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Commit 86995993 由 LN
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调试bug修改

1 个父辈 5ddaf0ae
内嵌 并排
正在显示 7 个修改的文件 包含 59 行增加 和 55 行删除
RC1266-AutoCountMachine/source/AutoCountClient/FrmInputEquip.cs
......@@ -693,6 +693,7 @@ namespace OnlineStore.AutoCountClient
private void btnPutTray_Click(object sender, EventArgs e)
{
LogUtil.info(equipBean.Name + "点击 取料测试");
if (equipBean.runStatus.Equals(RobotRunStatus.Runing) && equipBean.MoveInfo.MoveType.Equals(RobotMoveType.None))
{
int inp = comInP.SelectedIndex + 1;
......
RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.cs
......@@ -564,6 +564,7 @@ namespace OnlineStore.AutoCountClient
private void 二维码学习ToolStripMenuItem_Click(object sender, EventArgs e)
{
IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
if (Camera._cam != null)
{
Camera._cam.CloseAll();
......@@ -571,6 +572,7 @@ namespace OnlineStore.AutoCountClient
CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
frm.ShowDialog();
frm.Dispose();
IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs
......@@ -512,11 +512,15 @@ namespace OnlineStore.DeviceLibrary
// msg += "标签信息：" + Out_ReelInfo.ToStr() + " \r\n";
msg += "当前料串：" + WorkShelfId + "，累积出料 "+OutReelCount+" 盘共 "+OutReelHeight+" mm \r\n";
msg += "打印机["+RobotManager.PrintName+"]：" + RobotManager.LastPrintStatus + "\n";
msg += "当前料串：" + WorkShelfId + "，累积出料 " + OutReelCount + " 盘共 " + OutReelHeight + " mm \r\n";
msg += "打印机[" + RobotManager.PrintName + "]：" + RobotManager.LastPrintStatus + "\n";
if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
msg += "当前料盘：" + MoveInfo.MoveParam.OutStr() + " \r\n";
msg += "取放料盘：" + MoveInfo.MoveParam.OutStr() + " \r\n";
}
else if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
{
msg += "贴标料盘：" + SecMoveInfo.MoveParam.OutStr() + " \r\n";
}
return msg;
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
......@@ -55,11 +55,11 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , MoveInfo 忙碌中=" + MoveInfo.MoveType);
return false;
}
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None).Equals(false))
{
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , 贴标模块忙碌中=" + SecMoveInfo.MoveType);
return false;
}
//if (SecMoveInfo.MoveType.Equals(RobotMoveType.None).Equals(false))
//{
// LogUtil.error(MoveInfo.Name + "StartWorking 失败 , 贴标模块忙碌中=" + SecMoveInfo.MoveType);
// return false;
//}
if (IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
{
......@@ -67,7 +67,7 @@ namespace OnlineStore.DeviceLibrary
if (param.PlateW > 0 && param.PlateH > 0)
{
MoveInfo.MoveParam = param;
WorkLog(" [" + param.OutStr() + "]，准备开始取料，检测到Xray出口有料，且皮带线停止转动");
WorkLog(" 检测到XRay出口料盘[" + param.OutStr() + "]，准备开始取料");
}
else
{
......@@ -79,7 +79,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.MoveParam.SetReelInfo(reelInfo);
WorkLog("X光点料机出口检测到料盘[" + reelInfo.ToStr() + "]，准备开始取料，检测到Xray出口有料，且皮带线停止转动");
WorkLog(" 检测到XRay出口料盘[" + reelInfo.ToStr() + "]，准备开始取料");
}
if (MoveInfo.MoveParam.PlateW <= 0 ||
MoveInfo.MoveParam.PlateH <= 0)
......@@ -128,10 +128,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
WorkLog("取料：取料Z轴到P2 ");
MoveZAxis.AbsMove(MoveInfo, Config.GetMoveZP2(MoveInfo.MoveParam.PlateH), Config.MoveZ_P2Speed);
//MoveInfo.NextMoveStep(StepEnum.OT21_NG_MoveXToP1);
//WorkLog("NG料：取料X轴到P1 ");
//MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P1, Config.MoveX_P1Speed);
}
else
{
......@@ -346,19 +342,20 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsStep(StepEnum.OL01_Paste_Back))
{
SecMoveInfo.NextMoveStep(StepEnum.OL02_TakeForward);
SecWorkLog("贴标: 取码气缸前进，贴标XYR都到待机点P2");
SecWorkLog("贴标: 取码气缸前进，");
CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL02_TakeForward))
{
SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel);
RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
SecWorkLog("贴标: 开始打印标签 ，重置状态=Unknown，等待2000ms");
SecWorkLog("贴标: 重置状态=Unknown，开始打印标签 ，贴标XYR轴到取标签点P2，，等待2000ms");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
StartPrintLabel(SecMoveInfo.MoveParam.WareCode, SecMoveInfo.MoveParam.WareCount.ToString());
}
else if (SecMoveInfo.IsStep(StepEnum.OL03_PrintLabel))
......@@ -370,25 +367,25 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsStep(StepEnum.OL04_PrintOk))
{
bool isPrintOk = RobotManager.LastPrintStatus.Equals(Asa.PrintLabel.PrinterStatus.Idle);
bool isTimeOut = SecMoveInfo.IsTimeOut(30);
bool isTimeOut = SecMoveInfo.IsTimeOut(50);
if (isPrintOk || isTimeOut)
{
SecMoveInfo.NextMoveStep(StepEnum.OL05_TakeBack);
SecWorkLog("贴标: 打印结束["+ RobotManager.LastPrintStatus + "]["+(isTimeOut?"超时120秒":"")+"],取码气缸后退");
SecWorkLog("贴标: 打印结束["+ RobotManager.LastPrintStatus + "]["+(isTimeOut?"超时50秒":"")+"],取码气缸后退");
CylinderMove(SecMoveInfo, IO_Type.TakeCode_Forward, IO_Type.TakeCode_Back);
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL05_TakeBack))
{
SecMoveInfo.NextMoveStep(StepEnum.OL06_XYRToP2);
SecWorkLog("贴标: 贴标XYR都到待机点P2");
// SecMoveInfo.NextMoveStep(StepEnum.OL06_XYRToP2);
// SecWorkLog("贴标: 贴标XYR轴到取标签点P2");
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL06_XYRToP2))
{
// LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
// LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
// LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
//}
//else if (SecMoveInfo.IsStep(StepEnum.OL06_XYRToP2))
//{
SecMoveInfo.NextMoveStep(StepEnum.OL07_ZToP2);
SecWorkLog("贴标: Z轴到取标签点P2");
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P2, Config.LabelZ_P2Speed);
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs
......@@ -69,7 +69,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(RobotMoveType.Working);
MoveInfo.MoveParam.SetReelInfo(In_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW01_WaitInReel);
WorkLog("入口皮带线有料[" + In_ReelInfo.ToStr() + "]，开始准备点料");
WorkLog("入口皮带线有料[" + In_ReelInfo.ToStr() + "]，开始处理");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_InLine_Check,IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.LOW));
......@@ -90,17 +90,18 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(StepEnum.XW01_WaitInReel))
{
MoveInfo.NextMoveStep(StepEnum.XW02_InDoorOpen);
WorkLog("料盘处理：左侧门打开");
WorkLog("料盘处理：左侧门打开,挡停下降");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen))
{
MoveInfo.NextMoveStep(StepEnum.XW03_StopCylinderDown);
WorkLog("料盘处理：挡停下降");
CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
}
else if (MoveInfo.IsStep(StepEnum.XW03_StopCylinderDown))
else if (MoveInfo.IsStep(StepEnum.XW02_InDoorOpen))
{
// MoveInfo.NextMoveStep(StepEnum.XW03_StopCylinderDown);
// WorkLog("料盘处理：挡停下降");
// CylinderMove(MoveInfo, IO_Type.X_StopCylinder_Up, IO_Type.X_StopCylinder_Down);
//}
//else if (MoveInfo.IsStep(StepEnum.XW03_StopCylinderDown))
//{
MoveInfo.NextMoveStep(StepEnum.XW04_InLineRun);
WorkLog("料盘处理：入口和中间皮带线转动，");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
......@@ -117,12 +118,12 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.XW05_WaitMCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("料盘处理：更新Work_ReelInfo，清空 In_ReelInfo，再转动3秒钟");
Work_ReelInfo = new ReelInfo(In_ReelInfo.WareCode, In_ReelInfo.PlateW, In_ReelInfo.PlateH);
WorkLog("料盘处理：更新Work_ReelInfo，清空 In_ReelInfo，再转动2秒钟");
Work_ReelInfo = In_ReelInfo.GetReelInfo();
In_ReelInfo = new ReelInfo();
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.XW06_WaitTime))
......@@ -136,8 +137,8 @@ namespace OnlineStore.DeviceLibrary
{
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");
CylinderMove(MoveInfo, IO_Type.X_InDoor_Up, IO_Type.X_InDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_OutDoor_Up, IO_Type.X_OutDoor_Down);
CylinderMove(MoveInfo, IO_Type.X_InDoor_Down, IO_Type.X_InDoor_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_Up, IO_VALUE.HIGH));
......@@ -200,12 +201,12 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.XW24_WaitOutCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW25_WaitTime);
WorkLog("料盘处理：清空 Work_ReelInfo，更新 再转动3秒");
WorkLog("料盘处理：清空 Work_ReelInfo，更新 再转动2秒");
Out_ReelInfo = Work_ReelInfo.GetReelInfo();
Work_ReelInfo = new ReelInfo();
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
......@@ -312,9 +312,8 @@ namespace OnlineStore.DeviceLibrary
{
continue;
}
string rCode = ReplaceCode(cc);
//L0000000000360K003732; E20200311 0365; B6D.49925.551014212020031105000; R014212020031103159##B29
string[] codearray = code.Split(';');
string[] codearray = ReplaceCode(cc).Split(';');
if (codearray.Length >= 4)
{
if (codearray[2].StartsWith("B") && codearray[2].Length >= 13 && codearray[3].StartsWith("R"))
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs
......@@ -331,10 +331,10 @@ namespace OnlineStore.DeviceLibrary
/// XRay点料：左侧门打开，
/// </summary>
XW02_InDoorOpen,
/// <summary>
/// XRay点料：挡停下降
/// </summary>
XW03_StopCylinderDown,
///// <summary>
///// XRay点料：挡停下降
///// </summary>
//XW03_StopCylinderDown,
/// <summary>
/// XRay点料：入口和中间皮带线转动
/// </summary>
......@@ -661,10 +661,10 @@ namespace OnlineStore.DeviceLibrary
/// 贴标: 取码气缸后退
/// </summary>
OL05_TakeBack,
/// <summary>
/// 贴标: 贴标XYR都到待机点P2
/// </summary>
OL06_XYRToP2,
///// <summary>
///// 贴标: 贴标XYR都到待机点P2
///// </summary>
//OL06_XYRToP2,
/// <summary>
/// 贴标: Z轴到取标签点P2
/// </summary>
......
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