public override void run(StateEventArgs inputEventArg)
{
lock (runLock)
{
switch (inputEventArg.eventName)
{
case "UnloadPNPPickFinish": //From state PickPart
case "WaitUnloadOutEmpty":
if (!ClassWorkZones.Instance.WorkZone下料传送.IsUnLoadHavePartEmpty)
{
DoneReturn("WaitUnloadOutEmpty");
return;
}
base.run(inputEventArg);
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
ErrorInfoWithPause res = UnloadZone.ActionMove(ClassZone下料机械手.EnumPoint.Place);
if (res != null)
{
ClassErrorHandle.ShowError("下料PNP放料", res);
return;
}
ErrorReturnHandler("", "", ErrorDialogResult.OK);
break;
}
}
}
public override void run(StateEventArgs inputEventArg)
{
lock (runLock)
{
base.run(inputEventArg);
switch (inputEventArg.eventName)
{
case "Start": //From state Idle
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
ErrorInfoWithPause res = UnloadZone.ActionMove(ClassZone下料机械手.EnumPoint.Pick);
if (res != null)
{
ClassErrorHandle.ShowError("下料PNP取料", res);
return;
}
oldres = null;
ErrorReturnHandler("下料PNP取料", "", ErrorDialogResult.Retry);
break;
}
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
ClassBaseWorkZone.HandleVacuumFailCell("下料机械手", ClassWorkZones.Instance.WorkZone下料机械手.UnloadPNPDataStations.ToArray());
ClassWorkZones.Instance.WorkZone下料传送.IsPlacingPart = true;
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
ErrorInfoWithPause res = UnloadZone.ActionUnloadPNPStartPlace(ClassWorkZones.Instance.DoLoadOutPNPPlace, ClassWorkZones.Instance.AfterLoadOutPNPPlace);
if (res != null)
{
ClassErrorHandle.ShowError("下料PNP放料", res);
ClassWorkZones.Instance.WorkZone下料传送.IsPlacingPart = false;
return;
}
ClassWorkZones.Instance.WorkZone下料传送.IsPlacingPart = false;
UnloadZone.AxisUnloadPNPY.MoveTo(ClassZone下料机械手.EnumPoint.Buffer, false);
DoneReturn("UnloadPNPPlaceFinish");
}
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
if (message != "")
{
ClassBaseWorkZone.HandleVacuumFailCell("下料机械手", UnloadZone.UnloadPNPDataStations.ToArray());
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
ClassWorkZones.Instance.WorkZone尺寸测量.CCDMeasDataStations[i].TransferFrom(ClassWorkZones.Instance.WorkZone下料机械手.UnloadPNPDataStations[i]);
}
}
res = UnloadZone.ActionUnloadPNPStartPick(ClassWorkZones.Instance.DoLoadOutPNPPick, ClassWorkZones.Instance.AfterLoadOutPNPPick);
if (res == null)
{
//while (!UnloadZone.AxisUnloadPNPY.MoveTo(ClassZone下料机械手.EnumPoint.Place, false))
//{
// if (UnloadZone.DispMotionError(UnloadZone.AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Place) != null)
// return;
//}
///////同步调用测量工作区域X电机回到GetPart位置
res = ClassWorkZones.Instance.WorkZone尺寸测量.ActionToGetPart(false);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
///////异步调用测量工作区域X电机回到GetPart位置
//ClassWorkZones.Instance.WorkZone尺寸测量.AsyncActionMotorMove(ClassWorkZones.Instance.WorkZone尺寸测量.AxisOutlineMeasX,
// ClassZone尺寸测量.EnumPointX.GetPart);
res = UnloadZone.ActionMove(ClassZone下料机械手.EnumPoint.Place, false);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
#region CCD All finish
if (!ClassCommonSetting.CheckTimeOut(() => { return(ClassWorkZones.Instance.WorkZone尺寸测量.isCCDAllFinish); }))
{
string cell = "";
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
if (!ClassWorkZones.Instance.WorkZone尺寸测量.MeasDone[i])
{
cell += " " + ((EnumCellIndex)i).ToString();
}
}
ClassErrorHandle.ShowError(source, "图像检测数据没有全部返回:" + cell, ErrorLevel.Notice);
}
#endregion CCD All finish
}
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("UnloadPNPPickFinish");
if (_afterMeasCallBack != null)
{
_afterMeasCallBack.BeginInvoke(CallBackAsyncReturn, _afterMeasCallBack);
}
//ClassWorkZones.Instance.WorkZone尺寸测量.AxisOutlineMeasX.WaitStop(ClassErrorHandle.TIMEOUT);
ClassWorkZones.Instance.WorkZone尺寸测量.IsWorkFree = true;
DoneReturn("CCDMotorBackToGetPart");
}
else
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
}
}
