public ErrorInfoWithPause CheckLoadin()
{
ErrorInfoWithPause res = null;
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
if (ThisInport(EnumInportName.LoadInConvInPosRight).status || LoadInDataStations[0].CellData != null)
{
ClassCommonSetting.CheckTimeOut(() =>
{
res = CheckLoadSensor();
return(res == null);
});
}
}
//for (int i = 0; i < 50; i++)
//{
// System.Windows.Forms.Application.DoEvents();
// res = CheckLoadSensor();
// if (res != null)
// {
// System.Threading.Thread.Sleep(20);
// }
// else
// break;
//}
return(res);
}
public ErrorInfoWithPause CheckVacuumStatus()
{
bool left = SortNGDataStations[EnumCellIndex.左电芯].CellData != null;
bool middle = SortNGDataStations[EnumCellIndex.中电芯].CellData != null;
bool right = SortNGDataStations[EnumCellIndex.右电芯].CellData != null;
string res = "";
res = ClassCommonSetting.CheckTimeOut(() =>
{
string vac = "";
if (left)
{
vac += CheckVacuumStatus(EnumCellIndex.左电芯);
}
if (middle)
{
vac += CheckVacuumStatus(EnumCellIndex.中电芯);
}
if (right)
{
vac += CheckVacuumStatus(EnumCellIndex.右电芯);
}
return(vac);
});
if (res != "")
{
return(new ErrorInfoWithPause("NG挑选PNP真空错误:" + res, ErrorLevel.Alarm, true));
}
else
{
return(null);
}
}
public ErrorInfoWithPause MeasPicture(bool isStandard, string path = "")
{
ErrorInfoWithPause res = null;
MeasDone[3] = false;
ClassCommonSetting.SocketToAOI.SendCommandMeas(isStandard, path);
if (!ClassCommonSetting.CheckTimeOut(() => { return(MeasDone[3]); }))
{
res = new ErrorInfoWithPause("图像检测超时错。", ErrorLevel.Alarm);
}
return(res);
}
private bool AxisLoadPNPY_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisLoadPNPY = zones.WorkZone上料机械手.AxisLoadPNPY;
CAxisBase AxisLoadPNPZ = zones.WorkZone上料机械手.AxisLoadPNPZ;
CAxisBase AxisTransPNPX = zones.WorkZone传送机械手.AxisTransPNPX;
if (!IsHome)
{
if (!CheckMotorStatus(AxisLoadPNPY, AxisLoadPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadPNPY, AxisTransPNPX))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadPNPY, AxisLoadPNPY))
{
return(false);
}
if (IgnoreSmallStep(AxisLoadPNPY, TargetPos))
{
return(true);
}
}
//Z position is lower than Idle point.
if (!ClassCommonSetting.CheckTimeOut(() => GreaterThanPosition(AxisLoadPNPZ, ClassZone上料机械手.EnumPointZ.Idle, -5)))
{
ErrorStr = "上料PNPZ电机低于Idle位置5mm。";
ShowMotorError(AxisLoadPNPY, ErrorStr);
return(false);
}
//Cylinders are not at up position.
if (!zones.WorkZone上料机械手.ThisInport(ClassZone上料机械手.EnumInportName.LoadPNPCyLeftUp).status ||
!zones.WorkZone上料机械手.ThisInport(ClassZone上料机械手.EnumInportName.LoadPNPCyMidUp).status ||
!zones.WorkZone上料机械手.ThisInport(ClassZone上料机械手.EnumInportName.LoadPNPCyRightUp).status)
{
ErrorStr = "上料PNP有气缸不在上位。";
ShowMotorError(AxisLoadPNPY, ErrorStr);
return(false);
}
//Move to place point but TransPNP is at block position.
if (GreaterThanPosition(AxisLoadPNPY, TargetPos, ClassZone上料机械手.EnumPointY.SafeLimit, 0) && !ClassCommonSetting.CheckTimeOut(() =>
GreaterThanPosition(AxisTransPNPX, ClassZone传送机械手.EnumPointPNPX.SafeLimit, 0)))
{
ErrorStr = "传送PNP位置阻挡上料PNPY移到Place位置。";
ShowMotorError(AxisLoadPNPY, ErrorStr);
return(false);
}
return(true);
}
public ErrorInfoWithPause SnapShot(int index, string barcode, string path = "")
{
ErrorInfoWithPause res = null;
_camTrigFinish[index] = false;
MeasDone[index] = false;
BufferDatas[index] = CCDMeasDataStations[index].CellData;
ClassCommonSetting.SocketToAOI.SendCommandCamTrig(index + 1, barcode, path);
if (!ClassCommonSetting.CheckTimeOut(() => { return(_camTrigFinish[index]); }))
{
res = new ErrorInfoWithPause("抓取图像超时错。", ErrorLevel.Error);
}
return(res);
}
public string CheckVacuumStatus()
{
bool loadleft = TransLoadDataStations[EnumCellIndex.左电芯].CellData != null;
bool loadmiddle = TransLoadDataStations[EnumCellIndex.中电芯].CellData != null;
bool loadright = TransLoadDataStations[EnumCellIndex.右电芯].CellData != null;
bool unloadleft = TransUnloadDataStations[EnumCellIndex.左电芯].CellData != null;
bool unloadmiddle = TransUnloadDataStations[EnumCellIndex.中电芯].CellData != null;
bool unloadright = TransUnloadDataStations[EnumCellIndex.右电芯].CellData != null;
string res = "";
res = ClassCommonSetting.CheckTimeOut(() =>
{
string vac = "";
if (loadleft)
{
vac += CheckLoadVacuumStatus(EnumCellIndex.左电芯);
}
if (loadmiddle)
{
vac += CheckLoadVacuumStatus(EnumCellIndex.中电芯);
}
if (loadright)
{
vac += CheckLoadVacuumStatus(EnumCellIndex.右电芯);
}
if (unloadleft)
{
vac += CheckUnloadVacuumStatus(EnumCellIndex.左电芯);
}
if (unloadmiddle)
{
vac += CheckUnloadVacuumStatus(EnumCellIndex.中电芯);
}
if (unloadright)
{
vac += CheckUnloadVacuumStatus(EnumCellIndex.右电芯);
}
return(vac);
});
if (res != "")
{
return("传送PNP真空错误:" + res);
}
else
{
return("");
}
}
private bool AxisSortingPNPY_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisSortingPNPY = zones.WorkZoneNG挑选机械手.AxisSortingPNPY;
CAxisBase AxisSortingPNPZ = zones.WorkZoneNG挑选机械手.AxisSortingPNPZ;
if (!IsHome)
{
if (!CheckMotorStatus(AxisSortingPNPY, AxisSortingPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisSortingPNPY, AxisSortingPNPY))
{
return(false);
}
if (IgnoreSmallStep(AxisSortingPNPY, TargetPos))
{
return(true);
}
}
//Z position is lower than Up point.
if (!ClassCommonSetting.CheckTimeOut(() => GreaterThanPosition(AxisSortingPNPZ, ClassZoneNG挑选机械手.EnumPointPNPZ.Up, -5)))
{
ErrorStr = "NG挑选PNPZ电机低于Up位置5mm。";
ShowMotorError(AxisSortingPNPY, ErrorStr);
return(false);
}
//Cylinders are not at up position.
if (!zones.WorkZoneNG挑选机械手.ThisInport(ClassZoneNG挑选机械手.EnumInportName.SortingPNPCyLeftUp).status ||
!zones.WorkZoneNG挑选机械手.ThisInport(ClassZoneNG挑选机械手.EnumInportName.SortingPNPCyMidUp).status ||
!zones.WorkZoneNG挑选机械手.ThisInport(ClassZoneNG挑选机械手.EnumInportName.SortingPNPCyRightUp).status)
{
ErrorStr = "NG挑选PNP气缸不在上位。";
ShowMotorError(AxisSortingPNPY, ErrorStr);
return(false);
}
return(true);
}
private bool AxisTransPNPX_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisTransPNPX = zones.WorkZone传送机械手.AxisTransPNPX;
CAxisBase AxisLoadPNPY = zones.WorkZone上料机械手.AxisLoadPNPY;
//CAxisBase AxisUnloadPNPY = zones.WorkZone下料机械手.AxisUnloadPNPY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisTransPNPX, AxisTransPNPX))
{
return(false);
}
if (!CheckMotorStatus(AxisTransPNPX, AxisLoadPNPY))
{
return(false);
}
//if (!CheckMotorStatus(AxisTransPNPX, AxisUnloadPNPY)) return false;
if (IgnoreSmallStep(AxisTransPNPX, TargetPos))
{
return(true);
}
}
//传送PNP气缸不在上位
if (!zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
System.Threading.Thread.Sleep(100);
if (!zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
ErrorStr = "传送PNP气缸不在上位。";
ShowMotorError(AxisTransPNPX, ErrorStr);
return(false);
}
}
//上料时上料PNP在Place位置
if (LessThanPosition(AxisTransPNPX, TargetPos, ClassZone传送机械手.EnumPointPNPX.SafeLimit, 0) && !ClassCommonSetting.CheckTimeOut(() =>
LessThanPosition(AxisLoadPNPY, ClassZone上料机械手.EnumPointY.SafeLimit, 0)))
{
ErrorStr = "上料PNPY阻挡传送PNPX移到Load位置。";
ShowMotorError(AxisTransPNPX, ErrorStr);
return(false);
}
////下料时下料PNP在Pick位置
//if (!GreaterThanPosition(AxisTransPNPX, TargetPos, ClassZone传送机械手.EnumPointPNPX.Unload, -15) &&
// GreaterThanPosition(AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Pick, -15))
//{
// ShowMotorError(AxisTransPNPX, "下料PNPY阻挡传送PNPX移到Unload位置。");
// return false;
//}
return(true);
}
private bool AxisUnloadOutConveyor_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisUnloadOutConveyor = zones.WorkZone下料传送.AxisUnloadOutConveyor;
CAxisBase AxisSortingPNPZ = zones.WorkZoneNG挑选机械手.AxisSortingPNPZ;
CAxisBase AxisSortingPNPY = zones.WorkZoneNG挑选机械手.AxisSortingPNPY;
CAxisBase AxisUnloadPNPY = zones.WorkZone下料机械手.AxisUnloadPNPY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisUnloadPNPY))
{
return(false);
}
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisSortingPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisSortingPNPY))
{
return(false);
}
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisUnloadOutConveyor))
{
return(false);
}
if (IgnoreSmallStep(AxisUnloadOutConveyor, TargetPos))
{
return(true);
}
}
//Sorting PNP Y is at pick position and Z position is lower than Up point.
if (InPositionRange(AxisSortingPNPY, ClassZoneNG挑选机械手.EnumPointPNPY.Pick) && !ClassCommonSetting.CheckTimeOut(() =>
GreaterThanPosition(AxisSortingPNPZ, ClassZoneNG挑选机械手.EnumPointPNPZ.Up, -5)))
{
ErrorStr = "NG挑选PNP在Pick位置，但是Z电机低于Up位置5mm。";
ShowMotorError(AxisUnloadOutConveyor, ErrorStr);
return(false);
}
//Unload PNP Y is at place position and cylinder is not at up position.
if (InPositionRange(AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Place) &&
!zones.WorkZone下料机械手.ThisInport(ClassZone下料机械手.EnumInportName.UnloadPNPCyUp).status)
{
ErrorStr = "下料PNP气缸不在上位。";
ShowMotorError(AxisUnloadOutConveyor, ErrorStr);
return(false);
}
////Unload position has part
//if (zones.WorkZone下料传送.ThisInport(ClassZone下料传送.EnumInportName.UnloadOutUnload).status)
//{
// ErrorStr = "右边下料传感器检测有物料。";
// ShowMotorError(AxisUnloadOutConveyor, ErrorStr);
// return false;
//}
return(true);
}
private bool AxisLoadInConveyor_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisLoadInConveyor = zones.WorkZone上料传送.AxisLoadInConveyor;
CAxisBase AxisLoadPNPZ = zones.WorkZone上料机械手.AxisLoadPNPZ;
CAxisBase AxisLoadPNPY = zones.WorkZone上料机械手.AxisLoadPNPY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisLoadInConveyor, AxisLoadPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadInConveyor, AxisLoadPNPY))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadInConveyor, AxisLoadInConveyor))
{
return(false);
}
if (IgnoreSmallStep(AxisLoadInConveyor, TargetPos))
{
return(true);
}
}
//Load PNP Y is at Pick point and Z position is lower than Idle point.
if (InPositionRange(AxisLoadPNPY, ClassZone上料机械手.EnumPointY.Pick, 0, 15) && !ClassCommonSetting.CheckTimeOut(() =>
GreaterThanPosition(AxisLoadPNPZ, ClassZone上料机械手.EnumPointZ.Idle, -5)))
{
ErrorStr = "上料PNP位于Pick位置，但是Z电机低于Idle位置5mm。";
ShowMotorError(AxisLoadInConveyor, ErrorStr);
return(false);
}
if (TargetPos > AxisLoadInConveyor.CurrentPosition)
{
//InPosition has part
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑 && zones.WorkZone上料传送.ThisInport(ClassZone上料传送.EnumInportName.LoadInConvInPosRight).status)
{
ErrorStr = "右边到位传感器检测有物料。";
ShowMotorError(AxisLoadInConveyor, ErrorStr);
return(false);
}
}
return(true);
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
if (message != "")
{
ClassBaseWorkZone.HandleVacuumFailCell("下料机械手", UnloadZone.UnloadPNPDataStations.ToArray());
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
ClassWorkZones.Instance.WorkZone尺寸测量.CCDMeasDataStations[i].TransferFrom(ClassWorkZones.Instance.WorkZone下料机械手.UnloadPNPDataStations[i]);
}
}
res = UnloadZone.ActionUnloadPNPStartPick(ClassWorkZones.Instance.DoLoadOutPNPPick, ClassWorkZones.Instance.AfterLoadOutPNPPick);
if (res == null)
{
//while (!UnloadZone.AxisUnloadPNPY.MoveTo(ClassZone下料机械手.EnumPoint.Place, false))
//{
// if (UnloadZone.DispMotionError(UnloadZone.AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Place) != null)
// return;
//}
///////同步调用测量工作区域X电机回到GetPart位置
res = ClassWorkZones.Instance.WorkZone尺寸测量.ActionToGetPart(false);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
///////异步调用测量工作区域X电机回到GetPart位置
//ClassWorkZones.Instance.WorkZone尺寸测量.AsyncActionMotorMove(ClassWorkZones.Instance.WorkZone尺寸测量.AxisOutlineMeasX,
// ClassZone尺寸测量.EnumPointX.GetPart);
res = UnloadZone.ActionMove(ClassZone下料机械手.EnumPoint.Place, false);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
#region CCD All finish
if (!ClassCommonSetting.CheckTimeOut(() => { return(ClassWorkZones.Instance.WorkZone尺寸测量.isCCDAllFinish); }))
{
string cell = "";
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
if (!ClassWorkZones.Instance.WorkZone尺寸测量.MeasDone[i])
{
cell += " " + ((EnumCellIndex)i).ToString();
}
}
ClassErrorHandle.ShowError(source, "图像检测数据没有全部返回:" + cell, ErrorLevel.Notice);
}
#endregion CCD All finish
}
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("UnloadPNPPickFinish");
if (_afterMeasCallBack != null)
{
_afterMeasCallBack.BeginInvoke(CallBackAsyncReturn, _afterMeasCallBack);
}
//ClassWorkZones.Instance.WorkZone尺寸测量.AxisOutlineMeasX.WaitStop(ClassErrorHandle.TIMEOUT);
ClassWorkZones.Instance.WorkZone尺寸测量.IsWorkFree = true;
DoneReturn("CCDMotorBackToGetPart");
}
else
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
}
}