public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.State = false;
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (PVar.空跑)
{
if (StaWork.State == false && StaWork.Enable && StaWork.IsHaveFix)
{
AddList("组装开始！");
StaWork.State = true;
StaWork.Enable = false;
BVar.ProData[2, 1] = BVar.ProData[1, 1]; //Bezel条码
BVar.ProData[2, 3] = BVar.ProData[1, 3]; //载具条码
Frm_Engineering.fEngineering.Lab_Station2.Text = BVar.ProData[2, 1];
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Line2Time.InitialTime();
StaWork.Step = 30;
}
else
{
if (Line2Time.TimeIsUp(20))
{
Line2Time.InitialTime();
StaWork.Step = 10;
}
}
}
else //********************************************
{
if (StaWork.State == false && StaWork.Enable && StaWork.IsHaveFix)
{
AddList("组装开始！");
StaWork.State = true;
StaWork.Enable = false;
BVar.ProData[2, 1] = BVar.ProData[1, 1]; //Bezel条码
BVar.ProData[2, 3] = BVar.ProData[1, 3]; //载具条码
Frm_Engineering.fEngineering.Lab_Station2.Text = BVar.ProData[2, 1];
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Line2Time.InitialTime();
StaWork.Step = 30;
}
else if (StaWork.State == false && StaWork.Enable == false && StaWork.IsHaveFix)
{
AddList("没有条码，跳过组装！");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000; //等待放行
}
else
{
StaWork.Step = 10;
}
}
break;
case 30:
AddList("保压Z轴回初始位置！");
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], PVar.ParAxis.Speed[Axis.保压Z轴]);
Line2Time.InitialTime();
StaWork.Step = 40;
break;
case 40:
//保压轴和气缸复位
if (Gg.ZSPD(0, Axis.保压Z轴) && Gg.GetHomeDi(0, Axis.保压Z轴) == 1)
{
//保压站无杆气缸双头电磁阀向右
AddList("保压Z轴OK！");
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 1);
Line2Time.InitialTime();
StaWork.Step = 50;
}
else if (Line2Time.TimeIsUp(8000))
{
AddList("保压Z轴运动到初始位置超时！");
ShowList("保压Z轴运动到初始位置超时！");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 10000;
}
break;
case 50:
if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1)
{
if (EpsonRobot.RobotLivePos.Y > -150) //判断机械手是否在流水线外
{
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 1);
}
Line2Time.InitialTime();
StaWork.Step = 60;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("保压无杆气缸右信号感应异常！");
ShowList("保压无杆气缸右信号感应异常！");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000; //等待放行
}
break;
case 60:
if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 1)
{
AddList("载具夹紧气缸伸出信号OK！");
AddList("等待光源旋转气缸伸出信号感应！");
Line2Time.InitialTime();
StaWork.Step = 70;
}
else if (Line2Time.TimeIsUp(2000) && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0)
{
AddList("保载具夹紧气缸伸出信号感应异常！");
Line2Time.InitialTime();
StaWork.Step = 70; //小异常忽略
}
break;
case 70:
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
{
AddList("光源旋转气缸伸出信号感应OK！");
Line2Time.InitialTime();
StaWork.Step = 200;
}
else
{
if (EpsonRobot.RobotLivePos.Y > -200) //判断机械手是否在流水线外
{
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 1);
}
}
break;
//相机拍照
case 200:
CCD_CMD = "T31" + "," + BVar.ProData[2, 1] + "," +
EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList("Bezel定位拍照");
if (PVar.空跑)
{
Line2Time.InitialTime();
StaWork.Step = 210;
}
else
{
if (sRtn == 1) //命令发送成功
{
Line2Time.InitialTime();
StaWork.Step = 210;
}
else
{
AddList("T31命令发送失败！");
ShowList("T31命令发送失败！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 210:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(2000))
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Line2Time.InitialTime();
StaWork.Step = 220;
}
}
else //****************************************************
{
if (Command.CCD_Resule && PVar.CCD_Data[0] == "T31")
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Line2Time.InitialTime();
StaWork.Step = 220;
}
else
{
if (Line2Time.TimeIsUp(5000))
{
AddList("等待CCD T31数据超时！");
ShowList("等待CCD T31数据超时！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
}
break;
case 220:
if (PVar.空跑)
{
AddList("拍照OK,开始等待机械手开始工作结束");
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
PVar.Sta_Work[(int)BVar.工位.机械手].Enable = true; //允许机械手开始工作，目前不考虑CT，后续提前并行
Line2Time.InitialTime();
StaWork.Step = 230;
}
else
{
if (PVar.CCD_Data[1] == "1")
{
AddList("拍照OK,开始等待机械手开始工作结束");
PVar.Sta_Work[(int)BVar.工位.机械手].Enable = true; //允许机械手开始工作，目前不考虑CT，后续提前并行
Line2Time.InitialTime();
StaWork.Step = 230;
}
else
{
AddList("Bezel拍照NG,异常直接流出");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000;
}
}
break;
case 230:
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0)
{
AddList("光源旋转气缸缩回信号感应OK！");
StaWork.IsReady = true; //所有准备就绪，等待机械手完成
Line2Time.InitialTime();
StaWork.Step = 300;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("光源旋转气缸缩回超时！");
ShowList("光源旋转气缸缩回超时！");
Line2Time.InitialTime();
StaWork.Step = 5000;
}
break;
//************************************************************************************************
//等待机械手装配完成
case 300:
if (StaWork.IsReady == false)
{
AddList("装配完成，开始复检！");
Line2Time.InitialTime();
StaWork.Step = 310;
}
break;
case 310:
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
{
AddList("光源旋转气缸伸出信号感应OK！");
Line2Time.InitialTime();
StaWork.Step = 320;
}
else
{
if (EpsonRobot.RobotLivePos.Y > -150) //判断机械手是否在流水线外
{
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 1);
}
}
break;
case 320:
CCD_CMD = "T33" + "," + BVar.ProData[2, 1] + "," +
EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList("Bezel下相机复检拍照");
if (PVar.空跑)
{
Line2Time.InitialTime();
StaWork.Step = 330;
}
else
{
if (sRtn == 1) //命令发送成功
{
Line2Time.InitialTime();
StaWork.Step = 330;
}
else
{
AddList("T33命令发送失败！");
ShowList("T33命令发送失败！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 330:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 340;
}
}
else
{
if (Command.CCD_Resule && PVar.CCD_Data[0] == "T33")
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 340;
}
else
{
if (Line2Time.TimeIsUp(5000))
{
AddList("等待CCD T33数据超时！");
ShowList("等待CCD T33数据超时！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
}
break;
case 340:
if (PVar.空跑)
{
AddList("拍照OK");
Line2Time.InitialTime();
StaWork.Step = 350;
}
else
{
if (PVar.CCD_Data[1] == "1")
{
AddList("拍照OK");
Line2Time.InitialTime();
StaWork.Step = 350;
}
else
{
AddList("Bezel拍照NG,异常直接流出");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000;
}
}
break;
case 350:
CCD_CMD = "T41" + "," + BVar.ProData[2, 1] + "," +
EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList("Bezel上相机复检拍照");
if (PVar.空跑)
{
Line2Time.InitialTime();
StaWork.Step = 360;
}
else
{
if (sRtn == 1) //命令发送成功
{
Line2Time.InitialTime();
StaWork.Step = 360;
}
else
{
AddList("T41命令发送失败！");
ShowList("T41命令发送失败！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 360:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 370;
}
}
else
{
if (Command.CCD_Resule && PVar.CCD_Data[0] == "T41")
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 370;
}
else
{
if (Line2Time.TimeIsUp(5000))
{
AddList("等待CCD T41数据超时！");
ShowList("等待CCD T41数据超时！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
}
break;
case 370:
if (PVar.空跑)
{
AddList("拍照OK,开始上传PDCA");
Line2Time.InitialTime();
StaWork.Step = 380;
}
else
{
if (PVar.CCD_Data[1] == "1")
{
AddList("拍照OK,开始上传PDCA");
Line2Time.InitialTime();
StaWork.Step = 380;
}
else
{
AddList("Bezel拍照NG,异常直接流出");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000;
}
}
break;
case 380:
Line2Time.InitialTime();
StaWork.Step = 505;
break;
//复检检测输出值
//***********************************************
case 505:
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 1);
Line2Time.InitialTime();
StaWork.Step = 510;
break;
case 510:
if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 0)
{
AddList("装配完成，等待放行！");
Line2Time.InitialTime();
StaWork.Step = 600;
}
else if (Line2Time.TimeIsUp(3000))
{
AddList("保载具夹紧气缸伸出信号感应异常！");
Line2Time.InitialTime();
StaWork.Step = 400;
}
break;
case 600:
if (PVar.空跑)
{
if (PVar.Stop_Flag == false && Linechange.LineOut() == 0 && PVar.Sta_Work[(int)BVar.工位.流水线3].State == false)
{
AddList("载具开始放行，等待流水线3接收!");
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Frm_Engineering.fEngineering.Txt_BarCode.Text = "";
Linechange.SetMotor2(true, PVar.ParList.Data[43]);
Linechange.SetMotor3(true, PVar.ParList.Data[43]);
Line2Time.InitialTime();
StaWork.Step = 610;
}
else
{
if (PVar.Stop_Flag)
{
StaWork.State = false;
Line2Time.InitialTime();
StaWork.Step = 10;
}
}
}
else //******************************************************
{
//等待放行*****************************
if (PVar.Stop_Flag == false && Linechange.LineOut() == 0 && PVar.Sta_Work[(int)BVar.工位.流水线3].State == false)
{
AddList("载具开始放行，等待流水线3接收!");
Frm_Engineering.fEngineering.Txt_BarCode.Text = "";
Linechange.SetMotor2(true, PVar.ParList.Data[43]);
Linechange.SetMotor3(true, PVar.ParList.Data[43]);
Line2Time.InitialTime();
StaWork.Step = 610;
}
}
break;
case 610:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("载具开始放行！");
Line2Time.InitialTime();
StaWork.Step = 620;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应4) == 0)
{
AddList("载具开始放行！");
Line2Time.InitialTime();
StaWork.Step = 620;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("流水线2放行载具超时！");
ShowList("流水线2放行载具超时！");
Line2Time.InitialTime();
StaWork.Step = 620;
}
}
break;
case 620:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("流水线2载具开始放行完成！");
//*********************************************************应该可以开始接受上站载具
PVar.Sta_Work[(int)BVar.工位.流水线3].IsHaveFix = true;
Line2Time.InitialTime();
StaWork.Step = 630;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应5) == 0)
{
AddList("流水线2载具开始放行完成！");
//*********************************************************应该可以开始接受上站载具
PVar.Sta_Work[(int)BVar.工位.流水线3].IsHaveFix = true;
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
Line2Time.InitialTime();
StaWork.Step = 630;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("流水线2放行载具超时！");
ShowList("流水线2放行载具超时！");
Line2Time.InitialTime();
StaWork.Step = 630;
}
}
break;
case 630:
if (Line2Time.TimeIsUp(500))
{
AddList("流水线2载具放行完成！");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix = false;
PVar.Sta_Work[(int)BVar.工位.流水线3].IsHaveFix = true;
Linechange.SetMotor2(false, PVar.ParList.Data[43]);
Line2Time.InitialTime();
StaWork.Step = 650;
}
break;
case 650:
if (Line2Time.TimeIsUp(200))
{
Line2Time.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Enable = false;
StaWork.Result = true;
StaWork.State = false;
Manual.AutoMotionFlag[2] = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
Manual.AutoMotionFlag[2] = false;
StaWork.Step = 10;
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.State = false;
Line3Time.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (StaWork.State == false && StaWork.IsHaveFix)
{
AddList("组装开始！");
StaWork.State = true;
BVar.ProData[3, 1] = BVar.ProData[2, 1]; //Bezel条码
BVar.ProData[3, 3] = BVar.ProData[2, 3]; //载具条码
Line3Time.InitialTime();
StaWork.Step = 30;
}
else if (Line3Time.TimeIsUp(50))
{
StaWork.Step = 10;
}
break;
case 30:
if (PVar.空跑)
{
if (Line3Time.TimeIsUp(2000))
{
AddList("载具流出感应到！");
Linechange.SetMotor3(true, 10);
Line3Time.InitialTime();
StaWork.Step = 40;
}
}
else
{
if (Linechange.LineOut() == 1)
{
AddList("载具流出感应到！");
Line3Time.InitialTime();
StaWork.Step = 40;
Linechange.SetMotor3(false, PVar.ParList.Data[43]);
}
else if (Line3Time.TimeIsUp(5000))
{
Line3Time.InitialTime();
StaWork.Step = 40;
}
}
break;
case 40:
if (Line3Time.TimeIsUp(1000))
{
AddList("流水线3马达停止！");
Linechange.SetMotor3(false, PVar.ParList.Data[43]);
Line3Time.InitialTime();
StaWork.Step = 50;
}
break;
case 50:
if (Linechange.LineOut() == 0)
{
AddList("载具已经取走！");
StaWork.IsHaveFix = false;
Line3Time.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Enable = false;
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
//遇到异常，设备先暂停，确定后处理************************
case 8000:
if (Manual.AutoMotionFlag[3])
{
if (Manual.HoldFlag[3])
{
Manual.HoldFlag[3] = false;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "暂停";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.BurlyWood;
ShowList("运动已继续");
}
else
{
Manual.HoldFlag[3] = true;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "继续";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.Red;
ShowList("运动已暂停");
}
}
else
{
PVar.IsSystemOnPauseMode = true;
PVar.MacHold = true;
StaWork.StaHold = true;
PVar.Stop_Flag = false;
Frm_Main.fMain.Btn_Start.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = true;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.Auto_Timer.Enabled = false;
}
PVar.LampStatus = 20;
StaWork.Step = BufferStep;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
public static void HomeSub()
{
switch (StepHome)
{
case 10:
GoHome.Reset.State = true;
AddList("设备初始化开始，请等待！");
//停止流水线
Linechange.SetMotor1(false, 0); //
Linechange.SetMotor2(false, 0);
Linechange.SetMotor3(false, 0);
AddList("关闭传送带电机");
if (EpsonRobot.IsRobotAlarm)
{
AddList("机械手报警，初始化失败，请检查！");
ShowList("机械手报警，初始化失败，请检查！");
StepHome = 1000;
return;
}
Gg.SetDo(0, Gg.OutPut0.启动按钮指示灯, 0);
Gg.SetDo(0, Gg.OutPut0.日光灯继电器, 0);
Gg.SetDo(0, Gg.OutPut0.步进电机使能, 0);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 1);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.撕膜夹爪气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手滑台气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜针型气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.NG指示灯, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.OK指示灯, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.右料盘吸电磁铁, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.左料盘吸电磁铁, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
Gg.SetExDo(0, 2, Gg.OutPut3.离子风扇, 0);
RobotHomeNum = 0;
////界面
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_ProgressBar.IsShowProgresBar(true);
InitTime.InitialTime();
StepHome = 20;
break;
//机械手回初始位置
case 20:
RobotHomeNum += 1;
AddList("机械手停止！");
Gg.SetDo(0, Gg.OutPut0.机械手停止, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手停止, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 22;
break;
case 22:
AddList("机械手复位！");
Gg.SetDo(0, Gg.OutPut0.机械手复位, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手复位, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 24;
break;
case 24:
AddList("机械手启动！");
Gg.SetDo(0, Gg.OutPut0.机械手启动, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手启动, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 30;
break;
case 30:
if (Gg.GetDi(0, Gg.InPut0.机械手运动中) == 1)
{
AddList("机械手启动成功！");
InitTime.InitialTime();
StepHome = 40;
}
else if (InitTime.TimeIsUp(2000))
{
if (RobotHomeNum < 3)
{
InitTime.InitialTime();
StepHome = 20;
}
else
{
AddList("机械手启动失败！");
ShowList("机械手启动失败！");
StepHome = 1000;
return;
}
}
break;
case 40:
if (Frm_Engineering.fEngineering.Tcp_Robot.IsStart)
{
AddList("机械手网络链接OK！");
InitTime.InitialTime();
StepHome = 50;
}
else if (InitTime.TimeIsUp(5000))
{
if (RobotHomeNum < 3)
{
InitTime.InitialTime();
StepHome = 20;
}
else
{
AddList("机械手网络链接失败！");
ShowList("机械手网络链接失败！");
StepHome = 1000;
return;
}
}
break;
case 50:
AddList("获取机械手程序版本！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("GetVersion", "0", "0", "0", "0", "0", "0", "0",
"DAB-SV(1.0.0)_20180505", "0", "0", "0", "0", "0") == false)
{
StepHome = 1000;
return;
}
InitTime.InitialTime();
StepHome = 60;
break;
case 60:
if (EpsonRobot.sRobot_Status == "GetVersionOK")
{
AddList("机械手程序版本匹配OK！");
InitTime.InitialTime();
StepHome = 100;
}
else if (EpsonRobot.sRobot_Status == "GetVersionNG")
{
AddList("机械手版本不匹配！");
ShowList("机械手版本不匹配！");
StepHome = 1000;
return;
}
else if (InitTime.TimeIsUp(3000))
{
AddList("获取机械手程序版本超时！");
ShowList("获取机械手程序版本超时！");
StepHome = 1000;
return;
}
break;
case 100:
AddList("机械手回初始位置开始！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.待机位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
StepHome = 1000;
return;
}
InitTime.InitialTime();
StepHome = 110;
break;
case 110:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.待机位置)
{
AddList("机械手回待机位置OK！");
InitTime.InitialTime();
StepHome = 200;
}
else if (InitTime.TimeIsUp(10000))
{
AddList("机械手回待机位置超时！");
ShowList("机械手回待机位置超时！");
StepHome = 1000;
return;
}
break;
case 200:
Frm_ProgressBar.SetValueProgressBar(30); //初始化进度条的进度更新显示
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 1 &&
Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
InitTime.InitialTime();
StepHome = 210;
}
if (InitTime.TimeIsUp(6000))
{
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 0)
{
AddList("阻挡气缸1伸出信号异常，请检查！");
ShowList("阻挡气缸1伸出信号异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 0)
{
AddList("阻挡气缸2伸出信号异常，请检查！");
ShowList("阻挡气缸2伸出信号异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 0)
{
AddList("阻挡气缸3伸出信号异常，请检查！");
ShowList("阻挡气缸3伸出信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
{
AddList("光源旋转气缸缩回信号异常，请检查！");
ShowList("光源旋转气缸缩回回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 1)
{
AddList("载具夹紧气缸缩回信号异常，请检查！");
ShowList("载具夹紧气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 1)
{
AddList("机械手撕膜升降气缸缩回信号异常，请检查！");
ShowList("机械手撕膜升降气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 1)
{
AddList("机械手滑台气缸缩回信号异常，请检查！");
ShowList("机械手滑台气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0 || Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 1)
{
AddList("PSA吸嘴升降气缸上信号异常，请检查！");
ShowList("PSA吸嘴升降气缸上信号异常，请检查！");
}
StepHome = 1000;
}
break;
case 210:
AddList("料仓左Z轴开始回原点…");
AddList("料仓右Z轴开始回原点…");
AddList("PSA供料Z轴开始回原点…");
AddList("保压Z轴开始回原点…");
AddList("PSA搬运Y轴开始回原点…");
GoHome.AxisHome[0, Axis.料仓左Z轴].Result = false;
GoHome.AxisHome[0, Axis.料仓右Z轴].Result = false;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Result = false;
GoHome.AxisHome[0, Axis.保压Z轴].Result = false;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result = false;
GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = true;
GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = true;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = true;
GoHome.AxisHome[0, Axis.保压Z轴].Enable = true;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = true;
GoHome.AxisHome[0, Axis.料仓左Z轴].Step = 10;
GoHome.AxisHome[0, Axis.料仓右Z轴].Step = 10;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Step = 10;
GoHome.AxisHome[0, Axis.保压Z轴].Step = 10;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step = 10;
InitTime.InitialTime();
Frm_ProgressBar.SetValueProgressBar(30);
StepHome = 220;
break;
case 220:
GotoHome(0, Axis.料仓左Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.料仓右Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.PSA供料Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.保压Z轴, 30, -90, 20, -3, 5);
GotoHome(0, Axis.PSA搬运Y轴, 30, -1000, 10, 1, 10);
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step != 0 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
StepHome = 1000;
}
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓左Z轴].Enable)
{
GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result)
{
AddList("料仓左Z轴回原点成功！");
}
else
{
AddList("料仓左Z轴回原点失败！");
ShowList("料仓左Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.料仓右Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓右Z轴].Enable)
{
GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.料仓右Z轴].Result)
{
AddList("料仓右Z轴回原点成功！");
}
else
{
AddList("料仓右Z轴回原点失败！");
ShowList("料仓右Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable)
{
GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Result)
{
AddList("PSA供料Z轴回原点成功！");
}
else
{
AddList("PSA供料Z轴回原点失败！");
ShowList("PSA供料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.保压Z轴].Step == 0 && GoHome.AxisHome[0, Axis.保压Z轴].Enable)
{
GoHome.AxisHome[0, Axis.保压Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.保压Z轴].Result)
{
AddList("保压Z轴回原点成功！");
}
else
{
AddList("保压Z轴回原点失败！");
ShowList("保压Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable)
{
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = false;
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
{
AddList("PSA搬运Y轴回原点成功！");
}
else
{
AddList("PSA搬运Y轴回原点失败！");
ShowList("PSA搬运Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result && GoHome.AxisHome[0, Axis.料仓右Z轴].Result &&
GoHome.AxisHome[0, Axis.PSA供料Z轴].Result && GoHome.AxisHome[0, Axis.保压Z轴].Result &&
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
{
Frm_ProgressBar.SetValueProgressBar(50);
InitTime.InitialTime();
StepHome = 300;
}
break;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
case 300:
AddList("各轴开始回待机位置…");
//料仓
Gg.AbsMotion(0, Axis.料仓左Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.左料仓, Axis.Point左料仓.初始位置], 20);
Gg.AbsMotion(0, Axis.料仓右Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.右料仓, Axis.Point右料仓.初始位置], 20);
//PSA供料
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], 20);
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], 20);
//保压站
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], 20);
InitTime.InitialTime();
StepHome = 310;
break;
case 310:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
StepHome = 1000;
}
if (Gg.ZSPD(0, Axis.料仓左Z轴) && Gg.ZSPD(0, Axis.料仓右Z轴) &&
Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.ZSPD(0, Axis.PSA搬运Y轴) &&
Gg.ZSPD(0, Axis.保压Z轴))
{
AddList("整机回待机位置完成！");
InitTime.InitialTime();
StepHome = 350;
}
else
{
if (InitTime.TimeIsUp(10000))
{
if (Gg.ZSPD(0, Axis.料仓左Z轴) == false)
{
AddList("料仓左Z轴回待机位置失败！");
ShowList("料仓左Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.料仓右Z轴) == false)
{
AddList("料仓右Z轴回待机位置失败！");
ShowList("料仓右Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.PSA供料Z轴) == false)
{
AddList("PSA供料Z轴回待机位置失败！");
ShowList("PSA供料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false)
{
AddList("PSA搬运Y轴回待机位置失败！");
ShowList("PSA搬运Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.保压Z轴) == false)
{
AddList("保压Z轴回待机位置失败！");
ShowList("保压Z轴回待机位置失败！");
}
StepHome = 1000;
}
}
break;
case 350:
//平移气缸回到左边
Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸左, 1);
Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸右, 0);
//保压无杆气缸向右复位
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 1);
AddList("料盘平移无杆气缸向左复位！");
InitTime.InitialTime();
StepHome = 360;
break;
case 360:
if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 1 && Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 0 &&
Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0)
{
AddList("料盘平移无杆气缸向左复位OK！");
InitTime.InitialTime();
StepHome = 370;
}
else
{
if (InitTime.TimeIsUp(6000))
{
if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 0 || Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 1)
{
AddList("料盘平移无杆气缸左信号异常！");
InitTime.InitialTime();
StepHome = 1000;
}
}
if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 1 || Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 0)
{
AddList("保压无杆气缸右信号异常！");
InitTime.InitialTime();
StepHome = 1000;
}
}
break;
case 370:
InitTime.InitialTime();
StepHome = 800;
break;
case 800:
AddList("初始化完成");
ShowList("初始化完成");
PVar.LampStatus = 20;
PVar.Stop_Flag = true;
PVar.AutoRunFlag = false;
PVar.MacHold = false;
PVar.CPKDoneCounts = 0;
PVar.WorkMode = 0;
Frm_Main.fMain.Panel_CPK.Visible = false;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = true;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_SelectedBtn; //'主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.TabPage3.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_Engineering.fEngineering.TabPage4.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_ProgressBar.IsShowProgresBar(false); //'初始化进度条显示
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
for (int i = 0; i <= 10; i++)
{
PVar.Sta_Work[i].State = false;
PVar.Sta_Work[i].Result = false;
PVar.Sta_Work[i].IsHaveHSG = false;
PVar.Sta_Work[i].Step = 0;
}
Mod_ErrorCode.CheckSystemTimeStep = 0;
GoHome.Reset.State = false;
GoHome.Reset.Result = true;
StepHome = 0;
break;
case 1000:
PVar.LampStatus = 10;
PVar.MacHold = false;
PVar.Stop_Flag = true;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn; //主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
PVar.Rtn = gts.GT_Stop(0, 255, 255); //紧急停止0号卡所有轴
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
Frm_ProgressBar.IsShowProgresBar(false); //初始化进度条显示
GoHome.Reset.Result = false;
GoHome.Reset.State = false;
StepHome = 0;
break;
}
//string tempStr = "";
//if (Gg.GetDi(0, Gg.InPut0.安全门) == 0)
// {
// tempStr = "安全门";
// }
//if (!string.IsNullOrEmpty(tempStr))
// {
// AddList("请关闭" + tempStr + "再初始化");
// ShowList("请关闭" + tempStr + "再初始化");
// StepHome = 1000;
// return;
// }
}