20230331

src/BRS.Common.Model/Helper/EnumHelper.cs

@@ -519,6 +519,19 @@ namespace BRS.Common.Model.Helper
             CameraRelativeMove = 12,
         }
 
+        public enum DownCirce
+        {
+            Unknown = 0,
+            /// <summary>
+            /// 标志着机械臂正在运动的状态
+            /// </summary>
+            DownCirce,
+            /// <summary>
+            /// 标志着机械臂运动完成的状态
+            /// </summary>
+            DownCirceRuning,
+        }
+
         /// <summary>
         /// 马达/运动板卡运行模式
         /// </summary>
@@ -677,7 +690,67 @@ namespace BRS.Common.Model.Helper
             [Description("更新批次信息")]
             RequestBatchNO,
         }
+        public enum ProcessStatus
+        {
+            Unknown = 0,
+            PlcInit,
+            /// <summary>
+            /// 第七轴运动或者示教点移动
+            /// </summary>
+            Init,
+            /// <summary>
+            /// 第七轴移动到位
+            /// </summary>
+            InitPlc,
 
+            PMoldReady,
+            PPLCRobotInit,
+            MoveInit_Y,
+            MoveInit,
+
+            /// <summary>
+            /// 机械臂相机离目标螺丝测距30CM
+            /// </summary>
+            Measure,
+            /// <summary>
+            /// 打开光源
+            /// </summary>
+            OpenLight,
+            /// <summary>
+            /// 关闭光源
+            /// </summary>
+            ClodeLight,
+            /// <summary>
+            /// 视觉定位
+            /// </summary>
+            CVLocation,
+            /// <summary>
+            /// 拧紧轴发送启动命令
+            /// </summary>
+            StartRun,
+            StartRunDown,
+            /// <summary>
+            /// 循环拧送螺丝
+            /// </summary>
+            StartRuning,
+            Finish,
+            /// <summary>
+            /// 完成拧松螺丝并对下一螺丝做准备工作
+            /// </summary>
+            RobotFinish,
+            /// <summary>
+            /// 机器人下电 所有第七轴回归初始位置
+            /// </summary>
+            RobotPLCInit,
+            /// <summary>
+            /// 回归初始位置完成，流程结束
+            /// </summary>
+            RobotPLCInitFinish,
+            ALLFinish,
+            Warning,
+            Waiting,
+            WaitingZLS,
+        }
         public enum MachineState
         {
             Unknown = 0,
@@ -717,56 +790,68 @@ namespace BRS.Common.Model.Helper
             ClearProduct ,
         }
 
-
+        /// <summary>
+        /// 川崎机器人的状态，运动停止或者正在进行
+        /// </summary>
+        public enum KawasakiRobotStatus
+        {
+            Unknown = 0,
+            /// <summary>
+            /// 机械臂正在运动的状态
+            /// </summary>
+            Stoped,
+            /// <summary>
+            /// 机械臂运动完成的状态
+            /// </summary>
+            Runing,
+        }
 
         public enum RobotsStatus
         {
             Unknown = 0,
-            Inplace ,
-            Claming,
-            Relasing,
-            Moving ,
-            Wating ,
-            Pweroff,
-            Reset ,
-           
+            PowerOn,
+            Move,
+            /// <summary>
+            /// 机械臂运动状态
+            /// </summary>
+            Runing,
+            /// <summary>
+            /// 机械臂空闲状态
+            /// </summary>
+            Release,
+            MoveInit,
+            PowerOff,
+
         }
-        public enum ProcessStatus
+        public enum PLCStateWarm
         {
             Unknown = 0,
             /// <summary>
-            /// 初始化点
+            /// 急停红灯
             /// </summary>
-            Init,
-            
-            MesureingInit,
-            MesureingInitPLC,
-            Mesureing ,
-            MesureingPLC,
-            Claim ,
-            ClaimPLC,
-            Runing ,
-            RunFinish,
-            Loosen,
-            LoosenPLC,
-            TakeOffMove,
-            TakeOffMovePLC,
-            TakeOffMovePLC_2,
-            TakeOff,/// <summary>
-                    /// 取出轮胎
-                    /// </summary>
-                    /// 
-            TakeOffCaim,
-            TakeOffPLC,
-            TakeOffPoint,
-            TakeOffPointCaim,
-            TakeOffPointCaimFlag,
-            TakeOffWhool,
-            Resetting ,
-            Closing ,
-            ClearProduct ,
-        }
+            ProStop,
+            /// <summary>
+            /// 程序运行绿灯
+            /// </summary>
+            Running,
+            /// <summary>
+            /// 手动模式
+            /// </summary>
+            HandModel,
+            /// <summary>
+            /// 自动模式
+            /// </summary>
+            ResetModel,
+            /// <summary>
+            /// 程序不运行
+            /// </summary>
+            Alarm,
+            XianWeiAram,
+            Robot1LeftAlarm,
+            Robot1RightAlarm,
+          
 
+        }
 
         public enum ResultState
         {