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235 lines
12 KiB
C#
235 lines
12 KiB
C#
using Rs.Controls;
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using Rs.Framework;
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using Rs.Motion;
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using Rs.MotionPlat.Commom;
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using Rs.MotionPlat.Entitys;
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using System;
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using System.Collections.Generic;
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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.SubFlow
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{
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enum EDischargeDumpFlowStep
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{
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到放料位下方,
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等待到放料位下方,
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到放料关破真空位,
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等待到放料关破真空位,
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周转盘放料位真空检测,
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放料完成抬起,
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等待放料完成抬起
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}
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/// <summary>
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/// 排料头取料失败后把产品重新放回穴位流程
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/// </summary>
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public class DischargeDumpFlow
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{
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private static DischargeDumpFlow instance;
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public static DischargeDumpFlow 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 DischargeDumpFlow();
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return instance;
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}
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}
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private string logInfo = string.Empty;
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private EDischargeDumpFlowStep step = EDischargeDumpFlowStep.到放料位下方;
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//private double targetPos = 0.0;
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ErrorCode errCode = ErrorCode.Ok;
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bool finished = true;
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AlarmEntity alarmEntity = null;
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TargetPosition targetPosition = new TargetPosition();
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public void Start(TurnoverType trayType, int nozzleIndex,int toIndex)
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{
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if(finished)
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{
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finished= false;
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}
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else
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{
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return;
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}
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step = EDischargeDumpFlowStep.到放料位下方;
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while (!finished)
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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 EDischargeDumpFlowStep.到放料位下方:
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logInfo = GetClassName()+$"{nozzleIndex}号排料吸嘴到放料位下方";
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MessageQueue.Instance.Insert(logInfo);
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if (trayType == TurnoverType.Turnover)
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{
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///*打开周转盘真空吸*/
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VacManager.TurnoverTrayVacSuction(EVacOperator.Open, false, toIndex + 1);
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targetPosition.Z = SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight");
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}
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else
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{
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targetPosition.Z = SysConfigParam.GetValue<double>($"TrayNozzle{nozzleIndex}TakeHeight") + 1;
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}
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(targetPosition.Z, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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VirtualAxisSleep();
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step = EDischargeDumpFlowStep.等待到放料位下方;
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}
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else
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{
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alarmEntity = AlarmCollection.Get($"NozzleZ{nozzleIndex}运动异常").Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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//PromptMessageBox.ShowAxisAlarmDialog($"NozzleZ{nozzleIndex}", errCode);
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}
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break;
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case EDischargeDumpFlowStep.等待到放料位下方:
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if (Ops.IsStop($"NozzleZ{nozzleIndex}") || GlobalVar.VirtualAxis)
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{
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logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴已运动到放料位下方";
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MessageQueue.Instance.Insert(logInfo);
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if (trayType == TurnoverType.Turnover)
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{
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///*打开周转盘真空吸*/
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//logInfo = GetClassName() + $"打开周转盘{toIndex + 1}号穴位真空吸";
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//MessageQueue.Instance.Insert(logInfo);
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//Ops.On($"周转盘{toIndex + 1}号穴位真空吸");
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//Thread.Sleep(GlobalVar.TurnoverTrayOpenVacSuctionDelaytime);
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/*关闭排料吸嘴真空吸*/
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//logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空吸";
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//MessageQueue.Instance.Insert(logInfo);
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//Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");//关闭真空
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//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
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VacManager.DischargeVacSuction(EVacOperator.Close, true, nozzleIndex);
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/*打开排料吸嘴真空破*/
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//logInfo = GetClassName() + $"打开{nozzleIndex}号排料吸嘴真空破";
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//MessageQueue.Instance.Insert(logInfo);
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//Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
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//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
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VacManager.DischargeVacBreak(EVacOperator.Open, true, nozzleIndex);
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/*关闭排料吸嘴真空破*/
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VacManager.DischargeVacBreak(EVacOperator.Close, false, nozzleIndex);
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step = EDischargeDumpFlowStep.放料完成抬起;
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}
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else
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{
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/*关闭排料吸嘴真空吸*/
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//logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空吸";
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//MessageQueue.Instance.Insert(logInfo);
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//Ops.Off($"{nozzleIndex}号吸嘴真空吸电磁阀");
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//Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
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VacManager.DischargeVacSuction(EVacOperator.Close, true, nozzleIndex);
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/*关闭排料吸嘴真空吸*/
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//logInfo = GetClassName() + $"打开{nozzleIndex}号排料吸嘴真空破";
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//MessageQueue.Instance.Insert(logInfo);
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//Ops.On($"{nozzleIndex}号吸嘴真空破电磁阀");
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//Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
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VacManager.DischargeVacBreak(EVacOperator.Open, true, nozzleIndex);
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/*关闭排料吸嘴真空吸*/
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//logInfo = GetClassName() + $"关闭{nozzleIndex}号排料吸嘴真空破";
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//MessageQueue.Instance.Insert(logInfo);
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//Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
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//Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
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VacManager.DischargeVacBreak(EVacOperator.Close, false, nozzleIndex);
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step = EDischargeDumpFlowStep.放料完成抬起;
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}
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}
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break;
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//case EDischargeDumpFlowStep.到放料关破真空位:
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// targetPos = SysConfigParam.GetValue<double>($"TurnoverNozzle{nozzleIndex}TakeHeight");
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// errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(targetPos + 1, GlobalVar.WholeSpeed);
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// if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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// {
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// logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴周转盘放料完成，准备微微抬起";
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// MessageQueue.Instance.Insert(logInfo);
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// step = EDischargeDumpFlowStep.等待到放料关破真空位;
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// }
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// else
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// {
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// MsgBox.ShowAxisAlarmDialog($"NozzleZ{nozzleIndex}", errCode);
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// }
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// break;
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//case EDischargeDumpFlowStep.等待到放料关破真空位:
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// if (Ops.IsStop($"NozzleZ{nozzleIndex}") || GlobalVar.VirtualAxis)
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// {
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// /*关闭排料吸嘴真空破*/
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// //Ops.Off($"{nozzleIndex}号吸嘴真空破电磁阀");
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// //Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
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// //logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴微微抬起后关闭破真空";
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// //MessageQueue.Instance.Insert(logInfo);
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// VacManager.DischargeVacBreak(EVacOperator.Close, false, nozzleIndex);
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// step = EDischargeDumpFlowStep.放料完成抬起;
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// }
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// break;
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case EDischargeDumpFlowStep.放料完成抬起:
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errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(0, GlobalVar.WholeSpeed);
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if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
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{
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if (GlobalVar.VirtualAxis)
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{
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Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
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}
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logInfo = GetClassName() + $"{nozzleIndex}号排料吸嘴放料完成抬起";
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MessageQueue.Instance.Insert(logInfo);
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step = EDischargeDumpFlowStep.等待放料完成抬起;
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}
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else
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{
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//PromptMessageBox.ShowAxisAlarmDialog($"NozzleZ{nozzleIndex}", errCode);
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alarmEntity = AlarmCollection.Get($"NozzleZ{nozzleIndex}运动异常").Transform(errCode.ToString());
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AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
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}
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break;
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case EDischargeDumpFlowStep.等待放料完成抬起:
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if (Ops.IsStop($"NozzleZ{nozzleIndex}") || GlobalVar.VirtualAxis)
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{
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if(trayType== TurnoverType.Turnover)
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{
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//在这里检测一下周转盘的真空
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if(Ops.IsOn($"周转盘{toIndex + 1}号穴位真空吸检测"))
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{
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LogHelper.Debug(GetClassName()+$"周转盘{toIndex + 1}号穴位真空吸检测 OK");
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}
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else
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{
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LogHelper.Debug(GetClassName()+$"周转盘{toIndex + 1}号穴位真空吸检测 NG");
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}
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}
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logInfo = GetClassName()+ $"{nozzleIndex}号排料吸嘴放料完成已抬起";
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MessageQueue.Instance.Insert(logInfo);
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finished = true;
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}
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break;
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}
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}
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}
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/// <summary>
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/// 如果是虚拟轴，则模拟等待一下
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/// </summary>
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private void VirtualAxisSleep()
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{
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if (GlobalVar.VirtualAxis)
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{
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Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
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}
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}
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public string GetClassName()
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{
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return "DischargeDumpFlow-";
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}
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}
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}
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