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using Rs.Framework;
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using Rs.Motion;
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using Rs.Motion.Base;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys.Trays;
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using Rs.MotionPlat.Flow.SafePosFlow;
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using Rs.MotionPlat.Flow.SubFlow;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using static Rs.MotionPlat.Commom.SchedulingMessageBox;
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namespace Rs.MotionPlat.Flow.NgFlow
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{
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enum EWarningSuckerNgFlowStep
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{
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等待测试完成,
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到取料位上方,
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等待到取料位上方,
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到取料位下方,
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等待到取料位下方,
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取料完成到安全位,
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等待取料完成到安全位,
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镭射头检测,
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手动处理后镭射头检测,
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到放报警料穴位上方,
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等待到放报警料穴位上方,
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到放报警料穴位下方,
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等待到放报警料穴位下方,
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放料完成到安全位,
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等待放料完成到安全位,
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有无料光纤检测,
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回安全位
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}
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/// <summary>
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/// 强力吸头异常处理流程
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/// </summary>
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public class WarningSuckerNgFlow
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{
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private WarningSuckerNgFlow() { }
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private static WarningSuckerNgFlow instance;
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public static WarningSuckerNgFlow Instance
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{
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get
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{
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if(instance==null)
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instance = new WarningSuckerNgFlow();
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return instance;
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}
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}
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/// <summary>
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/// 强力吸嘴重取次数
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/// </summary>
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int retakeNum = 0;
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bool exit = false;
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Stopwatch timeout= new Stopwatch();
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string logInfo = string.Empty;
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string alarmInfo = string.Empty;
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/// <summary>
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/// 报警轴列表
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/// </summary>
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List<IAxis> alarmAxisList = new List<IAxis>();
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SchedulingMessageBox msgBox;
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EWarningSuckerNgFlowStep step = EWarningSuckerNgFlowStep.等待测试完成;
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/// <summary>
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/// 任务完成事件
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/// </summary>
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ManualResetEvent taskFinishedEvent = new ManualResetEvent(true);
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/// <summary>
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/// 开始处理NG产品
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/// </summary>
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/// <param name="exceptionTray"></param>
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/// <param name="exceptionSlotIndex"></param>
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public void DealNgProduct(ETrayType exceptionTray,int exceptionSlotIndex)
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{
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ErrorCode errCode = ErrorCode.Ok;
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SlotPoint targetSlot = new SlotPoint();
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exit = false;
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step = EWarningSuckerNgFlowStep.等待测试完成;
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taskFinishedEvent.Reset();
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while (!exit)
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{
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if (MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
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{
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Thread.Sleep(10);
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continue;
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}
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switch (step)
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{
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case EWarningSuckerNgFlowStep.等待测试完成:
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if(TurnoverFlow.Instance.GetStep()=="等待任务"
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|| TurnoverFlow.Instance.GetStep() == "取料异常报警"
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|| TurnoverFlow.Instance.GetStep()== "周转盘放料完成后真空检测")
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{
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logInfo = GetClassName() + "测试工位已完成";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.到取料位上方;
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}
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break;
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case EWarningSuckerNgFlowStep.到取料位上方:
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if (exceptionTray == ETrayType.Turnover)
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{
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targetSlot = TrayPointManager.GetTurnoverTrayForceNozzlePoint(exceptionSlotIndex);
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errCode = AxisControl.TurnoverX.MovePos(targetSlot.X, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.TurnoverY.MovePos(targetSlot.Y, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"到{exceptionTray}盘{exceptionSlotIndex}穴位上方";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.等待到取料位上方;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, errCode);
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}
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverX, errCode);
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}
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}
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break;
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case EWarningSuckerNgFlowStep.等待到取料位上方:
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if (Ops.IsStop(AxisAlias.TurnoverX, AxisAlias.TurnoverY) || GlobalVar.VirtualAxis)
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{
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if(Ops.IsArrived(AxisAlias.TurnoverX) || GlobalVar.VirtualAxis)
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{
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if(Ops.IsArrived(AxisAlias.TurnoverY) || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"已运动到{exceptionTray}盘{exceptionSlotIndex}穴位上方";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.到取料位下方;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, "Axis not arrived target position");
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step = EWarningSuckerNgFlowStep.到取料位上方;
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}
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverX, "Axis not arrived target position");
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step = EWarningSuckerNgFlowStep.到取料位上方;
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}
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}
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break;
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case EWarningSuckerNgFlowStep.到取料位下方:
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errCode = AxisControl.TurnoverZ.MovePos(GlobalVar.TurnoverTrayForceNozzleTakeHeight, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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Ops.On("独立吸头气缸");
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logInfo = GetClassName() + "独立吸头气缸下降";
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MessageQueue.Instance.Insert(logInfo);
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timeout.Restart();
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logInfo = GetClassName() + "到异常处理位下方";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.等待到取料位下方;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
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}
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break;
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case EWarningSuckerNgFlowStep.等待到取料位下方:
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if (Ops.IsStop(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
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{
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Thread.Sleep(100);
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if (Ops.IsArrived(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + "已运动到异常处理位下方";
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MessageQueue.Instance.Insert(logInfo);
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//打开强力吸嘴真空
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VacManager.ForceNozzleVacSuction(EVacOperator.Open);
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//关闭周转盘真空吸
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VacManager.TurnoverTrayVacSuction(EVacOperator.Close, exceptionSlotIndex);
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//打开周转盘这空破
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VacManager.TurnoverTrayVacBreak(EVacOperator.Open, exceptionSlotIndex);
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step = EWarningSuckerNgFlowStep.取料完成到安全位;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, "Axis not arrived target position");
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step = EWarningSuckerNgFlowStep.到取料位下方;
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}
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}
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break;
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case EWarningSuckerNgFlowStep.取料完成到安全位:
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errCode = AxisControl.TurnoverZ.MovePos(0, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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Ops.Off("独立吸头气缸");
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logInfo = GetClassName() + "独立吸头气缸上升";
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MessageQueue.Instance.Insert(logInfo);
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logInfo = GetClassName() + "取料完成到安全位";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.等待取料完成到安全位;
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timeout.Restart();
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
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}
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break;
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case EWarningSuckerNgFlowStep.等待取料完成到安全位:
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if (Ops.IsStop(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
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{
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if (Ops.IsArrived(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
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{
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Thread.Sleep(100);
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logInfo = GetClassName() + "已运动到异常处理位安全位";
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MessageQueue.Instance.Insert(logInfo);
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//关闭周转盘真空破
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VacManager.TurnoverTrayVacBreak(EVacOperator.Close, exceptionSlotIndex);
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step = EWarningSuckerNgFlowStep.镭射头检测;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, "Axis not arrived target position");
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step = EWarningSuckerNgFlowStep.取料完成到安全位;
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}
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}
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break;
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case EWarningSuckerNgFlowStep.镭射头检测:
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if(LaserFlow.Instance.HasProduct(ETrayType.Turnover, exceptionSlotIndex))
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{
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retakeNum++;
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if(retakeNum<3)
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{
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logInfo = $"周转盘{exceptionSlotIndex}号穴位取料失败,失败次数:{retakeNum}";
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MessageQueue.Instance.Warn(logInfo);
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step = EWarningSuckerNgFlowStep.到取料位上方;
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}
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else
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{
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TransitModuleSafePosFlow.Instance.GoSafePostion( EExceptionSafePos.Socket);
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alarmInfo = $"{exceptionTray}盘{exceptionSlotIndex}穴位取料失败{retakeNum}次，请人工处理";
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msgBox = MsgBox.ShowDialog(AlarmConstID.TurnoverTakeFailAlarm, alarmInfo, ETipButton.Ok);
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step = EWarningSuckerNgFlowStep.手动处理后镭射头检测;
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}
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}
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else
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{
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MessageQueue.Instance.Insert("WarningSuckerNgFlow-镭射头检测OK");
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step = EWarningSuckerNgFlowStep.到放报警料穴位上方;
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}
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break;
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case EWarningSuckerNgFlowStep.手动处理后镭射头检测:
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if (LaserFlow.Instance.HasProduct(ETrayType.Turnover, exceptionSlotIndex))
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{
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TransitModuleSafePosFlow.Instance.GoSafePostion( EExceptionSafePos.Socket);
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alarmInfo = $"{exceptionTray}盘{exceptionSlotIndex}穴位产品未取出，请人工处理";
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msgBox = MsgBox.ShowDialog(AlarmConstID.TurnoverTakeFailAlarm, alarmInfo, ETipButton.Ok);
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step = EWarningSuckerNgFlowStep.手动处理后镭射头检测;
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}
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else
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{
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MessageQueue.Instance.Insert("WarningSuckerNgFlow-镭射头检测OK");
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step = EWarningSuckerNgFlowStep.回安全位;
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}
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break;
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case EWarningSuckerNgFlowStep.到放报警料穴位上方:
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int exceptionRow = TurnoverTrayManager.Instance.Slot(exceptionSlotIndex).Row;
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if(exceptionRow % 2 == 0)
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{
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targetSlot = TrayPointManager.GetExceptiontTrayPoint(1);
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}
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else
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{
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targetSlot = TrayPointManager.GetExceptiontTrayPoint(2);
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}
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errCode = AxisControl.TurnoverX.MovePos(targetSlot.X, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok ||GlobalVar.VirtualAxis)
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{
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errCode = AxisControl.TurnoverY.MovePos(targetSlot.Y, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + "到放报警料穴位上方";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.等待到放报警料穴位上方;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, errCode);
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}
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverX, errCode);
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}
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break;
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case EWarningSuckerNgFlowStep.等待到放报警料穴位上方:
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if (Ops.IsStop(AxisAlias.TurnoverX, AxisAlias.TurnoverY) || GlobalVar.VirtualAxis)
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{
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if (Ops.IsArrived(AxisAlias.TurnoverX) || GlobalVar.VirtualAxis)
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{
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if (Ops.IsArrived( AxisAlias.TurnoverY) || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"已运动到已运动到放报警料穴位上方";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.到放报警料穴位下方;
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}
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else
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{
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AxisControl.TurnoverY.Get_Target_Position(out double targetPos);
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverY, $"Axis not arrived target position {targetPos}");
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step = EWarningSuckerNgFlowStep.到放报警料穴位上方;
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}
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}
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else
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{
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AxisControl.TurnoverX.Get_Target_Position(out double targetPos);
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverX, $"Axis not arrived target position {targetPos}");
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step = EWarningSuckerNgFlowStep.到放报警料穴位上方;
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}
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}
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break;
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case EWarningSuckerNgFlowStep.到放报警料穴位下方:
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errCode = AxisControl.TurnoverZ.MovePos(GlobalVar.ExceptionTrayForceNozzleDumpHeight, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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Ops.On("独立吸头气缸");
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logInfo = GetClassName() + "独立吸头气缸下降";
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MessageQueue.Instance.Insert(logInfo);
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timeout.Restart();
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logInfo = GetClassName() + "到异常处理位下方";
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MessageQueue.Instance.Insert(logInfo);
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step = EWarningSuckerNgFlowStep.等待到放报警料穴位下方;
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}
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else
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{
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
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}
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break;
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case EWarningSuckerNgFlowStep.等待到放报警料穴位下方:
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if (Ops.IsStop(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
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{
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Thread.Sleep(300);
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if (Ops.IsArrived(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + "已运动到放报警料穴位下方";
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MessageQueue.Instance.Insert(logInfo);
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//关闭强力吸嘴真空吸
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VacManager.ForceNozzleVacSuction(EVacOperator.Close);
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//打开强力吸嘴的真空破
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VacManager.ForceNozzleVacBreak(EVacOperator.Open);
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//关闭强力吸嘴的真空破
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VacManager.ForceNozzleVacBreak(EVacOperator.Close);
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step = EWarningSuckerNgFlowStep.放料完成到安全位;
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}
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else
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{
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AxisControl.TurnoverZ.Get_Target_Position(out double targetPos);
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MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, $"Axis not arrived target position {targetPos}");
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step = EWarningSuckerNgFlowStep.到放报警料穴位下方;
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}
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}
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break;
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case EWarningSuckerNgFlowStep.放料完成到安全位:
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errCode = AxisControl.TurnoverZ.MovePos(0, GlobalVar.WholeSpeed);
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if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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Ops.Off("独立吸头气缸");
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logInfo = GetClassName() + "独立吸头气缸上升";
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MessageQueue.Instance.Insert(logInfo);
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logInfo = GetClassName() + "放料完成到安全位";
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MessageQueue.Instance.Insert(logInfo);
|
|
|
step = EWarningSuckerNgFlowStep.等待放料完成到安全位;
|
|
|
timeout.Restart();
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, errCode);
|
|
|
}
|
|
|
break;
|
|
|
case EWarningSuckerNgFlowStep.等待放料完成到安全位:
|
|
|
if (Ops.IsStop(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
if (Ops.IsArrived(AxisAlias.TurnoverZ) || GlobalVar.VirtualAxis)
|
|
|
{
|
|
|
logInfo = GetClassName() + "放料完成已运动到安全位";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
step = EWarningSuckerNgFlowStep.有无料光纤检测;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
AxisControl.TurnoverZ.Get_Target_Position(out double targetPos);
|
|
|
MsgBox.ShowAxisAlarmDialog(AxisControl.TurnoverZ, $"Axis not arrived target position {targetPos}");
|
|
|
step = EWarningSuckerNgFlowStep.放料完成到安全位;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EWarningSuckerNgFlowStep.有无料光纤检测:
|
|
|
if(!Ops.IsOn("NG料光纤检测") || GlobalVar.RunSpace)
|
|
|
{
|
|
|
logInfo = "检测到NG料盘中无产品，流程继续";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
step = EWarningSuckerNgFlowStep.回安全位;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
alarmInfo = "NG料盘中有产品，请手动取出！";
|
|
|
MessageQueue.Instance.Warn(GetClassName() + alarmInfo);
|
|
|
msgBox = MsgBox.ShowDialog(AlarmConstID.NgProductFiberCheckAlarm, alarmInfo, MessageButtonManager.GetSkip_MoveToSafe_Button(), MessageButtonManager.GetRetry_Skip_MoveToSafe_ButtonText());
|
|
|
switch (msgBox.Button)
|
|
|
{
|
|
|
case ETipButton.Skip:
|
|
|
logInfo = GetClassName()+ "选择了跳过按钮";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
break;
|
|
|
case ETipButton.Yes://移动到安全位
|
|
|
logInfo = "选择了移动到安全位按钮";
|
|
|
MessageQueue.Instance.Insert(logInfo);
|
|
|
TransitModuleSafePosFlow.Instance.GoSafePostion( EExceptionSafePos.Socket);
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
break;
|
|
|
case EWarningSuckerNgFlowStep.回安全位:
|
|
|
TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.Socket);
|
|
|
exit = true;
|
|
|
taskFinishedEvent.Set();
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
Thread.Sleep(10);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
public bool Wait()
|
|
|
{
|
|
|
return taskFinishedEvent.WaitOne();
|
|
|
}
|
|
|
|
|
|
public string GetClassName()
|
|
|
{
|
|
|
return this.GetType().Name + "-";
|
|
|
}
|
|
|
}
|
|
|
}
|