ZR轴回原失败增加超时机制，超时未回原成功则报警

Rs.SkyLine/Flow/AlarmConstID.cs

@@ -433,6 +433,11 @@ namespace Rs.MotionPlat.Flow
         /// </summary>
         public const int 上相机拍照超时 = 1098;
 
+        /// <summary>
+        /// 轴回原失败
+        /// </summary>
+        public const int 轴回原失败 = 1099;
+
 
 
 

Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs

@@ -589,31 +589,40 @@ namespace Rs.MotionPlat.Flow
                         }
                         else
                         {
-                            if (reFetchNum == 0)
+                            try
                             {
-                                //这个时候Z&R回原一次，然后再重新取料
+                                logInfo = GetClassName() + $"排料吸嘴{curNozzle.NozzleIndex}号真空检测NG,num={reFetchNum}";
-                                ZRHomeFlow.Instance.GoHome(curNozzle.NozzleIndex);
+                                MessageQueue.Instance.Insert(logInfo);
-                            }
+                                if (reFetchNum == 0)
-                            reFetchNum++;
-                            if (reFetchNum >= GlobalVar.DischargeRetakeNum)
-                            {
-                                DischargeDumpFlow.Instance.Start(curTask.FromType, curNozzle.NozzleIndex, curNozzle.FromIndex);
-                                //alarmInfo = $"排料{curNozzle.NozzleIndex}号吸嘴取{curNozzle.FromIndex+1}号穴位产品{reFetchNum}次失败";
-                                if (curTask.FromType == TurnoverType.ToBeTested)
                                 {
-                                    //alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓tray盘取料报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
+                                    //这个时候Z&R回原一次，然后再重新取料
-                                    alarmEntity = AlarmCollection.Get(AlarmConstID.料仓tray盘取料报警).Transform(curNozzle.NozzleIndex, (curNozzle.FromIndex + 1));
+                                    ZRHomeFlow.Instance.GoHome(curNozzle.NozzleIndex);
                                 }
-                                else if (curTask.FromType == TurnoverType.Turnover)
+                                reFetchNum++;
+                                if (reFetchNum >= GlobalVar.DischargeRetakeNum)
                                 {
-                                    //alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料头在周转盘取料失败报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
+                                    DischargeDumpFlow.Instance.Start(curTask.FromType, curNozzle.NozzleIndex, curNozzle.FromIndex);
-                                    alarmEntity = AlarmCollection.Get(AlarmConstID.排料头在周转盘取料失败报警).Transform(curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
+                                    //alarmInfo = $"排料{curNozzle.NozzleIndex}号吸嘴取{curNozzle.FromIndex+1}号穴位产品{reFetchNum}次失败";
+                                    if (curTask.FromType == TurnoverType.ToBeTested)
+                                    {
+                                        //alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓tray盘取料报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
+                                        alarmEntity = AlarmCollection.Get(AlarmConstID.料仓tray盘取料报警).Transform(curNozzle.NozzleIndex, (curNozzle.FromIndex + 1));
+                                    }
+                                    else if (curTask.FromType == TurnoverType.Turnover)
+                                    {
+                                        //alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.排料头在周转盘取料失败报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
+                                        alarmEntity = AlarmCollection.Get(AlarmConstID.排料头在周转盘取料失败报警).Transform(curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
+                                    }
+                                    flowStep = EDischargeFlowStep.取料失败报警;
+                                }
+                                else
+                                {
+                                    flowStep = EDischargeFlowStep.到取料位下方;
                                 }
-                                flowStep = EDischargeFlowStep.取料失败报警;
                             }
-                            else
+                            catch (Exception ex)
                             {
-                                flowStep = EDischargeFlowStep.到取料位下方;
+
                             }
                         }
                         break;

Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs

@@ -2,8 +2,10 @@
 using Rs.Framework;
 using Rs.Motion;
 using Rs.MotionPlat.Commom;
+using Rs.MotionPlat.Entitys;
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Linq;
 using System.Text;
 using System.Threading;
@@ -16,7 +18,8 @@ namespace Rs.MotionPlat.Flow.SubFlow
         StartHome,
         WaitHomed,
         GoStartPos,
-        WaitArrivedStartPos
+        WaitArrivedStartPos,
+        HomeWarning
     }
     public class ZRHomeFlow
     {
@@ -34,6 +37,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
         }
         private EZRHomeFlowStep step = EZRHomeFlowStep.StartHome;
         bool finished = false;
+        Stopwatch stopwatch = new Stopwatch();
 
         public void GoHome(int homeIndex)
         {
@@ -45,6 +49,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
                 {
                     case EZRHomeFlowStep.StartHome:
                         //获取Z轴
+                        MessageQueue.Instance.Insert($"{GetClassName()} NozzleZ{homeIndex},NozzleR{homeIndex} start home");
                         AxisControl.GetAxis($"NozzleZ{homeIndex}").Home();
                         AxisControl.GetAxis($"NozzleR{homeIndex}").Home();
                         //AxisControl.NozzleZ1.Home();
@@ -65,6 +70,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         //AxisControl.NozzleR7.Home();
                         //AxisControl.NozzleR8.Home();
                         step = EZRHomeFlowStep.WaitHomed;
+                        stopwatch.Restart();
                         Thread.Sleep(1000);
                         break;
                     case EZRHomeFlowStep.WaitHomed:
@@ -84,10 +90,18 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         //    && AxisControl.NozzleR6.HomeStatus == EHomeStatus.Finished
                         //    && AxisControl.NozzleR7.HomeStatus == EHomeStatus.Finished
                         //    && AxisControl.NozzleR8.HomeStatus == EHomeStatus.Finished)
-                        if (AxisControl.GetAxis($"NozzleZ{homeIndex}").HomeStatus == EHomeStatus.Finished
+                        if(stopwatch.ElapsedMilliseconds<1000*60*3)
+                        {
+                            if (AxisControl.GetAxis($"NozzleZ{homeIndex}").HomeStatus == EHomeStatus.Finished
                          && AxisControl.GetAxis($"NozzleR{homeIndex}").HomeStatus == EHomeStatus.Finished)
+                            {
+                                MessageQueue.Instance.Insert($"{GetClassName()} NozzleZ{homeIndex},NozzleR{homeIndex} homed finished");
+                                step = EZRHomeFlowStep.GoStartPos;
+                            }
+                        }
+                        else
                         {
-                            step = EZRHomeFlowStep.GoStartPos;
+                            step = EZRHomeFlowStep.HomeWarning;
                         }
                         break;
                     case EZRHomeFlowStep.GoStartPos:
@@ -98,6 +112,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         //}
                         double targetPos = SysConfigParam.GetValue<Double>($"NozzleR{homeIndex}StartPos");
                         AxisControl.GetAxis($"NozzleR{homeIndex}").MovePos(targetPos, GlobalVar.WholeSpeed);
+                        MessageQueue.Instance.Insert($"{GetClassName()} NozzleR{homeIndex} go to pos:{targetPos}");
                         step = EZRHomeFlowStep.WaitArrivedStartPos;
                         Thread.Sleep(100);
                         break;
@@ -112,12 +127,33 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         //    && Ops.IsStop("NozzleR8"))
                         if (Ops.IsStop($"NozzleR{homeIndex}"))
                         {
+                            string axisname = $"NozzleR{homeIndex}";
+                            MessageQueue.Instance.Insert($"{GetClassName()} NozzleR{homeIndex} arrived pos:{Ops.GetCurPosition(axisname)}");
                             finished = true;
                         }
                         break;
+                    case EZRHomeFlowStep.HomeWarning:
+                        stopwatch.Stop();
+                        if (AxisControl.GetAxis($"NozzleZ{homeIndex}").HomeStatus != EHomeStatus.Finished)
+                        {
+                            AlarmEntity alarm = AlarmCollection.Get(AlarmConstID.轴回原失败).Transform($"NozzleZ{homeIndex}");
+                            AlarmMessageBox.ShowDialog(alarm, SchedulingMessageBox.ETipButton.Retry, null, true);
+                        }
+                        else if (AxisControl.GetAxis($"NozzleR{homeIndex}").HomeStatus != EHomeStatus.Finished)
+                        {
+                            AlarmEntity alarm = AlarmCollection.Get(AlarmConstID.轴回原失败).Transform($"NozzleR{homeIndex}");
+                            AlarmMessageBox.ShowDialog(alarm, SchedulingMessageBox.ETipButton.Retry, null, true);
+                        }
+                        step = EZRHomeFlowStep.StartHome;
+                        break;
                 }
                 Thread.Sleep(10);
             }
         }
+
+        private string GetClassName()
+        {
+            return $"{nameof(ZRHomeFlow)}-";
+        }
     }
 }

Rs.SkyLine/Properties/AssemblyInfo.cs

@@ -31,6 +31,6 @@ using System.Runtime.InteropServices;
 //
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
- [assembly: AssemblyVersion("3.20.25.01")]
+ [assembly: AssemblyVersion("3.20.25.03")]
 //[assembly: AssemblyVersion("1.0.0.0")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]