public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.IsHaveBezel = false;
StaWork.IsHaveSN = false;
StaWork.Result = false;
StaWork.State = false;
TriggerCount = 0;
Line1Time.InitialTime();
StaWork.Step = 20;
}
break;
//if (PVar.空跑)
//{
//}
//else
//{
//}
case 20:
if (PVar.空跑)
{
if (StaWork.State == false && StaWork.IsHaveFix)
{
AddList("流水线1开始工作！");
StaWork.State = true;
BVar.ProData[1, 1] = ""; //Bezel条码
BVar.ProData[1, 2] = ""; //PDCA返回条码
BVar.ProData[1, 3] = ""; //载具条码
Line1Time.InitialTime();
StaWork.Step = 200;
}
else
{
if (Line1Time.TimeIsUp(20))
{
Line1Time.InitialTime();
StaWork.Step = 10;
}
}
}
else
{
if (StaWork.State == false && StaWork.IsHaveFix && Gg.GetExDi(1, Gg.InPut2.流水线对射感应2) == 1 && Gg.GetExDi(1, Gg.InPut2.流水线对射感应3) == 1)
{
AddList("流水线1开始工作！");
StaWork.State = true;
BVar.ProData[1, 1] = ""; //Bezel条码
BVar.ProData[1, 2] = ""; //PDCA返回条码
BVar.ProData[1, 3] = ""; //载具条码
Line1Time.InitialTime();
StaWork.Step = 30;
}
else
{
if (Line1Time.TimeIsUp(20))
{
Line1Time.InitialTime();
StaWork.Step = 10;
}
}
}
break;
case 30:
if (PVar.ParList.CheckSts[3]) //左右机切换
{
Frm_Engineering.fEngineering.Lab_Station1.Text = "";
}
else
{
Frm_Engineering.fEngineering.Lab_Station3.Text = "";
}
if (PVar.ParList.CheckSts[8])
{
StaWork.IsHaveSN = true;
StaWork.IsHaveBezel = true;
BVar.ProData[1, 1] = Frm_Engineering.fEngineering.Txt_BarCode.Text;
if (PVar.ParList.CheckSts[3]) //左右机切换
{
Frm_Engineering.fEngineering.Lab_Station1.Text = BVar.ProData[1, 1];
}
else
{
Frm_Engineering.fEngineering.Lab_Station3.Text = BVar.ProData[1, 1];
}
Line1Time.InitialTime();
StaWork.Step = 200;
}
else
{
AddList("触发条码枪，获取Bezel条码");
TriggerCount += 1;
if (Command.TCP_Barcode_Send("||>trigger on") == 1)
{
Line1Time.InitialTime();
StaWork.Step = 50;
}
else
{
AddList("条码枪网络异常！");
ShowList("条码枪网络异常！");
Line1Time.InitialTime();
StaWork.Step = 900; //跳到异常处理
}
}
break;
case 50:
if (BVar.BarCodeData.GetCodeOK)
{
BVar.BarCodeData.GetCodeOK = false;
StaWork.IsHaveSN = true;
StaWork.IsHaveBezel = true;
BVar.ProData[1, 1] = BVar.BarCodeData.sData.Trim();
if (PVar.ParList.CheckSts[3]) //左右机切换
{
Frm_Engineering.fEngineering.Lab_Station1.Text = BVar.ProData[1, 1];
}
else
{
Frm_Engineering.fEngineering.Lab_Station3.Text = BVar.ProData[1, 1];
}
AddList("Bezel条码:" + BVar.ProData[1, 1]);
if (PVar.ParList.CheckSts[20]) //PDCA开启
{
AddList("等待上传PDCA，检测是否过SFC!");
}
Line1Time.InitialTime();
StaWork.Step = 100;
}
else if (Line1Time.TimeIsUp(200))
{
if (TriggerCount < 3)
{
AddList("重新触发条码枪！");
Line1Time.InitialTime();
StaWork.Step = 30; //返回重新触发条码
}
else
{
AddList("条码枪获取SN失败！");
BVar.RecordErrInfo("HsgSnErr");
StaWork.IsHaveSN = false;
StaWork.Result = false;
Line1Time.InitialTime();
StaWork.Step = 900; //跳到异常处理
}
}
break;
//*********************************传PDCA数据,检测是否过路径***********************************
case 100:
if (PVar.ParList.CheckSts[20]) //PDCA开启
{
if (PDCA.PDCAIsWorking == false)
{
AddList("开始上传PDCA");
PDCA.PDCAIsWorking = true;
PDCA.UpLoadStep = 10;
Line1Time.InitialTime();
StaWork.Step = 110;
}
}
else
{
AddList("PDCA关闭，直接跳过SFC！");
Line1Time.InitialTime();
StaWork.Step = 110;
}
break;
case 110:
Line1Time.InitialTime();
StaWork.Step = 200;
break;
case 200:
if (PVar.空跑)
{
if (PVar.Stop_Flag == false && Gg.GetExDi(1, Gg.InPut2.流水线对射感应4) == 0 &&
Gg.GetExDi(1, Gg.InPut2.流水线对射感应5) == 0 && PVar.Sta_Work[(int)BVar.工位.流水线2].State == false)
{
PVar.Sta_Work[(int)BVar.工位.流水线2].Enable = true;
AddList("载具开始放行，等待流水线2接收!");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 0);
Frm_Engineering.fEngineering.Txt_BarCode.Text = "";
Linechange.SetMotor1(true, PVar.ParList.Data[43]);
Linechange.SetMotor2(true, PVar.ParList.Data[43]);
Line1Time.InitialTime();
StaWork.Step = 210;
}
else
{
if (PVar.Stop_Flag)
{
StaWork.State = false;
Line1Time.InitialTime();
StaWork.Step = 10;
}
}
}
else
{
//等待放行*****************************
if (PVar.Stop_Flag == false && Gg.GetExDi(1, Gg.InPut2.流水线对射感应4) == 0 &&
Gg.GetExDi(1, Gg.InPut2.流水线对射感应5) == 0 && PVar.Sta_Work[(int)BVar.工位.流水线2].State == false)
{
PVar.Sta_Work[(int)BVar.工位.流水线2].Enable = StaWork.IsHaveSN ? true : false;
AddList("载具开始放行，等待流水线2接收!");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 0);
Frm_Engineering.fEngineering.Txt_BarCode.Text = "";
Linechange.SetMotor1(true, PVar.ParList.Data[43]);
Linechange.SetMotor2(true, PVar.ParList.Data[43]);
Line1Time.InitialTime();
StaWork.Step = 210;
}
}
break;
case 210:
if (PVar.空跑)
{
if (Line1Time.TimeIsUp(1000))
{
AddList("载具放行完成！");
PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix = false;
Linechange.SetMotor1(false, PVar.ParList.Data[43]);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 1);
Line1Time.InitialTime();
StaWork.Step = 220;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应3) == 0)
{
AddList("载具放行完成！");
PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix = false;
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 1);
Line1Time.InitialTime();
StaWork.Step = 220;
}
else if (Line1Time.TimeIsUp(5000))
{
AddList("流水线1放行载具超时！");
ShowList("流水线1放行载具超时！");
Line1Time.InitialTime();
StaWork.Step = 220;
}
}
break;
case 220:
if (PVar.空跑)
{
if (Line1Time.TimeIsUp(1500))
{
AddList("载具到达流水线2！");
AddList("流水线2开始减速！");
Linechange.SetMotor2(true, 10);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Line1Time.InitialTime();
StaWork.Step = 240;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应4) == 1)
{
AddList("载具到达流水线2！");
Line1Time.InitialTime();
StaWork.Step = 230;
}
else if (Line1Time.TimeIsUp(5000))
{
AddList("流水线2接收载具超时！");
ShowList("流水线2接收载具超时！");
Line1Time.InitialTime();
StaWork.Step = 230;
}
}
break;
case 230:
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应5) == 1)
{
AddList("流水线2收到产品完成！");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
StaWork.IsHaveFix = false; //本站载具标志复位
Linechange.SetMotor1(false, PVar.ParList.Data[43]);
if (PVar.ParList.CheckSts[3]) //左右机切换
{
Frm_Engineering.fEngineering.Lab_Station1.Text = "";
}
else
{
Frm_Engineering.fEngineering.Lab_Station3.Text = "";
}
Line1Time.InitialTime();
StaWork.Step = 240;
}
else if (Line1Time.TimeIsUp(5000))
{
AddList("流水线2载具到位超时！");
ShowList("流水线2载具到位超时！");
Line1Time.InitialTime();
StaWork.Step = 240;
}
break;
case 240:
if (Line1Time.TimeIsUp(500))
{
PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix = true;
Linechange.SetMotor2(false, PVar.ParList.Data[43]);
Line1Time.InitialTime();
StaWork.Step = 250;
}
break;
case 250:
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 1)
{
AddList("阻挡气缸1伸出到位！");
Line1Time.InitialTime();
StaWork.Step = 800;
}
else if (Line1Time.TimeIsUp(500))
{
AddList("阻挡气缸1伸出异常！");
ShowList("阻挡气缸1伸出异常！");
Line1Time.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Result = true;
StaWork.State = false;
StaWork.IsHaveFix = false;
StaWork.IsHaveBezel = false;
StaWork.IsHaveSN = false;
StaWork.Step = 10;
break;
case 900:
//跳转到等待放行
StaWork.Result = false;
StaWork.IsHaveFix = true;
StaWork.IsHaveSN = false;
Linechange.SetMotor1(false, PVar.ParList.Data[43]);
StaWork.Step = 200;
break;
case 1000:
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
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;
Line3Time.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (StaWork.State == false && StaWork.IsHaveFix)
{
AddList("组装开始！");
StaWork.State = true;
BVar.ProData[3, 1] = BVar.ProData[2, 1]; //Bezel条码
BVar.ProData[3, 3] = BVar.ProData[2, 3]; //载具条码
Line3Time.InitialTime();
StaWork.Step = 30;
}
else if (Line3Time.TimeIsUp(50))
{
StaWork.Step = 10;
}
break;
case 30:
if (PVar.空跑)
{
if (Line3Time.TimeIsUp(2000))
{
AddList("载具流出感应到！");
Linechange.SetMotor3(true, 10);
Line3Time.InitialTime();
StaWork.Step = 40;
}
}
else
{
if (Linechange.LineOut() == 1)
{
AddList("载具流出感应到！");
Line3Time.InitialTime();
StaWork.Step = 40;
Linechange.SetMotor3(false, PVar.ParList.Data[43]);
}
else if (Line3Time.TimeIsUp(5000))
{
Line3Time.InitialTime();
StaWork.Step = 40;
}
}
break;
case 40:
if (Line3Time.TimeIsUp(1000))
{
AddList("流水线3马达停止！");
Linechange.SetMotor3(false, PVar.ParList.Data[43]);
Line3Time.InitialTime();
StaWork.Step = 50;
}
break;
case 50:
if (Linechange.LineOut() == 0)
{
AddList("载具已经取走！");
StaWork.IsHaveFix = false;
Line3Time.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Enable = false;
StaWork.Result = true;
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:
if (Manual.AutoMotionFlag[3])
{
if (Manual.HoldFlag[3])
{
Manual.HoldFlag[3] = false;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "暂停";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.BurlyWood;
ShowList("运动已继续");
}
else
{
Manual.HoldFlag[3] = true;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "继续";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.Red;
ShowList("运动已暂停");
}
}
else
{
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;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
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.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 AutoRunTA(ref PVar.WorkType StaWork, String Name)
{
try
{
switch (StaWork.Step)
{
case 10:
StaWork.Result = false;
StaWork.State = true;
ClearList2(""); //清空list
TestCount = 1;
string fileFinalData = "E:\\BZ-Data\\DAB\\TestData\\" + DateTime.Now.ToString("yyyyMM") + "\\" + Name + DateTime.Now.ToString("yyyyMM") + ".csv";
Path = fileFinalData;
InitTime.InitialTime();
StaWork.Step = 20;
break;
case 20:
if (Name == "相机1静态")
{
CCD_CMD = "Send: T11," + DateTime.Now.ToString("yyyyMMdd") + "0,0,0";
}
if (Name == "相机2静态")
{
CCD_CMD = "Send: T21," + DateTime.Now.ToString("yyyyMMdd") + "0,0,0";
}
if (Name == "相机3静态")
{
CCD_CMD = "Send: T31," + DateTime.Now.ToString("yyyyMMdd") + "0,0,0";
}
if (Name == "相机4静态")
{
CCD_CMD = "Send: T41," + DateTime.Now.ToString("yyyyMMdd") + "0,0,0";
}
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("CCD命令 ->> " + CCD_CMD);
AddList2("静态测试拍照第" + TestCount + "次");
TestCount += 1;
InitTime.InitialTime();
StaWork.Step = 30;
//if (sRtn == 1) //命令发送成功
// {
// InitTime.InitialTime();
// StaWork.Step = 30;
// }
//else
// {
// AddList2("命令发送失败！");
// ShowList("命令发送失败！");
// InitTime.InitialTime();
// StaWork.Step = 1000;
// }
break;
case 30:
if (Command.CCD_Resule == false)
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
//时间，CCD判断值，X,Y,R
string TestData = Convert.ToString(DateAndTime.TimeOfDay.TimeOfDay) + "," + PVar.CCD_Data[1] + "," + PVar.CCD_Data[2] + "," + PVar.CCD_Data[3] + "," + PVar.CCD_Data[4];
BVar.FileRorW.WriteTestDataCsv(TestData, Path);
InitTime.InitialTime();
StaWork.Step = 35;
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 35:
if (InitTime.TimeIsUp(1000))
{
InitTime.InitialTime();
StaWork.Step = 40;
}
break;
case 40:
if (TestCount <= Convert.ToInt16(Frm_Engineering.fEngineering.TextBox_Num.Text))
{
InitTime.InitialTime();
StaWork.Step = 20;
}
else
{
AddList2("测试完成！");
ShowList("测试完成！");
InitTime.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 0;
break;
case 1000:
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 0;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
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 || Manual.AutoMotionFlag[4])
{
StaWork.State = false;
TimeOut = API.GetTickCount();
StaWork.Step = 20;
}
break;
case 20:
//本站工作状态，工站使能，转盘工作状态，本站是否有产品
if (PVar.ParList.CheckSts[17] == false)
{
if (StaWork.State == false && PVar.Sta_Work[1].State == false && ((StaWork.Enable && StaWork.Result && PVar.Sta_Work[4].IsHaveHSG) || Manual.AutoMotionFlag[4]))
{
StaWork.State = true;
StaWork.Result = false;
AddList("复检开始开始！");
Command.Com3_Send("LMD,SSW,00,3," + "000,");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
StaWork.Step = 10;
}
}
else
{
if (StaWork.State == false && PVar.Sta_Work[1].State == false && ((StaWork.Enable && StaWork.Result && PVar.Sta_Work[4].IsHaveHSG) || Manual.AutoMotionFlag[4]))
{
StaWork.State = true;
StaWork.Result = false;
Gg.SetExDo(0, 0, Gg.OutPut2.机械手排线真空吸, 0);
AddList("复检开始开始！");
Command.Com3_Send("LMD,SSW,00,3," + "000,");
TimeOut = API.GetTickCount();
StaWork.Step = 30;
}
else
{
StaWork.Step = 10;
}
}
break;
case 30:
if (Gg.GetExDi(0, Gg.InPut2.流水线对射感应4) == 1 && Gg.GetExDi(0, Gg.InPut2.流水线对射感应5) == 0)
{
//AddList("复检气缸复位OK！");
Iswritedata = true;
Command.Com3_Send("LMD,SPLN,00,4," + "255" + ",");
TimeOut = API.GetTickCount();
StaWork.Step = 40;
}
else
{
if (API.GetTickCount() - TimeOut > 6000)
{
AddList("复检气缸缩回信号异常！");
ShowList("复检气缸缩回信号异常！");
BufferStep = 30;
StaWork.Step = 8000;
}
}
break;
case 40:
if (API.GetTickCount() - TimeOut > 500)
{
ERR_Count = 0;
TimeOut = API.GetTickCount();
StaWork.Step = 50;
}
break;
case 45:
if (ERR_Count >= 2)
{
BVar.ProData[4, 2] = BVar.FileRorW.ReadINI("CCD程序 ", "颜色", "白色", PVar.PublicParPath); //Frm_Engineering.fEngineering.comboBox_Unitcolor.Text;//产品颜色
BVar.ProData[4, 26] = "999";
BVar.ProData[4, 27] = "999";
BVar.ProData[4, 28] = "999";
BVar.ProData[4, 29] = "999";
BVar.ProData[4, 30] = "NG";
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
AddList("4站异常退出工作!");
ShowList("4站异常退出工作!");
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
else
{
ERR_Count += 1;
if (ERR_Count == 2)
{
AddList("本站工作即将结束!");
ShowList("本站工作即将结束!");
}
else
{
AddList("还剩" + (2 - ERR_Count) + "次尝试，超出则本站工作结束!");
ShowList("还剩" + (2 - ERR_Count) + "次尝试，超出则本站工作结束!");
}
Command.Com3_Send("LMD,SPLN,00,4," + "255" + ",");
System.Threading.Thread.Sleep(150);
TimeOut = API.GetTickCount();
StaWork.Step = 50;
}
break;
case 50:
sRtn = Command.TCP_CCD_Send(Command.相机复检);
if (PVar.ParList.CheckSts[17] == false)
{
if (sRtn == 1) //命令发送成功
{
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
else if (sRtn == 2) //网络链接异常
{
AddList("网络链接异常！");
ShowList("网络链接异常！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 45;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
else
{
AddList("网络命令发送失败！");
ShowList("网络命令发送失败！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 45;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 60;
}
break;
case 60:
if (PVar.ParList.CheckSts[17] == false)
{
if (Command.CCD2_Resule && PVar.CCD2_Data[0] == Command.相机复检)
{
AddList("复检角度数据收到！");
CCD_Vale[1].X = Convert.ToDouble(PVar.CCD2_Data[1]);
CCD_Vale[1].Y = Convert.ToDouble(PVar.CCD2_Data[2]);
CCD_Vale[1].T = Convert.ToDouble(PVar.CCD2_Data[3]);
CCD_Vale[1].CC = Convert.ToDouble(PVar.CCD2_Data[4]);
CCD_Vale[1].Judge = Convert.ToDouble(PVar.CCD2_Data[5]);
TimeOut = API.GetTickCount();
StaWork.Step = 70;
}
else
{
if (API.GetTickCount() - TimeOut > 3000)
{
AddList("等待复检角度数据超时！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 45;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
}
}
else
{
if (API.GetTickCount() - TimeOut > 200)
{
AddList("复检角度数据收到！");
CCD_Vale[1].X = 0;
CCD_Vale[1].Y = 0;
CCD_Vale[1].T = 0;
CCD_Vale[1].CC = 0;
CCD_Vale[1].Judge = 0;
TimeOut = API.GetTickCount();
StaWork.Step = 70;
}
}
break;
case 70:
if (CCD_Vale[1].Judge == 0)
{
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
TimeOut = API.GetTickCount();
StaWork.Step = 80;
}
else if (CCD_Vale[1].Judge == 1)
{
AddList("复检角度模型搜索错误！");
ShowList("复检角度模型搜索错误！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 45;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
else
{
AddList("CCD复检角度其他异常！");
ShowList("CCD复检角度其他异常！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,4," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 45;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
break;
case 80:
Gg.SetExDo(0, 0, Gg.OutPut2.机械手排线真空吸, 1);
TimeOut = API.GetTickCount();
StaWork.Step = 90;
break;
case 90:
if (Gg.GetExDi(0, Gg.InPut2.流水线对射感应4) == 0 && Gg.GetExDi(0, Gg.InPut2.流水线对射感应5) == 1)
{
AddList("复检气缸伸出OK！");
TimeOut = API.GetTickCount();
StaWork.Step = 100;
}
else
{
if (API.GetTickCount() - TimeOut > 8000)
{
AddList("复检气缸伸出信号异常！");
ShowList("复检气缸伸出信号异常！");
TimeOut = API.GetTickCount();
BufferStep = 90;
StaWork.Step = 8000;
}
}
break;
case 100:
if (API.GetTickCount() - TimeOut > 900)
{
Command.Com3_Send("LMD,SPLN,00,3," + "255" + ",");
}
if (API.GetTickCount() - TimeOut > 1000)
{
ERR_Count = 0;
TimeOut = API.GetTickCount();
StaWork.Step = 110;
}
break;
case 105:
if (ERR_Count >= 3)
{
BVar.ProData[4, 2] = BVar.FileRorW.ReadINI("CCD程序 ", "颜色", "白色", PVar.PublicParPath); // Frm_Engineering.fEngineering.comboBox_Unitcolor.Text;//产品颜色
BVar.ProData[4, 26] = "999";
BVar.ProData[4, 27] = "999";
BVar.ProData[4, 28] = "999";
BVar.ProData[4, 29] = "999";
BVar.ProData[4, 30] = "NG";
Command.Com3_Send("LMD,SPLN,00,3," + "000" + ",");
AddList("4站异常退出工作!");
ShowList("4站异常退出工作!");
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
else
{
ERR_Count += 1;
if (ERR_Count == 3)
{
AddList("本站工作即将结束!");
ShowList("本站工作即将结束!");
}
else
{
AddList("还剩" + (3 - ERR_Count) + "次尝试，超出则本站工作结束!");
ShowList("还剩" + (3 - ERR_Count) + "次尝试，超出则本站工作结束!");
}
Command.Com3_Send("LMD,SPLN,00,3," + "255" + ",");
System.Threading.Thread.Sleep(150);
TimeOut = API.GetTickCount();
StaWork.Step = 110;
}
break;
case 110:
sRtn = Command.TCP_CCD_Send(Command.相机复检);
if (PVar.ParList.CheckSts[17] == false)
{
if (sRtn == 1) //命令发送成功
{
TimeOut = API.GetTickCount();
StaWork.Step = 120;
}
else if (sRtn == 2) //网络链接异常
{
AddList("网络链接异常！");
ShowList("网络链接异常！");
TimeOut = API.GetTickCount();
if (PVar.ParList.CheckSts[24])
{
BufferStep = 105;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
else
{
AddList("网络命令发送失败！");
ShowList("网络命令发送失败！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,3," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 105;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
}
else
{
TimeOut = API.GetTickCount();
StaWork.Step = 120;
}
break;
case 120:
if (PVar.ParList.CheckSts[17] == false)
{
if (Command.CCD2_Resule && PVar.CCD2_Data[0] == Command.相机复检)
{
AddList("复检同心度数据收到！");
CCD_Vale[2].X = Convert.ToDouble(PVar.CCD2_Data[1]);
CCD_Vale[2].Y = Convert.ToDouble(PVar.CCD2_Data[2]);
CCD_Vale[2].T = Convert.ToDouble(PVar.CCD2_Data[3]);
CCD_Vale[2].CC = Convert.ToDouble(PVar.CCD2_Data[4]);
CCD_Vale[2].Judge = Convert.ToDouble(PVar.CCD2_Data[5]);
CCD_Vale[2].Up = Convert.ToDouble(PVar.CCD2_Data[6]);
CCD_Vale[2].Down = Convert.ToDouble(PVar.CCD2_Data[7]);
CCD_Vale[2].Left = Convert.ToDouble(PVar.CCD2_Data[8]);
CCD_Vale[2].Right = Convert.ToDouble(PVar.CCD2_Data[9]);
BVar.ProData[4, 2] = BVar.FileRorW.ReadINI("CCD程序 ", "颜色", "白色", PVar.PublicParPath); // Frm_Engineering.fEngineering.comboBox_Unitcolor.Text;//产品颜色
BVar.ProData[4, 26] = CCD_Vale[2].X.ToString("0.000");
BVar.ProData[4, 27] = CCD_Vale[2].Y.ToString("0.000");
BVar.ProData[4, 28] = CCD_Vale[2].T.ToString("0.000");
BVar.ProData[4, 29] = CCD_Vale[2].CC.ToString("0.000");
if (CCD_Vale[2].CC <= 0.05 && Math.Abs(CCD_Vale[2].T) <= 1)
{
BVar.ProData[4, 30] = "OK";
}
else
{
BVar.ProData[4, 30] = "NG";
}
TimeOut = API.GetTickCount();
StaWork.Step = 130;
}
else
{
if (API.GetTickCount() - TimeOut > 5000)
{
AddList("等待复检同心度数据超时！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,3," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 105;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
}
}
else
{
if (API.GetTickCount() - TimeOut > 200)
{
AddList("复检同心度数据收到！");
CCD_Vale[2].X = 0;
CCD_Vale[2].Y = 0;
CCD_Vale[2].T = 0;
CCD_Vale[2].CC = 0;
CCD_Vale[2].Judge = 0;
BVar.ProData[4, 2] = BVar.FileRorW.ReadINI("CCD程序 ", "颜色", "白色", PVar.PublicParPath); // Frm_Engineering.fEngineering.comboBox_Unitcolor.Text;//产品颜色
BVar.ProData[4, 26] = CCD_Vale[2].X.ToString("0.000");
BVar.ProData[4, 27] = CCD_Vale[2].Y.ToString("0.000");
BVar.ProData[4, 28] = CCD_Vale[2].T.ToString("0.000");
BVar.ProData[4, 29] = CCD_Vale[2].CC.ToString("0.000");
if (CCD_Vale[2].CC <= 0.05 && CCD_Vale[2].T <= 1 && CCD_Vale[2].Up >= 0.1 && CCD_Vale[2].Up <= 0.3 && CCD_Vale[2].Down >= 0.1 && CCD_Vale[2].Down <= 0.3 && CCD_Vale[2].Left >= 0.1 && CCD_Vale[2].Left <= 0.3 && CCD_Vale[2].Right >= 0.1 && CCD_Vale[2].Right <= 0.3)
{
BVar.ProData[4, 30] = "OK";
}
else
{
BVar.ProData[4, 30] = "NG";
}
TimeOut = API.GetTickCount();
StaWork.Step = 130;
}
}
break;
case 130:
TimeOut = API.GetTickCount();
StaWork.Step = 140;
break;
case 140:
if (CCD_Vale[2].Judge == 0)
{
Command.Com3_Send("LMD,SPLN,00,3," + "000" + ",");
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
else if (CCD_Vale[2].Judge == 1)
{
AddList("复检同心度模型搜索错误！");
ShowList("复检同心度模型搜索错误！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,3," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 105;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
else
{
AddList("CCD复同心度度其他异常！");
ShowList("CCD复同心度度其他异常！");
TimeOut = API.GetTickCount();
Command.Com3_Send("LMD,SPLN,00,3," + "000" + ",");
if (PVar.ParList.CheckSts[24])
{
BufferStep = 105;
StaWork.Step = 8000;
}
else
{
Iswritedata = false;
TimeOut = API.GetTickCount();
StaWork.Step = 150;
}
}
break;
case 150:
Gg.SetExDo(0, 0, Gg.OutPut2.机械手排线真空吸, 0);
TimeOut = API.GetTickCount();
StaWork.Step = 300;
break;
////复检数据处理
case 300:
if (PVar.ParList.CheckSts[17])
{
BVar.ProData[4, 30] = "OK";
}
if (BVar.ProData[4, 30] == "OK")
{
StaWork.Result = true;
}
//写入数据
if (Iswritedata)
{
Write_FinalData();
}
if (PVar.ParList.CheckSts[48] == false)
{
}
TimeOut = API.GetTickCount();
StaWork.Step = 800;
break;
case 800:
StaWork.Enable = false;
////StaWork.Result = true; 做为最总结过判断
StaWork.State = false;
Manual.AutoMotionFlag[4] = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
Manual.AutoMotionFlag[4] = false;
StaWork.Step = 10;
break;
//遇到异常，设备先暂停，确定后处理************************
case 8000:
if (Manual.AutoMotionFlag[4])
{
if (Manual.HoldFlag[4])
{
Manual.HoldFlag[4] = false;
Frm_Engineering.fEngineering.CmdHold.Text = "暂停";
Frm_Engineering.fEngineering.CmdHold.BackColor = Color.BurlyWood;
ShowList("运动已继续");
}
else
{
Manual.HoldFlag[4] = true;
Frm_Engineering.fEngineering.CmdHold.Text = "继续";
Frm_Engineering.fEngineering.CmdHold.BackColor = Color.Red;
ShowList("运动已暂停");
}
}
else
{
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 ex)
{
string Error_Str = "";
string Error_Str1 = "";
Frm_Engineering.fEngineering.MacStop();
MessageBox.Show(ex.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" + ex.ToString();
FileRw.WriteDattxt(Error_Str, Error_Str1);
}
}
public static void AutoRunTB(ref PVar.WorkType StaWork, String Name, String testpos)
{
try
{
switch (StaWork.Step)
{
case 10:
StaWork.Result = false;
StaWork.State = true;
ClearList2(""); //清空list
TestCount = 1;
string fileFinalData = "E:\\BZ-Data\\DAB\\TestData\\" + DateTime.Now.ToString("yyyyMM") + "\\" + Name + DateTime.Now.ToString("yyyyMMdd") + ".csv";
Path = fileFinalData;
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
InitTime.InitialTime();
StaWork.Step = 20;
break;
case 20:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], 20);
InitTime.InitialTime();
StaWork.Step = 30;
}
break;
case 30:
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.待机位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
InitTime.InitialTime();
StaWork.Step = 30;
break;
case 40:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.待机位置)
{
AddList2("机械手回待机位置OK！");
InitTime.InitialTime();
StaWork.Step = 50;
}
else if (InitTime.TimeIsUp(6000))
{
AddList2("机械手回待机位置超时！");
ShowList("机械手回待机位置超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
break;
case 50:
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", testpos, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
InitTime.InitialTime();
StaWork.Step = 60;
break;
case 60:
if (EpsonRobot.sRobot_Status == "Step" + testpos)
{
AddList2("机械手位置OK！");
InitTime.InitialTime();
StaWork.Step = 70;
}
else if (InitTime.TimeIsUp(6000))
{
AddList2("机械手运动超时！");
ShowList("机械手运动超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
break;
case 70:
if (InitTime.TimeIsUp(500)) //等待机械手停稳
{
InitTime.InitialTime();
StaWork.Step = 80;
}
break;
case 80:
if (Name == "相机1动态")
{
CCD_CMD = "Send: T11," + DateTime.Now.ToString("yyyyMMdd") + "0,0,0";
}
if (Name == "相机2动态")
{
CCD_CMD = "Send: T21," + DateTime.Now.ToString("yyyyMMdd") + "0,0,0";
}
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("CCD命令 ->> " + CCD_CMD);
AddList2("动态测试拍照第" + TestCount + "次");
TestCount += 1;
if (sRtn == 1) //命令发送成功
{
InitTime.InitialTime();
StaWork.Step = 90;
}
else
{
AddList2("命令发送失败！");
ShowList("命令发送失败！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
break;
case 90:
if (Command.CCD_Resule)
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
//时间，CCD判断值，X,Y,R
string TestData = Convert.ToString(DateAndTime.TimeOfDay.TimeOfDay) + "," + PVar.CCD_Data[1] + "," + PVar.CCD_Data[2] + "," + PVar.CCD_Data[3] + "," + PVar.CCD_Data[4];
BVar.FileRorW.WriteTestDataCsv(TestData, Path);
InitTime.InitialTime();
StaWork.Step = 100;
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 100:
if (TestCount <= Convert.ToInt16(Frm_Engineering.fEngineering.TextBox_Num.Text))
{
InitTime.InitialTime();
StaWork.Step = 30;
}
else
{
AddList2("测试完成！");
ShowList("测试完成！");
InitTime.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 0;
break;
case 1000:
AddList2("测试失败！");
ShowList("测试失败！");
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 0;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
AddList2("标定失败！");
ShowList("标定失败！");
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 0;
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 aAutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
StaWork.Result = false;
StaWork.State = true;
ClearList2(""); //清空list
CalibCount = 0;
CCD_CMD = "SC,2,11,3,1,4,1"; //标定开始命令
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("联合开始标定 ->> " + CCD_CMD);
if (sRtn == 1) //命令发送成功
{
InitTime.InitialTime();
StaWork.Step = 20;
}
else
{
AddList2("命令发送失败！");
ShowList("命令发送失败！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
break;
case 20:
if (Command.CCD_Resule && PVar.CCD_Data[0] == "SC")
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
InitTime.InitialTime();
StaWork.Step = 30;
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 30:
AddList2("机械手回待机位置开始！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.待机位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
InitTime.InitialTime();
StaWork.Step = 32;
break;
case 32:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.待机位置)
{
AddList2("机械手回待机位置OK！");
InitTime.InitialTime();
StaWork.Step = 34;
}
else if (InitTime.TimeIsUp(6000))
{
AddList2("机械手回待机位置超时！");
ShowList("机械手回待机位置超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
break;
case 34:
AddList2("机械手回PSA定位拍照位置开始！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.PSA定位拍照位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
InitTime.InitialTime();
StaWork.Step = 36;
break;
case 36:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.PSA定位拍照位置)
{
AddList2("机械手回待机位置OK！");
InitTime.InitialTime();
StaWork.Step = 45;
}
else if (InitTime.TimeIsUp(6000))
{
AddList2("机械手PSA定位拍照位置超时！");
ShowList("机械手PSA定位拍照位置超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
break;
case 45:
if (InitTime.TimeIsUp(500)) //等待机械手停稳
{
CalibCount += 1;
InitTime.InitialTime();
StaWork.Step = 50;
}
break;
case 50:
AddList2("标定第" + CalibCount + "拍照");
CCD_CMD = "C2" + "," + EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;; //第一个点
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("标定命令 ->> " + CCD_CMD);
if (sRtn == 1) //命令发送成功
{
InitTime.InitialTime();
StaWork.Step = 60;
}
else
{
AddList2("命令发送失败！");
ShowList("命令发送失败！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
break;
case 60:
if (Command.CCD_Resule && PVar.CCD_Data[0] == "C2")
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
InitTime.InitialTime();
if (CalibCount < 12)
{
InitTime.InitialTime();
StaWork.Step = 70; //11点标定继续
}
else
{
InitTime.InitialTime();
StaWork.Step = 100; //11点标定结束
}
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 70:
switch (CalibCount)
{
case 2:
case 3:
CalibOffsetX = -2;
CalibOffsetY = 0;
CalibOffsetR = 0;
break;
case 4:
case 5:
CalibOffsetX = 0;
CalibOffsetY = 2;
CalibOffsetR = 0;
break;
case 6:
case 7:
CalibOffsetX = 2;
CalibOffsetY = 0;
CalibOffsetR = 0;
break;
case 8:
CalibOffsetX = 0;
CalibOffsetY = -2;
CalibOffsetR = 0;
break;
case 9:
CalibOffsetX = -2;
CalibOffsetY = 0;
CalibOffsetR = 0;
break;
case 10:
CalibOffsetX = 0;
CalibOffsetY = 0;
CalibOffsetR = -5;
break;
case 11:
CalibOffsetX = 0;
CalibOffsetY = 0;
CalibOffsetR = 10;
break;
}
AddList2("->>机械手 X:" + CalibOffsetX + ", Y:" + CalibOffsetY + ", R:" + CalibOffsetR);
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Move", "0", "5", CalibOffsetX.ToString(), CalibOffsetY.ToString(), "0", CalibOffsetR.ToString(), "0", "X", "0", "0", "0", "0", "5") == false)
{
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
InitTime.InitialTime();
StaWork.Step = 80;
break;
case 80:
if (EpsonRobot.sRobot_Status == "Move")
{
AddList2("<<-机械手" + EpsonRobot.Robot_StrData);
InitTime.InitialTime();
StaWork.Step = 45;
}
else if (InitTime.TimeIsUp(6000))
{
AddList2("机械手回待机位置超时！");
ShowList("机械手回待机位置超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
break;
case 100:
AddList2("机械手回预贴PSA位置开始！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.预贴PSA位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
InitTime.InitialTime();
StaWork.Step = 110;
break;
case 110:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.预贴PSA位置)
{
AddList2("机械手回预贴PSA位置OK！");
InitTime.InitialTime();
StaWork.Step = 120;
}
else if (InitTime.TimeIsUp(6000))
{
AddList2("机械手PSA定位拍照位置超时！");
ShowList("机械手PSA定位拍照位置超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
return;
}
break;
case 120:
if (InitTime.TimeIsUp(500)) //等待机械手停稳
{
InitTime.InitialTime();
StaWork.Step = 130;
}
break;
case 130:
CCD_CMD = "C3" + "," + EpsonRobot.RobotLivePos.X + "," + EpsonRobot.RobotLivePos.Y + "," + EpsonRobot.RobotLivePos.U;; //第一个点
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("标定命令 ->> " + CCD_CMD);
if (sRtn == 1) //命令发送成功
{
InitTime.InitialTime();
StaWork.Step = 140;
}
else
{
AddList2("命令发送失败！");
ShowList("命令发送失败！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
break;
case 140:
if (Command.CCD_Resule && PVar.CCD_Data[0] == "C3")
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
InitTime.InitialTime();
InitTime.InitialTime();
StaWork.Step = 170;
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 170:
CCD_CMD = "C4" + "," + EpsonRobot.Robot_Fcs[2] + "," + EpsonRobot.Robot_Fcs[3] + "," + EpsonRobot.Robot_Fcs[5]; //第一个点
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("标定命令 ->> " + CCD_CMD);
if (sRtn == 1) //命令发送成功
{
InitTime.InitialTime();
StaWork.Step = 180;
}
else
{
AddList2("命令发送失败！");
ShowList("命令发送失败！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
break;
case 180:
if (Command.CCD_Resule && PVar.CCD_Data[0] == "C4")
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
InitTime.InitialTime();
InitTime.InitialTime();
StaWork.Step = 200;
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 200:
CCD_CMD = "EC"; //第一个点
sRtn = Command.TCP_CCD_Send(CCD_CMD);
AddList2("标定命令 ->> " + CCD_CMD);
if (sRtn == 1) //命令发送成功
{
InitTime.InitialTime();
StaWork.Step = 210;
}
else
{
AddList2("命令发送失败！");
ShowList("命令发送失败！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
break;
case 210:
if (Command.CCD_Resule && PVar.CCD_Data[0] == "EC")
{
AddList2("<<- Recevied:" + PVar.CCD_StrData);
InitTime.InitialTime();
InitTime.InitialTime();
StaWork.Step = 800;
AddList2("标定结束！");
}
else
{
if (InitTime.TimeIsUp(5000))
{
AddList2("等待CCD数据超时！");
ShowList("等待CCD数据超时！");
InitTime.InitialTime();
StaWork.Step = 1000;
}
}
break;
case 800:
AddList2("标定成功！");
ShowList("标定成功！");
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 0;
break;
case 1000:
AddList2("标定失败！");
ShowList("标定失败！");
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 0;
break;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
break;
}
}
catch (Exception exc)
{
string Error_Str = "";
string Error_Str1 = "";
AddList2("标定失败！");
ShowList("标定失败！");
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 0;
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;
LoadPSATime.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (PVar.空跑)
{
if (StaWork.State == false && StaWork.IsLoadPSA == false && Gg.GetExDi(1, Gg.InPut2.PSA载台真空吸检测信号) == 0 &&
(PVar.Sta_Work[(int)BVar.工位.流水线0].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix))
{
AddList("PSA上料开始！");
StaWork.State = true;
PickUpNumber = 0;
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 30;
}
else if (LoadPSATime.TimeIsUp(50))
{
StaWork.Step = 10;
}
}
else //*****************************************************
{
if (StaWork.State == false && StaWork.IsLoadPSA == false && Gg.GetExDi(0, Gg.InPut1.PSA料仓夹紧气缸伸出) == 1 && Gg.GetExDi(1, Gg.InPut2.PSA料仓到位感应信号) == 1 && Gg.GetExDi(1, Gg.InPut2.PSA载台真空吸检测信号) == 0 &&
(PVar.Sta_Work[(int)BVar.工位.流水线0].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix || PVar.Sta_Work[(int)BVar.工位.流水线2].IsHaveFix))
{
AddList("PSA上料开始！");
StaWork.State = true;
PickUpNumber = 0;
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 30;
}
else if (LoadPSATime.TimeIsUp(50))
{
StaWork.Step = 10;
}
}
break;
case 30:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
AddList("PSA搬运Y轴运动到取料位置！");
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 40;
}
else if (LoadPSATime.TimeIsUp(5000))
{
AddList("PSA吸嘴升降气缸上感应信号异常！");
ShowList("PSA吸嘴升降气缸上感应信号异常！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 40:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴))
{
LoadPSATime.InitialTime();
StaWork.Step = 50;
}
else if (LoadPSATime.TimeIsUp(5000))
{
AddList("PSA搬运Y轴运动超时！");
ShowList("PSA搬运Y轴运动超时！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
break;
case 50:
if (PVar.空跑)
{
AddList("PSA料仓上层感应到物料！");
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
AddList("PSA吸嘴升降气缸下降取料！");
LoadPSATime.InitialTime();
StaWork.Step = 90;
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 1)
{
AddList("PSA料仓上层感应到物料！");
LoadPSATime.InitialTime();
StaWork.Step = 60;
}
else
{
//当前位置已经到达最高处
if (Gg.GetPrfPosmm(0, Axis.PSA供料Z轴) >= mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置])
{
//回到供料初始位置
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA物料用完,运动到初始位置！");
ShowList("PSA物料用完,运动到初始位置！");
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 1000;
}
else
{
//继续顶PSA物料
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA料仓向上顶料！");
LoadPSATime.InitialTime();
StaWork.Step = 60;
}
}
}
break;
case 60:
if (Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 1)
{
gts.GT_Stop(0, 1 << (Axis.PSA供料Z轴 - 1), 0);
AddList("感应到PSA物料，顶料轴停止！");
}
if (Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 0)
{
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA物料用完,运动到初始位置！");
ShowList("PSA物料用完,运动到初始位置！");
LoadPSATime.InitialTime();
StaWork.Step = 1000;
}
else if (Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.GetExDi(1, Gg.InPut2.PSA料仓上层感应) == 1)
{
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
AddList("PSA料仓上层感应到物料！");
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
else if (Gg.ZSPD(0, Axis.PSA供料Z轴) == false && LoadPSATime.TimeIsUp(5000))
{
AddList("PSA供料Z轴运动超时！");
ShowList("PSA供料Z轴运动超时！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
break;
case 70:
if (mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置] - Gg.GetPrfPosmm(0, Axis.PSA供料Z轴) > 2)
{
//2mm/s的速度，按比例向上顶，防止料是倾斜的
Gg.AbsMotion(0, Axis.PSA供料Z轴, Gg.GetPrfPosmm(0, Axis.PSA供料Z轴) + (mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴单片位置] - Gg.GetPrfPosmm(0, Axis.PSA供料Z轴)) * 0.08, 2);
}
PickUpNumber += 1;
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
AddList("PSA吸嘴升降气缸下降取料！");
LoadPSATime.InitialTime();
StaWork.Step = 80;
break;
case 80:
if (Gg.GetExDi(1, Gg.InPut2.搬运PSA真空吸检测信号) == 1)
{
gts.GT_Stop(0, 1 << (Axis.PSA供料Z轴 - 1), 1);
LoadPSATime.InitialTime();
StaWork.Step = 90;
}
else
{
if (Gg.ZSPD(0, Axis.PSA供料Z轴))
{
LoadPSATime.InitialTime();
StaWork.Step = 90;
}
}
break;
case 90:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 1)
{
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 100;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸下降超时！");
ShowList("PSA吸嘴升降气缸下降超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 100:
if (LoadPSATime.TimeIsUp(500))
{
LoadPSATime.InitialTime();
StaWork.Step = 120;
}
break;
case 120:
if (Gg.ZSPD(0, Axis.PSA供料Z轴))
{
AddList("PSA吸嘴升降气缸上升！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 130;
}
break;
case 130:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
LoadPSATime.InitialTime();
StaWork.Step = 140;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸上升超时！");
ShowList("PSA吸嘴升降气缸上升超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 140:
if (LoadPSATime.TimeIsUp(500))
{
if (PVar.空跑)
{
AddList("PSA吸嘴升降气缸上升到位，真空吸OK！");
PickUpNumber = 0;
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴放料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 150;
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.搬运PSA真空吸检测信号) == 1)
{
AddList("PSA吸嘴升降气缸上升到位，真空吸OK！");
PickUpNumber = 0;
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴放料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 150;
}
else
{
if (PickUpNumber > 1)
{
PickUpNumber = 0;
AddList("PSA吸料真空异常,请检查！");
ShowList("PSA吸料真空异常,请检查！");
ErrName = "Foam吸料真空异常,请确认后继续";
LoadPSATime.InitialTime();
StaWork.Step = 6000;
}
else
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
}
}
}
break;
case 150:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴))
{
LoadPSATime.InitialTime();
StaWork.Step = 160;
}
break;
case 160:
if (LoadPSATime.TimeIsUp(100))
{
AddList("吸嘴移动到中转台上方！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 170;
}
break;
case 170: //取料和载具平台很难保证统一平面，这里不判断气缸下信号
if (LoadPSATime.TimeIsUp(1500) && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸下降到位！");
LoadPSATime.InitialTime();
StaWork.Step = 180;
}
break;
case 180:
if (LoadPSATime.TimeIsUp(200))
{
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 190;
}
break;
case 190:
if (LoadPSATime.TimeIsUp(1000))
{
if (PVar.空跑)
{
AddList("PSA载台真空吸检测信号OK！");
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 200;
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.PSA载台真空吸检测信号) == 1)
{
AddList("PSA载台真空吸检测信号OK！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
LoadPSATime.InitialTime();
StaWork.Step = 200;
}
else
{
AddList("PSA载台真空吸检测信号异常，请检查！");
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
ErrName = "Foam承接平台真空异常,请确认后继续";
LoadPSATime.InitialTime();
StaWork.Step = 7000;
}
}
}
break;
case 200:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
LoadPSATime.InitialTime();
StaWork.Step = 210;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸上升超时！");
ShowList("PSA吸嘴升降气缸上升超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 210:
if (LoadPSATime.TimeIsUp(300))
{
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], PVar.ParAxis.Speed[Axis.PSA搬运Y轴]);
LoadPSATime.InitialTime();
StaWork.Step = 220;
}
break;
case 220:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴))
{
StaWork.IsHavePSA = true; //给取PSA信号
LoadPSATime.InitialTime();
StaWork.Step = 300;
}
else if (LoadPSATime.TimeIsUp(5000))
{
AddList("PSA搬运Y轴运动超时！");
ShowList("PSA搬运Y轴运动超时！");
LoadPSATime.InitialTime();
StaWork.Step = 10000;
}
break;
case 300:
LoadPSATime.InitialTime();
StaWork.Step = 310;
break;
case 310:
if (StaWork.IsHavePSA == false)
{
LoadPSATime.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
StaWork.Enable = false;
StaWork.Result = true;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
break;
case 6000:
if (MessageBox.Show(ErrName, "警告", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) != DialogResult.OK)
{
LoadPSATime.InitialTime();
StaWork.Step = 6010;
}
else
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], PVar.ParAxis.Speed[Axis.PSA供料Z轴]);
LoadPSATime.InitialTime();
StaWork.Step = 1000;
}
break;
case 6010:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
else
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 6020;
}
break;
case 6020:
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 1);
LoadPSATime.InitialTime();
StaWork.Step = 70;
}
else if (LoadPSATime.TimeIsUp(3000))
{
AddList("PSA吸嘴升降气缸上升超时！");
ShowList("PSA吸嘴升降气缸上升超时！");
LoadPSATime.InitialTime();
StaWork.Step = 8000;
}
break;
case 7000:
if (MessageBox.Show(ErrName, "警告", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) != DialogResult.OK)
{
LoadPSATime.InitialTime();
StaWork.Step = 160;
}
else
{
LoadPSATime.InitialTime();
StaWork.Step = 10;
}
break;
case 8000:
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
StaWork.Enable = false;
StaWork.Result = false;
StaWork.State = false;
StaWork.Step = 10;
Frm_Engineering.fEngineering.MacStop();
break;
//遇到异常，设备先暂停，确定后处理************************
case 8800:
if (Manual.AutoMotionFlag[3])
{
if (Manual.HoldFlag[3])
{
Manual.HoldFlag[3] = false;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "暂停";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.BurlyWood;
ShowList("运动已继续");
}
else
{
Manual.HoldFlag[3] = true;
Frm_Engineering.fEngineering.CmdHoldPress.Text = "继续";
Frm_Engineering.fEngineering.CmdHoldPress.BackColor = Color.Red;
ShowList("运动已暂停");
}
}
else
{
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;
//严重错误，急停处理
case 10000:
Frm_Engineering.fEngineering.MacStop();
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);
}
}
public static void AutoRun(ref PVar.WorkType StaWork)
{
try
{
switch (StaWork.Step)
{
case 10:
if (PVar.Stop_Flag == false)
{
StaWork.IsHaveFix = false;
StaWork.Result = false;
StaWork.State = false;
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Line0Time.InitialTime();
StaWork.Step = 20;
}
break;
case 20:
if (PVar.空跑)
{
if (StaWork.State == false && Gg.GetExDi(1, Gg.InPut2.流水线对射感应1) == 0 && Linechange.LineIN() == 0)
{
//启动触发，载具感应触发，防呆无触发，说明有载具
AddList("启动开始！");
StaWork.State = true;
StaWork.IsHaveFix = true; //入口有载具
Line0Time.InitialTime();
StaWork.Step = 30;
}
}
else //******************************************************
{
if (StaWork.State == false && Gg.GetDi(0, Gg.InPut0.启动按钮) == 1 && Gg.GetExDi(1, Gg.InPut2.流水线对射感应1) == 1 && Linechange.LineIN() == 0)
{
//启动触发，载具感应触发，防呆无触发，说明有载具
AddList("启动开始！");
StaWork.State = true;
StaWork.IsHaveFix = true; //入口有载具
Line0Time.InitialTime();
StaWork.Step = 30;
}
}
break;
case 30:
if (PVar.空跑)
{
if (PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix == false && PVar.Stop_Flag == false && Gg.GetExDi(1, Gg.InPut2.流水线对射感应2) == 0 &&
Gg.GetExDi(1, Gg.InPut2.流水线对射感应3) == 0 && PVar.Sta_Work[(int)BVar.工位.流水线1].State == false)
{
StaWork.IsHaveFix = false; //本站载具标志复位
AddList("载具开始放行，等待流水线1接收!");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 0);
Linechange.SetMotor1(true, PVar.ParList.Data[43]);
Line0Time.InitialTime();
StaWork.Step = 40;
}
else
{
if (PVar.Stop_Flag)
{
StaWork.State = false;
Line0Time.InitialTime();
StaWork.Step = 10;
}
}
}
else //*******************************************
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应1) == 0 || Linechange.LineIN() == 1)
{
AddList("载具感性信号异常，重新启动");
PVar.Sta_Work[0].IsHaveFix = false;
Line0Time.InitialTime();
StaWork.Step = 10;
return;
}
//等待放行*****************************
if (PVar.Stop_Flag == false && Gg.GetExDi(1, Gg.InPut2.流水线对射感应2) == 0 &&
Gg.GetExDi(1, Gg.InPut2.流水线对射感应3) == 0 && PVar.Sta_Work[(int)BVar.工位.流水线1].State == false)
{
StaWork.IsHaveFix = false; //本站载具标志复位
AddList("载具开始放行，等待流水线1接收!");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 0);
Linechange.SetMotor1(true, PVar.ParList.Data[43]);
Line0Time.InitialTime();
StaWork.Step = 40;
}
}
break;
case 40:
if (PVar.空跑)
{
if (Line0Time.TimeIsUp(1000))
{
AddList("载具开始放行完成！");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Line0Time.InitialTime();
StaWork.Step = 50;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应1) == 0)
{
AddList("载具开始放行完成！");
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Line0Time.InitialTime();
StaWork.Step = 50;
}
}
break;
case 50:
if (PVar.空跑)
{
if (Line0Time.TimeIsUp(1000))
{
AddList("流水线对射感应2触发！");
AddList("流水线1开始减速！");
Linechange.SetMotor1(true, 10);
Line0Time.InitialTime();
StaWork.Step = 60;
}
}
else //********************************************
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应2) == 1)
{
AddList("流水线对射感应2触发！");
Linechange.SetMotor1(true, 10);
Line0Time.InitialTime();
StaWork.Step = 60;
}
}
break;
case 60:
if (PVar.空跑)
{
if (Line0Time.TimeIsUp(1000))
{
AddList("载具到达流水线1！");
Linechange.SetMotor1(true, 5);
Line0Time.InitialTime();
StaWork.Step = 70;
}
}
else
{
if (Gg.GetExDi(1, Gg.InPut2.流水线对射感应3) == 1)
{
AddList("载具到达流水线1！");
Line0Time.InitialTime();
StaWork.Step = 70;
}
}
break;
case 70:
if (Line0Time.TimeIsUp(200))
{
PVar.Sta_Work[(int)BVar.工位.流水线1].IsHaveFix = true;
AddList("流水线1电机关闭！");
Linechange.SetMotor1(false, 0);
Line0Time.InitialTime();
StaWork.Step = 80;
}
break;
case 80:
AddList("确认按钮是否松开？");
Line0Time.InitialTime();
StaWork.Step = 100;
break;
case 100:
if (Gg.GetDi(0, Gg.InPut0.启动按钮) == 0)
{
AddList("按钮松开！");
Line0Time.InitialTime();
StaWork.Step = 800;
}
break;
case 800:
Manual.AutoMotionFlag[0] = false;
StaWork.Enable = false;
StaWork.State = false;
StaWork.Step = 10;
break;
case 1000:
Manual.AutoMotionFlag[0] = false;
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:
if (Manual.AutoMotionFlag[0])
{
if (Manual.HoldFlag[0])
{
Manual.HoldFlag[0] = false;
Frm_Engineering.fEngineering.CmdHoldS0.Text = "暂停";
Frm_Engineering.fEngineering.CmdHoldS0.BackColor = Color.BurlyWood;
ShowList("运动已继续");
}
else
{
Manual.HoldFlag[0] = true;
Frm_Engineering.fEngineering.CmdHoldS0.Text = "继续";
Frm_Engineering.fEngineering.CmdHoldS0.BackColor = Color.Red;
ShowList("运动已暂停");
}
}
else
{
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;
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);
}
}