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Commit 5bc54092 由 LN
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增加贴标Z轴旋转点P4

1 个父辈 1421e04c
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内嵌 并排
正在显示 11 个修改的文件 包含 100 行增加 和 60 行删除
RC1266-AutoCountMachine/source/AutoCountClient/FrmOutputEquip.cs
...@@ -84,6 +84,7 @@ namespace OnlineStore.AutoCountClient ...@@ -84,6 +84,7 @@ namespace OnlineStore.AutoCountClient
txtZP1.Text = equipBean.Config.LabelZ_P1.ToString(); txtZP1.Text = equipBean.Config.LabelZ_P1.ToString();
txtZP2.Text = equipBean.Config.LabelZ_P2.ToString(); txtZP2.Text = equipBean.Config.LabelZ_P2.ToString();
txtZP3.Text = equipBean.Config.LabelZ_P3.ToString(); txtZP3.Text = equipBean.Config.LabelZ_P3.ToString();
txtZP4.Text = equipBean.Config.LabelZ_P4.ToString();
txtRP1.Text = equipBean.Config.LabelR_P1.ToString(); txtRP1.Text = equipBean.Config.LabelR_P1.ToString();
txtRP2.Text = equipBean.Config.LabelR_P2.ToString(); txtRP2.Text = equipBean.Config.LabelR_P2.ToString();
...@@ -571,9 +572,11 @@ namespace OnlineStore.AutoCountClient ...@@ -571,9 +572,11 @@ namespace OnlineStore.AutoCountClient
int ZP1 = FormUtil.GetIntValue(txtZP1); int ZP1 = FormUtil.GetIntValue(txtZP1);
int ZP2 = FormUtil.GetIntValue(txtZP2); int ZP2 = FormUtil.GetIntValue(txtZP2);
int ZP3 = FormUtil.GetIntValue(txtZP3); int ZP3 = FormUtil.GetIntValue(txtZP3);
int ZP4 = FormUtil.GetIntValue(txtZP4);
equipBean.Config.LabelZ_P1 = ZP1; equipBean.Config.LabelZ_P1 = ZP1;
equipBean.Config.LabelZ_P2 = ZP2; equipBean.Config.LabelZ_P2 = ZP2;
equipBean.Config.LabelZ_P3 = ZP3; equipBean.Config.LabelZ_P3 = ZP3;
equipBean.Config.LabelZ_P4 = ZP4;
int RP1 = FormUtil.GetIntValue(txtRP1); int RP1 = FormUtil.GetIntValue(txtRP1);
int RP2 = FormUtil.GetIntValue(txtRP2); int RP2 = FormUtil.GetIntValue(txtRP2);
...@@ -765,6 +768,11 @@ namespace OnlineStore.AutoCountClient ...@@ -765,6 +768,11 @@ namespace OnlineStore.AutoCountClient
LogUtil.info(equipBean.Name + "用户切换 启用标签打印 =" + isCheck); LogUtil.info(equipBean.Name + "用户切换 启用标签打印 =" + isCheck);
} }
} }
private void btnZP4_Click(object sender, EventArgs e)
{
AxisMove(equipBean.LabelZAxis, txtZP4, equipBean.Config.LabelZ_P4Speed);
}
} }
} }
......
RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.Designer.cs
...@@ -158,8 +158,8 @@ ...@@ -158,8 +158,8 @@
this.groupBox2.Controls.Add(this.chbBuzzer); this.groupBox2.Controls.Add(this.chbBuzzer);
this.groupBox2.Controls.Add(this.chbAGV); this.groupBox2.Controls.Add(this.chbAGV);
this.groupBox2.Controls.Add(this.chbAutoRun); this.groupBox2.Controls.Add(this.chbAutoRun);
this.groupBox2.Controls.Add(this.chkDebug);
this.groupBox2.Controls.Add(this.btnClearLog); this.groupBox2.Controls.Add(this.btnClearLog);
this.groupBox2.Controls.Add(this.chkDebug);
this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox2.Location = new System.Drawing.Point(999, 4); this.groupBox2.Location = new System.Drawing.Point(999, 4);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
...@@ -205,20 +205,23 @@ ...@@ -205,20 +205,23 @@
// //
// chkDebug // chkDebug
// //
this.chkDebug.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.chkDebug.AutoSize = true; this.chkDebug.AutoSize = true;
this.chkDebug.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.chkDebug.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chkDebug.Location = new System.Drawing.Point(189, 17); this.chkDebug.Location = new System.Drawing.Point(249, 17);
this.chkDebug.Name = "chkDebug"; this.chkDebug.Name = "chkDebug";
this.chkDebug.Size = new System.Drawing.Size(72, 24); this.chkDebug.Size = new System.Drawing.Size(72, 24);
this.chkDebug.TabIndex = 194; this.chkDebug.TabIndex = 194;
this.chkDebug.Text = "debug"; this.chkDebug.Text = "debug";
this.chkDebug.UseVisualStyleBackColor = true; this.chkDebug.UseVisualStyleBackColor = true;
this.chkDebug.Visible = false;
// //
// btnClearLog // btnClearLog
// //
this.btnClearLog.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnClearLog.BackColor = System.Drawing.Color.White; this.btnClearLog.BackColor = System.Drawing.Color.White;
this.btnClearLog.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnClearLog.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClearLog.Location = new System.Drawing.Point(189, 62); this.btnClearLog.Location = new System.Drawing.Point(216, 66);
this.btnClearLog.Name = "btnClearLog"; this.btnClearLog.Name = "btnClearLog";
this.btnClearLog.Size = new System.Drawing.Size(105, 35); this.btnClearLog.Size = new System.Drawing.Size(105, 35);
this.btnClearLog.TabIndex = 190; this.btnClearLog.TabIndex = 190;
...@@ -323,50 +326,50 @@ ...@@ -323,50 +326,50 @@
// 启动AToolStripMenuItem // 启动AToolStripMenuItem
// //
this.启动AToolStripMenuItem.Name = "启动AToolStripMenuItem"; this.启动AToolStripMenuItem.Name = "启动AToolStripMenuItem";
this.启动AToolStripMenuItem.Size = new System.Drawing.Size(117, 26); this.启动AToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.启动AToolStripMenuItem.Text = "启动 "; this.启动AToolStripMenuItem.Text = "启动 ";
this.启动AToolStripMenuItem.Click += new System.EventHandler(this.启动AToolStripMenuItem_Click); this.启动AToolStripMenuItem.Click += new System.EventHandler(this.启动AToolStripMenuItem_Click);
// //
// toolStripSeparator4 // toolStripSeparator4
// //
this.toolStripSeparator4.Name = "toolStripSeparator4"; this.toolStripSeparator4.Name = "toolStripSeparator4";
this.toolStripSeparator4.Size = new System.Drawing.Size(114, 6); this.toolStripSeparator4.Size = new System.Drawing.Size(177, 6);
// //
// 复位RToolStripMenuItem // 复位RToolStripMenuItem
// //
this.复位RToolStripMenuItem.Name = "复位RToolStripMenuItem"; this.复位RToolStripMenuItem.Name = "复位RToolStripMenuItem";
this.复位RToolStripMenuItem.Size = new System.Drawing.Size(117, 26); this.复位RToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.复位RToolStripMenuItem.Text = "复位"; this.复位RToolStripMenuItem.Text = "复位";
this.复位RToolStripMenuItem.Click += new System.EventHandler(this.复位RToolStripMenuItem_Click); this.复位RToolStripMenuItem.Click += new System.EventHandler(this.复位RToolStripMenuItem_Click);
// //
// toolStripSeparator3 // toolStripSeparator3
// //
this.toolStripSeparator3.Name = "toolStripSeparator3"; this.toolStripSeparator3.Name = "toolStripSeparator3";
this.toolStripSeparator3.Size = new System.Drawing.Size(114, 6); this.toolStripSeparator3.Size = new System.Drawing.Size(177, 6);
// //
// 停止TToolStripMenuItem // 停止TToolStripMenuItem
// //
this.停止TToolStripMenuItem.Name = "停止TToolStripMenuItem"; this.停止TToolStripMenuItem.Name = "停止TToolStripMenuItem";
this.停止TToolStripMenuItem.Size = new System.Drawing.Size(117, 26); this.停止TToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.停止TToolStripMenuItem.Text = "停止"; this.停止TToolStripMenuItem.Text = "停止";
this.停止TToolStripMenuItem.Click += new System.EventHandler(this.停止TToolStripMenuItem_Click); this.停止TToolStripMenuItem.Click += new System.EventHandler(this.停止TToolStripMenuItem_Click);
// //
// toolStripSeparator1 // toolStripSeparator1
// //
this.toolStripSeparator1.Name = "toolStripSeparator1"; this.toolStripSeparator1.Name = "toolStripSeparator1";
this.toolStripSeparator1.Size = new System.Drawing.Size(114, 6); this.toolStripSeparator1.Size = new System.Drawing.Size(177, 6);
// //
// 退出ToolStripMenuItem // 退出ToolStripMenuItem
// //
this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem"; this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem";
this.退出ToolStripMenuItem.Size = new System.Drawing.Size(117, 26); this.退出ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.退出ToolStripMenuItem.Text = "退出"; this.退出ToolStripMenuItem.Text = "退出";
this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click_1); this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click_1);
// //
// toolStripSeparator2 // toolStripSeparator2
// //
this.toolStripSeparator2.Name = "toolStripSeparator2"; this.toolStripSeparator2.Name = "toolStripSeparator2";
this.toolStripSeparator2.Size = new System.Drawing.Size(114, 6); this.toolStripSeparator2.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator2.Visible = false; this.toolStripSeparator2.Visible = false;
// //
// 设置TToolStripMenuItem // 设置TToolStripMenuItem
...@@ -384,31 +387,31 @@ ...@@ -384,31 +387,31 @@
// 二维码学习ToolStripMenuItem // 二维码学习ToolStripMenuItem
// //
this.二维码学习ToolStripMenuItem.Name = "二维码学习ToolStripMenuItem"; this.二维码学习ToolStripMenuItem.Name = "二维码学习ToolStripMenuItem";
this.二维码学习ToolStripMenuItem.Size = new System.Drawing.Size(160, 26); this.二维码学习ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.二维码学习ToolStripMenuItem.Text = "二维码学习"; this.二维码学习ToolStripMenuItem.Text = "二维码学习";
this.二维码学习ToolStripMenuItem.Click += new System.EventHandler(this.二维码学习ToolStripMenuItem_Click); this.二维码学习ToolStripMenuItem.Click += new System.EventHandler(this.二维码学习ToolStripMenuItem_Click);
// //
// toolStripSeparator7 // toolStripSeparator7
// //
this.toolStripSeparator7.Name = "toolStripSeparator7"; this.toolStripSeparator7.Name = "toolStripSeparator7";
this.toolStripSeparator7.Size = new System.Drawing.Size(157, 6); this.toolStripSeparator7.Size = new System.Drawing.Size(177, 6);
// //
// toolStripMenuItem2 // toolStripMenuItem2
// //
this.toolStripMenuItem2.Name = "toolStripMenuItem2"; this.toolStripMenuItem2.Name = "toolStripMenuItem2";
this.toolStripMenuItem2.Size = new System.Drawing.Size(160, 26); this.toolStripMenuItem2.Size = new System.Drawing.Size(180, 26);
this.toolStripMenuItem2.Text = "AGV调试"; this.toolStripMenuItem2.Text = "AGV调试";
this.toolStripMenuItem2.Click += new System.EventHandler(this.toolStripMenuItem2_Click); this.toolStripMenuItem2.Click += new System.EventHandler(this.toolStripMenuItem2_Click);
// //
// toolStripSeparator6 // toolStripSeparator6
// //
this.toolStripSeparator6.Name = "toolStripSeparator6"; this.toolStripSeparator6.Name = "toolStripSeparator6";
this.toolStripSeparator6.Size = new System.Drawing.Size(157, 6); this.toolStripSeparator6.Size = new System.Drawing.Size(177, 6);
// //
// 标签编辑ToolStripMenuItem // 标签编辑ToolStripMenuItem
// //
this.标签编辑ToolStripMenuItem.Name = "标签编辑ToolStripMenuItem"; this.标签编辑ToolStripMenuItem.Name = "标签编辑ToolStripMenuItem";
this.标签编辑ToolStripMenuItem.Size = new System.Drawing.Size(160, 26); this.标签编辑ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.标签编辑ToolStripMenuItem.Text = "标签编辑"; this.标签编辑ToolStripMenuItem.Text = "标签编辑";
this.标签编辑ToolStripMenuItem.Click += new System.EventHandler(this.标签编辑ToolStripMenuItem_Click); this.标签编辑ToolStripMenuItem.Click += new System.EventHandler(this.标签编辑ToolStripMenuItem_Click);
// //
...@@ -427,31 +430,31 @@ ...@@ -427,31 +430,31 @@
// 清空日志ToolStripMenuItem // 清空日志ToolStripMenuItem
// //
this.清空日志ToolStripMenuItem.Name = "清空日志ToolStripMenuItem"; this.清空日志ToolStripMenuItem.Name = "清空日志ToolStripMenuItem";
this.清空日志ToolStripMenuItem.Size = new System.Drawing.Size(144, 26); this.清空日志ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.清空日志ToolStripMenuItem.Text = "清空日志"; this.清空日志ToolStripMenuItem.Text = "清空日志";
this.清空日志ToolStripMenuItem.Click += new System.EventHandler(this.清空日志ToolStripMenuItem_Click); this.清空日志ToolStripMenuItem.Click += new System.EventHandler(this.清空日志ToolStripMenuItem_Click);
// //
// toolStripSeparator10 // toolStripSeparator10
// //
this.toolStripSeparator10.Name = "toolStripSeparator10"; this.toolStripSeparator10.Name = "toolStripSeparator10";
this.toolStripSeparator10.Size = new System.Drawing.Size(141, 6); this.toolStripSeparator10.Size = new System.Drawing.Size(177, 6);
// //
// 复制日志ToolStripMenuItem // 复制日志ToolStripMenuItem
// //
this.复制日志ToolStripMenuItem.Name = "复制日志ToolStripMenuItem"; this.复制日志ToolStripMenuItem.Name = "复制日志ToolStripMenuItem";
this.复制日志ToolStripMenuItem.Size = new System.Drawing.Size(144, 26); this.复制日志ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.复制日志ToolStripMenuItem.Text = "复制日志"; this.复制日志ToolStripMenuItem.Text = "复制日志";
this.复制日志ToolStripMenuItem.Click += new System.EventHandler(this.复制日志ToolStripMenuItem_Click); this.复制日志ToolStripMenuItem.Click += new System.EventHandler(this.复制日志ToolStripMenuItem_Click);
// //
// toolStripSeparator11 // toolStripSeparator11
// //
this.toolStripSeparator11.Name = "toolStripSeparator11"; this.toolStripSeparator11.Name = "toolStripSeparator11";
this.toolStripSeparator11.Size = new System.Drawing.Size(141, 6); this.toolStripSeparator11.Size = new System.Drawing.Size(177, 6);
// //
// 版本号ToolStripMenuItem // 版本号ToolStripMenuItem
// //
this.版本号ToolStripMenuItem.Name = "版本号ToolStripMenuItem"; this.版本号ToolStripMenuItem.Name = "版本号ToolStripMenuItem";
this.版本号ToolStripMenuItem.Size = new System.Drawing.Size(144, 26); this.版本号ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.版本号ToolStripMenuItem.Text = "关于软件"; this.版本号ToolStripMenuItem.Text = "关于软件";
this.版本号ToolStripMenuItem.Click += new System.EventHandler(this.版本号ToolStripMenuItem_Click); this.版本号ToolStripMenuItem.Click += new System.EventHandler(this.版本号ToolStripMenuItem_Click);
// //
......
RC1266-AutoCountMachine/source/AutoCountClient/记录.txt
...@@ -61,3 +61,11 @@ Stop ...@@ -61,3 +61,11 @@ Stop
添加点料模块代码。。 添加点料模块代码。。
贴标时，Z轴需要下降到指定的位置之后才能旋转。 贴标时，Z轴需要下降到指定的位置之后才能旋转。
20200602
增加配置
PRO,0,贴标机构Z轴旋转点P4,LabelZ_P4,2000,,,,,
PRO,0,贴标机构Z轴P4速度,LabelZ_P4Speed,4500,,,,,
\ No newline at end of file \ No newline at end of file
RC1266-AutoCountMachine/source/DeviceLibrary/RobotConfig/Config_InputEquip.csv
...@@ -21,8 +21,8 @@ PRO,0,提升轴P3速度,BatchAxis_P3Speed,1000,,,,, ...@@ -21,8 +21,8 @@ PRO,0,提升轴P3速度,BatchAxis_P3Speed,1000,,,,,
PRO,0,提升轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,10446,,,,, PRO,0,提升轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,10446,,,,,
,,,,,,,,, ,,,,,,,,,
PRO,0,取料升降轴待机点P1,UpdownAxis_P1,72000,,,,, PRO,0,取料升降轴待机点P1,UpdownAxis_P1,72000,,,,,
PRO,0,取料升降轴取料点P2_左侧,UpdownAxis_P2_L,203000,,,,, PRO,0,取料升降轴取料点P2_左侧,UpdownAxis_P2_L,200000,,,,,
PRO,0,取料升降轴取料点P2_右侧,UpdownAxis_P2_R,202000,,,,, PRO,0,取料升降轴取料点P2_右侧,UpdownAxis_P2_R,199000,,,,,
PRO,0,取料升降轴XRay入库放料点P3,UpdownAxis_P3,327986,,,,, PRO,0,取料升降轴XRay入库放料点P3,UpdownAxis_P3,327986,,,,,
PRO,0,取料升降轴工位放料点P4_高,UpdownAxis_P4_H,190969,,,,, PRO,0,取料升降轴工位放料点P4_高,UpdownAxis_P4_H,190969,,,,,
PRO,0,取料升降轴工位放料点P4_低,UpdownAxis_P4_L,515085,,,,, PRO,0,取料升降轴工位放料点P4_低,UpdownAxis_P4_L,515085,,,,,
......
RC1266-AutoCountMachine/source/DeviceLibrary/RobotConfig/Config_OutputEquip.csv
...@@ -16,15 +16,15 @@ PRO,0,出料提升轴P3速度,BatchAxis_P3Speed,1700,,,,, ...@@ -16,15 +16,15 @@ PRO,0,出料提升轴P3速度,BatchAxis_P3Speed,1700,,,,,
PRO,0,出料提升轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,10446,,,,, PRO,0,出料提升轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,10446,,,,,
,,,,,,,,, ,,,,,,,,,
PRO,0,取料X轴待机点-P1,MoveX_P1,2001,,,,, PRO,0,取料X轴待机点-P1,MoveX_P1,2001,,,,,
PRO,0,取料X轴-取料点-P2集合,MoveX_P2List,0=15950;8=150000;12=150000;16=150000;24=150000;32=140000;44=120000;56=100000;13=4710;15=1350;11=10120;7=15950,,,,, PRO,0,取料X轴-取料点-P2集合,MoveX_P2List,0=16000;8=150000;12=150000;16=150000;24=150000;32=140000;44=120000;56=100000;13=5150;15=1750;11=10520;7=16250,,,,,
PRO,0,取料X轴-放料点-P3,MoveX_P3,77300,,,,, PRO,0,取料X轴-放料点-P3,MoveX_P3,77300,,,,,
PRO,0,取料X轴P1速度,MoveX_P1Speed,700,,,,, PRO,0,取料X轴P1速度,MoveX_P1Speed,700,,,,,
PRO,0,取料X轴P2速度,MoveX_P2Speed,700,,,,, PRO,0,取料X轴P2速度,MoveX_P2Speed,700,,,,,
PRO,0,取料X轴P3速度,MoveX_P3Speed,700,,,,, PRO,0,取料X轴P3速度,MoveX_P3Speed,700,,,,,
,,,,,,,,, ,,,,,,,,,
PRO,0,取料Z轴待机点-P1,MoveZ_P1,2000,,,,, PRO,0,取料Z轴待机点-P1,MoveZ_P1,2000,,,,,
PRO,0,取料Z轴-取料点-P2集合,MoveZ_P2List,0=448700;8=448700;12=443900;16=440000;24=429900;32=420100;44=409000;56=398620,,,,, PRO,0,取料Z轴-取料点-P2集合,MoveZ_P2List,0=443700;8=443700;12=441900;16=438000;24=427900;32=418100;44=407000;56=397620,,,,,
PRO,0,取料Z轴-放料点-P3集合,MoveZ_P3List,0=108750;8=109700;12=100000;16=99000;24=93000;32=89000;44=74000;56=63500,,,,, PRO,0,取料Z轴-放料点-P3集合,MoveZ_P3List,0=100000;8=109700;12=100000;16=99000;24=93000;32=89000;44=74000;56=63500,,,,,
PRO,0,取料Z轴P1速度,MoveZ_P1Speed,4000,,,,, PRO,0,取料Z轴P1速度,MoveZ_P1Speed,4000,,,,,
PRO,0,取料Z轴P2速度,MoveZ_P2Speed,4000,,,,, PRO,0,取料Z轴P2速度,MoveZ_P2Speed,4000,,,,,
PRO,0,取料Z轴P3速度,MoveZ_P3Speed,4000,,,,, PRO,0,取料Z轴P3速度,MoveZ_P3Speed,4000,,,,,
...@@ -46,9 +46,11 @@ PRO,0,贴标机构Y轴P3速度,LabelY_P3Speed,4000,,,,, ...@@ -46,9 +46,11 @@ PRO,0,贴标机构Y轴P3速度,LabelY_P3Speed,4000,,,,,
PRO,0,贴标机构Z轴待机点-P1,LabelZ_P1,2000,,,,, PRO,0,贴标机构Z轴待机点-P1,LabelZ_P1,2000,,,,,
PRO,0,贴标机构Z轴取标签点P2,LabelZ_P2,35935,,,,, PRO,0,贴标机构Z轴取标签点P2,LabelZ_P2,35935,,,,,
PRO,0,贴标机构Z轴贴标点P3,LabelZ_P3,174174,,,,, PRO,0,贴标机构Z轴贴标点P3,LabelZ_P3,174174,,,,,
PRO,0,贴标机构Z轴旋转点P4,LabelZ_P4,2000,,,,,
PRO,0,贴标机构Z轴P1速度,LabelZ_P1Speed,4500,,,,, PRO,0,贴标机构Z轴P1速度,LabelZ_P1Speed,4500,,,,,
PRO,0,贴标机构Z轴P2速度,LabelZ_P2Speed,4500,,,,, PRO,0,贴标机构Z轴P2速度,LabelZ_P2Speed,4500,,,,,
PRO,0,贴标机构Z轴P3速度,LabelZ_P3Speed,4500,,,,, PRO,0,贴标机构Z轴P3速度,LabelZ_P3Speed,4500,,,,,
PRO,0,贴标机构Z轴P4速度,LabelZ_P4Speed,4500,,,,,
,,,,,,,,, ,,,,,,,,,
PRO,0,贴标机构R轴待机点-P1,LabelR_P1,0,,,,, PRO,0,贴标机构R轴待机点-P1,LabelR_P1,0,,,,,
PRO,0,贴标机构R轴取标签点P2,LabelR_P2,0,,,,, PRO,0,贴标机构R轴取标签点P2,LabelR_P2,0,,,,,
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
...@@ -62,7 +62,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -62,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
if(SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling)&&SecMoveInfo.MoveStep<= StepEnum.OL12_XYToP3) if(SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling)&&SecMoveInfo.MoveStep<= StepEnum.OL11_XYToP3)
{ {
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , SecMoveInfo 上个贴标还在等待中 " + SecMoveInfo.MoveType + "_" + SecMoveInfo.MoveStep); LogUtil.error(MoveInfo.Name + "StartWorking 失败 , SecMoveInfo 上个贴标还在等待中 " + SecMoveInfo.MoveType + "_" + SecMoveInfo.MoveStep);
return false; return false;
...@@ -89,7 +89,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -89,7 +89,8 @@ namespace OnlineStore.DeviceLibrary
WorkLog(" 检测到XRay出口料盘[" + reelInfo.ToStr() + "]，准备开始取料"); WorkLog(" 检测到XRay出口料盘[" + reelInfo.ToStr() + "]，准备开始取料");
} }
if (MoveInfo.MoveParam.PlateW <= 0 || if (MoveInfo.MoveParam.PlateW <= 0 ||
MoveInfo.MoveParam.PlateH <= 0) MoveInfo.MoveParam.PlateH <= 0 ||
String.IsNullOrEmpty(MoveInfo.MoveParam.WareCode))
{ {
MoveInfo.MoveParam.IsNgReel = true; MoveInfo.MoveParam.IsNgReel = true;
} }
...@@ -371,7 +372,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -371,7 +372,7 @@ namespace OnlineStore.DeviceLibrary
//{ //{
SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel); SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel);
RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown; RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
SecWorkLog("贴标: 重置状态=Unknown，开始打印标签["+NeedPrint+"] ，贴标XYR轴到取标签点P2, 等待1s"); SecWorkLog("贴标: 重置状态=Unknown，开始打印标签[" + NeedPrint + "] ，贴标XYR轴到取标签点P2, 等待1s");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (NeedPrint) if (NeedPrint)
{ {
...@@ -428,27 +429,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -428,27 +429,18 @@ namespace OnlineStore.DeviceLibrary
} }
else if (SecMoveInfo.IsStep(StepEnum.OL08_Nozzle_Work)) else if (SecMoveInfo.IsStep(StepEnum.OL08_Nozzle_Work))
{ {
// SecMoveInfo.NextMoveStep(StepEnum.OL09_WaitGetLabel); SecMoveInfo.NextMoveStep(StepEnum.OL09_ZToP1);
// SecWorkLog("贴标: 等待吸盘信号到位");
// SecMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Nozzle_Work, IO_VALUE.HIGH));
// SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// SecMoveInfo.OneWaitCanEndStep = true;
//}
//else if (SecMoveInfo.IsStep(StepEnum.OL09_WaitGetLabel))
//{
SecMoveInfo.NextMoveStep(StepEnum.OL10_ZToP1);
SecWorkLog("贴标: Z轴到P1点"); SecWorkLog("贴标: Z轴到P1点");
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed); LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
} }
else if (SecMoveInfo.IsStep(StepEnum.OL10_ZToP1)) else if (SecMoveInfo.IsStep(StepEnum.OL09_ZToP1))
{ {
SecMoveInfo.NextMoveStep(StepEnum.OL11_WaitCanLabel); SecMoveInfo.NextMoveStep(StepEnum.OL10_WaitCanLabel);
SecWorkLog("贴标: 等待取料机构返回待机点并且空闲"); SecWorkLog("贴标: 等待取料机构返回待机点并且空闲");
} }
else if (SecMoveInfo.IsStep(StepEnum.OL11_WaitCanLabel)) else if (SecMoveInfo.IsStep(StepEnum.OL10_WaitCanLabel))
{ {
bool canLabel = MoveInfo.MoveType.Equals(RobotMoveType.None) || bool canLabel = MoveInfo.MoveType.Equals(RobotMoveType.None) ||
((MoveInfo.MoveType.Equals(RobotMoveType.Working) && MoveInfo.MoveStep <= StepEnum.OT05_GetImage)); ((MoveInfo.MoveType.Equals(RobotMoveType.Working) && MoveInfo.MoveStep <= StepEnum.OT05_GetImage));
...@@ -456,7 +448,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -456,7 +448,7 @@ namespace OnlineStore.DeviceLibrary
if (canLabel && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel)) if (canLabel && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel))
{ {
SecMoveInfo.NextMoveStep(StepEnum.OL12_XYToP3); SecMoveInfo.NextMoveStep(StepEnum.OL11_XYToP3);
SecWorkLog("贴标: XY轴移动到P3点"); SecWorkLog("贴标: XY轴移动到P3点");
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P3, Config.LabelX_P3Speed); LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P3, Config.LabelX_P3Speed);
...@@ -466,11 +458,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -466,11 +458,17 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsTimeOut(120)) else if (SecMoveInfo.IsTimeOut(120))
{ {
WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 料盘可贴标(OS_25_WaitLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]"; WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 料盘可贴标(OS_25_WaitLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
LogUtil.error(WarnMsg,SecMoveInfo.ErrorLogType); LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType);
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
else if (SecMoveInfo.IsStep(StepEnum.OL12_XYToP3)) else if (SecMoveInfo.IsStep(StepEnum.OL11_XYToP3))
{
SecMoveInfo.NextMoveStep(StepEnum.OL12_ZToP4);
SecWorkLog("贴标: Z轴先走到旋转点P4");
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P4, Config.LabelZ_P4Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL12_ZToP4))
{ {
SecMoveInfo.NextMoveStep(StepEnum.OL13_RToP3); SecMoveInfo.NextMoveStep(StepEnum.OL13_RToP3);
SecWorkLog("贴标: R轴到P3点"); SecWorkLog("贴标: R轴到P3点");
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs
...@@ -34,7 +34,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -34,7 +34,7 @@ namespace OnlineStore.DeviceLibrary
this.Config = config; this.Config = config;
baseConfig = config; baseConfig = config;
IsDebug = config.IsDebug.Equals(1); IsDebug = config.IsDebug.Equals(1);
Name = (" " + "XRay" + " ").ToUpper(); Name = (" " + "XRay" + "_Equip ");
Init(); Init();
ledProcessTimer.Elapsed += LedProcess; ledProcessTimer.Elapsed += LedProcess;
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs
...@@ -138,11 +138,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -138,11 +138,25 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.XW07_InLineStop)) else if (MoveInfo.IsStep(StepEnum.XW07_InLineStop))
{ {
if(Work_ReelInfo.PlateH<=0||String.IsNullOrEmpty(Work_ReelInfo.WareCode))
{
Work_ReelInfo.IsNgReel = true;
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
}
//判断是否需要点料
if (Work_ReelInfo.IsNgReel)
{
MoveInfo.NextMoveStep(StepEnum.XW21_WaitOutNoReel);
WorkLog("扫描区NG料 [" + Work_ReelInfo.ToStr() + "]，直接放行料盘");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.LOW));
}
else
{
MoveInfo.NextMoveStep(StepEnum.XW08_DoorClose); MoveInfo.NextMoveStep(StepEnum.XW08_DoorClose);
WorkLog("料盘处理：左侧门关闭，右侧门关闭，准备开始点料"); WorkLog("料盘处理：左侧门关闭，右侧门关闭，准备开始点料");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_Up); CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_Up);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up); CylinderMove(MoveInfo, IO_Type.X_OutDoor_Down, IO_Type.X_OutDoor_Up);
}
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Down, IO_VALUE.HIGH)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Down, IO_VALUE.HIGH));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Up, IO_VALUE.HIGH)); // MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_DoorLimit_Up, IO_VALUE.HIGH));
} }
...@@ -187,7 +201,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -187,7 +201,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.XW13_GetXRayImage); MoveInfo.NextMoveStep(StepEnum.XW13_GetXRayImage);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(8000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(8000));
WorkLog("料盘处理：开始获取X射线图形 "); WorkLog("点料：开始获取X射线图形 ");
string lastData = DateTime.Now.ToString("yyyy-MM-dd"); string lastData = DateTime.Now.ToString("yyyy-MM-dd");
ConfigAppSettings.SaveValue(Setting_Init.XRay_Data, lastData); ConfigAppSettings.SaveValue(Setting_Init.XRay_Data, lastData);
...@@ -198,7 +212,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -198,7 +212,7 @@ namespace OnlineStore.DeviceLibrary
Bitmap bmp = carerayImage.Get48bImage(); Bitmap bmp = carerayImage.Get48bImage();
string fileP = Application.StartupPath + @"\XRAY\tif\" + DateTime.Now.ToString("HHmmss") + ".png"; string fileP = Application.StartupPath + @"\XRAY\tif\" + DateTime.Now.ToString("HHmmss") + ".png";
bmp.Save(fileP, System.Drawing.Imaging.ImageFormat.Png); bmp.Save(fileP, System.Drawing.Imaging.ImageFormat.Png);
WorkLog("料盘处理：获取X射线图形，并保存到： " + fileP + "，记录时间"+ lastData + "，停止X射线"); WorkLog("点料：获取X射线图形，并保存到： " + fileP + "，记录时间"+ lastData + "，停止X射线");
GetImageEvent?.Invoke(bmp); GetImageEvent?.Invoke(bmp);
bool result = xRay.Stop(); bool result = xRay.Stop();
if (!result) if (!result)
...@@ -209,13 +223,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -209,13 +223,6 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.XW13_GetXRayImage)) else if (MoveInfo.IsStep(StepEnum.XW13_GetXRayImage))
{ {
// MoveInfo.NextMoveStep(StepEnum.XW14_XRayStop);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
// WorkLog("料盘处理：停止X射线");
// xRay.Stop();
//}
//else if (MoveInfo.IsStep(StepEnum.XW14_XRayStop))
//{
MoveInfo.NextMoveStep(StepEnum.XW15_GetResult); MoveInfo.NextMoveStep(StepEnum.XW15_GetResult);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (xRay.IsRayOpen) if (xRay.IsRayOpen)
...@@ -225,7 +232,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -225,7 +232,7 @@ namespace OnlineStore.DeviceLibrary
int count = 99999; int count = 99999;
countImage.GetCount(out count); countImage.GetCount(out count);
InXWork = false; InXWork = false;
WorkLog("料盘处理：获取点料结果，【" + count + "】,保存并上传结果"); WorkLog("点料：获取点料结果，【" + count + "】,保存并上传结果");
if (Work_ReelInfo.WareCount <= 0) if (Work_ReelInfo.WareCount <= 0)
{ {
MoveInfo.MoveParam.WareCount = count; MoveInfo.MoveParam.WareCount = count;
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs
...@@ -698,15 +698,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -698,15 +698,19 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 贴标: Z轴到P1点 /// 贴标: Z轴到P1点
/// </summary> /// </summary>
OL10_ZToP1, OL09_ZToP1,
/// <summary> /// <summary>
/// 贴标: 等待取料机构返回待机点并且空闲 /// 贴标: 等待取料机构返回待机点并且空闲
/// </summary> /// </summary>
OL11_WaitCanLabel, OL10_WaitCanLabel,
/// <summary> /// <summary>
/// 贴标: XY轴移动到P3点 /// 贴标: XY轴移动到P3点
/// </summary> /// </summary>
OL12_XYToP3, OL11_XYToP3,
/// <summary>
/// 贴标: Z轴先走到旋转点P4
/// </summary>
OL12_ZToP4,
/// <summary> /// <summary>
/// 贴标: R轴到P3点 /// 贴标: R轴到P3点
......
RC1266-AutoCountMachine/source/LoadCVSLibrary/storeConfig/config/OutputEquip_Config.cs
...@@ -273,6 +273,16 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -273,6 +273,16 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("LabelR_P3Speed")] [ConfigProAttribute("LabelR_P3Speed")]
public int LabelR_P3Speed { get; set; } public int LabelR_P3Speed { get; set; }
/// <summary>
/// PRO,0,贴标机构Z轴旋转点P4,LabelZ_P4,2000,,,,,
/// </summary>
[ConfigProAttribute("LabelZ_P4")]
public int LabelZ_P4 { get; set; }
/// <summary>
/// PRO,0,贴标机构Z轴P4速度,LabelZ_P4Speed,4500,,,,,
/// </summary>
[ConfigProAttribute("LabelZ_P4Speed")]
public int LabelZ_P4Speed { get; set; }
private static string UpdateP(Dictionary<int, int> pMap, int key, int value) private static string UpdateP(Dictionary<int, int> pMap, int key, int value)
{ {
......
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