protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Product.Inst.Stickdata.ZSafePos);
}
LG.StepNext(2);
break;
case 2:
if (CTRCard.ZArrive)
{
CTRCard.Axis_X.MC_MoveAbs(targetPos.X);
CTRCard.Axis_Y.MC_MoveAbs(targetPos.Y);
LG.StepNext(3);
}
break;
case 3:
if (CTRCard.XYArrive)
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(Pos_SafeZ); //Z到安全高度
DeviceRsDef.Ax_PickZ.MC_MoveAbs(TaskMain.PickJump.Ready.Z); //拾取Z到安全高度
LG.StepNext(2);
break;
case 2:
if (!DeviceRsDef.Ax_TakeZ.busy && !DeviceRsDef.Ax_PickZ.busy) //等待Z到位
{
DeviceRsDef.Ax_TrayX.MC_MoveAbs(x); //X到目标位置
DeviceRsDef.Ax_TakeY.MC_MoveAbs(y); //Y到目标位置
LG.StepNext(3);
}
break;
case 3:
if (!DeviceRsDef.Ax_TrayX.busy && !DeviceRsDef.Ax_TakeY.busy) //等待XY到位
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(z); //Z到目标高度
LG.StepNext(4);
}
break;
case 4:
if (!DeviceRsDef.Ax_TakeZ.busy) //等待Z到位
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
TaskMain.PickJump.Start(Pos_Discard); //跳跃到弃料位置
LG.StepNext(2);
break;
case 2:
if (TaskMain.PickJump.GetSta() == 0) //等待定位结束
{
DeviceRsDef.Q_PickVacuo.OFF(); //关真空
DeviceRsDef.Q_PickBlow.ON(); //开吹气
Tm.Restart(); //定时器复位
LG.StepNext(3);
}
break;
case 3:
if (Tm.ElapsedMilliseconds > 100) //固定弃料吹气100ms
{
DeviceRsDef.Q_PickBlow.OFF(); //关吹气
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
DeviceRsDef.Q_Rise.OFF(); //顶升气缸下降
if (DeviceRsDef.I_RiseDown.Value) //到低位感应到执行接下来的动作
{
if (!DeviceRsDef.I_BeltUnfeedOut.Value)
{
LG.StepNext(2);
}
else
{
Alarm.SetAlarm(AlarmLevelEnum.Level1, "出料位置有载具");
}
}
break;
case 2:
DeviceRsDef.Axis_BeltFeed.MC_MoveSpd(10); //中间皮带运行
DeviceRsDef.Axis_BeltUnfeed.MC_MoveSpd(10); //右侧皮带运行
LG.StepNext(3);
break;
case 3:
if (fun.F_Trig(DeviceRsDef.I_BeltFeedOut.Value)) //载具完全脱离中间皮带
{
DeviceRsDef.Axis_BeltFeed.MC_StopDec(); //中间皮带停止
LG.StepNext(4);
}
break;
case 4:
if (DeviceRsDef.I_BeltUnfeedOut.Value) //载具到位
{
DeviceRsDef.Axis_BeltUnfeed.MC_StopDec(); //右侧皮带停止
LG.StepNext(5);
}
break;
case 5:
if (DeviceRsDef.Axis_BeltUnfeed.status == 0)
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (Product.Inst.IsAging)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
break;
case 2:
if (DeviceRsDef.I_FeederReady.Value)
{
DeviceRsDef.Q_FeederRequest.OFF();
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
}
break;
case 3:
if (!DeviceRsDef.I_FeederReady.Value)
{
DeviceRsDef.Q_FeederRequest.ON();
LG.StepNext(4);
}
break;
case 4:
if (DeviceRsDef.I_FeederReady.Value)
{
DeviceRsDef.Q_FeederRequest.OFF();
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
DeviceRsDef.Ax_PickZ.MC_MoveAbs(Ready.Z); //Z到安全高度
LG.StepNext(2);
break;
case 2:
if (!DeviceRsDef.Ax_PickZ.busy || System.Math.Abs(Ready.Z - DeviceRsDef.Ax_PickZ.currPos) <= PreInpZ) //Z定位结束或到达提前点
{
DeviceRsDef.Ax_PickX.MC_MoveAbs(PosTar.X); //定位到目标X
DeviceRsDef.Ax_PickY.MC_MoveAbs(PosTar.Y); //定位到目标Y
DeviceRsDef.Ax_PickR.MC_MoveAbs(PosTar.R); //定位到目标R
LG.StepNext(3);
}
break;
case 3:
if (!DeviceRsDef.Ax_PickX.busy &&
(!DeviceRsDef.Ax_PickY.busy || System.Math.Abs(PosTar.Y - DeviceRsDef.Ax_PickY.currPos) < PreInpY) && //Y轴结束或到达提前点
!DeviceRsDef.Ax_PickR.busy) //XYZ定位结束
{
VacuoResult = (!CheckVacuo || DeviceRsDef.I_PickVacuo.value);
if (VacuoResult)
{
DeviceRsDef.Ax_PickZ.MC_MoveAbs(PosTar.Z); //Z到目标位置
LG.StepNext(4);
}
else
{
LG.End();
}
}
break;
case 4:
if (!DeviceRsDef.Ax_PickZ.busy) //Z定位结束
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
FPointXYZR p = TaskMain.PickTake.Pos_Take.Clone(); //取晶位置，clone出来
p.Z = TaskMain.PickJump.Ready.Z; //Z位置改成预备高度
TaskMain.PickJump.Start(p); //跳跃到取晶位上方
LG.StepNext(2);
break;
case 2:
if (TaskMain.PickJump.GetSta() == 0) //等待定位结束
{
DeviceRsDef.Ax_PickZ.MC_MoveAbs(0, Pos_DetectMax); //以最慢速度向测高极限移动
LG.StepNext(3);
}
break;
case 3:
if (DeviceRsDef.Ax_PickZ.busy) //在轴运行过程中
{
if (DeviceRsDef.I_PickDetect.value) //检测到测高信号
{
TaskMain.PickTake.Pos_Take.Z = DeviceRsDef.Ax_PickZ.currPos; //更新取晶高度
DeviceRsDef.Ax_PickZ.MC_Stop(); //停止轴
LG.StepNext(4); //
}
}
else //测高轴运行结束
{
MessageBox.Show("测高失败，到达测高极限", "提示");
LG.End();
}
break;
case 4:
if (!DeviceRsDef.Ax_PickZ.busy)
{
MessageBox.Show("测高完成，取晶高度已更新", "提示");
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (DeviceRsDef.I_BeltPreFeedOut.Value) //预进料感应到载具直接结束
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
break;
case 2:
DeviceRsDef.Q_PreFeedRequest.ON(); //向上一台设备发送送料信号
DeviceRsDef.Axis_BeltPreFeed.MC_MoveSpd(10); //左侧皮带运行
LG.StepNext(3);
break;
case 3:
if (DeviceRsDef.I_BeltPreFeedOut.Value) //载具到预备位置
{
DeviceRsDef.Q_PreFeedRequest.OFF(); //停止左侧皮带
DeviceRsDef.Axis_BeltPreFeed.MC_Stop(); //停止向前端发送要料信号
LG.StepNext(4);
}
break;
case 4:
if (DeviceRsDef.Axis_BeltPreFeed.status == 0) //皮带停稳并结束流程
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
if (Num_Level < 2)
{
Num_Level = 2; //数据保护，不允许小于2
}
switch (LG.Step)
{
case 1:
if (!DeviceRsDef.Ax_LoadZ.busy)
{
DeviceRsDef.Ax_LoadZ.MC_MoveAbs(Pos_First + CurIdx * (Pos_Last - Pos_First) / (Num_Level - 1));
LG.StepNext(2);
}
break;
case 2:
if (!DeviceRsDef.Ax_LoadZ.busy)
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (TaskMain.StackLoad.GetSta() == 0) //等上次的堆叠定位结束
{
if (!TaskMain.StackLoad.Finish) //堆叠还没用完
{
DeviceRsDef.Q_TakeClamp.OFF(); //上料夹爪张开
DeviceRsDef.Q_TrayAdjustX.OFF(); //矫正X张开
DeviceRsDef.Q_TrayAdjustY.OFF(); //矫正Y张开
Tm.Restart(); //开始计时
LG.StepNext(2);
}
else //堆叠用完
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(TaskMain.TrayJump.Pos_SafeZ); //取料Z到安全位
LG.StepNext(0xE0); //到异常结束
}
}
break;
case 2:
if (Tm.ElapsedMilliseconds < 1000) //1000ms内检测信号OK
{
if (DeviceRsDef.I_TakeClampOFF1.value && //1号夹爪张开到位
DeviceRsDef.I_TakeClampOFF2.value && //2号夹爪召开到位
!DeviceRsDef.I_PutInp1.value && //1号载台没有障碍物
!DeviceRsDef.I_PutInp2.value) //2号载台没有障碍物
{
TaskMain.TrayJump.Start(Pos_TrayX, Pos_TakeY, Pos_TakeZ); //取料平台到取料位
LG.StepNext(3);
}
}
else //1000ms后信号还是不正常
{
if (!DeviceRsDef.I_TakeClampOFF1.value || //1号爪张开未到位
!DeviceRsDef.I_TakeClampOFF2.value) //2号爪张开未到位
{
MessageBox.Show("检测到取Tray盘夹爪张开未到位", "警告");
}
if (DeviceRsDef.I_PutInp1.value || //1号平台有障碍物
DeviceRsDef.I_PutInp2.value) //2号平台有障碍物
{
MessageBox.Show("检测到载台已有Tray盘，请人工取走", "警告");
}
//切换到停止状态
LG.StepNext(0xE0); //到异常结束
}
break;
case 3:
if (TaskMain.TrayJump.GetSta() == 0) //等待取料平台跳跃完成
{
Tm.Restart(); //开始计时
LG.StepNext(4);
}
break;
case 4:
if (Tm.ElapsedMilliseconds < 200) //延时内信号正常
{
if (((TaskMain.LogicMain.GroupEn[0] && DeviceRsDef.I_TakeInp1.value) || (!TaskMain.LogicMain.GroupEn[0] && !DeviceRsDef.I_TakeInp1.value)) && //1号堆叠信号正常
((TaskMain.LogicMain.GroupEn[1] && DeviceRsDef.I_TakeInp2.value) || (!TaskMain.LogicMain.GroupEn[1] && !DeviceRsDef.I_TakeInp2.value))) //2号堆叠信号正常
{
DeviceRsDef.Q_TakeClamp.ON(); //夹爪夹紧
Tm.Restart(); //开始计时
LG.StepNext(5);
}
}
else //延时后信号异常
{
if ((!TaskMain.LogicMain.GroupEn[0] && DeviceRsDef.I_TakeInp1.value) || //1号没启用，但是有信号
(!TaskMain.LogicMain.GroupEn[1] && DeviceRsDef.I_TakeInp2.value) || //2号没启用，但是有信号
(TaskMain.LogicMain.GroupEn[0] && TaskMain.LogicMain.GroupEn[1] && (DeviceRsDef.I_TakeInp1.value ^ DeviceRsDef.I_TakeInp2.value))) //1、2都启用了，但是只有一边有信号
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(TaskMain.TrayJump.Pos_SafeZ); //取料Z到安全位
MessageBox.Show("检测到Tray盘上料堆叠异常，请确保上料堆叠正常");
LG.StepNext(0xE0); //跳到异常结束
}
else
{
TaskMain.StackLoad.GoNext(); //堆叠到下一层
LG.StepNext(1); //重新开始流程
}
}
break;
case 5:
if (Tm.ElapsedMilliseconds >= 200) //夹紧延时后
{
TaskMain.TrayJump.Start(Pos_TrayX, Pos_PutY, Pos_PutZ); //跳到放料位
LG.StepNext(6);
}
break;
case 6:
if (TaskMain.TrayJump.GetSta() == 0) //等待跳跃完成
{
DeviceRsDef.Q_TakeClamp.OFF(); //张开夹爪
DeviceRsDef.Q_TrayAdjustX.ON(); //矫正X夹紧
DeviceRsDef.Q_TrayAdjustY.ON(); //矫正Y夹紧
Tm.Restart(); //开始计时
LG.StepNext(7);
}
break;
case 7:
if (Tm.ElapsedMilliseconds < 1000) //1s内检测夹爪张开信号
{
if (DeviceRsDef.I_TakeClampOFF1.value && DeviceRsDef.I_TakeClampOFF2.value) //夹爪张开信号正常
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(TaskMain.TrayJump.Pos_SafeZ); //取料Z上到安全位
LG.StepNext(8);
}
}
else //1s后信号还是不正常
{
if (!DeviceRsDef.I_TakeClampOFF1.value) //1号夹爪张开未到位
{
MessageBox.Show("1号上料夹爪张开未到位，请检查气缸张开传感器", "警告");
}
if (!DeviceRsDef.I_TakeClampOFF2.value) //2号夹爪张开未到位
{
MessageBox.Show("2号上料夹爪张开未到位，请检查气缸张开传感器", "警告");
}
Tm.Restart(); //重新计时
//切换到停止状态
}
break;
case 8:
if (!DeviceRsDef.Ax_TakeZ.busy) //取料Z上到位
{
Tm.Restart(); //开始计时
LG.StepNext(9);
}
break;
case 9:
if (Tm.ElapsedMilliseconds < 100) //100ms内检测载台Tray盘信号
{
if ((DeviceRsDef.I_PutInp1.value || !TaskMain.LogicMain.GroupEn[0]) && //1号载台Tray盘信号正常
(DeviceRsDef.I_PutInp2.value || !TaskMain.LogicMain.GroupEn[1])) //2号载台Tray盘信号正常
{
OK = true; //标志流程完成
LG.End();
}
}
else //100ms后信号还是不正常
{
if (MessageBox.Show("检测到载台Tray盘异常，点击后将继续运行\n\r\n\r是：人工调整或补齐载台Tray盘\n\r\n\r否：取走载台Tray盘，重新上料", "警告", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
Tm.Restart(); //人工选是后重新计时判断信号
}
else
{
LG.StepNext(1); //人工选否后重新取Tray盘
}
}
break;
case 0xe0:
if (!DeviceRsDef.Ax_TakeZ.busy)
{
//切换状态到停止
OK = false; //标志流程未完成
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (!TaskMain.WaferSeek.Ok)
{
TaskMain.WaferSeek.Start();
}
else
{
TaskMain.PickJump.Start(TaskMain.PickJump.Ready);
}
LG.StepNext(2);
break;
case 2:
if (TaskMain.WaferSeek.GetSta() == 0)
{
if (TaskMain.WaferSeek.Ok)
{
LG.StepNext(3);
}
else
{
LG.End();
}
}
break;
case 3:
if (TaskMain.PickJump.GetSta() == 0)
{
TaskMain.PickJump.Start(Pos_Take);
LG.StepNext(4);
}
break;
case 4:
if (DeviceRsDef.Ax_PickY.currPos <= TaskMain.PickJump.Ready.Y)
{
DeviceRsDef.Q_PickBlow.OFF();
DeviceRsDef.Q_PickVacuo.ON();
LG.StepNext(5);
}
break;
case 5:
if (TaskMain.PickJump.GetSta() == 0)
{
DeviceRsDef.Q_NeedleVacuo.ON();
DeviceRsDef.Ax_Needle.MC_MoveAbs(Pos_NeedleUp);
DeviceRsDef.Ax_PickZ.MC_MoveAbs(Spd_ReturnZ, Pos_Take.Z - Pos_ReturnZ);
LG.StepNext(6);
}
break;
case 6:
if (!DeviceRsDef.Ax_Needle.busy && !DeviceRsDef.Ax_PickZ.busy)
{
Tm.Restart();
LG.StepNext(7);
}
break;
case 7:
if (Tm.ElapsedMilliseconds >= TaskMain.PickTake.Tim_Take)
{
DeviceRsDef.Ax_Needle.MC_MoveAbs(Pos_NeedleDown);
DeviceRsDef.Ax_PickZ.MC_MoveAbs(TaskMain.PickJump.Ready.Z);
}
break;
}
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //RZ到位
ProcessData.SolderList[ID].Clear();
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
NUM = 0;
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //拍照
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderData[ID].CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionProject.Instance.visionApi.TrigComplete()||*/ TaskManager.Default.FSM.MODE == 1)
{
if (TaskManager.Default.FSM.MODE == 1)
{
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
if (ProjectData.Instance.SaveData.processdata.Agingdataforsolder == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforsolder = new SolderDef();
}
ProjectData.Instance.SaveData.processdata.Agingdataforsolder.Z = 25;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.Agingdataforsolder;
ProcessData.SolderList[ID].Add(_pos); //增加到list里
NUM++;
if (NUM < ProjectData.Instance.SaveData.processdata.SolderCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichSolder(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID))
{
float Tx = 0;
float Ty = 0;
float Tr = 0;
float x = 0;
float y = 0;
float cAng = (float)(p.ListPos[num].R * Math.PI / 180);
if (ProjectData.Instance.SaveData.SolderPlatform[ID].UseR) //使用旋转中心
{
x = p.ModelPos.X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
y = p.ModelPos.Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
IOandAxisFun.Transorm(ID, x, y, x + p.ListPos[num].X, y + p.ListPos[num].Y, cAng, out Tx, out Ty);
}
else
{
Tx = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
Ty = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
Tr = 0;
}
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = Tx;
_pos.Pos.Y = Ty;
_pos.Pos.R = Tr;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID)[type].solderdata[num].Clone();
num++;
SolderOrderList.Add(_pos); //增加到list里
}
}
foreach (SolderPosData data in SolderOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //排序
{
ProcessData.SolderList[ID].Add(data); //加到上锡位置
}
NUM++;
if (ProcessData.SolderCTPos[ID].Count() > NUM)
{
LG.ImmediateStepNext(2); //去下一个拍照位置
}
else
{
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断上锡列表里的数据
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无上锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (TaskMain.StackUnload.GetSta() == 0) //等上次的堆叠定位结束
{
if (!TaskMain.StackUnload.Finish) //堆叠还没用完
{
DeviceRsDef.Q_TakeClamp.OFF(); //上料夹爪张开
Tm.Restart(); //开始计时
LG.StepNext(2);
}
else //堆叠用完
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(TaskMain.TrayJump.Pos_SafeZ); //取料Z到安全位
LG.StepNext(0xE0); //到异常结束
}
}
break;
case 2:
if (Tm.ElapsedMilliseconds < 1000) //1000ms内检测信号OK
{
if (DeviceRsDef.I_TakeClampOFF1.value && //1号夹爪张开到位
DeviceRsDef.I_TakeClampOFF2.value && //2号夹爪召开到位
(TaskMain.LogicMain.GroupEn[0] && DeviceRsDef.I_PutInp1.value) && //1号载台正常
(TaskMain.LogicMain.GroupEn[1] && DeviceRsDef.I_PutInp2.value)) //2号载台正常
{
TaskMain.TrayJump.Start(Pos_TrayX, Pos_TakeY, Pos_TakeZ); //取料平台到取料位
LG.StepNext(3);
}
}
else //1000ms后信号还是不正常
{
//载台信号异常
if ((TaskMain.LogicMain.GroupEn[0] && !DeviceRsDef.I_PutInp1.value) ||
(TaskMain.LogicMain.GroupEn[1] && !DeviceRsDef.I_PutInp2.value))
{
if (MessageBox.Show("载台Tray盘信号丢失\n\r\n\r确定：请人工调整载台Tray盘，继续下料\n\r\n\r取消：人工取走载台Tray盘，结束下料", "警告", MessageBoxButtons.OK) == DialogResult.OK)
{
//切换到停止状态
LG.StepNext(1);
}
}
else if (!DeviceRsDef.I_TakeClampOFF1.value || //1号爪张开未到位
!DeviceRsDef.I_TakeClampOFF2.value) //2号爪张开未到位
{
MessageBox.Show("检测到取Tray盘夹爪张开未到位", "警告");
LG.End();
}
}
break;
case 3:
if (TaskMain.TrayJump.GetSta() == 0) //等待取料平台跳跃完成
{
DeviceRsDef.Q_TakeClamp.ON();
DeviceRsDef.Q_TrayAdjustX.OFF();
DeviceRsDef.Q_TrayAdjustY.OFF();
Tm.Restart(); //开始计时
LG.StepNext(4);
}
break;
case 4:
if (Tm.ElapsedMilliseconds >= 200) //夹紧延时后
{
TaskMain.TrayJump.Start(Pos_TrayX, Pos_PutY, Pos_PutZ); //跳到放料位
LG.StepNext(5);
}
break;
case 5:
if (TaskMain.TrayJump.GetSta() == 0) //等待跳跃完成
{
DeviceRsDef.Q_TakeClamp.OFF();
Tm.Restart();
LG.StepNext(6);
}
break;
case 6:
if (Tm.ElapsedMilliseconds < 1000)
{
if (DeviceRsDef.I_TakeClampOFF1.value && //1号夹爪张开到位
DeviceRsDef.I_TakeClampOFF2.value && //2号夹爪召开到位
(TaskMain.LogicMain.GroupEn[0] && DeviceRsDef.I_TakeInp1.value) && //1号Tray盘下料正常
(TaskMain.LogicMain.GroupEn[1] && DeviceRsDef.I_TakeInp2.value)) //2号Tray盘下料正常
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(TaskMain.TrayJump.Pos_SafeZ); //Z到安全高度
LG.StepNext(7);
}
}
else
{
DeviceRsDef.Ax_TakeZ.MC_MoveAbs(TaskMain.TrayJump.Pos_SafeZ); //Z到安全
MessageBox.Show("抓取信号丢失，Tray盘掉落");
LG.StepNext(7);
}
break;
case 7:
if (!DeviceRsDef.Ax_TakeZ.busy) //等待Z上到位
{
OK = true;
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichMark = 0;
Para.ProcessData.currWhichProduct = 0; //第一个产品
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //两个Z轴抬起到安全高度
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive) //Z轴到达
{
stickPos = Product.Inst.Stickdata.TrayData.ProductList[0].Clone(); //把产品树里的产品参数克隆过来
LG.StepNext(4);
}
break;
case 4:
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].X); //XY到位
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].Y);
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay)) //XY到达
{
TaskMain.UpCamLogc.ModelID = whichMark;
TaskMain.UpCamLogc.Triger();
LG.StepNext(6);
}
break;
case 6:
if (TaskMain.UpCamLogc.Finish)
{
if (TaskMain.UpCamLogc.Result.Count > 0)
{
LG.StepNext(7);
}
else
{
LG.StepNext(8);
}
}
break;
case 7:
PointF3Vision mark = new PointF3Vision();
mark.X = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].X + TaskMain.UpCamLogc.Result[0].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].Y + TaskMain.UpCamLogc.Result[0].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].R + TaskMain.UpCamLogc.Result[0].R;
VisionProject.Instance.Tool.PointLocation.SetBenchmark1(whichMark, mark.X, mark.Y);
VisionProject.Instance.Tool.PointLocation.SetBenchmark2(whichMark, mark.X, mark.Y);
whichMark++;
if (whichMark >= 2)
{
VisionProject.Instance.Tool.PointLocation.Calculation();
Product.Inst.Stickdata.TrayData.ProductList[0] = MarkCaculate(Product.Inst.Stickdata.TrayData.ProductList[0]);
LG.StepNext(8);
}
else
{
LG.StepNext(4);
}
break;
case 8:
LG.StepNext(0xef);
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1: //Z轴抬起到安全高度
if (Para.ProcessData.currWhichProduct >= Para.ProcessData.StickPosList.Count)
{
Para.ProcessData.currWhichProduct = 0;
}
else
{
if (Para.ProcessData.currWhichPoint >= Para.ProcessData.CurrStickWhichProduct().SiteList.Count)
{
Para.ProcessData.currWhichPoint = 0;
}
}
if (Para.ProcessData.StickPosList.Count == 0)
{
Alarm.SetAlarm(AlarmLevelEnum.Level2, "没扫Mark点，不允许贴附");
LG.StepNext(0xef);
}
else
{
if (CTRCard.ZArrive)
{
for (int i = 0; i < 2; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos);
}
LG.StepNext(2);
}
}
break;
case 2:
bool isCanStick = false;
for (int i = 0; i < 2; i++) //扫描吸嘴个数
{
if (Para.ProcessData.NuzzlePara[i].isOk == 1 && Para.ProcessData.NuzzlePara[i].isHave)
{
whichNuzzle = i;
isCanStick = true;
break;
}
}
if (isCanStick)
{
StickPos(whichNuzzle);
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false;
Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 0;
LG.StepNext(3);
}
else
{
LG.StepNext(0xef);
}
break;
case 3: //xy到贴标位置
if (CTRCard.ZArrive)
{
CTRCard.Axis_X.MC_MoveAbs(stickPos.X);
CTRCard.Axis_Y.MC_MoveAbs(stickPos.Y);
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs(stickPos.R);
LG.StepNext(4);
}
break;
case 4: //系统稳定时间+第一段快速下降
if (CTRCard.XYArrive && CTRCard.RArrive && LG.TCnt(10))
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(stickPos.Z - 5);
LG.StepNext(5);
}
break;
case 5: //第二段慢速下降
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(30, stickPos.Z);
LG.StepNext(6);
}
break;
case 6: //到达贴标高度吸真空打开，吹气关闭
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].ON();
CTRCard.Q_Blow[whichNuzzle].OFF();
LG.StepNext(7);
}
break;
case 7: //真空延时后，很空关闭，吹气打开
if (LG.Delay(Para.Stickdata.StickPara.SuckOffDelay))
{
CTRCard.Q_Nuzzle[whichNuzzle].OFF();
CTRCard.Q_Blow[whichNuzzle].ON();
LG.StepNext(8);
}
break;
case 8: //吹气延时后吹气关闭
if (LG.Delay(Para.Stickdata.StickPara.SuckBlowDelay))
{
CTRCard.Q_Blow[whichNuzzle].OFF();
Product.Inst.ProductYield.ProductCount(); //产量+1用于计算UPH
LG.StepNext(9);
}
break;
case 9: //Z轴回到安全位
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos);
LG.StepNext(10);
}
break;
case 10: //Z轴到位后
if (CTRCard.Axis_Z[whichNuzzle].status == AxState.AXSTA_READY)
{
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs(0);
LG.StepNext(11);
}
break;
case 11:
Para.ProcessData.currWhichPoint++; //点位++
if (Para.ProcessData.currWhichPoint >= Para.ProcessData.StickPosList[Para.ProcessData.currWhichProduct].SiteList.Count)
{
Para.ProcessData.currWhichPoint = 0; //点位置0
Para.ProcessData.currWhichProduct++; //产品加1
if (Para.ProcessData.currWhichProduct >= Para.ProcessData.StickPosList.Count)
{
//Para.ProcessData.currWhichPoint = 0;//点位置0
//Para.ProcessData.currWhichProduct = 0;//产品置0
LG.StepNext(0xef);
break;
}
}
LG.StepNext(2);
if (!Para.ProcessData.NuzzlePara[0].isHave && !Para.ProcessData.NuzzlePara[1].isHave)
{
LG.StepNext(0xef); //两个吸嘴都没有料就结束
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
TaskMain.prefeed.Start();
TaskMain.sticklogic.Start();
LG.StepNext(2);
break;
case 2:
if (TaskMain.prefeed.GetDone &&
TaskMain.feedout.GetDone &&
TaskManager.Default.FSM.Status.ID == FSMStaDef.RUN
)
{
LG.StepNext(3);
}
break;
case 3:
TaskMain.feed.Start();
LG.StepNext(4);
break;
case 4:
if (TaskMain.feed.GetDone && TaskManager.Default.FSM.Status.ID == FSMStaDef.RUN)
{
LG.StepNext(5);
}
break;
case 5:
TaskMain.prefeed.Start();
LG.StepNext(6);
break;
case 6:
if (TaskMain.sticklogic.GetDone)
{
LG.StepNext(7);
}
break;
case 7:
if (TaskMain.feedout.GetDone)
{
TaskMain.feedout.Start();
LG.StepNext(8);
}
break;
case 8:
if (DeviceRsDef.I_BeltFeedIn.Value == false &&
DeviceRsDef.I_BeltFeedOut.Value == false &&
TaskManager.Default.FSM.Status.ID == FSMStaDef.RUN)
{
LG.StepNext(1);
}
else
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
startNuzzleParaInit();
for (int i = 0; i < 30; i++)
{
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
}
DeviceRsDef.MotionCard.MotionFun.OutputON(24);
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
Alarm.ClearAlarm();
if (DeviceRsDef.I_XFarLimit.Value)
{
DeviceRsDef.Axis_X.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "X正硬极限限位");
}
if (DeviceRsDef.I_YFarLimit.Value)
{
DeviceRsDef.Axis_Y.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "Y正硬极限限位");
}
Product.Inst.ProcessData.currWhichPoint = 0;
Product.Inst.ProcessData.currWhichProduct = 0;
LG.StepNext(2);
break;
case 2:
if (LG.Delay(100))
{
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_AlarmReset();
}
LG.StepNext(3);
}
break;
case 3:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
LG.StepNext(4);
}
break;
case 4:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_X.MC_Home();
DeviceRsDef.Axis_Y.MC_Home();
LG.StepNext(5);
}
break;
case 5:
if (CTRCard.XYArrive && CTRCard.RArrive)
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
FSM.Stop();
break;
}
}
protected override void LogicImpl()
{
//放晶时循环处理提前控制真空和吹气
if (LG.Execute == true)
{
if (Tr.TrigOne(System.Math.Abs(DeviceRsDef.Ax_PickZ.currPos - Pos_Put.Z) <= Pos_Ahead, 0)) //当Z位置进入到提前范围内时，执行一次
{
DeviceRsDef.Q_PickVacuo.OFF(); //关真空
DeviceRsDef.Q_PickBlow.ON(); //开吹气
}
}
switch (LG.Step)
{
case 1:
if (!DeviceRsDef.Q_PickVacuo.Value || !DeviceRsDef.I_PickVacuo.value) //如果没取好片
{
TaskMain.PickTake.Start(); //执行取片
}
LG.StepNext(2);
break;
case 2:
if (DeviceRsDef.Q_PickVacuo.Value && DeviceRsDef.I_PickVacuo.value) //如果取好片了
{
FPointXYZR p = Pos_Put.Clone(); //取放晶点位置
p.Z = Pos_Put.Z - Pos_Slow; //Z修改为慢速点
TaskMain.PickJump.Start(p, true, TaskMain.PickJump.Pos_PreInpZ); //跳跃到放晶点的慢速高度，检测真空，Z带提前量
LG.StepNext(3);
}
else //如果没取好片
{
LG.End(); //结束流程
}
break;
case 3:
if (TaskMain.PickJump.GetSta() == 0) //跳跃结束
{
if (TaskMain.PickJump.VacuoResult) //真空检测OK
{
DeviceRsDef.Ax_PickZ.MC_MoveAbs(Spd_Slow, Pos_Put.Z); //Z慢速到放晶位
LG.StepNext(4);
}
else //真空异常
{
//要报警
PutOk = false; //标志放晶失败
LG.End();
}
}
break;
case 4:
if (!DeviceRsDef.Ax_PickZ.busy) //等待Z到位
{
//DeviceRsDef.Q_PickVacuo.OFF();//由提前量控制吹气和真空
//DeviceRsDef.Q_PickBlow.ON();
Tm.Restart(); //到位开始计时
LG.StepNext(5);
}
break;
case 5:
if (Tm.ElapsedMilliseconds >= Tim_Put) //放晶时间到
{
DeviceRsDef.Q_PickBlow.OFF(); //关闭吹气
TaskMain.PickTake.Start(); //取晶
TaskMain.TrayDesk.Start(Pos_Check); //相机移动到该点
LG.StepNext(6);
}
break;
case 6:
if (TaskMain.TrayDesk.GetSta() == 0 && DeviceRsDef.Ax_PickY.currPos < TaskMain.PickJump.Ready.Y + 1)
{
VisionSot = true; //触发视觉
LG.StepNext(7);
}
break;
case 7:
if (!VisionSot) //等待视觉结束
{
PutOk = VisionRet; //标志放晶结果
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.SolderPlatform[ID];
switch (LG.Step)
{
case 1: //平台到位
stick1SpendTime.Restart();
if (Axis.SolderPlatFormIsHave[ID].value && ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsHave &&
ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsPolished || TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(2);
}
else
{
string mes = ID.ToString() + "平台未有料或未打磨";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(2, FSMStaDef.RUN);
}
break;
case 2: //开始上锡拍照
if (DeviceRsDef.I_CylLocked.value || TaskManager.Default.FSM.MODE == 1)
{
SolderCT.Start();
LG.ImmediateStepNext(3);
}
break;
case 3: //开始上锡
if (SolderCT.GetSta() == 0 && SolderClean.GetSta() == 0)
{
Solder.Start();
LG.ImmediateStepNext(4);
}
break;
case 4: //上锡结束是否清洗
if (Solder.GetSta() == 0 && ProjectData.Instance.SaveData.SolderData[ID].SolderNum % para.PerTimesClean == 0 && ProjectData.Instance.SaveData.processdata.SolderList[ID].Count() > 0)
{
ProjectData.Instance.SaveData.SolderData[ID].SolderNum = 0;
SolderClean.Start();
LG.ImmediateStepNext(3);
para.SolderSum++;
}
else if (Solder.GetSta() == 0 && ProjectData.Instance.SaveData.processdata.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(3);
para.SolderSum++;
}
else if (Solder.GetSta() == 0 && ProjectData.Instance.SaveData.processdata.SolderList[ID].Count() == 0)
{
SolderClean.Start();
LG.ImmediateStepNext(5);
}
break;
case 5: //ZR回到既定高度
if (Axis.SolderZ[ID].status == 0 && Axis.SolderR[ID].status == 0 && SolderClean.GetSta() == 0)
{
Axis.SolderZ[ID].MC_MoveAbs(para.EndPos.Z);
Axis.SolderR[ID].MC_MoveAbs(para.EndPos.R);
LG.ImmediateStepNext(6);
}
break;
case 6: //ZR回到既定高度
if (Axis.SolderZ[ID].status == 0 && Axis.SolderR[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveAbs(para.EndPos.X);
Axis.SolderY[ID].MC_MoveAbs(para.EndPos.Y);
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0)
{
LG.End();
stick1SpendTime.Stop();
para.SolderSpendTime = stick1SpendTime.ElapsedMilliseconds;
ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsTined = true;
}
break;
}
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //上锡列表里是否有上锡点
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无焊锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 2: //RZ抬高
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(3);
}
break;
case 3: //XY到第一个上锡点位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.Y);
LG.ImmediateStepNext(4);
}
break;
case 4: //第一段送锡
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed, ProcessData.SolderList[ID][0].SolderData.FrontLen);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed, ProcessData.SolderList[ID][0].SolderData.FrontLen);
LG.ImmediateStepNext(5);
}
break;
case 5: //第一段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed, ProcessData.SolderList[ID][0].SolderData.BackLen);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed, ProcessData.SolderList[ID][0].SolderData.BackLen);
LG.ImmediateStepNext(6);
}
break;
case 6: //RZ到上锡点位
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.R);
Axis.SolderZ[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].SolderData.Z);
LG.ImmediateStepNext(7);
}
break;
case 7: //第二段送锡
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed2, ProcessData.SolderList[ID][0].SolderData.FrontLen2);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed2, ProcessData.SolderList[ID][0].SolderData.FrontLen2);
LG.ImmediateStepNext(8);
}
break;
case 8: //第二段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed2, ProcessData.SolderList[ID][0].SolderData.BackLen2);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed2, ProcessData.SolderList[ID][0].SolderData.BackLen2);
LG.ImmediateStepNext(9);
}
break;
case 9: //第三段送锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed3, ProcessData.SolderList[ID][0].SolderData.FrontLen3);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed3, ProcessData.SolderList[ID][0].SolderData.FrontLen3);
LG.ImmediateStepNext(10);
}
break;
case 10: //第三段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed3, ProcessData.SolderList[ID][0].SolderData.BackLen3);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed3, ProcessData.SolderList[ID][0].SolderData.BackLen3);
LG.ImmediateStepNext(11);
}
break;
case 11: //判断是否开启抖动及抖动的模式
if (Axis.SolderS[ID].status == 0 && LG.Delay(1000))
{
if (ProcessData.SolderList[ID][0].SolderData.Shake)
{
//开启抖动
switch (ProcessData.SolderList[ID][0].SolderData.mode)
{
//case 0:
// LG.StepNext(12, FSMStaDef.RUN);//上下
// break;
case 1:
LG.ImmediateStepNext(13); //左右
break;
case 2:
LG.ImmediateStepNext(14); //前后
break;
}
}
else
{
//不开启抖动
LG.ImmediateStepNext(15);
}
}
break;
#region 左右
case 13:
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(131);
break;
case 131:
if (Axis.SolderX[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, -2 * ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(132);
}
break;
case 132:
if (Axis.SolderX[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(15);
}
break;
#endregion
#region 前后
case 14:
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(141);
break;
case 141:
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, -2 * ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(142);
}
break;
case 142:
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(15);
}
break;
#endregion
case 15: //Z抬起到设定高度
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderPlatform[ID].TimeforTin))
{
Axis.SolderZ[ID].MC_MoveRel(100, ProcessData.SolderList[ID][0].SolderData.LiftHeight);
LG.ImmediateStepNext(16);
}
break;
case 16: //移除第一个点
if (Axis.SolderZ[ID].status == 0)
{
ProjectData.Instance.SaveData.SolderData[ID].SolderNum++;
ProcessData.SolderList[ID].RemoveAt(0);
ProjectData.Instance.Product.ProductCount();
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.PolishData[ID];
switch (LG.Step)
{
case 1: //RZ到拍照位
ProjectData.Instance.SaveData.processdata.PolishList[ID].Clear();
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
NUM = 0;
Axis.PolishR[ID].MC_MoveAbs(0);
Axis.PolishZ[ID].MC_MoveAbs(para.SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到拍照位
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.PolishX[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X);
Axis.PolishY[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //延时拍照
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0 && LG.Delay(para.CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionInteraction.Instance.TriggerCamera(ID)*/ true)
{
if (TaskManager.Default.FSM.MODE == 1)
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
//_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
if (ProjectData.Instance.SaveData.processdata.Agingdataforpolish == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforpolish = new PolishDef();
}
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
ProjectData.Instance.SaveData.processdata.Agingdataforpolish.Z = 20;
_pos.polishData = ProjectData.Instance.SaveData.processdata.Agingdataforpolish;
NUM++;
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(_pos);
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichPolish(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID))
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = p.ListPos[num].R;
_pos.polishData = ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID)[type].polishData[num].Clone();
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
num++;
PolishOrderList.Add(_pos); //增加到list里
}
}
foreach (PolishPosData data in PolishOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //对list里的点进行排序
{
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(data); //把排列好的点写进打磨list里
}
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断打磨列表里的数据
if (ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台没有打磨点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
LG.Start();
switch (LG.Step)
{
case 1:
NuzzleParaInit();
LG.StepNext(2);
CanMarkscan = true;
break;
case 2:
feeder.Start();
if (Para.Stickdata.StickSysData.stright)
{
LG.StepNext(0xef);
}
else
{
Para.ProcessData.StickPosList.Clear();
Para.ProcessData.currWhichPoint = 0;
Para.ProcessData.currWhichProduct = 0;
for (int i = 0; i < Product.Inst.Stickdata.TrayData.ProductList.Count; i++)
{
Para.ProcessData.StickPosList.Add(Product.Inst.Stickdata.TrayData.ProductList[i].Clone());
}
LG.StepNext(3);
}
break;
case 3:
if (feeder.GetDone)
{
takelabel.Start(); //取料
LG.StepNext(4);
}
break;
case 4:
if (takelabel.GetDone)
{
downCCD.Start(); //下相机拍照
LG.StepNext(5);
}
break;
case 5:
if (downCCD.GetDone)
{
bool isGiveUp = false;
for (int i = 0; i < 2; i++)
{
//根据吸嘴上是否有料，并且下相机拍照NG，则满足弃料条件
if (Para.ProcessData.NuzzlePara[i].isOk != 1 && Para.ProcessData.NuzzlePara[i].isHave)
{
isGiveUp = true;
}
}
if (isGiveUp)
{
giveup.Start();
feeder.Start();
LG.StepNext(101);
break;
}
else
{
LG.StepNext(6);
}
feeder.Start();
}
break;
case 101:
if (giveup.GetDone && feeder.GetDone)
{
LG.StepNext(3);
}
break;
case 6:
if (TaskMain.feed.GetDone && //暂时替代皮带流程
DeviceRsDef.I_BeltFeedIn.Value &&
TaskManager.Default.FSM.Status.ID == FSMStaDef.RUN ||
Product.Inst.IsAging
)
{
if (CanMarkscan)
{
markscan.Start();
LG.StepNext(7);
CanMarkscan = false;
}
else
{
LG.StepNext(7);
}
}
break;
case 7:
if (markscan.GetDone)
{
stick.Start();
LG.StepNext(8);
}
break;
case 8:
if (stick.GetDone)
{
if (Para.ProcessData.currWhichProduct >= Para.ProcessData.StickPosList.Count)
{
CanMarkscan = true;
LG.StepNext(9);
}
else
{
LG.StepNext(102);
}
}
break;
case 102:
LG.StepNext(3);
break;
case 9:
scancode.Start();
LG.StepNext(10);
break;
case 10:
if (scancode.GetDone)
{
LG.StepNext(11);
}
break;
case 11:
backCT.Start();
LG.StepNext(12);
break;
case 12:
if (backCT.GetDone)
{
LG.StepNext(0xef);
}
break;
case 0xef:
if (Product.Inst.IsAging)
{
LG.StepNext(1);
}
else
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst.Stickdata;
LG.Start();
switch (LG.Step)
{
case 1:
whichProduct = 0;
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(0);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive)
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0)
{
LG.StepNext(4);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
if (Para.CanBackCT)
{
CTRCard.Axis_X.MC_MoveAbs(TrayData.ProductList[whichProduct].BackCT.X);
CTRCard.Axis_Y.MC_MoveAbs(TrayData.ProductList[whichProduct].BackCT.Y);
LG.StepNext(5);
}
else
{
LG.StepNext(0xef);
}
break;
case 5:
if (CTRCard.XYArrive)
{
LG.StepNext(6);
}
break;
case 6:
if (CTRCard.XYArrive)
{
LG.StepNext(7);
DeviceRsDef.Q_HoldLightCtrl.ON();
DeviceRsDef.Q_Light.OFF();
}
break;
case 7:
if (LG.Delay(Para.CTDelay))
{
//VisionProject.Instance.visionApi.TrigRun(3, 0);
LG.StepNext(8);
}
break;
case 8:
if (Product.Inst.IsAging)
{
//老化模式下，不判断拍照结果
if (LG.TCnt(100))
{
LG.StepNext(0xA0);
}
}
else
{
//正常模式下
//if (VisionProject.Instance.visionApi.Trig == false)
//{
// VisionProject.Instance.SaveBackCTFunImage();
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// LG.StepNext(0xA0);
// }
// else
// {
// LG.StepNext(9);
// }
//}
}
break;
case 0xA0:
if (Product.Inst.IsAging)
{
LG.StepNext(9);
}
else
{
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[0].X, VisionProject.Instance.visionApi.CheckStick[0].Y, VisionProject.Instance.visionApi.CheckStick[0].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[1].X, VisionProject.Instance.visionApi.CheckStick[1].Y, VisionProject.Instance.visionApi.CheckStick[1].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[2].X, VisionProject.Instance.visionApi.CheckStick[2].Y, VisionProject.Instance.visionApi.CheckStick[2].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[3].X, VisionProject.Instance.visionApi.CheckStick[3].Y, VisionProject.Instance.visionApi.CheckStick[3].R));
LG.StepNext(9);
}
break;
case 9:
whichProduct++;
if (whichProduct >= TrayData.ProductList.Count)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = ProjectData.Instance.SaveData.PolishData[ID];
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: // 有打磨点
if (ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无打磨点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 2: //ZR抬高
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
Axis.PolishR[ID].MC_MoveAbs(0);
Axis.PolishZ[ID].MC_MoveAbs(Para.SafeZ);
LG.ImmediateStepNext(3);
}
break;
case 3: //到打磨点XY
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
PointPolishtimes = 0;
Axis.PolishX[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].Pos.X);
Axis.PolishY[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].Pos.Y);
LG.ImmediateStepNext(4);
}
break;
case 4: //到打磨点RZ
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
Axis.PolishR[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].Pos.R);
Axis.PolishZ[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].polishData.Z + Para.TotalReimburse);
LG.ImmediateStepNext(5);
}
break;
case 5: //判断打磨方式
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
//打磨方式
switch (ProcessData.PolishList[ID][0].polishData.mode)
{
case 0:
LG.ImmediateStepNext(6); //一字前后
break;
case 1:
LG.ImmediateStepNext(7); //一字左右
break;
case 2:
LG.ImmediateStepNext(8); //二字前后
break;
case 3:
LG.ImmediateStepNext(9); //二字左右
break;
}
}
break;
#region 一字前后
case 6:
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(61);
break;
case 61:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(62);
}
break;
case 62:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
#region 一字左右
case 7:
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(71);
break;
case 71:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(72);
}
break;
case 72:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
#region 二字前后
case 8:
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(81);
break;
case 81:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(82);
}
break;
case 82:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(83);
}
break;
case 83:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.PolishInterval);
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(84);
}
break;
case 84:
if (Axis.PolishY[ID].status == 0 && Axis.PolishX[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(85);
}
break;
case 85:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
#region 二字左右
case 9:
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(91);
break;
case 91:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(92);
}
break;
case 92:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(93);
}
break;
case 93:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.PolishInterval);
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(94);
}
break;
case 94:
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(95);
}
break;
case 95:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
case 10: //判断打磨次数
PointPolishtimes++;
if (ProcessData.PolishList[ID][0].polishData.GoBackTimes > PointPolishtimes && Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
LG.ImmediateStepNext(5); //打磨次数未够，再次打磨
}
else
{
PointPolishtimes = 0;
LG.ImmediateStepNext(11); //打磨下一个点
}
Para.SumPolishTimes++; //总的打磨次数用于更换打磨头
PolishTimes++;
if (PolishTimes >= Para.Interval) //达到打磨补偿的次数
{
PolishTimes = 0;
Para.TotalReimburse += Para.Reimburse;
}
break;
case 11: //移打磨列表里第一个点
if (Axis.PolishZ[ID].status == 0)
{
Para.PolishNum++;
Axis.PolishZ[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].polishData.LiftHeight); //抬起到设定高度
ProcessData.PolishList[ID].RemoveAt(0);
LG.ImmediateStepNext(0xef); //打磨结束
}
break;
case 0xef:
if (Axis.PolishZ[ID].status == 0)
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
var Para = Database.AllData.Data.Beltdata;
switch (LG.Step)
{
case 1:
DeviceRsDef.Q_Rise.OFF(); //顶升气缸不顶升
DeviceRsDef.Q_StopBlock.OFF(); //阻挡气缸不下降
if (DeviceRsDef.I_StopBlockUp.Value && DeviceRsDef.I_RiseDown.Value) //顶升气缸下限和阻挡气缸上限感应到
{
LG.StepNext(2);
}
break;
case 2:
DeviceRsDef.Axis_BeltFeed.MC_MoveSpd(10); //中间皮带运行
DeviceRsDef.Axis_BeltPreFeed.MC_MoveSpd(10); //左侧皮带运行
LG.StepNext(3);
break;
case 3:
if (fun.F_Trig(DeviceRsDef.I_BeltPreFeedOut.Value)) //载具已经脱离左侧皮带
{
DeviceRsDef.Axis_BeltPreFeed.MC_StopDec(); //左侧皮带停止
LG.StepNext(4);
}
break;
case 4:
if (DeviceRsDef.I_BeltFeedIn.Value && LG.Delay(Para.RiseOnDelay)) //载具到位
{
DeviceRsDef.Axis_BeltFeed.MC_StopDec(); //中间皮带停止
LG.StepNext(5);
}
break;
case 5:
if (DeviceRsDef.Axis_BeltFeed.status == 0)
{
DeviceRsDef.Q_Rise.ON(); //顶升气缸顶起固定
LG.StepNext(6);
}
break;
case 6:
if (DeviceRsDef.I_RiseUp.Value) //顶升气缸上限位
{
DeviceRsDef.Q_StopBlock.ON(); //阻挡气缸
LG.StepNext(7);
}
break;
case 7:
if (DeviceRsDef.I_StopBlockDown.Value) //阻挡气缸下限到位
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichNuzzle = 0;
LG.StepNext(2);
break;
case 2:
if (Para.ProcessData.NuzzlePara[whichNuzzle].isHave) //吸嘴有料
{
if (CTRCard.ZArrive)
{
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //到安全位置拍照
}
LG.StepNext(3);
}
}
else
{
LG.StepNext(6); //没有料换另一个吸嘴
}
break;
case 3:
if (CTRCard.ZArrive) //到相应的吸嘴拍照位置
{
if (Para.ProcessData.NuzzlePara[whichNuzzle].isHave && whichNuzzle == 0)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.StickSysData.LiftDownCCDPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.StickSysData.LiftDownCCDPos.Y);
DeviceRsDef.Q_DownLighSource.ON();
LG.StepNext(4);
}
else if (Para.ProcessData.NuzzlePara[whichNuzzle].isHave && whichNuzzle == 1)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.StickSysData.RightDownCCDPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.StickSysData.RightDownCCDPos.Y);
DeviceRsDef.Q_DownLighSource.ON();
LG.StepNext(4);
}
else
{
LG.StepNext(6);
}
}
break;
case 4:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay))
{
//VisionProject.Instance.visionApi.TrigRun(1, whichNuzzle);//触发拍照
LG.StepNext(5);
}
break;
case 5:
if (Product.Inst.IsAging)
{
if (LG.Delay(100))
{
Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 1;
Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.X = 0;
Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.Y = 0;
Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.R = 0;
LG.StepNext(6);
}
DeviceRsDef.Q_DownLighSource.OFF();
}
else
{
//if (VisionProject.Instance.visionApi.TrigComplete() == true)
//{
// var va = VisionProject.Instance.visionApi;
// //判断拍照结果
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 1;
// Para.ProcessData.NuzzlePara[whichNuzzle].isHave = true;
// Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.X = (float)VisionProject.Instance.visionApi.Result[0].X;
// Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.Y = (float)VisionProject.Instance.visionApi.Result[0].Y;
// Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.R = -(float)VisionProject.Instance.visionApi.Result[0].R;
// DeviceRsDef.Q_DownLighSource.OFF();
// }
// else
// {
// Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 2;
// }
// LG.StepNext(6);
//}
}
break;
case 6:
if (CTRCard.RArrive)
{
whichNuzzle++;
if (whichNuzzle >= 2)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichMark = 0; //第一个mark点
Para.ProcessData.StickPosList.Clear(); //贴附过程列表清空
Para.ProcessData.currWhichPoint = 0; //第一个点
Para.ProcessData.currWhichProduct = 0; //第一个产品
MarkscanProduct = 0;
MarkResult.Clear(); //mark点的拍照结果清空
whichProductAngle.Clear(); //机械角度列表清空
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //两个Z轴抬起到安全高度
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive) //Z轴到达
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0) //产品树列表有产品
{
LG.StepNext(4);
stickPos = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].Clone(); //把产品树里的产品参数克隆过来
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X); //XY到位
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y);
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
//VisionProject.Instance.SetBenchmark1
// (
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X,
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y,
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R,
// whichMark,true
// );//设置mark点识别位置
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay)) //XY到达
{
TaskMain.UpCamLogc.ModelID = whichMark;
TaskMain.UpCamLogc.Triger();
LG.StepNext(6);
}
break;
case 6:
if (Product.Inst.IsAging) //老化模式
{
if (LG.TCnt(200))
{
LG.StepNext(7);
}
}
else
{
if (TaskMain.UpCamLogc.Finish)
{
if (TaskMain.UpCamLogc.Result.Count > 0)
{
LG.StepNext(7);
}
else
{
LG.StepNext(8);
}
}
}
break;
case 7:
PointF3Vision mark = new PointF3Vision();
if (Product.Inst.IsAging)
{
mark.X = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R;
}
else
{
mark.X = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X + TaskMain.UpCamLogc.Result[0].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y + TaskMain.UpCamLogc.Result[0].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R + TaskMain.UpCamLogc.Result[0].R;
}
VisionProject.Instance.Tool.PointLocation.SetBenchmark2
(
whichMark,
mark.X,
mark.Y
);
MarkResult.Add(mark);
whichMark++;
if (whichMark >= 2)
{
VisionProject.Instance.Tool.PointLocation.Calculation();
if (Product.Inst.IsAging)
{
Para.ProcessData.StickPosList.Add(stickPos);
}
else
{
//计算Mark点，并暂存计算结果
Para.ProcessData.StickPosList.Add(MarkCaculate(stickPos)); //计算Mark点，并保存计算结果
}
LG.StepNext(8);
}
else
{
LG.StepNext(4);
}
break;
case 8:
DeviceRsDef.Q_UpLighSource.OFF();
if (MarkscanProduct >= Product.Inst.Stickdata.TrayData.ProductList.Count - 1)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
whichMark = 0;
MarkscanProduct++;
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
LG.Start();
switch (LG.Step)
{
case 1: //Z轴抬起到安全高度
if (CTRCard.ZArrive)
{
for (int i = 0; i < 2; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.GiveUpPara.SafePos_Z);
}
LG.StepNext(2);
}
whichNuzzle = 0;
break;
case 2: //判断轴到达
if (CTRCard.ZArrive)
{
LG.StepNext(3);
}
break;
case 3:
if (Para.ProcessData.NuzzlePara[whichNuzzle].isOk != 1 && Para.ProcessData.NuzzlePara[whichNuzzle].isHave == true)
{
LG.StepNext(4);
}
else
{
LG.StepNext(8);
}
break;
case 4: //XY到弃标位
if (CTRCard.ZArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUpPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUpPos.Y);
LG.StepNext(5);
}
else
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUpPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUpPos.Y);
LG.StepNext(5);
}
}
break;
case 5: //Z到弃标高度
if (CTRCard.XYArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUp_Z);
LG.StepNext(6);
}
else
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUp_Z);
LG.StepNext(6);
}
}
break;
case 6: //破真空，吹气
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].OFF();
CTRCard.Q_Blow[whichNuzzle].ON();
Para.Stickdata.GiveUpPara.giveUpNum++;
LG.StepNext(7);
}
break;
case 7:
if (LG.Delay(Para.Stickdata.GiveUpPara.GiveUpDelay))
/*弃料延时*/
{
LG.StepNext(8);
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false;
CTRCard.Q_Blow[whichNuzzle].Value = false;
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.SafePos_Z);
}
break;
case 8: //Z轴回到安全位
if (CTRCard.ZArrive)
{
whichNuzzle++;
if (whichNuzzle < CTRCard.Axis_Z.Count)
{
LG.StepNext(2);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst.Stickdata;
switch (LG.Step)
{
case 1:
whichproduct = Product.Inst.Stickdata.TrayData.ProductList.Count - 1;
DataList.Clear();
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.ZSafePos);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive)
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0)
{
LG.StepNext(4);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
if (Para.CanscanCode)
{
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[whichproduct].CodePoint2.X);
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[whichproduct].CodePoint2.Y);
LG.StepNext(5);
}
else
{
LG.StepNext(0xef);
}
break;
case 5:
if (CTRCard.XYArrive)
{
LG.StepNext(6);
}
break;
case 6:
if (CTRCard.XYArrive)
{
LG.StepNext(7);
DeviceRsDef.Q_Light.ON();
DeviceRsDef.Q_HoldLightCtrl.OFF();
}
break;
case 7:
if (LG.Delay(10))
{
//VisionProject.Instance.visionApi.TrigRun(2, 0);
LG.StepNext(8);
}
break;
case 8:
if (Product.Inst.IsAging)
{
//老化模式下，不判断拍照结果
if (LG.TCnt(500))
{
LG.StepNext(10);
}
}
else
{
//正常模式下
//if (VisionProject.Instance.visionApi.Trig == false)
//{
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// LG.StepNext(9);
// }
// else
// {
// LG.StepNext(10);
// }
//}
}
break;
case 9:
//DataList.Add(VisionProject.Instance.visionApi.CodeString);//将读取到的二维码信息加进list里面
//ShowMessge.SendStartMsg(string.Format("产品{0}二维码：{1}", whichproduct, VisionProject.Instance.visionApi.CodeString));
LG.StepNext(10);
break;
case 10:
whichproduct--;
if (whichproduct <= -1)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
}
break;
case 0xef:
DeviceRsDef.Q_HoldLightCtrl.ON();
DeviceRsDef.Q_Light.OFF();
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
if (TaskMain.sticklogic.feeder.GetBusy)
{
return;
}
TakeCount = 0; //取料个数
whichNuzzle = 0; //哪个吸嘴
LG.StepNext(2);
break;
case 2: //Z轴抬起到安全高度
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //Z到安全位置
CTRCard.Axis_R[i].MC_MoveAbs(0);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive && CTRCard.RArrive)
{
bool isCanTake = false;
if (
Para.Stickdata.NuzzleForbit[whichNuzzle] == false &&
Para.ProcessData.NuzzlePara[whichNuzzle].isHave == false) //吸嘴没被禁用且没有料
{
isCanTake = true;
}
else
{
if (Para.Stickdata.NuzzleForbit[whichNuzzle] == true) //吸嘴禁用取料加1
{
TakeCount++;
}
}
if (isCanTake)
{
if (TakeCount == 1 && whichNuzzle == 1)
{
LG.StepNext(7); //如果左吸嘴取过一次且目前可以取料的是右吸嘴
}
else
{
LG.StepNext(4); //可以取料 去取料位置
}
}
else
{
LG.StepNext(14); //去 判断
}
}
break;
case 4:
if (whichNuzzle == 0)
{
Ltime.Stop();
Lsticktime = (int)Ltime.ElapsedMilliseconds;
Ltime.Restart();
}
else
{
Rtime.Stop();
Rsticktime = (int)Rtime.ElapsedMilliseconds;
Rtime.Restart();
}
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.FeederPara.TakePos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.FeederPara.TakePos.Y); //到拍照位置
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive)
{
//VisionProject.Instance.visionApi.TrigRun(0, 2);//触发拍照
LG.StepNext(6);
}
break;
case 6:
if (Product.Inst.IsAging)
{
if (LG.Delay(200))
{
CCDresult.X = 0;
CCDresult.Y = 0;
CCDresult.R = 0;
LG.StepNext(7);
}
}
else
{
//if (VisionProject.Instance.visionApi.Trig == false)//相机触发的值
//{
// if (VisionProject.Instance.visionApi.Error == 0)//相机接口错误码
// {
// LG.StepNext(7);//xy到取标位置
// DeviceRsDef.Q_UpLighSource.OFF();//上相机光源关闭
// }
// else
// {
// LG.StepNext(101);//重新送料
// CTCount++;//拍照识别次数
// if (CTCount > 2)//大于2就视觉NG
// {
// CTCount = 0;//重新置零
// Alarm.SetAlarm(AlarmLevelEnum.Level2, "Feeder视觉NG");//报警
// }
// }
//}
}
break;
case 7:
CTRCard.Q_Blow[whichNuzzle].OFF(); //吹气关闭
if (Product.Inst.IsAging)
{
if (LG.Delay(500))
{
CCDresult.X = 0;
CCDresult.Y = 0;
CCDresult.R = 0;
}
}
//else if (VisionProject.Instance.visionApi.Result.Length == 2)
//{
// CCDresult.X = (float)VisionProject.Instance.visionApi.Result[TakeCount].X;//ccd的x值[改为链表形式]
// CCDresult.Y = (float)VisionProject.Instance.visionApi.Result[TakeCount].Y;//ccd的y值
// CCDresult.R = -(float)VisionProject.Instance.visionApi.Result[TakeCount].R;//ccd的r值
//}
//else
//{
// CCDresult.X = (float)VisionProject.Instance.visionApi.Result[0].X;//ccd的x值[改为链表形式]
// CCDresult.Y = (float)VisionProject.Instance.visionApi.Result[0].Y;//ccd的y值
// CCDresult.R = -(float)VisionProject.Instance.visionApi.Result[0].R;//ccd的r值
//}
CTRCard.Axis_X.MC_MoveAbs(TakePos(whichNuzzle).X + (float)CCDresult.X);
CTRCard.Axis_Y.MC_MoveAbs(TakePos(whichNuzzle).Y + (float)CCDresult.Y);
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs((float)CCDresult.R);
LG.StepNext(8);
break;
case 8: //XY到位后判断缓取，开始下压时打开吸嘴
if (CTRCard.RArrive && CTRCard.XYArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.TakeLabelPara.LiftTakePos_Z);
}
else
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.TakeLabelPara.RightTakePos_Z);
}
LG.StepNext(9);
}
break;
case 9:
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].ON(); //真空打开
CTRCard.Q_Blow[whichNuzzle].OFF(); //吹气关闭
LG.StepNext(10);
}
break;
case 10:
if (whichNuzzle == 0)
{
Para.Stickdata.TakeLabelPara.TakeLableWholeLNum++;
}
else
{
Para.Stickdata.TakeLabelPara.TakeLableWholeRNum++;
}
LG.StepNext(11);
break;
case 11: //取标延时后Z轴抬起(缓抬)
if (whichNuzzle == 0 && LG.Delay(Para.Stickdata.TakeLabelPara.LiftTakeDelay))
{
LG.StepNext(201);
}
else if (whichNuzzle == 1 && LG.Delay(Para.Stickdata.TakeLabelPara.RightTakeDelay))
{
LG.StepNext(201);
}
break;
case 201:
if (Para.Stickdata.FeederPara.FeederMode[1])
{
//剥标板回退
LG.StepNext(202);
}
else
{
LG.StepNext(12);
}
break;
case 202:
if (Para.Stickdata.FeederPara.FeederMode[1]) //拨标板回退停止
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos); //Z轴抬起
LG.StepNext(13);
}
break;
case 12: //取标延时后Z轴抬起
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos);
LG.StepNext(13);
}
break;
case 13: //检测真空//add
if (CTRCard.ZArrive) //所有轴都到达
{
if (!Product.Inst.IsAging && CTRCard.I_Vacuum[whichNuzzle].Value == false)
{
TakeNum++;
if (TakeNum >= 2)
{
TakeNum = 0;
LG.StepNext(101); //运行状态下进入14 重新剥标
CTRCard.Q_Nuzzle[whichNuzzle].Value = false; //吸真空电磁阀
Alarm.SetAlarm(AlarmLevelEnum.Level2, "取料失败，请检查真空和真空感应");
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false; //是否有料
}
else
{
LG.StepNext(4); //到拍照位
}
}
else
{
if (whichNuzzle == 0)
{
Para.Stickdata.TakeLabelPara.TakeLableLNum++;
}
else
{
Para.Stickdata.TakeLabelPara.TakeLableRNum++;
}
LG.StepNext(14); //结束
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = true; //有料
}
}
break;
case 101:
if (CTRCard.ZArrive)
{
LG.StepNext(4);
}
break;
case 14: //结束
if (CTRCard.ZArrive)
{
whichNuzzle++; //吸嘴换成另一个吸嘴
TakeCount++;
if (whichNuzzle >= 2)
{
LG.StepNext(15);
}
else
{
LG.StepNext(2);
}
}
break;
case 15:
if (TakeCount >= 2)
{
LG.StepNext(0xef);
}
//else if (VisionProject.Instance.visionApi.Result.Length == 1)
//{
// TakeCount = 0;
// LG.StepNext(0xef);
//}
else if (Para.ProcessData.NuzzlePara[0].isHave == true &&
Para.ProcessData.NuzzlePara[1].isHave == true)
{
TakeCount = 0;
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
break;
case 0xef:
LG.End();
break;
}
}
