public ErrorInfoWithPause ActionStartUnload(CallBackCommonFunc AfterUnloadOut)
{
ErrorInfoWithPause res = null;
IsWorkFree = false;
AxisUnloadOutConveyor.SetZero();
while (!AxisUnloadOutConveyor.MoveTo(EnumPoint.Step))
//return DispMotionError(AxisUnloadOutConveyor, "向外移料");
{
res = DispMotionError(AxisUnloadOutConveyor, "向外移料");
if (res != null)
{
return(res);
}
}
if (AfterUnloadOut != null)
{
AfterUnloadOut();
}
//if (ThisInport(EnumInportName.UnloadOutUnload).status != (UnloadOutDatas[0] != null))
//{
// ClassErrorInfo.ShowError(this.Name, "下料处电芯有无和数据不相符。", ErrorLevel.Error);
// return "下料处电芯有无和数据不相符。";
//}
//else if (ThisInport(EnumInportName.UnloadOutUnload).status)
// break;
IsWorkFree = true;
return(null);
}
public ClassBaseWorkZone(string ZoneName)
{
Name = ZoneName;
asyncReset = DoReset;
asyncMotorMove = ActionMotorMove;
//GetProdParameter();
CommonFunction.SysPublisher.subscribeMeToSystemEvents(this);
}
public ErrorInfoWithPause ActionLoadPNPStartPlace(CallBackCommonFunc ActionPlace, CallBackCommonFunc AfterActionPlace)
{
ErrorInfoWithPause res;
//Check vacuum
res = CheckVacuumStatus();
if (res != null)
{
return(res);
}
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Place, true, ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean + 1))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Place);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Place);
if (res != null)
{
return(res);
}
}
//Start placing
if (ActionPlace != null)
{
ActionPlace();
}
//PNP Z up
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
//if (!ClassCommonSetting.CheckTimeOut(() => MotorSafetyCheck.GreaterThanPosition(AxisLoadPNPZ, EnumPointZ.Idle, -5)))
// return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
//Close air
AirControl((LoadPNPDataStations[EnumCellIndex.左电芯].CellData != null && LoadPNPDataStations[EnumCellIndex.左电芯].CellData.LoadNG) ? EnumAirControl.Vacuum : EnumAirControl.Close,
(LoadPNPDataStations[EnumCellIndex.中电芯].CellData != null && LoadPNPDataStations[EnumCellIndex.中电芯].CellData.LoadNG) ? EnumAirControl.Vacuum : EnumAirControl.Close,
(LoadPNPDataStations[EnumCellIndex.右电芯].CellData != null && LoadPNPDataStations[EnumCellIndex.右电芯].CellData.LoadNG) ? EnumAirControl.Vacuum : EnumAirControl.Close);
//PNP Y move away
while (!AxisLoadPNPY.MoveTo(EnumPointY.Pick, false))
//return DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
{
res = DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
if (res != null)
{
return(res);
}
}
if (AfterActionPlace != null)
{
AfterActionPlace();
}
return(null);
}
public ErrorInfoWithPause ActionStartLoad(out bool AllPick, CallBackCommonFunc ActionTransLoad, CallBackCommonFunc AfterActionTransLoad)
{
ErrorInfoWithPause res = ActionMove(EnumPointPNPX.Load);
if (res != null)
{
AllPick = false;
return(res);
}
//Cylinder down
while (!PNPCylinder.SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
//res = new ErrorInfoWithPause("传送机械手气缸下移超时错。", ErrorLevel.Error);
res = WaitAlarmPause("传送PNP取料", "传送机械手气缸下移超时错");
if (res != null)
{
AllPick = false;
return(res);
}
}
if (ActionTransLoad != null)
{
ActionTransLoad();
}
//Cylinder up
while (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
//res = new ErrorInfoWithPause("传送机械手气缸上移超时错。", ErrorLevel.Error);
//AllPick = false;
//return res;
res = WaitAlarmPause("传送PNP取料", "传送机械手气缸上移超时错");
if (res != null)
{
AllPick = false;
return(res);
}
}
if (AfterActionTransLoad != null)
{
AfterActionTransLoad();
}
//Check vacuum
string vac = CheckVacuumStatus();
AllPick = vac.Trim() == "";
if (!AllPick)
{
return(new ErrorInfoWithPause(vac.Trim(), ErrorLevel.Alarm, true));
}
return(null);
}
public static void CallBackCommonAsyncReturn(IAsyncResult result, string Handle)
{
CallBackCommonFunc handler = (CallBackCommonFunc)result.AsyncState;
try
{
handler.EndInvoke(result);
result.AsyncWaitHandle.Close();
}
catch (Exception e)
{
ClassCommonSetting.ThrowException(handler, Handle, e);
}
}
public ErrorInfoWithPause ActionStartShift(CallBackCommonFunc AfterUnloadOutShift)
{
ErrorInfoWithPause res = null;
AxisUnloadOutConveyor.SetZero();
while (!AxisUnloadOutConveyor.MoveTo(EnumPoint.Shift))
//return DispMotionError(AxisUnloadOutConveyor, "移到NG取料位");
{
res = DispMotionError(AxisUnloadOutConveyor, "移到NG取料位");
if (res != null)
{
return(res);
}
}
if (AfterUnloadOutShift != null)
{
AfterUnloadOutShift();
}
CheckNGSensor();
return(null);
}
public ErrorInfoWithPause ActionUnloadPNPStartPlace(CallBackCommonFunc ActionLoadOutPlace, CallBackCommonFunc AfterActionLoadOutPlace)
{
ErrorInfoWithPause res;
//Check vacuum
res = CheckVacuumStatus();
if (res != null)
{
return(res);
}
//Cylinder down
while (!PNPCylinder.SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("下料PNP气缸下移错误。", ErrorLevel.Error);
{
res = WaitAlarmPause("下料PNP放料", "下料PNP气缸下移错误");
if (res != null)
{
return(res);
}
}
if (ActionLoadOutPlace != null)
{
ActionLoadOutPlace();
}
//Cylinder up
while (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("下料PNP气缸上移错误。", ErrorLevel.Error);
{
res = WaitAlarmPause("下料PNP放料", "下料PNP气缸上移错误");
if (res != null)
{
return(res);
}
}
if (AfterActionLoadOutPlace != null)
{
AfterActionLoadOutPlace();
}
return(null);
}
public ErrorInfoWithPause ActionLoadPNPStartPick(CallBackCommonFunc ActionPick, CallBackCommonFunc AfterActionPick)
{
ErrorInfoWithPause res = null;
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Pick, true, ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean - 1))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Pick);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Pick);
if (res != null)
{
return(res);
}
}
//Start picking
if (ActionPick != null)
{
ActionPick();
}
//PNP Z up
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
//TimeClass.Delay(500);
if (AfterActionPick != null)
{
AfterActionPick();
}
//Check vacuum
res = CheckVacuumStatus();
return(res);
}
public ErrorInfoWithPause ActionUnloadPNPStartPick(CallBackCommonFunc ActionLoadOutPick, CallBackCommonFunc AfterActionLoadOutPick)
{
ErrorInfoWithPause res;
//Cylinder down
while (!PNPCylinder.SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("下料PNP气缸下移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("下料PNP取料", "下料PNP气缸下移超时错");
if (res != null)
{
return(res);
}
}
//Start picking
if (ActionLoadOutPick != null)
{
ActionLoadOutPick();
}
//Cylinder up
while (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("下料PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("下料PNP取料", "下料PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
if (AfterActionLoadOutPick != null)
{
AfterActionLoadOutPick();
}
//Check vacuum
ErrorInfoWithPause temp = CheckVacuumStatus();
return(temp);
}
public ErrorInfoWithPause ActionSortPNPStartPick(CallBackCommonFunc ActionSortPNPPick, CallBackCommonFunc AfterActionSortPNPPick)
{
ErrorInfoWithPause res = null;
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Pick, true, ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean - 1))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Pick);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Pick);
if (res != null)
{
return(res);
}
}
//Start picking
if (ActionSortPNPPick != null)
{
ActionSortPNPPick();
}
//PNP Z up
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Up)) //return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
if (res != null)
{
return(res);
}
}
if (AfterActionSortPNPPick != null)
{
AfterActionSortPNPPick();
}
//Check vacuum
System.Threading.Thread.Sleep(100);
res = CheckVacuumStatus();
return(res);
}
public ErrorInfoWithPause ActionSortPNPStartPlaceNG(CallBackCommonFunc AfterActionSortPNPPlaceNG)
{
ErrorInfoWithPause res = null;
//Check vacuum
res = CheckVacuumStatus();
if (res != null)
{
return(res);
}
bool NeedCylinderDown;
//res = UpdateRow();
//if (res != null) return res;
if (ClassWorkFlow.Instance.UnloadMode != EnumUnloadMode.全NG)
{
for (int i = 0; i < CELLCOUNT; i++)
{
if (CheckCellIsNG(SortNGDataStations[i].CellData))
{
if (IsUseBackNGBox)
{
if (SortNGDataStations[i].CellData.ThicknessNG)
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox1;
}
else
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox2;
}
}
else
{
if (SortNGDataStations[i].CellData.ThicknessNG)
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox3;
}
else
{
CurrentNGBoxRow = (int)EnumPointPNPY.NGBox4;
}
}
NGBoxCellCount[CurrentNGBoxRow, i]++;
string NGData = SortNGDataStations[i].CellData.NGDataInfoString;
if (NGData != "")
{
NGBoxDataInfoString[CurrentNGBoxRow, i] += NGData + Environment.NewLine;
}
NeedCylinderDown = CheckIfNeedCylinder(NGBoxCellCount[CurrentNGBoxRow, i]);
//PNP Y move away
res = ActionMove((EnumPointPNPY)CurrentNGBoxRow);
if (res != null)
{
return(res);
}
if (NeedCylinderDown)
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, 1 + NGBoxCellCount[CurrentNGBoxRow, i] * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
//Cylinder down
while (!PNPCylinder[i].SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸下移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸下移超时错");
if (res != null)
{
return(res);
}
}
}
else
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, -100 + 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
}
//Open blow
AirControl((EnumCellIndex)i, EnumAirControl.Blow);
//AirControl((EnumCellIndex)i, EnumAirControl.Close);
//Delay
TimeClass.Delay(400);
//Cylinder up
while (!PNPCylinder[i].SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
//Close blow
AirControl((EnumCellIndex)i, EnumAirControl.Close);
}
}
}
else
{
for (int i = 0; i < CELLCOUNT; i++)
{
if (CheckCellIsNG(SortNGDataStations[i].CellData))
{
NGBoxCellCount[CurrentNGBoxRow, i]++;
}
}
NeedCylinderDown = CheckIfNeedCylinder(GetMaxCount());
//PNP Y move away
res = ActionMove((EnumPointPNPY)CurrentNGBoxRow);
if (res != null)
{
return(res);
}
if (NeedCylinderDown)
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
//Cylinder down
PNPCylinder[0].SetCylinderState(CYLIND_DOWN, 0, false);
PNPCylinder[1].SetCylinderState(CYLIND_DOWN, 0, false);
PNPCylinder[2].SetCylinderState(CYLIND_DOWN, 0, false);
while (!PNPCylinder[0].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT) || !PNPCylinder[1].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT) || !PNPCylinder[2].WaitCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸下移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸下移超时错");
if (res != null)
{
return(res);
}
}
}
else
{
//PNP Z down
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Place, true, -100 + 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Place);
if (res != null)
{
return(res);
}
}
}
//Open blow
AirControl(EnumAirControl.Blow, EnumAirControl.Blow, EnumAirControl.Blow);
//AirControl(EnumAirControl.Close, EnumAirControl.Close, EnumAirControl.Close);
//Delay
TimeClass.Delay(400);
//Cylinder up
PNPCylinder[0].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[1].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[2].SetCylinderState(CYLIND_UP, 0, false);
while (!PNPCylinder[0].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT) || !PNPCylinder[1].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT) || !PNPCylinder[2].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("NG挑选PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("NG挑选PNP放料", "NG挑选PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
//Close blow
AirControl(EnumAirControl.Close, EnumAirControl.Close, EnumAirControl.Close);
}
//PNP Z up
while (!AxisSortingPNPZ.MoveTo(EnumPointPNPZ.Up)) //return DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
{
res = DispMotionError(AxisSortingPNPZ, EnumPointPNPZ.Up);
if (res != null)
{
return(res);
}
}
DoUpdateNGBox();
//PNP Y move away
while (!AxisSortingPNPY.MoveTo(EnumPointPNPY.Pick)) //return DispMotionError(AxisSortingPNPY, EnumPointPNPY.Pick);
{
res = DispMotionError(AxisSortingPNPY, EnumPointPNPZ.Pick);
if (res != null)
{
return(res);
}
}
if (AfterActionSortPNPPlaceNG != null)
{
AfterActionSortPNPPlaceNG();
}
NGBoxFullErrorHandler(this.Name, "", ErrorDialogResult.OK);
return(null);
}
public ErrorInfoWithPause ActionLoadPNPStartPlaceNG(CallBackCommonFunc AfterActionPlaceNG)
{
ErrorInfoWithPause res;
bool NeedCylinderDown;
for (int i = 0; i < CELLCOUNT; i++)
{
if (LoadPNPDataStations[i].CellData != null && LoadPNPDataStations[i].CellData.LoadNG)
{
NGBoxCellCount[i]++;
NeedCylinderDown = CheckIfNeedCylinder(NGBoxCellCount[i]);
if (NeedCylinderDown)
{
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.PlaceNG, true, 1 + NGBoxCellCount[i] * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
if (res != null)
{
return(res);
}
}
//Cylinder down
if (!PNPCylinder[i].SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
return(new ErrorInfoWithPause("上料PNP气缸下移超时错。", ErrorLevel.Error));
}
}
else
{
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.PlaceNG, true, -100 + 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
if (res != null)
{
return(res);
}
}
}
//Open blow
AirControl((EnumCellIndex)i, EnumAirControl.Blow);
//Delay
System.Threading.Thread.Sleep(ClassCommonSetting.SysParam.VacuumDelayTime);
//Cylinder up
while (!PNPCylinder[i].SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("上料PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("上料PNP放NG料", "上料PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
//Close blow
AirControl((EnumCellIndex)i, EnumAirControl.Close);
}
}
//PNP Z up
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
DoUpdateNGBox();
NGBoxFullErrorHandler("NGBox", "", ErrorDialogResult.OK);
//PNP Y move away
while (!AxisLoadPNPY.MoveTo(EnumPointY.Pick))
//return DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
{
res = DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
if (res != null)
{
return(res);
}
}
if (AfterActionPlaceNG != null)
{
AfterActionPlaceNG();
}
return(null);
}
/// <summary>
/// 开始传送准备。
/// 开始的条件是SMEMA的ready信号为true，并且InPos传感器没有检测到物料。
/// 传送带运行，
/// SMEMA avaliable为false。
/// </summary>
/// <returns>返回执行结果。成功返回空字符。</returns>
public ErrorInfoWithPause ActionStartLoad(CallBackCommonFunc AfterActionLoadNew)
{
ErrorInfoWithPause res = null;
string barcodeReadRes;
////Go back to align the new cell.
AxisLoadInConveyor.SetZero();
bool havenewpart = ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑;// && ThisInport(EnumInportName.LoadInConvLoad).status;
double offsetTemp = 0;
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.自动)
{
offsetTemp = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellWidth.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellWidth.Mean;
offsetTemp /= 2;
offsetTemp += ThisAxis(EnumAxisName.LoadInConveyor).PointList[EnumPointConveyor.BackDistance].Position;
while (!ThisAxis(EnumAxisName.LoadInConveyor).MoveTo(offsetTemp))
//return DispMotionError(AxisLoadInConveyor, "回移");
{
res = DispMotionError(AxisLoadInConveyor, "回移");
if (res != null)
{
return(res);
}
}
}
if ((havenewpart || ClassWorkFlow.Instance.WorkMode == EnumWorkMode.空跑) && ClassWorkFlow.Instance.FeedNewPart)
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = ClassDataInfo.NewCellData(++ClassWorkFlow.Instance.GetCell);
}
else
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = null;
}
//Go to next pitch position and start scan barcode
AxisLoadInConveyor.SetZero();
while (!AxisLoadInConveyor.MoveTo(EnumPointConveyor.CellPitch, true, -offsetTemp))
//return DispMotionError(AxisLoadInConveyor, "进料移动");
{
res = DispMotionError(AxisLoadInConveyor, "进料移动");
if (res != null)
{
return(res);
}
}
////If PNP can pick
//if (ThisInport(EnumInportName.LoadInConvInPos).status)
//{
// NotifyDoneEvent(EnumEventName.NewCellLoad);
//}
if (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null)
{
havenewpart &= BarcodeEnabled;
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.自动)
{
barcodeReadRes = StartBarcodeScan(havenewpart);
}
else
{
do
{
barcodeReadRes = StartBarcodeScan(havenewpart);
if (barcodeReadRes != "")
{
BaseForm.DoInvokeRequired(MainForm.instance,
() =>
{
while (MessageBox.Show(MainForm.instance, $"条码枪扫码出错: {barcodeReadRes}。{Environment.NewLine}请检查电芯位置是否正确或者是否有电芯。{Environment.NewLine}" +
"点“重试”重新扫条码。如果无电芯或需要移除电芯，则点“取消”放弃扫码。",
"条码枪扫码", MessageBoxButtons.RetryCancel, MessageBoxIcon.Information) == DialogResult.Cancel)
{
if (MessageBox.Show(MainForm.instance, "确定要取消并移除电芯？", "取消电芯", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = null;
break;
}
}
});
}
} while (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null && barcodeReadRes != "");
}
if (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null)
{
ClassCommonSetting.ProgramLog(LogFile.Level.Notice, this.Name, "加载新物料，索引号" + ClassWorkFlow.Instance.GetCell.ToString() + " NG结果为" + (LoadInDataStations[LoadInDataStations.Length - 1].CellData.LoadNG ? "NG" : "OK"));
}
}
if (AfterActionLoadNew != null)
{
AfterActionLoadNew();
}
return(null);
}
