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;
}
}
