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Commit 0d2f642a 由 LN
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接驳台优化

1 个父辈 1e6e9763
内嵌 并排
正在显示 2 个修改的文件 包含 68 行增加 和 40 行删除
source/DeviceLibrary/assemblyLine/HY/HY_Coveryor_Partial.cs
...@@ -194,9 +194,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -194,9 +194,10 @@ namespace OnlineStore.DeviceLibrary
else if (ReelNeedToNG()) else if (ReelNeedToNG())
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_07_TopUp); SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_07_TopUp);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：需要移到NG箱，顶升气缸上升，横移电机停止"); CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：需要移到NG箱，顶升气缸上升，横移电机停止，同时定位气缸上升");
LineStop(SecondMoveInfo); LineStop(SecondMoveInfo);
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up); CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
LocationCylinderUp(SecondMoveInfo);
} }
else else
{ {
...@@ -209,33 +210,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -209,33 +210,22 @@ namespace OnlineStore.DeviceLibrary
} }
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_07_TopUp)) else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_07_TopUp))
{ {
if (IsLocationCylinderUp())
{
JHY_09_WaitProcessReel();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_08_LocationUp); SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_08_LocationUp);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘需要横移，定位上升"); CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘需要横移，定位上升");
LocationCylinderUp(SecondMoveInfo); LocationCylinderUp(SecondMoveInfo);
} }
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_08_LocationUp)) else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_08_LocationUp))
{ {
JHY_09_WaitProcessReel();
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
bool result = StartOutStoreMove(SecondMoveInfo.MoveParam);
if (result)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_09_WaitProcessReel);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：等待拿走料盘" + MoveInfo.MoveParam.ToShortStr());
ClearTimeoutAlarm("等待移栽机构开始抓料超时");
} }
else if (SecondMoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(SecondMoveInfo, "等待移栽机构开始抓料超时");
}
}
else if (SecondMoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(SecondMoveInfo, "等待移栽机构开始抓料超时");
}
}
else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel)) else if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel))
{ {
//等待料盘拿走 //等待料盘拿走
...@@ -320,8 +310,30 @@ namespace OnlineStore.DeviceLibrary ...@@ -320,8 +310,30 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(Name + "FixtureProcess 未找到[" + SecondMoveInfo.MoveType + "][" + SecondMoveInfo.MoveStep + "]的处理"); LogUtil.error(Name + "FixtureProcess 未找到[" + SecondMoveInfo.MoveType + "][" + SecondMoveInfo.MoveStep + "]的处理");
} }
}
private void JHY_09_WaitProcessReel()
{
if (MoveInfo.MoveType.Equals(LineMoveType.None))
{
bool result = StartOutStoreMove(SecondMoveInfo.MoveParam);
if (result)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_09_WaitProcessReel);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：等待拿走料盘" + MoveInfo.MoveParam.ToShortStr());
ClearTimeoutAlarm("等待移栽机构开始抓料超时");
} }
else if (SecondMoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(SecondMoveInfo, "等待移栽机构开始抓料超时");
}
}
else if (SecondMoveInfo.IsTimeOut())
{
MoveTimeoutAlarm(SecondMoveInfo, "等待移栽机构开始抓料超时");
}
}
private void JHY_11_TopDown() private void JHY_11_TopDown()
{ {
...@@ -357,9 +369,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -357,9 +369,10 @@ namespace OnlineStore.DeviceLibrary
if (LastWidth > 0) if (LastWidth > 0)
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_07_TopUp); SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_07_TopUp);
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：横移电机停止，顶升气缸上升"); CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：横移电机停止，顶升气缸上升，同时定位气缸上升");
LineStop(SecondMoveInfo); LineStop(SecondMoveInfo);
CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up); CylinderMove(SecondMoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
LocationCylinderUp(SecondMoveInfo);
} }
else else
{ {
...@@ -525,6 +538,33 @@ namespace OnlineStore.DeviceLibrary ...@@ -525,6 +538,33 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
} }
private void JM_02_CylinderTake()
{
if (CylinderIsOk(IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take))
{
int p2 = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
MoveInfo.NextMoveStep(LineMoveStep.JM_03_UpdownToP2);
OutLog(logName + MoveInfo.SLog + "：横移气缸已在取料端，升降轴下降到取料点P2 [" + p2 + "]");
UpdownAxis.AbsMove(MoveInfo, p2, Config.UpdownAxis_P2Speed);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.JM_02_CylinderTake);
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
if (IsNgPro())
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端");
}
else
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端 ，暂不等待接驳台无料");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck2, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck3, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck4, IO_VALUE.LOW));
}
}
}
string logName = ""; string logName = "";
/// <summary> /// <summary>
/// 紧急料，afterPut是否发送完成 /// 紧急料，afterPut是否发送完成
...@@ -536,7 +576,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -536,7 +576,6 @@ namespace OnlineStore.DeviceLibrary
private bool getTrayReelOk = true; private bool getTrayReelOk = true;
protected override void OutStoreProcess() protected override void OutStoreProcess()
{ {
if (MoveInfo.IsInWait) if (MoveInfo.IsInWait)
{ {
CheckWait(MoveInfo); CheckWait(MoveInfo);
...@@ -547,20 +586,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -547,20 +586,7 @@ namespace OnlineStore.DeviceLibrary
} }
if (MoveInfo.IsStep(LineMoveStep.JM_01_UpdownToP1)) if (MoveInfo.IsStep(LineMoveStep.JM_01_UpdownToP1))
{ {
MoveInfo.NextMoveStep(LineMoveStep.JM_02_CylinderTake); JM_02_CylinderTake();
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
if (IsNgPro())
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端");
}
else
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端 ，暂不等待接驳台无料");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck2, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck3, IO_VALUE.LOW));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck4, IO_VALUE.LOW));
}
} }
else if (MoveInfo.IsStep(LineMoveStep.JM_02_CylinderTake)) else if (MoveInfo.IsStep(LineMoveStep.JM_02_CylinderTake))
{ {
...@@ -587,6 +613,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -587,6 +613,8 @@ namespace OnlineStore.DeviceLibrary
OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]，更新 getTrayReelOk=true"); OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]，更新 getTrayReelOk=true");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed); UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
getTrayReelOk = true; getTrayReelOk = true;
TrayCanGo();
} }
else if (MoveInfo.IsStep(LineMoveStep.JM_06_UpdownToP1)) else if (MoveInfo.IsStep(LineMoveStep.JM_06_UpdownToP1))
{ {
...@@ -598,8 +626,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -598,8 +626,8 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料，超时时间1000 "); OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料，超时时间500 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
} }
} }
...@@ -611,7 +639,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -611,7 +639,7 @@ namespace OnlineStore.DeviceLibrary
getTrayReelOk = false; getTrayReelOk = false;
LogInfo("从托盘["+currTrayNum+"]上抓取无料失败，夹爪气缸料盘检测信号=LOW"); LogInfo("从托盘["+currTrayNum+"]上抓取无料失败，夹爪气缸料盘检测信号=LOW");
} }
TrayCanGo(); //TrayCanGo();
if (IsNgPro()) if (IsNgPro())
{ {
MoveInfo.NextMoveStep(LineMoveStep.JM_11_CylinderGive); MoveInfo.NextMoveStep(LineMoveStep.JM_11_CylinderGive);
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
...@@ -154,7 +154,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -154,7 +154,7 @@ namespace OnlineStore.DeviceLibrary
OutLog("出库 " + MoveInfo.SLog + ": 夹爪料盘检测信号=LOW"); OutLog("出库 " + MoveInfo.SLog + ": 夹爪料盘检测信号=LOW");
} }
if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.HIGH) || ClampCount > 0)
{ {
if (IsBigStore()) if (IsBigStore())
{ {
......
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