/// <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 ActionSortPNPStartPick(CallBackCommonFunc ActionSortPNPPick, CallBackCommonFunc AfterActionSortPNPPick)
{
ErrorInfoWithPause res = null;
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Pick, true, ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean - 1))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Pick);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Pick);
if (res != null)
{
return(res);
}
}
//Start picking
if (ActionSortPNPPick != null)
{
ActionSortPNPPick();
}
//PNP Z up
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Up)) //return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
if (res != null)
{
return(res);
}
}
if (AfterActionSortPNPPick != null)
{
AfterActionSortPNPPick();
}
//Check vacuum
System.Threading.Thread.Sleep(100);
res = CheckVacuumStatus();
return(res);
}
public ErrorInfoWithPause ActionSortPNPStartPlaceNG(CallBackCommonFunc AfterActionSortPNPPlaceNG)
{
ErrorInfoWithPause res = null;
//Check vacuum
res = CheckVacuumStatus();
if (res != null)
{
return(res);
}
bool NeedCylinderDown;
//res = UpdateRow();
//if (res != null) return res;
if (ClassWorkFlow.Instance.UnloadMode != EnumUnloadMode.全NG)
{
for (int i = 0; i < CELLCOUNT; i++)
{
if (CheckCellIsNG(SortNGDataStations[i].CellData))
{
if (IsUseBackNGBox)
{
if (SortNGDataStations[i].CellData.ThicknessNG)
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox1;
}
else
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox2;
}
}
else
{
if (SortNGDataStations[i].CellData.ThicknessNG)
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox3;
}
else
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox4;
}
}
NGBoxCellCount[CurrentNGBoxRow, i]++;
string NGData = SortNGDataStations[i].CellData.NGDataInfoString;
if (NGData != "")
{
NGBoxDataInfoString[CurrentNGBoxRow, i] += NGData + Environment.NewLine;
}
NeedCylinderDown = CheckIfNeedCylinder(NGBoxCellCount[CurrentNGBoxRow, i]);
//PNP Y move away
res = ActionMove((EnumPointPNPY)CurrentNGBoxRow);
if (res != null)
{
return(res);
}
if (NeedCylinderDown)
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, 1 + NGBoxCellCount[CurrentNGBoxRow, i] * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
//Cylinder down
while (!PNPCylinder[i].SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸下移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸下移超时错");
if (res != null)
{
return(res);
}
}
}
else
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, -100 + 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
}
//Open blow
AirControl((EnumCellIndex)i, EnumAirControl.Blow);
//AirControl((EnumCellIndex)i, EnumAirControl.Close);
//Delay
TimeClass.Delay(400);
//Cylinder up
while (!PNPCylinder[i].SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
//Close blow
AirControl((EnumCellIndex)i, EnumAirControl.Close);
}
}
}
else
{
for (int i = 0; i < CELLCOUNT; i++)
{
if (CheckCellIsNG(SortNGDataStations[i].CellData))
{
NGBoxCellCount[CurrentNGBoxRow, i]++;
}
}
NeedCylinderDown = CheckIfNeedCylinder(GetMaxCount());
//PNP Y move away
res = ActionMove((EnumPointPNPY)CurrentNGBoxRow);
if (res != null)
{
return(res);
}
if (NeedCylinderDown)
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
//Cylinder down
PNPCylinder[0].SetCylinderState(CYLIND_DOWN, 0, false);
PNPCylinder[1].SetCylinderState(CYLIND_DOWN, 0, false);
PNPCylinder[2].SetCylinderState(CYLIND_DOWN, 0, false);
while (!PNPCylinder[0].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT) || !PNPCylinder[1].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT) || !PNPCylinder[2].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸下移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸下移超时错");
if (res != null)
{
return(res);
}
}
}
else
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, -100 + 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
}
//Open blow
AirControl(EnumAirControl.Blow, EnumAirControl.Blow, EnumAirControl.Blow);
//AirControl(EnumAirControl.Close, EnumAirControl.Close, EnumAirControl.Close);
//Delay
TimeClass.Delay(400);
//Cylinder up
PNPCylinder[0].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[1].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[2].SetCylinderState(CYLIND_UP, 0, false);
while (!PNPCylinder[0].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT) || !PNPCylinder[1].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT) || !PNPCylinder[2].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
//Close blow
AirControl(EnumAirControl.Close, EnumAirControl.Close, EnumAirControl.Close);
}
//PNP Z up
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Up)) //return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
if (res != null)
{
return(res);
}
}
DoUpdateNGBox();
//PNP Y move away
while (!AxisSortingPNPY.MoveTo(EnumPointPNPY.Pick)) //return DispMotionError(AxisSortingPNPY, EnumPointPNPY.Pick);
{
res = DispMotionError(AxisSortingPNPY, EnumPointPNPZ.Pick);
if (res != null)
{
return(res);
}
}
if (AfterActionSortPNPPlaceNG != null)
{
AfterActionSortPNPPlaceNG();
}
NGBoxFullErrorHandler(this.Name, "", ErrorDialogResult.OK);
return(null);
}