private void CLAMPA_DOING()
{
// ----------------------------------------------------
// 至下点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(loadPoints[currTask.AB_TASK_A].Z, 1); // 下点
if (!drawOnly)
{
isOver &= ABTask.Z_TO(true, ABTask.loadPoints[currTask.AB_TASK_A].Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
//
isOver = false;
while (!isOver)
{
isOver = CLAMP_DO(); // 夹紧
if (!drawOnly)
{
isOver &= ABTask.CLAMP_DO();
}
Thread.Sleep(10);
}
}
private void RELAXB_DOING()
{
// ----------------------------------------------------
// 至下点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(loadPoints[currTask.AB_TASK_B].Z, 1); // 下点
if (!drawOnly)
{
isOver = ABTask.Z_TO(true, ABTask.loadPoints[currTask.AB_TASK_B].Z, ABTask.zSpeed);
}
Thread.Sleep(10);
int b = currTask.AB_TASK_A;
}
//
isOver = false;
while (!isOver)
{
isOver = CLAMP_RELAX_DO(); // 松开
if (!drawOnly)
{
isOver = ABTask.CLAMP_RELAX_DO();
}
Thread.Sleep(10);
}
}
public void ManualClamp()
{
//
bool isOver = false;
while (!isOver)
{
//isOver = CLAMP_DO(); // 夹紧
if (!drawOnly)
{
isOver &= ABTask.CLAMP_DO();
}
Thread.Sleep(10);
}
}
private void AFTER_B_DOING()
{
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(zeroPos.Z, 1); // 上点
if (!drawOnly)
{
isOver = ABTask.Z_TO(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
int b = currTask.AB_TASK_B;
int rest_p = currTask.AB_TASK_B;
if (taskList.Count == 1)
{// X 横向移动到休息位休息
if (b == 3 || b == 4)
{
rest_p = 2;
}
if (b == 5 || b == 6)
{
rest_p = 7;
}
if (b == 11 || b == 12)
{
rest_p = 10;
}
if (b > 12)
{
rest_p = 0;
}
isOver = false;
while (!isOver)
{
isOver = X_TO(loadPoints[rest_p].X, 50); // 平移至休息位
if (!drawOnly)
{
isOver = ABTask.X_TO(true, ABTask.loadPoints[rest_p].X, ABTask.xSpeed); // 平移至休息位
}
Thread.Sleep(10);
}
}
}
public void ManualHorizontalMove(int pos_index)
{
// ----------------------------------------------------
// 水平方向运动
bool isOver = false;
while (!isOver)
{
isOver = ManualX_TO(loadPoints[pos_index].X, 50); // 平移 --> A
if (!drawOnly)
{
isOver &= ABTask.X_TO_MANUAL(true, ABTask.loadPoints[pos_index].X, ABTask.xSpeed); // 平移 --> A
}
Thread.Sleep(10);
}
}
public void ManualDown(int pos_index)
{
// ----------------------------------------------------
// 至下点
bool isOver = false;
while (!isOver)
{
isOver = ManualZ_TO(loadPoints[pos_index].Z, 1); // 下点
if (!drawOnly)
{
isOver &= ABTask.Z_TO_MANUAL(true, ABTask.loadPoints[pos_index].Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
}
public void ManualUp()
{
// ----------------------------------------------------
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = ManualZ_TO(zeroPos.Z, 1); // 上点
if (!drawOnly)
{
isOver &= ABTask.Z_TO_MANUAL(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
}
private void PRE_A_DOING()
{
bool isOver = false;
// ----------------------------------------------------
// 松夹爪
while (!isOver)
{
isOver = CLAMP_RELAX_DO();// 松开
if (!drawOnly)
{
isOver &= ABTask.CLAMP_RELAX_DO();
}
Thread.Sleep(10);
}
PRE_DOING(currTask.AB_TASK_A);
}
public ABTask LoadXmlNodeTaskInfo()
{
if (xmlDoc == null)
{
xmlDoc = new XmlDocument();
xmlDoc.Load(xmlName); //加载xml文件
xroot = xmlDoc.SelectSingleNode("task");
}
XmlNodeList xnl = xroot.ChildNodes;
ABTask task = null;
foreach (hyWorkFlow wf in workGroup.workFlowList)
{
if (wf.carrier.status == hyCarrier.STATUS.DOING_CHANGE_OVER)
{ // 寻找当前正在换型的夹具
if (wf.carrier.id == Convert.ToInt32(xnl[3].InnerText))
{ // 确定夹具ID是一致的（复查）
task = new ABTask(wf);
task.taskStatus = (ABTask.STATUS)Convert.ToInt32(xnl[0].InnerText); // task_status
task.AB_TASK_A = Convert.ToInt32(xnl[1].InnerText); // A
task.AB_TASK_B = Convert.ToInt32(xnl[2].InnerText); // B
task.carrier = wf.carrier;
currCarrier = wf.carrier;
carrierList.Add(currCarrier);
int p = task.AB_TASK_A;
switch (task.taskStatus)
{
case ABTask.STATUS.IDLE:
case ABTask.STATUS.PREA:
case ABTask.STATUS.CLAMPA:
p = task.AB_TASK_A;
break;
default:
p = task.AB_TASK_B;
break;
}
currCarrier.currPosDraw = new ServoPoint(loadPoints[p].X, loadPoints[p].Z);
currPosDraw = new ServoPoint(currCarrier.currPosDraw.X, currCarrier.currPosDraw.Z);
taskList.Add(task);
}
}
}
return(task);
}
private void AFTER_B_DOING()
{
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(zeroPos.Z, 1); // 上点
GenericOp.GREASEnum++; //每个AB流程中会有两次z轴上升运动，计数
if (!drawOnly)
{
isOver &= ABTask.Z_TO(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
int b = currTask.AB_TASK_B;
int rest_p = currTask.AB_TASK_B;
if (taskList.Count == 1)
{// X 横向移动到休息位休息
if (b == 3 || b == 4) rest_p = 2;
if (b == 5 || b == 6) rest_p = 7;
if (b >= 9) rest_p = 2;
isOver = false;
while (!isOver)
{
isOver = X_TO(loadPoints[rest_p].X, 50); // 平移至休息位
if (!drawOnly)
{
isOver &= ABTask.X_TO(true, ABTask.loadPoints[rest_p].X, ABTask.xSpeed); // 平移至休息位
}
Thread.Sleep(10);
}
/*if (currTask.AB_TASK_B == hyWorkFlow.POS_UNLOAD)//关闭后门
{
SerialManual.CloseStoveLid(8);
}*/
}
}
private void PRE_DOING(int pos_index)
{
// ----------------------------------------------------
// 至上点
bool isOver = false;
while (!isOver)
{
isOver = Z_TO(zeroPos.Z, 1); // 上点
if (!drawOnly)
{
isOver = ABTask.Z_TO(true, ABTask.zeroPos.Z, ABTask.zSpeed);
}
Thread.Sleep(10);
}
if (!drawOnly)
{
int a = currTask.AB_TASK_A;
if ((a == 6 || a == 11 || a == 12 || a == 10) && SerialWireless.GetGtryState(SerialWireless.GTRY_STATE_CLAMP))
{
Thread.Sleep(100000);
}
}
// 判断炉盖的状态，如果炉盖已经打开，则允许前行，否则不允许前行
// 需要打开炉盖的炉子有 _ _ _ 3、4、5、6 _ _ _ 10、11、12
if (!drawOnly)
{
int openStoveLidIndex;
for (openStoveLidIndex = 0; openStoveLidIndex < 7; openStoveLidIndex++)
{
if (stoveLidAction[openStoveLidIndex] == STOVE_LID_ACTION.OPEN)
{
break;// 发现有炉盖需要打开
}
}
//
SerialManual.STOVE_LID_STATE state;
if (openStoveLidIndex < 7)
{
// 有炉盖需要打开，则不断等待炉盖打开到位信号。
state = SerialManual.stoveLidState[openStoveLidIndex]; // 查看当前这个炉盖的状态
while (state != SerialManual.STOVE_LID_STATE.OPENED)
{ // 等待炉盖打开到位信号。
Thread.Sleep(100); // 等待炉盖打开
state = SerialManual.stoveLidState[openStoveLidIndex]; // 查看当前这个炉盖的状态
// 超时处理
// TODO: 如果60秒都没有等到炉盖打开的话，需要给出提示信息。告诉用户炉盖故障：接近开关故障。
timeout_openStoveLid++;
if (timeout_openStoveLid > 600)
{
GenericOp.errCode |= 0x01;
}
}
GenericOp.errCode &= ~0x01;
}
}
// ----------------------------------------------------
// 进入 A或者B 点区域
isOver = false;
while (!isOver)
{
isOver = X_TO(loadPoints[pos_index].X, 50); // 平移 --> A
if (!drawOnly)
{
isOver = ABTask.X_TO(true, ABTask.loadPoints[pos_index].X, ABTask.xSpeed); // 平移 --> A
}
Thread.Sleep(10);
}
}
