private void button_AddUser_Click(object sender, EventArgs e)
{
if (textBox_UserName.Text == "" || textBox_PassWord.Text == "")
{
AlarmMgr.GetIntance().Warn("用户名和密码不能为空 ");
return;
}
string str = ((UserRight)comboBox_SelRight.SelectedIndex).ToString();
int userIndex = sys.g_listUser.FindIndex(t => t._userName == textBox_UserName.Text);
if (userIndex != -1)
{
AlarmMgr.GetIntance().Warn("用户名已存在 ");
return;
}
dataGridView_UserList.Rows.Add(textBox_UserName.Text, str);
sys.g_listUser.Add(new User()
{
_userName = textBox_UserName.Text,
_userPassWord = textBox_PassWord.Text,
_userRight = (UserRight)comboBox_SelRight.SelectedIndex
});
ConfigToolMgr.GetInstance().SaveUserConfig();
}
public StationStep StepInitRun(bool bmanual = false)
{
StationStep step = StationStep.Step_Stop;
ParamSetMgr.GetInstance().SetBoolParam("转盘站初始化完成", false);
Info("转盘站 等待其他工位回零");
WaranResult waranResult = doWhileWaitInit.doSomething(this, doWhileWaitInit, false, null);
if (waranResult == WaranResult.TimeOut)
{
AlarmMgr.GetIntance().WarnWithDlg("转盘站回原点前，点胶工站或者AA工站复位时间过长，请检查，程序将会停止", this, CommonDlg.DlgWaranType.WaranOK, doWhileWaitInit, false);
ClearAllStep();
GlobalVariable.g_StationState = StationState.StationStateStop;
return(step);
}
Info("转盘站 开始回零");
if (!GoTableHome(bmanual))
{
Err("转盘站 回零失败");
throw new Exception("转盘轴回零失败！");
}
GoTableReadySafe(bmanual);
ParamSetMgr.GetInstance().SetBoolParam("转盘站初始化完成", true);
step = StationStep.Step_WaitAllStationFinsh;
TableData.GetInstance().SetAllSationResultFalse();
TableData.GetInstance().SetALLStartCmd();//到位启动
return(step);
}
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 override void AlarmDeal()
{
WaranResult waranResult;
string alarmmsg = "";
if (lineObj != null)
{
alarmmsg = $"{lineObj.LineName},流水线状态{lineObj.LineSegState},离开检查失败,请检查该流水线的顶升气缸 阻挡气缸的感应器等";
}
waranResult = AlarmMgr.GetIntance().WarnWithDlg(strAlarmmsg, null, new string[] { "重试" });
}
public bool IsCanLeave(bool bmanual)
{
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) > AxisState.NormalStop)
{
AlarmMgr.GetIntance().WarnWithDlg($"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);
}
public override bool IsCanLeave(bool bmanual)
{
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) > AxisState.NormalStop)
{
AlarmMgr.GetIntance().WarnWithDlg($"流水线{LineName} 在出料前，轴{MotionMgr.GetInstace().GetAxisName(nAxisNo)} ,报警{MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo).ToString()},程序停止", null, CommonDlg.DlgWaranType.WaranOK, null, bmanual);
StationMgr.GetInstance().Stop();
}
bool bIsAxisStop = MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) == AxisState.NormalStop;
bool bIsAxisInPosOnOutPos = Math.Abs(MotionMgr.GetInstace().GetAxisActPos(nAxisNo) - dDischargePos) < 0.3;
return(CheckJackUpCliyderStateInPos(false) && bIsAxisStop && bIsAxisInPosOnOutPos);
}
private APP()
{
MotionMgr = MotionMgr.GetInstace();
IOMgr = IOMgr.GetInstace();
AlarmMgr = AlarmMgr.GetIntance();
ConfigToolMgr = ConfigToolMgr.GetInstance();
StationMgr = StationMgr.GetInstance();
ParamSetMgr = ParamSetMgr.GetInstance();
ComMgr = ComMgr.GetInstance();
TcpMgr = TcpMgr.GetInstance();
SocketSeverMgr = SocketSeverMgr.GetInstace();
}
public static bool ReadVisionData()
{
//视觉初始化
string strVisionConfigPath = AppDomain.CurrentDomain.BaseDirectory + @"config\Vision\" + "VisionMgr" + ".xml";
VisionMgr.GetInstance().CurrentVisionProcessDir = ParamSetMgr.GetInstance().CurrentWorkDir + "\\" + ParamSetMgr.GetInstance().CurrentProductFile + "\\" + @"Config\Vision\";
VisionMgr.GetInstance().Read();
if (VisionMgr.GetInstance().dicVisionType.Count == 0 && bHaveVissionProcess)
{
AlarmMgr.GetIntance().WarnWithDlg("视觉处理文件文件丢失", null, CommonDlg.DlgWaranType.WaranOK, null, true);
}
return(true);
}
public override bool IsOutFinishDealOK(bool bmaual)
{
if (MotionMgr.GetInstace().IsAxisNormalStop(nAxisNo) > AxisState.NormalStop)
{
AlarmMgr.GetIntance().WarnWithDlg($"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);
}
/// <summary>
/// 初始其他硬件状态硬件状态
/// </summary>
public static void InitHardWare()
{
try
{
ResetIO();
AlarmMgr.GetIntance().StopAlarmBeet();
string err = "";
}
catch (Exception e)
{
return;
}
}
public override void AlarmDeal()
{
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg(strAlarmmsg, lineObj.sb, new string[] { "重试", "已经人工拿走" });
if (waranResult == WaranResult.Custom1)
{
lineObj.LeaveTimer.ResetStartTimer();
lineObj.LeaveDelayTimer.Stop();
}
if (waranResult == WaranResult.Custom2)
{
lineObj.LineSegState = LineSegementState.None;
}
}
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);
}
private void button_stop_Click(object sender, EventArgs e)
{
if (MessageBox.Show("是否确定停止", "Info", MessageBoxButtons.YesNo, MessageBoxIcon.Information) == DialogResult.No)
{
return;
}
_logger.Info("stop:开始");
if (GlobalVariable.g_StationState == StationState.StationStateRun || GlobalVariable.g_StationState == StationState.StationStatePause)
{
StationMgr.GetInstance().Stop();
}
else
{
DoWhile.StopCirculate();
}
_logger.Info("stop:结束");
AlarmMgr.GetIntance().StopAlarmBeet();
}
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();
}
public override void AlarmDeal()
{
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg(strAlarmmsg, null, new string[] { "重试", "已经人工拿走" });
if (waranResult == WaranResult.Custom1)
{
lineObj.OutTimer.ResetStartTimer();
}
if (waranResult == WaranResult.Custom2)
{
lineObj.LineSegState = LineSegementState.None;
}
//waranResult = AlarmMgr.GetIntance().WarnWithDlg($"{LineName} :离开段超时,可能料被拿走 或者卡住", null, new string[] { "重试", "已经人工拿走" }, CommonDlg.DlgWaranType.Waran_Custom1, null, bmaual);
//if (waranResult == WaranResult.Custom1)
// OutTimer.ResetStartTimer();
//if (waranResult == WaranResult.Custom2)
// LineSegState= LineSegementState.None;
}
public WaranResult CheckIobyName(string ioName, bool val = true, string excptionmsg = "", bool bmanual = false, int nTimeout = 3000)
{
DoWhile doWhile = new DoWhile((time, dowhile, bmanual2, obj) =>
{
if (IOMgr.GetInstace().ReadIoInBit(ioName) == val)
{
return(WaranResult.Run);
}
else if (time > nTimeout)
{
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg(string.Format("《{0}》 信号异常:{1} ", ioName, excptionmsg), bmanual2?null: this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry, dowhile);
return(waranResult);
}
else
{
return(WaranResult.CheckAgain);
}
}, 100000);
return(doWhile.doSomething(this, doWhile, bmanual, null));
}
private void button_stop_Click(object sender, EventArgs e)
{
UserTest.RunLog.Write($"点击【停止】", LogType.Info, PathHelper.LogPathManual);
if (MessageBox.Show("是否确定停止? 如果为回零状态会关闭软件!", "Info", MessageBoxButtons.YesNo, MessageBoxIcon.Information) == DialogResult.No)
{
return;
}
if (!Form_Auto.IsHome)
{
IsShowCloseForm = true;
Form_Auto.EvenStop();
this.Close();
}
else
{
_logger.Info("stop:开始");
StationMgr.GetInstance().Stop();
_logger.Info("stop:结束");
AlarmMgr.GetIntance().StopAlarmBeet();
}
}
public WaranResult FindBuzzer(bool bManual = false)
{
if (sys.g_AppMode == AppMode.AirRun)
{
Info("右剥料站：空跑搜寻蜂鸣器成功");
ParamSetMgr.GetInstance().SetBoolParam("右搜寻蜂鸣器成功", true);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
return(WaranResult.Run);
}
if (!IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"))
{
double pos = GetStationPointDic()["装料原始位"].pointZ;
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
MotionMgr.GetInstace().StopAxis(AxisZ);
Info("右剥离工站：装料平台无料");
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("右剥料：装料平台无料,请装料，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry);
//if( WaranResult == WaranResult.)
return(waranResult);
}
else
{
Info("右剥料工站：装料平台寻料");
// MotionMgr.GetInstace().ResetAxis()
DoWhile doWhile = new DoWhile((time, dowhile, bmanual, obj) =>
{
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
if (this.GetStationPointDic().ContainsKey("装料最高位"))
{
if (pos > this.GetStationPointDic()["装料最高位"].pointZ)
{
Warn("右剥料工站：右装料平台寻找蜂鸣器， 已经到达最高位");
Info("右剥离工站：搜寻蜂鸣器失败");
ParamSetMgr.GetInstance().SetBoolParam("右搜寻蜂鸣器成功", false);
MotionMgr.GetInstace().StopAxis(AxisZ);
return(AlarmMgr.GetIntance().WarnWithDlg("右剥料：装料平台Z轴升至最高点 仍然没有检查到物料 请检查最高位设置，感应器之后，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry));
}
if (MotionMgr.GetInstace().IsAxisNormalStop(AxisZ) > AxisState.NormalStop)
{
Warn("右剥料工站：电机报警");
ParamSetMgr.GetInstance().SetBoolParam("右搜寻蜂鸣器成功", false);
return(AlarmMgr.GetIntance().WarnWithDlg("右剥料：装料平台Z轴电机报警 请检查电机及驱动器，装料完成点击<<重试>>按钮", this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry));
}
if (IOMgr.GetInstace().ReadIoInBit("右装料Z轴上升到位感应器"))
{
MotionMgr.GetInstace().StopAxis(AxisZ);
double currentzaxisPos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
currentzaxisPos = currentzaxisPos + ParamSetMgr.GetInstance().GetDoubleParam("装料抬升距离") * nResolutionZ;
if (currentzaxisPos > GetStationPointDic()["装料最高位"].pointZ)
{
currentzaxisPos = GetStationPointDic()["装料最高位"].pointZ - 10;
}
MoveSigleAxisPosWaitInpos(AxisZ, currentzaxisPos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
Info("右剥离工站：搜寻蜂鸣器成功");
ParamSetMgr.GetInstance().SetBoolParam("右搜寻蜂鸣器成功", true);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
ParamSetMgr.GetInstance().SetIntParam("右蜂鸣器顶位", MotionMgr.GetInstace().GetAxisPos(AxisZ));
return(WaranResult.Run);
}
else
{
MotionMgr.GetInstace().JogMove(AxisZ, true, 0, (int)MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelM);
return(WaranResult.CheckAgain);
}
}
else
{
double position = GetStationPointDic()["装料原始位"].pointZ;
MoveSigleAxisPosWaitInpos(AxisZ, position, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, bManual ? null : this);
MotionMgr.GetInstace().StopAxis(AxisZ);
Info("右剥离工站：装料平台无料");
WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("右剥料：装料平台无料,请装料，装料完成点击<<重试>>按钮", bManual ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry);
return(waranResult);
}
}, int.MaxValue);
return(doWhile.doSomething(this, doWhile, bManual, null));
}
}
public bool Init(bool bmanual = false)
{
WaranResult waranResult;
InitGoHome:
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料夹料气缸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料气缸电磁阀", false);
#if false
//IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", false);
//WaranResult waranResult = CheckIobyName("右剥料压紧气缸原位", true, "右剥料 归零：右剥料压紧气缸原位失败，", bmanual);
// if (waranResult == WaranResult.Retry)
// goto InitGoHome;
//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 归零：右剥料前推压紧气缸原位失败，", bmanual);
//if (waranResult == WaranResult.Retry)
// goto InitGoHome;
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 归零：右装料Z轴气缸原位失败，", bmanual);
if (waranResult == WaranResult.Retry)
{
goto InitGoHome;
}
#endif
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 归零：右装料搬运气缸原位失败，", bmanual);
if (waranResult == WaranResult.Retry)
{
goto InitGoHome;
}
#if false
retry_inpos:
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 归零：右剥料压紧气缸到位失败，", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_inpos;
}
#endif
Info("RBZ 轴回原点");
Retry_X_Home:
waranResult = HomeSigleAxisPosWaitInpos(AxisX, this, 60000, bmanual);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("右剥料 归零不成功： " + string.Format("{0} 轴回零失败", MotionMgr.GetInstace().GetAxisName(AxisX)), this, CommonDlg.DlgWaranType.Waran_Stop_Retry, null, bmanual);
if (waranResult == WaranResult.Retry)
{
goto Retry_X_Home;
}
}
Info("RZZ 轴回原点");
Retry_Z_Home:
waranResult = HomeSigleAxisPosWaitInpos(AxisZ, this, 60000, bmanual);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("右剥料 归零不成功： " + string.Format("{0} 轴回零失败", MotionMgr.GetInstace().GetAxisName(AxisZ)), this, CommonDlg.DlgWaranType.Waran_Stop_Retry, null, bmanual);
if (waranResult == WaranResult.Retry)
{
goto Retry_Z_Home;
}
}
Info("RBY 轴回原点");
Retry_Y_Home:
waranResult = HomeSigleAxisPosWaitInpos(AxisY, this, 60000, bmanual);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("右剥料 归零不成功： " + string.Format("{0} 轴回零失败", MotionMgr.GetInstace().GetAxisName(AxisY)), this, CommonDlg.DlgWaranType.Waran_Stop_Retry, null, bmanual);
if (waranResult == WaranResult.Retry)
{
goto Retry_Y_Home;
}
}
Info("回剥料准备位");
double xpos = GetStationPointDic()["剥料准备位"].pointX;
double ypos = GetStationPointDic()["剥料准备位"].pointY;
double zpos = GetStationPointDic()["装料原始位"].pointZ;
Retry_YZ_InitPos:
waranResult = MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisY, AxisZ }, new double[] { xpos, ypos, zpos }, new double[] { (double)SpeedType.High, (double)SpeedType.High, (double)SpeedType.High }, 20, true, this, 60000);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("右剥料 归零成功： " + "Y回准备或Z回原始位失败", this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry, null, bmanual);
if (waranResult == WaranResult.Retry)
{
goto Retry_YZ_InitPos;
}
}
ParamSetMgr.GetInstance().SetBoolParam("右剥料回原点成功", true);
return(true);
}
protected override bool InitStation()
{
ParamSetMgr.GetInstance().SetBoolParam("Socket流水线初始化完成", false);
SocketMgr.GetInstance().ResetAllSocket();
AlarmMgr.GetIntance().DoWhenAlarmEvent += DoSomethingWhenalarm;
WaranResult waranResult;
Info("Y轴气缸伸出");
check_cyliderYout:
IOMgr.GetInstace().WriteIoBit("Y轴气缸电磁阀", true);
waranResult = CheckIobyName("Y轴气缸1到位", true, "Socket流水站：流水线自检 Y轴气缸移动伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYout;
}
waranResult = CheckIobyName("Y轴气缸2到位", true, "Socket流水站：流水线自检 Y轴气缸移动伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYout;
}
Info("Y轴气缸退回");
check_cyliderYback:
IOMgr.GetInstace().WriteIoBit("Y轴气缸电磁阀", false);
waranResult = CheckIobyName("Y轴气缸1原位", true, "Socket流水站：流水线自检 Y轴气缸移动退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYback;
}
waranResult = CheckIobyName("Y轴气缸2原位", true, "Socket流水站：流水线自检 Y轴气缸移动退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYback;
}
Info("X轴气缸伸出");
check_cyliderXout:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", true);
waranResult = CheckIobyName("X轴气缸1到位", true, "Socket流水站： 流水线自检 X轴气缸伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXout;
}
waranResult = CheckIobyName("X轴气缸2到位", true, "Socket流水站： 流水线自检 X轴气缸伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXout;
}
Info("X轴气缸退回");
check_cyliderXback:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", false);
waranResult = CheckIobyName("Y轴气缸1原位", true, "Socket流水站： 流水线自检 X轴气缸退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback;
}
waranResult = CheckIobyName("X轴气缸2原位", true, "Socket流水站：流水线自检 X轴气缸退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback;
}
PushMultStep((int)StationStep.step_init);
ParamSetMgr.GetInstance().SetBoolParam("Socket流水线初始化完成", true);
return(true);
}
public void KeepPressure(bool bmanual = false)
{
WaranResult waranResult;
if (SocketMgr.GetInstance().socketArr[(int)SocketType.press].socketState == SocketState.HaveOK || bmanual)
{
retry_press_up2:
IOMgr.GetInstace().WriteIoBit("保压气缸电磁阀", false);
waranResult = CheckIobyName("保压上下气缸原位", true, "流水线站:保压上下气缸原位 没有到位，请检查感应器，气缸，气压，线路等", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_press_up2;
}
retry_messureA:
waranResult = dowhileCheckA.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，A模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureA;
}
}
retry_messureB:
waranResult = dowhileCheckB.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，B模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureB;
}
}
for (int i = 0; i < 4; i++)
{
pressvals[i] = press1[i];
pressvals[4 + i] = press2[i];
}
retry_press_down:
IOMgr.GetInstace().WriteIoBit("保压气缸电磁阀", true);
waranResult = CheckIobyName("保压上下气缸到位", true, "流水线站:保压上下气缸到位 没有到位，请检查感应器，气缸，气压，线路等", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_press_down;
}
Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("保压时间"));
retry_messureA2:
waranResult = dowhileCheckA.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，A模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureA2;
}
}
retry_messureB2:
waranResult = dowhileCheckB.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，B模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureB2;
}
}
for (int i = 0; i < 4; i++)
{
pressvals[i] = Math.Abs(pressvals[i] - press1[i]);
pressvals[4 + i] = Math.Abs(pressvals[i + 4] - press2[i]);
}
Thread.Sleep(500);
Weighing.GetInstance().Update(new int[] { pressvals[0], pressvals[1], pressvals[2], pressvals[3] }, new int[] { pressvals[4], pressvals[5], pressvals[6], pressvals[7] });
retry_press_up:
IOMgr.GetInstace().WriteIoBit("保压气缸电磁阀", false);
waranResult = CheckIobyName("保压上下气缸原位", true, "流水线站:保压上下气缸原位 没有到位，请检查感应器，气缸，气压，线路等", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_press_up;
}
}
}
private void BtnReset_Click(object sender, EventArgs e)
{
IOMgr.GetInstace().m_deltgateSystemSingl("复位", true);
AlarmMgr.GetIntance().StopAlarmBeet();
}
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;
}
}
}
public void ProcessSysIo(string strIoName, bool bCurrentState)
{
if (InvokeRequired)
{
this.BeginInvoke(new Action(() => ProcessSysIo(strIoName, bCurrentState)));
}
else
{
if (strIoName == "急停" && !bCurrentState && !bAlreadyEmg)
{
bAlreadyEmg = true;
if (GlobalVariable.g_StationState == StationState.StationStateRun || GlobalVariable.g_StationState == StationState.StationStatePause)
{
MotionMgr.GetInstace().StopEmg();
StationMgr.GetInstance().Stop();
MotionMgr.GetInstace().StopEmg();
}
GlobalVariable.g_StationState = StationState.StationStateEmg;
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
//IOMgr.GetInstace().WriteIoBit("蜂鸣", true);
alarmtimer.Interval = 500;
alarmtimer.Start();
AlarmMgr.GetIntance().Warn("急停被按下,点击后关闭软件！", AlarmType.AlarmType_Emg);
AlarmMgr.GetIntance().StopAlarmBeet();
this.Close();
}
if (strIoName == "安全门" && !bCurrentState)
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全门"))
{
if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
StationMgr.GetInstance().Pause();
IOMgr.GetInstace().WriteIoBit("绿灯", false);
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
//AlarmMgr.GetIntance().Warn("安全门打开");
MessageBox.Show("安全门打开", "Waran", MessageBoxButtons.OK, MessageBoxIcon.Warning);
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全门打开", null, DlgWaranType.WaranOK);
}
}
}
if (strIoName == "暂停" && bCurrentState)
{
if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
StationMgr.GetInstance().Pause();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
//AlarmMgr.GetIntance().Warn("安全门打开");
// WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全门打开", null, DlgWaranType.WaranOK);
}
}
if (strIoName == "安全光栅" && !bCurrentState)
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全光栅"))
{
if (ParamSetMgr.GetInstance().GetBoolParam("启用安全光栅"))
{
if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
StationMgr.GetInstance().Pause();
IOMgr.GetInstace().WriteIoBit("绿灯", false);
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
// AlarmMgr.GetIntance().Warn("安全光栅打开");
//WaranResult waranResult = AlarmMgr.GetIntance().WarnWithDlg("安全光栅打开", null, DlgWaranType.WaranOK);
MessageBox.Show("安全光栅打开", "Waran", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
}
}
if (strIoName == "启动" && bCurrentState)
{
if (GlobalVariable.g_StationState == StationState.StationStateStop)
{
if (!IsSafeDoorAndGrating())
{
return;
}
Thread.Sleep(500);
StationMgr.GetInstance().Run();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
}
else if (GlobalVariable.g_StationState == StationState.StationStatePause)
{
if (!IsSafeDoorAndGrating())
{
return;
}
StationMgr.GetInstance().Resume();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
}
else
{
MessageBox.Show("发生错误，请先复位", "Err", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
if (strIoName == "复位" && bCurrentState)
{
if (GlobalVariable.g_StationState == StationState.StationStateEmg)
{
alarmtimer.Stop();
GlobalVariable.g_StationState = StationState.StationStateStop;
MotionMgr.GetInstace().ResetAxis();
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("绿灯"))
{
IOMgr.GetInstace().WriteIoBit("绿灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("红灯"))
{
IOMgr.GetInstace().WriteIoBit("红灯", false);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("黄灯"))
{
IOMgr.GetInstace().WriteIoBit("黄灯", true);
}
if (IOMgr.GetInstace().GetOutputDic().ContainsKey("蜂鸣"))
{
IOMgr.GetInstace().WriteIoBit("蜂鸣", false);
}
bStartAlarmTimer = false;
bAlreadyEmg = false;
}
}
}
}