public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
if (Once == false)
{
if (BVar.FileRorW.ReadINI("Material_index", "是否片料", "有", PVar.PublicParPath) == "有")
{
StaWork.IsHavePianliao = true;
}
else
{
StaWork.IsHavePianliao = false;
}
}
StaWork.State = false;
TimeOut = API.GetTickCount();
//StaWork.Step = 20;
}
break;
case 20:
if (StaWork.State == false && StaWork.Enable)
{
StaWork.State = true;
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
if (API.GetTickCount() - TimeOut > 500)
{
TimeOut = API.GetTickCount();
StaWork.Step = 10;
}
}
break;
case 30:
Once = true;
if (StaWork.IsHavePianliao)
{
TimeOut = API.GetTickCount();
StaWork.Step = 10;
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 40;
}
break;
case 40:
//判断料仓有无物料
if (Gg.GetDi(0, Gg.InPut0.片料到位检测) == 1)
{
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
else
{
}
break;
case 60:
Gg.SetExDo(0, 0, Gg.OutPut2.夹上摸气缸, 1);
Gg.SetExDo(0, 0, Gg.OutPut2.撕摸升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.片料夹紧气缸左, 1);
Gg.SetExDo(0, 0, Gg.OutPut2.片料夹紧气缸右, 1);
Gg.SetExDo(0, 0, Gg.OutPut2.拉料无杆干气缸, 0);
TimeOut = API.GetTickCount();
StaWork.Step = 70;
break;
case 70:
if (Gg.GetExDi(0, Gg.InPut2.夹上摸气缸伸出) == 1 && Gg.GetExDi(0, Gg.InPut2.夹上摸气缸缩回) == 0 &&
Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut2.片料夹紧气缸左伸出) == 1 && Gg.GetExDi(0, Gg.InPut2.片料夹紧气缸右伸出) == 1 &&
Gg.GetExDi(0, Gg.InPut2.拉料无杆干气缸左) == 1 && Gg.GetExDi(0, Gg.InPut2.拉料无杆干气缸右) == 0)
{
TimeOut = API.GetTickCount();
StaWork.Step = 80;
}
if (API.GetTickCount() - TimeOut > 2000)
{
if (Gg.GetExDi(0, Gg.InPut2.夹上摸气缸伸出) == 0 || Gg.GetExDi(0, Gg.InPut2.夹上摸气缸缩回) == 1)
{
AddList("夹上摸气缸伸出信号异常，请检查！");
ShowList("夹上摸气缸伸出信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 1)
{
AddList("撕摸升降气缸缩回信号异常，请检查！");
ShowList("撕摸升降气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.片料夹紧气缸左伸出) == 0)
{
AddList("片料夹紧气缸左伸出信号异常，请检查！");
ShowList("片料夹紧气缸左伸出信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.片料夹紧气缸右伸出) == 0)
{
AddList("片料夹紧气缸右伸出信号异常，请检查！");
ShowList("片料夹紧气缸右伸出信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.拉料无杆干气缸左) == 0 || Gg.GetExDi(0, Gg.InPut2.拉料无杆干气缸右) == 1)
{
AddList("拉料无杆干气缸左信号异常，请检查！");
ShowList("拉料无杆干气缸左信号异常，请检查！");
}
TimeOut = API.GetTickCount();
BufferStep = 70;
StaWork.Step = 8000;
}
break;
case 80:
//取片料马达和拉料马达回到初始位置
Gg.AbsMotion(0, BVar.S2G_Y, mFunction.Pos.TeachAxis1[3, 0], PVar.ParAxis.Speed[BVar.S2G_Y]);
Gg.AbsMotion(0, BVar.S2L_Z, mFunction.Pos.TeachAxis3[3, 3], PVar.ParAxis.Speed[BVar.S2L_Z]);
TimeOut = API.GetTickCount();
StaWork.Step = 90;
break;
case 90:
if (Gg.ZSPD(0, BVar.S2G_Y) && Gg.ZSPD(0, BVar.S2L_Z))
{
TimeOut = API.GetTickCount();
StaWork.Step = 100;
}
break;
case 100:
Gg.SetExDo(0, 0, Gg.OutPut2.撕摸升降气缸, 1);
TimeOut = API.GetTickCount();
StaWork.Step = 110;
break;
case 110:
if (Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 1)
{
Gg.SetExDo(0, 0, Gg.OutPut2.取底膜破真空, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取片料真空吸, 1);
TimeOut = API.GetTickCount();
StaWork.Step = 120;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("撕摸升降气缸伸出信号异常，请检查！");
TimeOut = API.GetTickCount();
BufferStep = 110;
StaWork.Step = 8000;
}
}
break;
case 120:
if (Gg.GetDi(0, Gg.InPut0.取片料真空检测) == 1)
{
Gg.SetExDo(0, 0, Gg.OutPut2.夹上摸气缸, 0);
TimeOut = API.GetTickCount();
StaWork.Step = 130;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("取片料真空检测信号异常，请检查！");
TimeOut = API.GetTickCount();
BufferStep = 120;
StaWork.Step = 8000;
}
}
break;
case 130:
if (Gg.GetExDi(0, Gg.InPut2.夹上摸气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.夹上摸气缸伸出) == 0)
{
Gg.SetExDo(0, 0, Gg.OutPut2.撕摸升降气缸, 0);
TimeOut = API.GetTickCount();
StaWork.Step = 140;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("夹上摸气缸缩回测信号异常，请检查！");
TimeOut = API.GetTickCount();
BufferStep = 130;
StaWork.Step = 8000;
}
}
break;
case 140:
if (Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 0)
{
Gg.AbsMotion(0, BVar.S2G_Y, mFunction.Pos.TeachAxis1[3, 1], PVar.ParAxis.Speed[BVar.S2G_Y]);
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("撕摸升降气缸缩回信号异常，请检查！");
TimeOut = API.GetTickCount();
BufferStep = 140;
StaWork.Step = 8000;
}
}
break;
case 150:
if (Gg.ZSPD(0, BVar.S2G_Y))
{
Gg.SetExDo(0, 0, Gg.OutPut2.撕摸升降气缸, 1);
TimeOut = API.GetTickCount();
StaWork.Step = 160;
}
break;
case 160:
if (Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 1)
{
Gg.SetExDo(0, 0, Gg.OutPut2.取底膜破真空, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取片料真空吸, 1);
TimeOut = API.GetTickCount();
StaWork.Step = 120;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("撕摸升降气缸伸出信号异常，请检查！");
TimeOut = API.GetTickCount();
BufferStep = 110;
StaWork.Step = 8000;
}
}
break;
case 23320:
TimeOut = API.GetTickCount();
StaWork.Step = 100;
break;
case 800:
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
//遇到异常，设备先暂停，确定后处理************************
case 8000:
PVar.IsSystemOnPauseMode = true;
PVar.MacHold = true;
PVar.Stop_Flag = false;
Frm_Main.fMain.Btn_Start.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = true;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.Auto_Timer.Enabled = false;
PVar.LampStatus = 20;
StaWork.Step = BufferStep;
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
public void HomeSub()
{
switch (StepHome)
{
case 10:
Reset.State = true;
AddList("设备初始化开始，请等待！");
Gg.SetDo(0, Gg.OutPut0.载具真空吸1, 0);
Gg.SetDo(0, Gg.OutPut0.载具真空吸2, 0);
Gg.SetDo(0, Gg.OutPut0.载具真空吸3, 0);
Gg.SetDo(0, Gg.OutPut0.载具真空吸4, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空1, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空2, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空3, 0);
Gg.SetDo(0, Gg.OutPut0.载具破真空4, 0);
Gg.SetDo(0, Gg.OutPut0.保压站刹车继电器, 0);
Gg.SetDo(0, Gg.OutPut0.警示蜂鸣器, 0);
Gg.SetDo(0, Gg.OutPut0.装配站刹车继电器, 0);
Gg.SetDo(0, Gg.OutPut1.取料吸嘴破真空, 0);
Gg.SetDo(0, Gg.OutPut1.取料吸嘴真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.NG蜂鸣器, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.NG指示灯, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.OK指示灯, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.保压升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.除底摸平移气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.除底膜吸嘴气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.检气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.拉料无杆干气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.片料夹紧气缸右, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.片料夹紧气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取底膜破真空, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取底膜真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取片料破真空, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.取片料真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.撕摸升降气缸, 0);
////界面
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_ProgressBar.IsShowProgresBar(true);
InitTimeOut = API.GetTickCount();
StepHome = 20;
break;
case 20:
Frm_ProgressBar.SetValueProgressBar(10); //初始化进度条的进度更新显示
if (Gg.GetDi(0, Gg.InPut0.载具真空检测1) == 0 && Gg.GetDi(0, Gg.InPut0.载具真空检测2) == 0 &&
Gg.GetDi(0, Gg.InPut0.载具真空检测3) == 0 && Gg.GetDi(0, Gg.InPut0.载具真空检测4) == 0 &&
Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 0
//&& Gg.GetExDi(0, Gg.InPut2.复检气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.复检气缸伸出) == 0
&& Gg.GetExDi(0, Gg.InPut2.保压升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.保压升降气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸伸出) == 0)
{
InitTimeOut = API.GetTickCount();
StepHome = 30;
}
if (API.GetTickCount() - InitTimeOut > 2000)
{
if (Gg.GetDi(0, Gg.InPut0.载具真空检测1) == 1)
{
AddList("1#载具真空检测1异常，请检查！");
ShowList("1#载具真空检测1异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.载具真空检测2) == 1)
{
AddList("2#载具真空检测2异常，请检查！");
ShowList("2#载具真空检测2异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.载具真空检测3) == 1)
{
AddList("3#载具真空检测3异常，请检查！");
ShowList("3#载具真空检测3异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.载具真空检测4) == 1)
{
AddList("4#载具真空检测3异常，请检查！");
ShowList("4#载具真空检测3异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.撕摸升降气缸伸出) == 1)
{
AddList("撕摸升降气缸缩回信号异常，请检查！");
ShowList("撕摸升降气缸缩回信号异常，请检查！");
}
//if (Gg.GetExDi(0, Gg.InPut2.复检气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.复检气缸伸出) == 1)
// {
// AddList("复检气缸缩回信号异常，请检查！");
// ShowList("复检气缸缩回信号异常，请检查！");
// }
if (Gg.GetExDi(0, Gg.InPut2.保压升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.保压升降气缸伸出) == 1)
{
AddList("保压升降气缸缩回信号异常，请检查！");
ShowList("保压升降气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.除底摸平移气缸伸出) == 1)
{
AddList("除底摸平移气缸缩回信号异常，请检查！");
ShowList("除底摸平移气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut2.除底膜吸嘴气缸伸出) == 1)
{
AddList("除底膜吸嘴气缸缩回信号异常，请检查！");
ShowList("除底膜吸嘴气缸缩回信号异常，请检查！");
}
StepHome = 1000;
}
break;
case 30:
AddList("组装Z轴开始回原点…");
AddList("保压Z轴开始回原点…");
GoHome.Instance.AxisHome[0, 3].Result = false;
GoHome.Instance.AxisHome[0, 8].Result = false;
GoHome.Instance.AxisHome[0, 3].Enable = true;
GoHome.Instance.AxisHome[0, 8].Enable = true;
GoHome.Instance.AxisHome[0, 3].Step = 10;
GoHome.Instance.AxisHome[0, 8].Step = 10;
InitTimeOut = API.GetTickCount();
Frm_ProgressBar.SetValueProgressBar(30);
StepHome = 40;
break;
case 40:
GotoHome(0, 3, 20, -1000, 10, 1, 10);
GotoHome(0, 8, 20, -1000, 10, 1, 10);
if (GoHome.Instance.AxisHome[0, 3].Step == 0 && GoHome.Instance.AxisHome[0, 3].Enable)
{
GoHome.Instance.AxisHome[0, 3].Enable = false;
if (GoHome.Instance.AxisHome[0, 3].Result)
{
AddList("组装Z轴回原点成功！");
}
else
{
AddList("组装Z轴回原点失败！");
ShowList("组装Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 8].Step == 0 && GoHome.Instance.AxisHome[0, 8].Enable)
{
GoHome.Instance.AxisHome[0, 8].Enable = false;
if (GoHome.Instance.AxisHome[0, 8].Result)
{
AddList("保压Z轴回原点成功！");
}
else
{
AddList("保压Z轴回原点失败！");
ShowList("保压Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 3].Result && GoHome.Instance.AxisHome[0, 8].Result)
{
Frm_ProgressBar.SetValueProgressBar(50);
InitTimeOut = API.GetTickCount();
StepHome = 50;
}
break;
case 50:
AddList("组装X轴开始回原点…");
AddList("组装Y轴开始回原点…");
AddList("组装R轴开始回原点…");
GoHome.Instance.AxisHome[0, 1].Result = false;
GoHome.Instance.AxisHome[0, 2].Result = false;
GoHome.Instance.AxisHome[0, 4].Result = false;
GoHome.Instance.AxisHome[0, 1].Enable = true;
GoHome.Instance.AxisHome[0, 2].Enable = true;
GoHome.Instance.AxisHome[0, 4].Enable = true;
GoHome.Instance.AxisHome[0, 1].Step = 10;
GoHome.Instance.AxisHome[0, 2].Step = 10;
GoHome.Instance.AxisHome[0, 4].Step = 10;
InitTimeOut = API.GetTickCount();
StepHome = 60;
break;
case 60:
GotoHome(0, 1, 20, -1000, 10, 1, 10);
GotoHome(0, 2, 20, -1000, 10, 1, 10);
GotoHome(0, 4, 20, -1000, 10, 1, 10);
if (GoHome.Instance.AxisHome[0, 1].Step == 0 && GoHome.Instance.AxisHome[0, 1].Enable)
{
GoHome.Instance.AxisHome[0, 1].Enable = false;
if (GoHome.Instance.AxisHome[0, 1].Result)
{
AddList("组装X轴回原点成功！");
}
else
{
AddList("组装X轴回原点失败！");
ShowList("组装X轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 2].Step == 0 && GoHome.Instance.AxisHome[0, 2].Enable)
{
GoHome.Instance.AxisHome[0, 2].Enable = false;
if (GoHome.Instance.AxisHome[0, 2].Result)
{
AddList("组装Y轴回原点成功！");
}
else
{
AddList("组装Y轴回原点失败！");
ShowList("组装Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 4].Step == 0 && GoHome.Instance.AxisHome[0, 4].Enable)
{
GoHome.Instance.AxisHome[0, 4].Enable = false;
if (GoHome.Instance.AxisHome[0, 4].Result)
{
AddList("组装R轴回原点成功！");
}
else
{
AddList("组装R轴回原点失败！");
ShowList("组装R轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 1].Result && GoHome.Instance.AxisHome[0, 2].Result && GoHome.Instance.AxisHome[0, 4].Result)
{
Frm_ProgressBar.SetValueProgressBar(70);
InitTimeOut = API.GetTickCount();
StepHome = 70;
}
break;
case 70:
AddList("上料Z轴开始回原点…");
AddList("平移Y轴开始回原点…");
AddList("拉料Z轴开始回原点…");
GoHome.Instance.AxisHome[0, 5].Result = false;
GoHome.Instance.AxisHome[0, 6].Result = false;
GoHome.Instance.AxisHome[0, 7].Result = false;
GoHome.Instance.AxisHome[0, 5].Enable = true;
GoHome.Instance.AxisHome[0, 6].Enable = true;
GoHome.Instance.AxisHome[0, 7].Enable = true;
GoHome.Instance.AxisHome[0, 5].Step = 10;
GoHome.Instance.AxisHome[0, 6].Step = 10;
GoHome.Instance.AxisHome[0, 7].Step = 10;
InitTimeOut = API.GetTickCount();
StepHome = 80;
break;
case 80:
GotoHome(0, 5, 20, -1000, 10, 1, 10);
GotoHome(0, 6, 20, -1000, 10, 1, 30);
GotoHome(0, 7, 20, -1000, 10, 1, 10);
if (GoHome.Instance.AxisHome[0, 5].Step == 0 && GoHome.Instance.AxisHome[0, 5].Enable)
{
GoHome.Instance.AxisHome[0, 5].Enable = false;
if (GoHome.Instance.AxisHome[0, 5].Result)
{
AddList("上料Z轴回原点成功！");
}
else
{
AddList("上料Z轴回原点失败！");
ShowList("上料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 6].Step == 0 && GoHome.Instance.AxisHome[0, 6].Enable)
{
GoHome.Instance.AxisHome[0, 6].Enable = false;
if (GoHome.Instance.AxisHome[0, 6].Result)
{
AddList("平移Y轴回原点成功！");
}
else
{
AddList("平移Y轴回原点失败！");
ShowList("平移Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 7].Step == 0 && GoHome.Instance.AxisHome[0, 7].Enable)
{
GoHome.Instance.AxisHome[0, 7].Enable = false;
if (GoHome.Instance.AxisHome[0, 7].Result)
{
AddList("拉料Z轴回原点成功！");
}
else
{
AddList("拉料Z轴回原点失败！");
ShowList("拉料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[0, 5].Result && GoHome.Instance.AxisHome[0, 6].Result && GoHome.Instance.AxisHome[0, 7].Result)
{
Frm_ProgressBar.SetValueProgressBar(80);
InitTimeOut = API.GetTickCount();
StepHome = 90;
}
break;
case 90:
AddList("转盘R轴开始回原点…");
GoHome.Instance.AxisHome[1, 2].Result = false;
GoHome.Instance.AxisHome[1, 1].Enable = true;
GoHome.Instance.AxisHome[1, 1].Step = 10;
InitTimeOut = API.GetTickCount();
StepHome = 100;
break;
case 100:
GotoHome(1, 1, 30, -360, 5, mFunction.Pos.TeachAxis1[2, 0], 30);
if (GoHome.Instance.AxisHome[1, 1].Step == 0 && GoHome.Instance.AxisHome[1, 1].Enable)
{
GoHome.Instance.AxisHome[1, 1].Enable = false;
if (GoHome.Instance.AxisHome[1, 1].Result)
{
AddList("转盘R轴回原点成功！");
}
else
{
AddList("转盘R轴回原点失败！");
ShowList("转盘R轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.Instance.AxisHome[1, 1].Result)
{
Frm_ProgressBar.SetValueProgressBar(90);
InitTimeOut = API.GetTickCount();
StepHome = 150;
}
break;
case 150:
AddList("各轴开始回待机位置…");
//组装站
Gg.AbsMotion(0, 1, mFunction.Pos.TeachAxis1[0, 0], 20);
Gg.AbsMotion(0, 2, mFunction.Pos.TeachAxis2[0, 0], 20);
Gg.AbsMotion(0, 3, mFunction.Pos.TeachAxis3[0, 0], 20);
Gg.AbsMotion(0, 4, mFunction.Pos.TeachAxis4[0, 0], 20);
//保压站
Gg.AbsMotion(0, 8, mFunction.Pos.TeachAxis1[1, 0], 20); //保压初始位置
Tools.AxisTmplPos[1, 1] = 0;
//供料
Gg.AbsMotion(0, 5, mFunction.Pos.TeachAxis2[3, 4], 50); //供料起始位置
Gg.AbsMotion(0, 6, mFunction.Pos.TeachAxis1[3, 6], 100); //避让位置
Gg.AbsMotion(0, 7, mFunction.Pos.TeachAxis3[3, 7], 50); //换料位置
InitTimeOut = API.GetTickCount();
StepHome = 160;
break;
case 160:
if (Gg.ZSPD(0, 1) && Gg.ZSPD(0, 2) && Gg.ZSPD(0, 3) && Gg.ZSPD(0, 4) && Gg.ZSPD(0, 5) && Gg.ZSPD(0, 6) && Gg.ZSPD(0, 7) && Gg.ZSPD(0, 8) && Gg.ZSPD(1, 1))
{
AddList("各轴回待机位置完成！");
InitTimeOut = API.GetTickCount();
StepHome = 170;
}
else
{
if ((API.GetTickCount() - InitTimeOut) > 10000)
{
if (Gg.ZSPD(0, 1) == false)
{
AddList("组装X轴回待机位置失败！");
ShowList("组装X轴回待机位置失败！");
}
if (Gg.ZSPD(0, 2) == false)
{
AddList("组装Y轴回待机位置失败！");
ShowList("组装Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, 3) == false)
{
AddList("组装Z轴回待机位置失败！");
ShowList("组装Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, 4) == false)
{
AddList("组装R轴回待机位置失败！");
ShowList("组装R轴回待机位置失败！");
}
if (Gg.ZSPD(0, 5) == false)
{
AddList("上料Z轴回待机位置失败！");
ShowList("上料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, 6) == false)
{
AddList("平移Y轴回待机位置失败！");
ShowList("平移Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, 7) == false)
{
AddList("拉料Z轴回待机位置失败！");
ShowList("拉料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, 8) == false)
{
AddList("保压Z轴回待机位置失败！");
ShowList("保压Z轴回待机位置失败！");
}
if (Gg.ZSPD(1, 1) == false)
{
AddList("转盘R轴回待机位置失败！");
ShowList("转盘R轴回待机位置失败！");
}
StepHome = 1000;
}
}
break;
case 170:
if (API.GetTickCount() - InitTimeOut > 500)
{
//gts.GT_SetPrfPos(1, 1, 0); //规划器置零
//gts.GT_SetEncPos(1, 1, 0); //编码器置零
//gts.GT_SynchAxisPos(1, 1 << 0); //将当前轴进行位置同步
InitTimeOut = API.GetTickCount();
StepHome = 800;
}
break;
case 800:
AddList("初始化完成");
ShowList("初始化完成");
PVar.LampStatus = 20;
PVar.Stop_Flag = true;
PVar.AutoRunFlag = false;
PVar.MacHold = false;
PVar.CPKDoneCounts = 0;
PVar.WorkMode = 0;
Frm_Main.fMain.Panel_CPK.Visible = false;
Frm_Engineering.fEngineering.Btn_SelectMaterial.Enabled = true;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = true;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_SelectedBtn; //'主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.TabPage3.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_Engineering.fEngineering.TabPage4.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_ProgressBar.IsShowProgresBar(false); //'初始化进度条显示
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
for (int i = 0; i <= 4; i++)
{
PVar.Sta_Work[i].State = false;
PVar.Sta_Work[i].Result = false;
PVar.Sta_Work[i].IsHaveHSG = false;
PVar.Sta_Work[i].Step = 0;
}
Mod_ErrorCode.CheckSystemTimeStep = 0;
GoHome.Instance.Reset.State = false;
GoHome.Instance.Reset.Result = true;
StepHome = 0;
break;
case 1000:
PVar.LampStatus = 10;
PVar.MacHold = false;
PVar.Stop_Flag = true;
Frm_Engineering.fEngineering.Btn_SelectMaterial.Enabled = false;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn; //主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
Frm_ProgressBar.IsShowProgresBar(false); //初始化进度条显示
GoHome.Instance.Reset.Result = false;
GoHome.Instance.Reset.State = false;
StepHome = 0;
break;
}
}
public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.State = false;
TimeOut = API.GetTickCount();
StaWork.Step = 20;
}
break;
case 20:
//本站工作状态，工站使能，本站是否有产品，转盘工作状态
if (PVar.ParList.CheckSts[17] == false)
{
if (StaWork.State == false && StaWork.Enable && StaWork.Result && StaWork.IsHaveHSG && PVar.Sta_Work[1].State == false)
{
StaWork.State = true;
StaWork.Result = false;
//清空缓存的压力值
for (int i = PVar.Press.Count() - 1; i > 0; i--)
{
PVar.Press[i] = 0;
}
Command.Com2_Send(Command.压力控制打开);
Gg.SetExDo(0, 0, Gg.OutPut2.保压升降气缸, 1);
AddList("复检开始开始！");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
StaWork.Step = 10;
}
}
else
{
if (StaWork.State == false && StaWork.Enable && StaWork.IsHaveHSG && PVar.Sta_Work[1].State == false)
{
StaWork.State = true;
StaWork.Result = false;
//清空缓存的压力值
for (int i = PVar.Press.Count() - 1; i > 0; i--)
{
PVar.Press[i] = 0;
}
Command.Com2_Send(Command.压力控制打开);
Gg.SetExDo(0, 0, Gg.OutPut2.保压升降气缸, 1);
AddList("复检开始开始！");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
}
break;
case 30:
if (Gg.GetExDi(0, Gg.InPut2.保压升降气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut2.保压升降气缸伸出) == 1)
{
//AddList("保压升降气缸复位OK！");
Frm_Production.fProduction.Chart_Time.Enabled = true;
TimeOut = API.GetTickCount();
StaWork.Step = 40;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("保压升降气缸伸出信号异常！");
ShowList("保压升降气缸伸出信号异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
break;
case 40:
if (API.GetTickCount() - TimeOut > 100)
{
Gg.AbsMotion(0, 8, mFunction.Pos.TeachAxis1[1, 1], PVar.ParAxis.Speed[BVar.S3_Z]);
TimeOut = API.GetTickCount();
StaWork.Step = 50;
}
break;
case 50:
if (Gg.ZSPD(0, BVar.S3_Z))
{
Gg.SetExDo(0, 0, Gg.OutPut2.保压升降气缸, 0);
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
break;
case 60:
if (PVar.IsCOM2_Working)
{
//**保压位置+偏移值=终点最大行程
Gg.AbsMotion(0, 8, mFunction.Pos.TeachAxis1[1, 1] + PVar.ParList.Data[22], PVar.ParList.Data[23]);
TimeOut = API.GetTickCount();
StaWork.Step = 70;
}
else
{
AddList("保压站压力传感器异常！");
ShowList("保压站压力传感器异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
break;
case 70:
if (Gg.ZSPD(0, BVar.S3_Z))
{
TimeOut = API.GetTickCount();
StaWork.Step = 80;
}
break;
case 80:
if (API.GetTickCount() - TimeOut > PVar.ParList.Data[41] * 1000)
{
Gg.AbsMotion(0, 8, mFunction.Pos.TeachAxis1[1, 0], PVar.ParAxis.Speed[BVar.S3_Z]);
TimeOut = API.GetTickCount();
StaWork.Step = 90;
}
break;
case 90:
if (Gg.ZSPD(0, BVar.S3_Z))
{
TimeOut = API.GetTickCount();
StaWork.Step = 800;
}
break;
case 800:
Frm_Production.fProduction.Chart_Time.Enabled = false;
StaWork.Enable = false;
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.State = false;
TimeOut = API.GetTickCount();
//StaWork.Step = 20;
}
break;
case 20:
//本站工作状态，工站使能，转盘工作状态，本站是否有产品
if (StaWork.State == false && StaWork.Enable && StaWork.Result && PVar.Sta_Work[1].State == false && PVar.Sta_Work[4].IsHaveHSG)
{
StaWork.State = true;
StaWork.Result = false;
Gg.SetExDo(0, 0, Gg.OutPut2.检气缸, 0);
AddList("复检开始开始！");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
StaWork.Step = 10;
}
break;
case 30:
if (Gg.GetExDi(0, Gg.InPut2.检气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut2.检气缸伸出) == 0)
{
//AddList("复检气缸复位OK！");
TimeOut = API.GetTickCount();
StaWork.Step = 40;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("复检气缸缩回信号异常！");
ShowList("复检气缸缩回信号异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
break;
case 40:
if (API.GetTickCount() - TimeOut > 1000)
{
TimeOut = API.GetTickCount();
StaWork.Step = 50;
}
break;
case 50:
sRtn = Command.TCP_CCD2_Send(Command.检角度);
if (sRtn == 1) //命令发送成功
{
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
else if (sRtn == 2) //网络链接异常
{
AddList("网络链接异常！");
ShowList("网络链接异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
break;
case 60:
if (Command.CCD2_Resule && PVar.CCD2_Data[0] == Command.检角度)
{
AddList("复检角度数据收到！");
CCD_Vale[1].X = Convert.ToDouble(PVar.CCD2_Data[1]);
CCD_Vale[1].Y = Convert.ToDouble(PVar.CCD2_Data[2]);
CCD_Vale[1].T = Convert.ToDouble(PVar.CCD2_Data[3]);
CCD_Vale[1].CC = Convert.ToDouble(PVar.CCD2_Data[4]);
CCD_Vale[1].Judge = Convert.ToDouble(PVar.CCD2_Data[5]);
TimeOut = API.GetTickCount();
StaWork.Step = 70;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("等待复检角度数据超时！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
break;
case 70:
if (CCD_Vale[1].Judge == 0)
{
TimeOut = API.GetTickCount();
StaWork.Step = 80;
}
else if (CCD_Vale[1].Judge == 1)
{
AddList("复检角度模型搜索错误！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
else
{
AddList("CCD复检角度其他异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
break;
case 80:
Gg.SetExDo(0, 0, Gg.OutPut2.检气缸, 1);
TimeOut = API.GetTickCount();
StaWork.Step = 90;
break;
case 90:
if (Gg.GetExDi(0, Gg.InPut2.检气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut2.检气缸伸出) == 1)
{
AddList("复检气缸伸出OK！");
TimeOut = API.GetTickCount();
StaWork.Step = 100;
}
else
{
if (API.GetTickCount() - TimeOut > 4000)
{
AddList("复检气缸伸出信号异常！");
ShowList("复检气缸伸出信号异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
break;
case 100:
if (API.GetTickCount() - TimeOut > 1000)
{
TimeOut = API.GetTickCount();
StaWork.Step = 110;
}
break;
case 110:
sRtn = Command.TCP_CCD2_Send(Command.检同心度);
if (sRtn == 1) //命令发送成功
{
TimeOut = API.GetTickCount();
StaWork.Step = 120;
}
else if (sRtn == 2) //网络链接异常
{
AddList("网络链接异常！");
ShowList("网络链接异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
break;
case 120:
if (Command.CCD2_Resule && PVar.CCD2_Data[0] == Command.检同心度)
{
AddList("复检同心度数据收到！");
CCD_Vale[2].X = Convert.ToDouble(PVar.CCD2_Data[1]);
CCD_Vale[2].Y = Convert.ToDouble(PVar.CCD2_Data[2]);
CCD_Vale[2].T = Convert.ToDouble(PVar.CCD2_Data[3]);
CCD_Vale[2].CC = Convert.ToDouble(PVar.CCD2_Data[4]);
CCD_Vale[2].Judge = Convert.ToDouble(PVar.CCD2_Data[5]);
if (CCD_Vale[2].CC <= 0.05 && CCD_Vale[2].T <= 1)
{
BVar.ProData[4, 30] = "OK";
}
else
{
BVar.ProData[4, 30] = "NG";
}
TimeOut = API.GetTickCount();
StaWork.Step = 130;
}
else
{
if (API.GetTickCount() - TimeOut > 2000)
{
AddList("等待复检同心度数据超时！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
}
break;
case 140:
if (CCD_Vale[2].Judge == 0)
{
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
else if (CCD_Vale[2].Judge == 1)
{
AddList("复检角度模型搜索错误！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
else
{
AddList("CCD复检角度其他异常！");
TimeOut = API.GetTickCount();
StaWork.Step = 1000;
}
break;
case 150:
Gg.SetExDo(0, 0, Gg.OutPut2.检气缸, 0);
TimeOut = API.GetTickCount();
StaWork.Step = 300;
break;
////复检数据处理
case 300:
if (BVar.ProData[4, 30] == "OK")
{
StaWork.Result = true;
Frm_Engineering.fEngineering.Label_NG_OK.Text = "OK";
Frm_Production.fProduction.DRB_YieldRetest.BZ_ResultText = "OK";
Frm_Production.fProduction.DRB_YieldRetest.BZ_ResultBackColor = Color.FromArgb(111, 192, 64);
Gg.SetExDo(0, 0, Gg.OutPut2.OK指示灯, 1);
Gg.SetExDo(0, 0, Gg.OutPut2.NG指示灯, 0);
//Gg.SetExDo(0, 0, Gg.OutPut2.NG蜂鸣器, 0);
}
else
{
Frm_Engineering.fEngineering.Label_NG_OK.Text = "NG";
Frm_Production.fProduction.DRB_YieldRetest.BZ_ResultText = "NG";
Frm_Production.fProduction.DRB_YieldRetest.BZ_ResultBackColor = Color.FromArgb(200, 37, 6);
Gg.SetExDo(0, 0, Gg.OutPut2.OK指示灯, 0);
Gg.SetExDo(0, 0, Gg.OutPut2.NG指示灯, 1);
//Gg.SetExDo(0, 0, Gg.OutPut2.NG蜂鸣器, 0);
PVar.Ring_EN = true;
}
Write_FinalData();
TimeOut = API.GetTickCount();
StaWork.Step = 800;
break;
case 800:
StaWork.Enable = false;
////StaWork.Result = true; 做为最总结过判断
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
}
}
catch (Exception ex)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(ex.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + ex.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}