private void IO()
{
for (var i = 1; i <= 4; i++)
{
CardTmp = (int)(Conversion.Val(VB.Strings.Mid(System.Convert.ToString(this.Tag), System.Convert.ToInt32((i - 1) * 5 + 3), 1)));
AxisTmp = (int)(Conversion.Val(VB.Strings.Mid(System.Convert.ToString(this.Tag), System.Convert.ToInt32((i - 1) * 5 + 5), 1)));
if (AxisTmp != 0)
{
long StsValue = 0;
StsValue = Gg.GetSts((short)CardTmp, (short)AxisTmp);
if ((StsValue & 0x200) == 0) //使能
{
mOvalShape[i, 1].FillColor = Color.White;
}
else
{
mOvalShape[i, 1].FillColor = Color.Lime;
}
if ((StsValue & 0x2) == 0) //报警
{
mOvalShape[i, 2].FillColor = Color.White;
}
else
{
mOvalShape[i, 2].FillColor = Color.Lime;
}
if ((StsValue & 0x20) == 0) //正限位
{
mOvalShape[i, 3].FillColor = Color.White;
}
else
{
mOvalShape[i, 3].FillColor = Color.Lime;
}
if (Gg.GetHomeDi((short)CardTmp, (short)AxisTmp) == 0) //原点
{
mOvalShape[i, 4].FillColor = Color.White;
}
else
{
mOvalShape[i, 4].FillColor = Color.Lime;
}
if ((StsValue & 0x40) == 0) //负限位
{
mOvalShape[i, 5].FillColor = Color.White;
}
else
{
mOvalShape[i, 5].FillColor = Color.Lime;
}
if ((StsValue & 0x400) == 0) //运动标志
{
mOvalShape[i, 6].FillColor = Color.White;
}
else
{
mOvalShape[i, 6].FillColor = Color.Lime;
}
if ((StsValue & 0x10) == 0) //误差标志
{
mOvalShape[i, 7].FillColor = Color.White;
}
else
{
mOvalShape[i, 7].FillColor = Color.Lime;
}
}
else
{
if ((int)i == 1)
{
X_Axis_Name.Visible = false;
}
else if ((int)i == 2)
{
Y_Axis_Name.Visible = false;
}
else if ((int)i == 3)
{
Z_Axis_Name.Visible = false;
}
else if ((int)i == 4)
{
R_Axis_Name.Visible = false;
}
for (var j = 1; j <= 7; j++)
{
mOvalShape[i, j].Visible = false;
}
}
}
}
public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.Result = false;
StaWork.State = false;
PressTime.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (StaWork.State == false && StaWork.Enable)
{
AddList("保压开始！");
StaWork.Enable = false;
StaWork.State = true;
PressTime.InitialTime();
StaWork.Step = 30;
}
break;
case 30:
if (EpsonRobot.RobotLivePos.Y > -200) //判断机械手是否在流水线外
{
AddList("保压无杆气缸向左移动！");
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 0);
Command.Com1_Send(Command.压力控制打开);
PressTime.InitialTime();
StaWork.Step = 40;
}
break;
case 40:
if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 1 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 0)
{
PressTime.InitialTime();
StaWork.Step = 50;
}
else if (PressTime.TimeIsUp(8000))
{
AddList("保压无杆气缸左信号感应异常！");
ShowList("保压无杆气缸左信号感应异常！");
PressTime.InitialTime();
BufferStep = 40;
StaWork.Step = 8000;
}
break;
case 50:
if (PressTime.TimeIsUp(200))
{
BVar.ProData[2, 6] = Frm_Engineering.fEngineering.Press1_Text.Text; //获取自重的压力值
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.保压位置], PVar.ParAxis.Speed[Axis.保压Z轴]);
PressTime.InitialTime();
StaWork.Step = 60;
}
break;
case 60:
if (Gg.ZSPD(0, Axis.保压Z轴))
{
PressTime.InitialTime();
StaWork.Step = 70;
}
break;
case 70:
if (PressTime.TimeIsUp((int)PVar.ParList.Data[44] * 1000)) //配重块保压时间
{
AddList("保压时间为：" + PVar.ParList.Data[44] * 1000 + "S");
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], PVar.ParAxis.Speed[Axis.保压Z轴]);
PressTime.InitialTime();
StaWork.Step = 80;
}
break;
case 80:
//保压轴和气缸复位
if (Gg.ZSPD(0, Axis.保压Z轴) && Gg.GetHomeDi(0, Axis.保压Z轴) == 1)
{
//保压站无杆气缸双头电磁阀向右
AddList("保压无杆气缸向右移动！");
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 1);
PressTime.InitialTime();
StaWork.Step = 90;
}
break;
case 90:
if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1)
{
AddList("保压工作完成！");
PressTime.InitialTime();
StaWork.Step = 100;
}
else if (PressTime.TimeIsUp(5000))
{
AddList("保压无杆气缸右信号感应异常！");
ShowList("保压无杆气缸右信号感应异常！");
BufferStep = 90;
StaWork.Step = 8000;
}
break;
case 100:
//复位流水线2等待状态
PVar.Sta_Work[(int)BVar.工位.流水线2].IsReady = false;
PressTime.InitialTime();
StaWork.Step = 800;
break;
case 800:
StaWork.Enable = false;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
//遇到异常，设备先暂停，确定后处理************************
case 8000:
PVar.IsSystemOnPauseMode = true;
PVar.MacHold = true;
StaWork.StaHold = true;
PVar.Stop_Flag = false;
Frm_Main.fMain.Btn_Start.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = true;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.Auto_Timer.Enabled = false;
PVar.LampStatus = 20;
StaWork.Step = BufferStep;
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.State = false;
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (PVar.空跑)
{
if (StaWork.State == false && StaWork.Enable && StaWork.IsHaveFix)
{
AddList("组装开始！");
StaWork.State = true;
StaWork.Enable = false;
BVar.ProData[2, 1] = BVar.ProData[1, 1]; //Bezel条码
BVar.ProData[2, 3] = BVar.ProData[1, 3]; //载具条码
Frm_Engineering.fEngineering.Lab_Station2.Text = BVar.ProData[2, 1];
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Line2Time.InitialTime();
StaWork.Step = 30;
}
else
{
if (Line2Time.TimeIsUp(20))
{
Line2Time.InitialTime();
StaWork.Step = 10;
}
}
}
else //********************************************
{
if (StaWork.State == false && StaWork.Enable && StaWork.IsHaveFix)
{
AddList("组装开始！");
StaWork.State = true;
StaWork.Enable = false;
BVar.ProData[2, 1] = BVar.ProData[1, 1]; //Bezel条码
BVar.ProData[2, 3] = BVar.ProData[1, 3]; //载具条码
Frm_Engineering.fEngineering.Lab_Station2.Text = BVar.ProData[2, 1];
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Line2Time.InitialTime();
StaWork.Step = 30;
}
else if (StaWork.State == false && StaWork.Enable == false && StaWork.IsHaveFix)
{
AddList("没有条码，跳过组装！");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000; //等待放行
}
else
{
StaWork.Step = 10;
}
}
break;
case 30:
AddList("保压Z轴回初始位置！");
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], PVar.ParAxis.Speed[Axis.保压Z轴]);
Line2Time.InitialTime();
StaWork.Step = 40;
break;
case 40:
//保压轴和气缸复位
if (Gg.ZSPD(0, Axis.保压Z轴) && Gg.GetHomeDi(0, Axis.保压Z轴) == 1)
{
//保压站无杆气缸双头电磁阀向右
AddList("保压Z轴OK！");
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 1);
Line2Time.InitialTime();
StaWork.Step = 50;
}
else if (Line2Time.TimeIsUp(8000))
{
AddList("保压Z轴运动到初始位置超时！");
ShowList("保压Z轴运动到初始位置超时！");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 10000;
}
break;
case 50:
if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1)
{
if (EpsonRobot.RobotLivePos.Y > -150) //判断机械手是否在流水线外
{
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 1);
}
Line2Time.InitialTime();
StaWork.Step = 60;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("保压无杆气缸右信号感应异常！");
ShowList("保压无杆气缸右信号感应异常！");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000; //等待放行
}
break;
case 60:
if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 1)
{
AddList("载具夹紧气缸伸出信号OK！");
AddList("等待光源旋转气缸伸出信号感应！");
Line2Time.InitialTime();
StaWork.Step = 70;
}
else if (Line2Time.TimeIsUp(2000) && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0)
{
AddList("保载具夹紧气缸伸出信号感应异常！");
Line2Time.InitialTime();
StaWork.Step = 70; //小异常忽略
}
break;
case 70:
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
{
AddList("光源旋转气缸伸出信号感应OK！");
Line2Time.InitialTime();
StaWork.Step = 200;
}
else
{
if (EpsonRobot.RobotLivePos.Y > -200) //判断机械手是否在流水线外
{
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 1);
}
}
break;
//相机拍照
case 200:
CCD_CMD = "T31" + "," + BVar.ProData[2, 1] + "," +
EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList("Bezel定位拍照");
if (PVar.空跑)
{
Line2Time.InitialTime();
StaWork.Step = 210;
}
else
{
if (sRtn == 1) //命令发送成功
{
Line2Time.InitialTime();
StaWork.Step = 210;
}
else
{
AddList("T31命令发送失败！");
ShowList("T31命令发送失败！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 210:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(2000))
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Line2Time.InitialTime();
StaWork.Step = 220;
}
}
else //****************************************************
{
if (Command.CCD_Resule && PVar.CCD_Data[0] == "T31")
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Line2Time.InitialTime();
StaWork.Step = 220;
}
else
{
if (Line2Time.TimeIsUp(5000))
{
AddList("等待CCD T31数据超时！");
ShowList("等待CCD T31数据超时！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
}
break;
case 220:
if (PVar.空跑)
{
AddList("拍照OK,开始等待机械手开始工作结束");
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
PVar.Sta_Work[(int)BVar.工位.机械手].Enable = true; //允许机械手开始工作，目前不考虑CT，后续提前并行
Line2Time.InitialTime();
StaWork.Step = 230;
}
else
{
if (PVar.CCD_Data[1] == "1")
{
AddList("拍照OK,开始等待机械手开始工作结束");
PVar.Sta_Work[(int)BVar.工位.机械手].Enable = true; //允许机械手开始工作，目前不考虑CT，后续提前并行
Line2Time.InitialTime();
StaWork.Step = 230;
}
else
{
AddList("Bezel拍照NG,异常直接流出");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000;
}
}
break;
case 230:
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0)
{
AddList("光源旋转气缸缩回信号感应OK！");
StaWork.IsReady = true; //所有准备就绪，等待机械手完成
Line2Time.InitialTime();
StaWork.Step = 300;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("光源旋转气缸缩回超时！");
ShowList("光源旋转气缸缩回超时！");
Line2Time.InitialTime();
StaWork.Step = 5000;
}
break;
//************************************************************************************************
//等待机械手装配完成
case 300:
if (StaWork.IsReady == false)
{
AddList("装配完成，开始复检！");
Line2Time.InitialTime();
StaWork.Step = 310;
}
break;
case 310:
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
{
AddList("光源旋转气缸伸出信号感应OK！");
Line2Time.InitialTime();
StaWork.Step = 320;
}
else
{
if (EpsonRobot.RobotLivePos.Y > -150) //判断机械手是否在流水线外
{
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 1);
}
}
break;
case 320:
CCD_CMD = "T33" + "," + BVar.ProData[2, 1] + "," +
EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList("Bezel下相机复检拍照");
if (PVar.空跑)
{
Line2Time.InitialTime();
StaWork.Step = 330;
}
else
{
if (sRtn == 1) //命令发送成功
{
Line2Time.InitialTime();
StaWork.Step = 330;
}
else
{
AddList("T33命令发送失败！");
ShowList("T33命令发送失败！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 330:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 340;
}
}
else
{
if (Command.CCD_Resule && PVar.CCD_Data[0] == "T33")
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 340;
}
else
{
if (Line2Time.TimeIsUp(5000))
{
AddList("等待CCD T33数据超时！");
ShowList("等待CCD T33数据超时！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
}
break;
case 340:
if (PVar.空跑)
{
AddList("拍照OK");
Line2Time.InitialTime();
StaWork.Step = 350;
}
else
{
if (PVar.CCD_Data[1] == "1")
{
AddList("拍照OK");
Line2Time.InitialTime();
StaWork.Step = 350;
}
else
{
AddList("Bezel拍照NG,异常直接流出");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000;
}
}
break;
case 350:
CCD_CMD = "T41" + "," + BVar.ProData[2, 1] + "," +
EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList("Bezel上相机复检拍照");
if (PVar.空跑)
{
Line2Time.InitialTime();
StaWork.Step = 360;
}
else
{
if (sRtn == 1) //命令发送成功
{
Line2Time.InitialTime();
StaWork.Step = 360;
}
else
{
AddList("T41命令发送失败！");
ShowList("T41命令发送失败！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 360:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 370;
}
}
else
{
if (Command.CCD_Resule && PVar.CCD_Data[0] == "T41")
{
AddList("<<- Recevied:" + PVar.CCD_StrData);
Line2Time.InitialTime();
StaWork.Step = 370;
}
else
{
if (Line2Time.TimeIsUp(5000))
{
AddList("等待CCD T41数据超时！");
ShowList("等待CCD T41数据超时！");
Line2Time.InitialTime();
StaWork.Step = 1000;
}
}
}
break;
case 370:
if (PVar.空跑)
{
AddList("拍照OK,开始上传PDCA");
Line2Time.InitialTime();
StaWork.Step = 380;
}
else
{
if (PVar.CCD_Data[1] == "1")
{
AddList("拍照OK,开始上传PDCA");
Line2Time.InitialTime();
StaWork.Step = 380;
}
else
{
AddList("Bezel拍照NG,异常直接流出");
StaWork.Result = false;
Line2Time.InitialTime();
StaWork.Step = 5000;
}
}
break;
case 380:
Line2Time.InitialTime();
StaWork.Step = 505;
break;
//复检检测输出值
//***********************************************
case 505:
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 1);
Line2Time.InitialTime();
StaWork.Step = 510;
break;
case 510:
if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 0)
{
AddList("装配完成，等待放行！");
Line2Time.InitialTime();
StaWork.Step = 600;
}
else if (Line2Time.TimeIsUp(3000))
{
AddList("保载具夹紧气缸伸出信号感应异常！");
Line2Time.InitialTime();
StaWork.Step = 400;
}
break;
case 600:
if (PVar.空跑)
{
if (PVar.Stop_Flag == false && Linechange.LineOut() == 0 && PVar.Sta_Work[(int)BVar.工位.流水线3].State == false)
{
AddList("载具开始放行，等待流水线3接收!");
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Frm_Engineering.fEngineering.Txt_BarCode.Text = "";
Linechange.SetMotor2(true, PVar.ParList.Data[43]);
Linechange.SetMotor3(true, PVar.ParList.Data[43]);
Line2Time.InitialTime();
StaWork.Step = 610;
}
else
{
if (PVar.Stop_Flag)
{
StaWork.State = false;
Line2Time.InitialTime();
StaWork.Step = 10;
}
}
}
else //******************************************************
{
//等待放行*****************************
if (PVar.Stop_Flag == false && Linechange.LineOut() == 0 && PVar.Sta_Work[(int)BVar.工位.流水线3].State == false)
{
AddList("载具开始放行，等待流水线3接收!");
Frm_Engineering.fEngineering.Txt_BarCode.Text = "";
Linechange.SetMotor2(true, PVar.ParList.Data[43]);
Linechange.SetMotor3(true, PVar.ParList.Data[43]);
Line2Time.InitialTime();
StaWork.Step = 610;
}
}
break;
case 610:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("载具开始放行！");
Line2Time.InitialTime();
StaWork.Step = 620;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应4) == 0)
{
AddList("载具开始放行！");
Line2Time.InitialTime();
StaWork.Step = 620;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("流水线2放行载具超时！");
ShowList("流水线2放行载具超时！");
Line2Time.InitialTime();
StaWork.Step = 620;
}
}
break;
case 620:
if (PVar.空跑)
{
if (Line2Time.TimeIsUp(1000))
{
AddList("流水线2载具开始放行完成！");
//*********************************************************应该可以开始接受上站载具
PVar.Sta_Work[(int)BVar.工位.流水线3].IsHaveFix = true;
Line2Time.InitialTime();
StaWork.Step = 630;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应5) == 0)
{
AddList("流水线2载具开始放行完成！");
//*********************************************************应该可以开始接受上站载具
PVar.Sta_Work[(int)BVar.工位.流水线3].IsHaveFix = true;
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
Line2Time.InitialTime();
StaWork.Step = 630;
}
else if (Line2Time.TimeIsUp(5000))
{
AddList("流水线2放行载具超时！");
ShowList("流水线2放行载具超时！");
Line2Time.InitialTime();
StaWork.Step = 630;
}
}
break;
case 630:
if (Line2Time.TimeIsUp(500))
{
AddList("流水线2载具放行完成！");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix = false;
PVar.Sta_Work[(int)BVar.工位.流水线3].IsHaveFix = true;
Linechange.SetMotor2(false, PVar.ParList.Data[43]);
Line2Time.InitialTime();
StaWork.Step = 650;
}
break;
case 650:
if (Line2Time.TimeIsUp(200))
{
Line2Time.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Enable = false;
StaWork.Result = true;
StaWork.State = false;
Manual.AutoMotionFlag[2] = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
Manual.AutoMotionFlag[2] = false;
StaWork.Step = 10;
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(exc.Message);
Error_Str = PVar.BZ_LogPath + DateTime.Now.ToString("yyyyMMdd") + "\\" + DateTime.Now.ToString("yyyyMMdd") + "_代码异常记录" + ".txt";
Error_Str1 = "\r\n" + "※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※※" + "\r\n" +
"[" + DateTime.Now.ToString("HH:mm:ss") + "]" + "\r\n" + exc.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
private void Output_Click(dynamic sender, EventArgs e)
{
int tag;
tag = Convert.ToInt32(this.Tag);
switch (tag)
{
case 1:
if (sender.Text == "ON")
{
if (Convert.ToInt32(sender.Tag) == 2) //保压无杆气缸
{
if (Gg.GetHomeDi(0, 4) == 0)
{
ShowList("保压Z轴不在安全高度，禁止气缸运动！");
return;
}
if (Frm_Engineering.fEngineering.Tcp_RobotData.IsStart == false) //判断机械手是否在流水线外
{
ShowList("请先确认机械手网络，无法确认位置状态！");
return;
}
if (EpsonRobot.RobotLivePos.Y < -150) //判断机械手是否在流水线外
{
ShowList("请先把机械移开，或工程师更改安全位置！");
return;
}
if (!(Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1))
{
ShowList("光源旋转气缸不在缩回状态或请检测信号异常！");
return;
}
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 2, 1);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 3, 0);
}
else if (Convert.ToInt32(sender.Tag) == 3)
{
if (Gg.GetHomeDi(0, 4) == 0)
{
ShowList("保压Z轴不在安全高度，禁止气缸运动！");
return;
}
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 2, 0);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 3, 1);
}
else if (Convert.ToInt32(sender.Tag) == 14)
{
if (!(Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1))
{
ShowList("保压无杆气缸不在右侧或请检测信号异常！");
return;
}
if (Frm_Engineering.fEngineering.Tcp_RobotData.IsStart == false) //判断机械手是否在流水线外
{
ShowList("请先确认机械手网络，无法确认位置状态！");
return;
}
if (EpsonRobot.RobotLivePos.Y < -150) //判断机械手是否在流水线外
{
ShowList("请先把机械移开，或工程师更改安全位置！");
return;
}
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 1);
}
else
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 1);
}
}
else
{
if (Convert.ToInt32(sender.Tag) == 2)
{
if (Gg.GetHomeDi(0, 4) == 0)
{
ShowList("保压Z轴不在安全高度，禁止气缸运动！");
return;
}
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 2, 0);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 3, 1);
}
else if (Convert.ToInt32(sender.Tag) == 3)
{
if (Gg.GetHomeDi(0, 4) == 0)
{
ShowList("保压Z轴不在安全高度，禁止气缸运动！");
return;
}
if (Frm_Engineering.fEngineering.Tcp_RobotData.IsStart == false) //判断机械手是否在流水线外
{
ShowList("请先确认机械手网络，无法确认位置状态！");
return;
}
if (EpsonRobot.RobotLivePos.Y < -150) //判断机械手是否在流水线外
{
ShowList("请先把机械移开，或工程师更改安全位置！");
return;
}
if (!(Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1))
{
ShowList("光源旋转气缸不在缩回状态或请检测信号异常！");
return;
}
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 2, 1);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 3, 0);
}
else
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 0);
}
}
break;
case 3:
if (sender.Text == "ON")
{
if (Convert.ToInt32(sender.Tag) == 11)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 11, 1);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 12, 0);
}
else if (Convert.ToInt32(sender.Tag) == 12)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 11, 0);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 12, 1);
}
else if (Convert.ToInt32(sender.Tag) == 13)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 13, 1);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 14, 0);
}
else if (Convert.ToInt32(sender.Tag) == 14)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 13, 0);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 14, 1);
}
else
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 1);
}
}
else
{
if (Convert.ToInt32(sender.Tag) == 11)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 11, 0);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 12, 1);
}
else if (Convert.ToInt32(sender.Tag) == 12)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 11, 1);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 12, 0);
}
else if (Convert.ToInt32(sender.Tag) == 13)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 13, 0);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 14, 1);
}
else if (Convert.ToInt32(sender.Tag) == 14)
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 13, 1);
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), 14, 0);
}
else
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 0);
}
}
break;
default:
if (sender.Text == "ON")
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 1);
}
else
{
mFunction.mSetDO(System.Convert.ToInt32(this.Tag), System.Convert.ToInt32(sender.Tag), 0);
}
break;
}
IO();
}
/// <summary>
/// GotoHome(short CardNum[卡号], short Axis[轴号], double homeToLimitFDist[极限到原点距离], double searchHomeDist[原点搜索距离], double offsetPos[感应宽度], double homeoffset[原点偏移距离], double vel[搜索原点速度])
/// </summary>
/// <param name="CardNum"></param>
/// <param name="Axis"></param>
/// <param name="homeToLimitFDist"></param>
/// <param name="searchHomeDist"></param>
/// <param name="offsetPos"></param>
/// <param name="homeoffset"></param>
/// <param name="vel"></param>
public static void GotoHome(short CardNum, short Axis, double homeToLimitFDist, double searchHomeDist, double offsetPos, double homeoffset, double vel)
{
uint temp_pClock = 0;
if (GoHome.AxisHome[CardNum, Axis].Step != 0)
{
Frm_Engineering.fEngineering.textBox3.Text = GoHome.AxisHome[CardNum, Axis].Step.ToString();
GoHome.AxisHome[CardNum, Axis].State = true;
switch (GoHome.AxisHome[CardNum, Axis].Step)
{
case 10:
InitTimeH[CardNum, Axis] = new Tool.Delay();
gts.GT_ClrSts(CardNum, Axis, (short)1); //清除报警
gts.GT_SetPrfPos(CardNum, Axis, 0); //规划器置零
gts.GT_SetEncPos(CardNum, Axis, 0); //编码器置零
gts.GT_SynchAxisPos(CardNum, 1 << (Axis - 1)); //将当前轴进行位置同步
GoHome.AxisHome[CardNum, Axis].Counter = 0; //回原点计数
GoHome.AxisHome[CardNum, Axis].Step = 20;
break;
case 20:
GoHome.AxisHome[CardNum, Axis].Capture = 0;
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
if (GoHome.AxisHome[CardNum, Axis].Counter > 1)
{
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.AxisHome[CardNum, Axis].Counter = GoHome.AxisHome[CardNum, Axis].Counter + 1;
GoHome.AxisHome[CardNum, Axis].Step = 30; //开始搜索原点
}
}
else
{
GoHome.AxisHome[CardNum, Axis].Step = 200; //偏离原点，方向与搜索原点方向相反
}
break;
case 30:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_SetCaptureMode(CardNum, Axis, gts.CAPTURE_HOME); //第一次原点搜索
GoHome.AxisHome[CardNum, Axis].TempPos = 0;
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + searchHomeDist), vel); //启动运动，开始搜索原点
GoHome.AxisHome[CardNum, Axis].Step = 40;
break;
case 40:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].Capture, out GoHome.AxisHome[CardNum, Axis].TempPos, (short)1, out temp_pClock); //获取当前轴原点捕获的状态及捕获的当前位置
if (GoHome.AxisHome[CardNum, Axis].Capture == 1) //判断当前轴是否原点捕获触发
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Capture = 0;
GoHome.AxisHome[CardNum, Axis].Step = 50;
}
else if (Gg.GetLimitDi_Z(CardNum, Axis) == 1) //判断当前轴是否触发正极限
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 170;
}
else if (Gg.GetLimitDi_F(CardNum, Axis) == 1) //判断当前轴是否触发负极限
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 150;
}
else if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴规划器是否运动停止（原点搜索距离太小）
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
break;
case 50:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 52;
}
break;
case 52:
//Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis)) / Tools.GeerRate[CardNum, Axis] + 1, 2);
//Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + offsetPos), 10); //启动运动，原点反向运动
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + 2), 5); //启动运动，原点反向运动
GoHome.AxisHome[CardNum, Axis].Step = 60;
break;
case 60:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
GoHome.AxisHome[CardNum, Axis].Step = 70;
}
break;
case 70:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 72;
}
break;
case 72:
gts.GT_SetCaptureMode(CardNum, Axis, gts.CAPTURE_HOME); //第二次原点搜索
//hRtn = gts.GT_SetCaptureMode(CardNum, Axis,gts. CAPTURE_INDEX); //启动当前轴的Z相脉冲捕获
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) - offsetPos * 2), 1); //以1mm/s速度找原点
GoHome.AxisHome[CardNum, Axis].Step = 80; //跳转到下一步
break;
case 80:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].Capture, out GoHome.AxisHome[CardNum, Axis].TempPos, (short)1, out temp_pClock); //获取当前轴Z相脉冲捕获的状态及捕获的当前位置
if (GoHome.AxisHome[CardNum, Axis].Capture == 1) //判断当前轴是否Z相脉冲捕获触发
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
GoHome.AxisHome[CardNum, Axis].Capture = 0; //捕获触发标志清零
GoHome.AxisHome[CardNum, Axis].Step = 90;
}
else if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 140; //跳转到第110步（或脉冲未捕获，回原点结束，回原点失败）
}
break;
case 90:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 92;
}
break;
case 92:
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + homeoffset), 2);
//if (homeoffset < 3)
// {
// Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 2);
// }
//else
// {
// Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 5);
// }
GoHome.AxisHome[CardNum, Axis].Step = 100;
break;
case 100:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
InitTime.InitialTime();
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 110;
}
break;
case 110:
if (InitTimeH[CardNum, Axis].TimeIsUp(200))
{
GoHome.AxisHome[CardNum, Axis].Step = 120;
}
break;
case 120:
gts.GT_SetPrfPos(CardNum, Axis, 0); //将当前轴规划器位置修改为零点
gts.GT_SetEncPos(CardNum, Axis, 0); //将当前轴编码器位置修改为零点
gts.GT_SynchAxisPos(CardNum, 1 << (Axis - 1)); //将当前轴进行位置同步
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 130;
break;
case 130:
if (InitTimeH[CardNum, Axis].TimeIsUp(50))
{
if (Gg.GetEncPos(CardNum, Axis) == 0 && Gg.GetPrfPos(CardNum, Axis) == 0)
{
GoHome.AxisHome[CardNum, Axis].Result = true;
GoHome.AxisHome[CardNum, Axis].State = false;
GoHome.AxisHome[CardNum, Axis].Step = 0;
}
else
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 110;
}
}
break;
case 140:
GoHome.AxisHome[CardNum, Axis].Result = false;
GoHome.AxisHome[CardNum, Axis].State = false;
GoHome.AxisHome[CardNum, Axis].Step = 0;
break;
//*********************************************************************************************************************
case 150: //负极限和原点之间距离
gts.GT_ClrSts(CardNum, Axis, (short)1);
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + homeToLimitFDist), vel);
GoHome.AxisHome[CardNum, Axis].Step = 160;
break;
case 160:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 20; //重新搜索原点
}
break;
//*********************************************************************************************************************
case 170: //offsetPos大于感应片的宽度
gts.GT_ClrSts(CardNum, Axis, (short)1);
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) - offsetPos), vel);
GoHome.AxisHome[CardNum, Axis].Step = 180;
break;
case 180:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 20; //重新搜索原点
}
break;
//*********************************************************************************************************************
case 200: //offsetPos大于感应片的宽度
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + offsetPos), vel);
GoHome.AxisHome[CardNum, Axis].Step = 201;
break;
case 201:
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + 1), vel);
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 210;
}
else
{
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
}
break;
case 210:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 220;
}
break;
case (short)220:
if (InitTimeH[CardNum, Axis].TimeIsUp(200))
{
if (Gg.GetHomeDi(CardNum, Axis) == 1)
{
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.AxisHome[CardNum, Axis].Step = 20;
}
}
break;
}
}
}
