public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
PVar.Sta_Work[1].IsHaveHSG = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 20;
//PVar.Sta_Work[1].Step = 20;
}
break;
case 20:
if (PVar.ParList.CheckSts[17] == false)
{
if (StaWork.State == false && Gg.GetDi(0, Gg.InPut0.放料光纤感应) == 1 && Gg.GetDi(0, Gg.InPut0.安全光幕) == 0)
{
AddList("光幕启动开始！");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
if (API.GetTickCount() - TimeOut > 1000)
{
TimeOut = API.GetTickCount();
StaWork.Step = 10;
}
}
}
else
{
if (StaWork.State == false)
{
AddList("光幕启动开始！");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
if (API.GetTickCount() - TimeOut > 1000)
{
TimeOut = API.GetTickCount();
StaWork.Step = 10;
}
}
}
break;
case 30:
if (PVar.ParList.CheckSts[17] == false)
{
if (Gg.GetDi(0, Gg.InPut0.放料光纤感应) == 1 && Gg.GetDi(0, Gg.InPut0.安全光幕) == 1)
{
if (BVar.ProductTakeOut)
{
AddList("启动OK！");
//根据载具编号打开相对应的真空吸
BVar.OpenedVacumeNo = OpenFixtureVocume();
TimeOut = API.GetTickCount();
StaWork.Step = 40;
}
else
{
AddList("请先取出产品！");
ShowList("请先取出产品！");
//蜂鸣器
PVar.Ring_EN = true;
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
else
{
if (Gg.GetDi(0, Gg.InPut0.放料光纤感应) == 0 && Gg.GetDi(0, Gg.InPut0.安全光幕) == 1)
{
TimeOut = API.GetTickCount();
StaWork.Step = 10;
}
}
}
else
{
AddList("启动OK！");
//根据载具编号打开相对应的真空吸
//BVar.OpenedVacumeNo = OpenFixtureVocume();
TimeOut = API.GetTickCount();
StaWork.Step = 50;
}
break;
case 40:
if (API.GetTickCount() - TimeOut > 1000) //延时1秒，等待真空吸信号
{
TimeOut = API.GetTickCount();
StaWork.Step = 50;
}
break;
case 50:
if (PVar.ParList.CheckSts[17] == false)
{
if (Gg.GetDi(0, BVar.OpenedVacumeNo + 5) == 1) //判断真空吸信号
{
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("HSG真空吸没达到检测值，请检查产品是否放好！");
ShowList("HSG真空吸没达到检测值，请检查产品是否放好！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
break;
case 60: //等待所有工位结束工作
if (PVar.ParList.CheckSts[17] == false)
{
if (PVar.Stop_Flag == false)
{
if (Gg.GetDi(0, Gg.InPut0.安全光幕) == 1 && Gg.GetDi(0, BVar.OpenedVacumeNo + 5) == 1 && PVar.Sta_Work[2].State == false && PVar.Sta_Work[3].State == false && PVar.Sta_Work[4].State == false)
{
StaWork.State = true;
CT_Start = true;
PVar.Sta_Work[1].IsHaveHSG = true;
Frm_Engineering.fEngineering.OvalShape_Sta0.BackColor = Color.DarkOrange;
Frm_Engineering.fEngineering.Chk_StaRound.BackColor = Color.DarkOrange;
if (Gg.GetPrfPos(1, 1) > 300) //int类型最大值为2^31-1=2147483647
{
gts.GT_SetPrfPos(1, 1, 0); //规划器置零
gts.GT_SetEncPos(1, 1, 0); //编码器置零
gts.GT_SynchAxisPos(1, 1 << 0); //将当前轴进行位置同步
}
AddList("转盘开始转动！");
TimeOut = API.GetTickCount();
StaWork.Step = 70;
}
else
{
if (Gg.GetDi(0, BVar.OpenedVacumeNo + 5) == 0) //判断真空吸信号
{
AddList("HSG真空吸力异常，启动失败，请重新启动！");
ShowList("HSG真空吸力异常，启动失败，请重新启动！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
else
{
if (PVar.Stop_Flag == false)
{
if (Gg.GetDi(0, Gg.InPut0.安全光幕) == 1 && PVar.Sta_Work[2].State == false && PVar.Sta_Work[3].State == false && PVar.Sta_Work[4].State == false)
{
StaWork.State = true;
CT_Start = true;
PVar.Sta_Work[1].IsHaveHSG = true;
Frm_Engineering.fEngineering.OvalShape_Sta0.BackColor = Color.DarkOrange;
Frm_Engineering.fEngineering.Chk_StaRound.BackColor = Color.DarkOrange;
if (Gg.GetPrfPosmm(1, 1) > 300) //int类型最大值为2^31-1=2147483647
{
gts.GT_SetPrfPos(1, 1, 0); //规划器置零
gts.GT_SetEncPos(1, 1, 0); //编码器置零
gts.GT_SynchAxisPos(1, 1 << 0); //将当前轴进行位置同步
}
AddList("转盘开始转动！");
TimeOut = API.GetTickCount();
StaWork.Step = 70;
}
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
break;
case 70:
StationR_State();
Gg.StepMotion(1, 1, PVar.ParAxis.Speed[9], 90, "+");
TimeOut = API.GetTickCount();
StaWork.Step = 80;
break;
case 80:
if (Gg.ZSPD(1, 1))
{
Frm_Engineering.fEngineering.OvalShape_Sta0.BackColor = Color.FromArgb(192, 255, 192);
Frm_Engineering.fEngineering.Chk_StaRound.BackColor = Color.FromArgb(192, 255, 192);
AddList("转盘转动到位！");
TimeOut = API.GetTickCount();
StaWork.Step = 90;
}
else
{
if (API.GetTickCount() - TimeOut > 10000)
{
AddList("转盘转动超时！");
ShowList("转盘转动超时！");
TimeOut = API.GetTickCount();
StaWork.Step = 10000;
}
}
break;
case 90:
TimeOut = API.GetTickCount();
StaWork.Step = 800;
break;
case 800:
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}