/// <summary>
/// 运行部件驱动线程。
/// </summary>
/// <param name="runningMode">运行模式。</param>
public virtual void Run(RunningModes runningMode)
{
StopEvent.Reset();
if (_cancelTokenSource == null)
{
_cancelTokenSource = new CancellationTokenSource();
Task.Factory.StartNew(() =>
{
try
{
Running(runningMode);
LogHelper.Debug($"{Name}部件启动。");
}
catch (OperationCanceledException)
{
//ignorl
}
catch (Exception ex)
{
LogHelper.Debug("设备驱动程序异常", ex);
}
}, TaskCreationOptions.AttachedToParent | TaskCreationOptions.LongRunning)
.ContinueWith(task => Clean());
}
}
/// <summary>
/// Called when sensor ids and definitions are received - when both are received updates the
/// server data and if server is starting, sends and invitation and begins taking readings
/// </summary>
private void UpdateSensorTypes()
{
if (sensorIDsUpdated && sensorRangesUpdated)
{
log.Append("UpdateSensorTypes", "Updating sensor defintions");
lock (CurrentServerData.sensors)
{
CurrentServerData.sensors.Clear();
for (int i = 0; i < 4; i++)
{
SensorDefinition sensor = DatabaseHelper.GetSensorData(CurrentSensors[i], sensorsDatabase);
log.Append("Sensor connected: " + sensor.Description);
CurrentServerData.sensors.Add(sensor);
}
}
//this.Invoke(sensorsUpdate);
sensorIDsUpdated = false;
sensorRangesUpdated = false;
if (runningMode == RunningModes.Starting)
{
runningMode = RunningModes.Started;
StartTakingReadings();
}
}
}
/// <summary>
/// 运行部件驱动线程。
/// </summary>
/// <param name="runningMode">运行模式。</param>
public virtual void Run(RunningModes runningMode)
{
StopEvent.Reset();
if (_cancelTokenSource == null)
{
_cancelTokenSource = new CancellationTokenSource();
Task.Factory.StartNew(() =>
{
try
{
Running(runningMode);
log.Debug($"{Name}部件启动。");
}
catch (OperationCanceledException ex2)
{
MessageBox.Show("yichang" + ex2.ToString());
//ignorl
}
catch (Exception ex)
{
log.Fatal("设备驱动程序异常", ex);
MessageBox.Show("yichang" + ex.ToString());
}
}, TaskCreationOptions.AttachedToParent | TaskCreationOptions.LongRunning)
.ContinueWith(task => Clean());
}
}
private void Start()
{
runningMode = RunningModes.Starting;
connectLogbook();
Thread.Sleep(200);
logbook_identifySensors();
StartServer();
}
/// <summary>
/// Terminate the varous components of the application
/// </summary>
private void ShutdownSensorServer()
{
log.Append("ShutdownSensorServer", "Shutting down server");
runningMode = RunningModes.Stopped;
StopTakingReadings();
StopWorkings();
if (logbook != null)
{
logbook.Deactivate();
}
//log.LogMessage -= displayLogHandler;
}
/// <summary> /// 驱动部件运行。 /// </summary> /// <param name="runningMode">运行模式。</param> public abstract void Running(RunningModes runningMode);
public override void Running(RunningModes runningMode)
{
while (true)
{
Thread.Sleep(10);
#region 自动流程
if (stationOperate.Running)
{
switch (stationOperate.step)
{
case 0: //判断mes选择
switch (ProductConfig.Instance.switchCom)
{
case SwitchCom.None:
stationOperate.step = 10;
break;
case SwitchCom.MES:
stationOperate.step = 10;
break;
case SwitchCom.Interlocking:
stationOperate.step = 10;
break;
}
break;
case 10: //请扫描产品SN
using (FormProductCode frm = new FormProductCode("请扫描产品SN!"))
{
Global.ProductSn = frm.ProductSn;
stationOperate.step = 20;
}
break;
case 20: //确认扫描SN
if (!string.IsNullOrEmpty(Global.ProductSn))
{
switch (ProductConfig.Instance.switchCom)
{
case SwitchCom.None:
stationOperate.step = 30;
break;
case SwitchCom.MES:
//if (InterlockingClass.MES_MoveIn_64(Global.ProductSn, mLocking.mes) == 0)
//{
// stationOperate.step = 30;
//}
//else
//{
// m_Alarm = Station1Alarm.互锁失败;
// stationOperate.step = 10;
//}
break;
case SwitchCom.Interlocking:
//if (InterlockingClass.SV_Interlocking(Global.ProductSn, mLocking.mes) == 0)
//{
// stationOperate.step = 30;
//}
//else
//{
// m_Alarm = Station1Alarm.互锁失败;
// stationOperate.step = 10;
//}
break;
}
}
else
{
stationOperate.step = 10;
}
break;
case 30: //按钮启动
watchRun.Restart();
stationOperate.step = 40;
break;
case 40: //产品是否放好 是否在待料位置
stationOperate.step = 50;
break;
case 50: //产品定位
stationOperate.step = 60;
break;
case 60: //定位OK，判断左边开始还是右边开始（右边开始）
if (IoPoints.S1.Value)
{
stationOperate.step = 70;
}
break;
case 500: //相机到对应拍照位置，气缸到对应位置
break;
case 510: //相机到位，气缸到位，切换完成
break;
case 70: //Y轴到取料位置
stationOperate.step = 80;
break;
case 80: //Y轴到位Z轴上升到拍照位置
stationOperate.step = 90;
break;
case 90: //Z轴到位，位置切换完成，拍照
stationOperate.step = 100;
break;
case 100: //拍照完成结果计算
stationOperate.step = 110;
break;
case 110: //负压开启，机械手取屏，Z轴下降
stationOperate.step = 120;
break;
case 120: //机械手取屏完成,机械手到拍屏位置
stationOperate.step = 130;
break;
case 130: //机械手到位拍照
stationOperate.step = 140;
break;
case 140: //拍照后数据处理
stationOperate.step = 150;
break;
case 150: //机械手补正（XYR）
stationOperate.step = 160;
break;
case 160: //补正后拍照
stationOperate.step = 170;
break;
case 170: //拍照后数据处理
stationOperate.step = 180;
break;
case 180: //数据OK，Z轴上升到贴合位置
stationOperate.step = 190;
break;
case 190: //Z轴完成,
stationOperate.step = 200;
break;
case 200: //贴合延时,
stationOperate.step = 210;
break;
case 210: //Z轴下降到出料位置，机械手到安全高度
stationOperate.step = 220;
break;
case 220: //机械手到位，机械手退回安全位置
stationOperate.step = 230;
break;
case 230: //Z轴到位，机械手到待机位置
stationOperate.step = 240;
break;
case 240: //机械手到位，判断是否右边贴合
stationOperate.step = 60; //换另一边
stationOperate.step = 250; //贴合完成
break;
case 250: //Y轴到待料位置，切换到右边，生成报告
switch (ProductConfig.Instance.switchCom)
{
case SwitchCom.None:
stationOperate.step = 270;
break;
case SwitchCom.MES:
//InterlockingClass.MES_MoveStd_64(Global.ProductSn, "Passed", mLocking.mes);
stationOperate.step = 260;
break;
case SwitchCom.Interlocking:
stationOperate.step = 260;
break;
}
break;
case 260: //生成报告
if (mLocking.Test_WriteMesTxtAndCsvFile())
{
stationOperate.step = 270;
}
else
{
m_Alarm = Station1Alarm.报告生成失败;
//stationOperate.step = 270;
}
break;
case 270: //Y轴到位，切换完成
watchRun.Stop();
stationOperate.step = 280;
break;
case 280: //判断产品是否取走
stationOperate.step = 290;
break;
default:
stationOperate.RunningSign = false;
stationOperate.step = 0;
break;
}
Global.Beattime = watchRun.ElapsedMilliseconds * 1.0 / 1000;
}
#endregion
#region 初始化流程
if (stationInitialize.Running)
{
if (watchinit.ElapsedTicks > 10000)
{
m_Alarm = Station1Alarm.初始化故障;
}
switch (stationInitialize.Flow)
{
case 0:
watchinit.Restart();
stationInitialize.InitializeDone = false;
stationOperate.RunningSign = false;
stationOperate.step = 0;
stationInitialize.Flow = 10;
break;
case 10:
ZaxisServo.BackHome();
YaxisServo.BackHome();
stationInitialize.Flow = 20;
break;
case 20:
if (ZaxisServo.CheckHomeDone(500) == 0 && YaxisServo.CheckHomeDone(500) == 0)
{
stationInitialize.Flow = 30;
}
break;
case 30: //判断机器人是否安全
if (YAMAHA.CurrentPosR <= 50 && YAMAHA.CurrentPosZ <= 10)
{
stationInitialize.Flow = 70; //机器人安全
}
else
{
stationInitialize.Flow = 40; //机器人不安全
}
break;
case 40: //判断机器人是否安全
break;
case 70: //相机轴回原点
LFXaxisServo.BackHome();
LFYaxisServo.BackHome();
XaxisServo.BackHome();
RYaxisServo.BackHome();
LRYaxisServo.BackHome();
LRXaxisServo.BackHome();
stationInitialize.Flow = 80;
break;
case 80:
if (LFXaxisServo.CheckHomeDone(500) == 0 && LFYaxisServo.CheckHomeDone(500) == 0 &&
LRXaxisServo.CheckHomeDone(500) == 0 && LRYaxisServo.CheckHomeDone(500) == 0 &&
XaxisServo.CheckHomeDone(500) == 0 && RYaxisServo.CheckHomeDone(500) == 0)
{
stationInitialize.Flow = 90;
}
break;
case 90:
stationInitialize.InitializeDone = true;
break;
default:
break;
}
}
#endregion
//故障清除
if (AlarmReset.AlarmReset)
{
m_Alarm = Station1Alarm.无消息;
}
}
}
public override void Running(RunningModes runningMode)
{
var step = 0;
var ScrewIsDone = 0;
var CannotTorIn = false;
var GetScrewPos = new Point3D <int>();
var ScrewHolePos = new Point3D <int>();
var ZaxisScrewpos = 0;
var watchCameratimeout = new Stopwatch();
//var watchScrewtimeout = new Stopwatch();
var tempPut1 = false;
var tempPut2 = false;
var GetScrew1 = false;
var GetScrew2 = false;
var pressPulse = false;
var startForbid = false;
var _watch = new Stopwatch();
_watch.Start();
PlateformAlarm alarm = 0;
while (true)
{
Thread.Sleep(10);
InhaleCylinder.Condition.External = externalSign;
#region 判断后端设备交互信号
if (tempPut1 && !GetScrew2)
{
tempPut1 = false;
GetScrew1 = true;
}
if (tempPut2 && !GetScrew1)
{
tempPut2 = false;
GetScrew2 = true;
}
if (!IoPoints.TDI7.Value && !Global.GetScrew1SignSheild)
{
tempPut1 = false;
}
if (!IoPoints.TDI8.Value && !Global.GetScrew2SignSheild)
{
tempPut2 = false;
}
if ((IoPoints.TDI7.Value || Global.GetScrew1SignSheild) && !GetScrew1 && !GetScrew2)
{
tempPut1 = true;
}
if ((IoPoints.TDI8.Value || Global.GetScrew2SignSheild) && !GetScrew1 && !GetScrew2)
{
tempPut2 = true;
}
#endregion
#region 自动流程
if (stationOperate.Running)
{
switch (step)
{
case 0:
Marking.CoderResult.SN = "";
Marking.CoderResult.Result = "";
step = 10;
Marking.watchCT.Restart();
break;
case 10: //触发读码器读码
ReadCodePort.Trigger(new TriggerArgs()
{
tryTimes = 1
});
step = 20;
break;
case 20: //判断读码器是否读到SN
Thread.Sleep(300);
if (Marking.CoderResult.SN == "")
{
step = 10;
}
else
{
step = 30;
}
break;
case 30: //双按钮启动，双按钮按下的时间间隔必须小于500ms才正常启动设备
if (!pressPulse && (IoPoints.TDI15.Value || IoPoints.TDI16.Value))
{
pressPulse = true;
startForbid = true;
_watch.Restart();
}
if (startForbid && IoPoints.TDI15.Value && IoPoints.TDI16.Value)
{
step = 40;
startForbid = false;
pressPulse = false;
}
else
{
if (500 <= _watch.ElapsedMilliseconds)
{
startForbid = false;
}
}
if (!IoPoints.TDI15.Value && !IoPoints.TDI16.Value)
{
pressPulse = false;
startForbid = false;
}
break;
case 40: //判断哪个螺丝整列机优先准备好
if (GetScrew1 && !GetScrew2)
{
GetScrewPos = Position.Put1ScrewPosition;
step = 50;
}
else if (!GetScrew1 && GetScrew2)
{
GetScrewPos = Position.Put2ScrewPosition;
step = 50;
}
break;
case 50: //判断Z轴是否在0位置，X轴移动到取螺丝位置
if (Zaxis.IsInPosition(0))
{
Xaxis.MoveTo(GetScrewPos.X, AxisParameter.XvelocityCurve);
step = 60;
}
break;
case 60: //X轴到达取螺丝位置，Z轴下降
if (Xaxis.IsInPosition(GetScrewPos.X))
{
Zaxis.MoveTo(GetScrewPos.Z, AxisParameter.ZvelocityCurve);
step = 70;
}
break;
case 70: //Z轴到达取螺丝位置，吸真空
if (Zaxis.IsInPosition(GetScrewPos.Z))
{
InhaleCylinder.Set();
step = 80;
}
break;
case 80: //Z轴上升0位置
if (InhaleCylinder.OutMoveStatus)
{
Zaxis.MoveTo(0, AxisParameter.ZvelocityCurve);
ScrewHolePos = Position.ScrewHolePosition[Marking.WorkIndex - 1];
step = 90;
}
break;
case 90: //Z轴到达0位置，XY轴移动拧螺丝位置
if (Zaxis.IsInPosition(0))
{
Xaxis.MoveTo(ScrewHolePos.X, AxisParameter.XvelocityCurve);
Yaxis.MoveTo(ScrewHolePos.Y, AxisParameter.YvelocityCurve);
step = 100;
}
break;
case 100: //XY轴到达拧螺丝位置，Z轴下降
if (Xaxis.IsInPosition(ScrewHolePos.X) && Yaxis.IsInPosition(ScrewHolePos.Y))
{
Zaxis.MoveTo(ScrewHolePos.Z, AxisParameter.ZvelocityCurve);
step = 110;
}
break;
case 110: //Z轴到达拧螺丝位置，启动电批,并Z轴慢速下行
if (Zaxis.IsInPosition(ScrewHolePos.Z))
{
IoPoints.TDO11.Value = true;
ZaxisScrewpos = ScrewHolePos.Z + Position.ScrewDepth;
if (IoPoints.TDI9.Value)
{
Zaxis.MoveTo(ZaxisScrewpos, new VelocityCurve(0, (double)Position.ZScrewSpeed, 0));
step = 120;
}
}
break;
case 120: //Z轴到达位置，判断螺丝是否拧紧
if (Zaxis.IsInPosition(ZaxisScrewpos))
{
if (alarm == PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号)
{
CannotTorIn = true;
alarm = PlateformAlarm.无消息;
IoPoints.TDO11.Value = false;
IoPoints.TDO12.Value = true;
Thread.Sleep(200);
IoPoints.TDO12.Value = false;
step = 130;
}
if (IoPoints.TDI10.Value || IoPoints.TDI11.Value)
{
step = 130;
}
else
{
if (ScrewIsDone > 2)
{
alarm = PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号;
m_Alarm = PlateformAlarm.收不到电批的螺丝拧紧正常或拧紧异常信号;
}
Thread.Sleep(100);
ScrewIsDone++;
}
}
break;
case 130: //触发读取数据
ScrewPort.Trigger(new TriggerArgs()
{
tryTimes = 1,
message = "0,TR"
});
HeightGaugePort.Trigger(new TriggerArgs()
{
tryTimes = 1
});
Thread.Sleep(200);
step = 140;
break;
case 140: //判断检测结果
if (CannotTorIn)
{
Marking.ResultScrew[Marking.WorkIndex].Result = "NG";
step = 150;
}
else
{
if (Marking.ResultScrew[Marking.WorkIndex].Result == "OK")
{
var data = Marking.ResultScrew[Marking.WorkIndex].HeightValue - Global.BaseHeight;
if (data > Position.MinHeight && data <= Position.MaxHeight)
{
Marking.ResultScrew[Marking.WorkIndex].Result = "OK";
}
else
{
Marking.ResultScrew[Marking.WorkIndex].Result = "NG";
}
step = 150;
}
if (Marking.ResultScrew[Marking.WorkIndex].Result == "NG")
{
step = 150;
}
}
break;
case 150: //电批停止，真空吸气OFF,Z轴回到0位置
IoPoints.TDO11.Value = false;
InhaleCylinder.Reset();
Zaxis.MoveTo(0, AxisParameter.ZvelocityCurve);
step = 160;
break;
case 160: //真空吸气达到,Z轴到达0位置，计数加+1
if (InhaleCylinder.OutOriginStatus && Zaxis.IsInPosition(0))
{
Marking.WorkIndex++;
if (Marking.WorkIndex < Position.HoleNum)
{
step = 40;
}
else
{
step = 170;
}
}
break;
case 170: //判断产品拧螺丝结果
for (var i = 0; i < Position.HoleNum; i++)
{
if (Marking.ResultScrew[i].Result == "OK")
{
Marking.ProductResult &= true;
}
else
{
Marking.ProductResult &= false;
}
}
if (Marking.ProductResult)
{
Config.ProductOkTotal++;
}
else
{
Config.ProductNgTotal++;
}
step = 180;
break;
case 180: //XY轴回到0位置
Xaxis.MoveTo(0, AxisParameter.XvelocityCurve);
Yaxis.MoveTo(0, AxisParameter.YvelocityCurve);
step = 190;
break;
case 190: //XY轴到达0位置
if (Xaxis.IsInPosition(0) && Yaxis.IsInPosition(0))
{
step = 200;
}
break;
default:
Marking.ProductResult = true;
stationOperate.RunningSign = false;
Marking.WorkIndex = 0;
step = 0;
break;
}
}
#endregion
#region 初始化流程
if (stationInitialize.Running)
{
switch (stationInitialize.Flow)
{
case 0: //清除所有标志位的状态
stationInitialize.InitializeDone = false;
stationOperate.RunningSign = false;
alarm = PlateformAlarm.无消息;
Marking.ProductResult = true;
Marking.WorkIndex = 0;
step = 0;
Xaxis.Stop();
Yaxis.Stop();
Zaxis.Stop();
if (!Xaxis.IsAlarmed && !Yaxis.IsAlarmed)
{
Xaxis.IsServon = true;
Yaxis.IsServon = true;
Zaxis.IsServon = true;
stationInitialize.Flow = 10;
}
break;
case 10: //复位Z轴，真空
IoPoints.ApsController.BackHome(Zaxis.NoId);
InhaleCylinder.InitExecute();
InhaleCylinder.Reset();
stationInitialize.Flow = 20;
break;
case 20: //判断所有气缸到位，启动Z轴回原点
if (InhaleCylinder.OutOriginStatus)
{
if (IoPoints.ApsController.CheckHomeDone(Zaxis.NoId, 10.0) == 0)
{
IoPoints.ApsController.BackHome(Xaxis.NoId);
IoPoints.ApsController.BackHome(Yaxis.NoId);
stationInitialize.Flow = 30;
}
else
{
Zaxis.Stop();
stationInitialize.InitializeDone = false;;
stationInitialize.Flow = -1;
}
}
break;
case 30: //判断XY轴是否异常，为0,正常，为1：原点异常，为<0：故障
var resultX = IoPoints.ApsController.CheckHomeDone(Xaxis.NoId, 10.0);
var resultY = IoPoints.ApsController.CheckHomeDone(Yaxis.NoId, 10.0);
if (IoPoints.ApsController.CheckHomeDone(Xaxis.NoId, 10.0) == 0 &&
IoPoints.ApsController.CheckHomeDone(Yaxis.NoId, 10.0) == 0)
{
stationInitialize.InitializeDone = true;
stationInitialize.Flow = 40;
}
else //异常处理
{
stationInitialize.InitializeDone = false;;
stationInitialize.Flow = -1;
}
break;
default:
break;
}
}
#endregion
//故障清除
if (externalSign.AlarmReset)
{
m_Alarm = PlateformAlarm.无消息;
}
}
}
