protected override void Reset(ClassErrorHandle err)
{
AxisTransPNPX.ServoOn = true;
AxisTransPNPX.SetZero();
if (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("气缸无法上移");
}
if (err.NoError)
{
AxisTransPNPX.HomeFinish = true;
AxisTransPNPX.NeedToCheckSafety = false;
double speed = AxisTransPNPX.DefaultSpeed;
AxisTransPNPX.DefaultSpeed = Math.Abs(AxisTransPNPX.JogSpeed);
AxisTransPNPX.StepMove(-80);
AxisTransPNPX.DefaultSpeed = speed;
AxisTransPNPX.NeedToCheckSafety = true;
err.CollectErrInfo(AxisTransPNPX.Home(EnumPointPNPX.Unload.ToString()));
}
for (int i = 0; i < CELLCOUNT; i++)
{
TransLoadDataStations[i].CellData = null;
TransUnloadDataStations[i].CellData = null;
}
}
public ErrorInfoWithPause ActionStartShift(CallBackCommonFunc AfterUnloadOutShift)
{
ErrorInfoWithPause res = null;
AxisUnloadOutConveyor.SetZero();
while (!AxisUnloadOutConveyor.MoveTo(EnumPoint.Shift))
//return DispMotionError(AxisUnloadOutConveyor, "移到NG取料位");
{
res = DispMotionError(AxisUnloadOutConveyor, "移到NG取料位");
if (res != null)
{
return(res);
}
}
if (AfterUnloadOutShift != null)
{
AfterUnloadOutShift();
}
CheckNGSensor();
return(null);
}
protected override void Reset(ClassErrorHandle err)
{
AxisUnloadPNPY.ServoOn = true;
AxisUnloadPNPY.SetZero();
if (!PNPCylinder.SetCylinderState(CYLIND_UP, ClassErrorHandle.TIMEOUT))
{
err.CollectErrInfo("气缸无法上移");
}
if (err.NoError)
{
AxisUnloadPNPY.HomeFinish = true;
AxisUnloadPNPY.NeedToCheckSafety = false;
double temp = AxisUnloadPNPY.DefaultSpeed;
AxisUnloadPNPY.DefaultSpeed = Math.Abs(AxisUnloadPNPY.JogSpeed);
AxisUnloadPNPY.StepMove(-30);
AxisUnloadPNPY.DefaultSpeed = temp;
AxisUnloadPNPY.NeedToCheckSafety = true;
err.CollectErrInfo(MotorReset(AxisUnloadPNPY, EnumPoint.Place));
}
}
/// <summary>
/// 开始传送准备。
/// 开始的条件是SMEMA的ready信号为true，并且InPos传感器没有检测到物料。
/// 传送带运行，
/// SMEMA avaliable为false。
/// </summary>
/// <returns>返回执行结果。成功返回空字符。</returns>
public ErrorInfoWithPause ActionStartLoad(CallBackCommonFunc AfterActionLoadNew)
{
ErrorInfoWithPause res = null;
string barcodeReadRes;
////Go back to align the new cell.
AxisLoadInConveyor.SetZero();
bool havenewpart = ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑;// && ThisInport(EnumInportName.LoadInConvLoad).status;
double offsetTemp = 0;
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.自动)
{
offsetTemp = ClassCommonSetting.SysParam.CurrentProductParam.CellDataSpec.CellWidth.Mean - ClassCommonSetting.SysParam.Products[CALIBPROD].CellDataSpec.CellWidth.Mean;
offsetTemp /= 2;
offsetTemp += ThisAxis(EnumAxisName.LoadInConveyor).PointList[EnumPointConveyor.BackDistance].Position;
while (!ThisAxis(EnumAxisName.LoadInConveyor).MoveTo(offsetTemp))
//return DispMotionError(AxisLoadInConveyor, "回移");
{
res = DispMotionError(AxisLoadInConveyor, "回移");
if (res != null)
{
return(res);
}
}
}
if ((havenewpart || ClassWorkFlow.Instance.WorkMode == EnumWorkMode.空跑) && ClassWorkFlow.Instance.FeedNewPart)
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = ClassDataInfo.NewCellData(++ClassWorkFlow.Instance.GetCell);
}
else
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = null;
}
//Go to next pitch position and start scan barcode
AxisLoadInConveyor.SetZero();
while (!AxisLoadInConveyor.MoveTo(EnumPointConveyor.CellPitch, true, -offsetTemp))
//return DispMotionError(AxisLoadInConveyor, "进料移动");
{
res = DispMotionError(AxisLoadInConveyor, "进料移动");
if (res != null)
{
return(res);
}
}
////If PNP can pick
//if (ThisInport(EnumInportName.LoadInConvInPos).status)
//{
// NotifyDoneEvent(EnumEventName.NewCellLoad);
//}
if (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null)
{
havenewpart &= BarcodeEnabled;
if (ClassWorkFlow.Instance.LoadMode == EnumLoadMode.自动)
{
barcodeReadRes = StartBarcodeScan(havenewpart);
}
else
{
do
{
barcodeReadRes = StartBarcodeScan(havenewpart);
if (barcodeReadRes != "")
{
BaseForm.DoInvokeRequired(MainForm.instance,
() =>
{
while (MessageBox.Show(MainForm.instance, $"条码枪扫码出错: {barcodeReadRes}。{Environment.NewLine}请检查电芯位置是否正确或者是否有电芯。{Environment.NewLine}" +
"点“重试”重新扫条码。如果无电芯或需要移除电芯，则点“取消”放弃扫码。",
"条码枪扫码", MessageBoxButtons.RetryCancel, MessageBoxIcon.Information) == DialogResult.Cancel)
{
if (MessageBox.Show(MainForm.instance, "确定要取消并移除电芯？", "取消电芯", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
LoadInDataStations[LoadInDataStations.Length - 1].CellData = null;
break;
}
}
});
}
} while (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null && barcodeReadRes != "");
}
if (LoadInDataStations[LoadInDataStations.Length - 1].CellData != null)
{
ClassCommonSetting.ProgramLog(LogFile.Level.Notice, this.Name, "加载新物料，索引号" + ClassWorkFlow.Instance.GetCell.ToString() + " NG结果为" + (LoadInDataStations[LoadInDataStations.Length - 1].CellData.LoadNG ? "NG" : "OK"));
}
}
if (AfterActionLoadNew != null)
{
AfterActionLoadNew();
}
return(null);
}