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优化当排料取料失败后重新放回穴位时，先打开周转盘真空吸，同时放回穴位后打印周转盘真空吸是否有效日志

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master
lhiven 1 year ago
parent dbabf67eda
commit 227098ad62
1 changed files with 76 additions and 56 deletions
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132
Rs.SkyLine/Flow/SubFlow/DischargeDumpFlow.cs
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@ -22,7 +22,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
等待放料完成抬起
}
/// <summary>
/// 排料头放料子流程
/// 排料头取料失败后把产品重新放回穴位流程
/// </summary>
public class DischargeDumpFlow
{
@ -37,13 +37,10 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
}
//private int NozzleIndex = 0;
private string logInfo = string.Empty;
//private TurnoverType trayType;
private EDischargeDumpFlowStep step = EDischargeDumpFlowStep.到放料位下方;
private double targetPos = 0.0;
ErrorCode errCode = ErrorCode.Ok;
//int toIndex = 0;
bool finished = true;
public void Start(TurnoverType trayType, int nozzleIndex,int toIndex)
@ -58,7 +55,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
}
targetPos = 0.0;
step = EDischargeDumpFlowStep.到放料位下方;
while (true && !finished)
while (!finished)
{
if (MachineManage.Instance.MachineStatus== EMachineStatus.Stop)
{
@ -72,6 +69,8 @@ namespace Rs.MotionPlat.Flow.SubFlow
MessageQueue.Instance.Insert(logInfo);
if (trayType == TurnoverType.Turnover)
{
///*打开周转盘真空吸*/
VacManager.TurnoverTrayVacSuction(EVacOperator.Open, false, toIndex + 1);
targetPos = SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight");
}
else
@ -96,69 +95,78 @@ namespace Rs.MotionPlat.Flow.SubFlow
MessageQueue.Instance.Insert(logInfo);
if (trayType == TurnoverType.Turnover)
{
/*打开周转盘真空吸*/
logInfo = GetClassName() + $"打开周转盘{toIndex + 1}号穴位真空吸";
MessageQueue.Instance.Insert(logInfo);
Ops.On($"周转盘{toIndex + 1}号穴位真空吸");
Thread.Sleep(GlobalVar.TurnoverTrayOpenVacSuctionDelaytime);
///*打开周转盘真空吸*/
//logInfo = GetClassName() + $"打开周转盘{toIndex + 1}号穴位真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"周转盘{toIndex + 1}号穴位真空吸");
//Thread.Sleep(GlobalVar.TurnoverTrayOpenVacSuctionDelaytime);
/*关闭排料吸嘴真空吸*/
logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空吸";
MessageQueue.Instance.Insert(logInfo);
Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
//logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, nozzleIndex);
/*打开排料吸嘴真空破*/
logInfo = GetClassName() + $"打开{nozzleIndex}号排料吸嘴真空破";
MessageQueue.Instance.Insert(logInfo);
Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
step = EDischargeDumpFlowStep.到放料关破真空位;
//logInfo = GetClassName() + $"打开{nozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Open, true, nozzleIndex);
/*关闭排料吸嘴真空破*/
VacManager.DischargeVacBreak(EVacOperator.Close, false, nozzleIndex);
step = EDischargeDumpFlowStep.放料完成抬起;
}
else
{
/*关闭排料吸嘴真空吸*/
logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空吸";
MessageQueue.Instance.Insert(logInfo);
Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
//logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空吸";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, nozzleIndex);
/*关闭排料吸嘴真空吸*/
logInfo = GetClassName() + $"打开{nozzleIndex}号排料吸嘴真空破";
MessageQueue.Instance.Insert(logInfo);
Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
//logInfo = GetClassName() + $"打开{nozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Open, true, nozzleIndex);
/*关闭排料吸嘴真空吸*/
logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空破";
MessageQueue.Instance.Insert(logInfo);
Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
//logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空破";
//MessageQueue.Instance.Insert(logInfo);
//Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
//Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
VacManager.DischargeVacBreak(EVacOperator.Close, false, nozzleIndex);
step = EDischargeDumpFlowStep.放料完成抬起;
}
}
break;
case EDischargeDumpFlowStep.到放料关破真空位:
targetPos = SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight");
errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(targetPos + 1, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴周转盘放料完成，准备微微抬起";
MessageQueue.Instance.Insert(logInfo);
step = EDischargeDumpFlowStep.等待到放料关破真空位;
}
else
{
MsgBox.ShowAxisAlarmDialog($"NozzleZ{nozzleIndex}", errCode);
}
break;
case EDischargeDumpFlowStep.等待到放料关破真空位:
if (Ops.IsStop($"NozzleZ{nozzleIndex}") || GlobalVar.VirtualAxis)
{
/*关闭排料吸嘴真空破*/
Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴微微抬起后关闭破真空";
MessageQueue.Instance.Insert(logInfo);
step = EDischargeDumpFlowStep.放料完成抬起;
}
break;
//case EDischargeDumpFlowStep.到放料关破真空位:
// targetPos = SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight");
// errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(targetPos + 1, GlobalVar.WholeSpeed);
// if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
// {
// logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴周转盘放料完成，准备微微抬起";
// MessageQueue.Instance.Insert(logInfo);
// step = EDischargeDumpFlowStep.等待到放料关破真空位;
// }
// else
// {
// MsgBox.ShowAxisAlarmDialog($"NozzleZ{nozzleIndex}", errCode);
// }
// break;
//case EDischargeDumpFlowStep.等待到放料关破真空位:
// if (Ops.IsStop($"NozzleZ{nozzleIndex}") || GlobalVar.VirtualAxis)
// {
// /*关闭排料吸嘴真空破*/
// //Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
// //Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
// //logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴微微抬起后关闭破真空";
// //MessageQueue.Instance.Insert(logInfo);
// VacManager.DischargeVacBreak(EVacOperator.Close, false, nozzleIndex);
// step = EDischargeDumpFlowStep.放料完成抬起;
// }
// break;
case EDischargeDumpFlowStep.放料完成抬起:
errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
@ -179,6 +187,18 @@ namespace Rs.MotionPlat.Flow.SubFlow
case EDischargeDumpFlowStep.等待放料完成抬起:
if (Ops.IsStop($"NozzleZ{nozzleIndex}") || GlobalVar.VirtualAxis)
{
if(trayType== TurnoverType.Turnover)
{
//在这里检测一下周转盘的真空
if(Ops.IsOn($"周转盘{toIndex + 1}号穴位真空吸检测"))
{
LogHelper.Debug($"周转盘{toIndex + 1}号穴位真空吸检测 OK");
}
else
{
LogHelper.Debug($"周转盘{toIndex + 1}号穴位真空吸检测 NG");
}
}
logInfo = GetClassName()+ $"{nozzleIndex}号排料吸嘴放料完成已抬起";
MessageQueue.Instance.Insert(logInfo);
finished = true;

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