protected override void Reset(ClassErrorHandle err)
{
AxisTopAlignBottom.ServoOn = true;
AxisTopAlignSide.ServoOn = true;
AxisTopAlignTop.ServoOn = true;
AxisTopAlignXSide.ServoOn = true;
AxisTopAlignZClamp.ServoOn = true;
Cylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
Cylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
Cylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!Cylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("左气缸无法上移");
}
if (!Cylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("中气缸无法上移");
}
if (!Cylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("右气缸无法上移");
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignZClamp.Home());
}
if (err.NoError)
{
AxisTopAlignTop.HomeFinish = true;
AxisTopAlignTop.MoveTo(-10000);
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignTop.Home());
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignXSide.Home(EnumPointX.Idle.ToString()));
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignBottom.Home());
}
if (err.NoError)
{
err.CollectErrInfo(AxisTopAlignSide.Home());
}
for (int i = 0; i < CELLCOUNT; i++)
{
TopAlignDataStations[i].CellData = null;
}
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName));
AxisTopAlignBottom = ThisAxis(EnumAxisName.TopAlignBottom); AxisTopAlignBottom.AddPoints(typeof(EnumPointAlign));
AxisTopAlignSide = ThisAxis(EnumAxisName.TopAlignSide); AxisTopAlignSide.AddPoints(typeof(EnumPointAlign));
AxisTopAlignTop = ThisAxis(EnumAxisName.TopAlignTop); AxisTopAlignTop.AddPoints(typeof(EnumPointAlign));
AxisTopAlignXSide = ThisAxis(EnumAxisName.TopAlignXSide); AxisTopAlignXSide.AddPoints(typeof(EnumPointX));
AxisTopAlignZClamp = ThisAxis(EnumAxisName.TopAlignZClamp); AxisTopAlignZClamp.AddPoints(typeof(EnumPointAlign));
Cylinder.Add(EnumCellIndex.左电芯, new CylinderControl(/*"左电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.TopAlignCyLeftDown),
ThisOutport(EnumOutportName.TopAlignCyLeftUp),
ThisInport(EnumInportName.TopAlignCyLeftDown),
ThisInport(EnumInportName.TopAlignCyLeftUp)));
Cylinder.Add(EnumCellIndex.中电芯, new CylinderControl(/*"中电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.TopAlignCyMidDown),
ThisOutport(EnumOutportName.TopAlignCyMidUp),
ThisInport(EnumInportName.TopAlignCyMidDown),
ThisInport(EnumInportName.TopAlignCyMidUp)));
Cylinder.Add(EnumCellIndex.右电芯, new CylinderControl(/*"右电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.TopAlignCyRightDown),
ThisOutport(EnumOutportName.TopAlignCyRightUp),
ThisInport(EnumInportName.TopAlignCyRightDown),
ThisInport(EnumInportName.TopAlignCyRightUp)));
TopAlignCellVacuums[EnumCellIndex.左电芯].Port = ThisOutport(EnumOutportName.TopAlignVacLeft);
TopAlignCellVacuums[EnumCellIndex.中电芯].Port = ThisOutport(EnumOutportName.TopAlignVacMid);
TopAlignCellVacuums[EnumCellIndex.右电芯].Port = ThisOutport(EnumOutportName.TopAlignVacRight);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.TopAlignVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.TopAlignVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.TopAlignVacSensRight);
CellBlow.Port = ThisOutport(EnumOutportName.TopAlignBlow);
ZoneSettingPanel = new SettingPanelZone顶封边定位();
ZoneManualPanel = new ManualPanelZone顶封边定位();
AxisTopAlignXSide.HomeLimitReturnDis = 10;
}
public ErrorInfoWithPause ActionRelease()
{
ErrorInfoWithPause res = null;
//Z松开
ThisOutport(EnumOutportName.TopAlignSoftCyLeft).SetOutput(false);
ThisOutport(EnumOutportName.TopAlignSoftCyMid).SetOutput(false);
ThisOutport(EnumOutportName.TopAlignSoftCyRight).SetOutput(false);
while (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//顶部松开
while (!AxisTopAlignTop.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignTop, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignTop, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//底部松开
while (!AxisTopAlignBottom.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignBottom, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignBottom, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//侧松开
while (!AxisTopAlignSide.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignSide, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignSide, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
TimeClass time = new TimeClass();
time.StartAlarmClock(ClassErrorHandle.TIMEOUT);
while (!ThisInport(EnumInportName.TopAlignSoftCySensLeft).status ||
!ThisInport(EnumInportName.TopAlignSoftCySensMid).status ||
!ThisInport(EnumInportName.TopAlignSoftCySensRight).status)
{
System.Threading.Thread.Sleep(1);
if (time.TimeOut)
//return new ErrorInfoWithPause("柔性气缸不动作。", ErrorLevel.Error);
{
res = WaitAlarmPause("顶封边定位", "柔性气缸不动作");
if (res != null)
{
return(res);
}
time.StartAlarmClock(ClassErrorHandle.TIMEOUT);
}
}
time.StopAlarmClock();
//X走位
AxisTopAlignZClamp.WaitStop(ClassErrorHandle.TIMEOUT);
while (!AxisTopAlignXSide.MoveTo(EnumPointX.Idle, false, offset[0]))
//return DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
{
res = DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
if (res != null)
{
return(res);
}
}
//AxisTopAlignTop.WaitStop(ClassErrorInfo.TIMEOUT);
//AxisTopAlignBottom.WaitStop(ClassErrorInfo.TIMEOUT);
//AxisTopAlignSide.WaitStop(ClassErrorInfo.TIMEOUT);
for (int i = 0; i < CELLCOUNT; i++)
{
TopAlignCellVacuums[i].SetOutPortStatus(false);
}
return(null);
}
public ErrorInfoWithPause ActionAlign()
{
ErrorInfoWithPause res = null;
ThisOutport(EnumOutportName.TopAlignSoftCyLeft).SetOutput(true);
ThisOutport(EnumOutportName.TopAlignSoftCyMid).SetOutput(true);
ThisOutport(EnumOutportName.TopAlignSoftCyRight).SetOutput(true);
//侧定位
double offsetTemp = 0;
double mainlenprod, mainlencali;
offsetTemp = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellWidth.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellWidth.Mean;
offsetTemp /= 2;
while (!AxisTopAlignSide.MoveTo(EnumPointAlign.Clamp, false, -offsetTemp))
//return DispMotionError(AxisTopAlignSide, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignSide, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
//底部定位
mainlenprod = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellLength.Mean - ClassCommonSetting.SysParam.CurrentProductParam.TopSealHeight;
mainlencali = ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellLength.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].TopSealHeight;
offsetTemp = -1 * (mainlenprod - mainlencali);
while (!AxisTopAlignBottom.MoveTo(EnumPointAlign.Clamp, false, offsetTemp))
//return DispMotionError(AxisTopAlignBottom, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignBottom, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
//Z松开
while (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Release, false))
//return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
//顶部定位
if (!(ClassWorkFlow.Instance.IsGRR || ClassCommonSetting.SysParam.CurrentProductParam.ClampDisable))
{
while (!AxisTopAlignTop.MoveTo(EnumPointAlign.Clamp))
//return DispMotionError(AxisTopAlignTop, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignTop, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
}
//X走位
while (!AxisTopAlignXSide.MoveTo(EnumPointX.Idle, true, offset[0]))
//return DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
{
res = DispMotionError(AxisTopAlignXSide, EnumPointX.Idle);
if (res != null)
{
return(res);
}
}
//double zoffset = 0;
//if (ClassCommonSetting.SysParam.CurrentProductParam.BackSideUp)
// zoffset = ClassCommonSetting.SysParam.CurrentProductParam.TopHeight;
//if (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Clamp, true, zoffset - 1))
// return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Clamp);
AxisTopAlignBottom.WaitStop(ClassErrorHandle.TIMEOUT);
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
for (int i = 0; i < CELLCOUNT; i++)
{
if (TopAlignDataStations[i].CellData != null)
{
TopAlignCellVacuums[i].SetOutPortStatus(true);
}
}
}
//Check vacuum
//ErrorInfoWithPause temp;
//temp = CheckVacuumStatus();
//if (temp != null) return temp;
return(null);
}
public ErrorInfoWithPause ActionStartClamp()
{
if (ClassWorkFlow.Instance.IsGRR || ClassCommonSetting.SysParam.CurrentProductParam.ClampDisable)
{
return(null);
}
string err = "";
ErrorInfoWithPause res = null;
//Z松开
//if (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Release))
// return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
for (int i = 0; i < offset.Length; i++)
{
//X走位
while (!AxisTopAlignXSide.MoveTo(EnumPointX.Idle, true, offset[i]))
//return DispMotionError(AxisTopAlignXSide, "移到第" + (i + 1).ToString() + "次夹紧位置");
{
res = DispMotionError(AxisTopAlignXSide, "移到第" + (i + 1).ToString() + "次夹紧位置");
if (res != null)
{
return(res);
}
}
//Z夹紧
double zoffset = 0;
if (ClassCommonSetting.SysParam.CurrentProductParam.BackSideUp)
{
zoffset = ClassCommonSetting.SysParam.CurrentProductParam.TopHeight;
}
while (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Clamp, true, zoffset))
//return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Clamp);
{
res = DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Clamp);
if (res != null)
{
return(res);
}
}
//气缸下
while (true)
{
err = "";
for (int k = 0; k < CELLCOUNT; k++)
{
if (TopAlignDataStations[k].CellData != null)
{
Cylinder[k].SetCylinderState(CYLIND_DOWN, 0, false);
}
}
if (TopAlignDataStations[EnumCellIndex.左电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
err += " 左气缸";
}
}
if (TopAlignDataStations[EnumCellIndex.中电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
err += " 中气缸";
}
}
if (TopAlignDataStations[EnumCellIndex.右电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
err += " 右气缸";
}
}
if (err != "") //return new ErrorInfoWithPause("顶封位气缸下移错误:" + err, ErrorLevel.Error);
{
res = WaitAlarmPause("顶封边定位", "顶封位气缸下移超时错: " + err);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
//TimeClass.Delay(100);
//气缸上
while (true)
{
err = "";
for (int k = 0; k < CELLCOUNT; k++)
{
if (TopAlignDataStations[k].CellData != null)
{
Cylinder[k].SetCylinderState(CYLIND_UP, 0, false);
}
}
System.Threading.Thread.Sleep(100);
while (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Clamp, true, zoffset - 1))
//return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
{
res = DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
if (res != null)
{
return(res);
}
}
if (TopAlignDataStations[EnumCellIndex.左电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 左气缸";
}
}
if (TopAlignDataStations[EnumCellIndex.中电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 中气缸";
}
}
if (TopAlignDataStations[EnumCellIndex.右电芯].CellData != null)
{
if (!Cylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err += " 右气缸";
}
}
if (err != "") //return new ErrorInfoWithPause("顶封位气缸上移错误:" + err, ErrorLevel.Error);
{
res = WaitAlarmPause("顶封边定位", "顶封位气缸上移超时错: " + err);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
//Z松开
}
//Z松开
ThisOutport(EnumOutportName.TopAlignSoftCyLeft).SetOutput(false);
ThisOutport(EnumOutportName.TopAlignSoftCyMid).SetOutput(false);
ThisOutport(EnumOutportName.TopAlignSoftCyRight).SetOutput(false);
//if (!AxisTopAlignZClamp.MoveTo(EnumPointAlign.Release, false)) return DispMotionError(AxisTopAlignZClamp, EnumPointAlign.Release);
return(null);
}
