抬起1;
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}
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break;
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case EFixtureTakeFlowStep.等待治具取料完成抬起1:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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logInfo = GetClassName() + $"治具{curFixture.Index}取料完成已抬起1";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.治具取料完成抬起2;
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}
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break;
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case EFixtureTakeFlowStep.治具取料完成抬起2:
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if (NozzleManager.GotoSafePos(curNozzle.NozzleIndex))
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{
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logInfo = GetClassName() + $"治具{curFixture.Index}取料完成抬起2";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.等待治具取料完成抬起2;
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}
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else
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{
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Msg.ShowError($"轴NozzleZ{curNozzle.NozzleIndex}运动异常");
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}
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break;
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case EFixtureTakeFlowStep.等待治具取料完成抬起2:
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if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}"))
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{
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logInfo = GetClassName() + $"治具{curFixture.Index}取料完成已抬起2";
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MessageQueue.Instance.Insert(logInfo);
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flowStep = EFixtureTakeFlowStep.治具取料完成真空检测;
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}
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break;
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case EFixtureTakeFlowStep.治具取料完成真空检测:
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if (curNozzle.HasProduct() || GlobalVar.RunSpace)
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{
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if(btest)
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{
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finished = true;
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flowStep = EFixtureTakeFlowStep.待触发;
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}
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else
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{
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logInfo = $"{GetClassName()}治具{curFixture.Index}中产品SN:{curFixture.Product.SN}被吸嘴{curNozzle.NozzleIndex}取出";
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MessageQueue.Instance.Insert(logInfo);
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curNozzle.Product = curFixture.Product;
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if (curFixture.Product.Result == "PASS" || curFixture.Product.TestNum == 3)
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{
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curNozzle.Status = ENozzleStatus.ToUnload;
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}
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else
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{
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curNozzle.Status = ENozzleStatus.ToTest;
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}
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curFixture.Clear();
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GlobalTray.NozzleTray.ChangeStatus(curNozzle.NozzleIndex, ESlotStatus.Have);
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finished = true;
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flowStep = EFixtureTakeFlowStep.待触发;
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}
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}
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else
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{
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alarmEntity = AlarmCollection.Get(AlarmConstID.治具取料失败真空报警).Transform(curNozzle.NozzleIndex, curFixture.Index);
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Msgbox.ShowDialog(alarmEntity, EButtonType.Recheck, true);
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//Msgbox.ShowTipDialog(EButtonType.Recheck, $"吸嘴{curNozzle.NozzleIndex}从治具{curFixture.Index}取料时真空检测异常，请处理","vac error",true);
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}
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break;
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default:
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break;
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}
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Thread.Sleep(5);
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}
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}
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string GetClassName()
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{
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return $"{nameof(FixtureTakeFlow)}-";
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}
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}
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}
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