/// <summary>
/// 移动Z
/// </summary>
/// <param name="param"></param>
public void MoveZ(MoveParam param)
{
if (!param.MoveZ)
{
this.CurState = State.MoveZFinished;
return;
}
bool zReach = true;
for (int nz = 0; nz < param.NzUsed.Length; ++nz)
{
if (param.NzUsed[nz])
{
if (!entiy.MachineAxis.Z[nz].AxisReach(param.ZPos[nz]))
{
zReach = false;
entiy.ZGoPos((Nozzle)nz, param.ZPos[nz], entiy.MachineConfig.AutoSpeedMode);
}
}
}
if (zReach)
{
this.CurState = State.MoveZFinished;
}
else
{
Thread.Sleep(5);
}
}
/// <summary>
/// 移动结束后拍照
/// </summary>
/// <param name="param"></param>
public override void MoveXYRFinished(MoveParam param)
{
if (this.machine.PCBReach)
{
if (this.MarkIndex == 0 && this.PCBIndex == 0)
{
Thread.Sleep(SystemConfig.Instance.General.ReachAfterDelay);
}
// 拍照等待
Thread.Sleep(SystemConfig.Instance.General.UpCamDelay);
var item = new Tool.ResultItem();
item.Camera = Camera.Top;
item.funcName = this.markParam.VisionName;
item.CaptruePos = this.markParam.Pos;
VisionImage image = entiy.GrabImage(Camera.Top);
item.Key = ResultKey.Mark;
item.PCBIndex = PCBIndex;
item.PCSIndex = MarkIndex;
item.Mark = this.machine.Program.PasteInfos[PCBIndex].MarkPtList[MarkIndex].MarkID;
VisionCalHelper.Instance.VisionDetect(entiy.Module, item, image);
VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Top, image);
MarkIndex++;
base.MoveXYRFinished(param);
}
}
public override void MoveZFinished(MoveParam param)
{
this.entiy.MachineIO.VaccumSuck[(int)this.PasteNozzle].SetIO(false);
this.entiy.MachineIO.VaccumPO[(int)this.PasteNozzle].SetIO(true);
Thread.Sleep(FeederDefine.Instance[this.machine.Module, this.machine.RunData.RUN_NzData[this.PasteNozzle].SuckFeeder].PutDelay);
ReportHelper.Instance[this.machine.Module].PCSCount += 1;
base.MoveZFinished(param);
}
public override void MoveXYRFinished(MoveParam param)
{
foreach (Nozzle nozzle in this.RejectList)
{
this.entiy.MachineIO.VaccumSuck[(int)nozzle].SetIO(false);
this.entiy.MachineIO.VaccumPO[(int)nozzle].SetIO(true);
}
base.MoveXYRFinished(param);
}
/// <summary>
/// 检查是否需要翻转
/// </summary>
/// <param name="param"></param>
public void CheckTrun(MoveParam param)
{
if (entiy.MachineAxis.Trun.AxisReach(param.TrunAngle))
{
this.CurState = State.StartMoveXYR;
}
else
{
this.CurState = State.TrunGoXY;
}
}
/// <summary>
/// 翻转
/// </summary>
/// <param name="param"></param>
public void Trun(MoveParam param)
{
if (entiy.MachineAxis.Trun.AxisReach(param.TrunAngle))
{
this.CurState = State.StartMoveXYR;
}
else
{
entiy.TurnGoPos(param.TrunAngle, entiy.MachineConfig.AutoSpeedMode);
Thread.Sleep(5);
}
}
/// <summary>
/// 到翻转点
/// </summary>
public void TrunGoXY(MoveParam param)
{
if (entiy.XYReach(machine.MachineEntiy.MachineConfig[Nozzle.Nz1].RotateCamPoint))
{
this.CurState = State.Trun;
}
else
{
entiy.XYGoPos(machine.MachineEntiy.MachineConfig[Nozzle.Nz1].RotateCamPoint, entiy.MachineConfig.AutoSpeedMode);
Thread.Sleep(5);
}
}
public override void MoveZFinished(MoveParam param)
{
var item = new Tool.ResultItem();
item.Camera = Camera.Top;
item.funcName = this.codeParam.VisionName;
item.CaptruePos = this.codeParam.Pos;
var image = entiy.GrabImage(Camera.Top);
item.Key = ResultKey.PCSCode;
item.PCBIndex = PCBIndex;
item.PCSIndex = CodeIndex;
VisionCalHelper.Instance.VisionDetect(entiy.Module, item, image);
VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Top, image);
base.MoveZFinished(param);
}
public override void MoveZFinished(MoveParam param)
{
if (SystemConfig.Instance.General.RunMode == RunMode.TestRun)
{
this.entiy.MachineIO.VaccumSuck[(int)param.Nozzle].SetIO(true);
}
else
{
// 提前开真空
//if (!LabelDefine.Instance[this.Feeder.LabelName].PreSuck)
{
this.entiy.MachineIO.VaccumSuck[(int)param.Nozzle].SetIO(true);
}
}
Thread.Sleep(this.Feeder.SuckDelay);
base.MoveZFinished(param);
}
public override void MoveZFinished(MoveParam param)
{
Thread.Sleep(this.entiy.MachineConfig.DropDelay);
foreach (Nozzle nozzle in this.RejectList)
{
this.entiy.MachineIO.VaccumPO[(int)nozzle].SetIO(false);
int pcbIndex = this.machine.RunData.RUN_NzData[nozzle].PCBIndex;
int pcsIndex = this.machine.RunData.RUN_NzData[nozzle].PCSIndex;
this.machine.RunData.SetPasteState(pcbIndex, pcsIndex, -1);
this.machine.RunData.RUN_NzData[nozzle].State = NZ_State.NoUsed;
ReportHelper.Instance[this.machine.Module][nozzle] += 1;
}
RejectList.Clear();
base.MoveZFinished(param);
}
/// <summary>
/// 获得下一个吸嘴吸标参数
/// </summary>
/// <param name="param"></param>
/// <returns></returns>
public bool GetNextSuck(ref MoveParam param)
{
if (SuckQueue.Count == 0)
{
return(false);
}
Nozzle nz = SuckQueue.Dequeue();
param = new MoveParam();
this.MoveParam.TrunAngle = machine.MachineEntiy.MachineConfig.TrunSuckAngle;
param.Feeder = this.machine.RunData.RUN_NzData[nz].SuckFeeder;
param.Nozzle = nz;
param.MoveZ = true;
param.MoveR = true;
param.NzUsed[(int)nz] = true;
param.ZPos[(int)nz] = this.entiy.MachineConfig[nz].XIHeight;
return(true);
}
/// <summary>
/// 移动XYR
/// </summary>
/// <param name="param"></param>
public void MoveXYR(MoveParam param)
{
if (entiy.XYReach(param.XYPos) && entiy.UReach(param.RPos))
{
CurState = State.MoveXYRFinished;
}
else
{
entiy.XYGoPos(param.XYPos, entiy.MachineConfig.AutoSpeedMode);
if (param.MoveR)
{
for (int i = 0; i < param.RPos.Length; ++i)
{
this.entiy.RGoAngle(param.RPos[i], (Nozzle)i, entiy.MachineConfig.AutoSpeedMode);
}
}
Thread.Sleep(5);
}
}
public override void MoveXYRFinished(MoveParam param)
{
this.entiy.MachineIO.VaccumPO[(int)param.Nozzle].SetIO(false);
// 提前开真空
if (SystemConfig.Instance.General.RunMode == RunMode.Normal)
{
this.entiy.MachineIO.VaccumSuck[(int)param.Nozzle].SetIO(true);
}
if (Feeder.NewOut && StartNz != param.Nozzle)
{
Thread.Sleep(Feeder.NewFeederDelay);
Feeder.NewOut = false;
}
else
{
Feeder.NewOut = false;
}
base.MoveXYRFinished(param);
}
public override void MoveXYRFinished(MoveParam param)
{
// 翻转到位延时
Thread.Sleep(SystemConfig.Instance.General.DownCamDelay); // 头部晃动
var image1 = CameraDefine.Instance.Camera[entiy.Module][Camera.Bottom1].Grab();
var image2 = CameraDefine.Instance.Camera[entiy.Module][Camera.Bottom2].Grab();
Task.Factory.StartNew(() =>
{
if (this.machine.RunData.RUN_NzData[Nozzle.Nz1].State == NZ_State.Sucked)
{
CalNz(Nozzle.Nz1, this.machine.RunData.RUN_NzData[Nozzle.Nz1].SuckLabel, image1);
}
if (this.machine.RunData.RUN_NzData[Nozzle.Nz2].State == NZ_State.Sucked)
{
CalNz(Nozzle.Nz2, this.machine.RunData.RUN_NzData[Nozzle.Nz2].SuckLabel, image1);
}
VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Bottom1, image1);
});
Task.Factory.StartNew(() =>
{
if (this.machine.RunData.RUN_NzData[Nozzle.Nz3].State == NZ_State.Sucked)
{
CalNz(Nozzle.Nz3, this.machine.RunData.RUN_NzData[Nozzle.Nz3].SuckLabel, image2);
}
if (this.machine.RunData.RUN_NzData[Nozzle.Nz4].State == NZ_State.Sucked)
{
CalNz(Nozzle.Nz4, this.machine.RunData.RUN_NzData[Nozzle.Nz4].SuckLabel, image2);
}
VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Bottom2, image2);
});
CameraDefine.Instance.CloseLight(this.entiy.Module, Camera.Bottom1);
this.OnExit();
}
public override void MoveXYRFinished(MoveParam param)
{
if (SystemConfig.Instance.General.RunMode == RunMode.TestRun) // 空跑
{
this.OnExit();
}
else
{
#region 拍照检测面积是否匹配
//var image1 = CameraDefine.Instance.Camera[entiy.Module][Camera.Bottom1].Grab();
//var image2 = CameraDefine.Instance.Camera[entiy.Module][Camera.Bottom2].Grab();
//Task.Factory.StartNew(() =>
//{
//if (this.machine.RunData.RUN_NzData[Nozzle.Nz1].State == NZ_State.Sucked)
// CalNz(Nozzle.Nz1, this.machine.RunData.RUN_NzData[Nozzle.Nz1].SuckLabel, image1);
//if (this.machine.RunData.RUN_NzData[Nozzle.Nz2].State == NZ_State.Sucked)
// CalNz(Nozzle.Nz2, this.machine.RunData.RUN_NzData[Nozzle.Nz2].SuckLabel, image1);
//VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Bottom1, image1);
//});
//Task.Factory.StartNew(() =>
//{
//if (this.machine.RunData.RUN_NzData[Nozzle.Nz3].State == NZ_State.Sucked)
// CalNz(Nozzle.Nz3, this.machine.RunData.RUN_NzData[Nozzle.Nz3].SuckLabel, image2);
//if (this.machine.RunData.RUN_NzData[Nozzle.Nz4].State == NZ_State.Sucked)
// CalNz(Nozzle.Nz4, this.machine.RunData.RUN_NzData[Nozzle.Nz4].SuckLabel, image2);
//VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Bottom2, image2);
//});
//CameraDefine.Instance.CloseLight(this.entiy.Module, Camera.Bottom1);
#endregion
this.OnExit();
}
base.MoveXYRFinished(param);
}
public override void MoveXYRFinished(MoveParam param)
{
// 拍照等待
Thread.Sleep(SystemConfig.Instance.General.UpCamDelay);
if (SystemConfig.Instance.General.RunMode == RunMode.TestRun)
{
this.BadmarkIndex++;
}
else
{
var item = new Tool.ResultItem();
item.Camera = Camera.Top;
item.funcName = this.badmark.VisionName;
item.CaptruePos = this.badmark.Pos;
VisionImage image = entiy.GrabImage(Camera.Top);
item.Key = ResultKey.Badmark;
item.PCBIndex = PCBIndex;
item.PCSIndex = BadmarkIndex;
VisionCalHelper.Instance.ImageShow(this.entiy.Module, Camera.Top, image);
VisionCalHelper.Instance.VisionDetect(entiy.Module, item, image);
}
base.MoveXYRFinished(param);
}
public override void MoveXYRFinished(MoveParam param)
{
// 拍照等待
Thread.Sleep(SystemConfig.Instance.General.UpCamDelay);
base.MoveXYRFinished(param);
}
/// <summary>
/// 移动XYR结束，开始移动Z
/// </summary>
/// <param name="param"></param>
public virtual void MoveXYRFinished(MoveParam param)
{
this.CurState = State.MoveZ;
}
public override void MoveXYRFinished(MoveParam param)
{
base.MoveXYRFinished(param);
// 需要即时计算
// 进行Panel 绑定或者 BadMark 对应
}
public override void MoveXYRFinished(MoveParam param)
{
base.MoveXYRFinished(param);
}
/// <summary>
/// 移动Z完成,开始Z回安全高度
/// </summary>
/// <param name="param"></param>
public virtual void MoveZFinished(MoveParam param)
{
this.CurState = State.ZMoveSafe;
}