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1、设备暂停后，手动移动轴后设备可以自动运行

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2、增加版本号:2.20.24.25
master
lhiven 2 years ago
parent d61c42b76f
commit 16907982e8
4 changed files with 380 additions and 195 deletions
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2
Rs.SkyLine/Commom/Ops.cs
Unescape Escape View File

@ -72,7 +72,7 @@ namespace Rs.MotionPlat.Commom
{
errNum++;
//MessageQueue.Instance.Warn(ceCode.ToString());
Msg.ShowError("Camera open fail!!!");
Msg.ShowError("Camera open fail!!!Please try again in 30 seconds");
System.Environment.Exit(0);
}
else

166
Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
Unescape Escape View File

@ -351,9 +351,16 @@ namespace Rs.MotionPlat.Flow
case EDischargeFlowStep.等待到取料位上方:
if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = GetClassName()+$"已运动到{WitchTrayWitchSlot(curNozzle.FromType,curNozzle.FromIndex)}取料位上方";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.到取料位下方;
if(XYIsInTargetPos(targetX,targetY))
{
logInfo = GetClassName() + $"已运动到{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}取料位上方";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.到取料位下方;
}
else
{
flowStep = EDischargeFlowStep.到取料位上方;
}
}
break;
@ -398,9 +405,25 @@ namespace Rs.MotionPlat.Flow
case EDischargeFlowStep.等待到取料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = GetClassName()+ $"已运动到{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}号穴位取料位下方";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.开真空;
if (XYIsInTargetPos(targetX, targetY))
{
logInfo = GetClassName() + $"已运动到{WitchTrayWitchSlot(curNozzle.FromType, curNozzle.FromIndex)}号穴位取料位下方";
MessageQueue.Instance.Insert(logInfo);
if (curTask.FromType == TurnoverType.Turnover)
{
VacManager.TurnoverTrayVacBreak(EVacOperator.Open, true, curNozzle.FromIndex + 1);
}
else
{
VacManager.DischargeVacSuction(EVacOperator.Open, true, curNozzle.NozzleIndex);
}
flowStep = EDischargeFlowStep.取料完成抬起;
//flowStep = EDischargeFlowStep.开真空;
}
else
{
flowStep = EDischargeFlowStep.到取料位上方;
}
}
break;
@ -703,10 +726,12 @@ namespace Rs.MotionPlat.Flow
if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload)[0].ToType == TurnoverType.Turnover)
{
needGrabNum = NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count();
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 30, GlobalVar.WholeSpeed);
targetX = SysConfigParam.GetValue<double>($"Nozzle{needGrabNum}CenterX") - 30;
targetY = SysConfigParam.GetValue<double>($"Nozzle8CenterY");
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>($"Nozzle8CenterY"), GlobalVar.WholeSpeed);
errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = EDischargeFlowStep.等待到下相机拍照起始位;
@ -715,10 +740,12 @@ namespace Rs.MotionPlat.Flow
}
else
{
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterX") + 30, GlobalVar.WholeSpeed);
targetX = SysConfigParam.GetValue<double>("Nozzle1CenterX") + 30;
targetY = SysConfigParam.GetValue<double>($"Nozzle1CenterY");
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("Nozzle1CenterY"), GlobalVar.WholeSpeed);
errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = EDischargeFlowStep.等待到下相机拍照起始位;
@ -770,7 +797,7 @@ namespace Rs.MotionPlat.Flow
grabPoints.Add(SysConfigParam.GetValue<double>($"Nozzle{i}CenterX"));
}
}
//LogHelper.Debug(GetClassName()+$"拍照点位:{grabPoints.ToJoinString(",")}");
errCode = AxisControl.LoadX.SetPosCompare(1, grabPoints.ToArray());
if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
{
@ -1206,15 +1233,22 @@ namespace Rs.MotionPlat.Flow
case EDischargeFlowStep.等待到放料位上方:
if (Ops.IsStop("LoadX", "LoadY",$"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
//当放料到tray盘区域时，并且周转再盘已经没有要下料的穴位时，通知周转模组可以运动了
if(curNozzle.ToType!= TurnoverType.Turnover && TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.Tested, ETurnoverTraySlotStatus.Have).Count()==0)
if(XYIsInTargetPos(targetX, targetY))
{
LogHelper.Debug("通知周转模组可以运动");
TurnoverFlow.Instance.CanMoveFromTestTrayToTurnoverTray();
//当放料到tray盘区域时，并且周转再盘已经没有要下料的穴位时，通知周转模组可以运动了
if (curNozzle.ToType != TurnoverType.Turnover && TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.Tested, ETurnoverTraySlotStatus.Have).Count() == 0)
{
LogHelper.Debug("通知周转模组可以运动");
TurnoverFlow.Instance.CanMoveFromTestTrayToTurnoverTray();
}
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号已运动到{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料位上方";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.丢料检测;
}
else
{
flowStep = EDischargeFlowStep.到放料位上方;
}
logInfo = GetClassName()+$"排料吸嘴{curNozzle.NozzleIndex}号已运动到{WitchTrayWitchSlot(curNozzle.ToType,curNozzle.ToIndex)}放料位上方";
MessageQueue.Instance.Insert(logInfo);
flowStep = EDischargeFlowStep.丢料检测;
}
break;
case EDischargeFlowStep.丢料检测:
@ -1366,46 +1400,53 @@ namespace Rs.MotionPlat.Flow
case EDischargeFlowStep.等待到放料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = GetClassName()+ $"排料吸嘴{curNozzle.NozzleIndex}号已运动到{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料位下方";
MessageQueue.Instance.Insert(logInfo);
if (curNozzle.ToType == TurnoverType.Turnover)
if(XYIsInTargetPos(targetX,targetY))
{
/*关闭排料吸嘴真空吸*/
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
/*打开排料吸嘴真空破*/
//logInfo = GetClassName() + $"打开{curNozzle.NozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Open, true,curNozzle.NozzleIndex);
flowStep = EDischargeFlowStep.到放料关破真空位;
logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号已运动到{WitchTrayWitchSlot(curNozzle.ToType, curNozzle.ToIndex)}放料位下方";
MessageQueue.Instance.Insert(logInfo);
if (curNozzle.ToType == TurnoverType.Turnover)
{
/*关闭排料吸嘴真空吸*/
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
/*打开排料吸嘴真空破*/
//logInfo = GetClassName() + $"打开{curNozzle.NozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Open, true, curNozzle.NozzleIndex);
flowStep = EDischargeFlowStep.到放料关破真空位;
}
else
{
GlobalTray.DischargeNozzle.ChangeStatus(curNozzle.NozzleIndex, ESlotStatus.NotHave);
/*关闭排料吸嘴真空吸*/
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
/*打开排料吸嘴真空破*/
//logInfo = GetClassName() + $"打开{curNozzle.NozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Open, true, curNozzle.NozzleIndex);
/*关闭排料吸嘴真空破*/
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Close, false, curNozzle.NozzleIndex);
flowStep = EDischargeFlowStep.放料完成抬起;
}
}
else
{
GlobalTray.DischargeNozzle.ChangeStatus(curNozzle.NozzleIndex, ESlotStatus.NotHave);
/*关闭排料吸嘴真空吸*/
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
/*打开排料吸嘴真空破*/
//logInfo = GetClassName() + $"打开{curNozzle.NozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Open,true, curNozzle.NozzleIndex);
/*关闭排料吸嘴真空破*/
//logInfo = GetClassName() + $"关闭{curNozzle.NozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Close,false, curNozzle.NozzleIndex);
flowStep = EDischargeFlowStep.放料完成抬起;
flowStep = EDischargeFlowStep.到放料位上方;
}
}
break;
@ -2248,6 +2289,23 @@ namespace Rs.MotionPlat.Flow
flowStep = EDischargeFlowStep.等待任务;
}
/// <summary>
/// 检测XY是否在目标位置上
/// </summary>
/// <param name="xTargetPos"></param>
/// <param name="yTargetPos"></param>
/// <returns></returns>
private bool XYIsInTargetPos(double xTargetPos, double yTargetPos)
{
double xCurPos = Ops.GetCurPosition(AxisControl.LoadX);
double yCurPos = Ops.GetCurPosition(AxisControl.LoadY);
if (Math.Abs(xTargetPos - xCurPos) < 1 && Math.Abs(yTargetPos - yCurPos) < 1)
{
return true;
}
return false;
}
}
}

405
Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs
Unescape Escape View File

@ -140,7 +140,7 @@ namespace Rs.MotionPlat.Flow
//List<int> slots = new List<int>();
List<int> ngList = new List<int>();
ETurnoverFlowStep Step = ETurnoverFlowStep.等待任务;
double targetPos = 0.0;
//double targetPos = 0.0;
Motion.ErrorCode errCode = Motion.ErrorCode.Ok;
List<TransitNozzle> hasProductNozzles = new List<TransitNozzle>();
/// <summary>
@ -159,6 +159,10 @@ namespace Rs.MotionPlat.Flow
bool bTakeFlag = false;
bool hasUnloadFlag = false;
int turnoverTrayToTestTrayNum = 1;
double targetTurnoverX = 0.0;
double targetTurnoverY = 0.0;
double targetTurnoverZ = 0.0;
double targetPressZ = 0.0;
/// <summary>
/// 可以下料到周转盘
/// </summary>
@ -211,12 +215,12 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.到周转盘取料位上方:
if(CanGoTurnoverTrayPos())
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverX = SysConfigParam.GetValue<double>("TurnoverTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetTurnoverX, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverY = SysConfigParam.GetValue<double>("TurnoverTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetTurnoverY, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -245,7 +249,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待运动到周转盘取料位上方:
if (Ops.IsStop(AxisControl.TurnoverX,AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到周转盘取料位上方";
MessageQueue.Instance.Insert(logInfo);
@ -261,6 +266,10 @@ namespace Rs.MotionPlat.Flow
Step = ETurnoverFlowStep.取料异常报警;
}
}
else
{
Step = ETurnoverFlowStep.到周转盘取料位上方;
}
}
break;
case ETurnoverFlowStep.取料异常报警:
@ -337,13 +346,13 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.到周转盘下方取料位1:
if(GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
}
else
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ");
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ");
}
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
undealTasks = LoadAndUnloadTask.Instance.GetTurnoverToTestTasks(ETaskDealStatus.Undeal);
@ -366,14 +375,21 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待运动到周转盘下方取料位1:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
logInfo = GetClassName()+ $"已运动到周转盘下方取料位1 TurnoverZ at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到周转盘下方取料位2;
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到周转盘下方取料位1 TurnoverZ at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到周转盘下方取料位2;
}
else
{
Step = ETurnoverFlowStep.到周转盘取料位上方;
}
}
break;
case ETurnoverFlowStep.到周转盘下方取料位2:
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -392,7 +408,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待运动到周转盘下方取料位2:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
if (TurnoverXYIsInTargetPos(targetTurnoverX, targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到周转盘下方取料位2 TurnoverZ at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
MessageQueue.Instance.Insert(logInfo);
@ -403,18 +420,22 @@ namespace Rs.MotionPlat.Flow
VacManager.TurnoverTrayVacBreak(EVacOperator.Open, true, undealTasks.Select(t => t.FromIndex + 1).ToArray());
Step = ETurnoverFlowStep.到周转盘取料破真空位;
}
else
{
Step = ETurnoverFlowStep.到周转盘取料位上方;
}
}
break;
case ETurnoverFlowStep.到周转盘取料破真空位:
if(GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.CloseVacOffsetHeight;
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.CloseVacOffsetHeight;
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
}
else
{
targetPos = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
}
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
@ -444,8 +465,8 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.周转盘取料完成抬起:
targetPos = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -511,12 +532,12 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.到测试放料位上方:
targetPos = SysConfigParam.GetValue<double>("PressDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverX = SysConfigParam.GetValue<double>("PressDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetTurnoverX, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("PressDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverY = SysConfigParam.GetValue<double>("PressDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetTurnoverY, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -545,8 +566,10 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待运动到测试放料位上方:
if (Ops.IsStop(AxisControl.TurnoverX,AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
LogHelper.Debug(GetClassName()+ $"turnoverxy in target curx={Ops.GetCurPosition(AxisControl.TurnoverX)}, x={targetTurnoverX},cury={Ops.GetCurPosition(AxisControl.TurnoverY)},y={targetTurnoverY}");
if (turnoverTrayToTestTrayNum == 1)
{
testTrayHasProductCheckEvent.WaitOne();
@ -613,6 +636,10 @@ namespace Rs.MotionPlat.Flow
}
Step = ETurnoverFlowStep.测试位上料丢料检测;
}
else
{
Step = ETurnoverFlowStep.到测试放料位上方;
}
}
break;
case ETurnoverFlowStep.测试位上料丢料检测:
@ -701,45 +728,59 @@ namespace Rs.MotionPlat.Flow
break;
case ETurnoverFlowStep.到测试放料位下方1:
if(GlobalVar.EnableTwoSpeed)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
targetPos = SysConfigParam.GetValue<double>("PressDumpZ") + GlobalVar.PressLowSpeedOffset;
}
else
{
targetPos = SysConfigParam.GetValue<double>("PressDumpZ");
}
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis )
{
//获取需要放料的吸嘴
hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles();
/*打开测试穴位真空吸*/
VacManager.TestTrayVacSuction(EVacOperator.Open,false, hasProductNozzles.Select(n => n.NozzleIndex).ToArray());
if (GlobalVar.VirtualAxis)
if (GlobalVar.EnableTwoSpeed)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressDumpZ") + GlobalVar.PressLowSpeedOffset;
}
else
{
targetTurnoverZ = SysConfigParam.GetValue<double>("PressDumpZ");
}
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
//获取需要放料的吸嘴
hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles();
/*打开测试穴位真空吸*/
VacManager.TestTrayVacSuction(EVacOperator.Open, false, hasProductNozzles.Select(n => n.NozzleIndex).ToArray());
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到测试放料位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到到测试放料位下方1;
}
else
{
MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
}
logInfo = GetClassName()+$"到测试放料位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到到测试放料位下方1;
}
else
{
MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
Step = ETurnoverFlowStep.到测试放料位上方;
}
break;
case ETurnoverFlowStep.等待运动到到测试放料位下方1:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
logInfo =GetClassName()+ $"已运动到到测试放料位下方1 TurnoverZ at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到测试放料位下方2;
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到到测试放料位下方1 TurnoverZ at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到测试放料位下方2;
}
else
{
Step = ETurnoverFlowStep.到测试放料位上方;
}
}
break;
case ETurnoverFlowStep.到测试放料位下方2:
targetPos = SysConfigParam.GetValue<double>("PressDumpZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressDumpZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis )
{
if (GlobalVar.VirtualAxis)
@ -758,7 +799,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待运动到到测试放料位下方2:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
if (TurnoverXYIsInTargetPos(targetTurnoverX, targetTurnoverY))
{
//获取需要放料的吸嘴
hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles();
@ -777,18 +819,22 @@ namespace Rs.MotionPlat.Flow
//TransitNozzleManager.Instance.Transi
Step = ETurnoverFlowStep.测试位放料完成抬起1;
}
else
{
Step = ETurnoverFlowStep.到测试放料位上方;
}
}
break;
case ETurnoverFlowStep.测试位放料完成抬起1:
if(GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("PressDumpZ") + GlobalVar.PressLowSpeedOffset;
targetTurnoverZ = SysConfigParam.GetValue<double>("PressDumpZ") + GlobalVar.PressLowSpeedOffset;
}
else
{
targetPos = SysConfigParam.GetValue<double>("PressSafeZ");
targetTurnoverZ = SysConfigParam.GetValue<double>("PressSafeZ");
}
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -821,8 +867,8 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.测试位放料完成抬起2:
targetPos = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1037,12 +1083,12 @@ namespace Rs.MotionPlat.Flow
break;
case ETurnoverFlowStep.到测试保压位上方:
targetPos = SysConfigParam.GetValue<double>("PressDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverX = SysConfigParam.GetValue<double>("PressDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetTurnoverX, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok|| GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("PressY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverY = SysConfigParam.GetValue<double>("PressY");
errCode = AxisControl.TurnoverY.MovePos(targetTurnoverY, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
turnoverTrayToTestTrayNum = 1;
@ -1067,7 +1113,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到测试保压位上方:
if (Ops.IsStop(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
if (TestTrayManager.Instance.GetSlots(ETestTraySlotStatus.Have).Count > 0)
{
@ -1082,55 +1129,80 @@ namespace Rs.MotionPlat.Flow
Step = ETurnoverFlowStep.通知中控开始测试;
}
}
else
{
Step = ETurnoverFlowStep.到测试保压位上方;
}
}
break;
case ETurnoverFlowStep.到测试保压位下方1:
targetPos = SysConfigParam.GetValue<double>("PressZ");
if (GlobalVar.EnableTwoSpeed)
{
targetPos = targetPos + SysConfigParam.GetValue<double>("PressLowSpeedOffset");
}
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis )
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
if (GlobalVar.VirtualAxis)
targetPressZ = SysConfigParam.GetValue<double>("PressZ");
if (GlobalVar.EnableTwoSpeed)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
targetPressZ = targetPressZ + SysConfigParam.GetValue<double>("PressLowSpeedOffset");
}
errCode = AxisControl.PressZ.MovePos(targetPressZ, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到测试保压位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试保压位下方1;
}
else
{
MsgBox.ShowAxisAlarmDialog(AxisControl.PressZ, errCode);
}
logInfo = GetClassName() + $"到测试保压位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试保压位下方1;
}
else
{
MsgBox.ShowAxisAlarmDialog(AxisControl.PressZ, errCode);
Step = ETurnoverFlowStep.到测试保压位上方;
}
break;
case ETurnoverFlowStep.等待到测试保压位下方1:
if (Ops.IsStop(AxisControl.PressZ) || GlobalVar.VirtualAxis)
{
logInfo = GetClassName() + $"已到测试保压位下方1 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到测试保压位下方2;
if (TurnoverXYIsInTargetPos(targetTurnoverX, targetTurnoverY))
{
logInfo = GetClassName() + $"已到测试保压位下方1 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到测试保压位下方2;
}
else
{
Step = ETurnoverFlowStep.到测试保压位上方;
}
}
break;
case ETurnoverFlowStep.到测试保压位下方2:
targetPos = SysConfigParam.GetValue<double>("PressZ");
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
if (TurnoverXYIsInTargetPos(targetTurnoverX, targetTurnoverY))
{
if (GlobalVar.VirtualAxis)
targetPressZ = SysConfigParam.GetValue<double>("PressZ");
errCode = AxisControl.PressZ.MovePos(targetPressZ, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到测试保压位下方2";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试保压位下方2;
}
else
{
MsgBox.ShowAxisAlarmDialog(AxisControl.PressZ, errCode);
}
logInfo = GetClassName() + $"到测试保压位下方2";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试保压位下方2;
}
else
{
MsgBox.ShowAxisAlarmDialog(AxisControl.PressZ, errCode);
Step = ETurnoverFlowStep.到测试保压位上方;
}
break;
case ETurnoverFlowStep.等待到测试保压位下方2:
@ -1138,6 +1210,7 @@ namespace Rs.MotionPlat.Flow
{
Thread.Sleep(100);
//if(Ops.IsArrived(AxisControl.PressZ) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已到测试保压位下方2 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}";
MessageQueue.Instance.Insert(logInfo);
@ -1146,6 +1219,10 @@ namespace Rs.MotionPlat.Flow
VacManager.TestTrayVacSuction(EVacOperator.Close, false, willTestSlot.Select(s => s.Index).ToArray());
Step = ETurnoverFlowStep.通知中控开始测试;
}
else
{
Step = ETurnoverFlowStep.到测试保压位上方;
}
}
break;
case ETurnoverFlowStep.通知中控开始测试:
@ -1179,7 +1256,7 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.测试完成抬起到高速位:
double curPos = Ops.GetCurPosition(AxisAlias.PressZ);
if(Math.Abs(curPos-targetPos)<0.1)
if(Math.Abs(curPos- SysConfigParam.GetValue<double>("PressSafeZ")) <1)
{
Step = ETurnoverFlowStep.测试完成抬起安全位;
}
@ -1187,13 +1264,13 @@ namespace Rs.MotionPlat.Flow
{
if (GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("PressZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetPressZ = SysConfigParam.GetValue<double>("PressZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.PressZ.MovePos(targetPressZ, GlobalVar.PressLowSpeed);
}
else
{
targetPos = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetPressZ = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.PressZ.MovePos(targetPressZ, GlobalVar.WholeSpeed);
}
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
@ -1220,8 +1297,8 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.测试完成抬起安全位:
targetPos = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetPressZ = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.PressZ.MovePos(targetPressZ, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1294,12 +1371,12 @@ namespace Rs.MotionPlat.Flow
//-----------------------------------------------测试位下料---------------------------------------------------------------------------------------------------------
case ETurnoverFlowStep.到测试取料位上方:
targetPos = SysConfigParam.GetValue<double>("PressTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverX = SysConfigParam.GetValue<double>("PressTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetTurnoverX, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverY = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetTurnoverY, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1323,7 +1400,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到测试取料位上方:
if (Ops.IsStop(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到测试取料位上方 TurnoverY at:{Ops.GetCurPosition(AxisAlias.TurnoverY)}";
MessageQueue.Instance.Insert(logInfo);
@ -1340,6 +1418,10 @@ namespace Rs.MotionPlat.Flow
Step = ETurnoverFlowStep.测试治具取料失败报警;
}
}
else
{
Step = ETurnoverFlowStep.到测试取料位上方;
}
}
break;
case ETurnoverFlowStep.测试治具取料失败报警:
@ -1418,12 +1500,12 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.到测试取料位下方1:
targetPos = SysConfigParam.GetValue<double>("PressTakeZ");
targetTurnoverZ = SysConfigParam.GetValue<double>("PressTakeZ");
if (GlobalVar.EnableTwoSpeed)
{
targetPos = targetPos + GlobalVar.PressLowSpeedOffset;
targetTurnoverZ = targetTurnoverZ + GlobalVar.PressLowSpeedOffset;
}
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
undealTasks = LoadAndUnloadTask.Instance.GetTestToTurnoverTasks(ETaskDealStatus.Undeal);
@ -1445,14 +1527,21 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到测试取料位下方1:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
logInfo = GetClassName()+ $"已运动到到测试取料位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到测试取料位下方2;
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到到测试取料位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到测试取料位下方2;
}
else
{
Step = ETurnoverFlowStep.到测试取料位上方;
}
}
break;
case ETurnoverFlowStep.到测试取料位下方2:
targetPos = SysConfigParam.GetValue<double>("PressTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1472,7 +1561,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到测试取料位下方2:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到测试取料位下方2 TurnoverZ at:{Ops.GetCurPosition("TurnoverZ")}";
MessageQueue.Instance.Insert(logInfo);
@ -1486,18 +1576,22 @@ namespace Rs.MotionPlat.Flow
VacManager.TestTrayVacBreak(EVacOperator.Open, true, undealTasks.Select(t => t.FromIndex + 1).ToArray());
Step = ETurnoverFlowStep.到测试破关真空位;
}
else
{
Step = ETurnoverFlowStep.到测试取料位上方;
}
}
break;
case ETurnoverFlowStep.到测试破关真空位:
if(GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("PressTakeZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressTakeZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
}
else
{
targetPos = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
}
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
@ -1527,8 +1621,8 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.测试位取料完成抬起:
targetPos = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("PressSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1626,12 +1720,12 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.到周转盘放料位上方:
if (CanGoTurnoverTrayPos())
{
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverX = SysConfigParam.GetValue<double>("TurnoverDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetTurnoverX, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverY = SysConfigParam.GetValue<double>("TurnoverDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetTurnoverY, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1661,12 +1755,17 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到周转盘放料位上方:
if (Ops.IsStop(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到周转盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.周转盘放料前丢料检测;
}
else
{
Step = ETurnoverFlowStep.到周转盘放料位上方;
}
}
break;
case ETurnoverFlowStep.周转盘放料前丢料检测:
@ -1749,13 +1848,13 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.到周转盘放料位下方1:
if(GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
}
else
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ");
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ");
}
errCode = AxisControl.TurnoverZ.MovePos(targetPos+1, GlobalVar.WholeSpeed);
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ + 1, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles();
@ -1777,15 +1876,22 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到周转盘放料位下方1:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
logInfo = GetClassName() + $"已运动到周转盘放料位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到周转盘放料位下方2;
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
logInfo = GetClassName() + $"已运动到周转盘放料位下方1";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.到周转盘放料位下方2;
}
else
{
Step = ETurnoverFlowStep.到周转盘放料位上方;
}
}
break;
case ETurnoverFlowStep.到周转盘放料位下方2:
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -1804,7 +1910,8 @@ namespace Rs.MotionPlat.Flow
case ETurnoverFlowStep.等待到周转盘放料位下方2:
if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
{
if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
//if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis)
if(TurnoverXYIsInTargetPos(targetTurnoverX,targetTurnoverY))
{
foreach (TransitNozzle nozzle in hasProductNozzles)
{
@ -1822,20 +1929,23 @@ namespace Rs.MotionPlat.Flow
VacManager.TransitNozzleVacBreak(EVacOperator.Close, true, hasProductNozzles.Select(n => n.FromIndex + 1).ToArray());
Step = ETurnoverFlowStep.周转盘放料完成抬起1;
}
else
{
Step = ETurnoverFlowStep.到周转盘放料位上方;
}
}
break;
case ETurnoverFlowStep.周转盘放料完成抬起1:
if(GlobalVar.EnableTwoSpeed)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.PressLowSpeed);
}
else
{
targetPos = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
}
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
@ -1865,8 +1975,8 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.周转盘放料完成抬起2:
targetPos = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverZ = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetTurnoverZ, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -2124,12 +2234,12 @@ namespace Rs.MotionPlat.Flow
}
else
{
targetPos = SysConfigParam.GetValue<double>("PressTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverX = SysConfigParam.GetValue<double>("PressTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetTurnoverX, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetTurnoverY = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetTurnoverY, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
@ -2241,5 +2351,22 @@ namespace Rs.MotionPlat.Flow
testTrayHasProductCheckEvent.Set();
});
}
/// <summary>
/// 检测XY是否在目标位置上
/// </summary>
/// <param name="xTargetPos"></param>
/// <param name="yTargetPos"></param>
/// <returns></returns>
private bool TurnoverXYIsInTargetPos(double xTargetPos, double yTargetPos)
{
double xCurPos = Ops.GetCurPosition(AxisControl.TurnoverX);
double yCurPos = Ops.GetCurPosition(AxisControl.TurnoverY);
if (Math.Abs(xTargetPos - xCurPos) <1 && Math.Abs(yTargetPos - yCurPos) < 1)
{
return true;
}
return false;
}
}
}

2
Rs.SkyLine/Properties/AssemblyInfo.cs
Unescape Escape View File

@ -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("2.20.24.24")]
[assembly: AssemblyVersion("2.20.24.25")]
//[assembly: AssemblyVersion("1.0.0.0")]
//[assembly: AssemblyFileVersion("1.0.0.0")]

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