/// <summary>
/// 调节货叉位置
/// </summary>
private void SetFork(int Zero)
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
int maxForkDistance = Zero * 100;
if (maxForkDistance > 0)
{
for (int l = 0; l < maxForkDistance; l += 2)
{
srv.OPC_WritePoint(LOCALSERVER + StackerWrite + "INT18", l);//模拟伸叉位置 1排为正,二排为负
}
wait(1000);
for (int l = maxForkDistance; l >= 0; l -= 2)
{
srv.OPC_WritePoint(LOCALSERVER + StackerWrite + "INT18", l);//模拟收叉位置 1排为正,二排为负
}
}
if (maxForkDistance < 0)
{
for (int l = 0; l > maxForkDistance; l -= 2)
{
srv.OPC_WritePoint(LOCALSERVER + StackerWrite + "INT18", l);//模拟伸叉位置 1排为正,二排为负
}
wait(300);
for (int l = maxForkDistance; l <= 0; l += 2)
{
srv.OPC_WritePoint(LOCALSERVER + StackerWrite + "INT18", l);//模拟收叉位置 1排为正,二排为负
}
}
}
}
private void button2_Click(object sender, EventArgs e)
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
string write_TaskFinish = LOCALSERVER + StackerRead + "X1.2";
srv.OPC_WritePoint(write_TaskFinish, true);
string write_NewTask = LOCALSERVER + StackerRead + "W52";
srv.OPC_WritePoint(write_NewTask, 0);
}
}
private void btn_AlarmReset_Click(object sender, EventArgs e)
{
btn_AlarmReset.Enabled = false;
var itemName = stk.Write_Index[Stacker.WRITE_Index_Srm_Reset];
srv.OPC_WritePoint(itemName, 1);
wait(1000);
btn_AlarmReset.Enabled = true;
}
private void btnDown_KeyUp(object sender, KeyEventArgs e)
{
bSt2 = false;
FormMain.wait(200);
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
srv.OPC_WritePoint(Items[1], 0);
}
}
private void btnUp_MouseUp(object sender, MouseEventArgs e)
{
bSt1 = false;
FormMain.wait(200);
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
srv.OPC_WritePoint(Items[0], 0);
}
}
private void DeleteTask(OD_Task tsk)
{
if (tsk.HADFINISH == "N" && tsk.RELEASESTATUS == "Y")
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
string containerID = tsk.CONTAINERNO;
if (srv.Od_Task_deleteOne(tsk.TASKID)) //删除当前任务
{
srv.Place_Vs_Container_DeleteOne(containerID);
srv.Container_Vs_Items_DeleteOneByContainerID(containerID);
bool bl = srv.OPC_WritePoint("S7:[300]DB540,B1", 2); //删除堆垛机任务
if (bl)
{
MessageBox.Show("删除成功！");
}
}
}
}
if (tsk.HADFINISH == "N" && tsk.RELEASESTATUS == "N")
{
if (tsk.TASKTYPEDESCRIPTION.Contains("出库")) //如果出库的话
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
string placeId = tsk.SOURCEPLACE;
string containerID = tsk.CONTAINERNO;
if (srv.Od_Task_deleteOne(tsk.TASKID))
{
List <IV_place_vs_container> lstPVC = srv.Place_Vs_Container_GetRelationshipByContainer(containerID).ToList();
IV_place_vs_container pvc = new IV_place_vs_container();
if (lstPVC.Count > 0)
{
pvc = lstPVC[0];
pvc.PLACEID = placeId;
srv.Place_Vs_Container_UpdateOne(pvc);
}
}
}
}
else if (tsk.TASKTYPEDESCRIPTION.Contains("入库")) //否则入库
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
string containerID = tsk.CONTAINERNO;
if (srv.Od_Task_deleteOne(tsk.TASKID))
{
srv.Place_Vs_Container_DeleteOne(containerID);
srv.Container_Vs_Items_DeleteOneByContainerID(containerID);
}
}
}
}
}
private void ctrlST2(object obj)
{
if (bSt2)
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
srv.OPC_WritePoint(Items[1], 1);
FormMain.wait(50);
}
}
}
private void button3_Click(object sender, EventArgs e)
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
if (btn_Alert.Text == "报警")
{
{
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W90", alertSec++);//发送报警信号
switch (comboBox1.SelectedIndex)
{
case 0:
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W6", 111);
break;
case 1:
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W6", 105);
break;
case 2:
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W6", 23);
break;
case 3:
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W6", 11);
break;
}
btn_Alert.Text = "解除";
}
}
else
{
srv.OPC_WritePoint(LOCALSERVER + StackerRead + "W90", 0);//发送报警解除
btn_Alert.Text = "报警";
}
}
private void handshakeProc()
{
CheckForIllegalCrossThreadCalls = false;
string WRITE_HandShake = LOCALSERVER + StackerWrite + "W999";//写入握手信号
while (true)
{
if (handShake > 20000)
{
handShake = 0;
}
else
{
handShake++;
}
wait(1000);
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
srv.OPC_WritePoint(WRITE_HandShake, handShake);
}
}
}
/// <summary>
/// 将值写入OPC服务器
/// </summary>
/// <param name="ItemName">地址</param>
/// <param name="itemValues">值</param>
/// <returns></returns>
public bool WriteValuePoint(string ItemName, object itemValues)
{
object ItemValues = itemValues;
try
{
using (ASRS_ServiceSoapClient srv = new ASRS_ServiceSoapClient())
{
if (srv.OPC_WritePoint(ItemName, ItemValues))
{
return(true);
}
else
{
return(false);
}
}
}
catch (Exception ex)
{
return(false);
}
}
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);
}
}
}
