protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
TaskManager.Default.FindTask("皮带流程").Start();
LG.ImmediateStepNext(2);
break;
case 2:
if (TaskManager.Default.FindTask("皮带流程").Status)
{
TaskManager.Default.FindTask("左打磨平台").Start();
TaskManager.Default.FindTask("右打磨平台").Start();
TaskManager.Default.FindTask("右焊锡平台").Start();
TaskManager.Default.FindTask("左焊锡平台").Start();
LG.ImmediateStepNext(3);
}
break;
case 3:
if (
TaskManager.Default.FindTask("左打磨平台").Status &&
TaskManager.Default.FindTask("右打磨平台").Status &&
TaskManager.Default.FindTask("右焊锡平台").Status &&
TaskManager.Default.FindTask("左焊锡平台").Status
)
{
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
if (TaskManager.Default.FSM.MODE == 1 && LG.Delay(2000))
{
LG.ImmediateStepNext(1);
}
else
{
LG.End();
TaskManager.Default.FSM.Change(FSMStaDef.STOP);
}
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1: //z抬高到翻转位置
if (DeviceRsDef.Axis_Z5.status == 0)
{
DeviceRsDef.Axis_Z5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.ReversZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XR到达工作的位置
if (DeviceRsDef.Axis_Z5.status == 0)
{
DeviceRsDef.Axis_X5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.WorkPos.X);
DeviceRsDef.Axis_R5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.WorkPos.R);
LG.ImmediateStepNext(3);
}
break;
case 3: //Z到达工作的位置
if (DeviceRsDef.Axis_X5.status == 0 && DeviceRsDef.Axis_R5.status == 0)
{
DeviceRsDef.Axis_Z5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.WorkPos.Z);
LG.ImmediateStepNext(4);
}
break;
case 4: //夹紧气缸打开
if (DeviceRsDef.Axis_Z5.status == 0)
{
DeviceRsDef.Q_BeforeTurnCyl.Value = true;
LG.ImmediateStepNext(5);
}
break;
case 5: //Z轴到翻转位置
if (LG.Delay(50) && DeviceRsDef.I_BeforeTurnCylClosed.value)
{
DeviceRsDef.Axis_Z5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.ReversZ);
LG.ImmediateStepNext(6);
}
break;
case 6: //R轴旋转
if (DeviceRsDef.I_BeforeTurnCylClosed.value && DeviceRsDef.Axis_Z5.status == 0)
{
DeviceRsDef.Axis_R5.MC_MoveSpd(1);
LG.ImmediateStepNext(7);
}
break;
case 7: //转到180度停止R
if (DeviceRsDef.I_BeforeTurnCylClosed.value && DeviceRsDef.I_TurnCyl180.value)
{
DeviceRsDef.Axis_R5.MC_Stop();
LG.ImmediateStepNext(8);
}
break;
case 8: //Z轴下降到工作位置
if (DeviceRsDef.I_BeforeTurnCylClosed.value && DeviceRsDef.I_TurnCyl180.value && DeviceRsDef.Axis_R5.status == 0)
{
DeviceRsDef.Axis_Z5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.WorkPos.Z);
LG.ImmediateStepNext(9);
}
break;
case 9: //夹紧气缸打开
if (DeviceRsDef.I_BeforeTurnCylClosed.value && DeviceRsDef.I_TurnCyl180.value && DeviceRsDef.Axis_Z5.status == 0)
{
DeviceRsDef.Q_BeforeTurnCyl.Value = false;
LG.ImmediateStepNext(11);
}
break;
case 11: //Z轴回到翻转位
if (LG.Delay(50))
{
DeviceRsDef.Axis_Z5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.ReversZ);
LG.ImmediateStepNext(12);
}
break;
case 12: //R轴回零度
if (LG.Delay(50) && DeviceRsDef.Axis_Z5.status == 0)
{
DeviceRsDef.Axis_R5.MC_MoveSpd(-1);
LG.ImmediateStepNext(13);
}
break;
case 13: //回零到位
if (DeviceRsDef.I_TurnCyl.value)
{
DeviceRsDef.Axis_R5.MC_Stop();
LG.ImmediateStepNext(14);
}
break;
case 14: //XZ到结束位置
if (DeviceRsDef.Axis_R5.status == 0)
{
DeviceRsDef.Axis_Z5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.EndPos.Z);
DeviceRsDef.Axis_X5.MC_MoveAbs(ProjectData.Instance.SaveData.ReverseData.EndPos.X);
LG.ImmediateStepNext(15);
}
break;
case 15: //结束
if (DeviceRsDef.Axis_X5.status == 0 && DeviceRsDef.Axis_Z5.status == 0)
{
LG.ImmediateStepNext(0xef);
ProjectData.Instance.SaveData.processdata.PlatformData[4].Isreversed = true;
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
for (int i = 0; i < 60; i++)
{
//板卡输出去使能
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
DeviceRsDef.MotionCard1.MotionFun.OutputOFF(i);
}
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++) //轴停止
{
DeviceRsDef.AxisList[i].MC_Stop();
}
LogicMission.BeltFeedFun.FromReset = true;
MachineAlarm.ClearAlarm(); //清除报警
LG.ImmediateStepNext(10);
break;
case 10:
if (LG.Delay(2000))
{
//ZR轴回零
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
DeviceRsDef.Axis_Z3.MC_Home();
DeviceRsDef.Axis_Z4.MC_Home();
//DeviceRsDef.Axis_Z5.MC_Home();
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_R3.MC_Home();
DeviceRsDef.Axis_R4.MC_Home();
LG.ImmediateStepNext(2);
}
break;
case 2:
if (Axis.allaixsarrive())
{
DeviceRsDef.Axis_X1.MC_Home();
DeviceRsDef.Axis_X2.MC_Home();
DeviceRsDef.Axis_X3.MC_Home();
DeviceRsDef.Axis_X4.MC_Home();
//DeviceRsDef.Axis_X5.MC_Home();
DeviceRsDef.Axis_Y1.MC_Home();
DeviceRsDef.Axis_Y2.MC_Home();
DeviceRsDef.Axis_Y3.MC_Home();
DeviceRsDef.Axis_Y4.MC_Home();
//DeviceRsDef.Axis_R5.MC_Home();
//DeviceRsDef.Axis_X5.MC_Home();
DeviceRsDef.Axis_Belt.MC_Home();
LG.ImmediateStepNext(3);
}
break;
case 3:
if (Axis.allaixsarrive())
{
for (int i = 0; i < 2; i++)
{
Axis.PolishX[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.X);
Axis.PolishY[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.Y);
Axis.PolishZ[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.Z);
Axis.PolishR[i].MC_MoveAbs(ProjectData.Instance.SaveData.PolishPlatform[i].ResetPos.R);
}
for (int i = 0; i < 2; i++)
{
Axis.SolderX[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.X);
Axis.SolderY[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.Y);
Axis.SolderZ[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.Z);
Axis.SolderR[i].MC_MoveAbs(ProjectData.Instance.SaveData.SolderPlatform[i].ResetPos.R);
}
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
if (Axis.allaixsarrive())
{
LG.End();
TaskManager.Default.FSM.Change(FSMStaDef.STOP);
}
break;
}
}
protected override void LogicImpl()
{
var Para = Database.AllData.Data.Beltdata;
switch (LG.Step)
{
case 1:
DeviceRsDef.Q_Rise.OFF(); //顶升气缸不顶升
DeviceRsDef.Q_StopBlock.OFF(); //阻挡气缸不下降
if (DeviceRsDef.I_StopBlockUp.Value && DeviceRsDef.I_RiseDown.Value) //顶升气缸下限和阻挡气缸上限感应到
{
LG.StepNext(2);
}
break;
case 2:
DeviceRsDef.Axis_BeltFeed.MC_MoveSpd(10); //中间皮带运行
DeviceRsDef.Axis_BeltPreFeed.MC_MoveSpd(10); //左侧皮带运行
LG.StepNext(3);
break;
case 3:
if (fun.F_Trig(DeviceRsDef.I_BeltPreFeedOut.Value)) //载具已经脱离左侧皮带
{
DeviceRsDef.Axis_BeltPreFeed.MC_StopDec(); //左侧皮带停止
LG.StepNext(4);
}
break;
case 4:
if (DeviceRsDef.I_BeltFeedIn.Value && LG.Delay(Para.RiseOnDelay)) //载具到位
{
DeviceRsDef.Axis_BeltFeed.MC_StopDec(); //中间皮带停止
LG.StepNext(5);
}
break;
case 5:
if (DeviceRsDef.Axis_BeltFeed.status == 0)
{
DeviceRsDef.Q_Rise.ON(); //顶升气缸顶起固定
LG.StepNext(6);
}
break;
case 6:
if (DeviceRsDef.I_RiseUp.Value) //顶升气缸上限位
{
DeviceRsDef.Q_StopBlock.ON(); //阻挡气缸
LG.StepNext(7);
}
break;
case 7:
if (DeviceRsDef.I_StopBlockDown.Value) //阻挡气缸下限到位
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.SolderCleanData[ID];
switch (LG.Step)
{
case 1: //RZ抬起
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(0);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到清洗位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveAbs(para.CleanPos.X);
Axis.SolderY[ID].MC_MoveAbs(para.CleanPos.Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //RZ到清洗位
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(para.CleanPos.R);
Axis.SolderZ[ID].MC_MoveAbs(para.CleanPos.Z);
LG.ImmediateStepNext(4);
}
break;
case 4: //打开吹气电磁阀
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.Soldervalve[ID].ON();
LG.ImmediateStepNext(5);
}
break;
case 5: //吹气清洗时间
if (LG.Delay(para.CleanTime))
{
Axis.Soldervalve[ID].OFF();
LG.ImmediateStepNext(6);
}
break;
case 6:
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(0);
LG.ImmediateStepNext(7);
break;
case 7:
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
if (DeviceRsDef.Axis_Belt.currPos == 0 && FromReset)
{
DeviceRsDef.Q_BeltLocatedCyl.ON();
if (TaskManager.Default.FSM.MODE == 1 && DeviceRsDef.I_CylLocked.Value)
{
LG.ImmediateStepNext(7);
FromReset = false;
}
else if (DeviceRsDef.I_CylLocked.Value)
{
LG.ImmediateStepNext(0xef);
FromReset = false;
}
}
else
{
DeviceRsDef.Q_BeltLocatedCyl.OFF(); //打开环形导轨的定位气缸
LG.ImmediateStepNext(10);
}
break;
case 10:
if (LG.Delay(100) && DeviceRsDef.I_CylUnLocked.Value)
{
if (DeviceRsDef.I_material1.value) //环形定位气缸打开状态且有零件
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1 && DeviceRsDef.I_CylUnLocked.Value)
{
LG.ImmediateStepNext(2);
}
else
{
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, "零件未放入，零件感应1未感应到物料");
LG.StepNextWithOut(2, FSMStaDef.ALARM);
}
}
break;
case 2:
if (
LG.Delay(500) && //气缸延时200ms
TaskManager.Default.FindTask("左打磨平台").Status &&
TaskManager.Default.FindTask("右打磨平台").Status &&
TaskManager.Default.FindTask("左焊锡平台").Status &&
TaskManager.Default.FindTask("右焊锡平台").Status
)
{
DeviceRsDef.Axis_Belt.MC_MoveRel(230); //传送带向前走230mm
LG.ImmediateStepNext(4);
}
break;
case 4:
if (LG.Delay(100) && DeviceRsDef.Axis_Belt.status == 0) //延时100
{
DeviceRsDef.Axis_Belt.MC_Stop(); //传送带停止
LG.ImmediateStepNext(5);
}
break;
case 5:
if (DeviceRsDef.Axis_Belt.status == Device.AxState.AXSTA_READY) //皮带轴停止
{
DeviceRsDef.Q_BeltLocatedCyl.ON(); //打开皮带的定位气缸
LG.ImmediateStepNext(6);
}
break;
case 6:
if (LG.Delay(150) && DeviceRsDef.I_CylLocked.value) //环形定位气缸已经锁定，延时150ms
{
if (TaskManager.Default.FSM.MODE == 1) //老化模式
{
LG.ImmediateStepNext(7);
}
else
{
LG.ImmediateStepNext(0xef);
}
}
break;
case 7:
if (LG.Delay(50))
{
LG.End(); //老化模式下不进行平台的数据传递
}
break;
case 0xef:
if (LG.Delay(50))
{
LG.End();
ProjectData.Instance.SaveData.processdata.PlatformData[0].IsTined = true; //第一个工位有料
for (int i = ProjectData.Instance.SaveData.processdata.PlatformData.Count() - 1; i > 0; i--) //工位信息传递
{
ProjectData.Instance.SaveData.processdata.PlatformData[i].SetLastPlatformData(ProjectData.Instance.SaveData.processdata.PlatformData[i - 1]);
}
}
break;
}
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //RZ到位
ProcessData.SolderList[ID].Clear();
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
NUM = 0;
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //拍照
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderData[ID].CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionProject.Instance.visionApi.TrigComplete()||*/ TaskManager.Default.FSM.MODE == 1)
{
if (TaskManager.Default.FSM.MODE == 1)
{
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
if (ProjectData.Instance.SaveData.processdata.Agingdataforsolder == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforsolder = new SolderDef();
}
ProjectData.Instance.SaveData.processdata.Agingdataforsolder.Z = 25;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.Agingdataforsolder;
ProcessData.SolderList[ID].Add(_pos); //增加到list里
NUM++;
if (NUM < ProjectData.Instance.SaveData.processdata.SolderCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichSolder(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID))
{
float Tx = 0;
float Ty = 0;
float Tr = 0;
float x = 0;
float y = 0;
float cAng = (float)(p.ListPos[num].R * Math.PI / 180);
if (ProjectData.Instance.SaveData.SolderPlatform[ID].UseR) //使用旋转中心
{
x = p.ModelPos.X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
y = p.ModelPos.Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
IOandAxisFun.Transorm(ID, x, y, x + p.ListPos[num].X, y + p.ListPos[num].Y, cAng, out Tx, out Ty);
}
else
{
Tx = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].X;
Ty = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.SolderCTPos[ID][NUM].Y;
Tr = 0;
}
SolderPosData _pos = new SolderPosData();
_pos.Pos.X = Tx;
_pos.Pos.Y = Ty;
_pos.Pos.R = Tr;
_pos.Pos = IOandAxisFun.CameraToSolderPos(ID, _pos.Pos);
_pos.SolderData = ProjectData.Instance.SaveData.processdata.WhichSolderMedol(ID)[type].solderdata[num].Clone();
num++;
SolderOrderList.Add(_pos); //增加到list里
}
}
foreach (SolderPosData data in SolderOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //排序
{
ProcessData.SolderList[ID].Add(data); //加到上锡位置
}
NUM++;
if (ProcessData.SolderCTPos[ID].Count() > NUM)
{
LG.ImmediateStepNext(2); //去下一个拍照位置
}
else
{
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断上锡列表里的数据
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无上锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst.Stickdata;
LG.Start();
switch (LG.Step)
{
case 1:
whichProduct = 0;
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(0);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive)
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0)
{
LG.StepNext(4);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
if (Para.CanBackCT)
{
CTRCard.Axis_X.MC_MoveAbs(TrayData.ProductList[whichProduct].BackCT.X);
CTRCard.Axis_Y.MC_MoveAbs(TrayData.ProductList[whichProduct].BackCT.Y);
LG.StepNext(5);
}
else
{
LG.StepNext(0xef);
}
break;
case 5:
if (CTRCard.XYArrive)
{
LG.StepNext(6);
}
break;
case 6:
if (CTRCard.XYArrive)
{
LG.StepNext(7);
DeviceRsDef.Q_HoldLightCtrl.ON();
DeviceRsDef.Q_Light.OFF();
}
break;
case 7:
if (LG.Delay(Para.CTDelay))
{
//VisionProject.Instance.visionApi.TrigRun(3, 0);
LG.StepNext(8);
}
break;
case 8:
if (Product.Inst.IsAging)
{
//老化模式下，不判断拍照结果
if (LG.TCnt(100))
{
LG.StepNext(0xA0);
}
}
else
{
//正常模式下
//if (VisionProject.Instance.visionApi.Trig == false)
//{
// VisionProject.Instance.SaveBackCTFunImage();
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// LG.StepNext(0xA0);
// }
// else
// {
// LG.StepNext(9);
// }
//}
}
break;
case 0xA0:
if (Product.Inst.IsAging)
{
LG.StepNext(9);
}
else
{
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[0].X, VisionProject.Instance.visionApi.CheckStick[0].Y, VisionProject.Instance.visionApi.CheckStick[0].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[1].X, VisionProject.Instance.visionApi.CheckStick[1].Y, VisionProject.Instance.visionApi.CheckStick[1].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[2].X, VisionProject.Instance.visionApi.CheckStick[2].Y, VisionProject.Instance.visionApi.CheckStick[2].R));
//ShowMessge.SendStartMsg(string.Format("产品{0}上物料精度 X：{1}Y：{2}R：{3}", whichProduct, VisionProject.Instance.visionApi.CheckStick[3].X, VisionProject.Instance.visionApi.CheckStick[3].Y, VisionProject.Instance.visionApi.CheckStick[3].R));
LG.StepNext(9);
}
break;
case 9:
whichProduct++;
if (whichProduct >= TrayData.ProductList.Count)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
switch (LG.Step)
{
case 1:
startNuzzleParaInit();
for (int i = 0; i < 30; i++)
{
DeviceRsDef.MotionCard.MotionFun.OutputOFF(i);
}
DeviceRsDef.MotionCard.MotionFun.OutputON(24);
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_Stop();
}
Alarm.ClearAlarm();
if (DeviceRsDef.I_XFarLimit.Value)
{
DeviceRsDef.Axis_X.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "X正硬极限限位");
}
if (DeviceRsDef.I_YFarLimit.Value)
{
DeviceRsDef.Axis_Y.MC_Stop();
Alarm.SetAlarm(AlarmLevelEnum.Level3, "Y正硬极限限位");
}
Product.Inst.ProcessData.currWhichPoint = 0;
Product.Inst.ProcessData.currWhichProduct = 0;
LG.StepNext(2);
break;
case 2:
if (LG.Delay(100))
{
for (int i = 0; i < DeviceRsDef.AxisList.Count; i++)
{
DeviceRsDef.AxisList[i].MC_AlarmReset();
}
LG.StepNext(3);
}
break;
case 3:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_Z1.MC_Home();
DeviceRsDef.Axis_Z2.MC_Home();
LG.StepNext(4);
}
break;
case 4:
if (CTRCard.ZArrive)
{
DeviceRsDef.Axis_R1.MC_Home();
DeviceRsDef.Axis_R2.MC_Home();
DeviceRsDef.Axis_X.MC_Home();
DeviceRsDef.Axis_Y.MC_Home();
LG.StepNext(5);
}
break;
case 5:
if (CTRCard.XYArrive && CTRCard.RArrive)
{
LG.StepNext(0xef);
}
break;
case 0xef:
LG.End();
FSM.Stop();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichMark = 0; //第一个mark点
Para.ProcessData.StickPosList.Clear(); //贴附过程列表清空
Para.ProcessData.currWhichPoint = 0; //第一个点
Para.ProcessData.currWhichProduct = 0; //第一个产品
MarkscanProduct = 0;
MarkResult.Clear(); //mark点的拍照结果清空
whichProductAngle.Clear(); //机械角度列表清空
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //两个Z轴抬起到安全高度
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive) //Z轴到达
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0) //产品树列表有产品
{
LG.StepNext(4);
stickPos = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].Clone(); //把产品树里的产品参数克隆过来
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X); //XY到位
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y);
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
//VisionProject.Instance.SetBenchmark1
// (
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X,
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y,
// Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R,
// whichMark,true
// );//设置mark点识别位置
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay)) //XY到达
{
TaskMain.UpCamLogc.ModelID = whichMark;
TaskMain.UpCamLogc.Triger();
LG.StepNext(6);
}
break;
case 6:
if (Product.Inst.IsAging) //老化模式
{
if (LG.TCnt(200))
{
LG.StepNext(7);
}
}
else
{
if (TaskMain.UpCamLogc.Finish)
{
if (TaskMain.UpCamLogc.Result.Count > 0)
{
LG.StepNext(7);
}
else
{
LG.StepNext(8);
}
}
}
break;
case 7:
PointF3Vision mark = new PointF3Vision();
if (Product.Inst.IsAging)
{
mark.X = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R;
}
else
{
mark.X = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].X + TaskMain.UpCamLogc.Result[0].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].Y + TaskMain.UpCamLogc.Result[0].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[MarkscanProduct].MarkPoint[whichMark].R + TaskMain.UpCamLogc.Result[0].R;
}
VisionProject.Instance.Tool.PointLocation.SetBenchmark2
(
whichMark,
mark.X,
mark.Y
);
MarkResult.Add(mark);
whichMark++;
if (whichMark >= 2)
{
VisionProject.Instance.Tool.PointLocation.Calculation();
if (Product.Inst.IsAging)
{
Para.ProcessData.StickPosList.Add(stickPos);
}
else
{
//计算Mark点，并暂存计算结果
Para.ProcessData.StickPosList.Add(MarkCaculate(stickPos)); //计算Mark点，并保存计算结果
}
LG.StepNext(8);
}
else
{
LG.StepNext(4);
}
break;
case 8:
DeviceRsDef.Q_UpLighSource.OFF();
if (MarkscanProduct >= Product.Inst.Stickdata.TrayData.ProductList.Count - 1)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
whichMark = 0;
MarkscanProduct++;
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var ProcessData = ProjectData.Instance.SaveData.processdata;
switch (LG.Step)
{
case 1: //上锡列表里是否有上锡点
if (ProcessData.SolderList[ID].Count() > 0)
{
LG.ImmediateStepNext(2);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台无焊锡点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 2: //RZ抬高
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(0);
Axis.SolderZ[ID].MC_MoveAbs(ProjectData.Instance.SaveData.SolderData[ID].SafeZ);
LG.ImmediateStepNext(3);
}
break;
case 3: //XY到第一个上锡点位
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.X);
Axis.SolderY[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.Y);
LG.ImmediateStepNext(4);
}
break;
case 4: //第一段送锡
if (Axis.SolderX[ID].status == 0 && Axis.SolderY[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed, ProcessData.SolderList[ID][0].SolderData.FrontLen);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed, ProcessData.SolderList[ID][0].SolderData.FrontLen);
LG.ImmediateStepNext(5);
}
break;
case 5: //第一段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed, ProcessData.SolderList[ID][0].SolderData.BackLen);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed, ProcessData.SolderList[ID][0].SolderData.BackLen);
LG.ImmediateStepNext(6);
}
break;
case 6: //RZ到上锡点位
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderR[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].Pos.R);
Axis.SolderZ[ID].MC_MoveAbs(ProcessData.SolderList[ID][0].SolderData.Z);
LG.ImmediateStepNext(7);
}
break;
case 7: //第二段送锡
if (Axis.SolderR[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed2, ProcessData.SolderList[ID][0].SolderData.FrontLen2);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed2, ProcessData.SolderList[ID][0].SolderData.FrontLen2);
LG.ImmediateStepNext(8);
}
break;
case 8: //第二段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed2, ProcessData.SolderList[ID][0].SolderData.BackLen2);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed2, ProcessData.SolderList[ID][0].SolderData.BackLen2);
LG.ImmediateStepNext(9);
}
break;
case 9: //第三段送锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed3, ProcessData.SolderList[ID][0].SolderData.FrontLen3);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.FrontSpeed3, ProcessData.SolderList[ID][0].SolderData.FrontLen3);
LG.ImmediateStepNext(10);
}
break;
case 10: //第三段退锡
if (Axis.SolderS[ID].status == 0)
{
Axis.SolderS[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed3, ProcessData.SolderList[ID][0].SolderData.BackLen3);
Axis.SolderS[ID + 1].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.BsckSpeed3, ProcessData.SolderList[ID][0].SolderData.BackLen3);
LG.ImmediateStepNext(11);
}
break;
case 11: //判断是否开启抖动及抖动的模式
if (Axis.SolderS[ID].status == 0 && LG.Delay(1000))
{
if (ProcessData.SolderList[ID][0].SolderData.Shake)
{
//开启抖动
switch (ProcessData.SolderList[ID][0].SolderData.mode)
{
//case 0:
// LG.StepNext(12, FSMStaDef.RUN);//上下
// break;
case 1:
LG.ImmediateStepNext(13); //左右
break;
case 2:
LG.ImmediateStepNext(14); //前后
break;
}
}
else
{
//不开启抖动
LG.ImmediateStepNext(15);
}
}
break;
#region 左右
case 13:
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(131);
break;
case 131:
if (Axis.SolderX[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, -2 * ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(132);
}
break;
case 132:
if (Axis.SolderX[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderX[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(15);
}
break;
#endregion
#region 前后
case 14:
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(141);
break;
case 141:
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, -2 * ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(142);
}
break;
case 142:
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0)
{
Axis.SolderY[ID].MC_MoveRel(ProcessData.SolderList[ID][0].SolderData.speed, ProcessData.SolderList[ID][0].SolderData.interval);
Axis.SolderZ[ID].MC_MoveRel(-ProcessData.SolderList[ID][0].SolderData.height / 3.0f);
LG.ImmediateStepNext(15);
}
break;
#endregion
case 15: //Z抬起到设定高度
if (Axis.SolderY[ID].status == 0 && Axis.SolderZ[ID].status == 0 && LG.Delay(ProjectData.Instance.SaveData.SolderPlatform[ID].TimeforTin))
{
Axis.SolderZ[ID].MC_MoveRel(100, ProcessData.SolderList[ID][0].SolderData.LiftHeight);
LG.ImmediateStepNext(16);
}
break;
case 16: //移除第一个点
if (Axis.SolderZ[ID].status == 0)
{
ProjectData.Instance.SaveData.SolderData[ID].SolderNum++;
ProcessData.SolderList[ID].RemoveAt(0);
ProjectData.Instance.Product.ProductCount();
LG.ImmediateStepNext(0xef);
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var para = ProjectData.Instance.SaveData.PolishData[ID];
switch (LG.Step)
{
case 1: //RZ到拍照位
ProjectData.Instance.SaveData.processdata.PolishList[ID].Clear();
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
NUM = 0;
Axis.PolishR[ID].MC_MoveAbs(0);
Axis.PolishZ[ID].MC_MoveAbs(para.SafeZ);
LG.ImmediateStepNext(2);
}
break;
case 2: //XY到拍照位
if (Axis.PolishR[ID].status == 0 && Axis.PolishZ[ID].status == 0)
{
if (ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Ban)
{
NUM++;
break;
}
Axis.PolishX[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X);
Axis.PolishY[ID].MC_MoveAbs(ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y);
LG.ImmediateStepNext(3);
}
break;
case 3: //延时拍照
if (Axis.PolishX[ID].status == 0 && Axis.PolishY[ID].status == 0 && LG.Delay(para.CTDelay))
{
LG.ImmediateStepNext(4);
}
break;
case 4: //获取相机数据
if (/*VisionInteraction.Instance.TriggerCamera(ID)*/ true)
{
if (TaskManager.Default.FSM.MODE == 1)
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = 0;
//_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
if (ProjectData.Instance.SaveData.processdata.Agingdataforpolish == null)
{
ProjectData.Instance.SaveData.processdata.Agingdataforpolish = new PolishDef();
}
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
ProjectData.Instance.SaveData.processdata.Agingdataforpolish.Z = 20;
_pos.polishData = ProjectData.Instance.SaveData.processdata.Agingdataforpolish;
NUM++;
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(_pos);
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
else if (true)
{
foreach (var p in VisionInteraction.Instance.WhichPolish(ID).listModel)
{
int type = p.modelindex;
int num = 0;
foreach (var item in ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID))
{
PolishPosData _pos = new PolishPosData();
_pos.Pos.X = p.ListPos[num].X + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].X;
_pos.Pos.Y = p.ListPos[num].Y + ProjectData.Instance.SaveData.processdata.PolishCTPos[ID][NUM].Y;
_pos.Pos.R = p.ListPos[num].R;
_pos.polishData = ProjectData.Instance.SaveData.processdata.WhichPolishMedol(ID)[type].polishData[num].Clone();
_pos.Pos = IOandAxisFun.CameraToPolisherPos(ID, _pos.Pos);
num++;
PolishOrderList.Add(_pos); //增加到list里
}
}
foreach (PolishPosData data in PolishOrderList.OrderBy(a => a.Pos.X).ThenBy(a => a.Pos.Y)) //对list里的点进行排序
{
ProjectData.Instance.SaveData.processdata.PolishList[ID].Add(data); //把排列好的点写进打磨list里
}
if (NUM < ProjectData.Instance.SaveData.processdata.PolishCTPos[ID].Count)
{
LG.ImmediateStepNext(2); //还有打磨拍照点继续打磨i拍照
}
else
{
NUM = 0;
LG.ImmediateStepNext(5);
}
}
}
break;
case 5: //判断打磨列表里的数据
if (ProjectData.Instance.SaveData.processdata.PolishList[ID].Count() > 0)
{
LG.ImmediateStepNext(0xef);
}
else if (TaskManager.Default.FSM.MODE == 1)
{
LG.ImmediateStepNext(0xef);
}
else
{
string mes = ID.ToString() + "平台没有打磨点";
MachineAlarm.SetAlarm(AlarmLevelEnum.Level2, mes);
LG.StepNext(0xef, FSMStaDef.RUN);
}
break;
case 0xef: //结束
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1: //Z轴抬起到安全高度
if (Para.ProcessData.currWhichProduct >= Para.ProcessData.StickPosList.Count)
{
Para.ProcessData.currWhichProduct = 0;
}
else
{
if (Para.ProcessData.currWhichPoint >= Para.ProcessData.CurrStickWhichProduct().SiteList.Count)
{
Para.ProcessData.currWhichPoint = 0;
}
}
if (Para.ProcessData.StickPosList.Count == 0)
{
Alarm.SetAlarm(AlarmLevelEnum.Level2, "没扫Mark点，不允许贴附");
LG.StepNext(0xef);
}
else
{
if (CTRCard.ZArrive)
{
for (int i = 0; i < 2; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos);
}
LG.StepNext(2);
}
}
break;
case 2:
bool isCanStick = false;
for (int i = 0; i < 2; i++) //扫描吸嘴个数
{
if (Para.ProcessData.NuzzlePara[i].isOk == 1 && Para.ProcessData.NuzzlePara[i].isHave)
{
whichNuzzle = i;
isCanStick = true;
break;
}
}
if (isCanStick)
{
StickPos(whichNuzzle);
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false;
Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 0;
LG.StepNext(3);
}
else
{
LG.StepNext(0xef);
}
break;
case 3: //xy到贴标位置
if (CTRCard.ZArrive)
{
CTRCard.Axis_X.MC_MoveAbs(stickPos.X);
CTRCard.Axis_Y.MC_MoveAbs(stickPos.Y);
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs(stickPos.R);
LG.StepNext(4);
}
break;
case 4: //系统稳定时间+第一段快速下降
if (CTRCard.XYArrive && CTRCard.RArrive && LG.TCnt(10))
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(stickPos.Z - 5);
LG.StepNext(5);
}
break;
case 5: //第二段慢速下降
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(30, stickPos.Z);
LG.StepNext(6);
}
break;
case 6: //到达贴标高度吸真空打开，吹气关闭
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].ON();
CTRCard.Q_Blow[whichNuzzle].OFF();
LG.StepNext(7);
}
break;
case 7: //真空延时后，很空关闭，吹气打开
if (LG.Delay(Para.Stickdata.StickPara.SuckOffDelay))
{
CTRCard.Q_Nuzzle[whichNuzzle].OFF();
CTRCard.Q_Blow[whichNuzzle].ON();
LG.StepNext(8);
}
break;
case 8: //吹气延时后吹气关闭
if (LG.Delay(Para.Stickdata.StickPara.SuckBlowDelay))
{
CTRCard.Q_Blow[whichNuzzle].OFF();
Product.Inst.ProductYield.ProductCount(); //产量+1用于计算UPH
LG.StepNext(9);
}
break;
case 9: //Z轴回到安全位
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos);
LG.StepNext(10);
}
break;
case 10: //Z轴到位后
if (CTRCard.Axis_Z[whichNuzzle].status == AxState.AXSTA_READY)
{
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs(0);
LG.StepNext(11);
}
break;
case 11:
Para.ProcessData.currWhichPoint++; //点位++
if (Para.ProcessData.currWhichPoint >= Para.ProcessData.StickPosList[Para.ProcessData.currWhichProduct].SiteList.Count)
{
Para.ProcessData.currWhichPoint = 0; //点位置0
Para.ProcessData.currWhichProduct++; //产品加1
if (Para.ProcessData.currWhichProduct >= Para.ProcessData.StickPosList.Count)
{
//Para.ProcessData.currWhichPoint = 0;//点位置0
//Para.ProcessData.currWhichProduct = 0;//产品置0
LG.StepNext(0xef);
break;
}
}
LG.StepNext(2);
if (!Para.ProcessData.NuzzlePara[0].isHave && !Para.ProcessData.NuzzlePara[1].isHave)
{
LG.StepNext(0xef); //两个吸嘴都没有料就结束
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
LG.Start();
switch (LG.Step)
{
case 1: //Z轴抬起到安全高度
if (CTRCard.ZArrive)
{
for (int i = 0; i < 2; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.GiveUpPara.SafePos_Z);
}
LG.StepNext(2);
}
whichNuzzle = 0;
break;
case 2: //判断轴到达
if (CTRCard.ZArrive)
{
LG.StepNext(3);
}
break;
case 3:
if (Para.ProcessData.NuzzlePara[whichNuzzle].isOk != 1 && Para.ProcessData.NuzzlePara[whichNuzzle].isHave == true)
{
LG.StepNext(4);
}
else
{
LG.StepNext(8);
}
break;
case 4: //XY到弃标位
if (CTRCard.ZArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUpPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUpPos.Y);
LG.StepNext(5);
}
else
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUpPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUpPos.Y);
LG.StepNext(5);
}
}
break;
case 5: //Z到弃标高度
if (CTRCard.XYArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.LiftGiveUp_Z);
LG.StepNext(6);
}
else
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.RightGiveUp_Z);
LG.StepNext(6);
}
}
break;
case 6: //破真空，吹气
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].OFF();
CTRCard.Q_Blow[whichNuzzle].ON();
Para.Stickdata.GiveUpPara.giveUpNum++;
LG.StepNext(7);
}
break;
case 7:
if (LG.Delay(Para.Stickdata.GiveUpPara.GiveUpDelay))
/*弃料延时*/
{
LG.StepNext(8);
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false;
CTRCard.Q_Blow[whichNuzzle].Value = false;
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.GiveUpPara.SafePos_Z);
}
break;
case 8: //Z轴回到安全位
if (CTRCard.ZArrive)
{
whichNuzzle++;
if (whichNuzzle < CTRCard.Axis_Z.Count)
{
LG.StepNext(2);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichNuzzle = 0;
LG.StepNext(2);
break;
case 2:
if (Para.ProcessData.NuzzlePara[whichNuzzle].isHave) //吸嘴有料
{
if (CTRCard.ZArrive)
{
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //到安全位置拍照
}
LG.StepNext(3);
}
}
else
{
LG.StepNext(6); //没有料换另一个吸嘴
}
break;
case 3:
if (CTRCard.ZArrive) //到相应的吸嘴拍照位置
{
if (Para.ProcessData.NuzzlePara[whichNuzzle].isHave && whichNuzzle == 0)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.StickSysData.LiftDownCCDPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.StickSysData.LiftDownCCDPos.Y);
DeviceRsDef.Q_DownLighSource.ON();
LG.StepNext(4);
}
else if (Para.ProcessData.NuzzlePara[whichNuzzle].isHave && whichNuzzle == 1)
{
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.StickSysData.RightDownCCDPos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.StickSysData.RightDownCCDPos.Y);
DeviceRsDef.Q_DownLighSource.ON();
LG.StepNext(4);
}
else
{
LG.StepNext(6);
}
}
break;
case 4:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay))
{
//VisionProject.Instance.visionApi.TrigRun(1, whichNuzzle);//触发拍照
LG.StepNext(5);
}
break;
case 5:
if (Product.Inst.IsAging)
{
if (LG.Delay(100))
{
Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 1;
Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.X = 0;
Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.Y = 0;
Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.R = 0;
LG.StepNext(6);
}
DeviceRsDef.Q_DownLighSource.OFF();
}
else
{
//if (VisionProject.Instance.visionApi.TrigComplete() == true)
//{
// var va = VisionProject.Instance.visionApi;
// //判断拍照结果
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 1;
// Para.ProcessData.NuzzlePara[whichNuzzle].isHave = true;
// Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.X = (float)VisionProject.Instance.visionApi.Result[0].X;
// Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.Y = (float)VisionProject.Instance.visionApi.Result[0].Y;
// Para.ProcessData.NuzzlePara[whichNuzzle].CCDPos.R = -(float)VisionProject.Instance.visionApi.Result[0].R;
// DeviceRsDef.Q_DownLighSource.OFF();
// }
// else
// {
// Para.ProcessData.NuzzlePara[whichNuzzle].isOk = 2;
// }
// LG.StepNext(6);
//}
}
break;
case 6:
if (CTRCard.RArrive)
{
whichNuzzle++;
if (whichNuzzle >= 2)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
}
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst.Stickdata;
switch (LG.Step)
{
case 1:
whichproduct = Product.Inst.Stickdata.TrayData.ProductList.Count - 1;
DataList.Clear();
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.ZSafePos);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive)
{
if (Product.Inst.Stickdata.TrayData.ProductList.Count > 0)
{
LG.StepNext(4);
}
else
{
LG.StepNext(0xef);
}
}
break;
case 4:
if (Para.CanscanCode)
{
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[whichproduct].CodePoint2.X);
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[whichproduct].CodePoint2.Y);
LG.StepNext(5);
}
else
{
LG.StepNext(0xef);
}
break;
case 5:
if (CTRCard.XYArrive)
{
LG.StepNext(6);
}
break;
case 6:
if (CTRCard.XYArrive)
{
LG.StepNext(7);
DeviceRsDef.Q_Light.ON();
DeviceRsDef.Q_HoldLightCtrl.OFF();
}
break;
case 7:
if (LG.Delay(10))
{
//VisionProject.Instance.visionApi.TrigRun(2, 0);
LG.StepNext(8);
}
break;
case 8:
if (Product.Inst.IsAging)
{
//老化模式下，不判断拍照结果
if (LG.TCnt(500))
{
LG.StepNext(10);
}
}
else
{
//正常模式下
//if (VisionProject.Instance.visionApi.Trig == false)
//{
// if (VisionProject.Instance.visionApi.Error == 0)
// {
// LG.StepNext(9);
// }
// else
// {
// LG.StepNext(10);
// }
//}
}
break;
case 9:
//DataList.Add(VisionProject.Instance.visionApi.CodeString);//将读取到的二维码信息加进list里面
//ShowMessge.SendStartMsg(string.Format("产品{0}二维码：{1}", whichproduct, VisionProject.Instance.visionApi.CodeString));
LG.StepNext(10);
break;
case 10:
whichproduct--;
if (whichproduct <= -1)
{
LG.StepNext(0xef);
}
else
{
LG.StepNext(3);
}
break;
case 0xef:
DeviceRsDef.Q_HoldLightCtrl.ON();
DeviceRsDef.Q_Light.OFF();
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
whichMark = 0;
Para.ProcessData.currWhichProduct = 0; //第一个产品
LG.StepNext(2);
break;
case 2:
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //两个Z轴抬起到安全高度
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive) //Z轴到达
{
stickPos = Product.Inst.Stickdata.TrayData.ProductList[0].Clone(); //把产品树里的产品参数克隆过来
LG.StepNext(4);
}
break;
case 4:
CTRCard.Axis_X.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].X); //XY到位
CTRCard.Axis_Y.MC_MoveAbs(Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].Y);
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive && LG.Delay(Para.Stickdata.CTDelay)) //XY到达
{
TaskMain.UpCamLogc.ModelID = whichMark;
TaskMain.UpCamLogc.Triger();
LG.StepNext(6);
}
break;
case 6:
if (TaskMain.UpCamLogc.Finish)
{
if (TaskMain.UpCamLogc.Result.Count > 0)
{
LG.StepNext(7);
}
else
{
LG.StepNext(8);
}
}
break;
case 7:
PointF3Vision mark = new PointF3Vision();
mark.X = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].X + TaskMain.UpCamLogc.Result[0].X;
mark.Y = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].Y + TaskMain.UpCamLogc.Result[0].Y;
mark.R = Product.Inst.Stickdata.TrayData.ProductList[0].MarkPoint[whichMark].R + TaskMain.UpCamLogc.Result[0].R;
VisionProject.Instance.Tool.PointLocation.SetBenchmark1(whichMark, mark.X, mark.Y);
VisionProject.Instance.Tool.PointLocation.SetBenchmark2(whichMark, mark.X, mark.Y);
whichMark++;
if (whichMark >= 2)
{
VisionProject.Instance.Tool.PointLocation.Calculation();
Product.Inst.Stickdata.TrayData.ProductList[0] = MarkCaculate(Product.Inst.Stickdata.TrayData.ProductList[0]);
LG.StepNext(8);
}
else
{
LG.StepNext(4);
}
break;
case 8:
LG.StepNext(0xef);
break;
case 0xef:
LG.End();
break;
}
}
protected override void LogicImpl()
{
var Para = Product.Inst;
switch (LG.Step)
{
case 1:
if (TaskMain.sticklogic.feeder.GetBusy)
{
return;
}
TakeCount = 0; //取料个数
whichNuzzle = 0; //哪个吸嘴
LG.StepNext(2);
break;
case 2: //Z轴抬起到安全高度
for (int i = 0; i < CTRCard.Axis_Z.Count; i++)
{
CTRCard.Axis_Z[i].MC_MoveAbs(Para.Stickdata.ZSafePos); //Z到安全位置
CTRCard.Axis_R[i].MC_MoveAbs(0);
}
LG.StepNext(3);
break;
case 3:
if (CTRCard.ZArrive && CTRCard.RArrive)
{
bool isCanTake = false;
if (
Para.Stickdata.NuzzleForbit[whichNuzzle] == false &&
Para.ProcessData.NuzzlePara[whichNuzzle].isHave == false) //吸嘴没被禁用且没有料
{
isCanTake = true;
}
else
{
if (Para.Stickdata.NuzzleForbit[whichNuzzle] == true) //吸嘴禁用取料加1
{
TakeCount++;
}
}
if (isCanTake)
{
if (TakeCount == 1 && whichNuzzle == 1)
{
LG.StepNext(7); //如果左吸嘴取过一次且目前可以取料的是右吸嘴
}
else
{
LG.StepNext(4); //可以取料 去取料位置
}
}
else
{
LG.StepNext(14); //去 判断
}
}
break;
case 4:
if (whichNuzzle == 0)
{
Ltime.Stop();
Lsticktime = (int)Ltime.ElapsedMilliseconds;
Ltime.Restart();
}
else
{
Rtime.Stop();
Rsticktime = (int)Rtime.ElapsedMilliseconds;
Rtime.Restart();
}
CTRCard.Axis_X.MC_MoveAbs(Para.Stickdata.FeederPara.TakePos.X);
CTRCard.Axis_Y.MC_MoveAbs(Para.Stickdata.FeederPara.TakePos.Y); //到拍照位置
DeviceRsDef.Q_UpLighSource.ON(); //上光源打开
LG.StepNext(5);
break;
case 5:
if (CTRCard.XYArrive)
{
//VisionProject.Instance.visionApi.TrigRun(0, 2);//触发拍照
LG.StepNext(6);
}
break;
case 6:
if (Product.Inst.IsAging)
{
if (LG.Delay(200))
{
CCDresult.X = 0;
CCDresult.Y = 0;
CCDresult.R = 0;
LG.StepNext(7);
}
}
else
{
//if (VisionProject.Instance.visionApi.Trig == false)//相机触发的值
//{
// if (VisionProject.Instance.visionApi.Error == 0)//相机接口错误码
// {
// LG.StepNext(7);//xy到取标位置
// DeviceRsDef.Q_UpLighSource.OFF();//上相机光源关闭
// }
// else
// {
// LG.StepNext(101);//重新送料
// CTCount++;//拍照识别次数
// if (CTCount > 2)//大于2就视觉NG
// {
// CTCount = 0;//重新置零
// Alarm.SetAlarm(AlarmLevelEnum.Level2, "Feeder视觉NG");//报警
// }
// }
//}
}
break;
case 7:
CTRCard.Q_Blow[whichNuzzle].OFF(); //吹气关闭
if (Product.Inst.IsAging)
{
if (LG.Delay(500))
{
CCDresult.X = 0;
CCDresult.Y = 0;
CCDresult.R = 0;
}
}
//else if (VisionProject.Instance.visionApi.Result.Length == 2)
//{
// CCDresult.X = (float)VisionProject.Instance.visionApi.Result[TakeCount].X;//ccd的x值[改为链表形式]
// CCDresult.Y = (float)VisionProject.Instance.visionApi.Result[TakeCount].Y;//ccd的y值
// CCDresult.R = -(float)VisionProject.Instance.visionApi.Result[TakeCount].R;//ccd的r值
//}
//else
//{
// CCDresult.X = (float)VisionProject.Instance.visionApi.Result[0].X;//ccd的x值[改为链表形式]
// CCDresult.Y = (float)VisionProject.Instance.visionApi.Result[0].Y;//ccd的y值
// CCDresult.R = -(float)VisionProject.Instance.visionApi.Result[0].R;//ccd的r值
//}
CTRCard.Axis_X.MC_MoveAbs(TakePos(whichNuzzle).X + (float)CCDresult.X);
CTRCard.Axis_Y.MC_MoveAbs(TakePos(whichNuzzle).Y + (float)CCDresult.Y);
CTRCard.Axis_R[whichNuzzle].MC_MoveAbs((float)CCDresult.R);
LG.StepNext(8);
break;
case 8: //XY到位后判断缓取，开始下压时打开吸嘴
if (CTRCard.RArrive && CTRCard.XYArrive)
{
if (whichNuzzle == 0)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.TakeLabelPara.LiftTakePos_Z);
}
else
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.TakeLabelPara.RightTakePos_Z);
}
LG.StepNext(9);
}
break;
case 9:
if (CTRCard.ZArrive)
{
CTRCard.Q_Nuzzle[whichNuzzle].ON(); //真空打开
CTRCard.Q_Blow[whichNuzzle].OFF(); //吹气关闭
LG.StepNext(10);
}
break;
case 10:
if (whichNuzzle == 0)
{
Para.Stickdata.TakeLabelPara.TakeLableWholeLNum++;
}
else
{
Para.Stickdata.TakeLabelPara.TakeLableWholeRNum++;
}
LG.StepNext(11);
break;
case 11: //取标延时后Z轴抬起(缓抬)
if (whichNuzzle == 0 && LG.Delay(Para.Stickdata.TakeLabelPara.LiftTakeDelay))
{
LG.StepNext(201);
}
else if (whichNuzzle == 1 && LG.Delay(Para.Stickdata.TakeLabelPara.RightTakeDelay))
{
LG.StepNext(201);
}
break;
case 201:
if (Para.Stickdata.FeederPara.FeederMode[1])
{
//剥标板回退
LG.StepNext(202);
}
else
{
LG.StepNext(12);
}
break;
case 202:
if (Para.Stickdata.FeederPara.FeederMode[1]) //拨标板回退停止
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos); //Z轴抬起
LG.StepNext(13);
}
break;
case 12: //取标延时后Z轴抬起
if (CTRCard.ZArrive)
{
CTRCard.Axis_Z[whichNuzzle].MC_MoveAbs(Para.Stickdata.ZSafePos);
LG.StepNext(13);
}
break;
case 13: //检测真空//add
if (CTRCard.ZArrive) //所有轴都到达
{
if (!Product.Inst.IsAging && CTRCard.I_Vacuum[whichNuzzle].Value == false)
{
TakeNum++;
if (TakeNum >= 2)
{
TakeNum = 0;
LG.StepNext(101); //运行状态下进入14 重新剥标
CTRCard.Q_Nuzzle[whichNuzzle].Value = false; //吸真空电磁阀
Alarm.SetAlarm(AlarmLevelEnum.Level2, "取料失败，请检查真空和真空感应");
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = false; //是否有料
}
else
{
LG.StepNext(4); //到拍照位
}
}
else
{
if (whichNuzzle == 0)
{
Para.Stickdata.TakeLabelPara.TakeLableLNum++;
}
else
{
Para.Stickdata.TakeLabelPara.TakeLableRNum++;
}
LG.StepNext(14); //结束
Para.ProcessData.NuzzlePara[whichNuzzle].isHave = true; //有料
}
}
break;
case 101:
if (CTRCard.ZArrive)
{
LG.StepNext(4);
}
break;
case 14: //结束
if (CTRCard.ZArrive)
{
whichNuzzle++; //吸嘴换成另一个吸嘴
TakeCount++;
if (whichNuzzle >= 2)
{
LG.StepNext(15);
}
else
{
LG.StepNext(2);
}
}
break;
case 15:
if (TakeCount >= 2)
{
LG.StepNext(0xef);
}
//else if (VisionProject.Instance.visionApi.Result.Length == 1)
//{
// TakeCount = 0;
// LG.StepNext(0xef);
//}
else if (Para.ProcessData.NuzzlePara[0].isHave == true &&
Para.ProcessData.NuzzlePara[1].isHave == true)
{
TakeCount = 0;
LG.StepNext(0xef);
}
else
{
LG.StepNext(2);
}
break;
case 0xef:
LG.End();
break;
}
}
