From 9d8ad2e8333a7a61ba815236f6c8228e18e5f764 Mon Sep 17 00:00:00 2001 From: lhiven <236881222@qq.com> Date: Fri, 8 Dec 2023 17:34:14 +0900 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0TurnoverX=E8=BD=B4=E5=9B=9E?= =?UTF-8?q?=E5=8E=9F=20=E5=91=A8=E8=BD=AC=E7=9B=98=E5=8F=96=E6=94=BE?= =?UTF-8?q?=E6=96=99=E3=80=81=E6=B2=BB=E5=85=B7=E5=8F=96=E6=94=BE=E6=96=99?= =?UTF-8?q?=E5=A2=9E=E5=8A=A0TurnoverX=E7=9A=84=E7=82=B9=E4=BD=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Rs.SkyLine/Flow/HomeFlow.cs | 36 ++++---- Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs | 102 +++++++++++++-------- 2 files changed, 85 insertions(+), 53 deletions(-) diff --git a/Rs.SkyLine/Flow/HomeFlow.cs b/Rs.SkyLine/Flow/HomeFlow.cs index ac49eda..f74c46a 100644 --- a/Rs.SkyLine/Flow/HomeFlow.cs +++ b/Rs.SkyLine/Flow/HomeFlow.cs @@ -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("NozzleR1StartPos"), GlobalVar.WholeSpeed); AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue("NozzleR2StartPos"), GlobalVar.WholeSpeed); @@ -202,7 +204,7 @@ namespace Rs.MotionPlat.Flow AxisControl.LoadY.MovePos(SysConfigParam.GetValue("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); diff --git a/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs b/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs index 369dadf..7c363f5 100644 --- a/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs @@ -182,25 +182,35 @@ namespace Rs.MotionPlat.Flow //} break; case ETurnoverFlowStep.到周转盘取料位上方: - targetPos = SysConfigParam.GetValue("TurnoverTakeY"); - errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); - if(errCode== Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("TurnoverTakeX"); + errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed); + if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { - if(GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("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("PressDumpY"); - errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); - if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("PressDumpX"); + errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed); + if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { - if (GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("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 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("PressTakeY"); - errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); + targetPos = SysConfigParam.GetValue("PressTakeX"); + errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed); if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { - if (GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("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("TurnoverDumpY"); - errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); - if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("TurnoverDumpX"); + errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed); + if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { - if (GlobalVar.VirtualAxis) + targetPos = SysConfigParam.GetValue("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)