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Commit 35d3b1e9 由 LN
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增加伺服力矩代码。配置修改

1 个父辈 6204a70b
内嵌 并排
正在显示 16 个修改的文件 包含 288 行增加 和 69 行删除
source/AssemblyLineClient/FrmLineStore.cs
......@@ -633,7 +633,7 @@ namespace OnlineStore.AssemblyLine
}
LogUtil.info("-------------------结束打印托盘信息");
msg += "-------------------结束打印托盘信息";
MessageBox.Show(msg, "托盘信息列表");
MessageBox.Show(msg, "托盘信息列表---------");
}
......
source/AssemblyLineClient/useControl/AxisMoveControl.Designer.cs
......@@ -30,8 +30,15 @@
{
this.components = new System.ComponentModel.Container();
this.groupAxis = new System.Windows.Forms.GroupBox();
this.lblAxisType = new System.Windows.Forms.Label();
this.lblStatus = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.label7 = new System.Windows.Forms.Label();
this.lblMaxLmt = new System.Windows.Forms.Label();
this.label12 = new System.Windows.Forms.Label();
this.label13 = new System.Windows.Forms.Label();
this.lblPosLmt = new System.Windows.Forms.Label();
this.lblNegLmt = new System.Windows.Forms.Label();
this.lblAlarmcode = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.lblhomeSts = new System.Windows.Forms.Label();
......@@ -101,7 +108,6 @@
this.btnAxisVMove = new System.Windows.Forms.Button();
this.btnReadPosition = new System.Windows.Forms.Button();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.lblAxisType = new System.Windows.Forms.Label();
this.groupAxis.SuspendLayout();
this.groupBox2.SuspendLayout();
this.groupBox1.SuspendLayout();
......@@ -130,6 +136,15 @@
this.groupAxis.TabStop = false;
this.groupAxis.Text = "伺服运动";
//
// lblAxisType
//
this.lblAxisType.AutoSize = true;
this.lblAxisType.Location = new System.Drawing.Point(8, 395);
this.lblAxisType.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxisType.Name = "lblAxisType";
this.lblAxisType.Size = new System.Drawing.Size(0, 17);
this.lblAxisType.TabIndex = 306;
//
// lblStatus
//
this.lblStatus.AutoSize = true;
......@@ -138,9 +153,16 @@
this.lblStatus.Name = "lblStatus";
this.lblStatus.Size = new System.Drawing.Size(0, 17);
this.lblStatus.TabIndex = 305;
this.lblStatus.Visible = false;
//
// groupBox2
//
this.groupBox2.Controls.Add(this.label7);
this.groupBox2.Controls.Add(this.lblMaxLmt);
this.groupBox2.Controls.Add(this.label12);
this.groupBox2.Controls.Add(this.label13);
this.groupBox2.Controls.Add(this.lblPosLmt);
this.groupBox2.Controls.Add(this.lblNegLmt);
this.groupBox2.Controls.Add(this.lblAlarmcode);
this.groupBox2.Controls.Add(this.label4);
this.groupBox2.Controls.Add(this.lblhomeSts);
......@@ -169,15 +191,75 @@
this.groupBox2.Margin = new System.Windows.Forms.Padding(2);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Padding = new System.Windows.Forms.Padding(2);
this.groupBox2.Size = new System.Drawing.Size(537, 118);
this.groupBox2.Size = new System.Drawing.Size(537, 133);
this.groupBox2.TabIndex = 304;
this.groupBox2.TabStop = false;
this.groupBox2.Text = "轴状态监控";
//
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(266, 110);
this.label7.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(59, 17);
this.label7.TabIndex = 26;
this.label7.Text = "最大力矩:";
//
// lblMaxLmt
//
this.lblMaxLmt.AutoSize = true;
this.lblMaxLmt.Location = new System.Drawing.Point(331, 110);
this.lblMaxLmt.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblMaxLmt.Name = "lblMaxLmt";
this.lblMaxLmt.Size = new System.Drawing.Size(17, 17);
this.lblMaxLmt.TabIndex = 25;
this.lblMaxLmt.Text = "...";
//
// label12
//
this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(133, 110);
this.label12.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(59, 17);
this.label12.TabIndex = 21;
this.label12.Text = "反向力矩:";
//
// label13
//
this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(9, 110);
this.label13.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(59, 17);
this.label13.TabIndex = 22;
this.label13.Text = "正向力矩:";
//
// lblPosLmt
//
this.lblPosLmt.AutoSize = true;
this.lblPosLmt.Location = new System.Drawing.Point(72, 110);
this.lblPosLmt.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblPosLmt.Name = "lblPosLmt";
this.lblPosLmt.Size = new System.Drawing.Size(17, 17);
this.lblPosLmt.TabIndex = 23;
this.lblPosLmt.Text = "...";
//
// lblNegLmt
//
this.lblNegLmt.AutoSize = true;
this.lblNegLmt.Location = new System.Drawing.Point(198, 110);
this.lblNegLmt.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblNegLmt.Name = "lblNegLmt";
this.lblNegLmt.Size = new System.Drawing.Size(17, 17);
this.lblNegLmt.TabIndex = 24;
this.lblNegLmt.Text = "...";
//
// lblAlarmcode
//
this.lblAlarmcode.AutoSize = true;
this.lblAlarmcode.Location = new System.Drawing.Point(422, 65);
this.lblAlarmcode.Location = new System.Drawing.Point(422, 60);
this.lblAlarmcode.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAlarmcode.Name = "lblAlarmcode";
this.lblAlarmcode.Size = new System.Drawing.Size(68, 17);
......@@ -188,7 +270,7 @@
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(267, 90);
this.label4.Location = new System.Drawing.Point(267, 85);
this.label4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(59, 17);
......@@ -198,7 +280,7 @@
// lblhomeSts
//
this.lblhomeSts.AutoSize = true;
this.lblhomeSts.Location = new System.Drawing.Point(332, 90);
this.lblhomeSts.Location = new System.Drawing.Point(332, 85);
this.lblhomeSts.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblhomeSts.Name = "lblhomeSts";
this.lblhomeSts.Size = new System.Drawing.Size(17, 17);
......@@ -208,7 +290,7 @@
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(422, 90);
this.label2.Location = new System.Drawing.Point(422, 85);
this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(71, 17);
......@@ -219,7 +301,7 @@
// lblAxEncAcc
//
this.lblAxEncAcc.AutoSize = true;
this.lblAxEncAcc.Location = new System.Drawing.Point(499, 90);
this.lblAxEncAcc.Location = new System.Drawing.Point(499, 85);
this.lblAxEncAcc.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxEncAcc.Name = "lblAxEncAcc";
this.lblAxEncAcc.Size = new System.Drawing.Size(17, 17);
......@@ -230,7 +312,7 @@
// lblINP
//
this.lblINP.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblINP.Location = new System.Drawing.Point(414, 24);
this.lblINP.Location = new System.Drawing.Point(414, 19);
this.lblINP.Name = "lblINP";
this.lblINP.Size = new System.Drawing.Size(56, 30);
this.lblINP.TabIndex = 10;
......@@ -240,7 +322,7 @@
// lblBUSY
//
this.lblBUSY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblBUSY.Location = new System.Drawing.Point(356, 24);
this.lblBUSY.Location = new System.Drawing.Point(356, 19);
this.lblBUSY.Name = "lblBUSY";
this.lblBUSY.Size = new System.Drawing.Size(56, 30);
this.lblBUSY.TabIndex = 9;
......@@ -250,7 +332,7 @@
// lblNEL
//
this.lblNEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblNEL.Location = new System.Drawing.Point(298, 24);
this.lblNEL.Location = new System.Drawing.Point(298, 19);
this.lblNEL.Name = "lblNEL";
this.lblNEL.Size = new System.Drawing.Size(56, 30);
this.lblNEL.TabIndex = 8;
......@@ -260,7 +342,7 @@
// lblORG
//
this.lblORG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblORG.Location = new System.Drawing.Point(240, 24);
this.lblORG.Location = new System.Drawing.Point(240, 19);
this.lblORG.Name = "lblORG";
this.lblORG.Size = new System.Drawing.Size(56, 30);
this.lblORG.TabIndex = 7;
......@@ -270,7 +352,7 @@
// lblPEL
//
this.lblPEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblPEL.Location = new System.Drawing.Point(182, 24);
this.lblPEL.Location = new System.Drawing.Point(182, 19);
this.lblPEL.Name = "lblPEL";
this.lblPEL.Size = new System.Drawing.Size(56, 30);
this.lblPEL.TabIndex = 6;
......@@ -280,7 +362,7 @@
// lblSvOn
//
this.lblSvOn.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblSvOn.Location = new System.Drawing.Point(8, 24);
this.lblSvOn.Location = new System.Drawing.Point(8, 19);
this.lblSvOn.Name = "lblSvOn";
this.lblSvOn.Size = new System.Drawing.Size(56, 30);
this.lblSvOn.TabIndex = 5;
......@@ -290,7 +372,7 @@
// lblEMG
//
this.lblEMG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblEMG.Location = new System.Drawing.Point(124, 24);
this.lblEMG.Location = new System.Drawing.Point(124, 19);
this.lblEMG.Name = "lblEMG";
this.lblEMG.Size = new System.Drawing.Size(56, 30);
this.lblEMG.TabIndex = 4;
......@@ -300,7 +382,7 @@
// lblWARN
//
this.lblWARN.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblWARN.Location = new System.Drawing.Point(472, 24);
this.lblWARN.Location = new System.Drawing.Point(472, 19);
this.lblWARN.Name = "lblWARN";
this.lblWARN.Size = new System.Drawing.Size(56, 30);
this.lblWARN.TabIndex = 3;
......@@ -310,7 +392,7 @@
// lblALM
//
this.lblALM.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.lblALM.Location = new System.Drawing.Point(66, 24);
this.lblALM.Location = new System.Drawing.Point(66, 19);
this.lblALM.Name = "lblALM";
this.lblALM.Size = new System.Drawing.Size(56, 30);
this.lblALM.TabIndex = 2;
......@@ -320,7 +402,7 @@
// label53
//
this.label53.AutoSize = true;
this.label53.Location = new System.Drawing.Point(134, 90);
this.label53.Location = new System.Drawing.Point(134, 85);
this.label53.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label53.Name = "label53";
this.label53.Size = new System.Drawing.Size(59, 17);
......@@ -330,7 +412,7 @@
// label56
//
this.label56.AutoSize = true;
this.label56.Location = new System.Drawing.Point(10, 90);
this.label56.Location = new System.Drawing.Point(10, 85);
this.label56.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label56.Name = "label56";
this.label56.Size = new System.Drawing.Size(59, 17);
......@@ -340,7 +422,7 @@
// label55
//
this.label55.AutoSize = true;
this.label55.Location = new System.Drawing.Point(10, 65);
this.label55.Location = new System.Drawing.Point(10, 60);
this.label55.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label55.Name = "label55";
this.label55.Size = new System.Drawing.Size(59, 17);
......@@ -350,7 +432,7 @@
// label52
//
this.label52.AutoSize = true;
this.label52.Location = new System.Drawing.Point(134, 65);
this.label52.Location = new System.Drawing.Point(134, 60);
this.label52.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label52.Name = "label52";
this.label52.Size = new System.Drawing.Size(59, 17);
......@@ -360,7 +442,7 @@
// lblAxEncVel
//
this.lblAxEncVel.AutoSize = true;
this.lblAxEncVel.Location = new System.Drawing.Point(73, 90);
this.lblAxEncVel.Location = new System.Drawing.Point(73, 85);
this.lblAxEncVel.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxEncVel.Name = "lblAxEncVel";
this.lblAxEncVel.Size = new System.Drawing.Size(17, 17);
......@@ -370,7 +452,7 @@
// lblAxPrfVel
//
this.lblAxPrfVel.AutoSize = true;
this.lblAxPrfVel.Location = new System.Drawing.Point(199, 90);
this.lblAxPrfVel.Location = new System.Drawing.Point(199, 85);
this.lblAxPrfVel.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxPrfVel.Name = "lblAxPrfVel";
this.lblAxPrfVel.Size = new System.Drawing.Size(17, 17);
......@@ -380,7 +462,7 @@
// lblAxEncPos
//
this.lblAxEncPos.AutoSize = true;
this.lblAxEncPos.Location = new System.Drawing.Point(73, 65);
this.lblAxEncPos.Location = new System.Drawing.Point(73, 60);
this.lblAxEncPos.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxEncPos.Name = "lblAxEncPos";
this.lblAxEncPos.Size = new System.Drawing.Size(17, 17);
......@@ -390,7 +472,7 @@
// lblAxPrfPos
//
this.lblAxPrfPos.AutoSize = true;
this.lblAxPrfPos.Location = new System.Drawing.Point(199, 65);
this.lblAxPrfPos.Location = new System.Drawing.Point(199, 60);
this.lblAxPrfPos.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxPrfPos.Name = "lblAxPrfPos";
this.lblAxPrfPos.Size = new System.Drawing.Size(17, 17);
......@@ -400,7 +482,7 @@
// lblAxisPrfMode
//
this.lblAxisPrfMode.AutoSize = true;
this.lblAxisPrfMode.Location = new System.Drawing.Point(332, 65);
this.lblAxisPrfMode.Location = new System.Drawing.Point(332, 60);
this.lblAxisPrfMode.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxisPrfMode.Name = "lblAxisPrfMode";
this.lblAxisPrfMode.Size = new System.Drawing.Size(17, 17);
......@@ -410,7 +492,7 @@
// label50
//
this.label50.AutoSize = true;
this.label50.Location = new System.Drawing.Point(267, 65);
this.label50.Location = new System.Drawing.Point(267, 60);
this.label50.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label50.Name = "label50";
this.label50.Size = new System.Drawing.Size(59, 17);
......@@ -964,15 +1046,6 @@
//
this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
//
// lblAxisType
//
this.lblAxisType.AutoSize = true;
this.lblAxisType.Location = new System.Drawing.Point(8, 398);
this.lblAxisType.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.lblAxisType.Name = "lblAxisType";
this.lblAxisType.Size = new System.Drawing.Size(0, 17);
this.lblAxisType.TabIndex = 306;
//
// AxisMoveControl
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
......@@ -1067,5 +1140,11 @@
private System.Windows.Forms.LinkLabel linkLabel1;
private System.Windows.Forms.Label lblStatus;
private System.Windows.Forms.Label lblAxisType;
private System.Windows.Forms.Label label7;
private System.Windows.Forms.Label lblMaxLmt;
private System.Windows.Forms.Label label12;
private System.Windows.Forms.Label label13;
private System.Windows.Forms.Label lblPosLmt;
private System.Windows.Forms.Label lblNegLmt;
}
}
source/AssemblyLineClient/useControl/AxisMoveControl.cs
......@@ -329,7 +329,10 @@ namespace OnlineStore.AssemblyLine
string homesstr = HCBoardManager.AxisHomeSts(value);
lblhomeSts.Text = homesstr;
lblAxisType.Text = HCBoardManager.GetAxType(axisNo);
//lblCountPulse.Text = AxisManager.instance.GetActualtPosition(PortName, SlvAddr).ToString();
//lblPosLmt.Text = HCBoardManager.GetEcatAxPosTorqLmt(axisNo).ToString();
//lblNegLmt.Text = HCBoardManager.GetEcatAxNegTorqLmt(axisNo).ToString();
//lblMaxLmt.Text = HCBoardManager.GetEcatAxMaxTorqLmt(axisNo).ToString();
}
private void ShowlbSts(Label lbl, int value, bool isAlarm = false)
......
source/AssemblyLineClient/useControl/EquipControl.cs
......@@ -123,7 +123,7 @@ namespace OnlineStore.AssemblyLine
{
lblBox.Text = "BOX[" + box.CId.ToString() + "]：" + online + " " + box.ToShowStr();
if (box.SRunStatus.Equals(LineRunStatus.Busy))
if (box.SRunStatus.Equals((int)LineRunStatus.Busy))
{
lblBox.BackColor = Color.LightGreen;
}
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
......@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,11,HC,,3000,10000,15000,500,4000,15000,1
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61500,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-300,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,55030,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
......@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,13,HC,,3000,10000,15000,500,4000,15000,1
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61400,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-1100,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,56100,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
......@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,9,HC,,3000,10000,15000,500,4000,15000,10
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61100,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-800,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,54800,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,
PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,
PRO,0,对应的横移模块,SidesWayNum,20,,
......@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,5,HC,,3000,10000,15000,500,4000,15000,10
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,62400,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-1400,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,53370,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_5.csv
......@@ -11,8 +11,8 @@ AXIS,0,轴一提升上料轴,Batch_Axis,3,HC,,3000,10000,15000,500,4000,15000,10
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,61730,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-730,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,55300,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,12000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,12000,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,8000,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,8000,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,3000,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,100,,
,,,,,,
......
source/DeviceLibrary/LineConfig/HY/Config_HYEquip_18.csv 0 → 100644
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,
PRO,0,是否使用伺服,UpDownUseAxis,0,,
,,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,100,HC,,3000,4000,4000,1000,5000,10000,10,100,0,0
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,-11000,,
PRO,0,移栽上下轴托盘取料点P2,UpDownP2List,0=80000;12=141200;16=130000;24=110000;32=98000;44=76000;48=73700;56=61000;8=150000,,
PRO,0,移栽上下轴接驳台放料点P3,UpDownP3List,0=90000;12=157500;16=150800;24=138200;32=116800;44=92500;48=90000;56=95000;8=160000,,
PRO,0,移栽上下轴托盘取料详细点P2,UpDownP2DetialList,0X0=8000;,,
PRO,0,移栽上下轴P1速度,UpdownAxis_P1Speed,400,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,300,,
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,
source/DeviceLibrary/LineConfig/TrayList.data
{"TrayNum":134,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-18T12:56:32.4080663+08:00","InoutPar":{"WareCode":"","PosId":"3D0112AA0009","TrayNumber":134,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B108","rfidLoc":0}}
{"TrayNum":101,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:08:04.5573223+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":101,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":102,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:10:17.8049436+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":102,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":103,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:10:05.6152464+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":103,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":104,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:11:45.438956+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":104,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":106,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:08:41.7064471+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":106,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":107,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:06:22.2134686+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":107,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":109,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:19:23.5651593+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":109,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":110,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:12:06.0661358+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":110,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":112,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:10:59.2953167+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":112,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":113,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-19T15:27:39.5954771+08:00","InoutPar":{"WareCode":"R202882018030701395","PosId":"3D0221AA0002","TrayNumber":113,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B110","rfidLoc":0}}
{"TrayNum":114,"IsFull":true,"InOrOutStore":2,"ShowMsg":"","LastUpdateTime":"2020-12-19T13:27:48.8641908+08:00","InoutPar":{"WareCode":"R201882017111700070","PosId":"3D0111AA0008","TrayNumber":114,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":true,"rfid":"-0B","rfidLoc":-1}}
{"TrayNum":115,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-18T11:26:16.725307+08:00","InoutPar":{"WareCode":"","PosId":"3D0301AA0008","TrayNumber":115,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B108","rfidLoc":0}}
{"TrayNum":117,"IsFull":true,"InOrOutStore":1,"ShowMsg":"","LastUpdateTime":"2020-12-18T12:01:48.1502175+08:00","InoutPar":{"WareCode":"","PosId":"3D0401AA0013","TrayNumber":117,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"B102","rfidLoc":0}}
{"TrayNum":118,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:07:15.5665202+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":118,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":125,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:19:44.1493367+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":125,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":127,"IsFull":true,"InOrOutStore":2,"ShowMsg":"","LastUpdateTime":"2020-12-19T15:18:18.3853777+08:00","InoutPar":{"WareCode":"","PosId":"3D0212AA0014","TrayNumber":127,"PlateH":8,"PlateW":7,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":129,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:12:52.5137925+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":129,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}
{"TrayNum":130,"IsFull":false,"InOrOutStore":0,"ShowMsg":"","LastUpdateTime":"2020-12-21T10:09:27.232051+08:00","InoutPar":{"WareCode":"","PosId":"","TrayNumber":130,"PlateH":0,"PlateW":0,"InStoreNg":false,"NgMsg":"","urgentReel":false,"cutReel":false,"smallReel":false,"rfid":"","rfidLoc":0}}

\ No newline at end of file
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -300,6 +300,8 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(LineMoveStep.FO_06_WaitTime))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_06_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(20000));
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
ReadShelfId();
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -244,11 +244,15 @@ namespace OnlineStore.DeviceLibrary
{
moveEquip.OpenStopBlock();
}
else
else if(moveEquip.runStatus.Equals(LineRunStatus.Wait))
{
bool result = moveEquip.StartRun();
Thread.Sleep(60);
}
else
{
LogUtil.info(Name + " EquipStartRun：" + moveEquip.Name+" 已启动，不需要重复启动");
}
}
private void RHomeOp()
{
......
source/HuichuanLibrary/HCBoardManager_Axis.cs
......@@ -612,6 +612,98 @@ namespace HuichuanLibrary
return res;
}
public static short GetEcatAxPosTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxPosTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxPosTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxPosTorqLmt(short axisNo,short value)
{
if (!CardInitOk())
{
return false ;
}
UInt32 ret = ImcApi.IMC_SetEcatAxPosTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "]["+ value + "] SetEcatAxPosTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false ;
}
return true ;
}
public static short GetEcatAxNegTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxNegTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxNegTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxNegTorqLmt(short axisNo, short value)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetEcatAxNegTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "][" + value + "] SetEcatAxNegTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
public static short GetEcatAxMaxTorqLmt(short axisNo)
{
if (!CardInitOk())
{
return -1;
}
short outV = -1;
UInt32 ret = ImcApi.IMC_GetEcatAxMaxTorqLmt(nCardHandle, axisNo, ref outV);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "] GetEcatAxMaxTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return -1;
}
return outV;
}
public static bool SetEcatAxMaxTorqLmt(short axisNo, short value)
{
if (!CardInitOk())
{
return false;
}
UInt32 ret = ImcApi.IMC_SetEcatAxMaxTorqLmt(nCardHandle, axisNo, value);
if (ret != 0)
{
ShowErrorLog(" Axis[" + axisNo + "][" + value + "] SetEcatAxMaxTorqLmt FAIL, ErrorCode=0x" + ret.ToString("x8"));
return false;
}
return true;
}
#endregion
#region 轴状态
......
source/HuichuanLibrary/HuichuanLibrary.csproj
......@@ -62,6 +62,24 @@
<Content Include="device_config.xml">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x64\IMC_API_x64.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x64\msvcr100.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x64\msvcr100d.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x86\IMC_API_x86.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x86\msvcr100.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan\x86\msvcr100d.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<Content Include="huichuan_x64\IMC_API_x64.dll">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
......@@ -99,5 +117,15 @@
<DependentUpon>FrmHuiChuanTest.cs</DependentUpon>
</EmbeddedResource>
</ItemGroup>
<ItemGroup>
<Content Include="huichuan\x86\IMC_API_x86.lib">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<ItemGroup>
<Content Include="huichuan\x64\IMC_API_x64.lib">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
</Project>
\ No newline at end of file
source/HuichuanLibrary/ImcApi.cs
......@@ -1287,6 +1287,22 @@ namespace HuichuanLibrary
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_FinishAxTorqHoming(HANDLETYPE cardHandle, Int16 axNo);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_SetEcatAxPosTorqLmt(HANDLETYPE cardHandle, Int16 axNo, Int16 posTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetEcatAxPosTorqLmt(HANDLETYPE cardHandle, Int16 axNo, ref Int16 pPosTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_SetEcatAxNegTorqLmt(HANDLETYPE cardHandle, Int16 axNo, Int16 negTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetEcatAxNegTorqLmt(HANDLETYPE cardHandle, Int16 axNo, ref Int16 pNegTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_SetEcatAxMaxTorqLmt(HANDLETYPE cardHandle, Int16 axNo, Int16 maxTorqLmt);
[DllImport(EtherCATConfigApiDllName, EntryPoint = "IMC_FinishAxTorqHoming", ExactSpelling = false, CallingConvention = CallingConvention.Cdecl)]
public static extern UInt32 IMC_GetEcatAxMaxTorqLmt(HANDLETYPE cardHandle, Int16 axNo, ref Int16 pMaxTorqLmt);
///*==========================================================================*/
///*----5 数据采集接口 ---*/
///*==========================================================================*/
......
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