public void PrintSocketState()
{
for (int i = 0; i < SocketMgr.GetInstance().socketArr.Length; i++)
{
Info(i.ToString() + ":" + SocketMgr.GetInstance().socketArr[i].socketState.ToString());
}
}
protected override void StationWork(int step)
{
WaranResult waranResult;
switch (step)
{
case (int)StationStep.step_init:
//retry_init:
//IOMgr.GetInstace().WriteIoBit("上料真空吸电磁阀", true);
//waranResult = CheckIobyName("上料吸嘴真空检测", false, "上料站： 上料吸嘴可能被堵住，请拿开");
//if (waranResult == WaranResult.Retry)
// goto retry_init;
PushMultStep((int)StationStep.step_CheckAllFinish);
DelCurrentStep();
userTimerCT.ResetStartTimer();
oldTime = 0;
break;
case (int)StationStep.step_CheckAllFinish:
if (SocketMgr.GetInstance().socketArr[(int)SocketType.load].socketState == SocketState.Have &&
(SocketMgr.GetInstance().socketArr[(int)SocketType.stick1].socketState == SocketState.None || SocketMgr.GetInstance().socketArr[(int)SocketType.stick1].socketState == SocketState.HaveHaftOK) &&
(SocketMgr.GetInstance().socketArr[(int)SocketType.stick2].socketState == SocketState.None || SocketMgr.GetInstance().socketArr[(int)SocketType.stick2].socketState == SocketState.HaveOK) &&
(SocketMgr.GetInstance().socketArr[(int)SocketType.press].socketState == SocketState.None || SocketMgr.GetInstance().socketArr[(int)SocketType.press].socketState == SocketState.HaveOK) &&
(SocketMgr.GetInstance().socketArr[(int)SocketType.unload].socketState == SocketState.None
)
)
{
if (CheckLineIO())
{
Info("Socket流水线：各站准备完成开始流动");
MoveSocketLine();
if (ParamSetMgr.GetInstance().GetIntParam("保压屏蔽") != 1)
{
KeepPressure();
}
CurrentTime = userTimerCT.NowTime;
CTmsCounts = CurrentTime - oldTime;
oldTime = CurrentTime;
ParamSetMgr.GetInstance().SetDoubleParam("CT", CTmsCounts / 1000.00);
}
}
break;
}
}
protected override bool InitStation()
{
ParamSetMgr.GetInstance().SetBoolParam("Socket流水线初始化完成", false);
SocketMgr.GetInstance().ResetAllSocket();
AlarmMgr.GetIntance().DoWhenAlarmEvent += DoSomethingWhenalarm;
WaranResult waranResult;
Info("Y轴气缸伸出");
check_cyliderYout:
IOMgr.GetInstace().WriteIoBit("Y轴气缸电磁阀", true);
waranResult = CheckIobyName("Y轴气缸1到位", true, "Socket流水站：流水线自检 Y轴气缸移动伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYout;
}
waranResult = CheckIobyName("Y轴气缸2到位", true, "Socket流水站：流水线自检 Y轴气缸移动伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYout;
}
Info("Y轴气缸退回");
check_cyliderYback:
IOMgr.GetInstace().WriteIoBit("Y轴气缸电磁阀", false);
waranResult = CheckIobyName("Y轴气缸1原位", true, "Socket流水站：流水线自检 Y轴气缸移动退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYback;
}
waranResult = CheckIobyName("Y轴气缸2原位", true, "Socket流水站：流水线自检 Y轴气缸移动退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYback;
}
Info("X轴气缸伸出");
check_cyliderXout:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", true);
waranResult = CheckIobyName("X轴气缸1到位", true, "Socket流水站： 流水线自检 X轴气缸伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXout;
}
waranResult = CheckIobyName("X轴气缸2到位", true, "Socket流水站： 流水线自检 X轴气缸伸出， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXout;
}
Info("X轴气缸退回");
check_cyliderXback:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", false);
waranResult = CheckIobyName("Y轴气缸1原位", true, "Socket流水站： 流水线自检 X轴气缸退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback;
}
waranResult = CheckIobyName("X轴气缸2原位", true, "Socket流水站：流水线自检 X轴气缸退回， 没到位可能卡住，，请拿开");
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback;
}
PushMultStep((int)StationStep.step_init);
ParamSetMgr.GetInstance().SetBoolParam("Socket流水线初始化完成", true);
return(true);
}
public void KeepPressure(bool bmanual = false)
{
WaranResult waranResult;
if (SocketMgr.GetInstance().socketArr[(int)SocketType.press].socketState == SocketState.HaveOK || bmanual)
{
retry_press_up2:
IOMgr.GetInstace().WriteIoBit("保压气缸电磁阀", false);
waranResult = CheckIobyName("保压上下气缸原位", true, "流水线站:保压上下气缸原位 没有到位，请检查感应器，气缸，气压，线路等", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_press_up2;
}
retry_messureA:
waranResult = dowhileCheckA.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，A模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureA;
}
}
retry_messureB:
waranResult = dowhileCheckB.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，B模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureB;
}
}
for (int i = 0; i < 4; i++)
{
pressvals[i] = press1[i];
pressvals[4 + i] = press2[i];
}
retry_press_down:
IOMgr.GetInstace().WriteIoBit("保压气缸电磁阀", true);
waranResult = CheckIobyName("保压上下气缸到位", true, "流水线站:保压上下气缸到位 没有到位，请检查感应器，气缸，气压，线路等", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_press_down;
}
Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("保压时间"));
retry_messureA2:
waranResult = dowhileCheckA.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，A模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureA2;
}
}
retry_messureB2:
waranResult = dowhileCheckB.doSomething(this, dowhileCheckA, bmanual, null);
if (waranResult != WaranResult.Run)
{
waranResult = AlarmMgr.GetIntance().WarnWithDlg("保压时 ，B模块读不出数据 ", this, CommonDlg.DlgWaranType.Waran_Stop_Retry);
if (waranResult == WaranResult.Retry)
{
goto retry_messureB2;
}
}
for (int i = 0; i < 4; i++)
{
pressvals[i] = Math.Abs(pressvals[i] - press1[i]);
pressvals[4 + i] = Math.Abs(pressvals[i + 4] - press2[i]);
}
Thread.Sleep(500);
Weighing.GetInstance().Update(new int[] { pressvals[0], pressvals[1], pressvals[2], pressvals[3] }, new int[] { pressvals[4], pressvals[5], pressvals[6], pressvals[7] });
retry_press_up:
IOMgr.GetInstace().WriteIoBit("保压气缸电磁阀", false);
waranResult = CheckIobyName("保压上下气缸原位", true, "流水线站:保压上下气缸原位 没有到位，请检查感应器，气缸，气压，线路等", bmanual);
if (waranResult == WaranResult.Retry)
{
goto retry_press_up;
}
}
}
public void MoveSocketLine(bool bmanual = false)
{
WaranResult waranResult;
Info("各站都已经完成，开始移动");
Info("XY轴气缸移动前 Socket 状态：");
PrintSocketState();
Info("X轴气缸退回");
check_cyliderXback:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", false);
waranResult = CheckIobyName("X轴气缸1原位", true, "Socket流水站： X轴气缸退回， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback;
}
waranResult = CheckIobyName("X轴气缸2原位", true, "Socket流水站： X轴气缸退回， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback;
}
Info("Y轴气缸伸出");
check_cyliderYout:
IOMgr.GetInstace().WriteIoBit("Y轴气缸电磁阀", true);
waranResult = CheckIobyName("Y轴气缸1到位", true, "Socket流水站： Y轴气缸移动伸出， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYout;
}
waranResult = CheckIobyName("Y轴气缸2到位", true, "Socket流水站： Y轴气缸移动伸出， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYout;
}
Info("Y轴气缸退回");
check_cyliderYback:
IOMgr.GetInstace().WriteIoBit("Y轴气缸电磁阀", false);
waranResult = CheckIobyName("Y轴气缸1原位", true, "Socket流水站： Y轴气缸移动退回， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYback;
}
waranResult = CheckIobyName("Y轴气缸2原位", true, "Socket流水站： Y轴气缸移动退回， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderYback;
}
Info("X轴气缸伸出");
check_cyliderXout:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", true);
waranResult = CheckIobyName("X轴气缸1到位", true, "Socket流水站： X轴气缸伸出， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXout;
}
waranResult = CheckIobyName("X轴气缸2到位", true, "Socket流水站： X轴气缸伸出， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXout;
}
SocketMgr.GetInstance().MoveNext();
Info("X轴气缸退回");
check_cyliderXback2:
IOMgr.GetInstace().WriteIoBit("X轴气缸电磁阀", false);
waranResult = CheckIobyName("X轴气缸1原位", true, "Socket流水站： X轴气缸退回， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback2;
}
waranResult = CheckIobyName("X轴气缸2原位", true, "Socket流水站： X轴气缸退回， 没到位可能卡住，，请拿开", bmanual);
if (waranResult == WaranResult.Retry)
{
goto check_cyliderXback2;
}
Info("XY轴气缸移动后 Socket 状态：");
PrintSocketState();
}
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);
}
public StationStep StepCheckIpos(bool bmanual = false)
{
StationStep step = StationStep.Step_CheckIpos;
bool dEnableA = ParamSetMgr.GetInstance().GetBoolParam("屏蔽A工位");
bool dEnableB = ParamSetMgr.GetInstance().GetBoolParam("屏蔽B工位");
bool bA_UnLoadLoadStart = TableData.GetInstance().GetStationStartCmd("A_UnLoadLoad") && !dEnableA;
bool bB_UnLoadLoadStart = TableData.GetInstance().GetStationStartCmd("B_UnLoadLoad") && !dEnableB;
if (bA_UnLoadLoadStart || bB_UnLoadLoadStart || ParamSetMgr.GetInstance().GetBoolParam("重新上料"))
{
ParamSetMgr.GetInstance().SetBoolParam("重新上料", false);
TableData.GetInstance().ResetStartCmd("A_UnLoadLoad");
TableData.GetInstance().ResetStartCmd("B_UnLoadLoad");
strStationName = TableData.GetInstance().GetStationName();
if (strStationName == "A_Pick" || strStationName == "B_Pick")
{
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
SocketNumOfUnloadLoad = TableData.GetInstance().GetSocketNum(1, 0.5) - 1;
if (SocketNumOfUnloadLoad == 0 && dEnableA)
{
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
if (SocketNumOfUnloadLoad == 1 && dEnableB)
{
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", true);
Info("开始上下料，安全光栅开始屏蔽");
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", false);
ParamSetMgr.GetInstance().SetBoolParam("可以上下料", true);
SocketState state = SocketMgr.GetInstance().socketArr[SocketNumOfUnloadLoad].socketState;
if (state == SocketState.HaveOK || state == SocketState.HaveNG)
{
string lightColor = state == SocketState.HaveOK ? "OK指示绿灯" : "NG指示红灯";
string fp = state == SocketState.HaveOK ? "P" : "F";
UserTest.TestResultAB[SocketNumOfUnloadLoad].SocketerNumber = SocketNumOfUnloadLoad == 0 ? "A" : "B";
#region 计算CT赋值
if (UserTest.ProductCount.CountCTAll == 0)
{
UserTest.ProductCount.StarCTTime = DateTime.Now;
UserTest.ProductCount.EndCTTime = DateTime.Now;
UserTest.ProductCount.CountCTTime = 0;
}
else
{
UserTest.ProductCount.CountCTTime += (DateTime.Now - UserTest.ProductCount.EndCTTime).TotalSeconds;
UserTest.ProductCount.EndCTTime = DateTime.Now;
if ((DateTime.Now - UserTest.ProductCount.StarCTTime).TotalMinutes > ParamSetMgr.GetInstance().GetDoubleParam("UPH计算时长"))
{
if (UserTest.ProductCount.CountCTAll > ParamSetMgr.GetInstance().GetDoubleParam("UPH计算时长范围内最少个数"))
{
UserTest.ProductCount.UPH = (UserTest.ProductCount.CountCTAll) * 3600 / UserTest.ProductCount.CountCTTime;
}
//清除
UserTest.ProductCount.CountCTAll = -1;
}
}
UserTest.ProductCount.CountCTAll++;
if (SocketNumOfUnloadLoad == 0)
{
if (fp == "P")
{
UserTest.ProductCount.OKA++;
}
else
{
UserTest.ProductCount.NGA++;
if (!UserTest.FailResultAB.Play)
{
UserTest.ProductCount.PlayFailA++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.OC)
{
UserTest.ProductCount.OCFailA++;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.Tilt)
{
UserTest.ProductCount.TiltFailA++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Play = true;
}
if (!UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.SFRFailA++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.Tilt = true;
}
if (UserTest.FailResultAB.Play && UserTest.FailResultAB.OC && UserTest.FailResultAB.Tilt && UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.OtherFailA++;
}
}
}
else
{
if (fp == "P")
{
UserTest.ProductCount.OKB++;
}
else
{
UserTest.ProductCount.NGB++;
if (!UserTest.FailResultAB.Play)
{
UserTest.ProductCount.PlayFailB++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.OC)
{
UserTest.ProductCount.OCFailB++;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Tilt = true;
}
if (!UserTest.FailResultAB.Tilt)
{
UserTest.ProductCount.TiltFailB++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.SFR = true;
UserTest.FailResultAB.Play = true;
}
if (!UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.SFRFailB++;
UserTest.FailResultAB.OC = true;
UserTest.FailResultAB.Play = true;
UserTest.FailResultAB.Tilt = true;
}
if (UserTest.FailResultAB.Play && UserTest.FailResultAB.OC && UserTest.FailResultAB.Tilt && UserTest.FailResultAB.SFR)
{
UserTest.ProductCount.OtherFailB++;
}
}
}
#endregion
Form_Auto.EvenShowCT(SocketNumOfUnloadLoad + 1);
UserTest.TestResultAB[SocketNumOfUnloadLoad].Result = fp == "P" ? true : false;
if (fp == "P")
{
UserTest.TestResultAB[SocketNumOfUnloadLoad].FailStep = "Pass";
}
UserTest.TestResultAB[SocketNumOfUnloadLoad].EndTime = DateTime.Now;
UserTest.TestResultAB[SocketNumOfUnloadLoad].TestTime = (UserTest.TestResultAB[SocketNumOfUnloadLoad].EndTime - UserTest.TestResultAB[SocketNumOfUnloadLoad].StarTime).TotalSeconds;
string errCsv = CSVHelper.Instance.SaveToCSVPath(PathHelper.TestResultCsvPath, UserTest.TestResultAB[SocketNumOfUnloadLoad]);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", false);
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
IOMgr.GetInstace().WriteIoBit(lightColor, true);
Info($"保存OK结果：cvs={errCsv}.");
if (SocketNumOfUnloadLoad == 0)
{
IOMgr.GetInstace().WriteIoBit($"ALens升降气缸", true);
}
else
{
IOMgr.GetInstace().WriteIoBit($"BLens升降气缸", true);
}
//PlaceToSocket(SocketNumOfUnloadLoad);
UserTest.CTTestAB[SocketNumOfUnloadLoad].Star = false;
UserTest.CTTestAB[SocketNumOfUnloadLoad].End = false;
UserTest.CTTestAB[SocketNumOfUnloadLoad].Show = true;
}
//同意下料接口
SysFunConfig.LodUnloadPatten.ULoad(SocketNumOfUnloadLoad == 0? "A":"B", bmanual);
retry_check_Start:
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", false);
WaranResult waranResult = doWhileCheckStartSignal.doSomething(this, doWhileCheckStartSignal, false, new object[] { this });
if (waranResult == WaranResult.Retry)
{
goto retry_check_Start;
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
IOMgr.GetInstace().WriteIoBit("启动按钮灯", false);
IOMgr.GetInstace().WriteIoBit("OK指示绿灯", false);
IOMgr.GetInstace().WriteIoBit("NG指示红灯", false);
if (!IOMgr.GetInstace().ReadIoInBit($"点胶液位感应") && ParamSetMgr.GetInstance().GetBoolParam("点胶液位检测"))
{
MessageBox.Show($"点胶液位感应有信号，胶水已经用完！请更换，或者屏蔽[点胶液位检测]。", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
goto retry_check_Start;
}
Form_Auto.EvenGetSN(SocketNumOfUnloadLoad);
if (UserTest.TestResultAB[SocketNumOfUnloadLoad].SerialNumber == "NOSN")
{
MessageBox.Show("请输入SN 或者屏蔽SN,重新启动", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly);
goto retry_check_Start;
}
if (SocketNumOfUnloadLoad == 0)
{
UserTest.ProductCount.CompeteA++;
}
else
{
UserTest.ProductCount.CompeteB++;
}
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", true);
ParamSetMgr.GetInstance().SetBoolParam("可以上下料", false);
ParamSetMgr.GetInstance().SetBoolParam("AA完成", false);
ParamSetMgr.GetInstance().SetBoolParam("点胶完成", false);
ParamSetMgr.GetInstance().SetBoolParam("启动AA", false);
ParamSetMgr.GetInstance().SetBoolParam("启动点胶", false);
Info("开始上下料，安全光栅开始启用");
ParamSetMgr.GetInstance().SetBoolParam("启用安全光栅", true);
UserTest.CTTestAB[SocketNumOfUnloadLoad].Star = true;
UserTest.CTTestAB[SocketNumOfUnloadLoad].End = false;
UserTest.CTTestAB[SocketNumOfUnloadLoad].Show = false;
step = StationStep.Step_GoSnap;
}
return(step);
}
