protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
DeviceRsDef.Ax_顶升.MC_MoveAbs(RiseSnapPos);
LG.ImmediateStepNext(2);
snapCount = 0;
break;
case 2:
if (DeviceRsDef.Ax_顶升.status == Device.AxState.AXSTA_READY)
{
DeviceRsDef.Ax_相机X轴.MC_MoveAbs(XYSnapPos[snapCount].X);
DeviceRsDef.Ax_相机Y轴.MC_MoveAbs(XYSnapPos[snapCount].Y);
LG.ImmediateStepNext(3);
}
break;
case 3:
if (DeviceRsDef.Ax_相机X轴.status == Device.AxState.AXSTA_READY && DeviceRsDef.Ax_相机Y轴.status == Device.AxState.AXSTA_READY)
{
LG.ImmediateStepNext(4);
}
break;
case 4: //相机触发
if (LG.TCnt(50))
{
LG.ImmediateStepNext(5);
}
break;
case 5:
//相机触发结果
LG.ImmediateStepNext(6);
break;
case 6:
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
DeviceRsDef.Ax_刮锡膏.MC_MoveAbs(StartPos);
LG.ImmediateStepNext(2);
DeviceRsDef.Q_刮刀1.OFF();
DeviceRsDef.Q_刮刀2.OFF();
break;
case 2:
if (DeviceRsDef.Ax_刮锡膏.status == AxState.AXSTA_READY)
{
DeviceRsDef.Q_刮刀1.ON();
DeviceRsDef.Q_刮刀2.ON();
LG.ImmediateStepNext(3);
}
break;
case 3:
if (LG.TCnt(Delay))
{
DeviceRsDef.Ax_刮锡膏.MC_MoveAbs(EndPos);
LG.ImmediateStepNext(4);
}
break;
case 4:
if (DeviceRsDef.Ax_刮锡膏.status == AxState.AXSTA_READY)
{
DeviceRsDef.Q_刮刀1.OFF();
DeviceRsDef.Q_刮刀2.OFF();
LG.ImmediateStepNext(5);
}
break;
case 5:
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:
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;
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()
{
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;
}
}
