/// <summary>
/// 读取数据块集合的值
/// </summary>
/// <param name="ItemNames">数据块集合</param>
/// <returns></returns>
public List <object> ReadValueSerial(List <string> ItemNames)
{
ArrayOfString itemNames = new ArrayOfString();
ItemNames.AddRange(itemNames);
try
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
return(srv.OPC_Read(itemNames));
}
}
catch (Exception ex)
{
return(new List <object>());
}
}
private void readTask()
{
CheckForIllegalCrossThreadCalls = false;
string fromPai, fromLie, fromCeng, toPai, toLie, toCeng, taskId, newTask;
ArrayOfString items = new ArrayOfString();
items.Add(LOCALSERVER + StackerWrite + "W42"); //frompai 0
items.Add(LOCALSERVER + StackerWrite + "W38"); //fromlie 1
items.Add(LOCALSERVER + StackerWrite + "W40"); //fromceng 2
items.Add(LOCALSERVER + StackerWrite + "W48"); //topai 3
items.Add(LOCALSERVER + StackerWrite + "W44"); //tolie 4
items.Add(LOCALSERVER + StackerWrite + "W46"); //toceng 5
items.Add(LOCALSERVER + StackerWrite + "W50"); //taskid 6
items.Add(LOCALSERVER + StackerWrite + "W52"); //newtask 7
while (true)
{
wait(1000);
try
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
ArrayOfAnyType rsts = srv.OPC_Read(items);
if (rsts[7].ToString() == "1")
{
lbfromPai.Text = rsts[0].ToString();
lbFromLie.Text = rsts[1].ToString();
lbFromCeng.Text = rsts[2].ToString();
lbToPai.Text = rsts[3].ToString();
lbToLie.Text = rsts[4].ToString();
lbToCeng.Text = rsts[5].ToString();
lbTaskId.Text = "任务号:" + rsts[6].ToString();
IsNewTask = "是";
lbIsNewTask.Text = "是否下发:" + "是";
}
else
{
lbIsNewTask.Text = "是否下发:" + "否";
IsNewTask = "否";
}
}
}
catch (Exception)
{
}
}
}
/// <summary>
/// 读取一个数据块的值
/// </summary>
/// <param name="ItemName"></param>
/// <returns></returns>
public object ReadValuePoint(string ItemName)
{
ArrayOfString ItemNames = new ArrayOfString();
ItemNames.Add(ItemName);
try
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
return(srv.OPC_Read(ItemNames)[0]);
}
}
catch (Exception ex)
{
return(null);
}
}
private void SSJ_Alarm()
{
ArrayOfString ssjAlert = new ArrayOfString();
ssjAlert.Add(stk.Read_Index[Stacker.Read_Index_SSJ_1_Alarm_Code]);
ssjAlert.Add(stk.Read_Index[Stacker.Read_Index_SSJ_2_Alarm_Code]);
ssjAlert.Add(stk.Read_Index[Stacker.Read_Index_SSJ_3_Alarm_Code]);
while (true)
{
var reader = srv.OPC_Read(ssjAlert);
if (reader[0].ToString() != "0")
{
lb_SSJ1_Alert.Text = TranslateSSJAlertCode(int.Parse(reader[0].ToString()));
lb_SSJ1_Alert.ForeColor = Color.Red;
}
else
{
lb_SSJ1_Alert.Text = "正常";
lb_SSJ1_Alert.ForeColor = Color.Lime;
}
if (reader[1].ToString() != "0")
{
lb_SSJ2_Alert.Text = TranslateSSJAlertCode(int.Parse(reader[1].ToString()));
lb_SSJ2_Alert.ForeColor = Color.Red;
}
else
{
lb_SSJ2_Alert.Text = "正常";
lb_SSJ2_Alert.ForeColor = Color.Lime;
}
if (reader[2].ToString() != "0")
{
lb_SSJ3_Alert.Text = TranslateSSJAlertCode(int.Parse(reader[2].ToString()));
lb_SSJ3_Alert.ForeColor = Color.Red;
}
else
{
lb_SSJ3_Alert.Text = "正常";
lb_SSJ3_Alert.ForeColor = Color.Lime;
}
wait(1000);
}
}
private void SRMRun()
{
CheckForIllegalCrossThreadCalls = false;
ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient();
ArrayOfString tmp = new ArrayOfString();
tmp.Add(LOCALSERVER + StackerRead + "D10");
int YLocation = Int32.Parse(srv.OPC_Read(tmp)[0].ToString());//堆垛机水平距离
while (true)
{
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W8", 0);//空闲
if (IsNewTask == "是")
{
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.2", false); //任务完成
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X0.3", false); //取货完毕
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.3", false); //载货台有货
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.4", true); //货叉原点
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X0.4", false); //放货完毕
lsBRunning.Items.Add(DateTime.Now.ToString() + "堆垛机开始执行任务....");
wait(1000);
lsBRunning.Items.Add("开始定位准备取货");
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W8", 2);//定位
int lenth = int.Parse(lbFromLie.Text) * 100;
while (lenth != YLocation)
{
if (YLocation > lenth)
{
YLocation--;
}
else
{
YLocation++;
}
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "D10", YLocation);//写入当前水平坐标
}
wait(300);
lsBRunning.Items.Add("定位完毕,开始取货");
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W8", 3); //取货
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.4", false); //货叉原点
wait(300);
int zero = 1;
if (lbfromPai.Text.Trim() == "2")
{
zero = -1;
}
SetFork(zero);
wait(300);
lsBRunning.Items.Add("取货完毕,开始定位准备放货");
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X0.3", true); //取货完毕
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.3", true); //载货台有货
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.4", true); //货叉原点
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "INT18", 0); //伸叉位置 1排为正,二排为负
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W8", 2); //定位
lenth = int.Parse(lbToLie.Text) * 100;
while (lenth != YLocation)
{
if (YLocation > lenth)
{
YLocation--;
}
else
{
YLocation++;
}
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "D10", YLocation);//写入当前水平坐标
}
wait(500);
lsBRunning.Items.Add("定位完毕,开始放货");
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W8", 4); //放货
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.4", false); //货叉原点
wait(800);
zero = 1;
if (lbToPai.Text.Trim() == "2")
{
zero = -1;
}
SetFork(zero);
wait(300);
lsBRunning.Items.Add("放货完毕,执行完成");
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X0.4", true); //放货完毕
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.3", false); //载货台有货
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.4", true); //货叉原点
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "INT18", 0);
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W8", 0); //空闲
wait(200);
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "X1.2", true); //任务完成
srv.OPC_WritePoint(LOCALSERVER + StackerWrite + "W52", 0); //新任务下达
IsNewTask = "否";
wait(1000);
}
}
}
