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

50
Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs
Unescape Escape View File

@ -182,15 +182,19 @@ namespace Rs.MotionPlat.Flow
//} //}
break; break;
case ETurnoverFlowStep.到周转盘取料位上方: case ETurnoverFlowStep.到周转盘取料位上方:
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeY"); targetPos = SysConfigParam.GetValue<double>("TurnoverTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{ {
if(GlobalVar.VirtualAxis) if (GlobalVar.VirtualAxis)
{ {
Thread.Sleep(GlobalVar.VirtualAxisMoveTime); Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
} }
logInfo = GetClassName()+$"到周转盘取料位上方"; logInfo = GetClassName() + $"到周转盘取料位上方";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到周转盘取料位上方; Step = ETurnoverFlowStep.等待运动到周转盘取料位上方;
} }
@ -198,9 +202,15 @@ namespace Rs.MotionPlat.Flow
{ {
Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}"); Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}");
} }
}
else
{
Msg.ShowError($"轴TurnoverX运动异常 ret:{errCode}");
}
break; break;
case ETurnoverFlowStep.等待运动到周转盘取料位上方: 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"; logInfo = GetClassName() + $"已运动到周转盘取料位上方";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
@ -397,15 +407,19 @@ namespace Rs.MotionPlat.Flow
} }
break; break;
case ETurnoverFlowStep.到测试放料位上方: case ETurnoverFlowStep.到测试放料位上方:
targetPos = SysConfigParam.GetValue<double>("PressDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("PressDumpY"); targetPos = SysConfigParam.GetValue<double>("PressDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{ {
if (GlobalVar.VirtualAxis) if (GlobalVar.VirtualAxis)
{ {
Thread.Sleep(GlobalVar.VirtualAxisMoveTime); Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
} }
logInfo = GetClassName()+$"到测试放料位上方"; logInfo = GetClassName() + $"到测试放料位上方";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待运动到测试放料位上方; Step = ETurnoverFlowStep.等待运动到测试放料位上方;
} }
@ -413,11 +427,16 @@ namespace Rs.MotionPlat.Flow
{ {
Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}"); Msg.ShowError($"轴TurnoverY运动异常 ret:{errCode}");
} }
}
else
{
Msg.ShowError($"轴TurnoverX运动异常 ret:{errCode}");
}
break; break;
case ETurnoverFlowStep.等待运动到测试放料位上方: 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 #region 临时屏蔽
//List<TurnoverInfo> testLoadList = LoadAndUnloadTask.Instance.GetTurnoverToTestTasks(); //List<TurnoverInfo> testLoadList = LoadAndUnloadTask.Instance.GetTurnoverToTestTasks();
@ -824,6 +843,10 @@ namespace Rs.MotionPlat.Flow
} }
break; break;
case ETurnoverFlowStep.到测试取料位上方: case ETurnoverFlowStep.到测试取料位上方:
targetPos = SysConfigParam.GetValue<double>("PressTakeX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("PressTakeY"); targetPos = SysConfigParam.GetValue<double>("PressTakeY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
@ -836,6 +859,7 @@ namespace Rs.MotionPlat.Flow
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到测试取料位上方; Step = ETurnoverFlowStep.等待到测试取料位上方;
} }
}
break; break;
case ETurnoverFlowStep.等待到测试取料位上方: case ETurnoverFlowStep.等待到测试取料位上方:
if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis) if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis)
@ -1059,18 +1083,24 @@ namespace Rs.MotionPlat.Flow
//} //}
break; break;
case ETurnoverFlowStep.到周转盘放料位上方: case ETurnoverFlowStep.到周转盘放料位上方:
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpX");
errCode = AxisControl.TurnoverX.MovePos(targetPos, GlobalVar.WholeSpeed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{
targetPos = SysConfigParam.GetValue<double>("TurnoverDumpY"); targetPos = SysConfigParam.GetValue<double>("TurnoverDumpY");
errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed); errCode = AxisControl.TurnoverY.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{ {
if (GlobalVar.VirtualAxis) if (GlobalVar.VirtualAxis)
{ {
Thread.Sleep(GlobalVar.VirtualAxisMoveTime); Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
} }
logInfo =GetClassName()+ $"到周转盘放料位上方"; logInfo = GetClassName() + $"到周转盘放料位上方";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
Step = ETurnoverFlowStep.等待到周转盘放料位上方; Step = ETurnoverFlowStep.等待到周转盘放料位上方;
} }
}
break; break;
case ETurnoverFlowStep.等待到周转盘放料位上方: case ETurnoverFlowStep.等待到周转盘放料位上方:
if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis) if (Ops.IsStop(AxisControl.TurnoverY) || GlobalVar.VirtualAxis)

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