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Rs.SkyLine
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增加TurnoverX轴回原

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周转盘取放料、治具取放料增加TurnoverX的点位
master
lhiven 2 years ago
parent 9697109245
commit 9d8ad2e833
2 changed files with 85 additions and 53 deletions
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36
Rs.SkyLine/Flow/HomeFlow.cs
Unescape Escape View File

@ -131,19 +131,19 @@ namespace Rs.MotionPlat.Flow
CancleHome();
}
break;
case 2:
AxisControl.TurnoverZ.MovePos(0.22, GlobalVar.WholeSpeed);
AxisControl.PressZ.MovePos(0.2, GlobalVar.WholeSpeed);
homeStep++;
break;
case 3:
if (Ops.IsStop("TurnoverZ", "PressZ"))
{
Thread.Sleep(100);
homeStep++;
}
break;
case 4://XY回零
//case 2:
// AxisControl.TurnoverZ.MovePos(0.22, GlobalVar.WholeSpeed);
// AxisControl.PressZ.MovePos(0.2, GlobalVar.WholeSpeed);
// homeStep++;
// break;
//case 3:
// if (Ops.IsStop("TurnoverZ", "PressZ"))
// {
// Thread.Sleep(100);
// homeStep++;
// }
// break;
case 2://XY回零
MessageQueue.Instance.Insert("x y r go home");
AxisControl.GetAxis($"NozzleR1").Home();
AxisControl.GetAxis($"NozzleR2").Home();
@ -156,14 +156,15 @@ namespace Rs.MotionPlat.Flow
AxisControl.GetAxis($"NozzleR9").Home();
AxisControl.LoadX.Home();
AxisControl.LoadY.Home();
AxisControl.TurnoverX.Home();
AxisControl.TurnoverY.Home();
homeStep++;
break;
case 5:
case 3:
if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时
{
if (Ops.IsHomed("LoadX", "LoadY", "TurnoverY") && Ops.AllRHomed())
if (Ops.IsHomed("LoadX", "LoadY", "TurnoverX", "TurnoverY") && Ops.AllRHomed())
{
homeStep++;
}
@ -181,13 +182,14 @@ namespace Rs.MotionPlat.Flow
AxisControl.GetAxis($"NozzleR9").Abort_Go_Home();
AxisControl.LoadX.Abort_Go_Home();
AxisControl.LoadY.Abort_Go_Home();
AxisControl.TurnoverX.Abort_Go_Home();
AxisControl.TurnoverY.Abort_Go_Home();
MachineManage.Instance.MachineStatus = EMachineStatus.HomeFail;
MessageQueue.Instance.Insert("Device home fail");
CancleHome();
}
break;
case 6://go to start position
case 4://go to start position
Thread.Sleep(200);
AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), GlobalVar.WholeSpeed);
AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), GlobalVar.WholeSpeed);
@ -202,7 +204,7 @@ namespace Rs.MotionPlat.Flow
AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
homeStep++;
break;
case 7:
case 5:
if (Ops.IsStop("LoadX", "LoadY", "NozzleR1", "NozzleR2", "NozzleR3", "NozzleR4", "NozzleR5", "NozzleR6", "NozzleR7", "NozzleR8", "NozzleR9"))
{
MachineManage.Instance.SetCenterMachineStatus(ERunStatus.Stopped);

102
Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs
Unescape Escape View File

@ -182,25 +182,35 @@ namespace Rs.MotionPlat.Flow
//}
break;
case ETurnoverFlowStep.到周转盘取料位上方:
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if(GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到周转盘取料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到周转盘取料位上方;
}
else
{
Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}");
}
logInfo = GetClassName()+$"到周转盘取料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到周转盘取料位上方;
}
else
{
Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}");
Msg.ShowError($"轴TurnoverX运动异常 ret:{errCode}");
}
break;
case ETurnoverFlowStep.等待运动到周转盘取料位上方:
if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if (Ops.IsStop(AxisControl.TurnoverX,AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
logInfo = GetClassName() + $"已运动到周转盘取料位上方";
MessageQueue.Instance.Insert(logInfo);
@ -397,27 +407,36 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.到测试放料位上方:
targetPos = SysConfigParam.GetValue<double>("PressDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("PressDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("PressDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到测试放料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到测试放料位上方;
}
else
{
Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}");
}
logInfo = GetClassName()+$"到测试放料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到测试放料位上方;
}
else
{
Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}");
Msg.ShowError($"轴TurnoverX运动异常 ret:{errCode}");
}
break;
case ETurnoverFlowStep.等待运动到测试放料位上方:
if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
if (Ops.IsStop(AxisControl.TurnoverX,AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
{
#region 临时屏蔽
//List<TurnoverInfo> testLoadList = LoadAndUnloadTask.Instance.GetTurnoverToTestTasks();
@ -824,17 +843,22 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETurnoverFlowStep.到测试取料位上方:
targetPos = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
targetPos = SysConfigParam.GetValue<double>("PressTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到测试取料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试取料位上方;
}
logInfo = GetClassName() + $"到测试取料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试取料位上方;
}
break;
case ETurnoverFlowStep.等待到测试取料位上方:
@ -1059,18 +1083,24 @@ namespace Rs.MotionPlat.Flow
//}
break;
case ETurnoverFlowStep.到周转盘放料位上方:
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
if (GlobalVar.VirtualAxis)
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
if (GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
}
logInfo = GetClassName() + $"到周转盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到周转盘放料位上方;
}
logInfo =GetClassName()+ $"到周转盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到周转盘放料位上方;
}
break;
case ETurnoverFlowStep.等待到周转盘放料位上方:
if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis)

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