public static void dealysend() //延时程序
{
while (MainWindow.AutoMode2)
{
if (AGV1delaytime == true)
{
Thread.Sleep(TimeSpan.FromSeconds(3));
byte[] cmd1 = new byte[] { 0x03, 0x2A, 0x00, 0x00 };
AGV1.sendRequestcmd(cmd1); //AGV1前往初始位置
ModifyTxt.PrintlogTxt("//AGV1前往初始位置");
AGV1delaytime = false;
}
if (AGV2delaytime == true)
{
Thread.Sleep(TimeSpan.FromSeconds(3));
byte[] cmd2 = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
AGV2.sendRequestcmd(cmd2); //AGV2前往立库料台处
ModifyTxt.PrintlogTxt("//AGV2前往立库料台处");
AGV2delaytime = false;
}
if (AGV2delaytime1 == true)
{
Thread.Sleep(TimeSpan.FromSeconds(80)); //延时80S
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 }; //AGV2前往初始位置
AGV2.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt(" //AGV2前往初始位置");
AGV2delaytime1 = false;
}
}
}
public static void watchexecuteState()
{
while (MainWindow.AutoMode1)
{
if (FrontPart == true)
{
if (MainWindow.CLkOutlibSignal1 == true) //界面UI要求零件开始工作
{
Count++;
if (Count <= 2)
{
RefleshFlags();
//////这里有一个出库指令
byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
TWH.sendRequestcmd(cmd); //出库指令
ModifyTxt.PrintlogTxt("//出库指令");
byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //发送AGV1去往立库料台命令
if (AGV1.PlatfromStateArray[2] != 0x05) //如果AGV1不是正在去往料台
{
AGV1.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt("发送AGV1去往立库料台命令");
}
MainWindow.CLkOutlibSignal1 = false;
}
}
if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV1达到立库料台处且无料盘且出库执行成功
{
byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 }; //AGV1在立库料台取货
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1在立库料台取货");
OutlibCompleted = false;
}
if (AGV1.PlatfromStateArray[4] == 0x01) //AGV1已从料台取出料盘
{
if (!ControlOnlyOneFlag26)
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 }; //AGV1前往零件接转区
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1前往零件接转区");
ControlOnlyOneFlag26 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x06) //AGV1正在前往零件结转区
{
if (!ControlOnlyOneFalg1) //控制代码块只进入一次，这里保证只发送一次出库命令
{
//////这里有一个出库命令
byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
TWH.sendRequestcmd(cmd); //出库命令
ModifyTxt.PrintlogTxt("//出库命令");
byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //AGV2前往立库料台处
AGV2.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt("//AGV2前往立库料台处");
ControlOnlyOneFalg1 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x03) //AGV1到达零件转接区
{
if (!ControlOnlyOneFlag2)
{
AGV1Falg = true;
MixtoAGVOneStep = true; //通知复合来AGV1接货
ControlLock1 = false; //解锁
ControlOnlyOneFlag2 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x01 && AGV1.PlatfromStateArray[3] == 0x01) //AGV1在初始位置且有料盘
{
if (!ControlOnlyOneFlag27)
{
byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //AGV1前往立库料台处
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1前往立库料台处");
ControlOnlyOneFlag27 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x01 && AGV2.PlatfromStateArray[2] == 0x03) //AGV1在立库料台处且有料盘且AGV2在零件接转区
{
if (!ControlOnlyOneFlag11)
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 }; //AGV1将料盘送回立库
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1将料盘送回立库");
byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
TWH.sendRequestcmd(cmd1); //入库操作
ModifyTxt.PrintlogTxt("//入库操作");
ControlOnlyOneFlag11 = true;
}
///这里有一个入库动作
}
if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[4] == 0x02) //AGV1在立库料台处已将料盘送回立库
{
if (!ControlOnlyOneFlag28)
{
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 }; //AGV1前往初始位置
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1前往初始位置");
ControlOnlyOneFlag28 = true;
}
}
if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV2在立库料台处且无料盘且出库完成
{
byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 }; //AGV2在立库料台取货
AGV2.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt(" //AGV2在立库料台取货");
OutlibCompleted = false;
}
if (AGV2.PlatfromStateArray[4] == 0x01) //AGV2已从立库料台处取货
{
if (AGV1.PlatfromStateArray[2] == 0x04) //AGV1正在前往原点
{
if (!ControlOnlyOneFlag29)
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
AGV2.sendRequestcmd(cmd); //AGV2前往零件转接区
ModifyTxt.PrintlogTxt("//AGV2前往零件转接区");
ControlOnlyOneFlag29 = true;
}
}
}
if (AGV2.PlatfromStateArray[2] == 0x03) //AGV2到达零件转接区
{
if (!ControlOnlyOneFlag3)
{
AGV2Flag = true;
MixtoAGVOneStep = true; //通知复合来AGV接货
ControlLock1 = false; //解锁
ControlOnlyOneFlag14 = false;
ControlOnlyOneFlag15 = false;
ControlOnlyOneFlag16 = false;
ControlOnlyOneFlag17 = false;
ControlOnlyOneFlag3 = true;
}
}
if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x01 && AGV1.PlatfromStateArray[2] == 0x01) //AGV2在立库料台处且有料盘且AGV1在初始位置
{
if (!ControlOnlyOneFlag12)
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 }; //AGV2将料盘送回立库
AGV2.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV2将料盘送回立库");
byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
TWH.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt(" ///入库动作");
ControlOnlyOneFlag12 = true;
}
///还有个入库动作
}
if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[4] == 0x02) //AGV2在立库料台处已将料盘送回立库
{
if (!ControlOnlyOneFlag13)
{
AGV2delaytime1 = true; //AGV2延时在立库料台送料完成后延时
ControlOnlyOneFlag13 = true;
}
}
if (AGV2.PlatfromStateArray[2] == 0x04 && AGV2.PlatfromStateArray[3] == 0x00) //正在前往原点 且无料盘
{
LastStep = true;
}
if (AGV2.PlatfromStateArray[2] == 0x01 && AGV2.PlatfromStateArray[3] == 0x00 && LastStep == true) //AGV2在初始位置且无料盘且最后一步
{
if (!ControlOnlyOneFlag6)
{
MainWindow.CLkOutlibSignal1 = true;
ControlOnlyOneFlag6 = true;
LastStep = false;
}
if (TwoActionCount0 >= 4) //如果动作0执行了4次
{
FrontPart = false; //开始执行下一部分
}
}
if (MixtoAGVOneStep == true && MixRobot.PlatfromStateArray[2] == 0x01) //如果AGV要求复合到零件接转区且复合在初始位置
{
if (!ControlOnlyOneFlag14)
{
byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往零件接转区
ModifyTxt.PrintlogTxt("复合前往零件接转区");
ControlOnlyOneFlag14 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x00) //复合在零件接转区且等待
{
if (!ControlOnlyOneFlag15)
{
byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在接转区取/放零件料盘
ModifyTxt.PrintlogTxt("//复合在接转区取/放零件料盘");
ControlOnlyOneFlag15 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVOneStep == true) //f复合在零件接转区且手臂动作已完成
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合去往双臂装配区
ModifyTxt.PrintlogTxt(" //复合去往双臂装配区");
MixtoAGVOneStep = false;
}
if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVTwoStep == true) //复合第二次在零件接转区且手臂动作已完成
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往初始位置
ModifyTxt.PrintlogTxt("//复合前往初始位置");
if (AGV1Falg == true) //这是AGV1在接转区
{
AGV1delaytime = true; //AGV1延时3秒再走，以防碰撞
AGV1Falg = false;
}
if (AGV2Flag == true)
{
AGV2delaytime = true; //AGV2延时3秒再走，以防碰撞
AGV2Flag = false;
}
MixtoAGVTwoStep = false;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00) //复合在双臂处且等待
{
if (!ControlOnlyOneFlag16)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在装配区取/放零件托盘
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件托盘处");
ControlOnlyOneFlag16 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && ControlLock1 == false) //复合在双臂处且手臂动作已完成
{
MainWindow.TwoRobotActionFlag0 = true; //通知双臂机器人执行动作0
ControlLock1 = true; //该条件不能再进入
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete0 == true) //复合在双臂处且手臂动作已完成且双臂动作0完成
{
if (!ControlOnlyOneFlag17)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在装配区取/放零件料盘
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
ControlOnlyOneFlag17 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete0 == true) //复合在双臂处且手臂动作未完成且双臂动作0完成
{
TwoRobotActionComplete0 = false;
MixInTwoCanLastStep = true;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoCanLastStep == true) //复合在双臂处且手臂已经将双臂料盘拿回来
{
byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往零件接转区
ModifyTxt.PrintlogTxt("//复合前往零件接转区");
TwoActionCount0++; //动作0加1
if (TwoActionCount0 >= 4) //如果动作0执行了4次
{
MainWindow.TwoRobotActionFlag1 = true; //开始执行动作1：装配
}
MixtoAGVTwoStep = true; //复合第二次前往接转区
ControlOnlyOneFlag15 = false;
MixInTwoCanLastStep = false;
}
}
/////////////////////////////////以下为装配完成后的动作//////////////////////////////////////
if (FrontPart == false)
{
if (AssemblyCompleted == true && MixRobot.PlatfromStateArray[2] == 0x01 && AGV2.PlatfromStateArray[2] == 0x01) //如果装配完成且复合在初始位置且AGV2在初始位置
{
if (!ControlOnlyOneFlag25)
{
delayOutlib = true; //延时出库
ControlOnlyOneFlag25 = true;
}
/////////这里有一个出库动作////////////////////
}
if (MixRobot.PlatfromStateArray[2] == 0x01 && FAGVInSafeArea == true) //如果复合在初始位置且叉车AGV在安全区
{
if (!ControlOnlyOneFlag18)
{
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 }; //复合前往成品接转区
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合前往成品接转区");
ControlOnlyOneFlag18 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && FAGVInSafeArea == true) //复合在成品接转区且等待并且叉车AGV在安全区
{
if (!ControlOnlyOneFlag19)
{
byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 }; //复合在成品区取/放零件料盘
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
ControlOnlyOneFlag19 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && FAGVInSafeArea == true) //复合在成品区且手臂动作已完成，叉车AGV在安全区
{
if (!ControlOnlyOneFlag20)
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往零件装配区
ModifyTxt.PrintlogTxt("//复合前往零件装配区");
ControlOnlyOneFlag20 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00 && FAGVInSafeArea == true) //复合在装配区等待且等待 叉车AGV在安全区
{
if (!ControlOnlyOneFlag21)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 }; //复合在装配区取/放零件料盘
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
ControlOnlyOneFlag21 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && FAGVInSafeArea == true && ControlLock2 == false) //复合在装配区且手臂动作已完成，叉车AGV在安全区
{
MainWindow.TwoRobotActionFlag2 = true; //双臂将成品放到料盘中
ModifyTxt.PrintlogTxt("//双臂将成品放到料盘中");
FAGVInSafeArea = false;
ControlLock2 = true;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete2 == true) ////复合在装配区且手臂动作已完成，且双臂动作2完成
{
if (!ControlOnlyOneFlag22)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 }; //复合在装配区取/放零件料盘
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
ControlOnlyOneFlag22 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete2 == true) ////复合在装配区且手臂动作未完成，且双臂动作2完成
{
TwoRobotActionComplete2 = false;
MixInTwoTakeAssembly = true;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoTakeAssembly == true) ////复合在装配区且手臂动作已完成，已拿下成品
{
if (!ControlOnlyOneFlag23)
{
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往成品接转区
ModifyTxt.PrintlogTxt("//复合前往成品接转区");
ControlOnlyOneFlag23 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && MixInTwoTakeAssembly == true) ////复合在成品区且等待，已拿下成品
{
if (!ControlOnlyOneFlag24)
{
byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在成品区取/放零件料盘
ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
ControlOnlyOneFlag24 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoTakeAssembly == true) ////复合在成品区手臂动作已完成，已拿下成品
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往初始位置
ModifyTxt.PrintlogTxt("//复合前往初始位置");
byte cmd1 = 0x03;
FAGV.sendRequestcmd(cmd1); //FAGV前往中转区取料
ModifyTxt.PrintlogTxt(" //FAGV前往中转区取料");
MixInTwoTakeAssembly = false;
}
if (FAGV.ExecuteState[3] == 0x03) //叉车AGV前往中转区取料完成
{
if (!ControlOnlyOneFlag7)
{
byte cmd = 0x02;
FAGV.sendRequestcmd(cmd); //叉车AGV前往立库料台送料
ModifyTxt.PrintlogTxt(" //叉车AGV前往立库料台送料");
ControlOnlyOneFlag7 = true;
}
}
if (FAGV.ExecuteState[3] == 0x02) //叉车AGV前往立库处送料完成
{
if (!ControlOnlyOneFlag10)
{
//这里有一个入库命令
byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x04 };
TWH.sendRequestcmd(cmd1); //成品入库操作
ModifyTxt.PrintlogTxt(" //成品入库操作");
byte cmd = 0x05;
FAGV.sendRequestcmd(cmd); //叉车AGV前往初始位置
ControlOnlyOneFlag10 = true;
ModifyTxt.PrintlogTxt("叉车AGV前往初始位置");
}
}
if (AssemblyOutlibCompleted == true) //成品料盘出库完成
{
byte cmd = 0x01;
FAGV.sendRequestcmd(cmd); //FAGV前往立库料台处取料
ModifyTxt.PrintlogTxt("//FAGV前往立库料台处取料");
AssemblyOutlibCompleted = false;
}
if (FAGV.ExecuteState[3] == 0x01) //FAGV前往立库料台取料完成
{
if (!ControlOnlyOneFlag8)
{
byte cmd = 0x04;
FAGV.sendRequestcmd(cmd); //FAGV前往中转区送料
ModifyTxt.PrintlogTxt("//FAGV前往中转区送料");
ControlOnlyOneFlag8 = true;
}
}
if (FAGV.ExecuteState[3] == 0x04) //FAGV前往中转区送料完成
{
if (!ControlOnlyOneFlag9)
{
byte cmd = 0x06;
FAGV.sendRequestcmd(cmd); //FAGV前往安全区
ModifyTxt.PrintlogTxt("//FAGV前往安全区");
ControlOnlyOneFlag9 = true;
}
}
}
}
FrontPart = true;
}
public static void watchexecuteState()
{
while (MainWindow.AutoMode2) //拆解模式
{
if (FrontPart == false)
{
if (MainWindow.CJStartSignal == true) //拆解启动信号
{
RefleshFlags(); //刷新标识符
byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x05 }; //成品出库命令
TWH.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//成品出库命令");
MainWindow.CJStartSignal = false;
}
if (OutlibAssemblyCompleted == true) //成品出库完成
{
byte cmd = 0x01;
FAGV.sendRequestcmd(cmd); //叉车AGV前往立库料台取料
ModifyTxt.PrintlogTxt("//叉车AGV前往立库料台取料");
OutlibAssemblyCompleted = false;
}
if (FAGV.ExecuteState[3] == 0x01) //叉车AGV前往立库料台取料完成
{
if (!ControlOnlyOneFlag1)
{
byte cmd = 0x04;
FAGV.sendRequestcmd(cmd); //叉车AGV前往中转区送料
ModifyTxt.PrintlogTxt("//叉车AGV前往中转区送料");
ControlOnlyOneFlag1 = true;
}
}
if (FAGV.ExecuteState[3] == 0x04) //叉车AGV前往中转区送料完成
{
if (!ControlOnlyOneFlag2)
{
byte cmd = 0x06;
FAGV.sendRequestcmd(cmd); //叉车AGV前往安全区
ModifyTxt.PrintlogTxt(" //叉车AGV前往安全区");
ControlOnlyOneFlag2 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x01 && CJClass.FAGVInSafeArea == true) //如果复合在初始位置且叉车AGV在安全区
{
if (!ControlOnlyOneFlag17)
{
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 }; //复合前往成品接转区
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合前往成品接转区");
ControlOnlyOneFlag17 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && CJClass.FAGVInSafeArea == true) //复合在成品接转区且等待并且叉车AGV在安全区
{
if (!ControlOnlyOneFlag18)
{
byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 }; //复合在成品区取/放零件料盘
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
ControlOnlyOneFlag18 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && CJClass.FAGVInSafeArea == true) //复合在成品区且手臂动作已完成，叉车AGV在安全区
{
if (!ControlOnlyOneFlag19)
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往零件装配区
ModifyTxt.PrintlogTxt("//复合前往零件装配区");
ControlOnlyOneFlag19 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00 && CJClass.FAGVInSafeArea == true) //复合在装配区等待且等待 叉车AGV在安全区
{
if (!ControlOnlyOneFlag20)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 }; //复合在装配区取/放零件料盘
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
ControlOnlyOneFlag20 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && CJClass.FAGVInSafeArea == true && ControlLock2 == false) //复合在装配区且手臂动作已完成，叉车AGV在安全区
{
MainWindow.TwoRobotActionFlag3 = true; //双臂从成品托盘中取出成品
ModifyTxt.PrintlogTxt("//双臂从成品托盘中取出成品");
CJClass.FAGVInSafeArea = false;
ControlLock2 = true;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete3 == true) ////复合在装配区且手臂动作已完成，且双臂动作3完成
{
if (!ControlOnlyOneFlag21)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 }; //复合在装配区取/放零件料盘
MixRobot.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
ControlOnlyOneFlag21 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete3 == true)
{
TwoRobotActionComplete3 = false;
MixInAssemblyTakeATrays = true;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInAssemblyTakeATrays == true) //复合在装配区且手臂动作已完成，且已取下成品料盘
{
if (!ControlOnlyOneFlag22)
{
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往成品接转区
ModifyTxt.PrintlogTxt("//复合前往成品接转区");
MainWindow.TwoRobotActionFlag4 = true; //双臂动作4：拆解
ControlOnlyOneFlag22 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x00 && MixInAssemblyTakeATrays == true) ////复合在成品区且等待，已拿下成品料盘
{
if (!ControlOnlyOneFlag23)
{
byte[] cmd = new byte[] { 0x07, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在成品区取/放零件料盘
ModifyTxt.PrintlogTxt("//复合在成品区取/放零件料盘");
ControlOnlyOneFlag23 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x04 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInAssemblyTakeATrays == true) ////复合在成品区手臂动作已完成，已拿下成品料盘
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往初始位置
ModifyTxt.PrintlogTxt("//复合前往初始位置");
byte cmd1 = 0x03;
FAGV.sendRequestcmd(cmd1); //FAGV前往中转区取料
ModifyTxt.PrintlogTxt(" //FAGV前往中转区取料");
MixInAssemblyTakeATrays = false;
}
if (FAGV.ExecuteState[3] == 0x03) //叉车AGV前往中转区取料完成
{
if (!ControlOnlyOneFlag3)
{
byte cmd = 0x02;
FAGV.sendRequestcmd(cmd); //叉车AGV前往立库料台送料
ModifyTxt.PrintlogTxt(" //叉车AGV前往立库料台送料");
ControlOnlyOneFlag3 = true;
}
}
if (FAGV.ExecuteState[3] == 0x02) //叉车AGV前往立库处送料完成
{
if (!ControlOnlyOneFlag4)
{
//这里有一个入库命令
byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x04 };
TWH.sendRequestcmd(cmd1); //成品入库操作
ModifyTxt.PrintlogTxt(" //入库操作");
byte cmd = 0x05;
FAGV.sendRequestcmd(cmd); //叉车AGV前往初始位置
ModifyTxt.PrintlogTxt("叉车AGV前往初始位置");
FrontPart = true;
ControlOnlyOneFlag4 = true;
}
}
}
///////////////////////////////////////////////////////////////////////拆解完成且成品料盘入库完成///////////////////////////////////////////////////////
if (FrontPart == true)
{
if (InlibAssemblyCompleted == true && TwoRobotActionComplete4 == true) //成品料盘入库完成，且拆解完成（双臂动作4）
{
byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
TWH.sendRequestcmd(cmd); //出库指令
ModifyTxt.PrintlogTxt("//出库指令");
byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //发送AGV1去往立库料台命令
if (AGV1.PlatfromStateArray[2] != 0x05) //如果AGV1不是正在去往料台
{
AGV1.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt("发送AGV1去往立库料台命令");
}
InlibAssemblyCompleted = false;
TwoRobotActionComplete4 = false;
}
if (AGVRunSecond == true) //AGV1 AGV2的第二遍动作
{
RefleshFlags1(); //刷新标识符
byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
TWH.sendRequestcmd(cmd); //出库指令
ModifyTxt.PrintlogTxt("//出库指令");
byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //发送AGV1去往立库料台命令
if (AGV1.PlatfromStateArray[2] != 0x05) //如果AGV1不是正在去往料台
{
AGV1.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt("发送AGV1去往立库料台命令");
}
AGVRunSecond = false;
}
if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV1达到立库料台处且无料盘且出库执行成功
{
byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 }; //AGV1在立库料台取货
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1在立库料台取货");
OutlibCompleted = false;
}
if (AGV1.PlatfromStateArray[4] == 0x01) //AGV1已从料台取出料盘
{
if (!ControlOnlyOneFlag24)
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 }; //AGV1前往零件接转区
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1前往零件接转区");
ControlOnlyOneFlag24 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x06) //AGV1正在前往零件结转区
{
if (!ControlOnlyOneFlag5) //控制代码块只进入一次，这里保证只发送一次出库命令
{
//////这里有一个出库命令
byte[] cmd = new byte[] { 0x02, 0x0A, 0x00, 0x02 };
TWH.sendRequestcmd(cmd); //出库命令
ModifyTxt.PrintlogTxt("//出库命令");
byte[] cmd1 = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //AGV2前往立库料台处
AGV2.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt("//AGV2前往立库料台处");
ControlOnlyOneFlag5 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x03) //AGV1到达零件转接区
{
if (!ControlOnlyOneFlag6)
{
AGV1Falg = true;
MixtoAGVOneStep = true; //通知复合来AGV1接货
ControlLock1 = false; //解锁
ControlOnlyOneFlag6 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x01 && AGV1.PlatfromStateArray[3] == 0x01) //AGV1在初始位置且有料盘
{
if (!ControlOnlyOneFlag25)
{
byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 }; //AGV1前往立库料台处
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1前往立库料台处");
ControlOnlyOneFlag25 = true;
}
}
if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[3] == 0x01 && AGV2.PlatfromStateArray[2] == 0x03) //AGV1在立库料台处且有料盘且AGV2在零件接转区
{
if (!ControlOnlyOneFlag7)
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 }; //AGV1将料盘送回立库
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1将料盘送回立库");
byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
TWH.sendRequestcmd(cmd1); //入库操作
ModifyTxt.PrintlogTxt("//入库操作");
ControlOnlyOneFlag7 = true;
}
///这里有一个入库动作
}
if (AGV1.PlatfromStateArray[2] == 0x02 && AGV1.PlatfromStateArray[4] == 0x02) //AGV1在立库料台处已将料盘送回立库
{
if (!ControlOnlyOneFlag26)
{
byte[] cmd = new byte[] { 0x03, 0x2A, 0x00, 0x00 }; //AGV1前往初始位置
AGV1.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV1前往初始位置");
ControlOnlyOneFlag26 = true;
}
}
if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x00 && OutlibCompleted == true) //AGV2在立库料台处且无料盘且出库完成
{
byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 }; //AGV2在立库料台取货
AGV2.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt(" //AGV2在立库料台取货");
OutlibCompleted = false;
}
if (AGV2.PlatfromStateArray[4] == 0x01) //AGV2已从立库料台处取货
{
if (AGV1.PlatfromStateArray[2] == 0x04) //AGV1正在前往原点
{
if (!ControlOnlyOneFlag27)
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
AGV2.sendRequestcmd(cmd); //AGV2前往零件转接区
ModifyTxt.PrintlogTxt("//AGV2前往零件转接区");
ControlOnlyOneFlag27 = true;
}
}
}
if (AGV2.PlatfromStateArray[2] == 0x03) //AGV2到达零件转接区
{
if (!ControlOnlyOneFlag8)
{
AGV2Flag = true;
MixtoAGVOneStep = true; //通知复合来AGV接货
ControlLock1 = false; //解锁
ControlOnlyOneFlag12 = false;
ControlOnlyOneFlag13 = false;
ControlOnlyOneFlag15 = false;
ControlOnlyOneFlag16 = false;
ControlOnlyOneFlag8 = true;
}
}
if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[3] == 0x01 && AGV1.PlatfromStateArray[2] == 0x01) //AGV2在立库料台处且有料盘且AGV1在初始位置
{
if (!ControlOnlyOneFlag9)
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 }; //AGV2将料盘送回立库
AGV2.sendRequestcmd(cmd);
ModifyTxt.PrintlogTxt("//AGV2将料盘送回立库");
byte[] cmd1 = new byte[] { 0x02, 0x0A, 0x00, 0x01 };
TWH.sendRequestcmd(cmd1);
ModifyTxt.PrintlogTxt(" ///入库动作");
ControlOnlyOneFlag9 = true;
}
///还有个入库动作
}
if (AGV2.PlatfromStateArray[2] == 0x02 && AGV2.PlatfromStateArray[4] == 0x02) //AGV2在立库料台处已将料盘送回立库
{
if (!ControlOnlyOneFlag11)
{
AGV2delaytime1 = true; //AGV2延时在立库料台送料完成后延时
ControlOnlyOneFlag11 = true;
}
}
if (AGV2.PlatfromStateArray[2] == 0x04 && AGV2.PlatfromStateArray[3] == 0x00) //正在前往原点 且无料盘
{
LastStep = true;
}
if (AGV2.PlatfromStateArray[2] == 0x01 && AGV2.PlatfromStateArray[3] == 0x00 && LastStep == true) //AGV2在初始位置且无料盘且最后一步
{
if (!ControlOnlyOneFlag10)
{
AGVRunSecond = true;
ControlOnlyOneFlag10 = true;
LastStep = false;
}
}
//////////////////////////////复合动作//////////////////////////////////////////////////////////////////
if (MixtoAGVOneStep == true && MixRobot.PlatfromStateArray[2] == 0x01) //如果AGV1要求复合到零件接转区且复合在初始位置
{
if (!ControlOnlyOneFlag12)
{
byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往零件接转区
ModifyTxt.PrintlogTxt("复合前往零件接转区");
// MixtoAGV1OneStep = false;
ControlOnlyOneFlag12 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x00) //复合在零件接转区且等待
{
if (!ControlOnlyOneFlag13)
{
byte[] cmd = new byte[] { 0x05, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在接转区取/放零件料盘
ModifyTxt.PrintlogTxt("/////复合在接转区取/放零件料盘");
ControlOnlyOneFlag13 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVOneStep == true) //f复合在零件接转区且手臂动作已完成
{
byte[] cmd = new byte[] { 0x02, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合去往双臂装配区
ModifyTxt.PrintlogTxt(" //复合去往双臂装配区");
MixtoAGVOneStep = false;
}
if (MixRobot.PlatfromStateArray[2] == 0x02 && MixRobot.PlatfromStateArray[3] == 0x02 && MixtoAGVTwoStep == true) //复合第二次在零件接转区且手臂动作已完成
{
byte[] cmd = new byte[] { 0x04, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往初始位置
ModifyTxt.PrintlogTxt("//复合前往初始位置");
if (AGV1Falg == true) //这是AGV1在接转区
{
AGV1delaytime = true; //AGV1延时3秒再走，以防碰撞
AGV1Falg = false;
}
if (AGV2Flag == true)
{
AGV2delaytime = true; //AGV2延时3秒再走，以防碰撞
AGV2Flag = false;
}
MixtoAGVTwoStep = false;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x00) //复合在双臂处且等待
{
if (!ControlOnlyOneFlag15)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在装配区取/放零件托盘
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件托盘处");
ControlOnlyOneFlag15 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && ControlLock1 == false) //复合在双臂处且手臂动作已完成
{
MainWindow.TwoRobotActionFlag5 = true; //通知双臂机器人执行动作5：双臂将零件放到零件托盘
ControlLock1 = true; //该条件不能再进入
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && TwoRobotActionComplete5 == true && FrontPart == true) //复合在双臂处且手臂动作已完成且双臂动作5完成
{
if (!ControlOnlyOneFlag16)
{
byte[] cmd = new byte[] { 0x06, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合在装配区取/放零件料盘
ModifyTxt.PrintlogTxt("//复合在装配区取/放零件料盘");
ControlOnlyOneFlag16 = true;
}
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x01 && TwoRobotActionComplete5 == true) //复合在双臂处且手臂动作未完成且双臂动作0完成
{
TwoRobotActionComplete5 = false;
MixInTwoCanLastStep = true;
}
if (MixRobot.PlatfromStateArray[2] == 0x03 && MixRobot.PlatfromStateArray[3] == 0x02 && MixInTwoCanLastStep == true && FrontPart == true) //复合在双臂处且手臂已经将双臂料盘拿回来
{
byte[] cmd = new byte[] { 0x01, 0x2A, 0x00, 0x00 };
MixRobot.sendRequestcmd(cmd); //复合前往零件接转区
ModifyTxt.PrintlogTxt("//复合前往零件接转区");
MixtoAGVTwoStep = true; //复合第二次前往零件接转区
ControlOnlyOneFlag13 = false;
MixInTwoCanLastStep = false;
}
}
}
FrontPart = false;
}