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Rs.SkyLine
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去掉放料完成后回原，优化报警提示

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master
lhiven 1 year ago
parent e9ef555641
commit 90102d0845
1 changed files with 170 additions and 79 deletions
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205
Rs.SkyLine/Flow/RearrangeFlow.cs
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@ -7,6 +7,7 @@ using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Entitys.Trays;
using Rs.MotionPlat.Flow.Camera;
using Rs.MotionPlat.Flow.Common;
using Rs.MotionPlat.Flow.NgFlow;
using Rs.MotionPlat.Flow.SafePosFlow;
using Rs.MotionPlat.Flow.SubFlow;
@ -69,12 +70,14 @@ namespace Rs.MotionPlat.Flow
TurnoverInfo curTask;
SlotPoint curSlotPoint;
SlotPoint nozzleDist;
double targetX = 0.0;
double targetY = 0.0;
//double targetX = 0.0;
//double targetY = 0.0;
int FetchNum = 0;//取料次数
ErrorCode errCode = ErrorCode.Ok;
string alarmInfo = string.Empty;
ETrayType traytype;
AlarmEntity alarmEntity = null;
TargetPosition targetPosition = new TargetPosition();
public void Rearrange()
{
bool finished = false;
@ -87,7 +90,7 @@ namespace Rs.MotionPlat.Flow
if (RearrangeTask.HasTask() && WorkEnvironment.Instance.EnvironmentOk)
{
DischargeFlow.Instance.Stop();
logInfo = $"接收重排任务";
logInfo = GetClassName()+$"接收重排任务";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.到取料位上方;
}
@ -115,31 +118,51 @@ namespace Rs.MotionPlat.Flow
default:
break;
}
logInfo = $"吸嘴{curNozzle.NozzleIndex} 去{traytype}盘 {curTask.FromIndex + 1} 号穴位取料";
logInfo = GetClassName() + $"吸嘴{curNozzle.NozzleIndex} 去{traytype}盘 {curTask.FromIndex + 1} 号穴位取料";
curSlotPoint = TrayPointManager.GetSlotPoint(traytype, curTask.FromIndex + 1);
MessageQueue.Instance.Insert(logInfo);
if (curSlotPoint != null)
{
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
targetX = curSlotPoint.X + nozzleDist.X;
targetY = curSlotPoint.Y + nozzleDist.Y;
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
targetPosition.X = curSlotPoint.X + nozzleDist.X;
targetPosition.Y = curSlotPoint.Y + nozzleDist.Y;
errCode = AxisControl.LoadX.MovePos(targetPosition.X, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.LoadY.MovePos(targetPosition.Y, (int)(GlobalVar.WholeSpeed));
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<Double>($"NozzleR{curNozzle.NozzleIndex}StartPos"), (int)(GlobalVar.WholeSpeed));
errCode = AxisControl.LoadY.MovePos(targetY, (int)(GlobalVar.WholeSpeed));
if (errCode == ErrorCode.Ok | GlobalVar.VirtualAxis)
if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = ERearrangeFlowStep.等待到取料位上方;
}
else
{
alarmEntity = AlarmCollection.Get($"NozzleR{curNozzle.NozzleIndex}运动异常").Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.LoadY运动异常).Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
}
else
{
logInfo = "loady move isn't safe";
Msg.ShowError(logInfo);
MessageQueue.Instance.Warn(logInfo);
//logInfo = "loady move isn't safe";
alarmEntity = AlarmCollection.Get(AlarmConstID.运动不安全).Transform("LoadY","TurnoverY");
//Msg.ShowError(logInfo);
MessageQueue.Instance.Warn(GetClassName()+ alarmEntity.CN);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
@ -147,57 +170,67 @@ namespace Rs.MotionPlat.Flow
case ERearrangeFlowStep.等待到取料位上方:
if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = "已运动到取料位上方";
Thread.Sleep(100);
if(AxisArrived.LoadXYIsArrived(targetPosition.X,targetPosition.Y))
{
logInfo = GetClassName() + "已运动到取料位上方";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.到取料位下方;
}
else
{
flowStep = ERearrangeFlowStep.到取料位上方;
}
}
break;
case ERearrangeFlowStep.到取料位下方:
if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished || GlobalVar.VirtualAxis)
{
logInfo = "准备运动到取料位下方";
logInfo = GetClassName() + "准备运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
targetPosition.Z = GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight");
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPosition.Z, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = ERearrangeFlowStep.等待到取料位下方;
}
}
else
{
logInfo = $"NozzleZ{curNozzle.NozzleIndex} 轴状态未回原，请手动回原后点击确定";
Msg.ShowError(logInfo);
LogHelper.Error(logInfo);
alarmEntity = AlarmCollection.Get($"NozzleZ{curNozzle.NozzleIndex}运动异常").Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
break;
case ERearrangeFlowStep.等待到取料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = "已运动到取料位下方";
logInfo = GetClassName() + "已运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.开真空;
}
break;
case ERearrangeFlowStep.开真空:
VacManager.DischargeVacSuction(EVacOperator.Open, true, curNozzle.NozzleIndex);
flowStep = ERearrangeFlowStep.取料完成抬起;
//flowStep = ERearrangeFlowStep.开真空;
}
break;
//case ERearrangeFlowStep.开真空:
// VacManager.DischargeVacSuction(EVacOperator.Open, true, curNozzle.NozzleIndex);
// flowStep = ERearrangeFlowStep.取料完成抬起;
// break;
case ERearrangeFlowStep.取料完成抬起:
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
targetPosition.Z = 0;
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPosition.Z, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
logInfo = "取料完成准备抬起";
logInfo = GetClassName() + "取料完成准备抬起";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.等待取料完成抬起;
}
else
{
alarmEntity = AlarmCollection.Get($"NozzleZ{curNozzle.NozzleIndex}运动异常").Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
break;
case ERearrangeFlowStep.等待取料完成抬起:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = "取料完成已运动到抬起位，准备真空检测";
logInfo = GetClassName() + "取料完成已运动到抬起位";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.取料真空检测;
}
@ -206,9 +239,8 @@ namespace Rs.MotionPlat.Flow
if (Ops.IsOn($"{curNozzle.NozzleIndex}号吸嘴真空吸检测") || GlobalVar.RunSpace || GlobalVar.VirtualAxis)
{
FetchNum = 0;
logInfo = $"吸嘴{curNozzle.NozzleIndex}真空检测 OK";
logInfo = GetClassName() + $"吸嘴{curNozzle.NozzleIndex}真空检测 OK";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
curNozzle.Status = ENozzleStatus.ToUnload;
curNozzle.FromType = curTask.FromType;
@ -241,7 +273,7 @@ namespace Rs.MotionPlat.Flow
curTask.Dealed = true;
if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
{
logInfo = $"检测到还有条任务未执行，继续执行";
logInfo = GetClassName() + $"检测到还有条任务未执行，继续执行";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.到取料位上方;
}
@ -360,8 +392,6 @@ namespace Rs.MotionPlat.Flow
case ERearrangeFlowStep.到放料位上方:
if (DischargeFlow.Instance.XYCanGoLocalArea() || GlobalVar.VirtualAxis)
{
targetX = 0.0;
targetY = 0.0;
///获取需要放料的吸嘴
curSlotPoint = null;
curNozzle = NozzleManager.GetToUnloadNozzle();
@ -371,13 +401,15 @@ namespace Rs.MotionPlat.Flow
}
if (curSlotPoint != null)
{
logInfo = GetClassName() + "到放料位上方";
MessageQueue.Instance.Insert(logInfo);
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
targetX = curSlotPoint.X + nozzleDist.X;
targetY = curSlotPoint.Y + nozzleDist.Y;
errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.WholeSpeed);
targetPosition.X = curSlotPoint.X + nozzleDist.X;
targetPosition.Y = curSlotPoint.Y + nozzleDist.Y;
errCode = AxisControl.LoadX.MovePos(targetPosition.X, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.WholeSpeed);
errCode = AxisControl.LoadY.MovePos(targetPosition.Y, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").MoveOffset(0, GlobalVar.WholeSpeed);
@ -385,57 +417,97 @@ namespace Rs.MotionPlat.Flow
{
flowStep = ERearrangeFlowStep.等待到放料位上方;
}
else
{
alarmEntity = AlarmCollection.Get($"NozzleR{curNozzle.NozzleIndex}运动异常").Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.LoadY运动异常).Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
}
else
{
Msg.ShowError("loady move isn't safe");
alarmEntity = AlarmCollection.Get(AlarmConstID.运动不安全).Transform("LoadY", "TurnoverY");
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
break;
case ERearrangeFlowStep.等待到放料位上方:
if (Ops.IsStop("LoadX", "LoadY", $"NozzleR{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
Thread.Sleep(100);
logInfo = "已运动到放料位上方";
if(AxisArrived.LoadXYIsArrived(targetPosition.X,targetPosition.Y))
{
logInfo = GetClassName() + "已运动到放料位上方";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.到放料位下方;
}
else
{
flowStep = ERearrangeFlowStep.到放料位上方;
}
}
break;
case ERearrangeFlowStep.到放料位下方:
logInfo = "到放料位下方";
logInfo = GetClassName() + "到放料位下方";
MessageQueue.Instance.Insert(logInfo);
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3, GlobalVar.WholeSpeed);
targetPosition.Z = SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3;
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPosition.Z, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = ERearrangeFlowStep.等待到放料位下方;
}
else
{
alarmEntity = AlarmCollection.Get($"NozzleZ{curNozzle.NozzleIndex}运动异常").Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
break;
case ERearrangeFlowStep.等待到放料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
if(AxisArrived.LoadXYIsArrived(targetPosition.X,targetPosition.Y))
{
logInfo = GetClassName() + "已运动到放料位下方";
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
VacManager.DischargeVacBreak(EVacOperator.Open, true, curNozzle.NozzleIndex);
VacManager.DischargeVacBreak(EVacOperator.Close, false, curNozzle.NozzleIndex);
flowStep = ERearrangeFlowStep.放料完成抬起;
}
else
{
flowStep = ERearrangeFlowStep.到放料位上方;
}
}
break;
case ERearrangeFlowStep.放料完成抬起:
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
targetPosition.Z = 0;
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(targetPosition.Z, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
logInfo = "放料完成抬起";
logInfo = GetClassName() + "放料完成抬起";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.等待放料完成抬起;
}
else
{
alarmEntity = AlarmCollection.Get($"NozzleZ{curNozzle.NozzleIndex}运动异常").Transform(errCode);
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
break;
case ERearrangeFlowStep.等待放料完成抬起:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = "放料完成已运动到抬起位，准备真空检测";
logInfo = GetClassName() + "放料完成已运动到抬起位";
MessageQueue.Instance.Insert(logInfo);
flowStep = ERearrangeFlowStep.放料真空检测;
}
@ -444,9 +516,9 @@ namespace Rs.MotionPlat.Flow
flowStep = ERearrangeFlowStep.放料任务完成;
break;
case ERearrangeFlowStep.放料任务完成:
logInfo = "放料任务完成";
logInfo = GetClassName() + "放料任务完成";
MessageQueue.Instance.Insert(logInfo);
AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
//AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
if (curNozzle.ToType == TurnoverType.Passed)
{
GlobalTray.OkTary.ChangeStatus(curNozzle.ToIndex + 1, ESlotStatus.Have);
@ -480,22 +552,36 @@ namespace Rs.MotionPlat.Flow
break;
case ERearrangeFlowStep.任务结束到安全位:
logInfo = "任务结束到安全位";
logInfo = GetClassName() + "任务结束到安全位";
MessageQueue.Instance.Insert(logInfo);
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
targetPosition.X = SysConfigParam.GetValue<double>("LoadXStartPos");
targetPosition.Y = SysConfigParam.GetValue<double>("LoadYStartPos");
errCode = AxisControl.LoadX.MovePos(targetPosition.X, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
errCode = AxisControl.LoadY.MovePos(targetPosition.Y, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = ERearrangeFlowStep.等待任务结束到安全位;
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.LoadY运动异常).Transform(errCode.ToString());
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
}
else
{
alarmEntity = AlarmCollection.Get(AlarmConstID.LoadX运动异常).Transform(errCode.ToString());
AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
}
break;
case ERearrangeFlowStep.等待任务结束到安全位:
if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis)
{
logInfo = "任务结束已回到安全位";
if(AxisArrived.LoadXYIsArrived(targetPosition.X,targetPosition.Y))
{
logInfo = GetClassName() + "任务结束已回到安全位";
MessageQueue.Instance.Insert(logInfo);
if (RearrangeTask.ReportCenter() > 0)
{
@ -509,6 +595,11 @@ namespace Rs.MotionPlat.Flow
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
finished = true;
}
else
{
flowStep = ERearrangeFlowStep.任务结束到安全位;
}
}
break;
default:
break;
@ -562,7 +653,7 @@ namespace Rs.MotionPlat.Flow
}
private string GetClassName()
{
return string.Empty;
return "RearrangeFlow_";
}
}

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