private void BtnSave_Click(object sender, EventArgs e)
{
string tag = this.GetType().Name;
if (this.valve.ValveSeries == ValveSeries.喷射阀)
{
JtValve jtValve = (JtValve)this.valve;
ValvePrmMgr.Instance.FindBy(this.valve.ValveType).JtValvePrm = jtValve.Prm;
CompareObj.CompareProperty(jtValve.Prm, this.jtValvePrmBackUp, null, tag);
}
else if (this.valve.ValveSeries == ValveSeries.螺杆阀)
{
SvValve svValve = (SvValve)this.valve;
ValvePrmMgr.Instance.FindBy(this.valve.ValveType).SvValvePrm = svValve.Prm;
CompareObj.CompareProperty(svValve.Prm, this.svValvePrmBackUp, null, tag);
}
else if (this.valve.ValveSeries == ValveSeries.齿轮泵阀)
{
GearValve gearValve = (GearValve)this.valve;
ValvePrmMgr.Instance.FindBy(this.valve.ValveType).GearValvePrm = gearValve.Prm;
CompareObj.CompareProperty(gearValve.Prm, this.gearValvePrmBackUp, null, tag);
}
Machine.Instance.SaveValveSettings();
this.Close();
}
private void BtnReset_Click(object sender, EventArgs e)
{
//if (MessageBox.Show("Reset Valve Setting?", "Valve Setting", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) == DialogResult.OK)
if (MessageBox.Show("将阀参数设置为默认值?", "阀设置", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) == DialogResult.OK)
{
//设置为默认
Machine.Instance.ResetValveSettings();
if (this.valve.ValveSeries == ValveSeries.喷射阀)
{
JtValve jtValve = (JtValve)valve;
this.propertyGrid1.SelectedObject = jtValve.Prm;
}
else if (this.valve.ValveSeries == ValveSeries.螺杆阀)
{
SvValve svValve = (SvValve)valve;
this.propertyGrid1.SelectedObject = svValve.Prm;
}
else if (this.valve.ValveSeries == ValveSeries.齿轮泵阀)
{
GearValve gearValve = (GearValve)valve;
this.propertyGrid1.SelectedObject = gearValve.Prm;
}
}
}
public ValveSettingForm Setup(Valve valve)
{
this.valve = valve;
if (this.valve.ValveSeries == ValveSeries.喷射阀)
{
JtValve jtValve = (JtValve)valve;
LngPropertyProxyTypeDescriptor proxyObj = new LngPropertyProxyTypeDescriptor(jtValve.Prm, this.GetType().Name);
this.propertyGrid1.SelectedObject = proxyObj;
this.jtValvePrmBackUp = (JtValvePrm)jtValve.Prm.Clone();
}
else if (this.valve.ValveSeries == ValveSeries.螺杆阀)
{
SvValve svValve = (SvValve)valve;
LngPropertyProxyTypeDescriptor proxyObj = new LngPropertyProxyTypeDescriptor(svValve.Prm, this.GetType().Name);
this.propertyGrid1.SelectedObject = proxyObj;
this.svValvePrmBackUp = (SvValvePrm)svValve.Prm.Clone();
}
else if (this.valve.ValveSeries == ValveSeries.齿轮泵阀)
{
GearValve gearValve = (GearValve)valve;
LngPropertyProxyTypeDescriptor proxyObj = new LngPropertyProxyTypeDescriptor(gearValve.Prm, this.GetType().Name);
this.propertyGrid1.SelectedObject = proxyObj;
this.gearValvePrmBackUp = (GearValvePrm)gearValve.Prm.Clone();
}
return(this);
}
private Result JtValveDoPrime(JtValve valve)
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Result result = Result.OK;
// 手动吐液需要重置胶阀状态
if (Machine.Instance.Robot.RobotIsXYZU || Machine.Instance.Robot.RobotIsXYZUV)
{
result = valve.ResetValveTilt(Machine.Instance.Robot.DefaultPrm.VelU, Machine.Instance.Robot.AxisU.Prm.Acc);
if (!result.IsOk)
{
return(result);
}
}
Logger.DEFAULT.Info(LogCategory.MANUAL | LogCategory.RUNNING, this.GetType().Name, "do prime start");
//排胶
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PrimeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
valve.SprayCycleAndWait((short)valve.Prm.PrimeDotsCount);
Logger.DEFAULT.Info(LogCategory.MANUAL | LogCategory.RUNNING, this.GetType().Name, "do prime end");
return(Machine.Instance.Robot.MoveSafeZAndReply());
}
private void btnValve2Spray_Click(object sender, EventArgs e)
{
if (Machine.Instance.Valve1.ValveSeries == Drive.ValveSystem.ValveSeries.喷射阀)
{
JtValve valve2 = (JtValve)Machine.Instance.Valve2;
if (this.nudValve2.Value == 0)
{
Machine.Instance.Valve2.Spraying();
Valve2isSpraying = true;
}
else
{
Machine.Instance.Valve2.SprayCycle((short)this.nudValve2.Value);
if (Machine.Instance.Valve2.weightPrm.SingleDotWeight > 0)
{
GlueManagerMgr.Instance.UpdateGlueRemainWeight(1, Machine.Instance.Valve2.weightPrm.SingleDotWeight * (int)this.nudValve2.Value);
}
Valve2isSpraying = true;
int tempTime = Machine.Instance.Valve2.Prm.JtValvePrm.OnTime + Machine.Instance.Valve2.Prm.JtValvePrm.OffTime;
if (tempTime > 0)
{
timer2.Interval = (short)this.nudValve1.Value * (tempTime) / 1000;
timer2.Start();
}
}
}
else if (Machine.Instance.Valve2.ValveSeries == ValveSeries.螺杆阀 ||
Machine.Instance.Valve2.ValveSeries == ValveSeries.齿轮泵阀)
{
Machine.Instance.Valve2.Spraying();
}
}
public Result DoPurgeAndPrime(Valve valve)
{
if (valve is JtValve)
{
JtValve jtValve = (JtValve)valve;
return(this.JtValveLogic(jtValve));
}
else
{
return(this.SvAndGearValveLogic(valve));
}
}
/// <summary>
/// 手动打线，供四方位角度校准时使用
/// </summary>
/// <returns></returns>
public Result ManualDispense(PointD start, PointD end, double posZ, LineParam lineParam, bool isWeight, double weight)
{
Result result = Result.OK;
PointD accStart = new PointD(), decelEnd = new PointD();
double speed = 0, intervalSec = 0;
PointD[] points = null;
//胶量模式
if (isWeight)
{
this.GetManualWtLineParam(start, end, lineParam, weight, out accStart, out decelEnd, out speed, out points, out intervalSec);
}
//速度模式
else
{
this.GetManualNormalLineParam(start, end, lineParam, out accStart, out decelEnd, out speed, out points, out intervalSec);
}
//执行打线
// 移动到加速区间起始位置
Log.Dprint("move to position XY : " + accStart);
result = Machine.Instance.Robot.MovePosXYAndReply(accStart,
FluidProgram.Current.MotionSettings.VelXY, FluidProgram.Current.MotionSettings.AccXY);
if (!result.IsOk)
{
return(result);
}
// 到指定高度
result = Machine.Instance.Robot.MovePosZAndReply(posZ, lineParam.DownSpeed, lineParam.DownAccel);
if (!result.IsOk)
{
return(result);
}
//开始走直线出胶
if (Machine.Instance.Valve1.ValveSeries == ValveSeries.喷射阀)
{
JtValve jtValve = Machine.Instance.Valve1 as JtValve;
jtValve.FluidManualLine(accStart, start, end, decelEnd, speed, points, intervalSec, FluidProgram.Current.MotionSettings.WeightAcc);
}
return(result);
}
public Result DoPrime(Valve valve)
{
if (valve is JtValve)
{
JtValve jtValve = (JtValve)valve;
return(this.JtValveDoPrime(jtValve));
}
else if (valve is SvValve)
{
SvValve svValve = (SvValve)valve;
return(this.SvValveDoPrime(svValve));
}
else if (valve is GearValve)
{
GearValve gearValve = (GearValve)valve;
return(this.GearValveDpPrime(gearValve));
}
else
{
return(Result.FAILED);
}
}
private void btnValve2Spray_Click(object sender, EventArgs e)
{
if (Machine.Instance.Valve1.ValveSeries == Drive.ValveSystem.ValveSeries.喷射阀)
{
JtValve valve2 = (JtValve)Machine.Instance.Valve2;
if (this.nudValve2.Value == 0)
{
Machine.Instance.Valve2.Spraying();
Valve2isSpraying = true;
}
else
{
Machine.Instance.Valve2.SprayCycle((short)this.nudValve2.Value);
Valve2isSpraying = true;
timer2.Interval = (short)this.nudValve2.Value * (Machine.Instance.Valve2.Prm.JtValvePrm.OnTime + Machine.Instance.Valve2.Prm.JtValvePrm.OffTime) / 1000;
}
}
else if (Machine.Instance.Valve2.ValveSeries == ValveSeries.螺杆阀 ||
Machine.Instance.Valve2.ValveSeries == ValveSeries.齿轮泵阀)
{
Machine.Instance.Valve2.Spraying();
}
}
public JtDualValve(Card card, Valve valve1, Valve valve2) : base(card, valve1, valve2)
{
this.jtValve1 = (JtValve)valve1;
this.jtValve2 = (JtValve)valve2;
}
private Result JtValveDoPurge(JtValve valve)
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Result result = Result.OK;
// 手动清洗需要重置胶阀状态
if (Machine.Instance.Robot.RobotIsXYZU || Machine.Instance.Robot.RobotIsXYZUV)
{
result = valve.ResetValveTilt(Machine.Instance.Robot.DefaultPrm.VelU, Machine.Instance.Robot.AxisU.Prm.Acc);
if (!result.IsOk)
{
return(result);
}
}
Logger.DEFAULT.Info(LogCategory.MANUAL | LogCategory.RUNNING, this.GetType().Name, "do purge start");
result = Result.OK;
PointD purgeCentor = Machine.Instance.Robot.CalibPrm.PurgeLoc.ToNeedle(valve.ValveType);
double r = valve.Prm.PrePurgeRadius;
double rHalf = r * 0.5;
double rHalfSqrt3 = r * Math.Sqrt(3) * 0.5;
PointD[] pts = new PointD[]
{
new PointD(purgeCentor.X + r, purgeCentor.Y),
new PointD(purgeCentor.X + rHalf, purgeCentor.Y + rHalfSqrt3),
new PointD(purgeCentor.X - rHalf, purgeCentor.Y + rHalfSqrt3),
new PointD(purgeCentor.X - r, purgeCentor.Y),
new PointD(purgeCentor.X - rHalf, purgeCentor.Y - rHalfSqrt3),
new PointD(purgeCentor.X + rHalf, purgeCentor.Y - rHalfSqrt3)
};
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PurgeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
if (valve.Prm.EnablePrePurgeVaccum)
{
DoType.真空清洗.Set(true);
}
for (int i = 0; i < valve.Prm.PrePurgeCount; i++)
{
foreach (PointD pt in pts)
{
Machine.Instance.Robot.MovePosXYAndReply(pt, valve.Prm.PrePurgerSpeed);
}
}
result = Machine.Instance.Robot.MovePosXYAndReply(Machine.Instance.Robot.CalibPrm.PurgeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
if (valve.Prm.EnablePrePurgeVaccum)
{
DoType.真空清洗.Set(false);
}
Logger.DEFAULT.Info(LogCategory.MANUAL | LogCategory.RUNNING, this.GetType().Name, "do purge end");
return(Machine.Instance.Robot.MoveSafeZAndReply());
}
private Result JtValveLogic(JtValve valve)
{
if (Machine.Instance.Robot.IsSimulation)
{
return(Result.OK);
}
Result result = Result.OK;
// 需要重置胶阀状态
if (Machine.Instance.Robot.RobotIsXYZU || Machine.Instance.Robot.RobotIsXYZUV)
{
result = valve.ResetValveTilt(Machine.Instance.Robot.DefaultPrm.VelU, Machine.Instance.Robot.AxisU.Prm.Acc);
if (!result.IsOk)
{
return(result);
}
}
//排胶
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PrimeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
valve.SprayCycleAndWait((short)valve.Prm.PrimeDotsCount);
//清洗
PointD purgeCenter = Machine.Instance.Robot.CalibPrm.PurgeLoc.ToNeedle(valve.ValveType);
double r = valve.Prm.PrePurgeRadius;
double rHalf = r * 0.5;
double rHalfSqrt3 = r * Math.Sqrt(3) * 0.5;
PointD[] pts = new PointD[6]
{
new PointD(purgeCenter.X + r, purgeCenter.Y),
new PointD(purgeCenter.X + rHalf, purgeCenter.Y + rHalfSqrt3),
new PointD(purgeCenter.X - rHalf, purgeCenter.Y + rHalfSqrt3),
new PointD(purgeCenter.X - r, purgeCenter.Y),
new PointD(purgeCenter.X - rHalf, purgeCenter.Y - rHalfSqrt3),
new PointD(purgeCenter.X + rHalf, purgeCenter.Y - rHalfSqrt3)
};
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PurgeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
if (valve.Prm.EnablePrePurgeVaccum)
{
DoType.真空清洗.Set(true);
}
for (int i = 0; i < valve.Prm.PrePurgeCount; i++)
{
foreach (var pt in pts)
{
result = Machine.Instance.Robot.MovePosXYAndReply(pt, valve.Prm.PrePurgerSpeed);
if (result == Result.FAILED)
{
return(result);
}
}
}
result = Machine.Instance.Robot.MovePosXYAndReply(Machine.Instance.Robot.CalibPrm.PurgeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
if (valve.Prm.EnablePrePurgeVaccum)
{
DoType.真空清洗.Set(false);
}
//排胶
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.PrimeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
valve.SprayCycleAndWait((short)valve.Prm.PrimeDotsCount);
//擦纸带
if (valve.Prm.ScrapeEnable)
{
result = Machine.Instance.Robot.MoveToLocAndReply(Machine.Instance.Robot.SystemLocations.ScrapeLoc.ToNeedle(valve.ValveType));
if (result == Result.FAILED)
{
return(result);
}
DoType.擦纸带.Set(true);
//保持一定时间
Thread.Sleep(TimeSpan.FromSeconds(valve.Prm.ScrapeTime));
DoType.擦纸带.Set(false);
}
return(Machine.Instance.Robot.MoveSafeZAndReply());
}
