取标签后Y轴需要先回待机点才能动作。

LN
Commit be3202c9 由 LN 编写于 2020-08-05 14:04:01 +0800
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs
--- a/RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
查看文件 @be3202c
+++ b/RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
查看文件 @be3202c
@@ -387,7 +387,8 @@ namespace OnlineStore.DeviceLibrary
                        SecWorkLog("贴标:  打印结束[" + RobotManager.LastPrintStatus + "][" + (isTimeOut ? "超时120秒" : "") + "], ");
                        //CylinderMove(SecMoveInfo, IO_Type.TakeCode_Forward, IO_Type.TakeCode_Back);
                    }
-                }else if (MoveInfo.IsTimeOut(120))
+                }
+                else if (MoveInfo.IsTimeOut(120))
                {
                    WarnMsg = SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "]" + "等待 打印标签完成(OL03_PrintLabel) 超时[" + FormUtil.GetSpanStr(SecMoveInfo.StepSpan()) + "]";
                    LogUtil.error(WarnMsg, SecMoveInfo.ErrorLogType);
@@ -398,27 +399,32 @@ namespace OnlineStore.DeviceLibrary
            else if (SecMoveInfo.IsStep(StepEnum.OL05_TakeBack))
            {
                printTask = null;
-                SecMoveInfo.NextMoveStep(StepEnum.OL07_ZToP2);
+                SecMoveInfo.NextMoveStep(StepEnum.OL06_ZToP2);
                SecWorkLog("贴标:  Z轴到取标签点P2");
                LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P2, Config.LabelZ_P2Speed);
            }
-            else if (SecMoveInfo.IsStep(StepEnum.OL07_ZToP2))
+            else if (SecMoveInfo.IsStep(StepEnum.OL06_ZToP2))
            {
-                SecMoveInfo.NextMoveStep(StepEnum.OL08_Nozzle_Work);
+                SecMoveInfo.NextMoveStep(StepEnum.OL07_Nozzle_Work);
                SecWorkLog("贴标:  标签吸盘取码，等待吸盘信号到位 1.5s");
                IOMove(IO_Type.Nozzle_Work, IO_VALUE.HIGH);
                SecMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Nozzle_Work, IO_VALUE.HIGH));
                SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
                SecMoveInfo.OneWaitCanEndStep = true;
            }
-            else if (SecMoveInfo.IsStep(StepEnum.OL08_Nozzle_Work))
+            else if (SecMoveInfo.IsStep(StepEnum.OL07_Nozzle_Work))
            {
-                SecMoveInfo.NextMoveStep(StepEnum.OL09_ZToP1);
+                SecMoveInfo.NextMoveStep(StepEnum.OL08_ZToP1);
                SecWorkLog("贴标:  Z轴到P1点");
                LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
            }
-            else if (SecMoveInfo.IsStep(StepEnum.OL09_ZToP1))
+            else if (SecMoveInfo.IsStep(StepEnum.OL08_ZToP1))
+            {
+                SecMoveInfo.NextMoveStep(StepEnum.OL09_YToP1);
+                SecWorkLog("贴标:  Y轴到P1点");
+                LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
+            }
+            else if (SecMoveInfo.IsStep(StepEnum.OL09_YToP1))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL10_WaitCanLabel);
                SecWorkLog("贴标:  等待取料机构返回待机点并且空闲");
@@ -433,7 +439,7 @@ namespace OnlineStore.DeviceLibrary
                if (canLabel && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel))
                {
                    SecMoveInfo.NextMoveStep(StepEnum.OL11_XYToP3);
-                    SecWorkLog("贴标:  XY轴移动到P3点",0);
+                    SecWorkLog("贴标:  XY轴移动到P3点", 0);
                    LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P3, Config.LabelX_P3Speed);
                    LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P3, Config.LabelY_P3Speed);
@@ -449,13 +455,13 @@ namespace OnlineStore.DeviceLibrary
            else if (SecMoveInfo.IsStep(StepEnum.OL11_XYToP3))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL12_ZToP4);
-                SecWorkLog("贴标:  Z轴先走到旋转点P4",0);
+                SecWorkLog("贴标:  Z轴先走到旋转点P4", 0);
                LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P4, Config.LabelZ_P4Speed);
            }
            else if (SecMoveInfo.IsStep(StepEnum.OL12_ZToP4))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL13_RToP3);
-                SecWorkLog("贴标:  R轴到P3点",0);
+                SecWorkLog("贴标:  R轴到P3点", 0);
                LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P3, Config.LabelR_P3Speed);
            }
            else if (SecMoveInfo.IsStep(StepEnum.OL13_RToP3))
@@ -476,7 +482,7 @@ namespace OnlineStore.DeviceLibrary
            else if (SecMoveInfo.IsStep(StepEnum.OL14_PasteForward))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL15_ZToP3);
-                SecWorkLog("贴标:  Z轴到P3点",0);
+                SecWorkLog("贴标:  Z轴到P3点", 0);
                LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P3, Config.LabelZ_P3Speed);
            }
@@ -490,13 +496,13 @@ namespace OnlineStore.DeviceLibrary
            else if (SecMoveInfo.IsStep(StepEnum.OL16_Nozzle_Stop))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL17_ZToP1);
-                SecWorkLog("贴标:  Z轴返回P1",0);
+                SecWorkLog("贴标:  Z轴返回P1", 0);
                LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
            }
            else if (SecMoveInfo.IsStep(StepEnum.OL17_ZToP1))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL18_LableBack);
-                SecWorkLog("贴标:  贴标气缸后退",0);
+                SecWorkLog("贴标:  贴标气缸后退", 0);
                CylinderMove(SecMoveInfo, IO_Type.LablePaste_Forward, IO_Type.PasteCode_Back);
                bool canLabel = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel);
@@ -509,9 +515,9 @@ namespace OnlineStore.DeviceLibrary
            else if (SecMoveInfo.IsStep(StepEnum.OL18_LableBack))
            {
                SecMoveInfo.NextMoveStep(StepEnum.OL19_XYRBackToP2);
-                SecWorkLog("贴标:  XYR返回待机点P2, ");
+                SecWorkLog("贴标:  X轴R轴返回待机点P2，Y轴返回待机点P1, ");
                LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
-                LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
+                LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
                LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
                //CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
            }

--- a/RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs
查看文件 @be3202c
+++ b/RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs
查看文件 @be3202c
@@ -686,19 +686,24 @@ namespace OnlineStore.DeviceLibrary
        /// <summary>
        /// 贴标:  Z轴到取标签点P2
        /// </summary>
-        OL07_ZToP2,
+        OL06_ZToP2,
        /// <summary>
        /// 贴标:  标签吸盘取码
        /// </summary>
-        OL08_Nozzle_Work,
+        OL07_Nozzle_Work,
        ///// <summary>
        ///// 贴标:  等待吸盘信号到位
        ///// </summary>
        //OL09_WaitGetLabel,
        /// <summary>
        /// 贴标:  Z轴到P1点
        /// </summary>
-        OL09_ZToP1,
+        OL08_ZToP1,
+        /// <summary>
+        /// 贴标:  取标签完成，Y轴回到待机点P1
+        /// </summary>
+        OL09_YToP1,
        /// <summary>
        /// 贴标:  等待取料机构返回待机点并且空闲
        /// </summary>