public static void CldVacuum4Off() //破真空4
{
GClsMontion.WriteIOCard7432OutputBit(0, 3, 0); //吸真空4
GClsMontion.WriteIOCard7432OutputBit(0, 15, 1); //破真空4
GClsMontion.WaitIOCard7432InputBit(0, 3, 0, 3000, 52); //吸真空4感应
GClsMontion.WriteIOCard7432OutputBit(0, 15, 0); //破真空4
}
public void StreamLimeReset()//流线复位
{
Main.frmMain.ListBoxDisplay("复位--流线破真空");
CAMiClsCylinder.StreamLine1VacuumOff(); //破真空
CAMiClsCylinder.StreamLine2VacuumOff(); //破真空
Main.frmMain.PauseCheck();
Main.frmMain.ListBoxDisplay("复位--流线夹紧气缸松开");
CAMiClsCylinder.StreamLine1Clamp2Retract(); //夹紧松开
CAMiClsCylinder.StreamLine1Clamp1Retract();
CAMiClsCylinder.StreamLine2Clamp2Retract(); //夹紧松开
CAMiClsCylinder.StreamLine2Clamp1Retract();
Main.frmMain.PauseCheck();
Main.frmMain.ListBoxDisplay("复位--顶升气缸下降");
CAMiClsCylinder.StreamLine1LiftingDown(); //顶升下降
CAMiClsCylinder.StreamLine2LiftingDown(); //顶升下降
Main.frmMain.PauseCheck();
Main.frmMain.ListBoxDisplay("复位--阻挡气缸缩回");
CAMiClsCylinder.StreamLine1StopRetract(); //阻挡气缸缩回
CAMiClsCylinder.StreamLine2StopRetract(); //阻挡气缸缩回
Main.frmMain.PauseCheck();
Main.frmMain.ListBoxDisplay("复位--启动流线");
GClsMontion.WriteCardExtendOutputBit(0, 8, 0); //流线1高速
GClsMontion.WriteCardExtendOutputBit(0, 7, 0); //流线1正转
GClsMontion.WriteCardExtendOutputBit(0, 6, 1); //流线1启动
GClsMontion.WriteCardExtendOutputBit(1, 8, 0); //流线2高速
GClsMontion.WriteCardExtendOutputBit(1, 7, 0); //流线2正转
GClsMontion.WriteCardExtendOutputBit(1, 6, 1); //流线2启动
Main.frmMain.PauseCheck();
}
public static void CldVacuum6Off() //破真空6
{
GClsMontion.WriteIOCard7432OutputBit(0, 5, 0); //吸真空6
GClsMontion.WriteIOCard7432OutputBit(0, 17, 1); //破真空6
GClsMontion.WaitIOCard7432InputBit(0, 5, 0, 3000, 56); //吸真空6感应
GClsMontion.WriteIOCard7432OutputBit(0, 17, 0); //破真空6
}
public static void CldVacuum7Off() //破真空7
{
GClsMontion.WriteIOCard7432OutputBit(0, 6, 0); //吸真空7
GClsMontion.WriteIOCard7432OutputBit(0, 18, 1); //破真空7
GClsMontion.WaitIOCard7432InputBit(0, 6, 0, 3000, 58); //吸真空7感应
GClsMontion.WriteIOCard7432OutputBit(0, 18, 0); //破真空7
}
public static void CldVacuum9Off() //破真空9
{
GClsMontion.WriteIOCard7432OutputBit(0, 8, 0); //吸真空9
GClsMontion.WriteIOCard7432OutputBit(0, 20, 1); //破真空9
GClsMontion.WaitIOCard7432InputBit(0, 8, 0, 3000, 62); //吸真空9感应
GClsMontion.WriteIOCard7432OutputBit(0, 20, 0); //破真空9
}
public static void CldVacuum2Off() //破真空2
{
GClsMontion.WriteIOCard7432OutputBit(0, 1, 0); //吸真空2
GClsMontion.WriteIOCard7432OutputBit(0, 13, 1); //破真空2
GClsMontion.WaitIOCard7432InputBit(0, 1, 0, 3000, 48); //吸真空2感应
GClsMontion.WriteIOCard7432OutputBit(0, 13, 0); //破真空2
}
public static void CldVacuum3Off() //破真空3
{
GClsMontion.WriteIOCard7432OutputBit(0, 2, 0); //吸真空3
GClsMontion.WriteIOCard7432OutputBit(0, 14, 1); //破真空3
GClsMontion.WaitIOCard7432InputBit(0, 2, 0, 3000, 50); //吸真空3感应
GClsMontion.WriteIOCard7432OutputBit(0, 14, 0); //破真空3
}
public static void StreamLine1VacuumOff() //流线1破真空
{
GClsMontion.WriteCardExtendOutputBit(0, 10, 0); //流线1吸真空
GClsMontion.WriteCardExtendOutputBit(0, 11, 1); //流线1破真空
GClsMontion.WaitCardExtendInputBit(0, 15, 0, 3000, 22); //流线1夹紧2气缸缩回感应
GClsMontion.WriteCardExtendOutputBit(0, 11, 0); //流线1吸真空感应
}
public static void StreamLine2VacuumOff() //流线2破真空
{
GClsMontion.WriteCardExtendOutputBit(1, 14, 0); //流线2吸真空
GClsMontion.WriteCardExtendOutputBit(1, 15, 1); //流线2破真空
GClsMontion.WaitCardExtendInputBit(1, 15, 0, 3000, 44);; //流线2吸真空感应
GClsMontion.WriteCardExtendOutputBit(1, 15, 0); //流线2破真空
}
public static void CldVacuum10Off() //破真空10
{
GClsMontion.WriteIOCard7432OutputBit(0, 9, 0); //吸真空10
GClsMontion.WriteIOCard7432OutputBit(0, 21, 1); //破真空10
GClsMontion.WaitIOCard7432InputBit(0, 9, 0, 3000, 64); //吸真空10感应
GClsMontion.WriteIOCard7432OutputBit(0, 21, 0); //破真空10
}
public static void StreamLine1LiftingDown() //流线1顶升气缸缩回
{
GClsMontion.WriteCardExtendOutputBit(0, 1, 0); //流线1顶升气缸伸出
GClsMontion.WriteCardExtendOutputBit(0, 2, 1); ////流线1顶升气缸缩回
GClsMontion.WaitCardExtendInputBit(0, 2, 0, 3000, 6); //流线1顶升气缸伸出感应
GClsMontion.WaitCardExtendInputBit(0, 3, 1, 3000, 8); //流线1顶升气缸缩回感应
}
public static void CldVacuum11Off() //破真空11
{
GClsMontion.WriteIOCard7432OutputBit(0, 10, 0); //吸真空11
GClsMontion.WriteIOCard7432OutputBit(0, 22, 1); //破真空11
GClsMontion.WaitIOCard7432InputBit(0, 10, 0, 3000, 66); //吸真空11感应
GClsMontion.WriteIOCard7432OutputBit(0, 22, 0); //破真空11
}
public static void CldVacuum12Off() //破真空12
{
GClsMontion.WriteIOCard7432OutputBit(0, 11, 0); //吸真空12
GClsMontion.WriteIOCard7432OutputBit(0, 23, 1); //破真空12
GClsMontion.WaitIOCard7432InputBit(0, 11, 0, 3000, 68); //吸真空12感应
GClsMontion.WriteIOCard7432OutputBit(0, 23, 0); //破真空12
}
public static void CldVacuum8Off() //破真空8
{
GClsMontion.WriteIOCard7432OutputBit(0, 7, 0); //吸真空8
GClsMontion.WriteIOCard7432OutputBit(0, 19, 1); //破真空8
GClsMontion.WaitIOCard7432InputBit(0, 7, 0, 3000, 60); //吸真空8感应
GClsMontion.WriteIOCard7432OutputBit(0, 19, 0); //破真空8
}
public static void CldVacuum5Off() //破真空5
{
GClsMontion.WriteIOCard7432OutputBit(0, 4, 0); //吸真空5
GClsMontion.WriteIOCard7432OutputBit(0, 16, 1); //破真空5
GClsMontion.WaitIOCard7432InputBit(0, 4, 0, 3000, 54); //吸真空5感应
GClsMontion.WriteIOCard7432OutputBit(0, 16, 0); //破真空5
}
public static void StreamLine2LiftingDown() //流线2顶升气缸缩回
{
GClsMontion.WriteCardExtendOutputBit(1, 1, 0); //流线2顶升气缸伸出
//Thread.Sleep(10);
GClsMontion.WriteCardExtendOutputBit(1, 2, 1); //流线2顶升气缸缩回
GClsMontion.WaitCardExtendInputBit(1, 2, 0, 3000, 28); //流线2顶升气缸伸出感应
GClsMontion.WaitCardExtendInputBit(1, 3, 1, 3000, 30); //流线2顶升气缸缩回感应
}
public static void NGTrayUnload()//NG Tray下料
{
Main.frmMain.ListBoxDisplay("NG夹紧气缸松开");
CAMiClsCylinder.NGlocationClampRetract();
MessageBox.Show("请抽出NG料盘，并取走NG产品。然后按Tray按钮。");
while (GClsMontion.ReadCardInputBit(1, 3) == 1)
{
Main.frmMain.ListBoxDisplay("NG夹紧气缸夹紧");
CAMiClsCylinder.NGLocationClampExtend();//NG夹紧气缸夹紧
}
}
public static int VaccumInitialJudge()//判断12个真空吸状态
{
int returnResult = 0;
for (int i = 0; i < 12; i++)
{
if (GClsMontion.ReadIOCard7432InputBit(0, i) == 1)
{
returnResult++;
}
}
return(returnResult);
}
public static int WaitStremLineSensorOff()//判断流线上感应器是否全部OFF
{
int returnResult = 0;
for (int i = 0; i < 3; i++)
{
if (GClsMontion.ReadCardExtendInputBit(0, (10 + i)) == 1)
{
returnResult++;
}
if (GClsMontion.ReadCardExtendInputBit(1, (10 + i)) == 1)
{
returnResult++;
}
}
return(returnResult);
}
public static void NGTrayLoad()//NG Tray上料
{
while (GClsMontion.ReadIOCard7432InputBit(0, 28) == 0)
{
MessageBox.Show("请将料盘推到位！");
Application.DoEvents();
Thread.Sleep(1000);
}
while (GClsMontion.ReadIOCard7432InputBit(0, 29) == 0)
{
MessageBox.Show("请放置Tray盘");
Application.DoEvents();
Thread.Sleep(1000);
}
for (int i = 0; i < 12; i++)
{
CAMiClsVariable.isTrayCaveEmpty[i] = "1";//Tray穴位是否为空,清空数据，1为空
}
Main.frmMain.ListBoxDisplay("NG夹紧气缸夹紧");
CAMiClsCylinder.NGLocationClampExtend();//NG夹紧气缸夹紧
}
public void MoveToTossingPos(int num)//马达移动到抛料位置
{
Main.frmMain.ListBoxDisplay("流线2--CCD2 Y轴运行到抛料位置");
GClsMontion.AbsoluteMove(3, CAMiClsVariable.CCD2TossingPosYValue[0], CAMiClsVariable.speedCCD2Y, CAMiClsVariable.TaccCCD2Y);
GClsMontion.WaitMotorStop(3);
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到抛料位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2flingPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--关闭抛料穴位真空吸"); //一个一个抛，关闭NG产品对应真空吸
CAMiClsCylinder.GeneralClynderMotion(2, 0, num, 0); //真空吸Off
CAMiClsCylinder.GeneralClynderMotion(2, 0, num + 12, 1); //去真空On
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, num, 0, 3000, 44 + (num + 1) * 2);
CAMiClsCylinder.GeneralClynderMotion(2, 0, num + 12, 0); //去真空Off
if (CAMiClsVariable.strProduct != "P104") //当项目为D4X时
{
if (num < 8) //--------------带小气缸机台部分
{
CAMiClsCylinder.GeneralClynderMotion(2, 0, num + 24, 0); //小气缸
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, num + 12, 0, 3000, 44 + (num + 12 + 1) * 2); //小气缸感应off
}
if (num == 8)
{
CAMiClsCylinder.CldSmallControl9Retract();
}
if (num == 9)
{
CAMiClsCylinder.CldSmallControl10Retract();
}
if (num == 10)
{
CAMiClsCylinder.CldSmallControl11Retract();
}
if (num == 11)
{
CAMiClsCylinder.CldSmallControl12Retract();
}
}
}
/// <summary>
/// 控制气缸动作
/// </summary>
/// <param name="type">0：轴卡上的4输出通道；1：轴卡扩展的16输出通道；2:7432 IO卡输出</param>
/// <param name="cardNo">代表第几张卡，从0开始</param>
/// <param name="pointNo">代表第几个点位，从0开始</param>
/// <param name="onOff">输出状态，0：Off；1：On</param>
public static void GeneralClynderMotion(int type, int cardNo, int pointNo, int onOff)//阻挡气缸伸出
{
try
{
switch (type)
{
case 0:
GClsMontion.WriteCardOutputBit(cardNo, pointNo, onOff); //轴卡上的4输出通道
break;
case 1:
GClsMontion.WriteCardExtendOutputBit(cardNo, pointNo, onOff);//轴卡扩展的16输出通道
break;
case 2:
ushort uCardNo = (ushort)cardNo;
ushort uPointNo = (ushort)pointNo;
ushort uOnOff = (ushort)onOff;
if (CAMiClsVariable.strIOCard == "7432")
{
GClsMontion.WriteIOCard7432OutputBit(uCardNo, uPointNo, uOnOff);//7432 IO卡输出
}
else
{
GClsMontion.WriteAPEIOCardOutputBit(cardNo, pointNo, onOff);//APE IO卡输出
}
break;
default:
break;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
public static void CldSmallControl11Retract() //小气缸控制11缩回
{
GClsMontion.WriteCardOutputBit(1, 2, 0); //小气缸控制11伸出
GClsMontion.WaitIOCard7432InputBit(0, 22, 0, 3000, 90); //吸排线气缸11动作感应
}
public static void CldSmallControl11Extend() //小气缸控制11伸出
{
GClsMontion.WriteCardOutputBit(1, 2, 1); //小气缸控制11伸出
GClsMontion.WaitIOCard7432InputBit(0, 22, 1, 3000, 89); //吸排线气缸11动作感应
}
public static void CldSmallControl10Retract() //小气缸控制10缩回
{
GClsMontion.WriteCardOutputBit(1, 1, 0); //小气缸控制10伸出
GClsMontion.WaitIOCard7432InputBit(0, 21, 0, 3000, 88); //吸排线气缸10动作感应
}
public static void CldSmallControl10Extend() //小气缸控制10伸出
{
GClsMontion.WriteCardOutputBit(1, 1, 1); //小气缸控制10伸出
GClsMontion.WaitIOCard7432InputBit(0, 21, 1, 3000, 87); //吸排线气缸10动作感应
}
public static void CldSmallControl9Retract() //小气缸控制9缩回
{
GClsMontion.WriteCardOutputBit(1, 0, 0); //小气缸控制9伸出
GClsMontion.WaitIOCard7432InputBit(0, 20, 0, 3000, 86); //吸排线气缸9动作感应
}
