public void DoReset()
{
ClassCommonSetting.ProgramLog(LogFile.Level.Debug, "WorkFlow", $"{Name}工作区域复位开始");
ErrorInfoWithPause res = null;
Reseting = true;
lock (ResetLock)
{
ResetErr = new ClassErrorHandle();
ClassCommonSetting.ProgramLog(LogFile.Level.Debug, "WorkFlow", $"{Name}工作区域所有端口复位");
res = ResetOutPort();
if (res != null)
{
ClassErrorHandle.ShowError(this.Name, res);
return;
}
ClassCommonSetting.ProgramLog(LogFile.Level.Debug, "WorkFlow", $"{Name}工作区域所有电机上电");
ServoOnAllMotor();
Reset(ResetErr);
if (ResetErr.NoError)
{
_ioPublisher.notifyDoneEventSubscribers(this, new StateEventArgs("ResetDone", this.Name));
}
else
{
_ioPublisher.notifyErrorEventSubscribers(this, new FailureException(ResetErr.ErrMessage));
}
}
Reseting = false;
ClassCommonSetting.ProgramLog(LogFile.Level.Debug, "WorkFlow", $"{Name}工作区域复位结束");
}
public override void run(StateEventArgs inputEventArg)
{
lock (runLock)
{
switch (inputEventArg.eventName)
{
case "UnloadPNPPickFinish": //From state PickPart
case "WaitUnloadOutEmpty":
if (!ClassWorkZones.Instance.WorkZone下料传送.IsUnLoadHavePartEmpty)
{
DoneReturn("WaitUnloadOutEmpty");
return;
}
base.run(inputEventArg);
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
ErrorInfoWithPause res = UnloadZone.ActionMove(ClassZone下料机械手.EnumPoint.Place);
if (res != null)
{
ClassErrorHandle.ShowError("下料PNP放料", res);
return;
}
ErrorReturnHandler("", "", ErrorDialogResult.OK);
break;
}
}
}
protected void DoAction(object sender, Func <ErrorInfoWithPause> act)
{
if (ClassCommonSetting.CheckGeneralAir != null)
{
if (ClassCommonSetting.CheckGeneralAir() != null)
{
return;
}
}
Stopwatch sw = new Stopwatch();
sw.Start();
labelStatus.Text = "开始执行" + ((Control)sender).Text;
ErrorInfoWithPause res = act();
sw.Stop();
if (res == null)
{
labelStatus.Text = "执行" + ((Control)sender).Text + "正常 用时:" + sw.ElapsedMilliseconds.ToString() + "ms";
}
else
{
string temp = res.Message;
//if (res.NeedRetry) temp += "(可重试)";
labelStatus.Text = "执行" + ((Control)sender).Text + "出错: " + temp;
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
ClassZone传送机械手 TransZone = ClassWorkZones.Instance.WorkZone传送机械手;
ClassBaseWorkZone.HandleVacuumFailCell("传送机械手上料", TransZone.TransLoadDataStations.ToArray());
ClassBaseWorkZone.HandleVacuumFailCell("传送机械手下料", TransZone.TransUnloadDataStations.ToArray());
//ClassWorkZones.Instance.WorkZone尺寸测量.ActionToGetPart();
res = TransZone.ActionStartUnload(ClassWorkZones.Instance.DoTransPNPUnload, ClassWorkZones.Instance.AfterTransPNPUnload);
if (res != null)
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("TransPNPPlaceFinish");
}
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
if (message != "")
{
ClassBaseWorkZone.HandleVacuumFailCell(source, sortingZone.SortNGDataStations.ToArray());
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
if (ClassWorkZones.Instance.WorkZone下料传送.UnloadOutDataStations[i].CellData == null)
{
ClassWorkZones.Instance.WorkZone下料传送.UnloadOutDataStations[i].TransferFrom(sortingZone.SortNGDataStations[i]);
}
}
}
res = sortingZone.ActionSortPNPStartPick(ClassWorkZones.Instance.DoSortPNPPick, ClassWorkZones.Instance.AfterSortPNPPick);
if (res != null)
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("SortingPNPPickFinish");
}
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
if (message != "")
{
ClassBaseWorkZone.HandleVacuumFailCell(source, ClassWorkZones.Instance.WorkZone上料机械手.LoadPNPDataStations.ToArray());
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
ClassWorkZones.Instance.WorkZone上料传送.LoadInDataStations[i].TransferFrom(ClassWorkZones.Instance.WorkZone上料机械手.LoadPNPDataStations[i]);
}
}
res = ClassWorkZones.Instance.WorkZone上料机械手.ActionLoadPNPStartPick(ClassWorkZones.Instance.DoLoadInPNPPick, ClassWorkZones.Instance.AfterLoadInPNPPick);
if (res != null)
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("LoadPNPPickPartFinish");
ClassWorkZones.Instance.WorkZone上料机械手.isPicking = false;
}
}
}
public override void run(StateEventArgs inputEventArg)
{
lock (runLock)
{
switch (inputEventArg.eventName)
{
case "Start": //From state Idle
case "NotReady": //From state CheckLoadIn
case "LoadinFinish": //From state StartLoadin
ErrorInfoWithPause res = ClassWorkZones.Instance.WorkZone上料传送.CheckLoadReady();
if (!ClassWorkZones.Instance.WorkZone上料机械手.isPicking && res == null)
{
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.手动)
{
Thread.Sleep(ClassCommonSetting.SysParam.ManualLoadDelayTime);
//重新检测，防止误操作
res = ClassWorkZones.Instance.WorkZone上料传送.CheckLoadReady();
if (!(!ClassWorkZones.Instance.WorkZone上料机械手.isPicking && res == null))
{
DoneReturn("NotReady");
return;
}
}
DoneReturn("NewCellReady");
return;
}
else if (res != null && res.Message == "停止上料中")
{
Thread.Sleep(5000);
}
DoneReturn("NotReady");
break;
}
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
ClassZone上料传送 LoadinZone = ClassWorkZones.Instance.WorkZone上料传送;
if (message != "")
{
Colibri.CommonModule.Forms.BaseForm.DoInvokeRequired(MainForm.instance, () => MessageBox.Show(MainForm.instance, $"无数据有电芯的错误处理：取出不符的多余电芯。{Environment.NewLine}" +
$"有数据无电芯的错误处理：无需处理。点确定后数据将会被删除忽略掉。{Environment.NewLine}{Environment.NewLine}" +
$"处理完成后点确定。"));
LoadinZone.SetLoadin();
}
res = LoadinZone.CheckLoadin();
if (res != null)
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
timer.StartTimer(5000);
DoneReturn("LoadinFinish");
ClassCommonSetting.SMLogInfo(this.owner.Name, this.Name, "上料结束：" + (ClassWorkFlow.Instance.GetCell).ToString());
}
}
}
public ErrorInfoWithPause ActionStartUnload(CallBackCommonFunc AfterUnloadOut)
{
ErrorInfoWithPause res = null;
IsWorkFree = false;
AxisUnloadOutConveyor.SetZero();
while (!AxisUnloadOutConveyor.MoveTo(EnumPoint.Step))
//return DispMotionError(AxisUnloadOutConveyor, "向外移料");
{
res = DispMotionError(AxisUnloadOutConveyor, "向外移料");
if (res != null)
{
return(res);
}
}
if (AfterUnloadOut != null)
{
AfterUnloadOut();
}
//if (ThisInport(EnumInportName.UnloadOutUnload).status != (UnloadOutDatas[0] != null))
//{
// ClassErrorInfo.ShowError(this.Name, "下料处电芯有无和数据不相符。", ErrorLevel.Error);
// return "下料处电芯有无和数据不相符。";
//}
//else if (ThisInport(EnumInportName.UnloadOutUnload).status)
// break;
IsWorkFree = true;
return(null);
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
res = ClassWorkZones.Instance.WorkZoneNG挑选机械手.UpdateRow();
if (res == null)
{
ClassBaseWorkZone.HandleVacuumFailCell(source, sortingZone.SortNGDataStations.ToArray());
res = sortingZone.ActionSortPNPStartPlaceNG(ClassWorkZones.Instance.AfterSortPNPPlace);
if (res != null)
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("SortingPNPPlaceNGFinish");
}
}
else
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
if (optionBoxResultNG.Checked)
{
res = new ErrorInfoWithPause("Test error.", ErrorLevel.Alarm, true, false, ErrorReturnHandler);
}
else
{
res = null;
}
if (res != null)
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
}
BaseForm.DoInvokeRequired(listBox1, () =>
{
listBox1.Items.Clear();
foreach (ErrorInfoWithPause err in ClassErrorHandle.ErrorList)
{
listBox1.Items.Add(err.ToString());
}
});
}
}
public ErrorInfoWithPause ActionMove(EnumPointPNPX point, bool NeedWait = true)
{
ErrorInfoWithPause res = null;
//气缸上移
while (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("传送机械手气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("传送PNP移动", "传送机械手气缸上移超时错");
if (res != null)
{
return(res);
}
}
//电机移动
if (!MotorSafetyCheck.InPositionRange(AxisTransPNPX, point, 0, 0.005))
{
while (!AxisTransPNPX.MoveTo(point, NeedWait))
//return DispMotionError(AxisTransPNPX, point);
{
res = DispMotionError(AxisTransPNPX, point);
if (res != null)
{
return(res);
}
}
}
return(null);
}
private void buttonMeasOnce_Click(object sender, EventArgs e)
{
if (MotorSafetyCheck.InPositionRange(zone.AxisOutlineMeasX, ClassZone尺寸测量.EnumPointX.Start, ClassDataInfo.CELLPITCH * (int)EnumCellIndex.右电芯))
{
cellindex = EnumCellIndex.右电芯;
}
else if (MotorSafetyCheck.InPositionRange(zone.AxisOutlineMeasX, ClassZone尺寸测量.EnumPointX.Start, ClassDataInfo.CELLPITCH * (int)EnumCellIndex.中电芯))
{
cellindex = EnumCellIndex.中电芯;
}
else if (MotorSafetyCheck.InPositionRange(zone.AxisOutlineMeasX, ClassZone尺寸测量.EnumPointX.Start, ClassDataInfo.CELLPITCH * (int)EnumCellIndex.左电芯))
{
cellindex = EnumCellIndex.左电芯;
}
else
{
MessageBox.Show("尺寸测量需要先将指定工位移到相机下方。请先将要测量的工位移动到相机下方。");
return;
}
if (zone.CCDMeasDataStations[cellindex].CellData == null)
{
zone.CCDMeasDataStations[cellindex].CellData = ClassDataInfo.NewCellData();
//zone.CCDMeasDataStations[cellindex].CellData.Barcode = "TEST";
}
DoAction(sender, () =>
{
ErrorInfoWithPause res = zone.ActionOneCCDMeas(cellindex, DataComp.AddAll);
while (!zone.isCCDAllFinish)
{
Thread.Sleep(1);
}
zone.CCDMeasDataStations[cellindex].CellData = zone.BufferDatas[(int)cellindex];
return(res);
});
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
res = LoadZone.CheckNGBoxAvaliable();
if (res == null)
{
res = LoadZone.ActionMove(ClassZone上料机械手.EnumPointY.PlaceNG);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
res = LoadZone.ActionLoadPNPStartPlaceNG(ClassWorkZones.Instance.AfterLoadInPNPPlaceNG);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("LoadPNPPlaceNGFinish");
}
else
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
}
}
public ErrorInfoWithPause CheckLoadin()
{
ErrorInfoWithPause res = null;
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
if (ThisInport(EnumInportName.LoadInConvInPosRight).status || LoadInDataStations[0].CellData != null)
{
ClassCommonSetting.CheckTimeOut(() =>
{
res = CheckLoadSensor();
return(res == null);
});
}
}
//for (int i = 0; i < 50; i++)
//{
// System.Windows.Forms.Application.DoEvents();
// res = CheckLoadSensor();
// if (res != null)
// {
// System.Threading.Thread.Sleep(20);
// }
// else
// break;
//}
return(res);
}
public override ErrorInfoWithPause ResetOutPort()
{
ErrorInfoWithPause res = null;
string err = "";
base.ResetOutPort();
for (int i = 0; i < TopAlignCellVacuums.Count; i++)
{
TopAlignCellVacuums[i].SetOutPortStatus(false);
}
CellBlow.SetOutPortStatus(false);
Cylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
Cylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
Cylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
ThisOutport(EnumOutportName.TopAlignSoftCyLeft).SetOutput(true);
ThisOutport(EnumOutportName.TopAlignSoftCyMid).SetOutput(true);
ThisOutport(EnumOutportName.TopAlignSoftCyRight).SetOutput(true);
if (!Cylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += "左气缸 ";
}
if (!Cylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += "中气缸 ";
}
if (!Cylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += "右气缸 ";
}
if (err != "")
{
res = new ErrorInfoWithPause("气缸上升错误: " + err.Trim(), ErrorLevel.Error);
}
return(res);
}
/// <summary>
/// PNP电机移到到指定位置
/// </summary>
/// <param name="action"></param>
public ErrorInfoWithPause ActionMove(EnumPointY action)
{
ErrorInfoWithPause res = null;
string temp = "";
while (true)
{
temp = "";
PNPCylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!PNPCylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 左气缸";
}
if (!PNPCylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 中气缸";
}
if (!PNPCylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 右气缸";
}
if (temp != "") //return new ErrorInfoWithPause("气缸上移超时错:" + temp, ErrorLevel.Error);
{
res = WaitAlarmPause("上料PNP移动", "气缸上移超时错: " + temp);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
while (!AxisLoadPNPY.MoveTo(action))
//return DispMotionError(AxisLoadPNPY, action);
{
res = DispMotionError(AxisLoadPNPY, action);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause AllCyDown()
{
ErrorInfoWithPause res = null;
string temp = "";
if (ThicknessDataStations[EnumCellIndex.左电芯].CellData != null)
{
Cylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_DOWN, 0, false);
}
if (ThicknessDataStations[EnumCellIndex.中电芯].CellData != null)
{
Cylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_DOWN, 0, false);
}
if (ThicknessDataStations[EnumCellIndex.右电芯].CellData != null)
{
Cylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_DOWN, 0, false);
}
while (true)
{
temp = "";
if (ThicknessDataStations[EnumCellIndex.左电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
temp += " 左气缸";
}
}
if (ThicknessDataStations[EnumCellIndex.中电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
temp += " 中气缸";
}
}
if (ThicknessDataStations[EnumCellIndex.右电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
temp += " 右气缸";
}
}
if (temp != "") //res = new ErrorInfoWithPause("厚度测量气缸下移错误:" + temp, ErrorLevel.Error);
{
res = WaitAlarmPause("厚度测量", "厚度测量气缸下移超时错: " + temp);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
return(null);
}
private void MotorMoveAsyncReturn(IAsyncResult result)
{
AsyncActionMotorMove handler = (AsyncActionMotorMove)((AsyncResult)result).AsyncDelegate;
ErrorInfoWithPause res = handler.EndInvoke(result);
if (res != null)
{
ClassErrorHandle.ShowError(this.Name, res);
}
}
protected ErrorInfoWithPause DoAction(object sender, Func <ErrorInfoWithPause> act)
{
ErrorInfoWithPause res = act();
if (res != null)
{
string temp = res.Message;
labelStatus.Text = "执行" + ((Control)sender).Text + "出错: " + temp;
}
return(res);
}
/// <summary>
/// PNP电机移到到指定位置
/// </summary>
/// <param name="action"></param>
public ErrorInfoWithPause ActionMove(EnumPointPNPY action)
{
string err = "";
ErrorInfoWithPause res = null;
while (true)
{
err = "";
PNPCylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!PNPCylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 左气缸";
}
if (!PNPCylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 中气缸";
}
if (!PNPCylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 右气缸";
}
if (err != "")// return new ErrorInfoWithPause("NG挑选PNP气缸上移超时错:" + err, ErrorLevel.Alarm, false, true);
{
res = WaitAlarmPause("NG挑选PNP移动", "NG挑选PNP气缸上移超时错: " + err);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Up)) //return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
if (res != null)
{
return(res);
}
}
while (!AxisSortingPNPY.MoveTo(action)) //return DispMotionError(AxisSortingPNPY, action);
{
res = DispMotionError(AxisSortingPNPY, action);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause MeasPicture(bool isStandard, string path = "")
{
ErrorInfoWithPause res = null;
MeasDone[3] = false;
ClassCommonSetting.SocketToAOI.SendCommandMeas(isStandard, path);
if (!ClassCommonSetting.CheckTimeOut(() => { return(MeasDone[3]); }))
{
res = new ErrorInfoWithPause("图像检测超时错。", ErrorLevel.Alarm);
}
return(res);
}
private void buttonMeas_Click(object sender, EventArgs e)
{
DoAction(sender, () =>
{
ErrorInfoWithPause res = zone.ActionStartCCDMeas(DataComp.AddAll);
while (!zone.isCCDAllFinish)
{
Thread.Sleep(1);
}
return(res);
});
}
public ErrorInfoWithPause ActionStartLoad(out bool AllPick, CallBackCommonFunc ActionTransLoad, CallBackCommonFunc AfterActionTransLoad)
{
ErrorInfoWithPause res = ActionMove(EnumPointPNPX.Load);
if (res != null)
{
AllPick = false;
return(res);
}
//Cylinder down
while (!PNPCylinder.SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
//res = new ErrorInfoWithPause("传送机械手气缸下移超时错。", ErrorLevel.Error);
res = WaitAlarmPause("传送PNP取料", "传送机械手气缸下移超时错");
if (res != null)
{
AllPick = false;
return(res);
}
}
if (ActionTransLoad != null)
{
ActionTransLoad();
}
//Cylinder up
while (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
//res = new ErrorInfoWithPause("传送机械手气缸上移超时错。", ErrorLevel.Error);
//AllPick = false;
//return res;
res = WaitAlarmPause("传送PNP取料", "传送机械手气缸上移超时错");
if (res != null)
{
AllPick = false;
return(res);
}
}
if (AfterActionTransLoad != null)
{
AfterActionTransLoad();
}
//Check vacuum
string vac = CheckVacuumStatus();
AllPick = vac.Trim() == "";
if (!AllPick)
{
return(new ErrorInfoWithPause(vac.Trim(), ErrorLevel.Alarm, true));
}
return(null);
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
bool AllPick = true;
ClassZone传送机械手 TransZone = ClassWorkZones.Instance.WorkZone传送机械手;
if (message != "")
{
ClassBaseWorkZone.HandleVacuumFailCell("传送机械手上料", TransZone.TransLoadDataStations.ToArray());
ClassBaseWorkZone.HandleVacuumFailCell("传送机械手下料", TransZone.TransUnloadDataStations.ToArray());
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
ClassWorkZones.Instance.WorkZone顶封边定位.TopAlignDataStations[i].TransferFrom(TransZone.TransLoadDataStations[i]);
ClassWorkZones.Instance.WorkZone厚度测量.ThicknessDataStations[i].TransferFrom(TransZone.TransUnloadDataStations[i]);
}
}
res = TransZone.ActionStartLoad(out AllPick, ClassWorkZones.Instance.DoTransPNPLoad, ClassWorkZones.Instance.AfterTransPNPLoad);
if (res == null)
{
if (!AllPick)
{
res = new ErrorInfoWithPause("吸料后真空检测错误", ErrorLevel.Alarm, true);
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
else
{
res = TransZone.ActionMove(ClassZone传送机械手.EnumPointPNPX.Unload);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
}
else
{
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("TransPNPPickFinish");
}
}
}
else
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
}
}
public ErrorInfoWithPause SnapShot(int index, string barcode, string path = "")
{
ErrorInfoWithPause res = null;
_camTrigFinish[index] = false;
MeasDone[index] = false;
BufferDatas[index] = CCDMeasDataStations[index].CellData;
ClassCommonSetting.SocketToAOI.SendCommandCamTrig(index + 1, barcode, path);
if (!ClassCommonSetting.CheckTimeOut(() => { return(_camTrigFinish[index]); }))
{
res = new ErrorInfoWithPause("抓取图像超时错。", ErrorLevel.Error);
}
return(res);
}
public ErrorInfoWithPause ActionLoad()
{
ErrorInfoWithPause res = null;
while (!AxisThicknessMeasY.MoveTo(EnumPointX.Meas))
//return DispMotionError(AxisThicknessMeasY, EnumPointX.Meas);
{
res = DispMotionError(AxisThicknessMeasY, EnumPointX.Meas);
if (res != null)
{
return(res);
}
}
return(AllCyDown());
}
public ErrorInfoWithPause ActionToMeasPos(EnumCellIndex cell)
{
ErrorInfoWithPause res = null;
while (!AxisOutlineMeasX.MoveTo(EnumPointX.Start, true, ClassDataInfo.CELLPITCH * (int)cell))
//return DispMotionError(AxisOutlineMeasX, cell);
{
res = DispMotionError(AxisOutlineMeasX, cell);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause ActionToUnloadPart()
{
ErrorInfoWithPause res = null;
while (!AxisOutlineMeasX.MoveTo(EnumPointX.PartOut))
//return DispMotionError(AxisOutlineMeasX, EnumPointX.PartOut);
{
res = DispMotionError(AxisOutlineMeasX, EnumPointX.PartOut);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause ActionToGetPart(bool NeedWait = true)
{
ErrorInfoWithPause res = null;
while (!AxisOutlineMeasX.MoveTo(EnumPointX.GetPart, NeedWait))
//return DispMotionError(AxisOutlineMeasX, EnumPointX.GetPart);
{
res = DispMotionError(AxisOutlineMeasX, EnumPointX.GetPart);
if (res != null)
{
return(res);
}
}
return(null);
}
