//
public void Stime()
{
timer = new Timer();
//一秒间隔
timer.Interval = 1000;
timer.Tick += (s, e) =>
{
Ltime++;
label1.Text = Ltime.ToString();//显示查询几秒
if (Ltime >= 5)
{
label1.Text = "搜索时间大于5秒已超时";
label2.Text = "对不起，系统不包含您输入的单词";
textBox2.Text = "";
//显示网站链接
linkLabel1.Visible = true;
linkLabel1.Text = "对不起请尝试使用（有道youdao）在线翻译:" + "\r\n\n\t" + textBox1.Text.Trim();
timer.Stop();
Ltime = 0;
//使linkWebSearch控件显示的网址在textbox控件上面
linkLabel1.BringToFront();
}
else//那就是5秒内显示出结果了
{
linkLabel1.Visible = false;
label1.Text = Ltime.ToString();
}
};
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
if (TaskMain.sticklogic.feeder.GetBusy)
{
return;
}
TakeCount = 0; //取料个数
whichNuzzle = 0; //哪个吸嘴
LG.StepNext(2);
break;
case 2: //Z轴抬起到安全高度
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //Z到安全位置
CTRCard.Axis_R[i].MC_MoveAbs(0);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive && CTRCard.RArrive)
{
bool isCanTake = false;
if (
Para.Stickdata.NuzzleForbit[whichNuzzle] == false &&
Para.ProcessData.NuzzlePara[whichNuzzle].isHave == false) //吸嘴没被禁用且没有料
{
isCanTake = true;
}
else
{
if (Para.Stickdata.NuzzleForbit[whichNuzzle] == true) //吸嘴禁用取料加1
{
TakeCount++;
}
}
if (isCanTake)
{
if (TakeCount == 1 && whichNuzzle == 1)
{
LG.StepNext(7); //如果左吸嘴取过一次且目前可以取料的是右吸嘴
}
else
{
LG.StepNext(4); //可以取料 去取料位置
}
}
else
{
LG.StepNext(14); //去 判断
}
}
break;
case 4:
if (whichNuzzle == 0)
{
Ltime.Stop();
Lsticktime = (int)Ltime.ElapsedMilliseconds;
Ltime.Restart();
}
else
{
Rtime.Stop();
Rsticktime = (int)Rtime.ElapsedMilliseconds;
Rtime.Restart();
}
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.FeederPara.TakePos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.FeederPara.TakePos.Y); //到拍照位置
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive)
{
//VisionProject.Instance.visionApi.TrigRun(0, 2);//触发拍照
LG.StepNext(6);
}
break;
case 6:
if (Product.Inst.IsAging)
{
if (LG.Delay(200))
{
CCDresult.X = 0;
CCDresult.Y = 0;
CCDresult.R = 0;
LG.StepNext(7);
}
}
else
{
//if (VisionProject.Instance.visionApi.Trig == false)//相机触发的值
//{
// if (VisionProject.Instance.visionApi.Error == 0)//相机接口错误码
// {
// LG.StepNext(7);//xy到取标位置
// DeviceRsDef.Q_UpLighSource.OFF();//上相机光源关闭
// }
// else
// {
// LG.StepNext(101);//重新送料
// CTCount++;//拍照识别次数
// if (CTCount > 2)//大于2就视觉NG
// {
// CTCount = 0;//重新置零
// Alarm.SetAlarm(AlarmLevelEnum.Level2, "Feeder视觉NG");//报警
// }
// }
//}
}
break;
case 7:
CTRCard.Q_Blow[whichNuzzle].OFF(); //吹气关闭
if (Product.Inst.IsAging)
{
if (LG.Delay(500))
{
CCDresult.X = 0;
CCDresult.Y = 0;
CCDresult.R = 0;
}
}
//else if (VisionProject.Instance.visionApi.Result.Length == 2)
//{
// CCDresult.X = (float)VisionProject.Instance.visionApi.Result[TakeCount].X;//ccd的x值[改为链表形式]
// CCDresult.Y = (float)VisionProject.Instance.visionApi.Result[TakeCount].Y;//ccd的y值
// CCDresult.R = -(float)VisionProject.Instance.visionApi.Result[TakeCount].R;//ccd的r值
//}
//else
//{
// CCDresult.X = (float)VisionProject.Instance.visionApi.Result[0].X;//ccd的x值[改为链表形式]
// CCDresult.Y = (float)VisionProject.Instance.visionApi.Result[0].Y;//ccd的y值
// CCDresult.R = -(float)VisionProject.Instance.visionApi.Result[0].R;//ccd的r值
//}
CTRCard.Axis_X.MC_MoveAbs(TakePos(whichNuzzle).X + (float)CCDresult.X);
CTRCard.Axis_Y.MC_MoveAbs(TakePos(whichNuzzle).Y + (float)CCDresult.Y);
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs((float)CCDresult.R);
LG.StepNext(8);
break;
case 8: //XY到位后判断缓取，开始下压时打开吸嘴
if (CTRCard.RArrive && CTRCard.XYArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.TakeLabelPara.LiftTakePos_Z);
}
else
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.TakeLabelPara.RightTakePos_Z);
}
LG.StepNext(9);
}
break;
case 9:
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].ON(); //真空打开
CTRCard.Q_Blow[whichNuzzle].OFF(); //吹气关闭
LG.StepNext(10);
}
break;
case 10:
if (whichNuzzle == 0)
{
Para.Stickdata.TakeLabelPara.TakeLableWholeLNum++;
}
else
{
Para.Stickdata.TakeLabelPara.TakeLableWholeRNum++;
}
LG.StepNext(11);
break;
case 11: //取标延时后Z轴抬起(缓抬)
if (whichNuzzle == 0 && LG.Delay(Para.Stickdata.TakeLabelPara.LiftTakeDelay))
{
LG.StepNext(201);
}
else if (whichNuzzle == 1 && LG.Delay(Para.Stickdata.TakeLabelPara.RightTakeDelay))
{
LG.StepNext(201);
}
break;
case 201:
if (Para.Stickdata.FeederPara.FeederMode[1])
{
//剥标板回退
LG.StepNext(202);
}
else
{
LG.StepNext(12);
}
break;
case 202:
if (Para.Stickdata.FeederPara.FeederMode[1]) //拨标板回退停止
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos); //Z轴抬起
LG.StepNext(13);
}
break;
case 12: //取标延时后Z轴抬起
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos);
LG.StepNext(13);
}
break;
case 13: //检测真空//add
if (CTRCard.ZArrive) //所有轴都到达
{
if (!Product.Inst.IsAging && CTRCard.I_Vacuum[whichNuzzle].Value == false)
{
TakeNum++;
if (TakeNum >= 2)
{
TakeNum = 0;
LG.StepNext(101); //运行状态下进入14 重新剥标
CTRCard.Q_Nuzzle[whichNuzzle].Value = false; //吸真空电磁阀
Alarm.SetAlarm(AlarmLevelEnum.Level2, "取料失败，请检查真空和真空感应");
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false; //是否有料
}
else
{
LG.StepNext(4); //到拍照位
}
}
else
{
if (whichNuzzle == 0)
{
Para.Stickdata.TakeLabelPara.TakeLableLNum++;
}
else
{
Para.Stickdata.TakeLabelPara.TakeLableRNum++;
}
LG.StepNext(14); //结束
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = true; //有料
}
}
break;
case 101:
if (CTRCard.ZArrive)
{
LG.StepNext(4);
}
break;
case 14: //结束
if (CTRCard.ZArrive)
{
whichNuzzle++; //吸嘴换成另一个吸嘴
TakeCount++;
if (whichNuzzle >= 2)
{
LG.StepNext(15);
}
else
{
LG.StepNext(2);
}
}
break;
case 15:
if (TakeCount >= 2)
{
LG.StepNext(0xef);
}
//else if (VisionProject.Instance.visionApi.Result.Length == 1)
//{
// TakeCount = 0;
// LG.StepNext(0xef);
//}
else if (Para.ProcessData.NuzzlePara[0].isHave == true &&
Para.ProcessData.NuzzlePara[1].isHave == true)
{
TakeCount = 0;
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
break;
case 0xef:
LG.End();
break;
}
}
