public XYUZPoint GetDstMachinePos(int nNozzleIndex)
{
if (nNozzleIndex > NozzleMgr.GetInstance().nozzleArr.Length || nNozzleIndex < 0)
{
return(new XYUZPoint());
}
return(NozzleMgr.GetInstance().nozzleArr[nNozzleIndex - 1].DstMachinePos);
}
public void SetObjMachinePos(int nNozzleIndex, double dObjx, double dObjy, double dObju)
{
if (eventUpdatNozzleData != null)
{
eventUpdatNozzleData(nNozzleIndex, "SetObjMachinePos", dObjx, dObjy, dObju);
}
NozzleMgr.GetInstance().nozzleArr[nNozzleIndex - 1].ObjMachinePos = new XYUPoint()
{
x = dObjx,
y = dObjy,
u = dObju,
};
}
public void SetDstMachinePos(int nNozzleIndex, double dDstx, double dDsty, double dDstu, double Z = 0)
{
if (eventUpdatNozzleData != null)
{
eventUpdatNozzleData(nNozzleIndex, "SetDstMachinePos", dDstx, dDsty, dDstu);
}
NozzleMgr.GetInstance().nozzleArr[nNozzleIndex - 1].DstMachinePos = new XYUZPoint()
{
x = dDstx,
y = dDsty,
u = dDstu,
z = Z,
};
}
public static NozzleMgr GetInstance()
{
if (nozzleMgr == null)
{
lock (obj)
{
if (nozzleMgr == null)
{
nozzleMgr = new NozzleMgr();
}
}
}
return(nozzleMgr);
}
/// <summary>
/// 初始化产品数据参数
/// </summary>
public static void InitProductNum()
{
NozzleMgr.GetInstance().Read();
try
{
StationTable stationTable = (StationTable)StationMgr.GetInstance().GetStation("转盘站");
TableData.GetInstance().Add(stationTable.GetStationPointDic()["A工位AA位"].pointU, 2);
TableData.GetInstance().Add(stationTable.GetStationPointDic()["A工位夹取位"].pointU, 2);
TableData.GetInstance().Add(stationTable.GetStationPointDic()["B工位AA位"].pointU, 1);
TableData.GetInstance().Add(stationTable.GetStationPointDic()["B工位夹取位"].pointU, 1);
TableData.GetInstance().AddPosStationName(stationTable.GetStationPointDic()["A工位AA位"].pointU, "A_AA");
TableData.GetInstance().AddPosStationName(stationTable.GetStationPointDic()["A工位夹取位"].pointU, "A_Pick");
TableData.GetInstance().AddPosStationName(stationTable.GetStationPointDic()["B工位AA位"].pointU, "B_AA");
TableData.GetInstance().AddPosStationName(stationTable.GetStationPointDic()["B工位夹取位"].pointU, "B_Pick");
TableData.GetInstance().AddStationResult("A_AA", false);
TableData.GetInstance().AddStationResult("A_Pick", false);
TableData.GetInstance().AddStationResult("B_AA", false);
TableData.GetInstance().AddStationResult("B_Pick", false);
TableData.GetInstance().AddStationResult("A_UnLoadLoad", false);
TableData.GetInstance().AddStationResult("B_UnLoadLoad", false);
TableData.GetInstance().dicTableCmdStart.Add("A_AA", false);
TableData.GetInstance().dicTableCmdStart.Add("B_AA", false);
TableData.GetInstance().dicTableCmdStart.Add("A_Pick", false);
TableData.GetInstance().dicTableCmdStart.Add("B_Pick", false);
TableData.GetInstance().dicTableCmdStart.Add("A_UnLoadLoad", false);
TableData.GetInstance().dicTableCmdStart.Add("B_UnLoadLoad", false);
TableData.GetInstance().AxisNo = stationTable.AxisU;
TableData.GetInstance().listPoss.Clear();
TableData.GetInstance().listPoss.Add(stationTable.GetStationPointDic()["A工位夹取位"].pointU);
TableData.GetInstance().listPoss.Add(stationTable.GetStationPointDic()["A工位AA位"].pointU);
TableData.GetInstance().listPoss.Add(stationTable.GetStationPointDic()["B工位夹取位"].pointU);
TableData.GetInstance().listPoss.Add(stationTable.GetStationPointDic()["B工位AA位"].pointU);
}
catch (Exception e)
{
}
//
}
protected override void StationWork(int step)
{
if (ParamSetMgr.GetInstance().GetIntParam("右剥料屏蔽") == 1)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", true);
return;
}
WaranResult waranResult;
bool bfind = ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功");
bool bgooripos = ParamSetMgr.GetInstance().GetBoolParam("右剥料归位");
PlaneState planeState = PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState;
NozzleState nozzleState = NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState;
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") && ParamSetMgr.GetInstance().GetBoolParam("右剥料归位") &&
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState == PlaneState.None &&
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.Have &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
///loadState = LoadState.exceing;
Carray();
// loadState = LoadState.None;
}
switch (step)
{
case (int)StationStep.step_init:
Init();
retry_FindBuzzer:
waranResult = FindBuzzer();
if (waranResult == WaranResult.Retry)
{
goto retry_FindBuzzer;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"))
{
retry_go_蜂鸣器顶位:
if (sys.g_AppMode == AppMode.AirRun)
{
ParamSetMgr.GetInstance().SetIntParam("右蜂鸣器顶位", (int)GetStationPointDic()["装料原始位"].pointZ);
}
WaranResult waranResult1 = MoveSigleAxisPosWaitInpos(AxisZ, ParamSetMgr.GetInstance().GetIntParam("右蜂鸣器顶位"), (int)MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, false, this, 60000);
if (waranResult1 == WaranResult.Retry)
{
goto retry_go_蜂鸣器顶位;
}
}
MoveSigleAxisPosWaitInpos(AxisY, GetStationPointDic()["剥料准备位"].pointY, (double)SpeedType.High, 20, false, this, 60000);
PushMultStep((int)StationStep.step_Separate);
ParamSetMgr.GetInstance().SetBoolParam("右剥料归位", true);
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", 0);
DelCurrentStep();
break;
case (int)StationStep.step_Separate:
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
if (PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState == PlaneState.None)
{
break;
}
int Count = ParamSetMgr.GetInstance().GetIntParam("右剥料次数");
if (Count > 6)
{
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
break;
}
Separate(Count);
Count = ParamSetMgr.GetInstance().GetIntParam("右剥料次数");
if (Count >= 2 && Count <= 6)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", true);
PushMultStep((int)StationStep.step_WaitGetFinish);
DelCurrentStep();
}
else if (Count > 6)
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
break;
}
else
{
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
}
break;
case (int)StationStep.step_WaitGetFinish:
if (ParamSetMgr.GetInstance().GetBoolParam("右剥料取料完成"))
{
ParamSetMgr.GetInstance().SetBoolParam("右剥料取料完成", false);
PushMultStep((int)StationStep.step_Separate);
DelCurrentStep();
}
break;
}
}
private void LoadWortk(bool bManual = false)
{
try
{
if (!ParamSetMgr.GetInstance().GetBoolParam("右剥料回原点成功"))
{
return;
}
if (!IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器") &&
!ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
loadState != LoadState.exceing &&
sys.g_AppMode == AppMode.AirRun &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
retry_find:
loadState = LoadState.exceing;
WaranResult waranResult = FindBuzzer();
if (waranResult == WaranResult.Retry)
{
goto retry_find;
}
loadState = LoadState.None;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
ParamSetMgr.GetInstance().GetBoolParam("右装料平台上升到位") &&
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.None &&
loadState != LoadState.exceing &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info(string.Format("右装料平台有无感应器{0},右搜寻蜂鸣器成功{1},右拨料平台状态{2},右剥料吸嘴状态{3} 右剥料归位{4}",
IOMgr.GetInstace().ReadIoInBit("右装料平台有无感应器"),
ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功"),
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState,
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState,
ParamSetMgr.GetInstance().GetBoolParam("右剥料归位")));
loadState = LoadState.exceing;
Pick();
loadState = LoadState.None;
}
if (ParamSetMgr.GetInstance().GetBoolParam("右搜寻蜂鸣器成功") &&
!ParamSetMgr.GetInstance().GetBoolParam("右装料平台上升到位") &&
GlobalVariable.g_StationState == StationState.StationStateRun)
{
Info("装料步进运动");
int pos = MotionMgr.GetInstace().GetAxisPos(AxisZ);
double steplen = ParamSetMgr.GetInstance().GetDoubleParam("装料步长");
pos = pos + (int)(steplen * nResolutionZ);
MoveSigleAxisPosWaitInpos(AxisZ, pos, MotionMgr.GetInstace().GetAxisMovePrm(AxisZ).VelH, 20, bManual, this);
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", true);
}
}
catch (Exception e)
{
loadState = LoadState.None;
Warn("异常发生" + e.Message);
return;
}
}
public bool Carray(bool bmanul = false)
{
Info("右剥料工站：搬运气缸开始搬运物料");
WaranResult waranResult;
// CheckAndUp(bmanul);
retry_carry_up:
ParamSetMgr.GetInstance().SetBoolParam("右剥料完成", false);
Info("右装料Z轴气缸电磁阀 上升");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", false);
waranResult = CheckIobyName("右装料Z轴气缸原位", true, "右剥料工站：右装料Z轴气缸电磁阀 上升失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_up;
}
StationRightPackage stationLeftPackage = (StationRightPackage)StationMgr.GetInstance().GetStation("右贴装站");
int AxisYNooFPageBack = stationLeftPackage.AxisY;
int AxiXYNooFPageBack = stationLeftPackage.AxisX;
retry_carryMoving:
if (MotionMgr.GetInstace().GetHomeFinishFlag(AxisY) == AxisHomeFinishFlag.Homed && MotionMgr.GetInstace().GetAxisPos(AxisY) > GetStationPointDic()["剥料准备位"].pointY - 50 &&
MotionMgr.GetInstace().GetHomeFinishFlag(AxisYNooFPageBack) == AxisHomeFinishFlag.Homed && MotionMgr.GetInstace().GetAxisPos(AxisYNooFPageBack) < stationLeftPackage.GetStationPointDic()["搬料安全位"].pointY - 50
)
{
#if false
IOMgr.GetInstace().WriteIoBit("右剥料前推压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料前推压紧气缸到位", true, "右剥料工站：右剥料前推压紧气缸到位失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMoving;
}
IOMgr.GetInstace().WriteIoBit("右剥料压紧气缸电磁阀", true);
waranResult = CheckIobyName("右剥料压紧气缸到位", true, "右剥料工站：右剥料压紧气缸到位失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMoving;
}
#endif
Info("右装料搬运气缸电磁阀 移动搬料");
IOMgr.GetInstace().WriteIoBit("右装料搬运气缸电磁阀", true);
waranResult = CheckIobyName("右装料搬运气缸到位", true, "右剥料工站：右装料搬运气缸到位失败，物料可能掉落，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMoving;
}
// CheckBuzzerPlaneAndUp();
retry_carry_down:
Info("右装料Z轴气缸电磁阀 下降");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", true);
waranResult = CheckIobyName("右装料Z轴气缸到位", true, "右剥料工站：右装料Z轴气缸原下降失败，物料可能掉落，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_down;
}
Info("右装料真空吸电磁阀 关闭");
Info("右装料破真空电磁阀 打开");
Info("右剥料真空吸电磁阀 打开");
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", true);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", true);
Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("吸真空延时"));
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
retry_carry_up2:
Info("右装料Z轴气缸电磁阀 上升");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", false);
waranResult = CheckIobyName("右装料Z轴气缸原位", true, "右剥料工站：右装料Z轴气缸电磁阀 上升 失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_up2;
}
waranResult = CheckIobyName("右剥料真空检测", true, "右剥料工站:Carray:蜂鸣器片 在剥料平台未吸紧", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_down;
}
Info("右装料真空吸电磁阀 复检 检查料是否脱落");
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", true);
waranResult = CheckIobyName("右装料真空检测", false, "右剥料工站 :Carray:蜂鸣器片 在装料抓手上未脱离", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_down;
}
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
retry_carryMovingback:
Info("右装料搬运气缸电磁阀 移动搬料");
IOMgr.GetInstace().WriteIoBit("右装料搬运气缸电磁阀", false);
waranResult = CheckIobyName("右装料搬运气缸原位", true, "右剥料工站：Carray:搬运气缸回到原位", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carryMovingback;
}
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右剥料后压紧气缸电磁阀", false);
ParamSetMgr.GetInstance().SetIntParam("右剥料次数", 0);
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState = NozzleState.None;
PlaneMgr.GetInstance().PlaneArr[(int)PlaneType.rightStripPlane].planeState = PlaneState.Have;
return(true);
}
else
{
Info("Y轴 在剥料准备位前 不能移动 请挪开 或者 右剥料平台Y轴 没有回原点");
return(false);
WaranResult waranResult2 = AlarmMgr.GetIntance().WarnWithDlg("Y轴 在剥料准备位前 不能移动 请挪开 或者 右剥料平台Y轴 没有回原点", bmanul ? null : this, CommonDlg.DlgWaranType.WaranInorge_Stop_Pause_Retry);
if (waranResult2 == WaranResult.Retry)
{
goto retry_carryMoving;
}
}
}
public bool Pick(bool bmanul = false)
{
WaranResult waranResult;
// CheckAndUp(bmanul);
retry_carry_up:
Info("右装料Z轴气缸电磁阀 上升");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", false);
waranResult = CheckIobyName("右装料Z轴气缸原位", true, "右剥料工站：右装料Z轴气缸电磁阀 上升失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_up;
}
if (bmanul || NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState == NozzleState.None)
{
retry_Self_Checking:
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", true);
waranResult = CheckIobyName("右剥料真空检测", false, "右剥料平台：Carray:蜂鸣器片 在剥料平台有料 请挪开", bmanul);
if (waranResult == WaranResult.Retry)
{
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", false);
goto retry_Self_Checking;
}
IOMgr.GetInstace().WriteIoBit("右剥料真空吸电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", true);
waranResult = CheckIobyName("右装料真空检测", false, "右剥料平台：Carray:蜂鸣器片 右装料吸嘴可能堵住", bmanul);
if (waranResult == WaranResult.Retry)
{
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", false);
goto retry_Self_Checking;
}
retry_carry:
IOMgr.GetInstace().WriteIoBit("右装料搬运气缸电磁阀", false);
Info("右装料搬运气缸 移动到装料顶部");
waranResult = CheckIobyName("右装料搬运气缸原位", true, "右剥料工站：右装料搬运气缸原位未到，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry;
}
Info("右装料Z轴气缸电磁阀 下降");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", true);
waranResult = CheckIobyName("右装料Z轴气缸到位", true, "右剥料工站：右装料Z轴气缸电磁阀 下降失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry;
}
Info("右装料破真空电磁阀 关闭"); Info("右装料真空吸电磁阀 打开");
IOMgr.GetInstace().WriteIoBit("右装料破真空电磁阀", false);
IOMgr.GetInstace().WriteIoBit("右装料真空吸电磁阀", true);
Thread.Sleep(ParamSetMgr.GetInstance().GetIntParam("吸真空延时"));
retry_carry_1:
Info("右装料Z轴气缸电磁阀 上升");
IOMgr.GetInstace().WriteIoBit("右装料Z轴气缸电磁阀", false);
waranResult = CheckIobyName("右装料Z轴气缸原位", true, "右剥料工站：右装料Z轴气缸电磁阀 上升失败，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry_1;
}
Info("右装料真空吸 检查");
waranResult = CheckIobyName("右装料真空检测", true, "右剥料工站：右装料真空吸 检查失败，物料可能掉落，请检查气缸和感应器 线路 ", bmanul);
if (waranResult == WaranResult.Retry)
{
goto retry_carry;
}
NozzleMgr.GetInstance().nozzleArr[(int)NozzleType.RightStripNozzle].nozzleState = NozzleState.Have;
ParamSetMgr.GetInstance().SetBoolParam("右装料平台上升到位", false);
}
return(true);
}
public XYUPoint GetObjSnapPos(int nNozzleIndex)
{
return(NozzleMgr.GetInstance().nozzleArr[nNozzleIndex - 1].ObjSnapMachinePos);
}
