/// <summary>
/// 保存产品
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private async void btnSave_Click(object sender, EventArgs e)
{
Form_Wait.ShowForm();
await Task.Run(new Action(() =>
{
//需要保存当前产品的相关参数
if (_operation != null)
{
JFDLAFBoxRecipe jFDLAFBoxRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Box", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID")) as JFDLAFBoxRecipe;
jFDLAFBoxRecipe.MagezineBox = _operation.MagezineBox;
jFDLAFBoxRecipe.MgzIdx = _operation.MgzIdx;
jFDLAFBoxRecipe.SaveParamsToCfg();
_operation.SaveParamsToCfg();
JFHubCenter.Instance.RecipeManager.RemoveRecipe("Product", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID"));
JFHubCenter.Instance.RecipeManager.RemoveRecipe("Box", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID"));
JFHubCenter.Instance.RecipeManager.AddRecipe(_operation.Categoty, _operation.ID, _operation as IJFRecipe);
JFHubCenter.Instance.RecipeManager.AddRecipe("Box", _operation.ID, jFDLAFBoxRecipe as IJFRecipe);
}
JFHubCenter.Instance.RecipeManager.Save();
if (_operation != null)
{
if (_operation.MgzIdx == -1)
{
HTLog.Error("注意：当前产品未选择料盒型号，开始流程需要选择料盒型号.");
return;
}
}
}));
Form_Wait.CloseForm();
}
protected override bool ActionGenuine(out string errorInfo)
{
JFDLAFBoxRecipe boxRecipe = ((JFDLAFBoxRecipe)JFHubCenter.Instance.RecipeManager.GetRecipe("Box",
(string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID")));
if (boxRecipe == null)
{
errorInfo = "料盒Reccipe不存在";
return(false);
}
SetOutputParamValue(mHeightLastSlot, (double)boxRecipe.HeightLastSlot);
SetOutputParamValue(mHeightLastSlot_y, (double)boxRecipe.HeightLastSlot_y);
SetOutputParamValue(mHeightFirstSlot, (double)boxRecipe.HeightFirstSlot);
SetOutputParamValue(mHeightFirstSlot_y, (double)boxRecipe.HeightFirstSlot_y);
SetOutputParamValue(mHeightLastSlot_Unload, (double)boxRecipe.HeightLastSlot_Unload);
SetOutputParamValue(mHeightLastSlot_Unload_y, (double)boxRecipe.HeightLastSlot_Unload_y);
SetOutputParamValue(mHeightFirstSlot_Unload, (double)boxRecipe.HeightFirstSlot_Unload);
SetOutputParamValue(mHeightFirstSlot_Unload_y, (double)boxRecipe.HeightFirstSlot_Unload_y);
SetOutputParamValue(mSlotNumber, (int)boxRecipe.SlotNumber);
SetOutputParamValue(mBlankNumber_Unload, (double)boxRecipe.BlankNumber_Unload);
SetOutputParamValue(mFrameWidth, (double)boxRecipe.FrameWidth);
SetOutputParamValue(mLoad_y_LoadUnLoadFramePos, (double)boxRecipe.Load_y_LoadUnLoadFramePos);
SetOutputParamValue(mUnLoad_y_LoadUnLoadFramePos, (int)boxRecipe.UnLoad_y_LoadUnLoadFramePos);
SetOutputParamValue(mLoad_x_PushRodWaitPos, (double)boxRecipe.Load_x_PushRodWaitPos);
SetOutputParamValue(mLoad_x_PushRodOverPos, (double)boxRecipe.Load_x_PushRodOverPos);
SetOutputParamValue(mLoad_x_ChuckLoadFramePos, (double)boxRecipe.Load_x_ChuckLoadFramePos);
errorInfo = "Success";
return(true);
}
/// <summary>
/// 重命名产品
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnRename_Click(object sender, EventArgs e)
{
string souce = (string)lbxProductCategory.SelectedValue;
if (souce == (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID"))
{
HTUi.PopError("当前产品名称不可修改");
return;
}
String newname = "";
if (!MSG.Inputbox("new", "rename", out newname))
{
return;
}
if (newname == string.Empty)
{
HTUi.PopWarn("命名错误，名字不能为空");
return;
}
var pdtlist = GetProductList();
foreach (var pdt in pdtlist)
{
if (pdt == newname)
{
HTUi.PopWarn("命名冲突，当前产品已存在");
return;
}
}
//重新命名Recipe manager中recipe ID
JFDLAFProductRecipe jFDLAFProductRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Product", (string)souce) as JFDLAFProductRecipe;
if (jFDLAFProductRecipe == null)
{
HTUi.PopWarn("Recipe Manager中不存在recipe：" + souce);
return;
}
jFDLAFProductRecipe.Categoty = "Product";
jFDLAFProductRecipe.ID = newname;
JFDLAFBoxRecipe jFDLAFBoxRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Box", (string)souce) as JFDLAFBoxRecipe;
if (jFDLAFBoxRecipe == null)
{
HTUi.PopWarn("Recipe Manager中不存在recipe：" + souce);
return;
}
jFDLAFBoxRecipe.Categoty = "Box";
jFDLAFBoxRecipe.ID = newname;
JFHubCenter.Instance.RecipeManager.AddRecipe(jFDLAFProductRecipe.Categoty, jFDLAFProductRecipe.ID, jFDLAFProductRecipe as IJFRecipe);
JFHubCenter.Instance.RecipeManager.AddRecipe(jFDLAFBoxRecipe.Categoty, jFDLAFBoxRecipe.ID, jFDLAFBoxRecipe as IJFRecipe);
JFHubCenter.Instance.RecipeManager.RemoveRecipe("Product", souce);
JFHubCenter.Instance.RecipeManager.RemoveRecipe("Box", souce);
JFHubCenter.Instance.RecipeManager.Save();
ChangeProdcutName(newname, souce);
HTUi.TipHint("重命名成功!");
lbxProductCategory.DataSource = GetProductList();
return;
}
/// <summary>
/// 创建产品
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnCreateProduct_Click(object sender, EventArgs e)
{
String newfile = "";
if (!MSG.Inputbox("Copy&New", "请输入新的产品名", out newfile))
{
return;
}
if (newfile == string.Empty)
{
HTUi.PopWarn("命名错误，名字不能为空");
return;
}
//新增Product Recipe到recipe Dictionary中
JFDLAFProductRecipe jFDLAFProductRecipe = new JFDLAFProductRecipe();
if (JFHubCenter.Instance.RecipeManager.GetRecipe("Product", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID")) != null)
{
jFDLAFProductRecipe = ((JFDLAFProductRecipe)JFHubCenter.Instance.RecipeManager.GetRecipe("Product", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID"))).Clone();
}
jFDLAFProductRecipe.ID = newfile;
jFDLAFProductRecipe.Categoty = "Product";
jFDLAFProductRecipe.SaveParamsToCfg();
JFHubCenter.Instance.RecipeManager.AddRecipe(jFDLAFProductRecipe.Categoty, jFDLAFProductRecipe.ID, jFDLAFProductRecipe as IJFRecipe);
////新增Box Recipe到recipe Dictionary中
JFDLAFBoxRecipe jFDLAFBoxRecipe = new JFDLAFBoxRecipe();
if (JFHubCenter.Instance.RecipeManager.GetRecipe("Box", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID")) != null)
{
jFDLAFBoxRecipe = ((JFDLAFBoxRecipe)JFHubCenter.Instance.RecipeManager.GetRecipe("Box", (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID"))).Clone();
}
jFDLAFBoxRecipe.MagezineBox = jFDLAFProductRecipe.MagezineBox;
jFDLAFBoxRecipe.MgzIdx = jFDLAFProductRecipe.MgzIdx;
jFDLAFBoxRecipe.ID = newfile;
jFDLAFBoxRecipe.Categoty = "Box";
jFDLAFBoxRecipe.SaveParamsToCfg();
JFHubCenter.Instance.RecipeManager.AddRecipe(jFDLAFBoxRecipe.Categoty, jFDLAFBoxRecipe.ID, jFDLAFBoxRecipe as IJFRecipe);
//此处后面需要保存
JFHubCenter.Instance.RecipeManager.Save();
var pdtlist = GetProductList();
foreach (var pdt in pdtlist)
{
if (pdt == newfile)
{
HTUi.PopWarn("无法新建，当前产品已存在");
return;
}
}
string souce = (string)JFHubCenter.Instance.SystemCfg.GetItemValue("CurrentID");
if (!CreateProduct(souce, newfile))
{
HTUi.PopWarn("产品创建失败!");
return;
}
HTLog.Info("产品创建成功!");
HTUi.TipHint("产品创建成功!");
lbxProductCategory.DataSource = GetProductList();
return;
}
//主动做流程
protected override void RunLoopInWork()
{
string errorInfo;
JFWorkCmdResult wcr = JFWorkCmdResult.UnknownError;
bool diSigON = false;
object obj = null;
switch (CurrCS)
{
//case STStatus.已停止:
// break;
case STStatus.开始运行:
SendMsg2Outter("开始运行任务主流程");
_Clamp(false); //打开夹手气缸
//先检测轨道上是否有残留工件
if (!GetDIByAlias(DevAN_DIPieceInFeed, out diSigON, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "获取进料口感应信号失败,Error:" + errorInfo);
}
if (diSigON)
{
ExitWork(WorkExitCode.Exception, "工站复位失败:进料口有工件");
}
//if (!GetDIByAlias(DevAN_DIPieceInDetect, out diSigON, out errorInfo))
// ExitWork(WorkExitCode.Exception, "获取检测位感应信号失败,Error:" + errorInfo);
//if (diSigON)
// ExitWork(WorkExitCode.Exception, "工站复位失败:检测位置有工件");
if (!GetDIByAlias(DevAN_DIPieceInEject, out diSigON, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "获取出料口感应信号失败,Error:" + errorInfo);
}
if (diSigON)
{
ExitWork(WorkExitCode.Exception, "工站复位失败:出料口有工件");
}
ChangeCS(STStatus.等待检测Z轴避位);
break;
case STStatus.等待检测Z轴避位: //归零时等待Z轴抬起后，再进行下一步动作
if (!WaitSPBoolByAliasName(GPN_DetectAvoid, true, out errorInfo))
{
ExitWork(WorkExitCode.Exception, errorInfo);
}
ChangeCS(STStatus.调节导轨宽度);
break;
//case STStatus.复位: //主流程运行时不会进入
// break;
case STStatus.调节导轨宽度:
string currRecipeIncfg = JFHubCenter.Instance.SystemCfg.GetItemValue(SYS_CurrentRecipeID) as string;
JFDLAFProductRecipe productRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Product", currRecipeIncfg) as JFDLAFProductRecipe;
JFDLAFBoxRecipe boxRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Box", /*productRecipe.magezineBox*/ _currPieceID) as JFDLAFBoxRecipe;
if (_isAxisIntervelFitted) //已经调节过轨道宽度
{
if (currRecipeIncfg == _currPieceID)
{
if (_trackIntervel == boxRecipe.FrameWidth) //防止参数被修改
{
ChangeCS(STStatus.移动到待机位置);
break;
}
}
}
_trackIntervel = boxRecipe.FrameWidth;
_isAxisIntervelFitted = false;
SendMsg2Outter("开始调节轨道宽度到:" + _trackIntervel);
//开始调解轨道宽度
double axisTargetPos = _trackIntervel - _trackOrg; //轴实际位置为产品宽度-轴归零后的间距
if (!MoveAxisByAlias(DevAN_AxisIntervel, axisTargetPos, true, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "移动轴:" + DevAN_AxisIntervel + " 失败,ErrorInfo:" + errorInfo);
}
wcr = WaitMotionDoneByAlias(DevAN_AxisIntervel);
if (JFWorkCmdResult.Success != wcr)
{
ExitWork(WorkExitCode.Exception, "等待轴运动完成失败,Ret = " + wcr);
}
_isAxisIntervelFitted = true;
//SetSPAliasValue(GPN_PickDone, false);
ChangeCS(STStatus.移动到待机位置);
break;
case STStatus.移动到待机位置:
if (!MoveToWorkPosition(WPN_Standby, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "进料X轴移动到待机位置失败:" + errorInfo);
}
if (!WaitToWorkPosition(WPN_Standby, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "等待移动到待机位置失败，errorInfo:" + errorInfo);
}
SetSPAliasValue(GPN_FeedReady, true);
ChangeCS(STStatus.等待进料信号);
break;
case STStatus.等待进料信号: //等待料仓向轨道送料完成信号 && 检测工站等待进料 && 出料工站允许进料
while (true)
{
CheckCmd(CycleMilliseconds);
//本站的送料完成信号必须为false，（防止送料完成后重复送料）
if (!GetSPAliasValue(GPN_FeedOK, out obj)) //上料仓工件已准备好
{
ExitWork(WorkExitCode.Exception, "获取变量=" + GPN_FeedOK + " 失败！");
}
if ((bool)obj)
{
CheckCmd(100);
continue;
}
if (!GetSPAliasValue(GPN_LoadReady, out obj)) //上料仓工件已准备好
{
ExitWork(WorkExitCode.Exception, "获取变量=" + GPN_LoadReady + " 失败！");
}
if (!(bool)obj)
{
CheckCmd(100);
continue;
}
if (!GetSPAliasValue(GPN_DetectAvoid, out obj)) //Z轴是否以避位
{
ExitWork(WorkExitCode.Exception, "获取变量=" + GPN_DetectAvoid + " 失败！");
}
if (!(bool)obj)
{
CheckCmd(100);
continue;
}
if (!GetSPAliasValue(GPN_DetectReady, out obj)) //工站准备好检测
{
ExitWork(WorkExitCode.Exception, "获取变量=" + GPN_DetectReady + " 失败！");
}
if (!(bool)obj)
{
CheckCmd(100);
continue;
}
if (!GetSPAliasValue(GPN_EjectReady, out obj)) //出料站允许送料
{
ExitWork(WorkExitCode.Exception, "获取变量=" + GPN_EjectReady + " 失败！");
}
if (!(bool)obj)
{
CheckCmd(100);
continue;
}
break;
}
ChangeCS(STStatus.进料);
break;
case STStatus.进料: //轨道（自身）向检测位置送料
SetSPAliasValue(GPN_FeedReady, false);
_Clamp(true); //下压夹爪
double clampDis = 0; //需要夹住工件往返运动的距离
double pushDis = 0; //最后一次退料的距离;
if (_feedDistance < _singleTripLength) //总行程
{
clampDis = _feedDistance; //只需要夹持一次就好
}
else
{
clampDis = _piece2HandEdge + 5; //预留退料间隙5mm
pushDis = _feedDistance - _piece2HandEdge;
}
while (clampDis > _singleTripLength)
{
//往返运动一次
SendMsg2Outter("夹料距离:" + _singleTripLength);
_ClampFeedPiece(_singleTripLength);
clampDis -= _singleTripLength;
}
if (clampDis > 0) //最后一节不足一个行程的部分
{
SendMsg2Outter("夹料距离:" + clampDis);
_ClampFeedPiece(clampDis);
}
if (pushDis > 0) //闭合夹爪，推料到位
{
SendMsg2Outter("推料距离:" + pushDis);
_Clamp(true);
if (!MoveAxisByAlias(DevAN_AxisFeed, pushDis, false, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "推料失败，ErrorInfo:" + errorInfo);
}
wcr = WaitMotionDoneByAlias(DevAN_AxisFeed);
if (wcr != JFWorkCmdResult.Success)
{
ExitWork(WorkExitCode.Exception, "等待推料到位失败,ErrorInfo:" + errorInfo);
}
}
SetSPAliasValue(GPN_PickDone, true); //通知上料仓 ，工件已经取走
//打开夹爪
_Clamp(false);
//返回待机位置
if (!MoveToWorkPosition(WPN_Standby, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "进料完成返回待机位置失败,ErrorInfo:" + errorInfo);
}
if (!WaitToWorkPosition(WPN_Standby, out errorInfo))
{
ExitWork(WorkExitCode.Exception, "进料完成后，等待返回待机位置失败,ErrorInfo:" + errorInfo);
}
//将送料完成信号置为true
SetSPAliasValue(GPN_FeedOK, true);
SetSPAliasValue(GPN_FeedReady, true); //通知料仓，本站开始等待送料完成
ChangeCS(STStatus.等待进料信号);
break;
default:
ExitWork(WorkExitCode.Exception, "工作流程中未命中的Custom-Status:" + CurrCS.ToString());
break;
}
}
double _piece2HandEdge = 0; //料仓送料完成后，料片左边缘到夹手右边缘的距离
/// <summary>
/// 准备运行所需要的参数
/// </summary>
void _BuildTaskParam()
{
_currPieceID = JFHubCenter.Instance.SystemCfg.GetItemValue(SYS_CurrentRecipeID) as string;
if (string.IsNullOrEmpty(_currPieceID))
{
ExitWork(WorkExitCode.Exception, " 系统数据项:" + SYS_CurrentRecipeID + " 未设置");
}
JFDLAFProductRecipe productRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Product", _currPieceID) as JFDLAFProductRecipe;
if (null == productRecipe)
{
ExitWork(WorkExitCode.Exception, "产品配方:" + _currPieceID + " 不存在");
}
if (string.IsNullOrEmpty(productRecipe.magezineBox))
{
ExitWork(WorkExitCode.Exception, "产品配方:" + _currPieceID + " 未包含BoxID配置项");
}
JFDLAFBoxRecipe boxRecipe = JFHubCenter.Instance.RecipeManager.GetRecipe("Box", /*productRecipe.magezineBox*/ _currPieceID) as JFDLAFBoxRecipe;
if (null == boxRecipe)
{
ExitWork(WorkExitCode.Exception, "产品配方:" + _currPieceID + " BoxID:" + productRecipe.magezineBox + " 在配方管理器中不存在");
}
//_trackIntervel = boxRecipe.FrameWidth;
if (boxRecipe.FrameWidth <= 0)
{
ExitWork(WorkExitCode.Exception, " BoxID:" + productRecipe.magezineBox + " 参数项FrameWidth = " + _trackIntervel + " 为非法值!");
}
_feedDistance = (double)GetCfgParamValue(SCN_FeedDistance);
if (_feedDistance <= 0)
{
ExitWork(WorkExitCode.Exception, "运行参数:" + SCN_FeedDistance + " =" + _feedDistance + " 为非法值");
}
_singleTripLength = (double)GetCfgParamValue(SCN_PushLength);
if (_singleTripLength <= 0)
{
ExitWork(WorkExitCode.Exception, "运行参数:" + SCN_PushLength + " =" + _singleTripLength + " 为非法值");
}
_piece2HandEdge = (double)GetCfgParamValue(SCN_Piece2Hand);
if (_piece2HandEdge <= 0)
{
ExitWork(WorkExitCode.Exception, "运行参数:" + SCN_Piece2Hand + " =" + _piece2HandEdge + " 为非法值");
}
_trackOrg = (double)GetCfgParamValue(SCN_TrackOrgWidth);
if (_trackOrg <= 0)
{
ExitWork(WorkExitCode.Exception, "运行参数:" + SCN_TrackOrgWidth + " =" + _trackOrg + " 为非法值");
}
//检查待机点位是否设置
JFMultiAxisPosition standbyPos = GetWorkPosition(WPN_Standby);
string axisXName = GetDecChnGlobName(NamedChnType.Axis, DevAN_AxisFeed);
if (string.IsNullOrEmpty(axisXName))
{
ExitWork(WorkExitCode.Exception, "轴替身:" + DevAN_AxisFeed + " 未邦定全局轴名称");
}
if (standbyPos.AxisNames.Length != 1 || !standbyPos.ContainAxis(axisXName))
{
ExitWork(WorkExitCode.Exception, "进料待机点位设置错误!只能包含进料X轴");
}
}
