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Commit 6083c6ac 由 LN
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未抓起料盘问题优化

1 个父辈 f5560e6b
内嵌 并排
正在显示 4 个修改的文件 包含 163 行增加 和 32 行删除
source/AssemblyLineClient/记录.txt
......@@ -268,6 +268,10 @@ T5上料时，T4的托盘没有等待。
20221118:
出库仓门口抓料，夹爪未检测到料盘信号时不报警，只打印日志，正常走流程。
入库托盘抓料，夹爪未检测到料盘信号时，直接放料盘到托盘，并标记托盘NG，取消入库任务，到NG位取消入库任务
接驳台托盘上料未抓起来时，记录NG，继续放一遍。上升后接驳台若有料，发到达，清空托盘，若无料，标记托盘NG
source/DeviceLibrary/assemblyLine/HY/HY_Coveryor_Partial.cs
......@@ -377,9 +377,17 @@ namespace OnlineStore.DeviceLibrary
if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_10_ReelProEnd);
OutLog(Name + " 料盘已移走，更新托盘[" + currTrayNum + "]为空");
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，更新托盘[" + currTrayNum + "]为空");
TrayManager.UpdateTrayInfo(currTrayNum);
if (IsNgPro())
{
OutLog(Name + " 料盘已移走，更新托盘[" + currTrayNum + "]为空");
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，更新托盘[" + currTrayNum + "]为空");
TrayManager.UpdateTrayInfo(currTrayNum);
}
else
{
OutLog(Name + " 料盘已移走，暂不更新托盘[" + currTrayNum + "]，先放托盘离开");
CheckLog(" 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，暂不更新托盘[" + currTrayNum + "]，先放托盘离开");
}
}
else
{
......@@ -522,6 +530,10 @@ namespace OnlineStore.DeviceLibrary
/// 紧急料，afterPut是否发送完成
/// </summary>
private bool afterPutCutOK = false;
/// <summary>
/// 从托盘上抓料是否正常抓起来
/// </summary>
private bool getTrayReelOk = true;
protected override void OutStoreProcess()
{
......@@ -572,17 +584,33 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.JM_05_ClampWork))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_06_UpdownToP1);
OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]");
OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]，更新 getTrayReelOk=true");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
getTrayReelOk = true;
}
else if (MoveInfo.IsStep(LineMoveStep.JM_06_UpdownToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_07_ClampCheck);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.HIGH));
if (IsNgPro())
{
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料 ");
}
else
{
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测有料，超时时间1000 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.OneWaitCanEndStep = true;
}
}
else if (MoveInfo.IsStep(LineMoveStep.JM_07_ClampCheck))
{
//判断是否正常抓取料
if(IOValue(IO_Type.HY_ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
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");
}
TrayCanGo();
if (IsNgPro())
{
......@@ -621,19 +649,64 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(LineMoveStep.JM_13_ClampRelax))
{
afterPutCutOK = false;
MoveInfo.NextMoveStep(LineMoveStep.JM_14_UpdownToP1);
OutLog(logName + MoveInfo.SLog + "：升降轴上升到P1 [" + Config.UpDownAxisP1 + "] ");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.JM_14_UpdownToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料，接驳台有料 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
if (!IsNgPro())
if (IsNgPro())
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.HIGH));
MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料，接驳台有料 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
string code = MoveInfo.MoveParam.WareCode;
if (IOValue(IO_Type.HY_TrayCheck1).Equals(IO_VALUE.HIGH) &&(!getTrayReelOk))
{
//接驳台有料，直接发arrive
int robotIndex = GetRobotIndex();
string msg = SServerManager.arrive3fRobotLocation(Name, robotIndex, code);
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台，更新托盘[" + currTrayNum + "]为空 ，发送 arrive3fRobotLocation = "+ msg);
afterPutCutOK = true;
//清空托盘
TrayManager.UpdateTrayInfo(currTrayNum);
}
else
{
//无料发取消任务
int robotIndex = GetRobotIndex();
string msg = SServerManager.clearOutTask(Name, code);
afterPutCutOK = true;
if (getTrayReelOk)
{
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 ，更新托盘[" + currTrayNum + "]为NG ，发送 clearOutTask=" + msg);
//更新托盘为NG
TrayManager.UpdateInStoreNG(currTrayNum, true, "工单料放料到接驳台失败");
}
else
{
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 (未抓起料盘），更新托盘[" + currTrayNum + "]为NG ，发送 clearOutTask=" + msg);
//更新托盘为NG
TrayManager.UpdateInStoreNG(currTrayNum, true, "工单料放料到接驳台失败（未抓起料盘）");
}
}
MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
}
//MoveInfo.NextMoveStep(LineMoveStep.JM_15_ClampCheck);
//OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料，接驳台有料 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
//if (!IsNgPro())
//{
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck1, IO_VALUE.HIGH));
//}
}
else if (MoveInfo.IsStep(LineMoveStep.JM_15_ClampCheck))
{
......@@ -641,7 +714,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(null, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
afterPutCutOK = false;
string code = MoveInfo.MoveParam.WareCode;
if (MoveInfo.MoveParam.urgentReel)
{
......@@ -650,17 +722,17 @@ namespace OnlineStore.DeviceLibrary
string msg = SServerManager.afterPutCut(Name, "BN", code, "", 1, out taskData);
afterPutCutOK = true;
}
else if (!MoveInfo.MoveParam.IsNG)
{
int robotIndex = GetRobotIndex();
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台，发送 arrive3fRobotLocation ");
string msg = SServerManager.arrive3fRobotLocation(Name, robotIndex, code);
afterPutCutOK = true;
}
else
{
afterPutCutOK = true;
}
//else if (!MoveInfo.MoveParam.IsNG)
//{
// int robotIndex = GetRobotIndex();
// OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台，发送 arrive3fRobotLocation ");
// string msg = SServerManager.arrive3fRobotLocation(Name, robotIndex, code);
// afterPutCutOK = true;
//}
//else
//{
// afterPutCutOK = true;
//}
//TrayCanGo();
}
else if (MoveInfo.IsStep(LineMoveStep.JM_16_ReelArrive))
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -138,7 +138,8 @@ namespace OnlineStore.DeviceLibrary
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 检测夹爪料盘检测=HIGH");
OutLog("出库 " + MoveInfo.SLog + ": 检测夹爪料盘检测=HIGH ，超时200ms");
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
}
}
......@@ -146,6 +147,13 @@ namespace OnlineStore.DeviceLibrary
{
if (UpdownIsUp())
{
//判断夹爪是否有料，无料打印日志
if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.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 (IsBigStore())
......@@ -387,20 +395,50 @@ namespace OnlineStore.DeviceLibrary
}
else
{
int num = MoveInfo.MoveParam.TrayNumber;
InLog("入库 " + MoveInfo.SLog + "：抓取料盘失败，取消入库任务，清空托盘[" + num + "]信息。报警：未抓起料盘,请取走料盘后复位。");
//未抓起料盘，直接报警
MoveInfo.NextMoveStep(LineMoveStep.MI_07_ClampCheck);
MoveInfo.WaitList.Add(WaitResultInfo.WaitNoTrayAlarm());
SetWarnMsg("未抓起料盘,请取走料盘后复位", MoveInfo.GetStepDes() + "_" + "未抓起料", MoveInfo);
Alarm(LineAlarmType.IoSingleTimeOut);
//int num = MoveInfo.MoveParam.TrayNumber;
//InLog("入库 " + MoveInfo.SLog + "：抓取料盘失败，取消入库任务，清空托盘[" + num + "]信息。报警：未抓起料盘,请取走料盘后复位。");
////未抓起料盘，直接报警
//MoveInfo.NextMoveStep(LineMoveStep.MI_07_ClampCheck);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitNoTrayAlarm());
//SetWarnMsg("未抓起料盘,请取走料盘后复位", MoveInfo.GetStepDes() + "_" + "未抓起料", MoveInfo);
//Alarm(LineAlarmType.IoSingleTimeOut);
//TrayInfo tray = TrayManager.GetTrayInfo(num);
//LogUtil.error(Name + " 抓料失败自动清空入库任务 :" + tray.InoutPar.ToStr());
//TrayManager.ClearInstore(tray, "抓料失败自动清空入库任务");
//TrayManager.UpdateTrayInfo(num);
MoveInfo.NextMoveStep(LineMoveStep.MI_21_CylinderDown);
int num = MoveInfo.MoveParam.TrayNumber;
InLog("入库 " + MoveInfo.SLog + "：抓取料盘失败，取消入库任务，更新托盘[" + num + "]为NG ，将料再放到托盘上");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
TrayInfo tray = TrayManager.GetTrayInfo(num);
LogUtil.error(Name + " 抓料失败自动清空入库任务 :" + tray.InoutPar.ToStr());
TrayManager.ClearInstore(tray, "抓料失败自动清空入库任务");
TrayManager.UpdateTrayInfo(num);
TrayManager.UpdateInStoreNG(num, true, "入库抓料失败");
InLog("入库： " + MoveInfo.SLog + " 抓料失败，升降气缸下降");
}
}
else if (MoveInfo.IsStep(LineMoveStep.MI_21_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_22_CylinderRelax);
InLog("入库： " + MoveInfo.SLog + " 抓料失败，夹爪放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
}
else if (MoveInfo.IsStep(LineMoveStep.MI_22_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_23_UpdownUp);
InLog("入库： " + MoveInfo.SLog + " 抓料失败，升降上升");
UpdownUpMove();
}
else if (MoveInfo.IsStep(LineMoveStep.MI_23_UpdownUp))
{
LogInfo("入库【" + posId + "】抓料失败，已放料回托盘，放托盘离开");
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
MoveEndS();
}
else if (MoveInfo.IsStep(LineMoveStep.MI_10_WaitBox))
{
if (UpdownIsUp())
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -255,6 +255,23 @@ namespace OnlineStore.DeviceLibrary
///// </summary>
//MI_23_StopCylinderReset,
/// <summary>
///抓料失败：放料到托盘，升降气缸下降
/// </summary>
[Description("入库_抓料失败_升降气缸下降")]
MI_21_CylinderDown = 1121,
/// <summary>
///抓料失败：放料到托盘 夹爪放松
/// </summary>
[Description("入库_放料_夹料气缸放松")]
MI_22_CylinderRelax,
/// <summary>
///抓料失败：放料到托盘 升级气缸上升
/// </summary>
[Description("入库_放料完成_升降气缸上升")]
MI_23_UpdownUp,
#endregion
#region 移栽装置出入库共同模块 1180-1200
......
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