public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName), typeof(EnumSerialPortName));
AxisThicknessMeasY = ThisAxis(EnumAxisName.ThicknessMeasY); AxisThicknessMeasY.AddPoints(typeof(EnumPointX));
SerialPort.Add(EnumCellIndex.左电芯, ThisSerialPortData(EnumSerialPortName.ThicknessSensorLeft));
SerialPort.Add(EnumCellIndex.中电芯, ThisSerialPortData(EnumSerialPortName.ThicknessSensorMid));
SerialPort.Add(EnumCellIndex.右电芯, ThisSerialPortData(EnumSerialPortName.ThicknessSensorRight));
Cylinder.Add(EnumCellIndex.左电芯, new CylinderControl(/*"左电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.ThicknessMeasCyLeftDown),
ThisOutport(EnumOutportName.ThicknessMeasCyLeftUp),
ThisInport(EnumInportName.ThicknessMeasCyLeftDown),
ThisInport(EnumInportName.ThicknessMeasCyLeftUp)));
Cylinder.Add(EnumCellIndex.中电芯, new CylinderControl(/*"中电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.ThicknessMeasCyMidDown),
ThisOutport(EnumOutportName.ThicknessMeasCyMidUp),
ThisInport(EnumInportName.ThicknessMeasCyMidDown),
ThisInport(EnumInportName.ThicknessMeasCyMidUp)));
Cylinder.Add(EnumCellIndex.右电芯, new CylinderControl(/*"右电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.ThicknessMeasCyRightDown),
ThisOutport(EnumOutportName.ThicknessMeasCyRightUp),
ThisInport(EnumInportName.ThicknessMeasCyRightDown),
ThisInport(EnumInportName.ThicknessMeasCyRightUp)));
ThicknessCellVacuums[EnumCellIndex.左电芯].Port = ThisOutport(EnumOutportName.ThicknessMeasVacLeft);
ThicknessCellVacuums[EnumCellIndex.中电芯].Port = ThisOutport(EnumOutportName.ThicknessMeasVacMid);
ThicknessCellVacuums[EnumCellIndex.右电芯].Port = ThisOutport(EnumOutportName.ThicknessMeasVacRight);
CellBlow.Port = ThisOutport(EnumOutportName.ThicknessMeasBlow);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.ThicknessMeasVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.ThicknessMeasVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.ThicknessMeasVacSensRight);
ZoneSettingPanel = new SettingPanelZone厚度测量();
ZoneManualPanel = new ManualPanelZone厚度测量();
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName));
AxisSortingPNPY = ThisAxis(EnumAxisName.SortingPNPY);
AxisSortingPNPZ = ThisAxis(EnumAxisName.SortingPNPZ);
NGBoxFullSensor[0] = ThisInport(EnumInportName.SortingPNPNGBoxFull1);
NGBoxFullSensor[1] = ThisInport(EnumInportName.SortingPNPNGBoxFull2);
NGBoxFullSensor[2] = ThisInport(EnumInportName.SortingPNPNGBoxFull3);
NGBoxFullSensor[3] = ThisInport(EnumInportName.SortingPNPNGBoxFull4);
NGBoxBackSenser = ThisInport(EnumInportName.SortingPNPNGBoxBack);
NGBoxFrontSensor = ThisInport(EnumInportName.SortingPNPNGBoxFront);
AxisSortingPNPY.AddPoints(typeof(EnumPointPNPY));
AxisSortingPNPZ.AddPoints(typeof(EnumPointPNPZ));
PNPCylinder.Add(EnumCellIndex.左电芯, new CylinderControl(/*"左电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.SortingPNPCyLeftDown),
ThisOutport(EnumOutportName.SortingPNPCyLeftUp),
ThisInport(EnumInportName.SortingPNPCyLeftDown),
ThisInport(EnumInportName.SortingPNPCyLeftUp)));
PNPCylinder.Add(EnumCellIndex.中电芯, new CylinderControl(/*"中电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.SortingPNPCyMidDown),
ThisOutport(EnumOutportName.SortingPNPCyMidUp),
ThisInport(EnumInportName.SortingPNPCyMidDown),
ThisInport(EnumInportName.SortingPNPCyMidUp)));
PNPCylinder.Add(EnumCellIndex.右电芯, new CylinderControl(/*"右电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.SortingPNPCyRightDown),
ThisOutport(EnumOutportName.SortingPNPCyRightUp),
ThisInport(EnumInportName.SortingPNPCyRightDown),
ThisInport(EnumInportName.SortingPNPCyRightUp)));
CellVacuums[EnumCellIndex.左电芯].MainPort.Port =
ThisOutport(EnumOutportName.SortingPNPVacLeft);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacLeftBack);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacLeftCent);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacLeftFront);
CellVacuums[EnumCellIndex.中电芯].MainPort.Port =
ThisOutport(EnumOutportName.SortingPNPVacMid);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacMidBack);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacMidCent);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacMidFront);
CellVacuums[EnumCellIndex.右电芯].MainPort.Port =
ThisOutport(EnumOutportName.SortingPNPVacRight);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacRightBack);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacRightCent);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.SortingPNPVacRightFront);
CellBlow.Port = ThisOutport(EnumOutportName.SortingPNPBlow);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.SortingPNPVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.SortingPNPVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.SortingPNPVacSensRight);
ZoneSettingPanel = new SettingPanelZoneNG挑选机械手();
ZoneManualPanel = new ManualPanelZoneNG挑选机械手();
}
public void AsyncActionMotorMove(CAxisBase axis, object point, bool NeedWait = true)
{
if (asyncMotorMove != null)
{
asyncMotorMove.BeginInvoke(axis, point, NeedWait, MotorMoveAsyncReturn, asyncMotorMove);
}
}
private bool AxisTopAlignXSide_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisTopAlignXSide = zones.WorkZone顶封边定位.AxisTopAlignXSide;
CAxisBase AxisTopAlignZClamp = zones.WorkZone顶封边定位.AxisTopAlignZClamp;
if (!IsHome)
{
if (!CheckMotorStatus(AxisTopAlignXSide, AxisTopAlignXSide))
{
return(false);
}
if (!CheckMotorStatus(AxisTopAlignXSide, AxisTopAlignZClamp))
{
return(false);
}
if (IgnoreSmallStep(AxisTopAlignXSide, TargetPos))
{
return(true);
}
}
if (!zones.WorkZone顶封边定位.ThisInport(ClassZone顶封边定位.EnumInportName.TopAlignCyLeftUp).status ||
!zones.WorkZone顶封边定位.ThisInport(ClassZone顶封边定位.EnumInportName.TopAlignCyMidUp).status ||
!zones.WorkZone顶封边定位.ThisInport(ClassZone顶封边定位.EnumInportName.TopAlignCyRightUp).status)
{
ErrorStr = "顶封边Z夹紧气缸不在上位。";
ShowMotorError(AxisTopAlignXSide, ErrorStr);
return(false);
}
return(true);
}
private bool AxisTopAlignTop_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisTopAlignTop = zones.WorkZone顶封边定位.AxisTopAlignTop;
CAxisBase AxisTopAlignZClamp = zones.WorkZone顶封边定位.AxisTopAlignZClamp;
if (!IsHome)
{
if (!CheckMotorStatus(AxisTopAlignTop, AxisTopAlignTop))
{
return(false);
}
if (!CheckMotorStatus(AxisTopAlignTop, AxisTopAlignZClamp))
{
return(false);
}
if (IgnoreSmallStep(AxisTopAlignTop, TargetPos))
{
return(true);
}
}
//if (ClassCommonSetting.GreaterThanPosition(AxisTopAlignZClamp, ClassZone顶封边定位.EnumPointAlign.Clamp, -1))
//{
// ErrorStr = "顶封边Z夹紧电机在Clamp位置。";
// ShowMotorError(AxisTopAlignTop, ErrorStr);
// return false;
//}
return(true);
}
private bool AxisUnloadPNPY_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisUnloadPNPY = zones.WorkZone下料机械手.AxisUnloadPNPY;
//CAxisBase AxisTransPNPX = zones.WorkZone传送机械手.AxisTransPNPX;
if (!IsHome)
{
if (!CheckMotorStatus(AxisUnloadPNPY, AxisUnloadPNPY))
{
return(false);
}
//if (!CheckMotorStatus(AxisUnloadPNPY, AxisTransPNPX)) return false;
if (IgnoreSmallStep(AxisUnloadPNPY, TargetPos))
{
return(true);
}
}
//Cylinder is not at up position.
if (!zones.WorkZone下料机械手.ThisInport(ClassZone下料机械手.EnumInportName.UnloadPNPCyUp).status)
{
ErrorStr = "下料气缸不在上位。";
ShowMotorError(AxisUnloadPNPY, ErrorStr);
return(false);
}
////Move to Pick point but Trans PNP blocks on the way.
//if (GreaterThanPosition(AxisUnloadPNPY, TargetPos, ClassZone下料机械手.EnumPoint.Pick, -15) &&
// GreaterThanPosition(AxisTransPNPX, ClassZone传送机械手.EnumPointPNPX.Load, 15))
//{
// ShowMotorError(AxisUnloadPNPY, "传送PNP位置阻挡下料PNPY移到Pick位置。");
// return false;
//}
return(true);
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName), typeof(EnumSerialPortName));
AxisLoadInConveyor = ThisAxis(EnumAxisName.LoadInConveyor); AxisLoadInConveyor.AddPoints(typeof(EnumPointConveyor));
ZoneSettingPanel = new SettingPanelZone上料传送();
ZoneManualPanel = new ManualPanelZone上料传送();
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName));
AxisLoadPNPY = ThisAxis(EnumAxisName.LoadPNPY); AxisLoadPNPY.AddPoints(typeof(EnumPointY));
AxisLoadPNPZ = ThisAxis(EnumAxisName.LoadPNPZ); AxisLoadPNPZ.AddPoints(typeof(EnumPointZ));
NGBoxFullSensor = ThisInport(EnumInportName.LoadPNPNGBoxFull);
NGBoxSensor = ThisInport(EnumInportName.LoadPNPNGBox);
PNPCylinder.Add(EnumCellIndex.左电芯, new CylinderControl(/*"左电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.LoadPNPCyLeftDown),
ThisOutport(EnumOutportName.LoadPNPCyLeftUp),
ThisInport(EnumInportName.LoadPNPCyLeftDown),
ThisInport(EnumInportName.LoadPNPCyLeftUp)));
PNPCylinder.Add(EnumCellIndex.中电芯, new CylinderControl(/*"中电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.LoadPNPCyMidDown),
ThisOutport(EnumOutportName.LoadPNPCyMidUp),
ThisInport(EnumInportName.LoadPNPCyMidDown),
ThisInport(EnumInportName.LoadPNPCyMidUp)));
PNPCylinder.Add(EnumCellIndex.右电芯, new CylinderControl(/*"右电芯Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.LoadPNPCyRightDown),
ThisOutport(EnumOutportName.LoadPNPCyRightUp),
ThisInport(EnumInportName.LoadPNPCyRightDown),
ThisInport(EnumInportName.LoadPNPCyRightUp)));
CellVacuums[EnumCellIndex.左电芯].MainPort.Port =
ThisOutport(EnumOutportName.LoadPNPVacLeft);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacLeftBack);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacLeftCent);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacLeftFront);
CellVacuums[EnumCellIndex.中电芯].MainPort.Port =
ThisOutport(EnumOutportName.LoadPNPVacMid);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacMidBack);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacMidCent);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacMidFront);
CellVacuums[EnumCellIndex.右电芯].MainPort.Port =
ThisOutport(EnumOutportName.LoadPNPVacRight);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacRightBack);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacRightCent);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.LoadPNPVacRightFront);
CellBlow[EnumCellIndex.左电芯].Port = ThisOutport(EnumOutportName.LoadPNPBlowLeft);
CellBlow[EnumCellIndex.中电芯].Port = ThisOutport(EnumOutportName.LoadPNPBlowMid);
CellBlow[EnumCellIndex.右电芯].Port = ThisOutport(EnumOutportName.LoadPNPBlowRight);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.LoadPNPVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.LoadPNPVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.LoadPNPVacSensRight);
ZoneSettingPanel = new SettingPanelZone上料机械手();
ZoneManualPanel = new ManualPanelZone上料机械手();
DoUpdateNGBox();
ProductChangeHandler(null, null);
}
protected string MotorReset(CAxisBase axis, object StartPos)
{
//if (axis.HomeFinish)
//{
// if (!axis.MoveTo(StartPos)) return DispMotionError(axis, StartPos).Message;
//}
//else
return(axis.Home(StartPos.ToString()));
}
private bool AxisUnloadOutConveyor_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisUnloadOutConveyor = zones.WorkZone下料传送.AxisUnloadOutConveyor;
CAxisBase AxisSortingPNPZ = zones.WorkZoneNG挑选机械手.AxisSortingPNPZ;
CAxisBase AxisSortingPNPY = zones.WorkZoneNG挑选机械手.AxisSortingPNPY;
CAxisBase AxisUnloadPNPY = zones.WorkZone下料机械手.AxisUnloadPNPY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisUnloadPNPY))
{
return(false);
}
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisSortingPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisSortingPNPY))
{
return(false);
}
if (!CheckMotorStatus(AxisUnloadOutConveyor, AxisUnloadOutConveyor))
{
return(false);
}
if (IgnoreSmallStep(AxisUnloadOutConveyor, TargetPos))
{
return(true);
}
}
//Sorting PNP Y is at pick position and Z position is lower than Up point.
if (InPositionRange(AxisSortingPNPY, ClassZoneNG挑选机械手.EnumPointPNPY.Pick) && !ClassCommonSetting.CheckTimeOut(() =>
GreaterThanPosition(AxisSortingPNPZ, ClassZoneNG挑选机械手.EnumPointPNPZ.Up, -5)))
{
ErrorStr = "NG挑选PNP在Pick位置，但是Z电机低于Up位置5mm。";
ShowMotorError(AxisUnloadOutConveyor, ErrorStr);
return(false);
}
//Unload PNP Y is at place position and cylinder is not at up position.
if (InPositionRange(AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Place) &&
!zones.WorkZone下料机械手.ThisInport(ClassZone下料机械手.EnumInportName.UnloadPNPCyUp).status)
{
ErrorStr = "下料PNP气缸不在上位。";
ShowMotorError(AxisUnloadOutConveyor, ErrorStr);
return(false);
}
////Unload position has part
//if (zones.WorkZone下料传送.ThisInport(ClassZone下料传送.EnumInportName.UnloadOutUnload).status)
//{
// ErrorStr = "右边下料传感器检测有物料。";
// ShowMotorError(AxisUnloadOutConveyor, ErrorStr);
// return false;
//}
return(true);
}
//private bool IgnoreSmallStep(CAxisBase axis, object TargetPoint)
//{
// return InPositionRange(axis, TargetPoint);
//}
private bool CheckMotorStatus(CAxisBase source, CAxisBase axis)
{
bool res = axis.ServoOn && axis.HomeFinish;
if (!res)
{
ShowMotorError(source, axis.Name + "电机未上电或是未复位。");
}
return(res);
}
private void comboBoxAxis_SelectedIndexChanged(object sender, EventArgs e)
{
ComboBox comboBoxAxis = (ComboBox)sender;
if (comboBoxAxis.SelectedIndex >= 0)
{
CAxisBase axis = HardwarePool.SystemHardware.instance.GetAxis(comboBoxAxis.Text);
axis.ConfigurationControl.BringToFront();
}
}
private bool AxisOutlineMeasX_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisOutlineMeasX = zones.WorkZone尺寸测量.AxisOutlineMeasX;
CAxisBase AxisUnloadPNPY = zones.WorkZone下料机械手.AxisUnloadPNPY;
CAxisBase AxisTransPNPX = zones.WorkZone传送机械手.AxisTransPNPX;
if (!IsHome)
{
if (!CheckMotorStatus(AxisOutlineMeasX, AxisOutlineMeasX))
{
return(false);
}
if (!CheckMotorStatus(AxisOutlineMeasX, AxisUnloadPNPY))
{
return(false);
}
if (IgnoreSmallStep(AxisOutlineMeasX, TargetPos))
{
return(true);
}
}
//Trans PNP cylinder is not at up position when Trans PNP is at unload position.
if (InPositionRange(AxisTransPNPX, ClassZone传送机械手.EnumPointPNPX.Unload, 0, 15) && !zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
ErrorStr = "传送PNP在Unload位置但是气缸不在上位。";
ShowMotorError(AxisOutlineMeasX, ErrorStr);
return(false);
}
//Unload PNP is at pick position and cylinder is not at up position.
bool pos = InPositionRange(AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Pick, 0, 15);
bool cylin = !zones.WorkZone下料机械手.ThisInport(ClassZone下料机械手.EnumInportName.UnloadPNPCyUp).status;
if (pos && cylin)
{
for (int i = 0; i < 10; i++)
{
System.Threading.Thread.Sleep(100);
pos = InPositionRange(AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Pick, 0, 15);
cylin = !zones.WorkZone下料机械手.ThisInport(ClassZone下料机械手.EnumInportName.UnloadPNPCyUp).status;
if (!pos || !cylin)
{
break;
}
}
}
if (pos && cylin)
{
ErrorStr = "下料PNP在Pick位置(" + AxisUnloadPNPY.CurrentPosition.ToString() + ")，但是气缸不在上位。";
ShowMotorError(AxisOutlineMeasX, ErrorStr);
return(false);
}
return(true);
}
/// <summary>
/// 添加一个电机类CaxisBase实例。
/// </summary>
/// <param name="axis">电机类实例</param>
public void AddHardware(CAxisBase axis)
{
if (axis == null)
{
return;
}
if (_AxisCollection.ContainsKey(axis.Name))
{
return;
}
_AxisCollection.Add(axis.Name, axis);
}
private bool AxisLoadPNPY_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisLoadPNPY = zones.WorkZone上料机械手.AxisLoadPNPY;
CAxisBase AxisLoadPNPZ = zones.WorkZone上料机械手.AxisLoadPNPZ;
CAxisBase AxisTransPNPX = zones.WorkZone传送机械手.AxisTransPNPX;
if (!IsHome)
{
if (!CheckMotorStatus(AxisLoadPNPY, AxisLoadPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadPNPY, AxisTransPNPX))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadPNPY, AxisLoadPNPY))
{
return(false);
}
if (IgnoreSmallStep(AxisLoadPNPY, TargetPos))
{
return(true);
}
}
//Z position is lower than Idle point.
if (!ClassCommonSetting.CheckTimeOut(() => GreaterThanPosition(AxisLoadPNPZ, ClassZone上料机械手.EnumPointZ.Idle, -5)))
{
ErrorStr = "上料PNPZ电机低于Idle位置5mm。";
ShowMotorError(AxisLoadPNPY, ErrorStr);
return(false);
}
//Cylinders are not at up position.
if (!zones.WorkZone上料机械手.ThisInport(ClassZone上料机械手.EnumInportName.LoadPNPCyLeftUp).status ||
!zones.WorkZone上料机械手.ThisInport(ClassZone上料机械手.EnumInportName.LoadPNPCyMidUp).status ||
!zones.WorkZone上料机械手.ThisInport(ClassZone上料机械手.EnumInportName.LoadPNPCyRightUp).status)
{
ErrorStr = "上料PNP有气缸不在上位。";
ShowMotorError(AxisLoadPNPY, ErrorStr);
return(false);
}
//Move to place point but TransPNP is at block position.
if (GreaterThanPosition(AxisLoadPNPY, TargetPos, ClassZone上料机械手.EnumPointY.SafeLimit, 0) && !ClassCommonSetting.CheckTimeOut(() =>
GreaterThanPosition(AxisTransPNPX, ClassZone传送机械手.EnumPointPNPX.SafeLimit, 0)))
{
ErrorStr = "传送PNP位置阻挡上料PNPY移到Place位置。";
ShowMotorError(AxisLoadPNPY, ErrorStr);
return(false);
}
return(true);
}
private bool AxisTransPNPX_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisTransPNPX = zones.WorkZone传送机械手.AxisTransPNPX;
CAxisBase AxisLoadPNPY = zones.WorkZone上料机械手.AxisLoadPNPY;
//CAxisBase AxisUnloadPNPY = zones.WorkZone下料机械手.AxisUnloadPNPY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisTransPNPX, AxisTransPNPX))
{
return(false);
}
if (!CheckMotorStatus(AxisTransPNPX, AxisLoadPNPY))
{
return(false);
}
//if (!CheckMotorStatus(AxisTransPNPX, AxisUnloadPNPY)) return false;
if (IgnoreSmallStep(AxisTransPNPX, TargetPos))
{
return(true);
}
}
//传送PNP气缸不在上位
if (!zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
System.Threading.Thread.Sleep(100);
if (!zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
ErrorStr = "传送PNP气缸不在上位。";
ShowMotorError(AxisTransPNPX, ErrorStr);
return(false);
}
}
//上料时上料PNP在Place位置
if (LessThanPosition(AxisTransPNPX, TargetPos, ClassZone传送机械手.EnumPointPNPX.SafeLimit, 0) && !ClassCommonSetting.CheckTimeOut(() =>
LessThanPosition(AxisLoadPNPY, ClassZone上料机械手.EnumPointY.SafeLimit, 0)))
{
ErrorStr = "上料PNPY阻挡传送PNPX移到Load位置。";
ShowMotorError(AxisTransPNPX, ErrorStr);
return(false);
}
////下料时下料PNP在Pick位置
//if (!GreaterThanPosition(AxisTransPNPX, TargetPos, ClassZone传送机械手.EnumPointPNPX.Unload, -15) &&
// GreaterThanPosition(AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Pick, -15))
//{
// ShowMotorError(AxisTransPNPX, "下料PNPY阻挡传送PNPX移到Unload位置。");
// return false;
//}
return(true);
}
public ErrorInfoWithPause ActionMotorMove(CAxisBase axis, object point, bool NeedWait = true)
{
ErrorInfoWithPause res = null;
while (!axis.MoveTo(point, NeedWait))
//return DispMotionError(AxisOutlineMeasX, EnumPointX.GetPart);
{
res = DispMotionError(axis, point);
if (res != null)
{
return(res);
}
}
return(null);
}
private bool AxisLoadPNPZ_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisLoadPNPZ = zones.WorkZone上料机械手.AxisLoadPNPZ;
if (!IsHome)
{
if (!CheckMotorStatus(AxisLoadPNPZ, AxisLoadPNPZ))
{
return(false);
}
if (IgnoreSmallStep(AxisLoadPNPZ, TargetPos))
{
return(true);
}
}
return(true);
}
private bool AxisTopAlignZClamp_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisTopAlignZClamp = zones.WorkZone顶封边定位.AxisTopAlignZClamp;
if (!IsHome)
{
if (!CheckMotorStatus(AxisTopAlignZClamp, AxisTopAlignZClamp))
{
return(false);
}
if (IgnoreSmallStep(AxisTopAlignZClamp, TargetPos))
{
return(true);
}
}
return(true);
}
private bool AxisLoadInConveyor_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisLoadInConveyor = zones.WorkZone上料传送.AxisLoadInConveyor;
CAxisBase AxisLoadPNPZ = zones.WorkZone上料机械手.AxisLoadPNPZ;
CAxisBase AxisLoadPNPY = zones.WorkZone上料机械手.AxisLoadPNPY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisLoadInConveyor, AxisLoadPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadInConveyor, AxisLoadPNPY))
{
return(false);
}
if (!CheckMotorStatus(AxisLoadInConveyor, AxisLoadInConveyor))
{
return(false);
}
if (IgnoreSmallStep(AxisLoadInConveyor, TargetPos))
{
return(true);
}
}
//Load PNP Y is at Pick point and Z position is lower than Idle point.
if (InPositionRange(AxisLoadPNPY, ClassZone上料机械手.EnumPointY.Pick, 0, 15) && !ClassCommonSetting.CheckTimeOut(() =>
GreaterThanPosition(AxisLoadPNPZ, ClassZone上料机械手.EnumPointZ.Idle, -5)))
{
ErrorStr = "上料PNP位于Pick位置，但是Z电机低于Idle位置5mm。";
ShowMotorError(AxisLoadInConveyor, ErrorStr);
return(false);
}
if (TargetPos > AxisLoadInConveyor.CurrentPosition)
{
//InPosition has part
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑 && zones.WorkZone上料传送.ThisInport(ClassZone上料传送.EnumInportName.LoadInConvInPosRight).status)
{
ErrorStr = "右边到位传感器检测有物料。";
ShowMotorError(AxisLoadInConveyor, ErrorStr);
return(false);
}
}
return(true);
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName));
AxisUnloadPNPY = ThisAxis(EnumAxisName.UnloadPNPY);
AxisUnloadPNPY.AddPoints(typeof(EnumPoint));
PNPCylinder = new CylinderControl(/*"Z气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.UnloadPNPCyDown),
ThisOutport(EnumOutportName.UnloadPNPCyUp),
ThisInport(EnumInportName.UnloadPNPCyDown),
ThisInport(EnumInportName.UnloadPNPCyUp));
CellVacuums[EnumCellIndex.左电芯].MainPort.Port =
ThisOutport(EnumOutportName.UnloadPNPVacLeft);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacLeftBack);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacLeftCent);
CellVacuums[EnumCellIndex.左电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacLeftFront);
CellVacuums[EnumCellIndex.中电芯].MainPort.Port =
ThisOutport(EnumOutportName.UnloadPNPVacMid);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacMidBack);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacMidCent);
CellVacuums[EnumCellIndex.中电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacMidFront);
CellVacuums[EnumCellIndex.右电芯].MainPort.Port =
ThisOutport(EnumOutportName.UnloadPNPVacRight);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.后真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacRightBack);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.中真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacRightCent);
CellVacuums[EnumCellIndex.右电芯].AirPorts[(int)EnumVacuumIndex.前真空].Port =
ThisOutport(EnumOutportName.UnloadPNPVacRightFront);
CellBlow.Port = ThisOutport(EnumOutportName.UnloadPNPBlow);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.UnloadPNPVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.UnloadPNPVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.UnloadPNPVacSensRight);
ZoneSettingPanel = new SettingPanelZone下料机械手();
ZoneManualPanel = new ManualPanelZone下料机械手();
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName), typeof(EnumSerialPortName));
AxisOutlineMeasX = ThisAxis(EnumAxisName.OutlineMeasX);
AxisOutlineMeasX.AddPoints(typeof(EnumPointX));
CellVacuums[EnumCellIndex.左电芯].Port = ThisOutport(EnumOutportName.OutlineMeasVacLeft);
CellVacuums[EnumCellIndex.中电芯].Port = ThisOutport(EnumOutportName.OutlineMeasVacMid);
CellVacuums[EnumCellIndex.右电芯].Port = ThisOutport(EnumOutportName.OutlineMeasVacRight);
CellBlow.Port = ThisOutport(EnumOutportName.OutlineMeasBlow);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.OutlineMeasVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.OutlineMeasVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.OutlineMeasVacSensRight);
ZoneSettingPanel = new SettingPanelZone尺寸测量();
ZoneManualPanel = new ManualPanelZone尺寸测量();
for (int i = 0; i <= CELLCOUNT; i++)
{
MeasDone[i] = true;
}
BufferDatas[CELLCOUNT] = ClassDataInfo.NewCellData();
}
private bool AxisThicknessMeasY_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisThicknessMeasY = zones.WorkZone厚度测量.AxisThicknessMeasY;
if (!IsHome)
{
if (!CheckMotorStatus(AxisThicknessMeasY, AxisThicknessMeasY))
{
return(false);
}
if (IgnoreSmallStep(AxisThicknessMeasY, TargetPos))
{
return(true);
}
}
//Trans PNP cylinder is not at up position.
if (!zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
System.Threading.Thread.Sleep(100);
if (!zones.WorkZone传送机械手.ThisInport(ClassZone传送机械手.EnumInportName.TransPNPCyUp).status)
{
ErrorStr = "传送PNP气缸不在上位。";
ShowMotorError(AxisThicknessMeasY, ErrorStr);
return(false);
}
}
//Thickness cylinder is not at up position.
if (!zones.WorkZone厚度测量.ThisInport(ClassZone厚度测量.EnumInportName.ThicknessMeasCyLeftUp).status ||
!zones.WorkZone厚度测量.ThisInport(ClassZone厚度测量.EnumInportName.ThicknessMeasCyMidUp).status ||
!zones.WorkZone厚度测量.ThisInport(ClassZone厚度测量.EnumInportName.ThicknessMeasCyRightUp).status)
{
ErrorStr = "厚度检测气缸不在上位。";
ShowMotorError(AxisThicknessMeasY, ErrorStr);
return(false);
}
return(true);
}
private bool AxisSortingPNPY_CheckSafety(bool IsHome, double TargetPos, ref string ErrorStr)
{
CAxisBase AxisSortingPNPY = zones.WorkZoneNG挑选机械手.AxisSortingPNPY;
CAxisBase AxisSortingPNPZ = zones.WorkZoneNG挑选机械手.AxisSortingPNPZ;
if (!IsHome)
{
if (!CheckMotorStatus(AxisSortingPNPY, AxisSortingPNPZ))
{
return(false);
}
if (!CheckMotorStatus(AxisSortingPNPY, AxisSortingPNPY))
{
return(false);
}
if (IgnoreSmallStep(AxisSortingPNPY, TargetPos))
{
return(true);
}
}
//Z position is lower than Up point.
if (!ClassCommonSetting.CheckTimeOut(() => GreaterThanPosition(AxisSortingPNPZ, ClassZoneNG挑选机械手.EnumPointPNPZ.Up, -5)))
{
ErrorStr = "NG挑选PNPZ电机低于Up位置5mm。";
ShowMotorError(AxisSortingPNPY, ErrorStr);
return(false);
}
//Cylinders are not at up position.
if (!zones.WorkZoneNG挑选机械手.ThisInport(ClassZoneNG挑选机械手.EnumInportName.SortingPNPCyLeftUp).status ||
!zones.WorkZoneNG挑选机械手.ThisInport(ClassZoneNG挑选机械手.EnumInportName.SortingPNPCyMidUp).status ||
!zones.WorkZoneNG挑选机械手.ThisInport(ClassZoneNG挑选机械手.EnumInportName.SortingPNPCyRightUp).status)
{
ErrorStr = "NG挑选PNP气缸不在上位。";
ShowMotorError(AxisSortingPNPY, ErrorStr);
return(false);
}
return(true);
}
public override void ZoneInit()
{
base.ZoneInit();
AssignHardware(typeof(EnumAxisName), typeof(EnumInportName), typeof(EnumOutportName));
AxisTopAlignBottom = ThisAxis(EnumAxisName.TopAlignBottom); AxisTopAlignBottom.AddPoints(typeof(EnumPointAlign));
AxisTopAlignSide = ThisAxis(EnumAxisName.TopAlignSide); AxisTopAlignSide.AddPoints(typeof(EnumPointAlign));
AxisTopAlignTop = ThisAxis(EnumAxisName.TopAlignTop); AxisTopAlignTop.AddPoints(typeof(EnumPointAlign));
AxisTopAlignXSide = ThisAxis(EnumAxisName.TopAlignXSide); AxisTopAlignXSide.AddPoints(typeof(EnumPointX));
AxisTopAlignZClamp = ThisAxis(EnumAxisName.TopAlignZClamp); AxisTopAlignZClamp.AddPoints(typeof(EnumPointAlign));
Cylinder.Add(EnumCellIndex.左电芯, new CylinderControl(/*"左电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.TopAlignCyLeftDown),
ThisOutport(EnumOutportName.TopAlignCyLeftUp),
ThisInport(EnumInportName.TopAlignCyLeftDown),
ThisInport(EnumInportName.TopAlignCyLeftUp)));
Cylinder.Add(EnumCellIndex.中电芯, new CylinderControl(/*"中电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.TopAlignCyMidDown),
ThisOutport(EnumOutportName.TopAlignCyMidUp),
ThisInport(EnumInportName.TopAlignCyMidDown),
ThisInport(EnumInportName.TopAlignCyMidUp)));
Cylinder.Add(EnumCellIndex.右电芯, new CylinderControl(/*"右电芯压紧气缸", "下降", "上升",*/
ThisOutport(EnumOutportName.TopAlignCyRightDown),
ThisOutport(EnumOutportName.TopAlignCyRightUp),
ThisInport(EnumInportName.TopAlignCyRightDown),
ThisInport(EnumInportName.TopAlignCyRightUp)));
TopAlignCellVacuums[EnumCellIndex.左电芯].Port = ThisOutport(EnumOutportName.TopAlignVacLeft);
TopAlignCellVacuums[EnumCellIndex.中电芯].Port = ThisOutport(EnumOutportName.TopAlignVacMid);
TopAlignCellVacuums[EnumCellIndex.右电芯].Port = ThisOutport(EnumOutportName.TopAlignVacRight);
CellVacSensor[EnumCellIndex.左电芯].Port = ThisInport(EnumInportName.TopAlignVacSensLeft);
CellVacSensor[EnumCellIndex.中电芯].Port = ThisInport(EnumInportName.TopAlignVacSensMid);
CellVacSensor[EnumCellIndex.右电芯].Port = ThisInport(EnumInportName.TopAlignVacSensRight);
CellBlow.Port = ThisOutport(EnumOutportName.TopAlignBlow);
ZoneSettingPanel = new SettingPanelZone顶封边定位();
ZoneManualPanel = new ManualPanelZone顶封边定位();
AxisTopAlignXSide.HomeLimitReturnDis = 10;
}
//public static bool LessThanPosition(CAxisBase axis, double TargetPos, double Offset)
//{
// return LessThanPosition(axis, axis.CurrentPosition, TargetPos, Offset);
//}
public static bool LessThanPosition(CAxisBase axis, object TargetPoint, double Offset)
{
return(LessThanTarget(axis.CurrentPosition, axis.PointList[TargetPoint].Position, Offset));
}
//public static bool OutPositionRange(CAxisBase axis, object TargetPoint, double Tolerance = 5)
//{
// return CheckErrPosTimeOut(() => { return !InPositionTarget(axis.CurrentPosition, axis.PointList[TargetPoint].Position, Tolerance); }, 1000);
//}
public static bool InPositionRange(CAxisBase axis, double SourcePos, object TargetPoint, double Offset = 0, double Tolerance = 5)
{
return(InPositionTarget(SourcePos, axis.PointList[TargetPoint].Position + Offset, Tolerance));
}
public static bool GreaterThanPosition(CAxisBase axis, double SourcePos, object TargetPoint, double Offset)
{
return(GreaterThanTarget(SourcePos, axis.PointList[TargetPoint].Position, Offset));
}
private bool IgnoreSmallStep(CAxisBase axis, double TargetPos)
{
return(Math.Abs(axis.CurrentPosition - TargetPos) <= 5);
}
private void ShowMotorError(CAxisBase axis, string error)
{
ClassErrorHandle.ShowError(axis.Name, "电机复位或移动安全检测失败: " + error, ErrorLevel.Alarm);
}
