/// <summary>
/// 上料XYZ跳跃
/// </summary>
/// <param name="Pos_Tar">目标位</param>
public void Start(float x, float y, float z)
{
if (LG.Execute == false && LG.Step == 0)
{
this.x = x;
this.y = y;
this.z = z;
LG.Start();
}
}
public bool GoLast()
{
CurIdx--;
if (CurIdx >= 0)
{
LG.Start();
return(true);
}
else
{
CurIdx = 0;
return(false);
}
}
public bool GoNext()
{
CurIdx++;
if (CurIdx < Num_Level)
{
LG.Start();
return(true);
}
else
{
Finish = true;
return(false);
}
}
/// <summary>
/// 运行任务
/// </summary>
public virtual void Start()
{
LG.Start();
}
protected override void LogicImpl()
{
var Para = Product.Inst;
LG.Start();
switch (LG.Step)
{
case 1: //Z轴抬起到安全高度
if (CTRCard.ZArrive)
{
for (int i = 0; i < 2; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.GiveUpPara.SafePos_Z);
}
LG.StepNext(2);
}
whichNuzzle = 0;
break;
case 2: //判断轴到达
if (CTRCard.ZArrive)
{
LG.StepNext(3);
}
break;
case 3:
if (Para.ProcessData.NuzzlePara[whichNuzzle].isOk != 1 && Para.ProcessData.NuzzlePara[whichNuzzle].isHave == true)
{
LG.StepNext(4);
}
else
{
LG.StepNext(8);
}
break;
case 4: //XY到弃标位
if (CTRCard.ZArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUpPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUpPos.Y);
LG.StepNext(5);
}
else
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUpPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUpPos.Y);
LG.StepNext(5);
}
}
break;
case 5: //Z到弃标高度
if (CTRCard.XYArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUp_Z);
LG.StepNext(6);
}
else
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUp_Z);
LG.StepNext(6);
}
}
break;
case 6: //破真空，吹气
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].OFF();
CTRCard.Q_Blow[whichNuzzle].ON();
Para.Stickdata.GiveUpPara.giveUpNum++;
LG.StepNext(7);
}
break;
case 7:
if (LG.Delay(Para.Stickdata.GiveUpPara.GiveUpDelay))
/*弃料延时*/
{
LG.StepNext(8);
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false;
CTRCard.Q_Blow[whichNuzzle].Value = false;
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.SafePos_Z);
}
break;
case 8: //Z轴回到安全位
if (CTRCard.ZArrive)
{
whichNuzzle++;
if (whichNuzzle < CTRCard.Axis_Z.Count)
{
LG.StepNext(2);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
LG.Start();
switch (LG.Step)
{
case 1:
NuzzleParaInit();
LG.StepNext(2);
CanMarkscan = true;
break;
case 2:
feeder.Start();
if (Para.Stickdata.StickSysData.stright)
{
LG.StepNext(0xef);
}
else
{
Para.ProcessData.StickPosList.Clear();
Para.ProcessData.currWhichPoint = 0;
Para.ProcessData.currWhichProduct = 0;
for (int i = 0; i < Product.Inst.Stickdata.TrayData.ProductList.Count; i++)
{
Para.ProcessData.StickPosList.Add(Product.Inst.Stickdata.TrayData.ProductList[i].Clone());
}
LG.StepNext(3);
}
break;
case 3:
if (feeder.GetDone)
{
takelabel.Start(); //取料
LG.StepNext(4);
}
break;
case 4:
if (takelabel.GetDone)
{
downCCD.Start(); //下相机拍照
LG.StepNext(5);
}
break;
case 5:
if (downCCD.GetDone)
{
bool isGiveUp = false;
for (int i = 0; i < 2; i++)
{
//根据吸嘴上是否有料，并且下相机拍照NG，则满足弃料条件
if (Para.ProcessData.NuzzlePara[i].isOk != 1 && Para.ProcessData.NuzzlePara[i].isHave)
{
isGiveUp = true;
}
}
if (isGiveUp)
{
giveup.Start();
feeder.Start();
LG.StepNext(101);
break;
}
else
{
LG.StepNext(6);
}
feeder.Start();
}
break;
case 101:
if (giveup.GetDone && feeder.GetDone)
{
LG.StepNext(3);
}
break;
case 6:
if (TaskMain.feed.GetDone && //暂时替代皮带流程
DeviceRsDef.I_BeltFeedIn.Value &&
TaskManager.Default.FSM.Status.ID == FSMStaDef.RUN ||
Product.Inst.IsAging
)
{
if (CanMarkscan)
{
markscan.Start();
LG.StepNext(7);
CanMarkscan = false;
}
else
{
LG.StepNext(7);
}
}
break;
case 7:
if (markscan.GetDone)
{
stick.Start();
LG.StepNext(8);
}
break;
case 8:
if (stick.GetDone)
{
if (Para.ProcessData.currWhichProduct >= Para.ProcessData.StickPosList.Count)
{
CanMarkscan = true;
LG.StepNext(9);
}
else
{
LG.StepNext(102);
}
}
break;
case 102:
LG.StepNext(3);
break;
case 9:
scancode.Start();
LG.StepNext(10);
break;
case 10:
if (scancode.GetDone)
{
LG.StepNext(11);
}
break;
case 11:
backCT.Start();
LG.StepNext(12);
break;
case 12:
if (backCT.GetDone)
{
LG.StepNext(0xef);
}
break;
case 0xef:
if (Product.Inst.IsAging)
{
LG.StepNext(1);
}
else
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst.Stickdata;
LG.Start();
switch (LG.Step)
{
case 1:
whichProduct = 0;
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(0);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive)
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0)
{
LG.StepNext(4);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
if (Para.CanBackCT)
{
CTRCard.Axis_X.MC_MoveAbs(TrayData.ProductList[whichProduct].BackCT.X);
CTRCard.Axis_Y.MC_MoveAbs(TrayData.ProductList[whichProduct].BackCT.Y);
LG.StepNext(5);
}
else
{
LG.StepNext(0xef);
}
break;
case 5:
if (CTRCard.XYArrive)
{
LG.StepNext(6);
}
break;
case 6:
if (CTRCard.XYArrive)
{
LG.StepNext(7);
DeviceRsDef.Q_HoldLightCtrl.ON();
DeviceRsDef.Q_Light.OFF();
}
break;
case 7:
if (LG.Delay(Para.CTDelay))
{
//VisionProject.Instance.visionApi.TrigRun(3, 0);
LG.StepNext(8);
}
break;
case 8:
if (Product.Inst.IsAging)
{
//老化模式下，不判断拍照结果
if (LG.TCnt(100))
{
LG.StepNext(0xA0);
}
}
else
{
//正常模式下
//if (VisionProject.Instance.visionApi.Trig == false)
//{
// VisionProject.Instance.SaveBackCTFunImage();
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// LG.StepNext(0xA0);
// }
// else
// {
// LG.StepNext(9);
// }
//}
}
break;
case 0xA0:
if (Product.Inst.IsAging)
{
LG.StepNext(9);
}
else
{
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[0].X, VisionProject.Instance.visionApi.CheckStick[0].Y, VisionProject.Instance.visionApi.CheckStick[0].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[1].X, VisionProject.Instance.visionApi.CheckStick[1].Y, VisionProject.Instance.visionApi.CheckStick[1].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[2].X, VisionProject.Instance.visionApi.CheckStick[2].Y, VisionProject.Instance.visionApi.CheckStick[2].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[3].X, VisionProject.Instance.visionApi.CheckStick[3].Y, VisionProject.Instance.visionApi.CheckStick[3].R));
LG.StepNext(9);
}
break;
case 9:
whichProduct++;
if (whichProduct >= TrayData.ProductList.Count)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
}
break;
case 0xef:
LG.End();
break;
}
}
