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Commit 5cda5bea 由 LN
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空料架进入时 等待O_ELine_InCheck检测到料架转动10分钟

1 个父辈 38e092d1
内嵌 并排
正在显示 2 个修改的文件 包含 19 行增加 和 17 行删除
RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean_Partial.cs
...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (ProcessShelfOut || ProcessShelfEnter) if (ProcessShelfOut || ProcessShelfEnter)
{ {
return false ; return false;
} }
if (!Robot.CanStartWork()) if (!Robot.CanStartWork())
{ {
...@@ -179,14 +179,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -179,14 +179,14 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.IB10_ScanOK); MoveInfo.NextMoveStep(StepEnum.IB10_ScanOK);
MoveInfo.MoveParam.WareCode = CodeManager.GetValidCode(LastCodeList); MoveInfo.MoveParam.WareCode = CodeManager.GetValidCode(LastCodeList);
WorkLog("料串入料 ：扫码结束【"+ MoveInfo.MoveParam.WareCode + "】，等待取料机构来取料"); WorkLog("料串入料 ：扫码结束【" + MoveInfo.MoveParam.WareCode + "】，等待取料机构来取料");
} }
else if (MoveInfo.IsStep(StepEnum.IB11_TrayLeave)) else if (MoveInfo.IsStep(StepEnum.IB11_TrayLeave))
{ {
MoveInfo.NextMoveStep(StepEnum.IB12_BatchAxisToP3); MoveInfo.NextMoveStep(StepEnum.IB12_BatchAxisToP3);
WorkLog("料串入料 ：料盘已拿走，批量轴到P3,测盘高 "); WorkLog("料串入料 ：料盘已拿走，批量轴到P3,测盘高 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
BatchAxisToP3( ); BatchAxisToP3();
} }
else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToP3)) else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToP3))
{ {
...@@ -278,7 +278,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -278,7 +278,7 @@ namespace OnlineStore.DeviceLibrary
Task<List<string>> scanTask = Task.Factory.StartNew(delegate Task<List<string>> scanTask = Task.Factory.StartNew(delegate
{ {
Robot.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH); Robot.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
NextCodeList = CodeManager.CameraScan(Name, CameraName ); NextCodeList = CodeManager.CameraScan(Name, CameraName);
if (NextCodeList.Count <= 0) if (NextCodeList.Count <= 0)
{ {
NextCodeList = CodeManager.CameraScan(Name, CameraName); NextCodeList = CodeManager.CameraScan(Name, CameraName);
...@@ -362,7 +362,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -362,7 +362,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove); MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
WorkLog("料串入料 ：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘"); WorkLog("料串入料 ：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
MoveInfo.ShelfNoTray = false; MoveInfo.ShelfNoTray = false;
BatchAxisToP3( ); BatchAxisToP3();
return; return;
} }
} }
...@@ -371,15 +371,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -371,15 +371,15 @@ namespace OnlineStore.DeviceLibrary
SendShelfOut(" 未检测到料盘 "); SendShelfOut(" 未检测到料盘 ");
} }
} }
private void SendShelfOut(string msg="") private void SendShelfOut(string msg = "")
{ {
MoveInfo.NextMoveStep(StepEnum.IB21_BatchToP1); MoveInfo.NextMoveStep(StepEnum.IB21_BatchToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
WorkLog("送出料串 ："+msg+"，提升伺服到P1点"); WorkLog("送出料串 ：" + msg + "，提升伺服到P1点");
BatchAxis.SuddenStop(true); BatchAxis.SuddenStop(true);
BatchAxis.AbsMove(MoveInfo, BatchAxisP1, Robot.Config.BatchAxis_P1Speed); BatchAxis.AbsMove(MoveInfo, BatchAxisP1, Robot.Config.BatchAxis_P1Speed);
} }
private void BatchAxisToP3( ) private void BatchAxisToP3()
{ {
int targetP3 = BatchAxisP3; int targetP3 = BatchAxisP3;
int targetSpeed = Robot.Config.BatchAxis_P3Speed; int targetSpeed = Robot.Config.BatchAxis_P3Speed;
...@@ -392,7 +392,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -392,7 +392,7 @@ namespace OnlineStore.DeviceLibrary
BatchAxis.Config.TargetPosition = targetP3; BatchAxis.Config.TargetPosition = targetP3;
BatchAxis.AbsMove(null, targetP3, targetSpeed); BatchAxis.AbsMove(null, targetP3, targetSpeed);
//开始检测信号 //开始检测信号
BatchAxis.BatchAxisStartCheck(IO_AxisTrayCheck,IO_VALUE.HIGH); BatchAxis.BatchAxisStartCheck(IO_AxisTrayCheck, IO_VALUE.HIGH);
} }
#endregion #endregion
...@@ -469,7 +469,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -469,7 +469,7 @@ namespace OnlineStore.DeviceLibrary
{ {
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
string logName = Name + "料串 "+rfid+" [AGV->" + AgvName + "] "; string logName = Name + "料串 " + rfid + " [AGV->" + AgvName + "] ";
try try
{ {
if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.LOW) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.LOW)) if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.LOW) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.LOW))
...@@ -483,7 +483,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -483,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 IO_LineIn_Check=High 超时， 等待 IO_LineEnd_Check 信号"); LogUtil.error(logName + " 等待 IO_LineIn_Check=High 超时， 等待 IO_LineEnd_Check 信号");
} }
else else
{ {
...@@ -493,7 +493,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -493,7 +493,7 @@ namespace OnlineStore.DeviceLibrary
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 IO_LineEnd_Check=High 超时，等待3000后停止转动，发送 FinishEnter"); LogUtil.error(logName + " 等待 IO_LineEnd_Check=High 超时，等待3000后停止转动，发送 FinishEnter");
} }
else else
{ {
...@@ -541,7 +541,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -541,7 +541,7 @@ namespace OnlineStore.DeviceLibrary
//AGV已到达，将料串送入AGV中 //AGV已到达，将料串送入AGV中
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
string logName = Name + "料串"+rfid+"[" + AgvName + "->AGV ] "; string logName = Name + "料串" + rfid + "[" + AgvName + "->AGV ] ";
try try
{ {
AgvClient.SetStatus(AgvName, CurrShelfId, ClientAction.None, ClientLevel.High, true); AgvClient.SetStatus(AgvName, CurrShelfId, ClientAction.None, ClientLevel.High, true);
...@@ -552,7 +552,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -552,7 +552,7 @@ namespace OnlineStore.DeviceLibrary
bool result = Robot.WaitIo(IO_LineIn_Check, IO_VALUE.LOW, 60000); bool result = Robot.WaitIo(IO_LineIn_Check, IO_VALUE.LOW, 60000);
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 IO_LineIn_Check=LOW超时，等待8000后停止转动，发送FinishLeave"); LogUtil.error(logName + " 等待 IO_LineIn_Check=LOW超时，等待8000后停止转动，发送FinishLeave");
} }
else else
{ {
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Shelf.cs
...@@ -419,11 +419,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -419,11 +419,13 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH); IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH);
//等待进料检测信号 //等待进料检测信号
bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 60000); bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 600000, logName + "等待O_ELine_InCheck检测到料架");
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run"); WarnMsg = logName + "等待O_ELine_InCheck检测到料架 超时";
LogUtil.error(WarnMsg);
LogUtil.error (logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run");
} }
else else
{ {
...@@ -484,7 +486,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -484,7 +486,7 @@ namespace OnlineStore.DeviceLibrary
bool result = WaitIo(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW, 60000); bool result = WaitIo(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW, 60000);
if (!result) if (!result)
{ {
LogUtil.info(logName + " 等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 "); LogUtil.error(logName + " 等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 ");
} }
else else
{ {
......
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