protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichMark = 0;
Para.ProcessData.currWhichProduct = 0; //第一个产品
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //两个Z轴抬起到安全高度
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive) //Z轴到达
{
stickPos = Product.Inst.Stickdata.TrayData.ProductList[0].Clone(); //把产品树里的产品参数克隆过来
LG.StepNext(4);
}
break;
case 4:
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].X); //XY到位
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].Y);
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay)) //XY到达
{
TaskMain.UpCamLogc.ModelID = whichMark;
TaskMain.UpCamLogc.Triger();
LG.StepNext(6);
}
break;
case 6:
if (TaskMain.UpCamLogc.Finish)
{
if (TaskMain.UpCamLogc.Result.Count > 0)
{
LG.StepNext(7);
}
else
{
LG.StepNext(8);
}
}
break;
case 7:
PointF3Vision mark = new PointF3Vision();
mark.X = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].X + TaskMain.UpCamLogc.Result[0].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].Y + TaskMain.UpCamLogc.Result[0].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].R + TaskMain.UpCamLogc.Result[0].R;
VisionProject.Instance.Tool.PointLocation.SetBenchmark1(whichMark, mark.X, mark.Y);
VisionProject.Instance.Tool.PointLocation.SetBenchmark2(whichMark, mark.X, mark.Y);
whichMark++;
if (whichMark >= 2)
{
VisionProject.Instance.Tool.PointLocation.Calculation();
Product.Inst.Stickdata.TrayData.ProductList[0] = MarkCaculate(Product.Inst.Stickdata.TrayData.ProductList[0]);
LG.StepNext(8);
}
else
{
LG.StepNext(4);
}
break;
case 8:
LG.StepNext(0xef);
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichMark = 0; //第一个mark点
Para.ProcessData.StickPosList.Clear(); //贴附过程列表清空
Para.ProcessData.currWhichPoint = 0; //第一个点
Para.ProcessData.currWhichProduct = 0; //第一个产品
MarkscanProduct = 0;
MarkResult.Clear(); //mark点的拍照结果清空
whichProductAngle.Clear(); //机械角度列表清空
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //两个Z轴抬起到安全高度
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive) //Z轴到达
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0) //产品树列表有产品
{
LG.StepNext(4);
stickPos = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].Clone(); //把产品树里的产品参数克隆过来
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X); //XY到位
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y);
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
//VisionProject.Instance.SetBenchmark1
// (
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X,
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y,
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R,
// whichMark,true
// );//设置mark点识别位置
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay)) //XY到达
{
TaskMain.UpCamLogc.ModelID = whichMark;
TaskMain.UpCamLogc.Triger();
LG.StepNext(6);
}
break;
case 6:
if (Product.Inst.IsAging) //老化模式
{
if (LG.TCnt(200))
{
LG.StepNext(7);
}
}
else
{
if (TaskMain.UpCamLogc.Finish)
{
if (TaskMain.UpCamLogc.Result.Count > 0)
{
LG.StepNext(7);
}
else
{
LG.StepNext(8);
}
}
}
break;
case 7:
PointF3Vision mark = new PointF3Vision();
if (Product.Inst.IsAging)
{
mark.X = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R;
}
else
{
mark.X = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X + TaskMain.UpCamLogc.Result[0].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y + TaskMain.UpCamLogc.Result[0].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R + TaskMain.UpCamLogc.Result[0].R;
}
VisionProject.Instance.Tool.PointLocation.SetBenchmark2
(
whichMark,
mark.X,
mark.Y
);
MarkResult.Add(mark);
whichMark++;
if (whichMark >= 2)
{
VisionProject.Instance.Tool.PointLocation.Calculation();
if (Product.Inst.IsAging)
{
Para.ProcessData.StickPosList.Add(stickPos);
}
else
{
//计算Mark点，并暂存计算结果
Para.ProcessData.StickPosList.Add(MarkCaculate(stickPos)); //计算Mark点，并保存计算结果
}
LG.StepNext(8);
}
else
{
LG.StepNext(4);
}
break;
case 8:
DeviceRsDef.Q_UpLighSource.OFF();
if (MarkscanProduct >= Product.Inst.Stickdata.TrayData.ProductList.Count - 1)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
whichMark = 0;
MarkscanProduct++;
}
break;
case 0xef:
LG.End();
break;
}
}