private void AlarmClear()
{
Thread.Sleep(50);
ConfigHandle.Instance.AlarmDefine.ClearAlarmMessage(b_statusError);
MachineAlarm.ClearAlarm();
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_AlarmReset();
}
//frm_Stick.Clear();
}
private void timer1_Tick(object sender, EventArgs e)
{
count++;
if (ShownForm == false && count > 3)
{
toolStripButton_Click(主页Bt, null);
ShownForm = true;
}
TimerCheck();
if (IOControl != null)
{
IOControl.ValueChangedRefresh();
}
//控制器状态
if (DeviceRsDef.MotionCard.netSucceed)
{
tlssll_ControllerStatus.Text = "板卡：ONLine" + "(" + DeviceRsDef.MotionCard.ScanfTime.ToString() + "ms" + ")";
tlssll_ControllerStatus.BackColor = SystemColors.Control;
}
else
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level3, "控制器掉线");
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
tlssll_ControllerStatus.Text = "板卡：OFFLine";
tlssll_ControllerStatus.BackColor = Color.Red;
}
//tlssll_CameraUp.Text = VisionProject.Instance.Camera[0].Connected ? "上相机：ONLine" : "上相机：OFFLine";
//tlssll_CameraUp.BackColor = VisionProject.Instance.Camera[0].Connected ? SystemColors.Control : Color.Red;
//tlssll_CameraDown.Text = VisionProject.Instance.Camera[1].Connected ? "下相机：ONLine" : "下相机：OFFLine";
//tlssll_CameraDown.BackColor = VisionProject.Instance.Camera[1].Connected ? SystemColors.Control : Color.Red;
cnt++;
if (cnt >= 500)
{
cnt = 0;
ClearMemory();
}
//tsslbl_AxisCurrpos1.Text = "X:" + DeviceRsDef.Axis_X.currPos.ToString("0.00");
//tsslbl_AxisCurrpos2.Text = "Y:" + DeviceRsDef.Axis_Y.currPos.ToString("0.00");
//tsslbl_AxisCurrpos3.Text = "Z1:" + DeviceRsDef.Axis_Z1.currPos.ToString("0.00");
//tsslbl_AxisCurrpos4.Text = "Z2:" + DeviceRsDef.Axis_Z2.currPos.ToString("0.00");
//tsslbl_AxisCurrpos5.Text = "R1:" + DeviceRsDef.Axis_R1.currPos.ToString("0.00");
//tsslbl_AxisCurrpos6.Text = "R2:" + DeviceRsDef.Axis_R2.currPos.ToString("0.00");
//tsslbl_AxisCurrpos7.Text = "X:" + DeviceRsDef.Axis_BeltFeed.currPos.ToString("0.00");
}
protected override void LogicImpl()
{
//报警等级为2
if (MachineAlarm.AlarmLever == AlarmLevelEnum.Level2)
{
this.Manager.FSM.Change(FSMStaDef.ALARM);
}
else if (MachineAlarm.AlarmLever > AlarmLevelEnum.Level2)
{
this.Manager.FSM.Change(FSMStaDef.ERROR);
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
if (DeviceRsDef.AxisList[i].status == Device.AxState.AXSTA_ERRSTOP)
{
string alarmMessage = DeviceRsDef.AxisList[i].errMesg;
MachineAlarm.SetAlarm(AlarmLevelEnum.Level3, alarmMessage);
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
//控制器状态
if (DeviceRsDef.MotionCard.netSucceed)
{
toolStripLabel1.Text = "卡1：ON" + "(" + DeviceRsDef.MotionCard.ScanfTime.ToString() + "ms" + ")";
toolStripLabel1.BackColor = SystemColors.Control;
}
else
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level3, "控制器1掉线");
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
toolStripLabel1.Text = "卡1：OFF";
toolStripLabel1.BackColor = Color.Red;
}
if (DeviceRsDef.MotionCard1.netSucceed)
{
toolStripLabel2.Text = "卡2：ON" + "(" + DeviceRsDef.MotionCard1.ScanfTime.ToString() + "ms" + ")";
toolStripLabel2.BackColor = SystemColors.Control;
}
else
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level3, "控制器2掉线");
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
toolStripLabel2.Text = "卡2：OFF";
toolStripLabel2.BackColor = Color.Red;
}
//tlssll_CameraUp.Text = VisionProject.Instance.Camera[0].Connected ? "上相机：ONLine" : "上相机：OFFLine";
//tlssll_CameraUp.BackColor = VisionProject.Instance.Camera[0].Connected ? SystemColors.Control : Color.Red;
//tlssll_CameraDown.Text = VisionProject.Instance.Camera[1].Connected ? "下相机：ONLine" : "下相机：OFFLine";
//tlssll_CameraDown.BackColor = VisionProject.Instance.Camera[1].Connected ? SystemColors.Control : Color.Red;
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.PolishPlatform[ID];
switch (LG.Step)
{
case 1: //平台到位
stick1SpendTime.Restart();
if (Axis.PolishPlatFormIsHave[ID].value && ProjectData.Instance.SaveData.processdata.PlatformData[1].IsHave || TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(2);
}
else
{
string mes = ID.ToString() + "平台无料";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(2, FSMStaDef.RUN);
}
break;
case 2: //开始打磨拍照
if (DeviceRsDef.I_CylLocked.value || TaskManager.Default.FSM.MODE == 1)
{
PolishCT.Start();
LG.ImmediateStepNext(3);
}
break;
case 3: //开始打磨
if (PolishCT.Status && PolishClean.Status)
{
Polish.Start();
LG.ImmediateStepNext(4);
}
break;
case 4: //打磨结束
if (Polish.Status && ProjectData.Instance.SaveData.PolishData[ID].PolishNum % para.PerTtimesClean == 0 && ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
ProjectData.Instance.SaveData.PolishData[ID].PolishNum = 0;
PolishClean.Start();
LG.ImmediateStepNext(3);
para.PolishSum++;
}
else if (Polish.Status && ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(3);
para.PolishSum++;
}
else if (Polish.Status && ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() == 0)
{
LG.ImmediateStepNext(5);
}
break;
case 5: //打磨结束RZ回零
if (Axis.PolishZ[ID].status == 0 && Axis.PolishR[ID].status == 0)
{
Axis.PolishZ[ID].MC_MoveAbs(para.EndPos.Z);
Axis.PolishR[ID].MC_MoveAbs(para.EndPos.R);
LG.ImmediateStepNext(6);
}
break;
case 6: //打磨结束XY回零
if (Axis.PolishZ[ID].status == 0 && Axis.PolishR[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveAbs(para.EndPos.X);
Axis.PolishY[ID].MC_MoveAbs(para.EndPos.Y);
if (TaskManager.Default.FSM.MODE == 1) //老化模式
{
LG.ImmediateStepNext(7);
}
else
{
LG.ImmediateStepNext(0xef);
}
}
break;
case 7:
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
stick1SpendTime.Stop();
para.PolishSpendTime = stick1SpendTime.ElapsedMilliseconds;
LG.End(); //老化模式下不进行平台数据的传递
}
break;
case 0xef:
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
stick1SpendTime.Stop();
para.PolishSpendTime = stick1SpendTime.ElapsedMilliseconds;
LG.End();
ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsPolished = true;
}
break;
}
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //上锡列表里是否有上锡点
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无焊锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 2: //RZ抬高
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(3);
}
break;
case 3: //XY到第一个上锡点位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.Y);
LG.ImmediateStepNext(4);
}
break;
case 4: //第一段送锡
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed, ProcessData.SolderList[ID][0].SolderData.FrontLen);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed, ProcessData.SolderList[ID][0].SolderData.FrontLen);
LG.ImmediateStepNext(5);
}
break;
case 5: //第一段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed, ProcessData.SolderList[ID][0].SolderData.BackLen);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed, ProcessData.SolderList[ID][0].SolderData.BackLen);
LG.ImmediateStepNext(6);
}
break;
case 6: //RZ到上锡点位
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.R);
Axis.SolderZ[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].SolderData.Z);
LG.ImmediateStepNext(7);
}
break;
case 7: //第二段送锡
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed2, ProcessData.SolderList[ID][0].SolderData.FrontLen2);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed2, ProcessData.SolderList[ID][0].SolderData.FrontLen2);
LG.ImmediateStepNext(8);
}
break;
case 8: //第二段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed2, ProcessData.SolderList[ID][0].SolderData.BackLen2);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed2, ProcessData.SolderList[ID][0].SolderData.BackLen2);
LG.ImmediateStepNext(9);
}
break;
case 9: //第三段送锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed3, ProcessData.SolderList[ID][0].SolderData.FrontLen3);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed3, ProcessData.SolderList[ID][0].SolderData.FrontLen3);
LG.ImmediateStepNext(10);
}
break;
case 10: //第三段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed3, ProcessData.SolderList[ID][0].SolderData.BackLen3);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed3, ProcessData.SolderList[ID][0].SolderData.BackLen3);
LG.ImmediateStepNext(11);
}
break;
case 11: //判断是否开启抖动及抖动的模式
if (Axis.SolderS[ID].status == 0 && LG.Delay(1000))
{
if (ProcessData.SolderList[ID][0].SolderData.Shake)
{
//开启抖动
switch (ProcessData.SolderList[ID][0].SolderData.mode)
{
//case 0:
// LG.StepNext(12, FSMStaDef.RUN);//上下
// break;
case 1:
LG.ImmediateStepNext(13); //左右
break;
case 2:
LG.ImmediateStepNext(14); //前后
break;
}
}
else
{
//不开启抖动
LG.ImmediateStepNext(15);
}
}
break;
#region 左右
case 13:
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(131);
break;
case 131:
if (Axis.SolderX[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, -2 * ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(132);
}
break;
case 132:
if (Axis.SolderX[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(15);
}
break;
#endregion
#region 前后
case 14:
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(141);
break;
case 141:
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, -2 * ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(142);
}
break;
case 142:
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(15);
}
break;
#endregion
case 15: //Z抬起到设定高度
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderPlatform[ID].TimeforTin))
{
Axis.SolderZ[ID].MC_MoveRel(100, ProcessData.SolderList[ID][0].SolderData.LiftHeight);
LG.ImmediateStepNext(16);
}
break;
case 16: //移除第一个点
if (Axis.SolderZ[ID].status == 0)
{
ProjectData.Instance.SaveData.SolderData[ID].SolderNum++;
ProcessData.SolderList[ID].RemoveAt(0);
ProjectData.Instance.Product.ProductCount();
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
//private int whichNuzzle;
public void Logic(RunModeDef runMode)
{
LG.Start();
switch (LG.step)
{
case 1: //走剥膜长度
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
MotionCard.MotionFun.OutputON((int)OutputName.Q_Suck);
if (MotionCard.MotionFun.InputGet((int)InputName.I_LableCheck_1) == false)
{
MotionCard.MotionFun.MC_MoveRel((int)AxisName.FeedLable, Para.speed, Para.labelLength);
LG.TonRst();
LG.step = 2;
}
else
{
LG.step = 4;
}
}
break;
case 2: //检测感应
if (LG.Ton(MotionCard.MotionFun.InputGet((int)InputName.I_LableCheck_1) || MotionCard.MotionFun.InputGet((int)InputName.I_LableCheck_2), Para.checkDelay))
{
MotionCard.MotionFun.MC_Stop((int)AxisName.FeedLable);
LG.step = 3;
}
else if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
LG.count++;
if (runMode == RunModeDef.NORMAL)
{
if (LG.count > Para.StripNumAlrm)
{
LG.count = 0;
LG.step = 0xfe;
if (Para.StripNumAlrm > 0)
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "剥标失败，请检查卷料是否用完");
}
}
else
{
LG.step = 1;
}
}
else
{
LG.step = 3;
}
}
break;
case 3: //
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
MotionCard.MotionFun.MC_MoveRel((int)AxisName.FeedLable, Para.speed, -Para.LableSupplyBack);
LG.step = 4;
}
break;
case 4: //
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.FeedLable) == 0)
{
LG.step = 0xff;
}
break;
case 0xfe:
LG.ErrorStop();
break;
case 0xff:
LG.End();
break;
default:
break;
}
}
public void Logic(RunModeDef runMode)
{
LG.Start();
switch (LG.step)
{
case 1: //Z轴抬起到安全高度
if (Para.OverTake == 1)
{
whichNuzzle = (int)LogicDef.NuzzleNum - 1;
}
else
{
whichNuzzle = 0;
}
//if (AllAxisArrive())
{
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.SafePos_Z);
}
LG.step = 2;
}
break;
case 2: //xy到取标位置
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
//取标的时候将吹气关
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
MotionCard.MotionFun.OutputOFF((int)OutputName.Q_Suck_1);
}
//确定哪一个吸嘴是禁用的
if (Para.OverTake == 1)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)whichNuzzle) == false)
{
if (whichNuzzle > 0)
{
whichNuzzle--;
}
else
{
LG.step = 9;
}
}
else
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.X, Para.PointData.X);
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Y, Para.PointData.Y);
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == true)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.R, Para.PointData.R);
}
}
LG.step = 3;
}
}
else
{
for (int i = whichNuzzle; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == false)
{
whichNuzzle++;
}
else
{
break;
}
}
if (whichNuzzle < (int)LogicDef.NuzzleNum)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.X, Para.PointData.X);
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Y, Para.PointData.Y);
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == true)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.R, Para.PointData.R);
}
}
LG.step = 3;
}
else
{
LG.step = 9;
}
}
}
break;
case 3: //XY到位后判断缓取，开始下压时打开吸嘴
if (AllAxisArrive())
{
MotionCard.MotionFun.OutputON((int)OutputName.Q_Suck_1);
if (Para.TakeSlowDistance_Z > 0)
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.TakePos_Z - Para.TakeSlowDistance_Z);
LG.step = 4;
}
else
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.TakePos_Z);
LG.step = 5;
}
}
break;
case 4: //Z轴缓慢到取标高度
if (AllAxisArrive())
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.TakeSlowSpeed_Z, Para.TakePos_Z);
LG.step = 5;
}
break;
case 5: //Z轴到达
if (AllAxisArrive() && MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Y) == 0)
{
LG.step = 6;
}
break;
case 6: //取标延时后Z轴抬起(缓抬)
if (LG.TCnt((uint)Para.TakeDelay))
{
LG.step = 7;
}
break;
case 7: //取标延时后Z轴抬起
if (AllAxisArrive())
{
MotionCard.MotionFun.MC_MoveAbs((int)AxisName.Z, Para.SafePos_Z);
LG.step = 8;
}
break;
case 8: //检测真空
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
if (MotionCard.MotionFun.InputGet((int)InputName.I_VacuoCheck) == false && Para.CheckVacuumEn == 1)
{
LG.step = 9;
//判断是否在老化模式
if (runMode == RunModeDef.NORMAL)
{
LG.count++;
if (LG.count >= 2)
{
LG.step = 9;
MotionCard.MotionFun.OutputON((int)OutputName.Q_Suck_2);
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "取料失败，请检查真空和真空感应");
}
else
{
LG.step = 3;
}
}
}
else
{
LG.step = 9;
}
}
break;
case 9: //结束
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
LG.count = 0;
if (Para.OverTake == 1)
{
if (whichNuzzle > 0)
{
whichNuzzle--;
LG.step = 3;
}
else
{
LG.step = 10;
}
}
else
{
whichNuzzle++;
if (whichNuzzle < (int)LogicDef.NuzzleNum)
{
LG.step = 3;
}
else
{
LG.step = 10;
}
}
}
break;
case 10:
if (MotionCard.MotionFun.MC_AxGetStatus((int)AxisName.Z) == 0)
{
//确定哪一个吸嘴是禁用的
for (int i = 0; i < (int)LogicDef.NuzzleNum; i++)
{
if (Functions.GetBitValue(Para.NuzzleSwitch, (ushort)i) == false)
{
whichNuzzle++;
}
else
{
break;
}
}
}
LG.step = 0xff;
break;
case 0xff:
LG.End();
break;
}
}
private void button3_Click(object sender, EventArgs e)
{
MachineAlarm.ClearAlarm();
TaskManager.Default.FSM.Change(FSMStaDef.RESET);
}
private void button2_Click(object sender, EventArgs e)
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "停止报警");
label7.Text = new Random().Next().ToString();
}
private void button1_Click(object sender, EventArgs e)
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level1, "启动报警");
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
for (int i = 0; i < 60; i++)
{
//板卡输出去使能
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
DeviceRsDef.MotionCard1.MotionFun.OutputOFF(i);
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++) //轴停止
{
DeviceRsDef.AxisList[i].MC_Stop();
}
LogicMission.BeltFeedFun.FromReset = true;
MachineAlarm.ClearAlarm(); //清除报警
LG.ImmediateStepNext(10);
break;
case 10:
if (LG.Delay(2000))
{
//ZR轴回零
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
DeviceRsDef.Axis_Z3.MC_Home();
DeviceRsDef.Axis_Z4.MC_Home();
//DeviceRsDef.Axis_Z5.MC_Home();
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_R3.MC_Home();
DeviceRsDef.Axis_R4.MC_Home();
LG.ImmediateStepNext(2);
}
break;
case 2:
if (Axis.allaixsarrive())
{
DeviceRsDef.Axis_X1.MC_Home();
DeviceRsDef.Axis_X2.MC_Home();
DeviceRsDef.Axis_X3.MC_Home();
DeviceRsDef.Axis_X4.MC_Home();
//DeviceRsDef.Axis_X5.MC_Home();
DeviceRsDef.Axis_Y1.MC_Home();
DeviceRsDef.Axis_Y2.MC_Home();
DeviceRsDef.Axis_Y3.MC_Home();
DeviceRsDef.Axis_Y4.MC_Home();
//DeviceRsDef.Axis_R5.MC_Home();
//DeviceRsDef.Axis_X5.MC_Home();
DeviceRsDef.Axis_Belt.MC_Home();
LG.ImmediateStepNext(3);
}
break;
case 3:
if (Axis.allaixsarrive())
{
for (int i = 0; i < 2; i++)
{
Axis.PolishX[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.X);
Axis.PolishY[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.Y);
Axis.PolishZ[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.Z);
Axis.PolishR[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.R);
}
for (int i = 0; i < 2; i++)
{
Axis.SolderX[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.X);
Axis.SolderY[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.Y);
Axis.SolderZ[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.Z);
Axis.SolderR[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.R);
}
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
if (Axis.allaixsarrive())
{
LG.End();
TaskManager.Default.FSM.Change(FSMStaDef.STOP);
}
break;
}
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.PolishData[ID];
switch (LG.Step)
{
case 1: //RZ到拍照位
ProjectData.Instance.SaveData.processdata.PolishList[ID].Clear();
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
NUM = 0;
Axis.PolishR[ID].MC_MoveAbs(0);
Axis.PolishZ[ID].MC_MoveAbs(para.SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到拍照位
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.PolishX[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X);
Axis.PolishY[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //延时拍照
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0 && LG.Delay(para.CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionInteraction.Instance.TriggerCamera(ID)*/ true)
{
if (TaskManager.Default.FSM.MODE == 1)
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
//_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
if (ProjectData.Instance.SaveData.processdata.Agingdataforpolish == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforpolish = new PolishDef();
}
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
ProjectData.Instance.SaveData.processdata.Agingdataforpolish.Z = 20;
_pos.polishData = ProjectData.Instance.SaveData.processdata.Agingdataforpolish;
NUM++;
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(_pos);
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichPolish(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID))
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = p.ListPos[num].R;
_pos.polishData = ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID)[type].polishData[num].Clone();
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
num++;
PolishOrderList.Add(_pos); //增加到list里
}
}
foreach (PolishPosData data in PolishOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //对list里的点进行排序
{
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(data); //把排列好的点写进打磨list里
}
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断打磨列表里的数据
if (ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台没有打磨点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (DeviceRsDef.Axis_Belt.currPos == 0 && FromReset)
{
DeviceRsDef.Q_BeltLocatedCyl.ON();
if (TaskManager.Default.FSM.MODE == 1 && DeviceRsDef.I_CylLocked.Value)
{
LG.ImmediateStepNext(7);
FromReset = false;
}
else if (DeviceRsDef.I_CylLocked.Value)
{
LG.ImmediateStepNext(0xef);
FromReset = false;
}
}
else
{
DeviceRsDef.Q_BeltLocatedCyl.OFF(); //打开环形导轨的定位气缸
LG.ImmediateStepNext(10);
}
break;
case 10:
if (LG.Delay(100) && DeviceRsDef.I_CylUnLocked.Value)
{
if (DeviceRsDef.I_material1.value) //环形定位气缸打开状态且有零件
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1 && DeviceRsDef.I_CylUnLocked.Value)
{
LG.ImmediateStepNext(2);
}
else
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "零件未放入，零件感应1未感应到物料");
LG.StepNextWithOut(2, FSMStaDef.ALARM);
}
}
break;
case 2:
if (
LG.Delay(500) && //气缸延时200ms
TaskManager.Default.FindTask("左打磨平台").Status &&
TaskManager.Default.FindTask("右打磨平台").Status &&
TaskManager.Default.FindTask("左焊锡平台").Status &&
TaskManager.Default.FindTask("右焊锡平台").Status
)
{
DeviceRsDef.Axis_Belt.MC_MoveRel(230); //传送带向前走230mm
LG.ImmediateStepNext(4);
}
break;
case 4:
if (LG.Delay(100) && DeviceRsDef.Axis_Belt.status == 0) //延时100
{
DeviceRsDef.Axis_Belt.MC_Stop(); //传送带停止
LG.ImmediateStepNext(5);
}
break;
case 5:
if (DeviceRsDef.Axis_Belt.status == Device.AxState.AXSTA_READY) //皮带轴停止
{
DeviceRsDef.Q_BeltLocatedCyl.ON(); //打开皮带的定位气缸
LG.ImmediateStepNext(6);
}
break;
case 6:
if (LG.Delay(150) && DeviceRsDef.I_CylLocked.value) //环形定位气缸已经锁定，延时150ms
{
if (TaskManager.Default.FSM.MODE == 1) //老化模式
{
LG.ImmediateStepNext(7);
}
else
{
LG.ImmediateStepNext(0xef);
}
}
break;
case 7:
if (LG.Delay(50))
{
LG.End(); //老化模式下不进行平台的数据传递
}
break;
case 0xef:
if (LG.Delay(50))
{
LG.End();
ProjectData.Instance.SaveData.processdata.PlatformData[0].IsTined = true; //第一个工位有料
for (int i = ProjectData.Instance.SaveData.processdata.PlatformData.Count() - 1; i > 0; i--) //工位信息传递
{
ProjectData.Instance.SaveData.processdata.PlatformData[i].SetLastPlatformData(ProjectData.Instance.SaveData.processdata.PlatformData[i - 1]);
}
}
break;
}
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //RZ到位
ProcessData.SolderList[ID].Clear();
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
NUM = 0;
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //拍照
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderData[ID].CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionProject.Instance.visionApi.TrigComplete()||*/ TaskManager.Default.FSM.MODE == 1)
{
if (TaskManager.Default.FSM.MODE == 1)
{
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
if (ProjectData.Instance.SaveData.processdata.Agingdataforsolder == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforsolder = new SolderDef();
}
ProjectData.Instance.SaveData.processdata.Agingdataforsolder.Z = 25;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.Agingdataforsolder;
ProcessData.SolderList[ID].Add(_pos); //增加到list里
NUM++;
if (NUM < ProjectData.Instance.SaveData.processdata.SolderCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichSolder(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID))
{
float Tx = 0;
float Ty = 0;
float Tr = 0;
float x = 0;
float y = 0;
float cAng = (float)(p.ListPos[num].R * Math.PI / 180);
if (ProjectData.Instance.SaveData.SolderPlatform[ID].UseR) //使用旋转中心
{
x = p.ModelPos.X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
y = p.ModelPos.Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
IOandAxisFun.Transorm(ID, x, y, x + p.ListPos[num].X, y + p.ListPos[num].Y, cAng, out Tx, out Ty);
}
else
{
Tx = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
Ty = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
Tr = 0;
}
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = Tx;
_pos.Pos.Y = Ty;
_pos.Pos.R = Tr;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID)[type].solderdata[num].Clone();
num++;
SolderOrderList.Add(_pos); //增加到list里
}
}
foreach (SolderPosData data in SolderOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //排序
{
ProcessData.SolderList[ID].Add(data); //加到上锡位置
}
NUM++;
if (ProcessData.SolderCTPos[ID].Count() > NUM)
{
LG.ImmediateStepNext(2); //去下一个拍照位置
}
else
{
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断上锡列表里的数据
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无上锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = ProjectData.Instance.SaveData.PolishData[ID];
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: // 有打磨点
if (ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无打磨点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 2: //ZR抬高
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
Axis.PolishR[ID].MC_MoveAbs(0);
Axis.PolishZ[ID].MC_MoveAbs(Para.SafeZ);
LG.ImmediateStepNext(3);
}
break;
case 3: //到打磨点XY
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
PointPolishtimes = 0;
Axis.PolishX[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].Pos.X);
Axis.PolishY[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].Pos.Y);
LG.ImmediateStepNext(4);
}
break;
case 4: //到打磨点RZ
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
Axis.PolishR[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].Pos.R);
Axis.PolishZ[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].polishData.Z + Para.TotalReimburse);
LG.ImmediateStepNext(5);
}
break;
case 5: //判断打磨方式
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
//打磨方式
switch (ProcessData.PolishList[ID][0].polishData.mode)
{
case 0:
LG.ImmediateStepNext(6); //一字前后
break;
case 1:
LG.ImmediateStepNext(7); //一字左右
break;
case 2:
LG.ImmediateStepNext(8); //二字前后
break;
case 3:
LG.ImmediateStepNext(9); //二字左右
break;
}
}
break;
#region 一字前后
case 6:
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(61);
break;
case 61:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(62);
}
break;
case 62:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
#region 一字左右
case 7:
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(71);
break;
case 71:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(72);
}
break;
case 72:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
#region 二字前后
case 8:
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(81);
break;
case 81:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(82);
}
break;
case 82:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(83);
}
break;
case 83:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.PolishInterval);
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(84);
}
break;
case 84:
if (Axis.PolishY[ID].status == 0 && Axis.PolishX[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(85);
}
break;
case 85:
if (Axis.PolishY[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
#region 二字左右
case 9:
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(91);
break;
case 91:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(92);
}
break;
case 92:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(93);
}
break;
case 93:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishY[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.PolishInterval);
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(94);
}
break;
case 94:
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(-2 * ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(95);
}
break;
case 95:
if (Axis.PolishX[ID].status == 0)
{
Axis.PolishX[ID].MC_MoveRel(ProcessData.PolishList[ID][0].polishData.GoBackRange);
LG.ImmediateStepNext(10);
}
break;
#endregion
case 10: //判断打磨次数
PointPolishtimes++;
if (ProcessData.PolishList[ID][0].polishData.GoBackTimes > PointPolishtimes && Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0)
{
LG.ImmediateStepNext(5); //打磨次数未够，再次打磨
}
else
{
PointPolishtimes = 0;
LG.ImmediateStepNext(11); //打磨下一个点
}
Para.SumPolishTimes++; //总的打磨次数用于更换打磨头
PolishTimes++;
if (PolishTimes >= Para.Interval) //达到打磨补偿的次数
{
PolishTimes = 0;
Para.TotalReimburse += Para.Reimburse;
}
break;
case 11: //移打磨列表里第一个点
if (Axis.PolishZ[ID].status == 0)
{
Para.PolishNum++;
Axis.PolishZ[ID].MC_MoveAbs(ProcessData.PolishList[ID][0].polishData.LiftHeight); //抬起到设定高度
ProcessData.PolishList[ID].RemoveAt(0);
LG.ImmediateStepNext(0xef); //打磨结束
}
break;
case 0xef:
if (Axis.PolishZ[ID].status == 0)
{
LG.End();
}
break;
}
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.SolderPlatform[ID];
switch (LG.Step)
{
case 1: //平台到位
stick1SpendTime.Restart();
if (Axis.SolderPlatFormIsHave[ID].value && ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsHave &&
ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsPolished || TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(2);
}
else
{
string mes = ID.ToString() + "平台未有料或未打磨";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(2, FSMStaDef.RUN);
}
break;
case 2: //开始上锡拍照
if (DeviceRsDef.I_CylLocked.value || TaskManager.Default.FSM.MODE == 1)
{
SolderCT.Start();
LG.ImmediateStepNext(3);
}
break;
case 3: //开始上锡
if (SolderCT.GetSta() == 0 && SolderClean.GetSta() == 0)
{
Solder.Start();
LG.ImmediateStepNext(4);
}
break;
case 4: //上锡结束是否清洗
if (Solder.GetSta() == 0 && ProjectData.Instance.SaveData.SolderData[ID].SolderNum % para.PerTimesClean == 0 && ProjectData.Instance.SaveData.processdata.SolderList[ID].Count() > 0)
{
ProjectData.Instance.SaveData.SolderData[ID].SolderNum = 0;
SolderClean.Start();
LG.ImmediateStepNext(3);
para.SolderSum++;
}
else if (Solder.GetSta() == 0 && ProjectData.Instance.SaveData.processdata.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(3);
para.SolderSum++;
}
else if (Solder.GetSta() == 0 && ProjectData.Instance.SaveData.processdata.SolderList[ID].Count() == 0)
{
SolderClean.Start();
LG.ImmediateStepNext(5);
}
break;
case 5: //ZR回到既定高度
if (Axis.SolderZ[ID].status == 0 && Axis.SolderR[ID].status == 0 && SolderClean.GetSta() == 0)
{
Axis.SolderZ[ID].MC_MoveAbs(para.EndPos.Z);
Axis.SolderR[ID].MC_MoveAbs(para.EndPos.R);
LG.ImmediateStepNext(6);
}
break;
case 6: //ZR回到既定高度
if (Axis.SolderZ[ID].status == 0 && Axis.SolderR[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveAbs(para.EndPos.X);
Axis.SolderY[ID].MC_MoveAbs(para.EndPos.Y);
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0)
{
LG.End();
stick1SpendTime.Stop();
para.SolderSpendTime = stick1SpendTime.ElapsedMilliseconds;
ProjectData.Instance.SaveData.processdata.PlatformData[ID * 4 + 1].IsTined = true;
}
break;
}
}
