protected override bool InitStation()
{
ParamSetMgr.GetInstance().SetBoolParam("右搜寻蜂鸣器成功", false);
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", 0);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", false);
ParamSetMgr.GetInstance().SetBoolParam("右剥料回原点成功", false);
AlarmMgr.GetIntance().DoWhenAlarmEvent += DoSomethingWhenalarm;
if (!thread.IsAlive)
{
thread.IsBackground = true;
thread.Start(this);
}
PushMultStep((int)StationStep.step_init);
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState = PlaneState.None;
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;
}
}
public void Separate(int index, bool bManual = false)
{
double pos = GetStationPointDic()["剥料起始位"].pointY;
double posz = 0, posy = 0;
WaranResult waranResult;
Info(string.Format("{0} {1}次剥料", bManual?"手动":"自动", index));
if (index > 6)
{
return;
}
switch (index)
{
case 0:
#region 压
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", false);
retry_pressup:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料后压紧气缸原位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressup;
}
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressup;
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料夹料气缸原位", true, "右剥料：Separate：右剥料夹料气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressup;
}
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
double xpos = GetStationPointDic()["剥料下压位"].pointX;
double ypos = GetStationPointDic()["剥料下压位"].pointY;
Info("右剥料:Y轴 去剥料下压位,RBZ轴 去剥料前压位");
//MoveSigleAxisPosWaitInpos(AxisY, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisY).VelH, 20, bManual, this);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisY }, new double[] { xpos, ypos }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 20, bManual, this, 60000);
retry_pressdown:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressdown;
}
#if false
IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressdown;
}
#endif
ypos = GetStationPointDic()["剥料前压位"].pointY;
Info("去剥料前压位");
MoveSigleAxisPosWaitInpos(AxisY, ypos, (double)SpeedType.High, 20, bManual, this);
retry_pushfront_:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pushfront_;
}
#if false
retry_push:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_push;
}
#endif
Info("右剥料 下拉");
xpos = GetStationPointDic()["剥料前压位"].pointX;
Info("去剥料前压位下压");
MoveSigleAxisPosWaitInpos(AxisX, xpos, (double)SpeedType.High, 20, bManual, this);
Info("右剥料 预剥料完成");
retry_camp:
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_camp;
}
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料：Separate：右剥料压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressdown;
break;
#endregion
case 6:
#region 弃料
//retry_pressbackdown:
//IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressbackdown;
//retry_Spressup2:
//IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_Spressup2;
retry_pressbackup:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料后压紧气缸原位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressbackup;
}
posz = GetStationPointDic()["剥料弃料位"].pointX;
// posy= GetStationPointDic()["剥料弃料位"].pointY;
Info("右剥料：去弃料位");
MoveSigleAxisPosWaitInpos(AxisX, posz, MotionMgr.GetInstace().GetAxisMovePrm(AxisX).VelH, 20, bManual, this);
// MoveLine2DWaitInpos("右剥料YZ", new double[] { posz, posy }, 20, bManual);
IOMgr.GetInstace().WriteIoBit("右剥料上吹气电磁阀", true);
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", true);
retry_SFront2:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料气缸原位", true, "右剥料：Separate：右剥料气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_SFront2;
}
PulseGenerator pulseGenerator = new PulseGenerator(200, 8, new Action <int>((nCount) => {
if (nCount % 2 == 0)
{
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", false);
}
else
{
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", true);
}
}), new Action(() => {
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", false);
}));
retry_Spressup3:
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料夹料气缸原位", true, "右剥料：Separate：右剥料夹料气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_Spressup3;
}
pulseGenerator.StartPulseGenerator();
//retry_pressfrontpressup2:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
// waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontpressup2;
//retry_frontpush:
//IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_frontpush;
//retry_pressbackdown2:
//IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressbackdown2;
// retry_pressfrontup:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
// waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontup;
retry_pressbackup5:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料后压紧气缸原位", true, "右剥料：Separate：右剥料后压紧气缸原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressbackup5;
}
pos = GetStationPointDic()["剥料准备位"].pointY;
double posX = GetStationPointDic()["剥料准备位"].pointX;
Info("右剥料：回剥料准备位");
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisY }, new double[] { posX, pos }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 20, bManual, this, 60000);
IOMgr.GetInstace().WriteIoBit("右剥料上吹气电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料下吹气电磁阀", false);
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", true);
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState = PlaneState.None;
break;
#endregion
default:
#region 剥料（1 2 3 4 5）
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", false);
#if false
retry_pressfrontpressup:
IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料：Separate：右剥料压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressfrontpressup;
}
retry_pressfrontfront2:
IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", false);
waranResult = CheckIobyName("右剥料前推压紧气缸原位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressfrontfront2;
}
#endif
#if true
retry_Sback:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_Sback;
}
#else
retry_push2:
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
waranResult = CheckIobyName("右剥料气缸原位", true, "右剥料：Separate：右剥料气缸电原位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_push2;
}
#endif
//retry_SFront:
//IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料气缸原位", true, "右剥料：Separate：右剥料气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_SFront;
retry_Spressup:
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_Spressup;
}
pos = GetStationPointDic()["剥料起始位"].pointY;
double lenstep = ParamSetMgr.GetInstance().GetDoubleParam("剥料步长");
posy = pos - (int)((index - 1) * lenstep * nResolutionY);
pos = GetStationPointDic()["剥料起始位"].pointX;
posz = pos - (int)((index - 1) * lenstep * nResolutionX);
MoveLine2DWaitInpos("右剥料YZ", new double[] { posz, posy }, 10, bManual);
//Info("去剥料起始位Y");
//MoveSigleAxisPosWaitInpos(AxisY, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisY).VelH, 20, bManual, this);
//Info("去剥料起始位LZ");
//MoveSigleAxisPosWaitInpos(AxisX, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisX).VelH, 20, bManual, this);
Info("压紧气缸下压");
retry_pressbackdownagain:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料后压紧气缸到位", true, "右剥料：Separate：右剥料后压紧气缸到位 到位失败", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_pressbackdownagain;
}
//retry_pressfrontfront:
// IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
// waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料：Separate：右剥料前推压紧气缸到位 到位失败", bManual);
// if (waranResult == WaranResult.Retry)
// goto retry_pressfrontfront;
//retry_pressfrontpressdown:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料：Separate： 右剥料压紧气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontpressdown;
//retry_Spressdown:
//IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", true);
//waranResult = CheckIobyName("右剥料夹料气缸到位", true, "右剥料：Separate：右剥料夹料气缸到位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_Spressdown;
//Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("下压延时"));
//retry_Sback:
// IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", true);
// waranResult = CheckIobyName("右剥料气缸到位", true, "右剥料：Separate：右剥料气缸到位 到位失败", bManual);
// if (waranResult == WaranResult.Retry)
// goto retry_Sback;
// Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("拨料延时"));
//retry_pressfrontpressup3:
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料：Separate：右剥料压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontpressup3;
//retry_pressfrontback:
//IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", false);
//waranResult = CheckIobyName("右剥料前推压紧气缸原位", true, "右剥料：Separate：右剥料前推压紧气缸原位 到位失败", bManual);
//if (waranResult == WaranResult.Retry)
// goto retry_pressfrontback;
double currentpos = MotionMgr.GetInstace().GetAxisPos(AxisX);
MoveSigleAxisPosWaitInpos(AxisX, currentpos + ParamSetMgr.GetInstance().GetDoubleParam("剥料后拉距离") * nResolutionY, (double)SpeedType.High, 20, bManual, this, 60000);
break;
#endregion
}
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", ++index);
}
public bool Carray(bool bmanul = false)
{
Info("右剥料工站：搬运气缸开始搬运物料");
WaranResult waranResult;
// CheckAndUp(bmanul);
retry_carry_up:
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
Info("右装料Z轴气缸电磁阀 上升");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", false);
waranResult = CheckIobyName("右装料Z轴气缸原位", true, "右剥料工站：右装料Z轴气缸电磁阀 上升失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_up;
}
StationRightPackage stationLeftPackage = (StationRightPackage)StationMgr.GetInstance().GetStation("右贴装站");
int AxisYNooFPageBack = stationLeftPackage.AxisY;
int AxiXYNooFPageBack = stationLeftPackage.AxisX;
retry_carryMoving:
if (MotionMgr.GetInstace().GetHomeFinishFlag(AxisY) == AxisHomeFinishFlag.Homed && MotionMgr.GetInstace().GetAxisPos(AxisY) > GetStationPointDic()["剥料准备位"].pointY - 50 &&
MotionMgr.GetInstace().GetHomeFinishFlag(AxisYNooFPageBack) == AxisHomeFinishFlag.Homed && MotionMgr.GetInstace().GetAxisPos(AxisYNooFPageBack) < stationLeftPackage.GetStationPointDic()["搬料安全位"].pointY - 50
)
{
#if false
IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料工站：右剥料前推压紧气缸到位失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMoving;
}
IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料工站：右剥料压紧气缸到位失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMoving;
}
#endif
Info("右装料搬运气缸电磁阀 移动搬料");
IOMgr.GetInstace().WriteIoBit("右装料搬运气缸电磁阀", true);
waranResult = CheckIobyName("右装料搬运气缸到位", true, "右剥料工站：右装料搬运气缸到位失败，物料可能掉落，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMoving;
}
// CheckBuzzerPlaneAndUp();
retry_carry_down:
Info("右装料Z轴气缸电磁阀 下降");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", true);
waranResult = CheckIobyName("右装料Z轴气缸到位", true, "右剥料工站：右装料Z轴气缸原下降失败，物料可能掉落，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_down;
}
Info("右装料真空吸电磁阀 关闭");
Info("右装料破真空电磁阀 打开");
Info("右剥料真空吸电磁阀 打开");
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", true);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", true);
Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("吸真空延时"));
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
retry_carry_up2:
Info("右装料Z轴气缸电磁阀 上升");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", false);
waranResult = CheckIobyName("右装料Z轴气缸原位", true, "右剥料工站：右装料Z轴气缸电磁阀 上升 失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_up2;
}
waranResult = CheckIobyName("右剥料真空检测", true, "右剥料工站:Carray:蜂鸣器片 在剥料平台未吸紧", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_down;
}
Info("右装料真空吸电磁阀 复检 检查料是否脱落");
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", true);
waranResult = CheckIobyName("右装料真空检测", false, "右剥料工站 :Carray:蜂鸣器片 在装料抓手上未脱离", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_down;
}
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
retry_carryMovingback:
Info("右装料搬运气缸电磁阀 移动搬料");
IOMgr.GetInstace().WriteIoBit("右装料搬运气缸电磁阀", false);
waranResult = CheckIobyName("右装料搬运气缸原位", true, "右剥料工站：Carray:搬运气缸回到原位", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMovingback;
}
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", 0);
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState = NozzleState.None;
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState = PlaneState.Have;
return(true);
}
else
{
Info("Y轴 在剥料准备位前 不能移动 请挪开 或者 右剥料平台Y轴 没有回原点");
return(false);
WaranResult waranResult2 = AlarmMgr.GetIntance().WarnWithDlg("Y轴 在剥料准备位前 不能移动 请挪开 或者 右剥料平台Y轴 没有回原点", bmanul ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry);
if (waranResult2 == WaranResult.Retry)
{
goto retry_carryMoving;
}
}
}
