//【Tag2】料盘右仓初始位置
public static void S3_MotionPos0(ref bool Status, int m, int n)
{
switch (Manual_Step[m, n])
{
case 0:
Status = true;
Manual_Step[m, n] = Manual_Step[m, n] + 1;
break;
case 1:
Gg.AbsMotion(0, Axis.料仓右Z轴, mFunction.Pos.TeachAxis1[m, n], PVar.ParAxis.Speed[Axis.料仓右Z轴]);
Manual_Step[m, n] = Manual_Step[m, n] + 1;
break;
case 2:
if (Gg.ZSPD(0, Axis.料仓右Z轴))
{
Manual_Step[m, n] = Manual_Step[m, n] + 1;
}
break;
case 3:
Manual_Step[m, n] = 1000;
break;
case 1000:
Manual_Step[m, n] = 0;
Status = false;
break;
}
}
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 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 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);
}
}
/// <summary>
/// GotoHome(short CardNum[卡号], short Axis[轴号], double homeToLimitFDist[极限到原点距离], double searchHomeDist[原点搜索距离], double offsetPos[感应宽度], double homeoffset[原点偏移距离], double vel[搜索原点速度])
/// </summary>
/// <param name="CardNum"></param>
/// <param name="Axis"></param>
/// <param name="homeToLimitFDist"></param>
/// <param name="searchHomeDist"></param>
/// <param name="offsetPos"></param>
/// <param name="homeoffset"></param>
/// <param name="vel"></param>
public static void GotoHome(short CardNum, short Axis, double homeToLimitFDist, double searchHomeDist, double offsetPos, double homeoffset, double vel)
{
uint temp_pClock = 0;
if (GoHome.AxisHome[CardNum, Axis].Step != 0)
{
Frm_Engineering.fEngineering.textBox3.Text = GoHome.AxisHome[CardNum, Axis].Step.ToString();
GoHome.AxisHome[CardNum, Axis].State = true;
switch (GoHome.AxisHome[CardNum, Axis].Step)
{
case 10:
InitTimeH[CardNum, Axis] = new Tool.Delay();
gts.GT_ClrSts(CardNum, Axis, (short)1); //清除报警
gts.GT_SetPrfPos(CardNum, Axis, 0); //规划器置零
gts.GT_SetEncPos(CardNum, Axis, 0); //编码器置零
gts.GT_SynchAxisPos(CardNum, 1 << (Axis - 1)); //将当前轴进行位置同步
GoHome.AxisHome[CardNum, Axis].Counter = 0; //回原点计数
GoHome.AxisHome[CardNum, Axis].Step = 20;
break;
case 20:
GoHome.AxisHome[CardNum, Axis].Capture = 0;
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
if (GoHome.AxisHome[CardNum, Axis].Counter > 1)
{
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.AxisHome[CardNum, Axis].Counter = GoHome.AxisHome[CardNum, Axis].Counter + 1;
GoHome.AxisHome[CardNum, Axis].Step = 30; //开始搜索原点
}
}
else
{
GoHome.AxisHome[CardNum, Axis].Step = 200; //偏离原点，方向与搜索原点方向相反
}
break;
case 30:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_SetCaptureMode(CardNum, Axis, gts.CAPTURE_HOME); //第一次原点搜索
GoHome.AxisHome[CardNum, Axis].TempPos = 0;
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + searchHomeDist), vel); //启动运动，开始搜索原点
GoHome.AxisHome[CardNum, Axis].Step = 40;
break;
case 40:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].Capture, out GoHome.AxisHome[CardNum, Axis].TempPos, (short)1, out temp_pClock); //获取当前轴原点捕获的状态及捕获的当前位置
if (GoHome.AxisHome[CardNum, Axis].Capture == 1) //判断当前轴是否原点捕获触发
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Capture = 0;
GoHome.AxisHome[CardNum, Axis].Step = 50;
}
else if (Gg.GetLimitDi_Z(CardNum, Axis) == 1) //判断当前轴是否触发正极限
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 170;
}
else if (Gg.GetLimitDi_F(CardNum, Axis) == 1) //判断当前轴是否触发负极限
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 150;
}
else if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴规划器是否运动停止（原点搜索距离太小）
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
break;
case 50:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 52;
}
break;
case 52:
//Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis)) / Tools.GeerRate[CardNum, Axis] + 1, 2);
//Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + offsetPos), 10); //启动运动，原点反向运动
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + 2), 5); //启动运动，原点反向运动
GoHome.AxisHome[CardNum, Axis].Step = 60;
break;
case 60:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
GoHome.AxisHome[CardNum, Axis].Step = 70;
}
break;
case 70:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 72;
}
break;
case 72:
gts.GT_SetCaptureMode(CardNum, Axis, gts.CAPTURE_HOME); //第二次原点搜索
//hRtn = gts.GT_SetCaptureMode(CardNum, Axis,gts. CAPTURE_INDEX); //启动当前轴的Z相脉冲捕获
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) - offsetPos * 2), 1); //以1mm/s速度找原点
GoHome.AxisHome[CardNum, Axis].Step = 80; //跳转到下一步
break;
case 80:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock); //获取当前轴的状态
gts.GT_GetCaptureStatus(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].Capture, out GoHome.AxisHome[CardNum, Axis].TempPos, (short)1, out temp_pClock); //获取当前轴Z相脉冲捕获的状态及捕获的当前位置
if (GoHome.AxisHome[CardNum, Axis].Capture == 1) //判断当前轴是否Z相脉冲捕获触发
{
//Gg.AxisStop(CardNum, Axis); //当前轴停止
gts.GT_Stop(CardNum, 1 << (Axis - 1), 1 << (Axis - 1));
GoHome.AxisHome[CardNum, Axis].Capture = 0; //捕获触发标志清零
GoHome.AxisHome[CardNum, Axis].Step = 90;
}
else if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 140; //跳转到第110步（或脉冲未捕获，回原点结束，回原点失败）
}
break;
case 90:
if (InitTimeH[CardNum, Axis].TimeIsUp(500))
{
GoHome.AxisHome[CardNum, Axis].Step = 92;
}
break;
case 92:
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + homeoffset), 2);
//if (homeoffset < 3)
// {
// Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 2);
// }
//else
// {
// Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(GoHome.AxisHome[CardNum, Axis].TempPos / Gg.PlusPerUnit(CardNum, Axis) / Tools.GeerRate[CardNum, Axis]) + homeoffset, 5);
// }
GoHome.AxisHome[CardNum, Axis].Step = 100;
break;
case 100:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false) //判断当前轴是否运动停止
{
InitTime.InitialTime();
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 110;
}
break;
case 110:
if (InitTimeH[CardNum, Axis].TimeIsUp(200))
{
GoHome.AxisHome[CardNum, Axis].Step = 120;
}
break;
case 120:
gts.GT_SetPrfPos(CardNum, Axis, 0); //将当前轴规划器位置修改为零点
gts.GT_SetEncPos(CardNum, Axis, 0); //将当前轴编码器位置修改为零点
gts.GT_SynchAxisPos(CardNum, 1 << (Axis - 1)); //将当前轴进行位置同步
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 130;
break;
case 130:
if (InitTimeH[CardNum, Axis].TimeIsUp(50))
{
if (Gg.GetEncPos(CardNum, Axis) == 0 && Gg.GetPrfPos(CardNum, Axis) == 0)
{
GoHome.AxisHome[CardNum, Axis].Result = true;
GoHome.AxisHome[CardNum, Axis].State = false;
GoHome.AxisHome[CardNum, Axis].Step = 0;
}
else
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 110;
}
}
break;
case 140:
GoHome.AxisHome[CardNum, Axis].Result = false;
GoHome.AxisHome[CardNum, Axis].State = false;
GoHome.AxisHome[CardNum, Axis].Step = 0;
break;
//*********************************************************************************************************************
case 150: //负极限和原点之间距离
gts.GT_ClrSts(CardNum, Axis, (short)1);
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + homeToLimitFDist), vel);
GoHome.AxisHome[CardNum, Axis].Step = 160;
break;
case 160:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 20; //重新搜索原点
}
break;
//*********************************************************************************************************************
case 170: //offsetPos大于感应片的宽度
gts.GT_ClrSts(CardNum, Axis, (short)1);
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) - offsetPos), vel);
GoHome.AxisHome[CardNum, Axis].Step = 180;
break;
case 180:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
GoHome.AxisHome[CardNum, Axis].Step = 20; //重新搜索原点
}
break;
//*********************************************************************************************************************
case 200: //offsetPos大于感应片的宽度
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + offsetPos), vel);
GoHome.AxisHome[CardNum, Axis].Step = 201;
break;
case 201:
if (Gg.GetHomeDi(CardNum, Axis) == 0) //判断是否在原点上
{
Gg.AbsMotion(CardNum, Axis, System.Convert.ToDouble(Gg.GetPrfPosmm(CardNum, Axis) + 1), vel);
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 210;
}
else
{
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
}
break;
case 210:
gts.GT_ClrSts(CardNum, Axis, (short)1);
gts.GT_GetSts(CardNum, Axis, out GoHome.AxisHome[CardNum, Axis].status, (short)1, out temp_pClock);
if (System.Convert.ToBoolean(GoHome.AxisHome[CardNum, Axis].status & 0x400) == false)
{
InitTimeH[CardNum, Axis].InitialTime();
GoHome.AxisHome[CardNum, Axis].Step = 220;
}
break;
case (short)220:
if (InitTimeH[CardNum, Axis].TimeIsUp(200))
{
if (Gg.GetHomeDi(CardNum, Axis) == 1)
{
GoHome.AxisHome[CardNum, Axis].Step = 140;
}
else
{
GoHome.AxisHome[CardNum, Axis].Step = 20;
}
}
break;
}
}
}
public static void HomeSub()
{
switch (StepHome)
{
case 10:
GoHome.Reset.State = true;
AddList("设备初始化开始，请等待！");
//停止流水线
Linechange.SetMotor1(false, 0); //
Linechange.SetMotor2(false, 0);
Linechange.SetMotor3(false, 0);
AddList("关闭传送带电机");
if (EpsonRobot.IsRobotAlarm)
{
AddList("机械手报警，初始化失败，请检查！");
ShowList("机械手报警，初始化失败，请检查！");
StepHome = 1000;
return;
}
Gg.SetDo(0, Gg.OutPut0.启动按钮指示灯, 0);
Gg.SetDo(0, Gg.OutPut0.日光灯继电器, 0);
Gg.SetDo(0, Gg.OutPut0.步进电机使能, 0);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 1);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.撕膜夹爪气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手滑台气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜针型气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.NG指示灯, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.OK指示灯, 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, 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, 1, Gg.OutPut2.机械手吸嘴破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.右料盘吸电磁铁, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.左料盘吸电磁铁, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
Gg.SetExDo(0, 2, Gg.OutPut3.离子风扇, 0);
RobotHomeNum = 0;
////界面
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_ProgressBar.IsShowProgresBar(true);
InitTime.InitialTime();
StepHome = 20;
break;
//机械手回初始位置
case 20:
RobotHomeNum += 1;
AddList("机械手停止！");
Gg.SetDo(0, Gg.OutPut0.机械手停止, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手停止, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 22;
break;
case 22:
AddList("机械手复位！");
Gg.SetDo(0, Gg.OutPut0.机械手复位, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手复位, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 24;
break;
case 24:
AddList("机械手启动！");
Gg.SetDo(0, Gg.OutPut0.机械手启动, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手启动, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 30;
break;
case 30:
if (Gg.GetDi(0, Gg.InPut0.机械手运动中) == 1)
{
AddList("机械手启动成功！");
InitTime.InitialTime();
StepHome = 40;
}
else if (InitTime.TimeIsUp(2000))
{
if (RobotHomeNum < 3)
{
InitTime.InitialTime();
StepHome = 20;
}
else
{
AddList("机械手启动失败！");
ShowList("机械手启动失败！");
StepHome = 1000;
return;
}
}
break;
case 40:
if (Frm_Engineering.fEngineering.Tcp_Robot.IsStart)
{
AddList("机械手网络链接OK！");
InitTime.InitialTime();
StepHome = 50;
}
else if (InitTime.TimeIsUp(5000))
{
if (RobotHomeNum < 3)
{
InitTime.InitialTime();
StepHome = 20;
}
else
{
AddList("机械手网络链接失败！");
ShowList("机械手网络链接失败！");
StepHome = 1000;
return;
}
}
break;
case 50:
AddList("获取机械手程序版本！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("GetVersion", "0", "0", "0", "0", "0", "0", "0",
"DAB-SV(1.0.0)_20180505", "0", "0", "0", "0", "0") == false)
{
StepHome = 1000;
return;
}
InitTime.InitialTime();
StepHome = 60;
break;
case 60:
if (EpsonRobot.sRobot_Status == "GetVersionOK")
{
AddList("机械手程序版本匹配OK！");
InitTime.InitialTime();
StepHome = 100;
}
else if (EpsonRobot.sRobot_Status == "GetVersionNG")
{
AddList("机械手版本不匹配！");
ShowList("机械手版本不匹配！");
StepHome = 1000;
return;
}
else if (InitTime.TimeIsUp(3000))
{
AddList("获取机械手程序版本超时！");
ShowList("获取机械手程序版本超时！");
StepHome = 1000;
return;
}
break;
case 100:
AddList("机械手回初始位置开始！");
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)
{
StepHome = 1000;
return;
}
InitTime.InitialTime();
StepHome = 110;
break;
case 110:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.待机位置)
{
AddList("机械手回待机位置OK！");
InitTime.InitialTime();
StepHome = 200;
}
else if (InitTime.TimeIsUp(10000))
{
AddList("机械手回待机位置超时！");
ShowList("机械手回待机位置超时！");
StepHome = 1000;
return;
}
break;
case 200:
Frm_ProgressBar.SetValueProgressBar(30); //初始化进度条的进度更新显示
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 1 &&
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 &&
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 &&
Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 0 &&
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)
{
InitTime.InitialTime();
StepHome = 210;
}
if (InitTime.TimeIsUp(6000))
{
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 0)
{
AddList("阻挡气缸1伸出信号异常，请检查！");
ShowList("阻挡气缸1伸出信号异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 0)
{
AddList("阻挡气缸2伸出信号异常，请检查！");
ShowList("阻挡气缸2伸出信号异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 0)
{
AddList("阻挡气缸3伸出信号异常，请检查！");
ShowList("阻挡气缸3伸出信号异常，请检查！");
}
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("光源旋转气缸缩回信号异常，请检查！");
ShowList("光源旋转气缸缩回回信号异常，请检查！");
}
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("载具夹紧气缸缩回信号异常，请检查！");
ShowList("载具夹紧气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 1)
{
AddList("机械手撕膜升降气缸缩回信号异常，请检查！");
ShowList("机械手撕膜升降气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 1)
{
AddList("机械手滑台气缸缩回信号异常，请检查！");
ShowList("机械手滑台气缸缩回信号异常，请检查！");
}
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)
{
AddList("PSA吸嘴升降气缸上信号异常，请检查！");
ShowList("PSA吸嘴升降气缸上信号异常，请检查！");
}
StepHome = 1000;
}
break;
case 210:
AddList("料仓左Z轴开始回原点…");
AddList("料仓右Z轴开始回原点…");
AddList("PSA供料Z轴开始回原点…");
AddList("保压Z轴开始回原点…");
AddList("PSA搬运Y轴开始回原点…");
GoHome.AxisHome[0, Axis.料仓左Z轴].Result = false;
GoHome.AxisHome[0, Axis.料仓右Z轴].Result = false;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Result = false;
GoHome.AxisHome[0, Axis.保压Z轴].Result = false;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result = false;
GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = true;
GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = true;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = true;
GoHome.AxisHome[0, Axis.保压Z轴].Enable = true;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = true;
GoHome.AxisHome[0, Axis.料仓左Z轴].Step = 10;
GoHome.AxisHome[0, Axis.料仓右Z轴].Step = 10;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Step = 10;
GoHome.AxisHome[0, Axis.保压Z轴].Step = 10;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step = 10;
InitTime.InitialTime();
Frm_ProgressBar.SetValueProgressBar(30);
StepHome = 220;
break;
case 220:
GotoHome(0, Axis.料仓左Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.料仓右Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.PSA供料Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.保压Z轴, 30, -90, 20, -3, 5);
GotoHome(0, Axis.PSA搬运Y轴, 30, -1000, 10, 1, 10);
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step != 0 && 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！");
StepHome = 1000;
}
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓左Z轴].Enable)
{
GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result)
{
AddList("料仓左Z轴回原点成功！");
}
else
{
AddList("料仓左Z轴回原点失败！");
ShowList("料仓左Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.料仓右Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓右Z轴].Enable)
{
GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.料仓右Z轴].Result)
{
AddList("料仓右Z轴回原点成功！");
}
else
{
AddList("料仓右Z轴回原点失败！");
ShowList("料仓右Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable)
{
GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Result)
{
AddList("PSA供料Z轴回原点成功！");
}
else
{
AddList("PSA供料Z轴回原点失败！");
ShowList("PSA供料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.保压Z轴].Step == 0 && GoHome.AxisHome[0, Axis.保压Z轴].Enable)
{
GoHome.AxisHome[0, Axis.保压Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.保压Z轴].Result)
{
AddList("保压Z轴回原点成功！");
}
else
{
AddList("保压Z轴回原点失败！");
ShowList("保压Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable)
{
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = false;
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
{
AddList("PSA搬运Y轴回原点成功！");
}
else
{
AddList("PSA搬运Y轴回原点失败！");
ShowList("PSA搬运Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result && GoHome.AxisHome[0, Axis.料仓右Z轴].Result &&
GoHome.AxisHome[0, Axis.PSA供料Z轴].Result && GoHome.AxisHome[0, Axis.保压Z轴].Result &&
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
{
Frm_ProgressBar.SetValueProgressBar(50);
InitTime.InitialTime();
StepHome = 300;
}
break;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
case 300:
AddList("各轴开始回待机位置…");
//料仓
Gg.AbsMotion(0, Axis.料仓左Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.左料仓, Axis.Point左料仓.初始位置], 20);
Gg.AbsMotion(0, Axis.料仓右Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.右料仓, Axis.Point右料仓.初始位置], 20);
//PSA供料
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], 20);
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);
//保压站
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], 20);
InitTime.InitialTime();
StepHome = 310;
break;
case 310:
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！");
StepHome = 1000;
}
if (Gg.ZSPD(0, Axis.料仓左Z轴) && Gg.ZSPD(0, Axis.料仓右Z轴) &&
Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.ZSPD(0, Axis.PSA搬运Y轴) &&
Gg.ZSPD(0, Axis.保压Z轴))
{
AddList("整机回待机位置完成！");
InitTime.InitialTime();
StepHome = 350;
}
else
{
if (InitTime.TimeIsUp(10000))
{
if (Gg.ZSPD(0, Axis.料仓左Z轴) == false)
{
AddList("料仓左Z轴回待机位置失败！");
ShowList("料仓左Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.料仓右Z轴) == false)
{
AddList("料仓右Z轴回待机位置失败！");
ShowList("料仓右Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.PSA供料Z轴) == false)
{
AddList("PSA供料Z轴回待机位置失败！");
ShowList("PSA供料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false)
{
AddList("PSA搬运Y轴回待机位置失败！");
ShowList("PSA搬运Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.保压Z轴) == false)
{
AddList("保压Z轴回待机位置失败！");
ShowList("保压Z轴回待机位置失败！");
}
StepHome = 1000;
}
}
break;
case 350:
//平移气缸回到左边
Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸左, 1);
Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸右, 0);
//保压无杆气缸向右复位
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);
AddList("料盘平移无杆气缸向左复位！");
InitTime.InitialTime();
StepHome = 360;
break;
case 360:
if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 1 && Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 0 &&
Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0)
{
AddList("料盘平移无杆气缸向左复位OK！");
InitTime.InitialTime();
StepHome = 370;
}
else
{
if (InitTime.TimeIsUp(6000))
{
if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 0 || Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 1)
{
AddList("料盘平移无杆气缸左信号异常！");
InitTime.InitialTime();
StepHome = 1000;
}
}
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)
{
AddList("保压无杆气缸右信号异常！");
InitTime.InitialTime();
StepHome = 1000;
}
}
break;
case 370:
InitTime.InitialTime();
StepHome = 800;
break;
case 800:
AddList("初始化完成");
ShowList("初始化完成");
PVar.LampStatus = 20;
PVar.Stop_Flag = true;
PVar.AutoRunFlag = false;
PVar.MacHold = false;
PVar.CPKDoneCounts = 0;
PVar.WorkMode = 0;
Frm_Main.fMain.Panel_CPK.Visible = false;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = true;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_SelectedBtn; //'主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.TabPage3.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_Engineering.fEngineering.TabPage4.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_ProgressBar.IsShowProgresBar(false); //'初始化进度条显示
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
for (int i = 0; i <= 10; i++)
{
PVar.Sta_Work[i].State = false;
PVar.Sta_Work[i].Result = false;
PVar.Sta_Work[i].IsHaveHSG = false;
PVar.Sta_Work[i].Step = 0;
}
Mod_ErrorCode.CheckSystemTimeStep = 0;
GoHome.Reset.State = false;
GoHome.Reset.Result = true;
StepHome = 0;
break;
case 1000:
PVar.LampStatus = 10;
PVar.MacHold = false;
PVar.Stop_Flag = true;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn; //主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
PVar.Rtn = gts.GT_Stop(0, 255, 255); //紧急停止0号卡所有轴
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
Frm_ProgressBar.IsShowProgresBar(false); //初始化进度条显示
GoHome.Reset.Result = false;
GoHome.Reset.State = false;
StepHome = 0;
break;
}
//string tempStr = "";
//if (Gg.GetDi(0, Gg.InPut0.安全门) == 0)
// {
// tempStr = "安全门";
// }
//if (!string.IsNullOrEmpty(tempStr))
// {
// AddList("请关闭" + tempStr + "再初始化");
// ShowList("请关闭" + tempStr + "再初始化");
// StepHome = 1000;
// return;
// }
}