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Commit 2cb2f677 由 LN
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托盘横移修改，若30秒未等到托盘信号，结束处理

1 个父辈 fd7bf740
内嵌 并排
正在显示 6 个修改的文件 包含 355 行增加 和 635 行删除
source/AssemblyLineClient/记录.txt
...@@ -36,48 +36,15 @@ ...@@ -36,48 +36,15 @@
上料机构，入料横移到放料端时，再检测料盘宽度 上料机构，入料横移到放料端时，再检测料盘宽度
20201216
前阻挡放行10秒后，若还未收到托盘检测信号，结束托盘处理。
进仓和T3-C1料盘检测增加验证，若未检测到信号结束处理。
/****************************************原有更改**********************************************/ /****************************************原有更改**********************************************/
流水线配置：AssemblyLine.exe.config
<!--AGV调度服务器地址-->
<add key="AgvServerIp" value="10.85.199.20" />
双层线配置：DoubleLineClient.exe.config
<!--Server address-->
<add key="httpAddr" value="http://10.85.199.25/myproject/rest/api/qisda/device/"/>
VMI配置：VMILineClient.exe.config
<!--Server address-->
<add key="http.server" value="http://10.85.199.25/myproject/" />
包装料仓（三台）配置：ACPackingStore.exe.config
<!--Server address-->
<add key="http.server" value="http://10.85.199.25/myproject/" />
<!--AGV调度服务器地址-->
<add key="AgvServerIp" value="10.85.199.20" />
20200429: 20200429:
入料口定位工位检测料架后延迟3秒 入料口定位工位检测料架后延迟3秒
...@@ -214,351 +181,3 @@ http发送去掉ping。 ...@@ -214,351 +181,3 @@ http发送去掉ping。
在阳光电源流水线的基础上新建佳世达流水线料项目
流水线SubType:1000
移栽出入仓模块：1-18
入料模块：101-104
出料模块：201-204
出料流水线模块：301,302；
轴P点定义：
移栽出入库升降轴：P1:待机位置。P2:流水线下降端，P3:Box门口下降端
出料模块 升降轴：P1:待机位置。P2:流水线下降端，P3:出料皮带线下降端
入料模块 提升轴：P1:待机位置。P2:下降位置，P3:缓慢上升目标位置
入料模块：
提升伺服向下回原点，料架进入工位前，提升伺服需要上升到P1待机位，
料架进入工位后，提升伺服下降到P2，然后定位气缸上升，定位装置前进。
agv流程：
D1(上料模块入口)
1.AGV发送Actions.Usable
2.D1 返回true或false
3.小车到达，AGV发送Actions.Arrive
4.D1调用 SendRFID
5.DI 调用 MayEnter 12
5.料架进入入口后，D1调用 FinishEnter 13
D2(上料模块出口)
1.D2调用ReadyEmpty
2.小车到达，AGV发送Actions.Arrive
3.D2调用MayOut
4.料架进入小车后，AGV发送Actions.FinishOut
横移不需要定位
放料需要定位和顶升。
上料工位检测信号要等待1秒钟以上
上料模块回原点之前链条先转
20191216
处理皮带线1和2的入口检测信号改为出口定位信号
出库皮带线处理
入口是否有料需要记录
皮带线转动五次后，料盘将会离开，则不需要转动了
最后一盘料的位置
=0，>5=0
需要放料：皮带线出口处必须无料，
转到到入口定位到位
放下料盘=1
转动到出库定位到位（转动一点）
判断出口处是否有料（转一工位=2），有料，等待皮带线3入口无料，且停止时转动到出口定位到位
无料，直接转动一个工位
判断出口处是否有料（转一工位=3），有料，等待皮带线3入口无料，且停止时转动到出口定位到位
无料，结束
入料模块先伺服动作，在气缸下降
入料一相机：GigE:MV-CE200-10GC (00D77519052)
入料二相机： GigE:MV-CE200-10GC (00D76546878)
入料三相机：GigE:MV-CE200-10GC (00D77519112)
皮带线1相机：GigE:MV-CE200-10GC (00D76546944)
皮带线2相机：GigE:MV-CE200-10GC (00D76546876)
5 出库时根据StatusBean返回data中的参数决定料盘流转到哪里
urgentReel: true 表示紧急料,需要出到料串上
cutReel: true 表示分盘料,需要出到料串上
smallReel: true 小料(7x8),放置到小料架上
rfid: 分配的料架RFID
rfidLoc: 料架的架位,值为-1时,可以自由分配皮带线, 小料时,架位为1-46优先走1/2号皮带线,47-92优先走3/4号皮带线, 70,71,72时只能分配到3/4号皮带线;大料时,架位1-6优先走1/2号皮带线, 7-12优先走3/4号皮带线
// 仓位命名: 4D01020304
//第1和第2位表示楼层(4D)
//第3和第4位表示料仓(01) 01 - 18为流水线料仓, 19 - 24为包装料仓
//第5和第6位表示列(02)
//第7和第8位表示行(03)
//第9和第10位表示隔板位置(04)
//例如: 4D12010124 表示4楼12号料仓第1列第1行架子上的第24个隔板位置
//4D19050208 表示4楼19号料仓(包装料仓)第5列第2行架子上的第8个隔板位置
20200213 需要修改：上料机构的RFID改为不扫描模式
启动流水线后，再点击调试模式，阻挡没有下降。
20200217
Mayleave、MayEnter是包装料仓的，开了门后发，环形线和VMI是不用的。状态不需要重复设置。
上料机构最后一盘料需要补充5mm.
20200218
修改内容
1.横移顶升上升后，需要等待横移横移3托盘检测或横移1托盘检测无信号，再开始转动横移皮带线。
2.减少阻挡2下降等待时间
3.阻挡2下降时，需要判断下一个设备的阻挡1无信号，进仓移栽与出料模块增加NSC信号，当此信号=low时阻挡2才能下降。
Config_Line.csv文件增加配置：
DI,1,01NSC-进仓02阻挡1检测,NextStopCheck,8,PRO_AOI_IP_19,0,01NSC-进仓02阻挡1检测,X269,X269
DI,2,02NSC-进仓03阻挡1检测,NextStopCheck,0,PRO_AOI_IP_21,0,02NSC-进仓02阻挡1检测,X291,X291
DI,3,03NSC-进仓04阻挡1检测,NextStopCheck,8,PRO_AOI_IP_21,0,03NSC-进仓04阻挡1检测,X299,X299
DI,4,04NSC-进仓05阻挡1检测,NextStopCheck,0,PRO_AOI_IP_23,0,04NSC-进仓05阻挡1检测,X321,X321
DI,5,05NSC-进仓06阻挡1检测,NextStopCheck,8,PRO_AOI_IP_23,0,05NSC-进仓06阻挡1检测,X329,X329
DI,6,06NSC-FL1阻挡检测,NextStopCheck,9,PRO_AOI_IP_14,0,进仓06NSC-FL1阻挡检测,X170,X170
DI,102,SL2NSC-进仓07阻挡1检测,NextStopCheck,0,PRO_AOI_IP_25,0,SL2NSC-进仓07阻挡1检测,X351,X351
DI,7,07NSC-进仓08阻挡1检测,NextStopCheck,8,PRO_AOI_IP_25,0,进仓07NSC-进仓08阻挡1检测,X359,X359
DI,8,08NSC-进仓09阻挡1检测,NextStopCheck,0,PRO_AOI_IP_27,0,进仓08NSC-进仓09阻挡1检测,X381,X381
DI,9,09NSC-进仓10阻挡1检测,NextStopCheck,8,PRO_AOI_IP_27,0,进仓09NSC-进仓10阻挡1检测,X389,X389
DI,10,10NSC-环形线横移2阻挡检测,NextStopCheck,2,PRO_AOI_IP_28,0,进仓10NSC-环形线横移2阻挡检测,X403,X403
DI,201,出料1NSC-进仓11阻挡1检测,NextStopCheck,0,PRO_AOI_IP_29,0,出料1NSC-进仓11阻挡1检测,X411,X411
DI,11,11NSC-进仓12阻挡1检测,NextStopCheck,10,PRO_AOI_IP_29,0,11NSC-进仓12阻挡1检测,X421,X421
DI,12,12NSC-出料2阻挡1检测,NextStopCheck,4,PRO_AOI_IP_32,0,12NSC-出料2阻挡1检测,X475,X475
DI,202,出料2NSC-进仓13阻挡1检测,NextStopCheck,0,PRO_AOI_IP_31,0,出料2NSC-进仓13阻挡1检测,X451,X451
DI,13,13NSC-进仓14阻挡1检测,NextStopCheck,10,PRO_AOI_IP_31,0,13NSC-进仓14阻挡1检测,X461,X461
DI,14,14NSC-进仓15阻挡1检测,NextStopCheck,0,PRO_AOI_IP_33,0,14NSC-进仓15阻挡1检测,X491,X491
DI,15,15NSC-进仓16阻挡1检测,NextStopCheck,10,PRO_AOI_IP_33,0,15NSC-进仓16阻挡1检测,X501,X501
DI,16,16NSC-出料3阻挡1检测,NextStopCheck,4,PRO_AOI_IP_34,0,16NSC-出料3阻挡1检测,X515,X515
DI,203,出料3NSC-进仓17阻挡1检测,NextStopCheck,0,PRO_AOI_IP_35,0,出料3NSC-进仓17阻挡1检测,X531,X531
DI,17,17NSC-进仓18阻挡1检测,NextStopCheck,10,PRO_AOI_IP_35,0,17NSC-进仓18阻挡1检测,X541,X541
DI,18,18NSC-出料4阻挡1检测,NextStopCheck,4,PRO_AOI_IP_36,0,18NSC-出料4阻挡1检测,X555,X555
20200220
agvclien增加cancelState的参数设置.
去掉功能：阻挡2下降的时候需要验证下一个阻挡1检测无信号
20200221
agv客户端启动时需要设置状态为none
20200223
1.急停信号增加500ms延迟
2.皮带线456信号修改。
20200224
增加agv的cancelState的修改功能。
扫码入库时，发送给服务器的cid顺序修改。
料串进入紧急出料模块后，停在两个信号中间的问题。
横移机构优化，上一个托盘准备离开时，下一个托盘就可以进入。
20200227
AIO的dll更新，增加重连功能。
托盘横移过程中，提前下降第一个横移顶升。
上料模块，只有料盘到达流水线上方后才拦截托盘。
20200228修改，横移机构可以同时存在两个托盘
20200229
1.大料盘出库时，在料仓门口等待，等到拦截到托盘上后，再去流水线上方。
2.气缸动作代码调整.
Config_MoveEquip_03.csv
Config_MoveEquip_04.csv
Config_MoveEquip_05.csv
Config_MoveEquip_06.csv
Config_MoveEquip_07.csv
Config_MoveEquip_10.csv
以上配置文件增加一行配置：
PRO,0,是否存放的大料盘,IsBigTray,1,,,,,
20200301
1.升降轴增加高度尺寸详细的P2配置，
需要修改配置文件，
Config_MoveEquip_03.csv
Config_MoveEquip_04.csv
Config_MoveEquip_05.csv
Config_MoveEquip_06.csv
Config_MoveEquip_07.csv
Config_MoveEquip_10.csv
Config_FeedingEquip_1.csv
Config_FeedingEquip_2.csv
Config_FeedingEquip_3.csv
Config_FeedingEquip_4.csv
Config_ProvidingEquip_1.csv
Config_ProvidingEquip_2.csv
Config_ProvidingEquip_3.csv
Config_ProvidingEquip_4.csv
以上配置文件增加一行配置：
PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=8000;,,,,,
2.接驳台皮带线改为常转
3.扫码处增加日志打印
4.入料三托盘检测放行时间调整。
5.cid顺序修改
20200302
上料模块，入料的时候如果链条油两个料架，阻挡下降时间过久，会两个一起过去。
20200303
托盘检测入口加锁处理。
皮带线转动间隔时间减半。
待解决：
托盘放两个问题
修改：料架进入入料装置时中途链条停止转动的现象。
GetDIValue 方法循环查找三次防止报错引起急停。
增加 Addr_arriveRobotLocation = "/rest/api/qisda/device/arriveRobotLocation"; 接口，待料盘到达接驳台后通知服务器。
20200304
1.阻挡1下降改为最长下降1200ms，自动回写。
2.IO超时异常处理顺序修改。
3.上料模块出料架时，未检测到出口料架信号后，需要继续转动8秒钟。
4.上料模块复位时，需要先夹爪放松
更新DLL
IO:连接速度加快。
client.dll:删除不需要的日志。
皮带线扫码NG料功能修改：
增加NG气缸和倒转IO，皮带线配置文件需要修改。
皮带线扫码NG修改，皮带线123NG时转动到接驳台并倒转。
皮带线456扫码提前一个工位，NG时转动到下一个工位并NG气缸推出。
20200305：皮带线逻辑修改：
皮带线456需要提前扫码，扫码后缓存，送料逻辑修改。
20200306
放盘逻辑修改：阻挡1检测持续500ms，阻挡2检测持续灭500ms才可以下降阻挡1。
料架rfid读取需要增加重连。
AIO.dll报错更新。
去掉部分阻挡下降的日志。
需要修改：
上料模块，取料后达到流水线，可以先走伺服位置，然后再等托盘。
上料模块，等到托盘放料后，放松气缸到位，升降伺服，升降气缸和定位下降可以一起动作。放托盘离开需要等升降气缸到位。
问题：入料1 9:36，料架送走以后又发needLeave B20，B26
托盘号增加一致性判断，不一致时打印日志并显示文字。
20200307
灯状态修改：启动流水线绿灯常亮，有出入库是绿灯闪烁
复位过程中黄灯闪烁，信号超时报警黄灯闪烁
急停或无气压报警 红灯闪烁，蜂鸣器亮
上料模块夹走料盘后，需要判断信号是否消失
20200308
增加托盘顺序检测功能NeedCheckTray的开关选项。
上料机构优化。
托盘优化：阻挡下降后，可能等不到check1灭。
20200309
流水线启动时先转动链条5秒，停止时最后停止流水线，防止托盘停留在rfid读卡器上方。
移栽模块流程优化。
上料模块出料架口收到ready信号后，先把状态设置为None。
IO_Value增加None的定义，防止误操作
20200311
扫码获取图片方式修改。
料盘到达接驳台后，给服务器发送条码信息，arriveRobotLocation增加barcode参数
20200312
皮带线判断修改
皮带线3扫码的时候不能开始送料。
短皮带线逻辑修改：对应气缸加长修改。
扫码修改：去掉不需要的缓存。
阻挡1下降条件修改：等待1离开或者2到达都可以继续。
上料1模块，等待500ms再下降顶升气缸
20200313
进仓模块：高度大于30的盘，出库时托盘先不顶升，待料盘到达托盘上方后，顶升再上升。
出库皮带线分配规则：
服务器出库参数：
（参数信息可以在日志中看到，或者点击主界面的【托盘信息】按钮看到）
urgentReel: =true 表示紧急料,需要出到料串上，=false出到流水线
cutReel: =true 表示分盘料,需要出到料串上，=false出到流水线
smallReel: =true表示 小料(7x8),放置到小料架上，=false表示大料
rfid: 分配的料架RFID
rfidLoc:料架位置
当为小料时（smallReel=true），
rfidLoc为 70,71,72，必须走 3 / 4号皮带线;
rfidLoc为 1 - 46， 优先走1 / 2号皮带线
rfidLoc为 47 - 92， 优先走3 / 4号皮带线,
当为大料时（smallReel=false），
rfidLoc为 12， 必须走 1号2后皮带线
rfidLoc为 1 - 6， 优先走1 / 2号皮带线,
rfidLoc为 7 - 11，优先走3 / 4号皮带线
出料机构空闲条件：没有处理料盘，或者上一个料盘已经放到流水线上（步骤已到达夹爪放松）
料盘出库超时条件：当前时间-料盘放入托盘的时间>3分钟
当出料机构检测到出料托盘后，
如果当前是出库必须走的皮带线，拦截托盘
如果当前是优先皮带线，且空闲中，拦截托盘
如果当前不是优先皮带线，但是优先皮带线全部不可用（未启动，急停，无气压信号）中，拦截托盘
如果当前不是优先皮带线，但是料盘出库超时，拦截托盘
如果此出库信息无优先线，且当前空闲中，拦截托盘
\ No newline at end of file \ No newline at end of file
source/DeviceLibrary/assemblyLine/HY/HY_C1Line.cs
...@@ -212,11 +212,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -212,11 +212,13 @@ namespace OnlineStore.DeviceLibrary
if (Config.DOList.ContainsKey(IO_Type.HY_FrontStopDown)) if (Config.DOList.ContainsKey(IO_Type.HY_FrontStopDown))
{ {
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW); IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW));
} }
IOMove(IO_Type.HY_StopDown, IO_VALUE.LOW); IOMove(IO_Type.HY_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
IOMove(IO_Type.HY_OL_StopDown, IO_VALUE.LOW); IOMove(IO_Type.HY_OL_StopDown, IO_VALUE.LOW);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
} }
} }
else if (preTrayIsC1Line && Config.IsOutLineOut && IOValue(IO_Type.HY_OL_Tray_Check).Equals(IO_VALUE.HIGH)) else if (preTrayIsC1Line && Config.IsOutLineOut && IOValue(IO_Type.HY_OL_Tray_Check).Equals(IO_VALUE.HIGH))
...@@ -242,7 +244,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -242,7 +244,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down); CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
IOMove(IO_Type.HY_OL_StopDown, IO_VALUE.LOW); IOMove(IO_Type.HY_OL_StopDown, IO_VALUE.LOW);
} }
} }
...@@ -304,16 +307,36 @@ namespace OnlineStore.DeviceLibrary ...@@ -304,16 +307,36 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(LineMoveStep.HY02_FrontStopDown)) if (MoveInfo.IsStep(LineMoveStep.HY02_FrontStopDown))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp); if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.LOW) || IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
CheckLog("托盘阻挡" + MoveInfo.SLog + " 托盘检测到信号，前阻挡上升"); {
CheckAndMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW); MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); CheckLog("托盘阻挡" + MoveInfo.SLog + " 托盘检测到信号，前阻挡上升");
CheckAndMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_FrontStopCheck=LOW 或 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
} }
else if (MoveInfo.IsStep(LineMoveStep.HY03_FrontStopUp)) else if (MoveInfo.IsStep(LineMoveStep.HY03_FrontStopUp))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY04_WaitTime); if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号"); {
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); MoveInfo.NextMoveStep(LineMoveStep.HY04_WaitTime);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
} }
else if (MoveInfo.IsStep(LineMoveStep.HY04_WaitTime)) else if (MoveInfo.IsStep(LineMoveStep.HY04_WaitTime))
{ {
...@@ -787,6 +810,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -787,6 +810,12 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
//如果横移20和横移21都有托盘，需要横移
if (IOManager.IOValue(IO_Type.HY_TrayCheck, 220).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.HY_TrayCheck, 221).Equals(IO_VALUE.HIGH))
{
return true;
}
FeedingEquip feed5 = LineManager.Line.FeedingEquipMap[102]; FeedingEquip feed5 = LineManager.Line.FeedingEquipMap[102];
if (!feed5.MoveInfo.MoveType.Equals(LineMoveType.InStore)) if (!feed5.MoveInfo.MoveType.Equals(LineMoveType.InStore))
{ {
......
source/DeviceLibrary/assemblyLine/HY/HY_C1_SLStation.cs
...@@ -207,8 +207,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -207,8 +207,9 @@ namespace OnlineStore.DeviceLibrary
LogInfo("检测托盘，" + MoveInfo.SLog + " ，阻挡上升"); LogInfo("检测托盘，" + MoveInfo.SLog + " ，阻挡上升");
UpdateTrayNum(); UpdateTrayNum();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW); IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW)); MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
} }
else else
{ {
...@@ -238,8 +239,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -238,8 +239,9 @@ namespace OnlineStore.DeviceLibrary
ClearTrayRFID(); ClearTrayRFID();
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200); IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200);
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
} }
} }
else else
...@@ -278,263 +280,283 @@ namespace OnlineStore.DeviceLibrary ...@@ -278,263 +280,283 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(LineMoveStep.HY02_FrontStopDown)) if (MoveInfo.IsStep(LineMoveStep.HY02_FrontStopDown))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp); if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.LOW)|| IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
CheckLog("托盘阻挡" + MoveInfo.SLog + " 托盘检测到信号，前阻挡上升");
CheckAndMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.HY03_FrontStopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY04_WaitTime);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.HY04_WaitTime))
{
//更新托盘号
UpdateTrayNum();
//判断托盘是否需要横移，或进出料线
MoveInfo.NextMoveStep(LineMoveStep.HY05_TrayCheck);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
if (TrayNeedSL(currTrayNum))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY06_SL_TopUp); MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 需要拦截托盘，顶升上升"); CheckLog("托盘阻挡" + MoveInfo.SLog + " 托盘检测到信号，前阻挡上升");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up); CheckAndMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
} }
else else
{ {
HY11_TopUpToHY(); //未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_FrontStopCheck=HIGH 或 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY03_FrontStopUp))
{
if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.HY04_WaitTime);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(MoveInfo.SLog + "未等到信号 HY_TrayCheck=LOW 结束处理 ");
MoveInfo.EndMove();
}
} }
else if (MoveInfo.IsStep(LineMoveStep.HY04_WaitTime))
{
//更新托盘号
UpdateTrayNum();
} //判断托盘是否需要横移，或进出料线
else if (MoveInfo.IsStep(LineMoveStep.HY06_SL_TopUp)) MoveInfo.NextMoveStep(LineMoveStep.HY05_TrayCheck);
{ MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.NextMoveStep(LineMoveStep.HY07_SL_LocationUp); if (TrayNeedSL(currTrayNum))
CheckLog("托盘阻挡" + MoveInfo.SLog + " 需要拦截托盘，定位上升"); {
LocationCylinderUp(MoveInfo); MoveInfo.NextMoveStep(LineMoveStep.HY06_SL_TopUp);
} CheckLog("托盘阻挡" + MoveInfo.SLog + " 需要拦截托盘，顶升上升");
else if (MoveInfo.IsStep(LineMoveStep.HY07_SL_LocationUp)) CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
{ }
if (TrayNeedSL(currTrayNum)) else
{
HY11_TopUpToHY();
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY06_SL_TopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY07_SL_LocationUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 需要拦截托盘，定位上升");
LocationCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY07_SL_LocationUp))
{ {
FeedingEquip feed = LineManager.Line.FeedingEquipMap[Config.WorkDeviceId]; if (TrayNeedSL(currTrayNum))
if (feed.Config.IsCanOut.Equals(1))
{ {
//紧急出料 FeedingEquip feed = LineManager.Line.FeedingEquipMap[Config.WorkDeviceId];
if (feed.StartTrayOut(MoveInfo.MoveParam)) if (feed.Config.IsCanOut.Equals(1))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY08_SL_WaitProcessReel); //紧急出料
CheckLog("托盘阻挡" + MoveInfo.SLog + " " + feed.Name + "始抓料，等待料盘放入或料盘离开 "); if (feed.StartTrayOut(MoveInfo.MoveParam))
} {
else if (MoveInfo.IsTimeOut(30)) MoveInfo.NextMoveStep(LineMoveStep.HY08_SL_WaitProcessReel);
{ CheckLog("托盘阻挡" + MoveInfo.SLog + " " + feed.Name + "始抓料，等待料盘放入或料盘离开 ");
MoveTimeOut(MoveInfo, "等待" + feed.Name + "开始出库超时"); }
//如果当前无料串，或者料串已离开，直接放行 托盘 else if (MoveInfo.IsTimeOut(30))
TrayCanLeave(); {
MoveTimeOut(MoveInfo, "等待" + feed.Name + "开始出库超时");
//如果当前无料串，或者料串已离开，直接放行 托盘
TrayCanLeave();
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "等待" + feed.Name + "开始出库超时");
}
} }
else if (MoveInfo.IsTimeOut(20)) else
{ {
MoveTimeOut(MoveInfo, "等待" + feed.Name + "开始出库超时"); //如果是出库，且盘高大于30，暂不顶升
MoveInfo.NextMoveStep(LineMoveStep.HY08_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待料盘放入或料盘离开 ");
} }
} }
else else
{ {
//如果是出库，且盘高大于30，暂不顶升 HY11_TopUpToHY();
MoveInfo.NextMoveStep(LineMoveStep.HY08_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待料盘放入或料盘离开 ");
} }
} }
else else if (MoveInfo.IsStep(LineMoveStep.HY09_SL_ReelProEnd))
{ {
HY11_TopUpToHY(); HY11_TopUpToHY();
} }
} else if (MoveInfo.IsStep(LineMoveStep.HY11_TopUpToHY))
else if (MoveInfo.IsStep(LineMoveStep.HY09_SL_ReelProEnd))
{
HY11_TopUpToHY();
}
else if (MoveInfo.IsStep(LineMoveStep.HY11_TopUpToHY))
{
MoveInfo.NextMoveStep(LineMoveStep.HY12_WaitHY2Free);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待HY" + HyOutDeviceId + "空闲，可以开始横移 ");
}
else if (MoveInfo.IsStep(LineMoveStep.HY12_WaitHY2Free))
{
HYEquipBase hyOut = GetHyOutEquip();
if (hyOut.CanStartMove())
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY13_WaitHY2Ready); MoveInfo.NextMoveStep(LineMoveStep.HY12_WaitHY2Free);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待" + hyOut.Name + "准备完成(顶升上升，定位下降) "); CheckLog("托盘横移" + MoveInfo.SLog + " ，等待HY" + HyOutDeviceId + "空闲，可以开始横移 ");
hyOut.MoveInfo.NewMove(LineMoveType.Fixture);
hyOut.MoveInfo.NextMoveStep(LineMoveStep.HY51_WaitFree);
ClearTimeoutAlarm("等待" + hyOut.Name + "可以横移超时");
} }
else if (MoveInfo.IsTimeOut()) else if (MoveInfo.IsStep(LineMoveStep.HY12_WaitHY2Free))
{ {
MoveTimeOut(MoveInfo, "等待" + hyOut.Name + "可以横移超时"); HYEquipBase hyOut = GetHyOutEquip();
if (hyOut.CanStartMove())
{
MoveInfo.NextMoveStep(LineMoveStep.HY13_WaitHY2Ready);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待" + hyOut.Name + "准备完成(顶升上升，定位下降) ");
hyOut.MoveInfo.NewMove(LineMoveType.Fixture);
hyOut.MoveInfo.NextMoveStep(LineMoveStep.HY51_WaitFree);
ClearTimeoutAlarm("等待" + hyOut.Name + "可以横移超时");
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeOut(MoveInfo, "等待" + hyOut.Name + "可以横移超时");
}
} }
} else if (MoveInfo.IsStep(LineMoveStep.HY13_WaitHY2Ready))
else if (MoveInfo.IsStep(LineMoveStep.HY13_WaitHY2Ready))
{
HYEquipBase hyOut = GetHyOutEquip();
bool result = hyOut.MoveInfo.MoveStep >= LineMoveStep.HY54_HY2Ready;
if (result)
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY14_HYLineRun); HYEquipBase hyOut = GetHyOutEquip();
CheckLog("托盘横移" + MoveInfo.SLog + " ，横移电机转动 "); bool result = hyOut.MoveInfo.MoveStep >= LineMoveStep.HY54_HY2Ready;
LineRun(MoveInfo); if (result)
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW)); {
ClearTimeoutAlarm("等待" + hyOut + "顶升上升完成超时"); MoveInfo.NextMoveStep(LineMoveStep.HY14_HYLineRun);
CheckLog("托盘横移" + MoveInfo.SLog + " ，横移电机转动 ");
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
ClearTimeoutAlarm("等待" + hyOut + "顶升上升完成超时");
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeOut(MoveInfo, "等待" + hyOut + "顶升上升完成超时");
}
} }
else if (MoveInfo.IsTimeOut()) else if (MoveInfo.IsStep(LineMoveStep.HY14_HYLineRun))
{ {
MoveTimeOut(MoveInfo, "等待" + hyOut + "顶升上升完成超时"); MoveInfo.NextMoveStep(LineMoveStep.HY15_WaitOutCheck);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待托盘到达HY" + HyOutDeviceId + " ");
LineRun();
}
else if (MoveInfo.IsStep(LineMoveStep.HY15_WaitOutCheck))
{
HYEquipBase hyOut = GetHyOutEquip();
bool result = (hyOut.MoveInfo.MoveStep >= LineMoveStep.HY56_CheckWait) || hyOut.MoveInfo.MoveType.Equals(LineMoveType.None);
if (result)
{
MoveInfo.NextMoveStep(LineMoveStep.HY17_TopDown);
CheckLog("托盘横移" + MoveInfo.SLog + " ，横移电机停止，顶升下降，定位下降 ");
LineStop(MoveInfo);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(MoveInfo);
ClearTimeoutAlarm("等待托盘到达" + hyOut.Name + "");
}
else if (MoveInfo.IsTimeOut())
{
MoveTimeOut(MoveInfo, "等待托盘到达" + hyOut.Name + "");
}
} }
else if (MoveInfo.IsStep(LineMoveStep.HY17_TopDown))
{
CheckLog("托盘横移" + MoveInfo.SLog + " ，结束横移处理 ");
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
}
#endregion
} #region 横移出口托盘处理
else if (MoveInfo.IsStep(LineMoveStep.HY14_HYLineRun)) else if (MoveInfo.IsStep(LineMoveStep.HY51_WaitFree))
{
MoveInfo.NextMoveStep(LineMoveStep.HY15_WaitOutCheck);
CheckLog("托盘横移" + MoveInfo.SLog + " ，等待托盘到达HY" + HyOutDeviceId + " ");
LineRun();
}
else if (MoveInfo.IsStep(LineMoveStep.HY15_WaitOutCheck))
{
HYEquipBase hyOut = GetHyOutEquip();
bool result = (hyOut.MoveInfo.MoveStep >= LineMoveStep.HY56_CheckWait) || hyOut.MoveInfo.MoveType.Equals(LineMoveType.None);
if (result)
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY17_TopDown); MoveInfo.NextMoveStep(LineMoveStep.HY52_TopUp);
CheckLog("托盘横移" + MoveInfo.SLog + " ，横移电机停止，顶升下降，定位下降 "); CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升上升，定位下降");
LineStop(MoveInfo); CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
LocationCylinderDown(MoveInfo); LocationCylinderDown(MoveInfo);
ClearTimeoutAlarm("等待托盘到达" + hyOut.Name + "");
} }
else if (MoveInfo.IsTimeOut()) else if (MoveInfo.IsStep(LineMoveStep.HY52_TopUp))
{ {
MoveTimeOut(MoveInfo, "等待托盘到达" + hyOut.Name + ""); MoveInfo.NextMoveStep(LineMoveStep.HY53_LineRun);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 横移电机开始转动");
LineRun(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY53_LineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.HY54_HY2Ready);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 准备接收横移托盘完成");
}
else if (MoveInfo.IsStep(LineMoveStep.HY54_HY2Ready))
{
MoveInfo.NextMoveStep(LineMoveStep.HY55_WaitTrayCheck);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待检测到托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
} }
}
else if (MoveInfo.IsStep(LineMoveStep.HY17_TopDown))
{
CheckLog("托盘横移" + MoveInfo.SLog + " ，结束横移处理 ");
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
}
#endregion
#region 横移出口托盘处理 else if (MoveInfo.IsStep(LineMoveStep.HY55_WaitTrayCheck))
else if (MoveInfo.IsStep(LineMoveStep.HY51_WaitFree)) {
{ MoveInfo.NextMoveStep(LineMoveStep.HY56_CheckWait);
MoveInfo.NextMoveStep(LineMoveStep.HY52_TopUp); CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升上升，定位下降"); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up); }
LocationCylinderDown(MoveInfo); else if (MoveInfo.IsStep(LineMoveStep.HY56_CheckWait))
} {
else if (MoveInfo.IsStep(LineMoveStep.HY52_TopUp)) //托盘已到位，更新托盘号，判断是否需要取放料
{ UpdateTrayNum();
MoveInfo.NextMoveStep(LineMoveStep.HY53_LineRun); if (TrayNeedSL(currTrayNum))
CheckLog("托盘阻挡" + MoveInfo.SLog + " 横移电机开始转动"); {
LineRun(MoveInfo); MoveInfo.NextMoveStep(LineMoveStep.HY57_SL_TopUp);
} CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升上升，横移电机停止 ");
else if (MoveInfo.IsStep(LineMoveStep.HY53_LineRun)) LineStop(MoveInfo);
{ CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
MoveInfo.NextMoveStep(LineMoveStep.HY54_HY2Ready); }
CheckLog("托盘阻挡" + MoveInfo.SLog + " 准备接收横移托盘完成"); else
} {
else if (MoveInfo.IsStep(LineMoveStep.HY54_HY2Ready)) MoveInfo.NextMoveStep(LineMoveStep.HY61_TopDown);
{ CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升下降，横移电机停止 ");
MoveInfo.NextMoveStep(LineMoveStep.HY55_WaitTrayCheck); LineStop(MoveInfo);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待检测到托盘信号"); CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); }
}
else if (MoveInfo.IsStep(LineMoveStep.HY55_WaitTrayCheck)) }
{ else if (MoveInfo.IsStep(LineMoveStep.HY57_SL_TopUp))
MoveInfo.NextMoveStep(LineMoveStep.HY56_CheckWait);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 再次等待托盘信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.HY56_CheckWait))
{
//托盘已到位，更新托盘号，判断是否需要取放料
UpdateTrayNum();
if (TrayNeedSL(currTrayNum))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY57_SL_TopUp); MoveInfo.NextMoveStep(LineMoveStep.HY58_SL_LocationUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升上升，横移电机停止 "); CheckLog("托盘阻挡" + MoveInfo.SLog + " 是出入库需要的空托盘，定位上升");
LineStop(MoveInfo); LocationCylinderUp(MoveInfo);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
} }
else else if (MoveInfo.IsStep(LineMoveStep.HY58_SL_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY59_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待料盘放入或料盘离开");
}
else if (MoveInfo.IsStep(LineMoveStep.HY59_SL_WaitProcessReel))
{
}
else if (MoveInfo.IsStep(LineMoveStep.HY60_SL_ReelProEnd))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY61_TopDown); MoveInfo.NextMoveStep(LineMoveStep.HY61_TopDown);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升下降，横移电机停止 "); CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升下降 ");
LineStop(MoveInfo);
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down); CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
}
}
else if (MoveInfo.IsStep(LineMoveStep.HY57_SL_TopUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY58_SL_LocationUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 是出入库需要的空托盘，定位上升");
LocationCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.HY58_SL_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.HY59_SL_WaitProcessReel);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待料盘放入或料盘离开");
}
else if (MoveInfo.IsStep(LineMoveStep.HY59_SL_WaitProcessReel))
{
}
else if (MoveInfo.IsStep(LineMoveStep.HY60_SL_ReelProEnd))
{
MoveInfo.NextMoveStep(LineMoveStep.HY61_TopDown);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升下降 ");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
} }
else if (MoveInfo.IsStep(LineMoveStep.HY61_TopDown)) else if (MoveInfo.IsStep(LineMoveStep.HY61_TopDown))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY62_LocationDown); MoveInfo.NextMoveStep(LineMoveStep.HY62_LocationDown);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 定位下降"); CheckLog("托盘阻挡" + MoveInfo.SLog + " 定位下降");
LocationCylinderDown(MoveInfo); LocationCylinderDown(MoveInfo);
} }
else if (MoveInfo.IsStep(LineMoveStep.HY62_LocationDown)) else if (MoveInfo.IsStep(LineMoveStep.HY62_LocationDown))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY63_WaitTrayGo); MoveInfo.NextMoveStep(LineMoveStep.HY63_WaitTrayGo);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待托盘检测信号消失"); CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待托盘检测信号消失");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
} }
else if (MoveInfo.IsStep(LineMoveStep.HY63_WaitTrayGo)) else if (MoveInfo.IsStep(LineMoveStep.HY63_WaitTrayGo))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY64_CheckWait); MoveInfo.NextMoveStep(LineMoveStep.HY64_CheckWait);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待托盘检测信号消失500"); CheckLog("托盘阻挡" + MoveInfo.SLog + " 等待托盘检测信号消失500");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
} }
else if (MoveInfo.IsStep(LineMoveStep.HY64_CheckWait)) else if (MoveInfo.IsStep(LineMoveStep.HY64_CheckWait))
{ {
MoveInfo.NextMoveStep(LineMoveStep.HY65_TopUp); MoveInfo.NextMoveStep(LineMoveStep.HY65_TopUp);
CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升提前上升"); CheckLog("托盘阻挡" + MoveInfo.SLog + " 顶升提前上升");
CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up); CylinderMove(MoveInfo, IO_Type.HY_TopCylinder_Down, IO_Type.HY_TopCylinder_Up);
} }
else if (MoveInfo.IsStep(LineMoveStep.HY65_TopUp)) else if (MoveInfo.IsStep(LineMoveStep.HY65_TopUp))
{ {
MoveInfo.EndMove(); MoveInfo.EndMove();
runStatus = LineRunStatus.Runing; runStatus = LineRunStatus.Runing;
CheckLog("托盘阻挡" + MoveInfo.SLog + " 处理完成"); CheckLog("托盘阻挡" + MoveInfo.SLog + " 处理完成");
} }
else else
{ {
LogUtil.error(Name + "FixtureProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理"); LogUtil.error(Name + "FixtureProcess 未找到[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]的处理");
} }
#endregion #endregion
} }
......
source/DeviceLibrary/assemblyLine/LineBean_T3-C1.cs
...@@ -122,6 +122,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -122,6 +122,9 @@ namespace OnlineStore.DeviceLibrary
T3C1_MoveInfo.OneWaitCanEndStep = true; T3C1_MoveInfo.OneWaitCanEndStep = true;
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW)); T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW));
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
//最多等待30秒
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
} }
} }
else else
...@@ -159,21 +162,41 @@ namespace OnlineStore.DeviceLibrary ...@@ -159,21 +162,41 @@ namespace OnlineStore.DeviceLibrary
#region 托盘检测 #region 托盘检测
if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down)) if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down))
{ {
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_01_TrayCheck); if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.LOW) || IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 前阻挡上升，等待 阻挡托盘检测=1"); {
IOMove(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW); T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_01_TrayCheck);
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 前阻挡上升，等待 阻挡托盘检测=1");
IOMove(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW);
T3C1_MoveInfo.OneWaitCanEndStep = true;
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
//最多等待30秒
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
T3C1_Log(T3C1_MoveInfo.SLog + "未等到信号 HY_FrontStopCheck=LOW，或 HY_TrayCheck=HIGH，结束处理 ");
T3C1_MoveInfo.EndMove();
}
} }
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_01_TrayCheck)) else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_01_TrayCheck))
{ {
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp); if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 再次等待托盘信号"); {
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " 再次等待托盘信号");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
}
else
{
T3C1_Log(T3C1_MoveInfo.SLog + "未等到信号 HY_TrayCheck=HIGH，结束处理 ");
T3C1_MoveInfo.EndMove();
}
} }
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_03_StopUp)) else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_03_StopUp))
{ {
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait); T3C1_MoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " ,等待编码信号稳定 HY_TrayCheck=1"); T3C1_Log("托盘阻挡" + T3C1_MoveInfo.SLog + " ,等待编码信号稳定 HY_TrayCheck=1");
T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH)); T3C1_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
} }
else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_04_Wait)) else if (T3C1_MoveInfo.IsStep(LineMoveStep.MIO_04_Wait))
...@@ -215,10 +238,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -215,10 +238,10 @@ namespace OnlineStore.DeviceLibrary
//判断盘是空盘,空盘并且编号正确才需要放料盘过去 //判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (TrayNeedT3C1(T3C1_TrayNum)) if (TrayNeedT3C1(T3C1_TrayNum))
{ {
T3C1_MoveInfo.MoveParam = new InOutParam(T3C1_TrayNum); T3C1_MoveInfo.MoveParam = new InOutParam(T3C1_TrayNum);
LogInfo(T3C1_MoveInfo.MoveNum + "*************** 空托盘【" + T3C1_TrayNum + "】，正在入库中，移栽料盘"); LogInfo(T3C1_MoveInfo.MoveNum + "*************** 空托盘【" + T3C1_TrayNum + "】，正在入库中，移栽料盘");
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember); T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
} }
else else
{ {
T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown); T3C1_MoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
...@@ -673,6 +673,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -673,6 +673,8 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.OneWaitCanEndStep = true; SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck1, IO_VALUE.LOW)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
//最多等待30秒
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
} }
} }
else else
...@@ -714,28 +716,42 @@ namespace OnlineStore.DeviceLibrary ...@@ -714,28 +716,42 @@ namespace OnlineStore.DeviceLibrary
#region 托盘检测 #region 托盘检测
if (SecondMoveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down)) if (SecondMoveInfo.IsStep(LineMoveStep.MIO_00_Stop1Down))
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_TrayCheck); if (IOValue(IO_Type.StopCheck1).Equals(IO_VALUE.LOW) || IOValue(IO_Type.StopCheck2).Equals(IO_VALUE.HIGH))
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
if (DeviceID.Equals(5))
{ {
SecondMoveInfo.TimeOutSeconds = 20; SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_TrayCheck);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
//最多等待30秒
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCheck1=LOW，或 StopCheck2=HIGH，结束处理 ");
SecondMoveInfo.EndMove();
} }
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
} }
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_01_TrayCheck)) else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_01_TrayCheck))
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp); if (IOValue(IO_Type.StopCheck2).Equals(IO_VALUE.HIGH))
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待托盘信号"); {
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW); SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopUp);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH)); CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待托盘信号");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCheck2=HIGH，结束处理 ");
SecondMoveInfo.EndMove();
}
} }
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_03_StopUp)) else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_03_StopUp))
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait); SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1"); CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1");
CheckAndMove(IO_Type.StopDown1, IO_VALUE.LOW); CheckAndMove(IO_Type.StopDown1, IO_VALUE.LOW);
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCheck2, IO_VALUE.HIGH));
} }
else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_04_Wait)) else if (SecondMoveInfo.IsStep(LineMoveStep.MIO_04_Wait))
...@@ -771,7 +787,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -771,7 +787,7 @@ namespace OnlineStore.DeviceLibrary
TrayManager.UpdateTrayNumError(-1, ""); TrayManager.UpdateTrayNumError(-1, "");
} }
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo); SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
} }
} }
...@@ -891,7 +907,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -891,7 +907,6 @@ namespace OnlineStore.DeviceLibrary
else if (SecondMoveInfo.IsStep(LineMoveStep.MO_19_StopUp)) else if (SecondMoveInfo.IsStep(LineMoveStep.MO_19_StopUp))
{ {
CheckLog("托盘放行 SecondMove：(托盘放行结束） "); CheckLog("托盘放行 SecondMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove(); SecondMoveInfo.EndMove();
} }
#endregion #endregion
......
source/DeviceLibrary/server/LineServer.cs
...@@ -251,6 +251,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -251,6 +251,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("UpdateBoxDebug【" + id + "】【" + isDebug + "】失败"); LogUtil.error("UpdateBoxDebug【" + id + "】【" + isDebug + "】失败");
} }
} }
else
{
LogUtil.error("UpdateBoxDebug【" + id + "】【" + isDebug + "】失败：料仓不在线");
}
return false; return false;
} }
public static bool StartInStore(int id, InOutParam param) public static bool StartInStore(int id, InOutParam param)
...@@ -265,7 +269,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -265,7 +269,7 @@ namespace OnlineStore.DeviceLibrary
paramList.Add(S_PlateW, param.PlateW); paramList.Add(S_PlateW, param.PlateW);
paramList.Add(S_WareCode, param.WareCode); paramList.Add(S_WareCode, param.WareCode);
paramList.Add(S_RFID, param.rfid); paramList.Add(S_RFID, param.rfid);
// string msg = cmd_startIn+cmd_spilt+param.PosId+cmd_spilt+param.PlateH+cmd_spilt+param.PlateW+cmd_spilt+"\r";
string msg = ToParamStr(paramList); string msg = ToParamStr(paramList);
TcpClientBean client = ClientMap[id]; TcpClientBean client = ClientMap[id];
bool result = SendStrToClient(client, msg); bool result = SendStrToClient(client, msg);
...@@ -274,6 +278,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -274,6 +278,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("StartInStore【" + id + "】【" + msg + "】失败"); LogUtil.error("StartInStore【" + id + "】【" + msg + "】失败");
} }
} }
else
{
LogUtil.error("StartInStore【" + id + "】【" + param.ToStr() + "】失败：料仓不在线");
}
return false; return false;
} }
///// <summary> ///// <summary>
...@@ -320,6 +328,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -320,6 +328,10 @@ namespace OnlineStore.DeviceLibrary
// LogUtil.info("CheckInStorePos【" + id + "】【" + msg + "】发送成功"); // LogUtil.info("CheckInStorePos【" + id + "】【" + msg + "】发送成功");
} }
} }
else
{
LogUtil.error("CheckInStorePos【" + id + "】【" + param.ToStr() + "】失败：料仓不在线");
}
} }
catch (Exception ex) catch (Exception ex)
{ {
......
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