private ErrorInfoWithPause CheckNGSensor()
{
//waitHandle = false;
string tempSensor = "", tempData = "";
while (true)
{
for (int i = 0; i < 3; i++)
{
System.Threading.Thread.Sleep(500);
tempSensor = tempData = "";
if (ThisInport(EnumInportName.UnloadOutUnloadLeft).status&& UnloadOutDataStations[(int)EnumCellIndex.左电芯].CellData == null)
{
tempSensor += " " + EnumCellIndex.左电芯.ToString();
}
else if (!ThisInport(EnumInportName.UnloadOutUnloadLeft).status&& UnloadOutDataStations[(int)EnumCellIndex.左电芯].CellData != null)
{
tempData += " " + EnumCellIndex.左电芯.ToString();
}
if (ThisInport(EnumInportName.UnloadOutUnloadMid).status&& UnloadOutDataStations[(int)EnumCellIndex.中电芯].CellData == null)
{
tempSensor += " " + EnumCellIndex.中电芯.ToString();
}
else if (!ThisInport(EnumInportName.UnloadOutUnloadMid).status&& UnloadOutDataStations[(int)EnumCellIndex.中电芯].CellData != null)
{
tempData += " " + EnumCellIndex.中电芯.ToString();
}
if (ThisInport(EnumInportName.UnloadOutUnloadRight).status&& UnloadOutDataStations[(int)EnumCellIndex.右电芯].CellData == null)
{
tempSensor += " " + EnumCellIndex.右电芯.ToString();
}
else if (!ThisInport(EnumInportName.UnloadOutUnloadRight).status&& UnloadOutDataStations[(int)EnumCellIndex.右电芯].CellData != null)
{
tempData += " " + EnumCellIndex.右电芯.ToString();
}
if (tempSensor == "" && tempData == "")
{
break;
}
}
if (tempSensor != "" || tempData != "")
{
if (tempSensor == "")
{
tempSensor = "无";
}
if (tempData == "")
{
tempData = "无";
}
ClassCommonSetting.ProgramLog(LogFile.Level.Warning, "WorkFlow", $"NG挑选处下料电芯与数据不符：{tempSensor}{tempData}");
Colibri.CommonModule.Forms.BaseForm.DoInvokeRequired(MainForm.instance, () => MessageBox.Show(MainForm.instance, $"NG挑选处下料电芯与数据不符。{Environment.NewLine}{Environment.NewLine}" +
$"传感器检测到有电芯，但是程序没有数据记录：{tempSensor}。{Environment.NewLine}" +
$"错误处理：取出不符的多余电芯。{Environment.NewLine}{Environment.NewLine}" +
$"程序有数据记录，但是传感器没有检测到电芯：{tempData}。{Environment.NewLine}" +
$"错误处理：如果是电芯位置不对，摆正或取走电芯；如果没有电芯则不用处理。点确定后数据将会被删除忽略掉。{Environment.NewLine}{Environment.NewLine}" +
$"需要在流程恢复前清除不符电芯。处理完成后点确定。"));
SetUnloadOut();
}
else
{
break;
}
}
return(null);
}
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);
}
private void ResetAsyncReturn(IAsyncResult result)
{
ClassCommonSetting.CallBackCommonAsyncReturn(result, "Reset");
}
private void UpdateNGBoxAsyncReturn(IAsyncResult result)
{
ClassCommonSetting.CallBackCommonAsyncReturn(result, "UpdateNGBox");
}
protected void WorkZoneActionAsyncReturn(IAsyncResult result)
{
ClassCommonSetting.CallBackCommonAsyncReturn(result, "WorkZoneAction");
}
/// <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);
}
private void AfterPickAsyncReturn(IAsyncResult result)
{
ClassCommonSetting.CallBackCommonAsyncReturn(result, "TransPNPAfterPick");
}
private void ErrorReturnHandler(string source, string message, ErrorDialogResult result)
{
if (!owner.IsRunning)
{
return;
}
if (result == ErrorDialogResult.OK || result == ErrorDialogResult.Retry)
{
ClassZone下料机械手 UnloadZone = ClassWorkZones.Instance.WorkZone下料机械手;
if (message != "")
{
ClassBaseWorkZone.HandleVacuumFailCell("下料机械手", UnloadZone.UnloadPNPDataStations.ToArray());
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
ClassWorkZones.Instance.WorkZone尺寸测量.CCDMeasDataStations[i].TransferFrom(ClassWorkZones.Instance.WorkZone下料机械手.UnloadPNPDataStations[i]);
}
}
res = UnloadZone.ActionUnloadPNPStartPick(ClassWorkZones.Instance.DoLoadOutPNPPick, ClassWorkZones.Instance.AfterLoadOutPNPPick);
if (res == null)
{
//while (!UnloadZone.AxisUnloadPNPY.MoveTo(ClassZone下料机械手.EnumPoint.Place, false))
//{
// if (UnloadZone.DispMotionError(UnloadZone.AxisUnloadPNPY, ClassZone下料机械手.EnumPoint.Place) != null)
// return;
//}
///////同步调用测量工作区域X电机回到GetPart位置
res = ClassWorkZones.Instance.WorkZone尺寸测量.ActionToGetPart(false);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
///////异步调用测量工作区域X电机回到GetPart位置
//ClassWorkZones.Instance.WorkZone尺寸测量.AsyncActionMotorMove(ClassWorkZones.Instance.WorkZone尺寸测量.AxisOutlineMeasX,
// ClassZone尺寸测量.EnumPointX.GetPart);
res = UnloadZone.ActionMove(ClassZone下料机械手.EnumPoint.Place, false);
if (res != null)
{
ClassErrorHandle.ShowError(source, res);
return;
}
if (ClassWorkFlow.Instance.WorkMode != EnumWorkMode.空跑)
{
#region CCD All finish
if (!ClassCommonSetting.CheckTimeOut(() => { return(ClassWorkZones.Instance.WorkZone尺寸测量.isCCDAllFinish); }))
{
string cell = "";
for (int i = 0; i < ClassBaseWorkZone.CELLCOUNT; i++)
{
if (!ClassWorkZones.Instance.WorkZone尺寸测量.MeasDone[i])
{
cell += " " + ((EnumCellIndex)i).ToString();
}
}
ClassErrorHandle.ShowError(source, "图像检测数据没有全部返回:" + cell, ErrorLevel.Notice);
}
#endregion CCD All finish
}
ClassErrorHandle.CheckAlarmListStatus(source, oldres);
DoneReturn("UnloadPNPPickFinish");
if (_afterMeasCallBack != null)
{
_afterMeasCallBack.BeginInvoke(CallBackAsyncReturn, _afterMeasCallBack);
}
//ClassWorkZones.Instance.WorkZone尺寸测量.AxisOutlineMeasX.WaitStop(ClassErrorHandle.TIMEOUT);
ClassWorkZones.Instance.WorkZone尺寸测量.IsWorkFree = true;
DoneReturn("CCDMotorBackToGetPart");
}
else
{
ClassErrorHandle.ShowError(source, res, ErrorReturnHandler);
oldres = res;
}
}
}
private void CallBackAsyncReturn(IAsyncResult result)
{
ClassCommonSetting.CallBackCommonAsyncReturn(result, "AfterCCDMeas");
}
