public void MoveToTossingPos(int num)//马达移动到抛料位置
{
Main.frmMain.ListBoxDisplay("流线2--CCD2 Y轴运行到抛料位置");
GClsMontion.AbsoluteMove(3, CAMiClsVariable.CCD2TossingPosYValue[0], CAMiClsVariable.speedCCD2Y, CAMiClsVariable.TaccCCD2Y);
GClsMontion.WaitMotorStop(3);
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到抛料位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2flingPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--关闭抛料穴位真空吸"); //一个一个抛，关闭NG产品对应真空吸
CAMiClsCylinder.GeneralClynderMotion(2, 0, num, 0); //真空吸Off
CAMiClsCylinder.GeneralClynderMotion(2, 0, num + 12, 1); //去真空On
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, num, 0, 3000, 44 + (num + 1) * 2);
CAMiClsCylinder.GeneralClynderMotion(2, 0, num + 12, 0); //去真空Off
if (CAMiClsVariable.strProduct != "P104") //当项目为D4X时
{
if (num < 8) //--------------带小气缸机台部分
{
CAMiClsCylinder.GeneralClynderMotion(2, 0, num + 24, 0); //小气缸
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, num + 12, 0, 3000, 44 + (num + 12 + 1) * 2); //小气缸感应off
}
if (num == 8)
{
CAMiClsCylinder.CldSmallControl9Retract();
}
if (num == 9)
{
CAMiClsCylinder.CldSmallControl10Retract();
}
if (num == 10)
{
CAMiClsCylinder.CldSmallControl11Retract();
}
if (num == 11)
{
CAMiClsCylinder.CldSmallControl12Retract();
}
}
}
public void ThStreamSecondLineEmptyRunning()//第二条流线自动
{
while (true)
{
try
{
Main.frmMain.ListBoxDisplay("流线2--运行开始-----------------------");
CAMiClsVariable.CCD2productSelectNO = 0;
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("清空结果区");
CAMiClsMethod.StreamCCDDataClear(2); //清空数据存放区
#region 加载流线2产品使能 //4,2,3,1,5,7,6,8,12,10,11,9------用于位置运动 28行
Main.frmMain.dgvData.Rows[28].Cells[1].Value = (CAMiClsVariable.isProductSelect[3] + CAMiClsVariable.isProductSelect[1]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[28].Cells[2].Value = Main.frmMain.dgvData.Rows[28].Cells[1].Value;
Main.frmMain.dgvData.Rows[28].Cells[3].Value = (CAMiClsVariable.isProductSelect[2] + CAMiClsVariable.isProductSelect[0]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[28].Cells[4].Value = Main.frmMain.dgvData.Rows[28].Cells[3].Value;
Main.frmMain.dgvData.Rows[28].Cells[5].Value = (CAMiClsVariable.isProductSelect[4] + CAMiClsVariable.isProductSelect[6]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[28].Cells[6].Value = Main.frmMain.dgvData.Rows[28].Cells[5].Value;
Main.frmMain.dgvData.Rows[28].Cells[7].Value = (CAMiClsVariable.isProductSelect[5] + CAMiClsVariable.isProductSelect[7]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[28].Cells[8].Value = Main.frmMain.dgvData.Rows[28].Cells[7].Value;
Main.frmMain.dgvData.Rows[28].Cells[9].Value = (CAMiClsVariable.isProductSelect[11] + CAMiClsVariable.isProductSelect[9]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[28].Cells[10].Value = Main.frmMain.dgvData.Rows[28].Cells[9].Value;
Main.frmMain.dgvData.Rows[28].Cells[11].Value = (CAMiClsVariable.isProductSelect[10] + CAMiClsVariable.isProductSelect[8]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[28].Cells[12].Value = Main.frmMain.dgvData.Rows[28].Cells[11].Value;
#endregion
#region 加载流线2产品使能、、4,3,2,1,5,6,7,8,12,11,10,9---按照产品在tray盘里的实际位置来定 49行
Main.frmMain.dgvData.Rows[49].Cells[1].Value = (CAMiClsVariable.isProductSelect[3] + CAMiClsVariable.isProductSelect[1]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[49].Cells[3].Value = Main.frmMain.dgvData.Rows[49].Cells[1].Value;
Main.frmMain.dgvData.Rows[49].Cells[2].Value = (CAMiClsVariable.isProductSelect[2] + CAMiClsVariable.isProductSelect[0]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[49].Cells[4].Value = Main.frmMain.dgvData.Rows[49].Cells[2].Value;
Main.frmMain.dgvData.Rows[49].Cells[5].Value = (CAMiClsVariable.isProductSelect[4] + CAMiClsVariable.isProductSelect[6]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[49].Cells[7].Value = Main.frmMain.dgvData.Rows[49].Cells[5].Value;
Main.frmMain.dgvData.Rows[49].Cells[6].Value = (CAMiClsVariable.isProductSelect[5] + CAMiClsVariable.isProductSelect[7]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[49].Cells[8].Value = Main.frmMain.dgvData.Rows[49].Cells[6].Value;
Main.frmMain.dgvData.Rows[49].Cells[9].Value = (CAMiClsVariable.isProductSelect[11] + CAMiClsVariable.isProductSelect[9]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[49].Cells[11].Value = Main.frmMain.dgvData.Rows[49].Cells[9].Value;
Main.frmMain.dgvData.Rows[49].Cells[10].Value = (CAMiClsVariable.isProductSelect[10] + CAMiClsVariable.isProductSelect[8]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[49].Cells[12].Value = Main.frmMain.dgvData.Rows[49].Cells[10].Value;
#endregion
#region 加载流线2产品使能 结果输出、、 1,2,3,4,5,6,7,8,9,10,11,12----按照正常排序 80行
Main.frmMain.dgvData.Rows[80].Cells[1].Value = (CAMiClsVariable.isProductSelect[2] + CAMiClsVariable.isProductSelect[0]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[80].Cells[3].Value = Main.frmMain.dgvData.Rows[80].Cells[1].Value;
Main.frmMain.dgvData.Rows[80].Cells[2].Value = (CAMiClsVariable.isProductSelect[3] + CAMiClsVariable.isProductSelect[1]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[80].Cells[4].Value = Main.frmMain.dgvData.Rows[80].Cells[2].Value;
Main.frmMain.dgvData.Rows[80].Cells[5].Value = (CAMiClsVariable.isProductSelect[4] + CAMiClsVariable.isProductSelect[6]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[80].Cells[7].Value = Main.frmMain.dgvData.Rows[80].Cells[5].Value;
Main.frmMain.dgvData.Rows[80].Cells[6].Value = (CAMiClsVariable.isProductSelect[5] + CAMiClsVariable.isProductSelect[7]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[80].Cells[8].Value = Main.frmMain.dgvData.Rows[80].Cells[6].Value;
Main.frmMain.dgvData.Rows[80].Cells[9].Value = (CAMiClsVariable.isProductSelect[10] + CAMiClsVariable.isProductSelect[8]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[80].Cells[11].Value = Main.frmMain.dgvData.Rows[80].Cells[9].Value;
Main.frmMain.dgvData.Rows[80].Cells[10].Value = (CAMiClsVariable.isProductSelect[11] + CAMiClsVariable.isProductSelect[9]) != 0 ? 1 : 0;
Main.frmMain.dgvData.Rows[80].Cells[12].Value = Main.frmMain.dgvData.Rows[80].Cells[10].Value;
#endregion
for (int i = 0; i < 12; i++)
{
CAMiClsVariable.CCD2productSelectNO += Convert.ToInt32(Main.frmMain.dgvData.Rows[28].Cells[i + 1].Value);
}
Main.frmMain.ListBoxDisplay(string.Format("流线2--流线2产品需检测的个数为{0}", CAMiClsVariable.CCD2productSelectNO));
CAMiClsVariable.CCD2productSelectNO = CAMiClsVariable.CCD2productSelectNO / 2;
Main.frmMain.ListBoxDisplay("流线2--等待流线1完成");
Main.frmMain.PauseCheck(); //暂停
do //等待流线1完成
{
Thread.Sleep(10);
Application.DoEvents();
Main.frmMain.PauseCheck();//暂停
} while (!CAMiClsVariable.isStreamLine1Done);
CAMiClsVariable.isStreamLine1Done = false;
CAMiClsMethod.ChangeResultDisplay(); //初始化结果显示颜色
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--启动流线2");
GClsMontion.WriteCardExtendOutputBit(1, 8, 0); //流线2高速
GClsMontion.WriteCardExtendOutputBit(1, 6, 1); //流线2启动
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--等待流线2到位感应1感应");
//do//等待流线2到位1感应
//{
// Thread.Sleep(10);
// Application.DoEvents();
//} while (GClsMontion.ReadCardExtendInputBit(1, 10) != 1);
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--等待流线2到位感应2感应");
//do//等待到位2感应
//{
// Thread.Sleep(10);
// Application.DoEvents();
// Main.frmMain.PauseCheck();//暂停
//} while (GClsMontion.ReadCardExtendInputBit(1, 11) != 1);
Thread.Sleep(200); //先延时再停止，根据需求更改
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--停止流线2");
GClsMontion.WriteCardExtendOutputBit(1, 6, 0); //流线2停止
CAMiClsVariable.isProductLocateInStreamLine2 = true; //流线2产品到位
CAMiClsMethod.StreamTrayLocate(2); //流线2产品定位
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--马达模组运动到抓料位置");
GClsMontion.AbsoluteMove(3, CAMiClsVariable.CCD2PickPosY, CAMiClsVariable.speedCCD2Y, CAMiClsVariable.TaccCCD2Y);
GClsMontion.WaitMotorStop(3);
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--Z轴下降到抓料位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2PickPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Main.frmMain.PauseCheck();//暂停
Thread.Sleep(10);
#region 真空吸打开及判断
Main.frmMain.ListBoxDisplay("流线2--打开所有真空吸");
for (int i = 0; i < 12; i++) //打开所有真空吸以及小气缸伸出
{
if (CAMiClsVariable.isProductSelect[i] == 1) //产品选中
{
CAMiClsCylinder.GeneralClynderMotion(2, 0, i, CAMiClsVariable.isProductSelect[i]);
//CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, i, CAMiClsVariable.isProductSelect[i], 3000, 44 + (i + 1) * 2 - CAMiClsVariable.isProductSelect[i]);
if (CAMiClsVariable.strProduct != "P104")//当项目为D4X时
{
if (i < 8)
{
CAMiClsCylinder.GeneralClynderMotion(2, 0, i + 24, 1);//小气缸
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, i + 12, CAMiClsVariable.isProductSelect[i], 3000, 44 + (i + 12 + 1) * 2 - CAMiClsVariable.isProductSelect[i]);
}
if (i == 8)
{
CAMiClsCylinder.CldSmallControl9Extend();
}
if (i == 9)
{
CAMiClsCylinder.CldSmallControl10Extend();
}
if (i == 10)
{
CAMiClsCylinder.CldSmallControl11Extend();
}
if (i == 11)
{
CAMiClsCylinder.CldSmallControl12Extend();
}
}
}
Main.frmMain.PauseCheck();//暂停
}
Thread.Sleep(500);
#endregion
Main.frmMain.PauseCheck();//暂停PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--Z轴上升到初始高度");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2InitialPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
#region cyclone二维码临时转移至第29行
Main.frmMain.dgvData.Rows[29].Cells[1].Value = Main.frmMain.dgvData.Rows[18].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[2].Value = Main.frmMain.dgvData.Rows[16].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[3].Value = Main.frmMain.dgvData.Rows[17].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[4].Value = Main.frmMain.dgvData.Rows[15].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[5].Value = Main.frmMain.dgvData.Rows[19].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[6].Value = Main.frmMain.dgvData.Rows[21].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[7].Value = Main.frmMain.dgvData.Rows[20].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[8].Value = Main.frmMain.dgvData.Rows[22].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[9].Value = Main.frmMain.dgvData.Rows[26].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[10].Value = Main.frmMain.dgvData.Rows[24].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[11].Value = Main.frmMain.dgvData.Rows[25].Cells[10].Value;
Main.frmMain.dgvData.Rows[29].Cells[12].Value = Main.frmMain.dgvData.Rows[23].Cells[10].Value;
#endregion
GClsMontion.WaitMotorStop(4);
//开始拍照
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--清空CCD2缓存数据");
//CAMiClsVariable.cClient.ClientReceive(2, 0);
#region CCD2拍照
Main.frmMain.ListBoxDisplay("流线2--开始拍照");
for (int i = 0; i < 12; i++)
{
if (Main.frmMain.dgvData.Rows[28].Cells[i + 1].Value.ToString() == "1")
{
//运行到拍照位置
Main.frmMain.ListBoxDisplay("流线2--运行到CCD2-第" + (i + 1).ToString() + "个拍照位置");
GClsMontion.AbsoluteMove(2, CAMiClsVariable.CCD2PosXValue[i], CAMiClsVariable.speedCCD2X, CAMiClsVariable.TaccCCD2X);
GClsMontion.AbsoluteMove(3, CAMiClsVariable.CCD2PosYValue[i], CAMiClsVariable.speedCCD2Y, CAMiClsVariable.TaccCCD2Y);
GClsMontion.WaitMotorStop(2);
GClsMontion.WaitMotorStop(3);
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2TakePhotoPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Thread.Sleep(10);
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--触发拍照"); //触发拍照
//if (i % 2 == 0)
//{
// CAMiClsVariable.cClient.ClientSend(2, (CAMiClsVariable.strTrig2 + ",0," + CAMiClsMethod.GetCavityNum(i) + ","
// + Main.frmMain.dgvData.Rows[29].Cells[i + 1].Value.ToString().Trim() + "," + Main.frmMain.dgvData.Rows[29].Cells[i + 2].Value.ToString().Trim()));//",DLC845700BPL8WX2N+067,DLC8457003VL8WX26+067"
// Thread.Sleep(10);
// Main.frmMain.ListBoxDisplay("流线2--接收数据");
// Main.frmMain.PauseCheck();//暂停
// CAMiClsVariable.strCCD2Recv1 = CAMiClsMethod.ReceiveData(i, 2);
// if (CAMiClsVariable.strCCD2Recv1.Substring(0, 3) != "T21")
// {
// MessageBox.Show("CCD2 拍照T21反馈异常");
// }
//}
//else if (i % 2 == 1)
//{
// CAMiClsVariable.cClient.ClientSend(2, (CAMiClsVariable.strTrig3 + ",0," + CAMiClsMethod.GetCavityNum(i) + ","
// + Main.frmMain.dgvData.Rows[29].Cells[i].Value.ToString().Trim() + "," + Main.frmMain.dgvData.Rows[29].Cells[i + 1].Value.ToString().Trim()));//T22...",DLC845700BPL8WX2N+067,DLC8457003VL8WX26+067"
// Thread.Sleep(10);
// Main.frmMain.PauseCheck();//暂停
// Main.frmMain.ListBoxDisplay("流线2--接收数据");
// CAMiClsVariable.strCCD2Recv2 = CAMiClsMethod.ReceiveData(i, 2);
// if (CAMiClsVariable.strCCD2Recv2.Substring(0, 3) != "T22")
// {
// MessageBox.Show("CCD2 拍照T22反馈异常");
// }
// Main.frmMain.PauseCheck();//暂停
// Thread.Sleep(2000);
// Application.DoEvents();
//}
}
}
Main.frmMain.ListBoxDisplay("流线2--获取CCD2数据");
//while (CAMiClsVariable.strRecvCCD2Data2Array[CAMiClsVariable.CCD2productSelectNO - 1] == "0")
//{
// CAMiClsVariable.recvCCD2DataNO = 0;
// CAMiClsVariable.strCCD2Recv2 = CAMiClsMethod.ReceiveData(0, 2);
//}
//for (int i = 0; i < 6; i++)
//{
//T22,Status_1:CCD2视野中物料是否存在,”1”代表有, ”0”代表无;
//Status_2:CCD2综合判断状态, ,”1”代表OK, ”0”代表NG
//Status_3:线圈偏位 内;Status_4:线圈偏位;Status_5:UV溢胶判断;Status_6:UV溢胶判断
//Status_7:黑点;Status_8:黑点;Status_9:烫伤;Status_10:烫伤
//Status_11:气泡;Status_12:气泡;Status_13:缺锡;Status_14:缺锡......Status_20:
//Status_21........Status_40同上
//2号产品得到的数据是第3号产品的数据------------------------------------------------------------
//int strCCD2Recv2Length = receiveData2[i].Length;//获取CCD2反馈数据长度，用于去掉最后的\n\r
//ClsVariable.strCCD2Recv2 = receiveData2[i].Substring(0, strCCD2Recv2Length - 1);
//ClsVariable.recvCCD2DataArray = ClsVariable.strCCD2Recv2.Split(',');
//if (i % 2 == 0)
//{
// try
// {
// if (Convert.ToInt32(Main.frmMain.dgvData.Rows[49].Cells[i * 2 + 1].Value) == 1)
// {
// CAMiClsVariable.recvCCD2DataNO = 0;
// for (int m = 0; m < i * 2 + 1; m++)
// {
// CAMiClsVariable.recvCCD2DataNO += Convert.ToInt32(Main.frmMain.dgvData.Rows[49].Cells[m + 1].Value);
// }
// CAMiClsVariable.recvCCD2DataNO += Convert.ToInt32(Main.frmMain.dgvData.Rows[49].Cells[i * 2 + 1 + 2].Value);
// CAMiClsVariable.recvCCD2DataNO = CAMiClsVariable.recvCCD2DataNO / 2;
// CAMiClsVariable.recvCCD2DataArray = CAMiClsVariable.strRecvCCD2Data2Array[CAMiClsVariable.recvCCD2DataNO - 1].Split(',');
// Main.frmMain.dictSecondLine.Clear();//将数据存放到指定位置，以便后续使用
// for (int j = 0; j < CAMiClsVariable.recvCCD2DataArray.Length; j++)
// {
// if (j < 21)
// {
// Main.frmMain.dgvData.Rows[i * 2 + 30].Cells[j + 1].Value = CAMiClsVariable.recvCCD2DataArray[j];//第一组数据
// }
// else
// {
// Main.frmMain.dgvData.Rows[i * 2 + 31].Cells[j - 21 + 2].Value = CAMiClsVariable.recvCCD2DataArray[j];//换行放第二组数据
// }
// }
// }
// }
// catch (Exception err)
// {
// MessageBox.Show(err.ToString());
// }
//}
//else if (i % 2 == 1)
//{
// try
// {
// if (Convert.ToInt32(Main.frmMain.dgvData.Rows[49].Cells[i * 2].Value) == 1)
// {
// CAMiClsVariable.recvCCD2DataNO = 0;
// for (int m = 0; m < (i + 1) * 2; m++)
// {
// CAMiClsVariable.recvCCD2DataNO += Convert.ToInt32(Main.frmMain.dgvData.Rows[49].Cells[m + 1].Value);
// }
// CAMiClsVariable.recvCCD2DataNO = CAMiClsVariable.recvCCD2DataNO / 2;
// //CAMiClsVariable.recvCCD2DataArray = CAMiClsVariable.strRecvCCD2Data2Array[CAMiClsVariable.recvCCD2DataNO - 1].Split(',');
// Main.frmMain.dictSecondLine.Clear(); //将数据存放到指定位置，以便后续使用
// for (int j = 0; j < CAMiClsVariable.recvCCD2DataArray.Length; j++)
// {
// if (j < 21)
// {
// Main.frmMain.dgvData.Rows[i * 2 + 30].Cells[j + 1].Value = CAMiClsVariable.recvCCD2DataArray[j];//第一组数据
// }
// else
// {
// Main.frmMain.dgvData.Rows[i * 2 + 31].Cells[j - 21 + 2].Value = CAMiClsVariable.recvCCD2DataArray[j];//换行放第二组数据
// }
// }
// }
// }
// catch (Exception exx)
// {
// MessageBox.Show(exx.ToString());
// }
//}
//}
CAMiClsVariable.recvCCD2DataNO = 0;
#endregion
Main.frmMain.ListBoxDisplay("流线2--转移数据至第51行开始的行号");
#region 流线2--转移数据至第51行开始的行号
for (int i = 0; i < 22; i++)
{
Main.frmMain.dgvData.Rows[51].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[33].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[33].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[52].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[31].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[31].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[53].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[32].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[32].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[54].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[30].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[30].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[55].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[34].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[34].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[56].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[36].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[36].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[57].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[35].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[35].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[58].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[37].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[37].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[59].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[41].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[41].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[60].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[39].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[39].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[61].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[40].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[40].Cells[i + 1].Value : 1;
Main.frmMain.dgvData.Rows[62].Cells[i + 1].Value = Main.frmMain.dgvData.Rows[38].Cells[i + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[38].Cells[i + 1].Value : 1;
}
#endregion
//判断结果--------流线1和流线2的产品一一对应得到12个结果以作最终结果------根据对应的结果抛料，抛掉所对应的产品。--------------------------------------
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("判断产品OKNG");
//for (int i = 0; i < 12; i++)//每一片产品对应的结果
//{
// CAMiClsVariable.productResult[i] = (1 - Convert.ToInt32(Main.frmMain.dgvData.Rows[i + 15].Cells[3].Value)) * (1 - Convert.ToInt32(Main.frmMain.dgvData.Rows[i + 51].Cells[3].Value)) * (1 - Convert.ToInt32(Main.frmMain.dgvData.Rows[i + 51].Cells[13].Value));
// Main.frmMain.dgvData.Rows[65].Cells[i + 1].Value = CAMiClsVariable.productResult[i] == 1 ? "OK" : "NG";
//}
camiEmptyClsMethod.YieldDisplay();//显示良率
CAMiClsVariable.isProductOkNG = (CAMiClsVariable.isProductSelect.Sum() != CAMiClsVariable.productResult.Sum()) ? false : true;
CAMiClsVariable.isProductOkNG = true;
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--综合结果输出到表格");
for (int i = 0; i < 12; i++) //综合结果输出到表格
{
if (Main.frmMain.dgvData.Rows[80].Cells[i + 1].Value.ToString() == "1")
{
CAMiClsVariable.resultFinalData = "Cognex," + (i + 1).ToString() + "," + Main.frmMain.dgvData.Rows[i + 15].Cells[10].Value.ToString() + ",";
CAMiClsVariable.resultOKorNG = Main.frmMain.dgvData.Rows[65].Cells[i + 1].Value.ToString();
//每片产品综合结果从表格整合成字符串
for (int j = 1; j < 11; j++)//上视觉部分
{
CAMiClsVariable.resultFinalData += Main.frmMain.dgvData.Rows[i + 15].Cells[j].Value.ToString() + ",";
}
CAMiClsVariable.resultFinalData += "T21,";
for (int k = 2; k < 22; k++)////下视觉部分
{
CAMiClsVariable.resultFinalData = CAMiClsVariable.resultFinalData + Main.frmMain.dgvData.Rows[i + 51].Cells[k].Value.ToString() + ",";
}
myEmptyMethod.RecordResultToExcel(CAMiClsVariable.resultFinalData, CAMiClsVariable.resultOKorNG, Main.configsn);//输出结果到excel
}
}
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("刷新结果区");
foreach (Label lb in Main.frmMain.groupPictDisplay.Controls.OfType <Label>())
{
if (CAMiClsVariable.isProductSelect[lb.TabIndex] == 1)
{
Main.frmMain.ChangeColor(lb, CAMiClsVariable.productResult[Convert.ToInt32(lb.TabIndex)] == 1 ? Color.Green : Color.Red);//改变label颜色
}
}
Main.frmMain.PauseCheck(); //暂停
#region 产品NG时
if (!CAMiClsVariable.isProductOkNG) //产品NG时
{
Main.frmMain.ListBoxDisplay("产品NG");
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到初始位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2InitialPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Main.frmMain.PauseCheck(); //暂停
do //等待NG Tray 更换动作完成
{
Thread.Sleep(10);
Application.DoEvents();
Main.frmMain.PauseCheck();//暂停
} while (!CAMiClsVariable.isNGTrayOK);
do
{
if (CAMiClsVariable.isTrayChange)
{
DialogResult result = MessageBox.Show("Tray盘已满，请更换！", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (result == DialogResult.Yes)
{
CAMiClsVariable.isNGTrayOK = false;
do//等待NG Tray 更换动作完成
{
Thread.Sleep(10);
Application.DoEvents();
Main.frmMain.PauseCheck();//暂停
} while (!CAMiClsVariable.isNGTrayOK);
CAMiClsVariable.isTrayChange = false;
}
else
{
CAMiClsVariable.isTrayChange = true;
}
}
for (int i = 0; i < 12; i++)//每个穴位判断
{
if (CAMiClsVariable.isProductSelect[i] == 1)
{
if (CAMiClsVariable.productResult[i] != 1)
{
if (CAMiClsMethod.TrayCheck(i) == 1)//判断Tray是否可以放料
{
Main.frmMain.ListBoxDisplay("流线2--CCD2 Y轴运行到抛料位置");
GClsMontion.AbsoluteMove(3, CAMiClsVariable.CCD2TossingPosYValue[0], CAMiClsVariable.speedCCD2Y, CAMiClsVariable.TaccCCD2Y);
GClsMontion.WaitMotorStop(3);
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到抛料位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2flingPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--关闭抛料穴位真空吸"); //一个一个抛，关闭NG产品对应真空吸
CAMiClsCylinder.GeneralClynderMotion(2, 0, i, 0); //真空吸Off
CAMiClsCylinder.GeneralClynderMotion(2, 0, i + 12, 1); //去真空On
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, i, 0, 3000, 44 + (i + 1) * 2);
CAMiClsCylinder.GeneralClynderMotion(2, 0, i + 12, 0); //去真空Off
//if (i < 8)//--------------带小气缸机台部分
//{
// CAMiClsCylinder.GeneralClynderMotion(2, 0, i + 24, 0);//小气缸
// CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, i + 12, 0, 3000, 44 + (i + 12 + 1) * 2);//小气缸感应off
//}
//if (i == 8) CAMiClsCylinder.CldSmallControl9Retract();
//if (i == 9) CAMiClsCylinder.CldSmallControl10Retract();
//if (i == 10) CAMiClsCylinder.CldSmallControl11Retract();
//if (i == 11) CAMiClsCylinder.CldSmallControl12Retract();
Thread.Sleep(300);
CAMiClsVariable.productResult[i] = 1;
}
else
{
CAMiClsVariable.isTrayChange = true;
}
}
}
}
} while (CAMiClsVariable.isTrayChange);
}
#endregion
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到初始位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2InitialPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
CAMiClsVariable.isNGTrayOK = false;
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--CCD2 Y轴运行到抓料位置");
GClsMontion.AbsoluteMove(3, CAMiClsVariable.CCD2PickPosY, CAMiClsVariable.speedCCD2Y, CAMiClsVariable.TaccCCD2Y);
GClsMontion.AbsoluteMove(2, CAMiClsVariable.CCD2InitialPosX, CAMiClsVariable.speedCCD2X, CAMiClsVariable.TaccCCD2X);
GClsMontion.WaitMotorStop(3);
Thread.Sleep(100);
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到抓料高度");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2PickPosZ - 10 * 1000, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--关闭所有真空吸及小气缸缩回");
for (int i = 0; i < 12; i++) //关闭所有真空吸
{
CAMiClsCylinder.GeneralClynderMotion(2, 0, i, 0);
CAMiClsCylinder.GeneralClynderMotion(2, 0, i + 12, 0);
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, i, 0, 3000, 44 + (i + 1) * 2);
if (CAMiClsVariable.strProduct != "P104")//当项目为D4X时
{
if (i < 8)
{
CAMiClsCylinder.GeneralClynderMotion(2, 0, i + 24, 0);//小气缸
CAMiClsCylinder.GeneralClynderMotionSensor(2, 0, i + 12, 0, 3000, 44 + (i + 12 + 1) * 2);
}
if (i == 8)
{
CAMiClsCylinder.CldSmallControl9Retract();
}
if (i == 9)
{
CAMiClsCylinder.CldSmallControl10Retract();
}
if (i == 10)
{
CAMiClsCylinder.CldSmallControl11Retract();
}
if (i == 11)
{
CAMiClsCylinder.CldSmallControl12Retract();
}
}
Main.frmMain.PauseCheck();//暂停
}
Thread.Sleep(100);
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线2--Z轴运行到初始位置");
GClsMontion.AbsoluteMove(4, CAMiClsVariable.CCD2InitialPosZ, CAMiClsVariable.speedCCD2Z, CAMiClsVariable.TaccCCD2Z);
GClsMontion.WaitMotorStop(4);
GClsMontion.WaitMotorStop(2);
Main.frmMain.PauseCheck(); //暂停
CAMiClsMethod.StreamTrayRelease(2); //流线2产品放行
Main.frmMain.ListBoxDisplay("流线2--启动流线2");
GClsMontion.WriteCardExtendOutputBit(1, 8, 0); //流线2高速
GClsMontion.WriteCardExtendOutputBit(1, 6, 1); //流线2启动
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线2--等待流线2产品流出");
do //等待到位1感应
{
Thread.Sleep(10);
Application.DoEvents();
Main.frmMain.PauseCheck();//暂停
} while (GClsMontion.ReadCardExtendInputBit(1, 10) == 1 || GClsMontion.ReadCardExtendInputBit(1, 11) == 1 ||
GClsMontion.ReadCardExtendInputBit(1, 12) == 1);
Thread.Sleep(3000); //临时空跑延时
Main.frmMain.ListBoxDisplay("流线2--停止流线2");
GClsMontion.WriteCardExtendOutputBit(1, 6, 0); //流线2停止
Thread.Sleep(20); //气缸连续动作增加间隔延时
Main.frmMain.ListBoxDisplay("流线2--流线2阻挡气缸伸出");
CAMiClsCylinder.StreamLine2StopExtend(); //阻挡气缸伸出
Main.frmMain.PauseCheck(); //暂停
CAMiClsVariable.isStreamLine2Ready = true;
Main.frmMain.PauseCheck(); //暂停
}
catch (Exception ex)
{
myEmptyMethod.LogRecord(ex.ToString());
}
}
}
public void ThStreamFirstLineEmptyRunning()//第一条流线-自动
{
while (true)
{
try
{
Main.frmMain.ListBoxDisplay("流线1--运行开始-----------------------");
Main.frmMain.ListBoxDisplay("流线1--等待流线1入料感应感应有产品");
Main.frmMain.PauseCheck();//暂停
//do//等待流线1入料感应感应到
//{
// Thread.Sleep(10);
// Application.DoEvents();
// Main.frmMain.PauseCheck();//暂停
//} while (GClsMontion.ReadCardExtendInputBit(0, 10) != 1);
Thread.Sleep(100);
for (int i = 0; i < 12; i++) //加载流线1产品选择使能
{
Main.frmMain.dgvData.Rows[27].Cells[i + 1].Value = CAMiClsVariable.isProductSelect[i]; //流线1产品使能放置在27行
}
//CAMiClsVariable.CCD1productSelectNO = 0;
//for (int i = 0; i < 12; i++)
//{
// CAMiClsVariable.CCD1productSelectNO += Convert.ToInt32(Main.frmMain.dgvData.Rows[27].Cells[i + 1].Value);
//}
//Main.frmMain.ListBoxDisplay(string.Format("流线1--流线1产品需检测的个数为{0}", CAMiClsVariable.CCD1productSelectNO));
CAMiClsMethod.StreamCCDDataClear(1); //清空数据存放区
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--流线1启动");
GClsMontion.WriteCardExtendOutputBit(0, 6, 1); //流线1启动
Main.frmMain.ListBoxDisplay("流线1--等待流线1到位感应1感应");
//do//等待流线有料感应2
//{
// Thread.Sleep(10);
// Application.DoEvents();
// Main.frmMain.PauseCheck();//暂停
//} while (GClsMontion.ReadCardExtendInputBit(0, 11) != 1);
Main.frmMain.PauseCheck();//暂停
Main.frmMain.ListBoxDisplay("流线1--等待流线1到位感应2感应");
//do//等待到位2感应
//{
// Thread.Sleep(10);
// Application.DoEvents();
// Main.frmMain.PauseCheck();//暂停
//} while (GClsMontion.ReadCardExtendInputBit(0, 12) != 1);
Thread.Sleep(200); //先延时再停止，根据需求更改
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--停止流线1");
GClsMontion.WriteCardExtendOutputBit(0, 6, 0); //流线1停止
Main.frmMain.PauseCheck(); //暂停
CAMiClsMethod.StreamTrayLocate(1); //流线1产品定位
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--清空CCD1缓存数据");
//CAMiClsVariable.cClient.ClientReceive(1, 0);
Main.frmMain.ListBoxDisplay("流线1--定位结束，开始拍照");
//开始拍照
#region CCD1拍照
for (int i = 0; i < 12; i++)
{
if (Main.frmMain.dgvData.Rows[27].Cells[i + 1].Value.ToString() == "1") //穴位使能打开
{
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--运行到CCD1-第" + (i + 1).ToString() + "个拍照位置");
GClsMontion.AbsoluteMove(0, CAMiClsVariable.CCD1PosXValue[i], CAMiClsVariable.speedCCD1X, CAMiClsVariable.TaccCCD1X);
GClsMontion.AbsoluteMove(1, CAMiClsVariable.CCD1PosYValue[i], CAMiClsVariable.speedCCD1Y, CAMiClsVariable.TaccCCD1Y);
GClsMontion.WaitMotorStop(0);
GClsMontion.WaitMotorStop(1);
Main.frmMain.PauseCheck(); //暂停
Thread.Sleep(10);
Main.frmMain.ListBoxDisplay("流线1--CCD1拍照触发"); //拍照触发
Main.frmMain.PauseCheck(); //暂停
//CAMiClsVariable.cClient.ClientSend(1, (CAMiClsVariable.strTrig1 + ",0," + (i + 1).ToString()));
Main.frmMain.PauseCheck(); //暂停
Thread.Sleep(10);
//CAMiClsVariable.strCCD1Recv = CAMiClsMethod.ReceiveData(i, 1);
//if (CAMiClsVariable.strCCD1Recv.Substring(0, 2) != "T1")
//{
// MessageBox.Show("CCD1 拍照T1反馈异常");
//}
Main.frmMain.ListBoxDisplay("流线1--等待CCD1-第" + (i + 1).ToString() + "个反馈结果");
}
Main.frmMain.PauseCheck(); //暂停
}
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("CCD1X轴/CCD1Y轴运动到初始位置");
GClsMontion.AbsoluteMove(0, CAMiClsVariable.CCD1InitialPosX, CAMiClsVariable.speedCCD1X, CAMiClsVariable.TaccCCD1X);
GClsMontion.AbsoluteMove(1, CAMiClsVariable.CCD1InitialPosY, CAMiClsVariable.speedCCD1Y, CAMiClsVariable.TaccCCD1Y);
Main.frmMain.ListBoxDisplay("流线1--获取CCD1数据");
//while (CAMiClsVariable.strRecvCCD1Data2Array[CAMiClsVariable.CCD1productSelectNO - 1] == "0")
//{
// CAMiClsVariable.recvCCD1DataNO = 0;
// CAMiClsVariable.strCCD1Recv = CAMiClsMethod.ReceiveData(0, 1);
//}
for (int i = 0; i < 12; i++)
{
Main.frmMain.ListBoxDisplay("流线1--等待CCD1-第" + (i + 1).ToString() + "个反馈结果");
if (Convert.ToInt32(Main.frmMain.dgvData.Rows[27].Cells[i + 1].Value) == 1)//穴位使能打开
{
CAMiClsVariable.recvCCD1DataNO = 0;
for (int m = 0; m < i + 1; m++)
{
CAMiClsVariable.recvCCD1DataNO += Convert.ToInt32(Main.frmMain.dgvData.Rows[27].Cells[m + 1].Value);
}
//CAMiClsVariable.recvCCD1DataArray = CAMiClsVariable.strRecvCCD1Data2Array[CAMiClsVariable.recvCCD1DataNO - 1].Split(',');
//Main.frmMain.dictFirstLine.Clear();//清空数据
//for (int j = 0; j < CAMiClsVariable.recvCCD1DataArray.Length; j++)
//{
// Main.frmMain.dictFirstLine.Add("第" + i.ToString() + "次拍照的第" + j.ToString() + "次结果", CAMiClsVariable.recvCCD1DataArray[j]);
// Main.frmMain.dgvData.Rows[i + 1].Cells[j + 1].Value = CAMiClsVariable.recvCCD1DataArray[j];
// Main.frmMain.ListBoxDisplay(string.Format("流线1--相机接收到第" + (i + 1).ToString() + "组数据的第" + (j + 1).ToString() + "个数据 {0}", CAMiClsVariable.recvCCD1DataArray[j]));
//}
}
}
#endregion
Main.frmMain.PauseCheck(); //暂停
CAMiClsMethod.StreamTrayRelease(1); //流线1产品放行
Main.frmMain.ListBoxDisplay("流线1--等待流线2允许进料");
do
{
Thread.Sleep(10);
Application.DoEvents();
Main.frmMain.PauseCheck();//暂停
} while (!CAMiClsVariable.isStreamLine2Ready);
Thread.Sleep(1000);
Main.frmMain.PauseCheck(); //暂停
for (int i = 15; i < 27; i++) //清空数据用来放置流线1的数据
{
for (int j = 1; j < 23; j++)
{
Main.frmMain.dgvData.Rows[i].Cells[j].Value = "";
}
}
CAMiClsVariable.isStreamLine1Done = true;
CAMiClsVariable.isStreamLine2Ready = false;
Main.frmMain.ListBoxDisplay("流线1--转移数据至表格第15-26行");
//for (int k = 0; k < 12; k++)
//{
// for (int m = 0; m < CAMiClsVariable.recvCCD1DataArray.Length; m++)
// {
// Main.frmMain.dgvData.Rows[k + 15].Cells[m + 1].Value = Main.frmMain.dgvData.Rows[k + 1].Cells[m + 1].Value.ToString() != "" ? Main.frmMain.dgvData.Rows[k + 1].Cells[m + 1].Value : 1;
// }
//}
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--启动流线1");
GClsMontion.WriteCardExtendOutputBit(0, 8, 0); //流线1高速
GClsMontion.WriteCardExtendOutputBit(0, 6, 1); //流线1启动
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--等待流线1产品流出");
Thread.Sleep(3000);
do//等待流线1到位感应无
{
Thread.Sleep(10);
Application.DoEvents();
Main.frmMain.PauseCheck();//暂停
} while (GClsMontion.ReadCardExtendInputBit(0, 11) == 1 || GClsMontion.ReadCardExtendInputBit(0, 12) == 1 ||
!CAMiClsVariable.isProductLocateInStreamLine2);
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("流线1--停止流线1");
GClsMontion.WriteCardExtendOutputBit(0, 6, 0); //流线1停止
CAMiClsVariable.isProductLocateInStreamLine2 = false; //将流线2产品到位信号清掉
Main.frmMain.ListBoxDisplay("流线1--流线1阻挡气缸伸出");
CAMiClsCylinder.StreamLine1StopExtend(); //阻挡气缸伸出
Main.frmMain.PauseCheck(); //暂停
Main.frmMain.ListBoxDisplay("等待CCD1X轴/CCD1Y轴运动到初始位置");
GClsMontion.WaitMotorStop(0);
GClsMontion.WaitMotorStop(1);
}
catch (Exception ex)
{
myEmptyMethod.LogRecord(ex.ToString());
}
}
}