private void BtnSanp_Click(object sender, EventArgs e)
{
string strCamName = "Top";
CameraBase cameraBase = CameraMgr.GetInstance().GetCamera(strCamName);
cameraBase.StopGrap();
cameraBase.BindWindow(visionControl1);
cameraBase.SetTriggerMode(CameraModeType.Software);
CameraMgr.GetInstance().GetCamera(strCamName).StartGrab();
CameraMgr.GetInstance().GetCamera(strCamName).GarbBySoftTrigger();
}
private void ContinuousSnap_Click(object sender, EventArgs e)
{
string strCamName = "Top";
CameraBase cameraBase = CameraMgr.GetInstance().GetCamera(strCamName);
cameraBase.StopGrap();
cameraBase.SetTriggerMode(CameraModeType.Software);
double valexposure = cameraBase.GetExposureTime();
double valgain = cameraBase.GetGain();
cameraBase.BindWindow(visionControl1);
cameraBase.SetAcquisitionMode();
cameraBase.StartGrab();
}
public StationStep StepGoSnap(VisionControl visionControl, bool bmanual = false)
{
StationStep step = StationStep.Step_Stop;
//拍照识别是否有料,计算偏差（6月后做）
ParamSetMgr.GetInstance().SetBoolParam("启动点胶", true);
//开始点胶(优先实现画轨迹)
//获取当前夹取位置是A工位还是B工位
int StationIndex = TableData.GetInstance().GetSocketNum(1, 0.5) - 1;
PathHelper.Disp_ID = StationIndex;
string stationAAName = StationIndex == 0 ? "A" : "B";
ParamSetMgr.GetInstance().SetBoolParam($"{stationAAName}工位点胶", true);
double CenterX = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶X轴半径");
double CenterY = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶Y轴半径");
double DelZ = ParamSetMgr.GetInstance().GetDoubleParam("点胶Z轴上升高度偏差");
int DispDelay = ParamSetMgr.GetInstance().GetIntParam("出胶延迟");
double DispRunAngle = ParamSetMgr.GetInstance().GetDoubleParam("画胶角度");
double DispEndAngle = ParamSetMgr.GetInstance().GetDoubleParam("收胶角度");
bool DispEnable = ParamSetMgr.GetInstance().GetBoolParam("屏蔽点胶");
bool DispPhoto = ParamSetMgr.GetInstance().GetBoolParam("点胶相机拍照定位");
double SafeZ = GetStationPointDic()[$"安全位置"].pointZ;
double X = 0;
double Y = 0;
double DispPhotoX = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointX;
double DispPhotoY = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointY;
double DispPhotoZ = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointZ;
double DispPosX = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointX;
double DispPosY = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointY;
double DispPosZ = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointZ;
double x1 = GetStationPointDic()["安全位置"].pointX;
CameraBase cam = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
cam = CameraMgr.GetInstance().GetCamera("Top");
cam.BindWindow(visionControl);
Task.Run(() =>
{
cam.StopGrap();
cam.SetTriggerMode(CameraModeType.Software);
cam.SetGain(ParamSetMgr.GetInstance().GetIntParam("点胶相机增益"));
cam.SetExposureTime(ParamSetMgr.GetInstance().GetIntParam("点胶相机曝光"));
cam.StartGrab();
});
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
retry_uplens:
IOMgr.GetInstace().WriteIoBit($"{stationAAName}Lens升降气缸", true);
WaranResult waranResult1 = CheckIobyName($"{stationAAName}Lens上升到位", true, $"{stationAAName}Lens上升到位", bmanual);
if (waranResult1 == WaranResult.Retry)
{
goto retry_uplens;
}
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
HObject img = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
img = cam.GetImage();
if (img == null || !img.IsInitialized())
{
img = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
//去画胶
Task.Run(() =>
{
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
double valueVoltage = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电压");
OtherDevices.ckPower.SetVoltage(StationIndex + 1, valueVoltage);
double valueCurrent = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电流");
OtherDevices.ckPower.SetCurrent(StationIndex + 1, valueCurrent);
}
IOMgr.GetInstace().WriteIoBit($"{stationAAName}模组上电", true);
IOMgr.GetInstace().WriteIoBit($"12V开启", ParamSetMgr.GetInstance().GetBoolParam("是否开启非程控12V"));
});
if (DispEnable)
{
step = StationStep.Step_CheckIpos;
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
if (DispPhoto)
{
////MoveY(DispPhotoY, SpeedType.High);
////MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
//拍照计算 +半径
double CenterdelX = 0;
double CenterdelY = 0;
X = CenterX + CenterdelX;
Y = CenterdelY;
DispPosX = DispPhotoX - X;
DispPosY = DispPhotoY + CenterdelY;
}
else
{
X = CenterX;
Y = 0;
}
// IOMgr.GetInstace().WriteIoBit("点胶机", false);
bool brtnExc = true;
MotionMgr.GetInstace().AddAxisToGroup("点胶群组", 2, new int[] { AxisX, AxisY });
MoveY(DispPosY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPosX, DispPosZ + DelZ + 10 }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + DelZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (ParamSetMgr.GetInstance().GetStringParam("点胶轨迹") == "Circle")
{
DateTime dateTime = DateTime.Now;
if (DispDelay >= 0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
}
else
{
Task.Run(() =>
{
while (true)
{
if ((DateTime.Now - dateTime).TotalSeconds > Math.Abs(DispDelay) / 1000.0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
break;
}
Thread.Sleep(10);
}
});
}
//走
brtnExc &= MotionMgr.GetInstace().ClearBufMove("点胶群组");
brtnExc &= MotionMgr.GetInstace().RestGpErr("点胶群组");
// GpState gps = MotionMgr.GetInstace().GetGpState("点胶群组");
brtnExc &= MotionMgr.GetInstace().AddBufMove("点胶群组", BufMotionType.buf_Arc2dAbsAngleCW, 1, 2, (double)SpeedType.Mid, (double)SpeedType.Mid, new double[2] {
X, Y
}, new double[2] {
DispPosZ, 0
});
brtnExc &= MotionMgr.GetInstace().BufTrans("点胶群组");//M314没有buf运动，所以放在这里star
brtnExc &= MotionMgr.GetInstace().BufStart("点胶群组");
Thread.Sleep(400);
if (!WaitXY(DispPosX, DispPosY))
{
IOMgr.GetInstace().WriteIoBit("点胶机", false);
return(step);
}
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
else
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
MoveY(DispPosY + CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX + CenterX * 2 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY - CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY, SpeedType.Mid);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 3 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 10 }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveSigleAxisPosWaitInpos(AxisX, DispPhotoX, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
HObject img2 = cam.GetImage();
if (img2 == null || !img2.IsInitialized())
{
img2 = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img2.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { SafeZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
MoveSigleAxisPosWaitInpos(AxisX, x1, (double)SpeedType.High, 0.005, bmanual, this);
step = StationStep.Step_CheckIpos;
//if (DialogResult.OK!= MessageBox.Show("请确定点胶效果是否OK，OK按确定", "Info", MessageBoxButtons.OKCancel, MessageBoxIcon.Information, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly))
//{
// ParamSetMgr.GetInstance().SetBoolParam("重新上料", true);
// return step;
//}
ParamSetMgr.GetInstance().SetBoolParam("重新上料", false);
SocketMgr.GetInstance().SetSocketState(SocketNumOfUnloadLoad, SocketState.Have);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
ParamSetMgr.GetInstance().SetBoolParam("点胶完成", true);
return(step);
}
