/// <summary>
/// PNP电机移到到指定位置
/// </summary>
/// <param name="action"></param>
public ErrorInfoWithPause ActionMove(EnumPointY action)
{
ErrorInfoWithPause res = null;
string temp = "";
while (true)
{
temp = "";
PNPCylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!PNPCylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 左气缸";
}
if (!PNPCylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 中气缸";
}
if (!PNPCylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 右气缸";
}
if (temp != "") //return new ErrorInfoWithPause("气缸上移超时错:" + temp, ErrorLevel.Error);
{
res = WaitAlarmPause("上料PNP移动", "气缸上移超时错: " + temp);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
while (!AxisLoadPNPY.MoveTo(action))
//return DispMotionError(AxisLoadPNPY, action);
{
res = DispMotionError(AxisLoadPNPY, action);
if (res != null)
{
return(res);
}
}
return(null);
}
/// <summary>
/// PNP电机移到到指定位置
/// </summary>
/// <param name="action"></param>
public ErrorInfoWithPause ActionMove(EnumPointPNPY action)
{
string err = "";
ErrorInfoWithPause res = null;
while (true)
{
err = "";
PNPCylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!PNPCylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 左气缸";
}
if (!PNPCylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 中气缸";
}
if (!PNPCylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 右气缸";
}
if (err != "")// return new ErrorInfoWithPause("NG挑选PNP气缸上移超时错:" + err, ErrorLevel.Alarm, false, true);
{
res = WaitAlarmPause("NG挑选PNP移动", "NG挑选PNP气缸上移超时错: " + err);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Up)) //return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
if (res != null)
{
return(res);
}
}
while (!AxisSortingPNPY.MoveTo(action)) //return DispMotionError(AxisSortingPNPY, action);
{
res = DispMotionError(AxisSortingPNPY, action);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause ActionLoad()
{
ErrorInfoWithPause res = null;
while (!AxisThicknessMeasY.MoveTo(EnumPointX.Meas))
//return DispMotionError(AxisThicknessMeasY, EnumPointX.Meas);
{
res = DispMotionError(AxisThicknessMeasY, EnumPointX.Meas);
if (res != null)
{
return(res);
}
}
return(AllCyDown());
}
public ErrorInfoWithPause ActionMove(EnumPointPNPX point, bool NeedWait = true)
{
ErrorInfoWithPause res = null;
//气缸上移
while (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("传送机械手气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("传送PNP移动", "传送机械手气缸上移超时错");
if (res != null)
{
return(res);
}
}
//电机移动
if (!MotorSafetyCheck.InPositionRange(AxisTransPNPX, point, 0, 0.005))
{
while (!AxisTransPNPX.MoveTo(point, NeedWait))
//return DispMotionError(AxisTransPNPX, point);
{
res = DispMotionError(AxisTransPNPX, point);
if (res != null)
{
return(res);
}
}
}
return(null);
}
public ErrorInfoWithPause ActionStartShift(CallBackCommonFunc AfterUnloadOutShift)
{
ErrorInfoWithPause res = null;
AxisUnloadOutConveyor.SetZero();
while (!AxisUnloadOutConveyor.MoveTo(EnumPoint.Shift))
//return DispMotionError(AxisUnloadOutConveyor, "移到NG取料位");
{
res = DispMotionError(AxisUnloadOutConveyor, "移到NG取料位");
if (res != null)
{
return(res);
}
}
if (AfterUnloadOutShift != null)
{
AfterUnloadOutShift();
}
CheckNGSensor();
return(null);
}
public ErrorInfoWithPause ActionMotorMove(CAxisBase axis, object point, bool NeedWait = true)
{
ErrorInfoWithPause res = null;
while (!axis.MoveTo(point, NeedWait))
//return DispMotionError(AxisOutlineMeasX, EnumPointX.GetPart);
{
res = DispMotionError(axis, point);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause ActionToGetPart(bool NeedWait = true)
{
ErrorInfoWithPause res = null;
while (!AxisOutlineMeasX.MoveTo(EnumPointX.GetPart, NeedWait))
//return DispMotionError(AxisOutlineMeasX, EnumPointX.GetPart);
{
res = DispMotionError(AxisOutlineMeasX, EnumPointX.GetPart);
if (res != null)
{
return(res);
}
}
return(null);
}
/// <summary>
/// PNP电机移到到指定位置
/// </summary>
/// <param name="action"></param>
public ErrorInfoWithPause ActionMove(EnumPoint action, bool NeedWait = true)
{
ErrorInfoWithPause res;
if (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
return(new ErrorInfoWithPause("下料PNP气缸上移超时错。", ErrorLevel.Error));
}
while (!AxisUnloadPNPY.MoveTo(action, NeedWait))
//return DispMotionError(AxisUnloadPNPY, action);
{
res = DispMotionError(AxisUnloadPNPY, action);
if (res != null)
{
return(res);
}
}
return(null);
}
/// <summary>
/// 开始传送准备。
/// 开始的条件是SMEMA的ready信号为true，并且InPos传感器没有检测到物料。
/// 传送带运行，
/// SMEMA avaliable为false。
/// </summary>
/// <returns>返回执行结果。成功返回空字符。</returns>
public ErrorInfoWithPause ActionStartLoad(CallBackCommonFunc AfterActionLoadNew)
{
ErrorInfoWithPause res = null;
string barcodeReadRes;
////Go back to align the new cell.
AxisLoadInConveyor.SetZero();
bool havenewpart = ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑;// && ThisInport(EnumInportName.LoadInConvLoad).status;
double offsetTemp = 0;
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.自动)
{
offsetTemp = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellWidth.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellWidth.Mean;
offsetTemp /= 2;
offsetTemp += ThisAxis(EnumAxisName.LoadInConveyor).PointList[EnumPointConveyor.BackDistance].Position;
while (!ThisAxis(EnumAxisName.LoadInConveyor).MoveTo(offsetTemp))
//return DispMotionError(AxisLoadInConveyor, "回移");
{
res = DispMotionError(AxisLoadInConveyor, "回移");
if (res != null)
{
return(res);
}
}
}
if ((havenewpart || ClassWorkFlow.Instance.WorkMode == EnumWorkMode.空跑) && ClassWorkFlow.Instance.FeedNewPart)
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = ClassDataInfo.NewCellData(++ClassWorkFlow.Instance.GetCell);
}
else
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = null;
}
//Go to next pitch position and start scan barcode
AxisLoadInConveyor.SetZero();
while (!AxisLoadInConveyor.MoveTo(EnumPointConveyor.CellPitch, true, -offsetTemp))
//return DispMotionError(AxisLoadInConveyor, "进料移动");
{
res = DispMotionError(AxisLoadInConveyor, "进料移动");
if (res != null)
{
return(res);
}
}
////If PNP can pick
//if (ThisInport(EnumInportName.LoadInConvInPos).status)
//{
// NotifyDoneEvent(EnumEventName.NewCellLoad);
//}
if (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null)
{
havenewpart &= BarcodeEnabled;
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.自动)
{
barcodeReadRes = StartBarcodeScan(havenewpart);
}
else
{
do
{
barcodeReadRes = StartBarcodeScan(havenewpart);
if (barcodeReadRes != "")
{
BaseForm.DoInvokeRequired(MainForm.instance,
() =>
{
while (MessageBox.Show(MainForm.instance, $"条码枪扫码出错: {barcodeReadRes}。{Environment.NewLine}请检查电芯位置是否正确或者是否有电芯。{Environment.NewLine}" +
"点“重试”重新扫条码。如果无电芯或需要移除电芯，则点“取消”放弃扫码。",
"条码枪扫码", MessageBoxButtons.RetryCancel, MessageBoxIcon.Information) == DialogResult.Cancel)
{
if (MessageBox.Show(MainForm.instance, "确定要取消并移除电芯？", "取消电芯", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = null;
break;
}
}
});
}
} while (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null && barcodeReadRes != "");
}
if (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null)
{
ClassCommonSetting.ProgramLog(LogFile.Level.Notice, this.Name, "加载新物料，索引号" + ClassWorkFlow.Instance.GetCell.ToString() + " NG结果为" + (LoadInDataStations[LoadInDataStations.Length - 1].CellData.LoadNG ? "NG" : "OK"));
}
}
if (AfterActionLoadNew != null)
{
AfterActionLoadNew();
}
return(null);
}
public ErrorInfoWithPause ActionAlign()
{
ErrorInfoWithPause res = null;
ThisOutport(EnumOutportName.TopAlignSoftCyLeft).SetOutput(true);
ThisOutport(EnumOutportName.TopAlignSoftCyMid).SetOutput(true);
ThisOutport(EnumOutportName.TopAlignSoftCyRight).SetOutput(true);
//侧定位
double offsetTemp = 0;
double mainlenprod, mainlencali;
offsetTemp = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellWidth.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellWidth.Mean;
offsetTemp /= 2;
while (!AxisTopAlignSide.MoveTo(EnumPointAlign.Clamp, false, -offsetTemp))
//return DispMotionError(AxisTopAlignSide, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignSide, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
//底部定位
mainlenprod = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellLength.Mean - ClassCommonSetting.SysParam.CurrentProductParam.TopSealHeight;
mainlencali = ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellLength.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].TopSealHeight;
offsetTemp = -1 * (mainlenprod - mainlencali);
while (!AxisTopAlignBottom.MoveTo(EnumPointAlign.Clamp, false, offsetTemp))
//return DispMotionError(AxisTopAlignBottom, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignBottom, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
//Z松开
while (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//顶部定位
if (!(ClassWorkFlow.Instance.IsGRR || ClassCommonSetting.SysParam.CurrentProductParam.ClampDisable))
{
while (!AxisTopAlignTop.MoveTo(EnumPointAlign.Clamp))
//return DispMotionError(AxisTopAlignTop, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignTop, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
}
//X走位
while (!AxisTopAlignXSide.MoveTo(EnumPointX.Idle, true, offset[0]))
//return DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
{
res = DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
if (res != null)
{
return(res);
}
}
//double zoffset = 0;
//if (ClassCommonSetting.SysParam.CurrentProductParam.BackSideUp)
// zoffset = ClassCommonSetting.SysParam.CurrentProductParam.TopHeight;
//if (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Clamp, true, zoffset - 1))
// return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Clamp);
AxisTopAlignBottom.WaitStop(ClassErrorHandle.TIMEOUT);
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
for (int i = 0; i < CELLCOUNT; i++)
{
if (TopAlignDataStations[i].CellData != null)
{
TopAlignCellVacuums[i].SetOutPortStatus(true);
}
}
}
//Check vacuum
//ErrorInfoWithPause temp;
//temp = CheckVacuumStatus();
//if (temp != null) return temp;
return(null);
}