/// <summary>
/// 获取当工站的夹具号 nCurrentNo当前工站号(站号从1开始）nCurrentNo=工位号，获取的结果是夹具号
/// </summary>
/// <param name="nCurrentNo"></param>
/// <returns></returns>
public int GetSocketNum(int nCurrentNo, double Fine = 0.1)
{
if (MotionMgr.GetInstace().GetHomeFinishFlag(AxisNo) != AxisHomeFinishFlag.Homed)
{
return(-1);
}
lock (locksocketandpos)
{
double val = MotionMgr.GetInstace().GetAxisPos(AxisNo);
foreach (var temp in dicTableSocketAndPos)
{
if (val < temp.Key + Fine && val > temp.Key - Fine)
{
int No = (temp.Value + nCurrentNo - 1) % NumStaionsBroundTable;
if (No == 0)
{
return(NumStaionsBroundTable);
}
else
{
return(No);
}
}
}
return(-1);
}
}
public static void CloseHardWork()
{
CameraMgr.GetInstance().Close();
TcpMgr.GetInstance().CloseAllEth();
MotionMgr.GetInstace().Close();
IOMgr.GetInstace().Close();
}
private void Btn_TestStop_Click(object sender, EventArgs e)
{
DoWhile.StopCirculate();
int nAxisNo = textBox_AxisNo.Text.ToInt();
MotionMgr.GetInstace().StopAxis(nAxisNo);
}
private void updatadataGridView()
{
dataGridView_AxisParamSet.Rows.Clear();
UpdataMotonType();
dataGridView_HomeSet.Rows.Clear();
List <MotionCardBase> list = MotionMgr.GetInstace().GetCardList();
TMovePrm movePrm = new TMovePrm();
THomePrm homePrm = new THomePrm();
foreach (var temp in list)
{
for (int index = temp.GetMinAxisNo(); index <= temp.GetMaxAxisNo(); index++)
{
movePrm = MotionMgr.GetInstace().GetAxisMovePrm(index);
dataGridView_AxisParamSet.Rows.Add(index.ToString(),
MotionMgr.GetInstace().GetAxisName(index),
MotionMgr.GetInstace().GetMotorType(index).ToString(),
movePrm.VelH.ToString(), movePrm.AccH.ToString(), movePrm.DccH.ToString(),
movePrm.VelM.ToString(), movePrm.AccM.ToString(), movePrm.DccM.ToString(),
movePrm.VelL.ToString(), movePrm.AccL.ToString(), movePrm.DccL.ToString(),
movePrm.PlusePerRote.ToString(), movePrm.AxisLeadRange.ToString());
homePrm = MotionMgr.GetInstace().GetAxisHomePrm(index);
dataGridView_HomeSet.Rows.Add(
index.ToString(),
MotionMgr.GetInstace().GetAxisName(index),
homePrm._nHomeMode.ToString(),
homePrm._bHomeDir.ToString(),
homePrm.VelH.ToString(), homePrm.AccH.ToString(), homePrm.DccH.ToString(),
homePrm.VelL.ToString(), homePrm.AccL.ToString(), homePrm.DccL.ToString(),
homePrm._iSeachOffstPluse.ToString());
}
}
}
public void CheckBuzzerPlaneAndUp(bool bManual = false)
{
if (IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"))
{
Task task0 = new Task(() =>
{
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", false);
Info("装料步进运动");
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
pos = pos + (int)(ParamSetMgr.GetInstance().GetDoubleParam("装料步长") * nResolutionZ);
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, bManual ? null : this);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
});
task0.Start();
}
else
{
Task task = new Task(() =>
{
Info("回到原始位置");
double pos = GetStationPointDic()["装料原始位"].pointZ;
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
//AlarmMgr.GetIntance().WarnWithDlg("右剥料工站 装料平台无料，请添加蜂鸣片", bManual ? null : this, CommonDlg.DlgWaranType.WaranOK);
AlarmMgr.GetIntance().WarnWithDlg("右剥料工站 装料平台无料，请添加蜂鸣片,添加完成点击OK", this, CommonDlg.DlgWaranType.WaranOK);
FindBuzzer(bManual);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
});
task.Start();
task.Wait();
}
}
public void MotionStop()
{
if (nAxisOnLine != -1)
{
MotionMgr.GetInstace().StopAxis(nAxisOnLine);
return;
}
if (IOMotionDir == null || IOMotionDir == "")
{
if (BackMotorIo != null && BackMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(BackMotorIo, false);
}
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, false);
}
}
else
{
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, false);
}
if (IOMotionDir != null && IOMotionDir != "")
{
IOMgr.GetInstace().WriteIoBit(IOMotionDir, false);
}
}
}
public void MotionBackRun(bool bRunDir = false)
{
if (nAxisOnLine != -1)
{
MotionMgr.GetInstace().JogMove(nAxisOnLine, !bOutMotorRunDirOnLine, 0, (double)SpeedType.High);
return;
}
if (IOMotionDir == null || IOMotionDir == "")
{
if (BackMotorIo != null && BackMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(BackMotorIo, true);
}
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, false);
}
}
else
{
if (ForwardMotorIo != null && ForwardMotorIo != "")
{
IOMgr.GetInstace().WriteIoBit(ForwardMotorIo, true);
}
if (IOMotionDir != null && IOMotionDir != "")
{
IOMgr.GetInstace().WriteIoBit(IOMotionDir, bRunDir);
}
}
}
private void EvenAddHardware()
{
GlobalVariable.g_eventStationStateChanged += StationStateChangedHandler;
alarmtimer.Elapsed += new System.Timers.ElapsedEventHandler((object senders, ElapsedEventArgs es) =>
{
// if(!bStartAlarmTimer)
{
try
{
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", !IOMgr.GetInstace().ReadIoOutBit("蜂鸣"));
}
bStartAlarmTimer = true;
}
catch (Exception ex)
{
return;
}
}
});
IOMgr.GetInstace().m_deltgateSystemSingl += ProcessSysIo;
MotionMgr.GetInstace().m_eventAxisSingl += ProcessSysIo;
// 注册安全函数
UserConfig.AddIoSafeOperate();
UserConfig.AddAxisSafeOperate();
}
private void BtnSetXY_Click(object sender, EventArgs e)
{
if (!bIsAllPointMachine)
{
if (vc == null || vc.Img == null || !vc.Img.IsInitialized())
{
return;
}
}
if (bIsAllPointMachine)
{
dMx = MotionMgr.GetInstace().GetAxisPos(nAxisX);
dMy = MotionMgr.GetInstace().GetAxisPos(nAxisY);
}
else
{
HTuple rowc, colc;
if (!bModify)
{
vc.DrawPoint(out rowc, out colc);
}
else
{
vc.DrawPointMod(dVy, dVx, out rowc, out colc);
}
dVx = colc.D;
dVy = rowc.D;
}
}
public void Parse(string DispTraceName)
{
if (!dispTraces.ContainsKey(DispTraceName))
{
return;
}
List <DispTraceBaseElement> dispTraceBaseElements = dispTraces[DispTraceName];
foreach (var tem in dispTraceBaseElements)
{
if (tem.GetType() == typeof(DispTraceBaseElementDelay))
{
MotionMgr.GetInstace().AddBufDelay(GpName, ((DispTraceBaseElementDelay)tem).delay);
}
if (tem.GetType() == typeof(DispTraceBaseElementIo))
{
MotionMgr.GetInstace().AddBufIo(GpName, ((DispTraceBaseElementIo)tem).DispIoName, ((DispTraceBaseElementIo)tem).bDispIoState);
}
if (tem.GetType() == typeof(DispTraceBaseElementLine))
{
double vellow = ((DispTraceBaseElementLine)tem).TraceMoveParam.SpeedLow;
double velhigh = ((DispTraceBaseElementLine)tem).TraceMoveParam.SpeedHigh;
double[] StartPoint = new double[3];
StartPoint[0] = ((DispTraceBaseElementLine)tem).cStartPoint.dMx;
StartPoint[1] = ((DispTraceBaseElementLine)tem).cStartPoint.dMy;
StartPoint[2] = ((DispTraceBaseElementLine)tem).cStartPoint.dMz;
MotionMgr.GetInstace().AddBufMove(GpName, BufMotionType.buf_Line3dAbs, 0, 3, velhigh, vellow, null, StartPoint);
double[] EndPoint = new double[3];
EndPoint[0] = ((DispTraceBaseElementLine)tem).cEndPoint.dMx;
EndPoint[1] = ((DispTraceBaseElementLine)tem).cEndPoint.dMy;
EndPoint[2] = ((DispTraceBaseElementLine)tem).cEndPoint.dMz;
MotionMgr.GetInstace().AddBufMove(GpName, BufMotionType.buf_Line3dAbs, 0, 3, velhigh, vellow, null, EndPoint);
}
if (tem.GetType() == typeof(DispTraceBaseElementArc))
{
double vellow = ((DispTraceBaseElementArc)tem).TraceMoveParam.SpeedLow;
double velhigh = ((DispTraceBaseElementArc)tem).TraceMoveParam.SpeedHigh;
double[] StartPoint = new double[3];
StartPoint[0] = ((DispTraceBaseElementArc)tem).cStartPoint.dMx;
StartPoint[1] = ((DispTraceBaseElementArc)tem).cStartPoint.dMy;
StartPoint[2] = ((DispTraceBaseElementArc)tem).cStartPoint.dMz;
MotionMgr.GetInstace().AddBufMove(GpName, BufMotionType.buf_Line3dAbs, 0, 3, velhigh, vellow, null, StartPoint);
double[] CenterPoint = new double[3];
CenterPoint[0] = ((DispTraceBaseElementArc)tem).cEndPoint.dMx;
CenterPoint[1] = ((DispTraceBaseElementArc)tem).cEndPoint.dMy;
double[] EndPoint = new double[3];
EndPoint[0] = ((DispTraceBaseElementArc)tem).cEndPoint.dMx;
EndPoint[1] = ((DispTraceBaseElementArc)tem).cEndPoint.dMy;
if (((DispTraceBaseElementArc)tem).bIsArcDir)//逆时针
{
MotionMgr.GetInstace().AddBufMove(GpName, BufMotionType.buf_Arc2dAbsCCW, 0, 2, velhigh, vellow, CenterPoint, EndPoint);
}
else
{
MotionMgr.GetInstace().AddBufMove(GpName, BufMotionType.buf_Arc2dAbsCW, 0, 2, velhigh, vellow, CenterPoint, EndPoint);
}
}
}
}
public override void OperateLineBeforeLevave(bool bmanual)
{
JackUpCliyderUp(false);
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) == AxisState.NormalStop)
{
MotionMgr.GetInstace().AbsMove(nAxisNo, dDischargePos, (double)SpeedType.High);
}
}
protected override bool InitStation()
{
MotionMgr.GetInstace().ServoOn(11);
ResetAllLineState();
//Config();
PushMultStep((int)StationStep.StepInit, (int)StationStep.LineRun);
return(true);
}
public bool IsCanLeave(bool bmanual)
{
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) > AxisState.NormalStop)
{
AlarmMgr.GetIntance().WarnWithDlg($"流水线{lb.LineName} 在出料前，轴{MotionMgr.GetInstace().GetAxisName(nAxisNo)} ,报警{MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo).ToString()},程序停止", null, CommonDlg.DlgWaranType.WaranOK, null, bmanual);
StationMgr.GetInstance().Stop();
}
bool bIsAxisStop = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) == AxisState.NormalStop;
return(lb.CheckJackUpCliyderStateInPos(false) && bIsAxisStop);
}
private APP()
{
MotionMgr = MotionMgr.GetInstace();
IOMgr = IOMgr.GetInstace();
AlarmMgr = AlarmMgr.GetIntance();
ConfigToolMgr = ConfigToolMgr.GetInstance();
StationMgr = StationMgr.GetInstance();
ParamSetMgr = ParamSetMgr.GetInstance();
ComMgr = ComMgr.GetInstance();
TcpMgr = TcpMgr.GetInstance();
SocketSeverMgr = SocketSeverMgr.GetInstace();
}
public override bool IsCanLeave(bool bmanual)
{
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) > AxisState.NormalStop)
{
AlarmMgr.GetIntance().WarnWithDlg($"流水线{LineName} 在出料前，轴{MotionMgr.GetInstace().GetAxisName(nAxisNo)} ,报警{MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo).ToString()},程序停止", null, CommonDlg.DlgWaranType.WaranOK, null, bmanual);
StationMgr.GetInstance().Stop();
}
bool bIsAxisStop = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) == AxisState.NormalStop;
bool bIsAxisInPosOnOutPos = Math.Abs(MotionMgr.GetInstace().GetAxisActPos(nAxisNo) - dDischargePos) < 0.3;
return(CheckJackUpCliyderStateInPos(false) && bIsAxisStop && bIsAxisInPosOnOutPos);
}
public bool Init(bool bmanual)
{
MotionMgr.GetInstace().ServoOn(11);
bFirist = true;
ResetAllLineState();
Config();
lineSenor.feedMode = FeedMode.前进料;
lineLock.bOutMotorRunDir = true;
WaranResult waranResult = HomeSigleAxisPosWaitInpos(lineUpDown.nAxisNo, this, 2000000, bmanual);
return(waranResult == WaranResult.Run);
}
public override bool IsOutFinishDealOK(bool bmaual)
{
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) > AxisState.NormalStop)
{
AlarmMgr.GetIntance().WarnWithDlg($"流水线{LineName} 在出料前，轴{MotionMgr.GetInstace().GetAxisName(nAxisNo)} ,报警{MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo).ToString()},程序停止", null, CommonDlg.DlgWaranType.WaranOK, null, bmaual);
StationMgr.GetInstance().Stop();
}
bool bIsAxisStop = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) == AxisState.NormalStop;
double pos = MotionMgr.GetInstace().GetAxisActPos(nAxisNo);
bool bIsAxisInPosOnFeedPos = Math.Abs(MotionMgr.GetInstace().GetAxisActPos(nAxisNo) - dFeedPos) < 0.3;
return(bIsAxisStop & bIsAxisInPosOnFeedPos);
}
private void SaveMotorParam_Click(object sender, EventArgs e)
{
if (!Directory.Exists(ParamSetMgr.GetInstance().CurrentWorkDir + ("\\") + ParamSetMgr.GetInstance().CurrentProductFile) ||
ParamSetMgr.GetInstance().CurrentProductFile == null || ParamSetMgr.GetInstance().CurrentProductFile == "")
{
MessageBox.Show("当前产品文件夹不存在，请创建载入或者创建当前产品", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
TMovePrm prm = new TMovePrm();
THomePrm homePrm = new THomePrm();
int indexCell = 0;
for (int index = 0; index < dataGridView_AxisParamSet.RowCount; index++)
{
int nAxisNo = Convert.ToInt32(dataGridView_AxisParamSet.Rows[index].Cells[0].Value);
prm.VelH = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[3].Value);
prm.AccH = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[4].Value);
prm.DccH = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[5].Value);
prm.VelM = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[6].Value);
prm.AccM = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[7].Value);
prm.DccM = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[8].Value);
prm.VelL = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[9].Value);
prm.AccL = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[10].Value);
prm.DccL = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[11].Value);
prm.PlusePerRote = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[12].Value);
prm.AxisLeadRange = Convert.ToDouble(dataGridView_AxisParamSet.Rows[index].Cells[13].Value);
MotionMgr.GetInstace().SetAxisMoveParam(nAxisNo, prm);
MotionMgr.GetInstace().SetAxisName(nAxisNo, dataGridView_AxisParamSet.Rows[index].Cells[1].Value == null ? "NoNamedAxis" : dataGridView_AxisParamSet.Rows[index].Cells[1].Value.ToString());
string strAxisType = dataGridView_AxisParamSet.Rows[index].Cells[2].Value == null?MotorType.SEVER.ToString() : dataGridView_AxisParamSet.Rows[index].Cells[2].Value.ToString();
MotionMgr.GetInstace().SetMotorType(nAxisNo, (MotorType)Enum.Parse(typeof(MotorType), strAxisType));
indexCell = 2;
homePrm._nHomeMode = Convert.ToInt32(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm._bHomeDir = Convert.ToBoolean(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm.VelH = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm.AccH = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm.DccH = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm.VelL = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm.AccL = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm.DccL = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
homePrm._iSeachOffstPluse = Convert.ToDouble(dataGridView_HomeSet.Rows[index].Cells[indexCell++].Value);
MotionMgr.GetInstace().SetAxisHomeParam(nAxisNo, homePrm);
}
ConfigToolMgr.GetInstance().SaveMoveParam();
ConfigToolMgr.GetInstance().SaveHomeParam();
}
public bool GoTableHome(bool bmanual = false)
{
ParamSetMgr.GetInstance().SetBoolParam("转盘回零完成", false);
if (!checkSafe())
{
return(false);
}
Info("转盘开始回零");
if (bmanual || MotionMgr.GetInstace().GetHomeFinishFlag(AxisU) != AxisHomeFinishFlag.Homed)
{
MotionMgr.GetInstace().ServoOn((short)AxisU);
HomeSigleAxisPosWaitInpos(AxisU, this, 120000, bmanual);
}
ParamSetMgr.GetInstance().SetBoolParam("转盘回零完成", true);
Info("转盘回零完成");
return(true);
}
public static bool IsSafeWhenLeftRightUVOut(string ioName, bool bVal)
{
if (ioName == "侧向UV气缸" && bVal)
{
int nAxisNo = 8;
AxisState axisState = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo);
if (axisState < AxisState.NormalStop)
{
if (GlobalVariable.g_StationState != StationState.StationStateRun)
{
MessageBox.Show("侧向UV气缸推出时，转盘在转动，不能推出", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
_logger.Error("侧向UV气缸推出时，转盘在转动，不能推出");
return(false);
}
}
return(true);
}
public static void CloseHardWork()
{
//for (int i = 0; i < 6; i++)
// LightControl.GetInstance().CloseLight(i);
ResetIO();
AlarmMgr.GetIntance().StopAlarmBeet();
CameraMgr.GetInstance().Close();
TcpMgr.GetInstance().CloseAllEth();
MotionMgr.GetInstace().Close();
IOMgr.GetInstace().Close();
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
OtherDevices.ckPower.SetVoltage(1, 0);
OtherDevices.ckPower.SetVoltage(2, 0);
}
// LightControl.GetInstance().Close();
// Weighing.GetInstance().Close();
}
private bool checkSafe()
{
StationAA stationAA = (StationAA)StationMgr.GetInstance().GetStation("AA站");
StationDisp stationDisp = (StationDisp)StationMgr.GetInstance().GetStation("点胶站");
double SafeHeightAA = stationAA.GetStationPointDic()["安全位置"].pointZ;
double SafeHeightDisp = stationDisp.GetStationPointDic()["安全位置"].pointZ;
double getAAPos = MotionMgr.GetInstace().GetAxisPos(stationAA.AxisZ);
double getDispPos = MotionMgr.GetInstace().GetAxisPos(stationDisp.AxisZ);
if (MotionMgr.GetInstace().GetHomeFinishFlag(stationAA.AxisZ) != AxisHomeFinishFlag.Homed || getAAPos < SafeHeightAA - 0.5)
{
if (GlobalVariable.g_StationState != StationState.StationStateRun)
{
MessageBox.Show("转盘运动前，检查AA站Z轴没有回原点或者低于安全高度", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
}
return(false);
}
if (MotionMgr.GetInstace().GetHomeFinishFlag(stationDisp.AxisZ) != AxisHomeFinishFlag.Homed || getDispPos < SafeHeightDisp - 0.5)
{
if (GlobalVariable.g_StationState != StationState.StationStateRun)
{
MessageBox.Show("转盘运动前，检查点胶站Z轴没有回原点或者低于吐胶点高度", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
}
return(false);
}
//if (!IOMgr.GetInstace().ReadIoInBit("A治具盖上检测"))
if (!SysFunConfig.LodUnloadPatten.IsSafeWhenURun("A"))
{
MessageBox.Show("转盘运动前，检查A治具盖上检测失败！", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
return(false);
}
// if (!IOMgr.GetInstace().ReadIoInBit("B治具盖上检测"))
if (!SysFunConfig.LodUnloadPatten.IsSafeWhenURun("B"))
{
MessageBox.Show("转盘运动前，检查B治具盖上检测失败！", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
return(false);
}
Info($"安全位置检查成功,disp:{MotionMgr.GetInstace().GetAxisPos(stationDisp.AxisZ)}aa:{ MotionMgr.GetInstace().GetAxisPos(stationAA.AxisZ)}.");
return(true);
}
public string GetStationName(double Fine = 0.1)
{
if (MotionMgr.GetInstace().GetHomeFinishFlag(AxisNo) != AxisHomeFinishFlag.Homed)
{
return("None");
}
lock (lockstationandpos)
{
double val = MotionMgr.GetInstace().GetAxisPos(AxisNo);
foreach (var temp in dicTableStationAndPos)
{
if (val < temp.Key + Fine && val > temp.Key - Fine)
{
return(temp.Value);
}
}
}
return("None");
}
public static bool IsSafeWhenTableAxisMoveHandler(int nAxisNo, double currentpos, double dsstpos, MoveType moveType)
{
StationAA stationAA = (StationAA)StationMgr.GetInstance().GetStation("AA站");
StationDisp stationDisp = (StationDisp)StationMgr.GetInstance().GetStation("点胶站");
double SafeHeightAA = stationAA.GetStationPointDic()["安全位置"].pointZ;
double SafeHeightDisp = stationDisp.GetStationPointDic()["安全位置"].pointZ;
// double SafeHeightDisp = stationDisp.GetStationPointDic()["安全位置"].pointZ;
if (MotionMgr.GetInstace().GetAxisName(nAxisNo) == "U")
{
if (MotionMgr.GetInstace().GetHomeFinishFlag(stationAA.AxisZ) != AxisHomeFinishFlag.Homed || MotionMgr.GetInstace().GetAxisPos(stationAA.AxisZ) < SafeHeightAA - 0.5)
{
if (GlobalVariable.g_StationState != StationState.StationStateRun)
{
MessageBox.Show("转盘运动前，检查AA站Z轴没有回原点或者低于安全高度", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
return(false);
}
if (MotionMgr.GetInstace().GetHomeFinishFlag(stationDisp.AxisZ) != AxisHomeFinishFlag.Homed || MotionMgr.GetInstace().GetAxisPos(stationDisp.AxisZ) < SafeHeightDisp - 1)
{
if (GlobalVariable.g_StationState != StationState.StationStateRun)
{
MessageBox.Show("转盘运动前，检查点胶站Z轴没有回原点或者低于吐胶点高度", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
_logger.Error("转盘运动前，检查点胶站Z轴没有回原点或者低于吐胶点高度");
return(false);
}
if (ParamSetMgr.GetInstance().GetBoolParam("是否侧向UV") &&
(!IOMgr.GetInstace().ReadIoInBit("左侧UV原位") || !IOMgr.GetInstace().ReadIoInBit("左侧UV原位")))
{
if (GlobalVariable.g_StationState != StationState.StationStateRun)
{
MessageBox.Show("转盘运动前，左右UV是否在原位", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
_logger.Error("转盘运动前，左右UV是否在原位");
return(false);
}
}
return(true);
}
public bool MoveY(double pos, SpeedType speedType)
{
bool result = false;
MotionMgr.GetInstace().AbsMove(AxisY, pos, (double)speedType);
Stopwatch stopwatch = new Stopwatch();
stopwatch.Restart();
do
{
if (stopwatch.ElapsedMilliseconds > 30000)
{
return(false);
}
if (MotionMgr.GetInstace().IsAxisNormalStop(AxisY) == AxisState.NormalStop)
{
return(true);
}
Thread.Sleep(10);
}while (true);
}
public void Move(int nAxisNo, double distance, int speedtype)
{
MotionMgr.GetInstace().AbsMove(nAxisNo, distance, speedtype);
DoWhile doWhile = new DoWhile((time, dowhile, bmanual2, obj) =>
{
AxisState axisState = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo);
if (axisState == AxisState.NormalStop)
{
return(WaranResult.Run);
}
else if (axisState == AxisState.Moving)
{
return(WaranResult.CheckAgain);
}
else
{
logger.Warn(string.Format("{0}轴状态:{1}", nAxisNo, axisState));
throw new Exception("电机测试报警停止" + string.Format("{0}轴状态:{1}", nAxisNo, axisState));
}
}, 3000000);
doWhile.doSomething(null, doWhile, true, null);
}
public bool WaitXY(double posX, double posY)
{
bool result = false;
Stopwatch stopwatch = new Stopwatch();
stopwatch.Restart();
do
{
if (stopwatch.ElapsedMilliseconds > 10000)
{
return(false);
}
if (MotionMgr.GetInstace().IsAxisNormalStop(AxisY) == AxisState.NormalStop && MotionMgr.GetInstace().IsAxisNormalStop(AxisX) == AxisState.NormalStop)
{
return(true);
}
//if (Math.Abs(MotionMgr.GetInstace().GetAxisPos(AxisX) - posX) < 0.01 && Math.Abs(MotionMgr.GetInstace().GetAxisPos(AxisY) - posY) < 0.01)
//{
// return true;
//}
Thread.Sleep(10);
}while (true);
}
public bool GoSanpHome(bool bmanual = false)
{
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
Info("点胶开始回零");
ParamSetMgr.GetInstance().SetBoolParam("点胶回零完成", false);
MotionMgr.GetInstace().ServoOn((short)AxisZ);
MotionMgr.GetInstace().ServoOn((short)AxisX);
MotionMgr.GetInstace().ServoOn((short)AxisY);
if (bmanual || MotionMgr.GetInstace().GetHomeFinishFlag(AxisZ) != AxisHomeFinishFlag.Homed)
{
HomeSigleAxisPosWaitInpos(AxisZ, this, 120000, bmanual);
}
if (bmanual || MotionMgr.GetInstace().GetHomeFinishFlag(AxisX) != AxisHomeFinishFlag.Homed)
{
HomeSigleAxisPosWaitInpos(AxisX, this, 120000, bmanual);
}
if (bmanual || MotionMgr.GetInstace().GetHomeFinishFlag(AxisY) != AxisHomeFinishFlag.Homed)
{
HomeSigleAxisPosWaitInpos(AxisY, this, 120000, bmanual);
}
ParamSetMgr.GetInstance().SetBoolParam("点胶回零完成", true);
Info("点胶回零完成");
return(true);
}
protected override void StationWork(int step)
{
if (ParamSetMgr.GetInstance().GetIntParam("右剥料屏蔽") == 1)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", true);
return;
}
WaranResult waranResult;
bool bfind = ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功");
bool bgooripos = ParamSetMgr.GetInstance().GetBoolParam("右剥料归位");
PlaneState planeState = PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState;
NozzleState nozzleState = NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState;
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") && ParamSetMgr.GetInstance().GetBoolParam("右剥料归位") &&
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState == PlaneState.None &&
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.Have &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
///loadState = LoadState.exceing;
Carray();
// loadState = LoadState.None;
}
switch (step)
{
case (int)StationStep.step_init:
Init();
retry_FindBuzzer:
waranResult = FindBuzzer();
if (waranResult == WaranResult.Retry)
{
goto retry_FindBuzzer;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"))
{
retry_go_蜂鸣器顶位:
if (sys.g_AppMode == AppMode.AirRun)
{
ParamSetMgr.GetInstance().SetIntParam("右蜂鸣器顶位", (int)GetStationPointDic()["装料原始位"].pointZ);
}
WaranResult waranResult1 = MoveSigleAxisPosWaitInpos(AxisZ, ParamSetMgr.GetInstance().GetIntParam("右蜂鸣器顶位"), (int)MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, false, this, 60000);
if (waranResult1 == WaranResult.Retry)
{
goto retry_go_蜂鸣器顶位;
}
}
MoveSigleAxisPosWaitInpos(AxisY, GetStationPointDic()["剥料准备位"].pointY, (double)SpeedType.High, 20, false, this, 60000);
PushMultStep((int)StationStep.step_Separate);
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", true);
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", 0);
DelCurrentStep();
break;
case (int)StationStep.step_Separate:
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
if (PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState == PlaneState.None)
{
break;
}
int Count = ParamSetMgr.GetInstance().GetIntParam("右剥料次数");
if (Count > 6)
{
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
break;
}
Separate(Count);
Count = ParamSetMgr.GetInstance().GetIntParam("右剥料次数");
if (Count >= 2 && Count <= 6)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", true);
PushMultStep((int)StationStep.step_WaitGetFinish);
DelCurrentStep();
}
else if (Count > 6)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
break;
}
else
{
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
}
break;
case (int)StationStep.step_WaitGetFinish:
if (ParamSetMgr.GetInstance().GetBoolParam("右剥料取料完成"))
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料取料完成", false);
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
}
break;
}
}
private void LoadWortk(bool bManual = false)
{
try
{
if (!ParamSetMgr.GetInstance().GetBoolParam("右剥料回原点成功"))
{
return;
}
if (!IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器") &&
!ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
loadState != LoadState.exceing &&
sys.g_AppMode == AppMode.AirRun &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
retry_find:
loadState = LoadState.exceing;
WaranResult waranResult = FindBuzzer();
if (waranResult == WaranResult.Retry)
{
goto retry_find;
}
loadState = LoadState.None;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
ParamSetMgr.GetInstance().GetBoolParam("右装料平台上升到位") &&
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.None &&
loadState != LoadState.exceing &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
loadState = LoadState.exceing;
Pick();
loadState = LoadState.None;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
!ParamSetMgr.GetInstance().GetBoolParam("右装料平台上升到位") &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info("装料步进运动");
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
double steplen = ParamSetMgr.GetInstance().GetDoubleParam("装料步长");
pos = pos + (int)(steplen * nResolutionZ);
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
}
}
catch (Exception e)
{
loadState = LoadState.None;
Warn("异常发生" + e.Message);
return;
}
}
