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 bool Init(bool bmanual)
{
MotionMgr.GetInstace().ServoOn(11);
bFirist = true;
ResetAllLineState();
Config();
lineSenor.feedMode = FeedMode.前进料;
lineLock.bOutMotorRunDir = true;
WaranResult waranResult = HomeSigleAxisPosWaitInpos(lineUpDown.nAxisNo, this, 2000000, bmanual);
return(waranResult == WaranResult.Run);
}
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;
}
}
public void ULoad(string SoketName, bool bManual)
{
string Soket = SoketName;
retry_open_cliyder:
IOMgr.GetInstace().WriteIoBit($"{Soket}工位夹紧", false);
WaranResult waranResult = stationAAT.CheckIobyName($"{Soket}治具松开检测", true, $"{Soket}治具松开检测 失败，请检查气缸及感应器", bManual);
if (waranResult == WaranResult.Retry)
{
goto retry_open_cliyder;
}
retry_close_checkVac:
IOMgr.GetInstace().WriteIoBit($"{Soket}真空吸", false);
}
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));
}
protected override void StationWork(int step)
{
if (ParamSetMgr.GetInstance().GetIntParam("右剥料屏蔽") == 1)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", true);
return;
}
WaranResult waranResult;
bool bfind = ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功");
bool bgooripos = ParamSetMgr.GetInstance().GetBoolParam("右剥料归位");
PlaneState planeState = PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState;
NozzleState nozzleState = NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState;
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") && ParamSetMgr.GetInstance().GetBoolParam("右剥料归位") &&
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState == PlaneState.None &&
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.Have &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
///loadState = LoadState.exceing;
Carray();
// loadState = LoadState.None;
}
switch (step)
{
case (int)StationStep.step_init:
Init();
retry_FindBuzzer:
waranResult = FindBuzzer();
if (waranResult == WaranResult.Retry)
{
goto retry_FindBuzzer;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"))
{
retry_go_蜂鸣器顶位:
if (sys.g_AppMode == AppMode.AirRun)
{
ParamSetMgr.GetInstance().SetIntParam("右蜂鸣器顶位", (int)GetStationPointDic()["装料原始位"].pointZ);
}
WaranResult waranResult1 = MoveSigleAxisPosWaitInpos(AxisZ, ParamSetMgr.GetInstance().GetIntParam("右蜂鸣器顶位"), (int)MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, false, this, 60000);
if (waranResult1 == WaranResult.Retry)
{
goto retry_go_蜂鸣器顶位;
}
}
MoveSigleAxisPosWaitInpos(AxisY, GetStationPointDic()["剥料准备位"].pointY, (double)SpeedType.High, 20, false, this, 60000);
PushMultStep((int)StationStep.step_Separate);
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", true);
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", 0);
DelCurrentStep();
break;
case (int)StationStep.step_Separate:
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
if (PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState == PlaneState.None)
{
break;
}
int Count = ParamSetMgr.GetInstance().GetIntParam("右剥料次数");
if (Count > 6)
{
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
break;
}
Separate(Count);
Count = ParamSetMgr.GetInstance().GetIntParam("右剥料次数");
if (Count >= 2 && Count <= 6)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", true);
PushMultStep((int)StationStep.step_WaitGetFinish);
DelCurrentStep();
}
else if (Count > 6)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
break;
}
else
{
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
}
break;
case (int)StationStep.step_WaitGetFinish:
if (ParamSetMgr.GetInstance().GetBoolParam("右剥料取料完成"))
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料取料完成", false);
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
}
break;
}
}
private void LoadWortk(bool bManual = false)
{
try
{
if (!ParamSetMgr.GetInstance().GetBoolParam("右剥料回原点成功"))
{
return;
}
if (!IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器") &&
!ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
loadState != LoadState.exceing &&
sys.g_AppMode == AppMode.AirRun &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
retry_find:
loadState = LoadState.exceing;
WaranResult waranResult = FindBuzzer();
if (waranResult == WaranResult.Retry)
{
goto retry_find;
}
loadState = LoadState.None;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
ParamSetMgr.GetInstance().GetBoolParam("右装料平台上升到位") &&
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.None &&
loadState != LoadState.exceing &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
loadState = LoadState.exceing;
Pick();
loadState = LoadState.None;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
!ParamSetMgr.GetInstance().GetBoolParam("右装料平台上升到位") &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info("装料步进运动");
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
double steplen = ParamSetMgr.GetInstance().GetDoubleParam("装料步长");
pos = pos + (int)(steplen * nResolutionZ);
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
}
}
catch (Exception e)
{
loadState = LoadState.None;
Warn("异常发生" + e.Message);
return;
}
}
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 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 override void DealException(string strExcptionName, WaranResult BitOpreatBtn, AlarmItem alarmItem)
{
base.DealException(strExcptionName, BitOpreatBtn, alarmItem);
}
public StationStep StepGoSnap(VisionControl visionControl, bool bmanual = false)
{
StationStep step = StationStep.Step_Stop;
//拍照识别是否有料,计算偏差（6月后做）
ParamSetMgr.GetInstance().SetBoolParam("启动点胶", true);
//开始点胶(优先实现画轨迹)
//获取当前夹取位置是A工位还是B工位
int StationIndex = TableData.GetInstance().GetSocketNum(1, 0.5) - 1;
PathHelper.Disp_ID = StationIndex;
string stationAAName = StationIndex == 0 ? "A" : "B";
ParamSetMgr.GetInstance().SetBoolParam($"{stationAAName}工位点胶", true);
double CenterX = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶X轴半径");
double CenterY = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶Y轴半径");
double DelZ = ParamSetMgr.GetInstance().GetDoubleParam("点胶Z轴上升高度偏差");
int DispDelay = ParamSetMgr.GetInstance().GetIntParam("出胶延迟");
double DispRunAngle = ParamSetMgr.GetInstance().GetDoubleParam("画胶角度");
double DispEndAngle = ParamSetMgr.GetInstance().GetDoubleParam("收胶角度");
bool DispEnable = ParamSetMgr.GetInstance().GetBoolParam("屏蔽点胶");
bool DispPhoto = ParamSetMgr.GetInstance().GetBoolParam("点胶相机拍照定位");
double SafeZ = GetStationPointDic()[$"安全位置"].pointZ;
double X = 0;
double Y = 0;
double DispPhotoX = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointX;
double DispPhotoY = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointY;
double DispPhotoZ = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointZ;
double DispPosX = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointX;
double DispPosY = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointY;
double DispPosZ = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointZ;
double x1 = GetStationPointDic()["安全位置"].pointX;
CameraBase cam = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
cam = CameraMgr.GetInstance().GetCamera("Top");
cam.BindWindow(visionControl);
Task.Run(() =>
{
cam.StopGrap();
cam.SetTriggerMode(CameraModeType.Software);
cam.SetGain(ParamSetMgr.GetInstance().GetIntParam("点胶相机增益"));
cam.SetExposureTime(ParamSetMgr.GetInstance().GetIntParam("点胶相机曝光"));
cam.StartGrab();
});
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
retry_uplens:
IOMgr.GetInstace().WriteIoBit($"{stationAAName}Lens升降气缸", true);
WaranResult waranResult1 = CheckIobyName($"{stationAAName}Lens上升到位", true, $"{stationAAName}Lens上升到位", bmanual);
if (waranResult1 == WaranResult.Retry)
{
goto retry_uplens;
}
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
HObject img = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
img = cam.GetImage();
if (img == null || !img.IsInitialized())
{
img = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
//去画胶
Task.Run(() =>
{
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
double valueVoltage = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电压");
OtherDevices.ckPower.SetVoltage(StationIndex + 1, valueVoltage);
double valueCurrent = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电流");
OtherDevices.ckPower.SetCurrent(StationIndex + 1, valueCurrent);
}
IOMgr.GetInstace().WriteIoBit($"{stationAAName}模组上电", true);
IOMgr.GetInstace().WriteIoBit($"12V开启", ParamSetMgr.GetInstance().GetBoolParam("是否开启非程控12V"));
});
if (DispEnable)
{
step = StationStep.Step_CheckIpos;
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
if (DispPhoto)
{
////MoveY(DispPhotoY, SpeedType.High);
////MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
//拍照计算 +半径
double CenterdelX = 0;
double CenterdelY = 0;
X = CenterX + CenterdelX;
Y = CenterdelY;
DispPosX = DispPhotoX - X;
DispPosY = DispPhotoY + CenterdelY;
}
else
{
X = CenterX;
Y = 0;
}
// IOMgr.GetInstace().WriteIoBit("点胶机", false);
bool brtnExc = true;
MotionMgr.GetInstace().AddAxisToGroup("点胶群组", 2, new int[] { AxisX, AxisY });
MoveY(DispPosY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPosX, DispPosZ + DelZ + 10 }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + DelZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (ParamSetMgr.GetInstance().GetStringParam("点胶轨迹") == "Circle")
{
DateTime dateTime = DateTime.Now;
if (DispDelay >= 0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
}
else
{
Task.Run(() =>
{
while (true)
{
if ((DateTime.Now - dateTime).TotalSeconds > Math.Abs(DispDelay) / 1000.0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
break;
}
Thread.Sleep(10);
}
});
}
//走
brtnExc &= MotionMgr.GetInstace().ClearBufMove("点胶群组");
brtnExc &= MotionMgr.GetInstace().RestGpErr("点胶群组");
// GpState gps = MotionMgr.GetInstace().GetGpState("点胶群组");
brtnExc &= MotionMgr.GetInstace().AddBufMove("点胶群组", BufMotionType.buf_Arc2dAbsAngleCW, 1, 2, (double)SpeedType.Mid, (double)SpeedType.Mid, new double[2] {
X, Y
}, new double[2] {
DispPosZ, 0
});
brtnExc &= MotionMgr.GetInstace().BufTrans("点胶群组");//M314没有buf运动，所以放在这里star
brtnExc &= MotionMgr.GetInstace().BufStart("点胶群组");
Thread.Sleep(400);
if (!WaitXY(DispPosX, DispPosY))
{
IOMgr.GetInstace().WriteIoBit("点胶机", false);
return(step);
}
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
else
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
MoveY(DispPosY + CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX + CenterX * 2 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY - CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY, SpeedType.Mid);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 3 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 10 }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveSigleAxisPosWaitInpos(AxisX, DispPhotoX, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
HObject img2 = cam.GetImage();
if (img2 == null || !img2.IsInitialized())
{
img2 = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img2.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { SafeZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
MoveSigleAxisPosWaitInpos(AxisX, x1, (double)SpeedType.High, 0.005, bmanual, this);
step = StationStep.Step_CheckIpos;
//if (DialogResult.OK!= MessageBox.Show("请确定点胶效果是否OK，OK按确定", "Info", MessageBoxButtons.OKCancel, MessageBoxIcon.Information, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly))
//{
// ParamSetMgr.GetInstance().SetBoolParam("重新上料", true);
// return step;
//}
ParamSetMgr.GetInstance().SetBoolParam("重新上料", false);
SocketMgr.GetInstance().SetSocketState(SocketNumOfUnloadLoad, SocketState.Have);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
ParamSetMgr.GetInstance().SetBoolParam("点胶完成", true);
return(step);
}
public StationStep StepCheckIpos(bool bmanual = false)
{
StationStep step = StationStep.Step_CheckIpos;
bool dEnableA = ParamSetMgr.GetInstance().GetBoolParam("屏蔽A工位");
bool dEnableB = ParamSetMgr.GetInstance().GetBoolParam("屏蔽B工位");
bool bA_UnLoadLoadStart = TableData.GetInstance().GetStationStartCmd("A_UnLoadLoad") && !dEnableA;
bool bB_UnLoadLoadStart = TableData.GetInstance().GetStationStartCmd("B_UnLoadLoad") && !dEnableB;
if (bA_UnLoadLoadStart || bB_UnLoadLoadStart || ParamSetMgr.GetInstance().GetBoolParam("重新上料"))
{
ParamSetMgr.GetInstance().SetBoolParam("重新上料", false);
TableData.GetInstance().ResetStartCmd("A_UnLoadLoad");
TableData.GetInstance().ResetStartCmd("B_UnLoadLoad");
strStationName = TableData.GetInstance().GetStationName();
if (strStationName == "A_Pick" || strStationName == "B_Pick")
{
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
SocketNumOfUnloadLoad = TableData.GetInstance().GetSocketNum(1, 0.5) - 1;
if (SocketNumOfUnloadLoad == 0 && dEnableA)
{
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
if (SocketNumOfUnloadLoad == 1 && dEnableB)
{
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", true);
Info("开始上下料，安全光栅开始屏蔽");
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", false);
ParamSetMgr.GetInstance().SetBoolParam("可以上下料", true);
SocketState state = SocketMgr.GetInstance().socketArr[SocketNumOfUnloadLoad].socketState;
if (state == SocketState.HaveOK || state == SocketState.HaveNG)
{
string lightColor = state == SocketState.HaveOK ? "OK指示绿灯" : "NG指示红灯";
string fp = state == SocketState.HaveOK ? "P" : "F";
UserTest.TestResultAB[SocketNumOfUnloadLoad].SocketerNumber = SocketNumOfUnloadLoad == 0 ? "A" : "B";
#region 计算CT赋值
if (UserTest.ProductCount.CountCTAll == 0)
{
UserTest.ProductCount.StarCTTime = DateTime.Now;
UserTest.ProductCount.EndCTTime = DateTime.Now;
UserTest.ProductCount.CountCTTime = 0;
}
else
{
UserTest.ProductCount.CountCTTime += (DateTime.Now - UserTest.ProductCount.EndCTTime).TotalSeconds;
UserTest.ProductCount.EndCTTime = DateTime.Now;
if ((DateTime.Now - UserTest.ProductCount.StarCTTime).TotalMinutes > ParamSetMgr.GetInstance().GetDoubleParam("UPH计算时长"))
{
if (UserTest.ProductCount.CountCTAll > ParamSetMgr.GetInstance().GetDoubleParam("UPH计算时长范围内最少个数"))
{
UserTest.ProductCount.UPH = (UserTest.ProductCount.CountCTAll) * 3600 / UserTest.ProductCount.CountCTTime;
}
//清除
UserTest.ProductCount.CountCTAll = -1;
}
}
UserTest.ProductCount.CountCTAll++;
if (SocketNumOfUnloadLoad == 0)
{
if (fp == "P")
{
UserTest.ProductCount.OKA++;
}
else
{
UserTest.ProductCount.NGA++;
if (!UserTest.FailResultAB.Play)
{
UserTest.ProductCount.PlayFailA++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.OC)
{
UserTest.ProductCount.OCFailA++;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.Tilt)
{
UserTest.ProductCount.TiltFailA++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Play = true;
}
if (!UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.SFRFailA++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.Tilt = true;
}
if (UserTest.FailResultAB.Play && UserTest.FailResultAB.OC && UserTest.FailResultAB.Tilt && UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.OtherFailA++;
}
}
}
else
{
if (fp == "P")
{
UserTest.ProductCount.OKB++;
}
else
{
UserTest.ProductCount.NGB++;
if (!UserTest.FailResultAB.Play)
{
UserTest.ProductCount.PlayFailB++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.OC)
{
UserTest.ProductCount.OCFailB++;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.Tilt)
{
UserTest.ProductCount.TiltFailB++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Play = true;
}
if (!UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.SFRFailB++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.Tilt = true;
}
if (UserTest.FailResultAB.Play && UserTest.FailResultAB.OC && UserTest.FailResultAB.Tilt && UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.OtherFailB++;
}
}
}
#endregion
Form_Auto.EvenShowCT(SocketNumOfUnloadLoad + 1);
UserTest.TestResultAB[SocketNumOfUnloadLoad].Result = fp == "P" ? true : false;
if (fp == "P")
{
UserTest.TestResultAB[SocketNumOfUnloadLoad].FailStep = "Pass";
}
UserTest.TestResultAB[SocketNumOfUnloadLoad].EndTime = DateTime.Now;
UserTest.TestResultAB[SocketNumOfUnloadLoad].TestTime = (UserTest.TestResultAB[SocketNumOfUnloadLoad].EndTime - UserTest.TestResultAB[SocketNumOfUnloadLoad].StarTime).TotalSeconds;
string errCsv = CSVHelper.Instance.SaveToCSVPath(PathHelper.TestResultCsvPath, UserTest.TestResultAB[SocketNumOfUnloadLoad]);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", false);
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
IOMgr.GetInstace().WriteIoBit(lightColor, true);
Info($"保存OK结果：cvs={errCsv}.");
if (SocketNumOfUnloadLoad == 0)
{
IOMgr.GetInstace().WriteIoBit($"ALens升降气缸", true);
}
else
{
IOMgr.GetInstace().WriteIoBit($"BLens升降气缸", true);
}
//PlaceToSocket(SocketNumOfUnloadLoad);
UserTest.CTTestAB[SocketNumOfUnloadLoad].Star = false;
UserTest.CTTestAB[SocketNumOfUnloadLoad].End = false;
UserTest.CTTestAB[SocketNumOfUnloadLoad].Show = true;
}
//同意下料接口
SysFunConfig.LodUnloadPatten.ULoad(SocketNumOfUnloadLoad == 0? "A":"B", bmanual);
retry_check_Start:
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", false);
WaranResult waranResult = doWhileCheckStartSignal.doSomething(this, doWhileCheckStartSignal, false, new object[] { this });
if (waranResult == WaranResult.Retry)
{
goto retry_check_Start;
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
IOMgr.GetInstace().WriteIoBit("启动按钮灯", false);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", false);
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
if (!IOMgr.GetInstace().ReadIoInBit($"点胶液位感应") && ParamSetMgr.GetInstance().GetBoolParam("点胶液位检测"))
{
MessageBox.Show($"点胶液位感应有信号，胶水已经用完！请更换，或者屏蔽[点胶液位检测]。", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
goto retry_check_Start;
}
Form_Auto.EvenGetSN(SocketNumOfUnloadLoad);
if (UserTest.TestResultAB[SocketNumOfUnloadLoad].SerialNumber == "NOSN")
{
MessageBox.Show("请输入SN 或者屏蔽SN,重新启动", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
goto retry_check_Start;
}
if (SocketNumOfUnloadLoad == 0)
{
UserTest.ProductCount.CompeteA++;
}
else
{
UserTest.ProductCount.CompeteB++;
}
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", true);
ParamSetMgr.GetInstance().SetBoolParam("可以上下料", false);
ParamSetMgr.GetInstance().SetBoolParam("AA完成", false);
ParamSetMgr.GetInstance().SetBoolParam("点胶完成", false);
ParamSetMgr.GetInstance().SetBoolParam("启动AA", false);
ParamSetMgr.GetInstance().SetBoolParam("启动点胶", false);
Info("开始上下料，安全光栅开始启用");
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", true);
UserTest.CTTestAB[SocketNumOfUnloadLoad].Star = true;
UserTest.CTTestAB[SocketNumOfUnloadLoad].End = false;
UserTest.CTTestAB[SocketNumOfUnloadLoad].Show = false;
step = StationStep.Step_GoSnap;
}
return(step);
}
public static WaranResult JumpInPos(this ScaraRobot scaraRobot, Coordinate coordinate, HandDirection direction, bool bCheckHandleSys = false, bool bmauanl = false, int nTimeout = 20000)
{
logger.Info($"JumpInPos start pos{coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}");
try
{
WaranResult waran = WaranResult.Failture;
bool bcmd = ScaraRobot.GetInstance().Jump(coordinate, direction, getLimit(coordinate));
DoWhile doWhile = new DoWhile((nTimeed, doWhile2, bmanual, objs) =>
{
double dfine = 0.05;
bool bInPosX = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.X - coordinate.X) < dfine;
bool bInPosY = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Y - coordinate.Y) < dfine;
// bool bInPosZ = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Z - coordinate.Z) < dfine;
bool bInPosU = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.U - coordinate.U) < 0.1;
bool bInPos = bInPosX && bInPosY && true && bInPosU;
if (!bmanual)
{
if (GlobalVariable.g_StationState == StationState.StationStatePause)
{
logger.Info($"JumpInPos 程序状态： {GlobalVariable.g_StationState }");
ScaraRobot.GetInstance().SetStopActionFlag();
return(WaranResult.CheckAgain);
}
else if (GlobalVariable.g_StationState == StationState.StationStateRun)
{
Thread.Sleep(50);
bInPosX = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.X - coordinate.X) < dfine;
bInPosY = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Y - coordinate.Y) < dfine;
// bInPosZ = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.Z - coordinate.Z) < dfine;
bInPosU = Math.Abs(ScaraRobot.GetInstance().CurrentPosition.U - coordinate.U) < 0.1;
bInPos = bInPosX && bInPosY && true && bInPosU;
if (!bInPos)
{
Coordinate coordinatetemp = ScaraRobot.GetInstance().GetCurrentImmediately();
bInPosX = Math.Abs(coordinatetemp.X - coordinate.X) < dfine;
bInPosY = Math.Abs(coordinatetemp.Y - coordinate.Y) < dfine;
// bInPosZ = Math.Abs(coordinatetemp.Z - coordinate.Z) < dfine;
bInPosU = Math.Abs(coordinatetemp.U - coordinate.U) < 0.1;
bInPos = bInPosX && bInPosY && true && bInPosU;
}
logger.Info($"JumpInPos 程序状态：{GlobalVariable.g_StationState} bInPos {bInPos}, 目标位置 {coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}" +
$"实际位置： {ScaraRobot.GetInstance().CurrentPosition.X}，{ScaraRobot.GetInstance().CurrentPosition.Y}，{ScaraRobot.GetInstance().CurrentPosition.Z}，{ScaraRobot.GetInstance().CurrentPosition.U}");
if (bInPos)
{
return(WaranResult.Run);
}
else if (ScaraRobot.GetInstance().InPos&& !bInPos)
{
ScaraRobot.GetInstance().ReasetStopActionFlag();
ScaraRobot.GetInstance().Jump(coordinate, direction, getLimit(coordinate));
return(WaranResult.CheckAgain);
}
}
}
if (nTimeed > nTimeout)
{
logger.Info($"JumpInPos 程序状态：{GlobalVariable.g_StationState} bInPos {bInPos}, 超时， 目标位置 {coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}" +
$"实际位置： {ScaraRobot.GetInstance().CurrentPosition.X}，{ScaraRobot.GetInstance().CurrentPosition.Y}，{ScaraRobot.GetInstance().CurrentPosition.Z}，{ScaraRobot.GetInstance().CurrentPosition.U}");
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().ReasetStopActionFlag();
logger.Info($"JumpInPos 程序状态：{GlobalVariable.g_StationState} bInPos {bInPos}, 复位， 目标位置 {coordinate.X}，{coordinate.Y}，{coordinate.Z}，{coordinate.U}" +
$"实际位置： {ScaraRobot.GetInstance().CurrentPosition.X}，{ScaraRobot.GetInstance().CurrentPosition.Y}，{ScaraRobot.GetInstance().CurrentPosition.Z}，{ScaraRobot.GetInstance().CurrentPosition.U}");
return(WaranResult.TimeOut);
}
if (ScaraRobot.GetInstance().InPos&& bInPos)
{
return(WaranResult.Run);
}
else
{
return(WaranResult.CheckAgain);
}
}
, 30000);
return(doWhile.doSomething2(null, doWhile, bmauanl, null));
}
catch (Exception ex)
{
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().SetStopActionFlag();
ScaraRobot.GetInstance().ReasetStopActionFlag();
throw ex;
}
}
