public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName));
AxisLoadPNPY = ThisAxis(EnumAxisName.LoadPNPY); AxisLoadPNPY.AddPoints(typeof(EnumPointY));
AxisLoadPNPZ = ThisAxis(EnumAxisName.LoadPNPZ); AxisLoadPNPZ.AddPoints(typeof(EnumPointZ));
NGBoxFullSensor = ThisInport(EnumInportName.LoadPNPNGBoxFull);
NGBoxSensor = ThisInport(EnumInportName.LoadPNPNGBox);
PNPCylinder.Add(EnumCellIndex.左电芯, new CylinderControl(/*"左电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.LoadPNPCyLeftDown),
ThisOutport(EnumOutportName.LoadPNPCyLeftUp),
ThisInport(EnumInportName.LoadPNPCyLeftDown),
ThisInport(EnumInportName.LoadPNPCyLeftUp)));
PNPCylinder.Add(EnumCellIndex.中电芯, new CylinderControl(/*"中电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.LoadPNPCyMidDown),
ThisOutport(EnumOutportName.LoadPNPCyMidUp),
ThisInport(EnumInportName.LoadPNPCyMidDown),
ThisInport(EnumInportName.LoadPNPCyMidUp)));
PNPCylinder.Add(EnumCellIndex.右电芯, new CylinderControl(/*"右电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.LoadPNPCyRightDown),
ThisOutport(EnumOutportName.LoadPNPCyRightUp),
ThisInport(EnumInportName.LoadPNPCyRightDown),
ThisInport(EnumInportName.LoadPNPCyRightUp)));
CellVacuums[EnumCellIndex.左电芯].MainPort.Port =
ThisOutport(EnumOutportName.LoadPNPVacLeft);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacLeftBack);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacLeftCent);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacLeftFront);
CellVacuums[EnumCellIndex.中电芯].MainPort.Port =
ThisOutport(EnumOutportName.LoadPNPVacMid);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacMidBack);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacMidCent);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacMidFront);
CellVacuums[EnumCellIndex.右电芯].MainPort.Port =
ThisOutport(EnumOutportName.LoadPNPVacRight);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacRightBack);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacRightCent);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacRightFront);
CellBlow[EnumCellIndex.左电芯].Port = ThisOutport(EnumOutportName.LoadPNPBlowLeft);
CellBlow[EnumCellIndex.中电芯].Port = ThisOutport(EnumOutportName.LoadPNPBlowMid);
CellBlow[EnumCellIndex.右电芯].Port = ThisOutport(EnumOutportName.LoadPNPBlowRight);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.LoadPNPVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.LoadPNPVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.LoadPNPVacSensRight);
ZoneSettingPanel = new SettingPanelZone上料机械手();
ZoneManualPanel = new ManualPanelZone上料机械手();
DoUpdateNGBox();
ProductChangeHandler(null, null);
}
public ErrorInfoWithPause ActionLoadPNPStartPlace(CallBackCommonFunc ActionPlace, CallBackCommonFunc AfterActionPlace)
{
ErrorInfoWithPause res;
//Check vacuum
res = CheckVacuumStatus();
if (res != null)
{
return(res);
}
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Place, true, ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean + 1))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Place);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Place);
if (res != null)
{
return(res);
}
}
//Start placing
if (ActionPlace != null)
{
ActionPlace();
}
//PNP Z up
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
//if (!ClassCommonSetting.CheckTimeOut(() => MotorSafetyCheck.GreaterThanPosition(AxisLoadPNPZ, EnumPointZ.Idle, -5)))
// return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
//Close air
AirControl((LoadPNPDataStations[EnumCellIndex.左电芯].CellData != null && LoadPNPDataStations[EnumCellIndex.左电芯].CellData.LoadNG) ? EnumAirControl.Vacuum : EnumAirControl.Close,
(LoadPNPDataStations[EnumCellIndex.中电芯].CellData != null && LoadPNPDataStations[EnumCellIndex.中电芯].CellData.LoadNG) ? EnumAirControl.Vacuum : EnumAirControl.Close,
(LoadPNPDataStations[EnumCellIndex.右电芯].CellData != null && LoadPNPDataStations[EnumCellIndex.右电芯].CellData.LoadNG) ? EnumAirControl.Vacuum : EnumAirControl.Close);
//PNP Y move away
while (!AxisLoadPNPY.MoveTo(EnumPointY.Pick, false))
//return DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
{
res = DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
if (res != null)
{
return(res);
}
}
if (AfterActionPlace != null)
{
AfterActionPlace();
}
return(null);
}
/// <summary>
/// PNP电机移到到指定位置
/// </summary>
/// <param name="action"></param>
public ErrorInfoWithPause ActionMove(EnumPointY action)
{
ErrorInfoWithPause res = null;
string temp = "";
while (true)
{
temp = "";
PNPCylinder[EnumCellIndex.左电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.中电芯].SetCylinderState(CYLIND_UP, 0, false);
PNPCylinder[EnumCellIndex.右电芯].SetCylinderState(CYLIND_UP, 0, false);
if (!PNPCylinder[EnumCellIndex.左电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 左气缸";
}
if (!PNPCylinder[EnumCellIndex.中电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 中气缸";
}
if (!PNPCylinder[EnumCellIndex.右电芯].WaitCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
temp = " 右气缸";
}
if (temp != "") //return new ErrorInfoWithPause("气缸上移超时错:" + temp, ErrorLevel.Error);
{
res = WaitAlarmPause("上料PNP移动", "气缸上移超时错: " + temp);
if (res != null)
{
return(res);
}
}
else
{
break;
}
}
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
while (!AxisLoadPNPY.MoveTo(action))
//return DispMotionError(AxisLoadPNPY, action);
{
res = DispMotionError(AxisLoadPNPY, action);
if (res != null)
{
return(res);
}
}
return(null);
}
public ErrorInfoWithPause ActionLoadPNPStartPick(CallBackCommonFunc ActionPick, CallBackCommonFunc AfterActionPick)
{
ErrorInfoWithPause res = null;
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Pick, true, ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean - 1))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Pick);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Pick);
if (res != null)
{
return(res);
}
}
//Start picking
if (ActionPick != null)
{
ActionPick();
}
//PNP Z up
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
//TimeClass.Delay(500);
if (AfterActionPick != null)
{
AfterActionPick();
}
//Check vacuum
res = CheckVacuumStatus();
return(res);
}
public ErrorInfoWithPause ActionLoadPNPStartPlaceNG(CallBackCommonFunc AfterActionPlaceNG)
{
ErrorInfoWithPause res;
bool NeedCylinderDown;
for (int i = 0; i < CELLCOUNT; i++)
{
if (LoadPNPDataStations[i].CellData != null && LoadPNPDataStations[i].CellData.LoadNG)
{
NGBoxCellCount[i]++;
NeedCylinderDown = CheckIfNeedCylinder(NGBoxCellCount[i]);
if (NeedCylinderDown)
{
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.PlaceNG, true, 1 + NGBoxCellCount[i] * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
if (res != null)
{
return(res);
}
}
//Cylinder down
if (!PNPCylinder[i].SetCylinderState(CYLIND_DOWN, ClassErrorHandle.TIMEOUT))
{
return(new ErrorInfoWithPause("上料PNP气缸下移超时错。", ErrorLevel.Error));
}
}
else
{
//PNP Z down
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.PlaceNG, true, -100 + 1 + GetMaxCount() * ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellThickness.Mean))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.PlaceNG);
if (res != null)
{
return(res);
}
}
}
//Open blow
AirControl((EnumCellIndex)i, EnumAirControl.Blow);
//Delay
System.Threading.Thread.Sleep(ClassCommonSetting.SysParam.VacuumDelayTime);
//Cylinder up
while (!PNPCylinder[i].SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
//return new ErrorInfoWithPause("上料PNP气缸上移超时错。", ErrorLevel.Error);
{
res = WaitAlarmPause("上料PNP放NG料", "上料PNP气缸上移超时错");
if (res != null)
{
return(res);
}
}
//Close blow
AirControl((EnumCellIndex)i, EnumAirControl.Close);
}
}
//PNP Z up
while (!AxisLoadPNPZ.MoveTo(EnumPointZ.Idle))
//return DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
{
res = DispMotionError(AxisLoadPNPZ, EnumPointZ.Idle);
if (res != null)
{
return(res);
}
}
DoUpdateNGBox();
NGBoxFullErrorHandler("NGBox", "", ErrorDialogResult.OK);
//PNP Y move away
while (!AxisLoadPNPY.MoveTo(EnumPointY.Pick))
//return DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
{
res = DispMotionError(AxisLoadPNPY, EnumPointY.Pick);
if (res != null)
{
return(res);
}
}
if (AfterActionPlaceNG != null)
{
AfterActionPlaceNG();
}
return(null);
}
