Skip to content

李娜 / SO664-AssemblyLine

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 7290c4f8 由 张东亮
选项

横移10#12#17不放行

1 个父辈 47660d67
内嵌 并排
正在显示 1 个修改的文件 包含 24 行增加 和 20 行删除
source/DeviceLibrary/assemblyLine/HY/HY_Coveryor_Partial.cs
......@@ -90,13 +90,14 @@ namespace OnlineStore.DeviceLibrary
bool check2IsOk = CheckStopWatch(trayCheckLowWait, TrayWaitTime, false);
if (IOValue(IO_Type.HY_FrontStopCheck).Equals(IO_VALUE.HIGH))
{
if (CheckStopWatch(trayCheckWait, TrayWaitTime, false) && check2IsOk && canpro)
//CheckStopWatch(trayCheckWait, TrayWaitTime, false) &&
if (check2IsOk && canpro)
{
StartTrayCheck();
}
}
else
// else
{
trayCheckWait.Stop();
}
......@@ -190,8 +191,9 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NewMove(LineMoveType.Fixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_05_TrayCheck);
CheckLog("接驳台托盘" + SecondMoveInfo.SLog + "前阻挡上升，等待托盘到位 ");
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
CheckLog("接驳台托盘" + SecondMoveInfo.SLog + "前阻挡下降1.2s，等待托盘到位 ");
//IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW);
IOMove(IO_Type.HY_FrontStopDown, IO_VALUE.HIGH, 1200);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopDown, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
......@@ -403,7 +405,7 @@ namespace OnlineStore.DeviceLibrary
{
time = 800;
}
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：等待"+ time + "ms,托盘检测无信号");
CheckLog(" 托盘放行" + SecondMoveInfo.SLog + "：等待" + time + "ms,托盘检测无信号");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(time));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.LOW));
}
......@@ -487,7 +489,7 @@ namespace OnlineStore.DeviceLibrary
string code = SecondMoveInfo.MoveParam.WareCode;
bool isNg = false;
string result = SServerManager.GetTraySize(Name, robotIndex, code, out LastWidth, out isNg);
OutLog("接驳台托盘[" + currTrayNum + "] [" + code + "] 获取尺寸【" + LastWidth + "】"+(isNg?"NG":"")+"【" + result + "】",1);
OutLog("接驳台托盘[" + currTrayNum + "] [" + code + "] 获取尺寸【" + LastWidth + "】" + (isNg ? "NG" : "") + "【" + result + "】", 1);
if (LastWidth > 0)
{
......@@ -588,13 +590,13 @@ namespace OnlineStore.DeviceLibrary
return false;
}
InOutParam inoup = trayInfo.InoutPar;
if (trayInfo.IsFull && trayInfo.InoutPar.IsNG && this.DeviceID.Equals(217)&& trayInfo.InOrOutStore.Equals(1))
if (trayInfo.IsFull && trayInfo.InoutPar.IsNG && this.DeviceID.Equals(217) && trayInfo.InOrOutStore.Equals(1))
{
LogInfo(" NG料->NG箱" + "" + inoup.ToStr());
//如果分配了库位，需要调用取消
if (trayInfo.InoutPar.WareCode != "" && trayInfo.InoutPar.PosId != "")
{
SServerManager.cancelPutInTask(Name, trayInfo.InoutPar.WareCode,false );
SServerManager.cancelPutInTask(Name, trayInfo.InoutPar.WareCode, false);
}
SecondMoveInfo.MoveParam = inoup;
//MoveInfo.MoveParam = inoup;
......@@ -672,7 +674,8 @@ namespace OnlineStore.DeviceLibrary
{
JM_02_CylinderTake();
}
else {
else
{
MoveInfo.NextMoveStep(LineMoveStep.JM_01_UpdownToP1);
OutLog("托盘移栽 升降气缸上升 ");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
......@@ -737,7 +740,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(LineMoveStep.JM_02_CylinderTake))
{
int p2 = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH,MoveInfo.MoveParam.PlateW);
int p2 = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
MoveInfo.NextMoveStep(LineMoveStep.JM_03_UpdownToP2);
OutLog(logName + MoveInfo.SLog + "：升降轴下降到取料点P2 [" + p2 + "]");
UpdownAxis.AbsMove(MoveInfo, p2, Config.UpdownAxis_P2Speed);
......@@ -758,7 +761,7 @@ namespace OnlineStore.DeviceLibrary
{
OutTrayNum = currTrayNum;
MoveInfo.NextMoveStep(LineMoveStep.JM_06_UpdownToP1);
OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]，更新 getTrayReelOk=true，更新当前出库托盘号="+ OutTrayNum);
OutLog(logName + MoveInfo.SLog + "：升降轴到P1 [" + Config.UpDownAxisP1 + "]，更新 getTrayReelOk=true，更新当前出库托盘号=" + OutTrayNum);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
getTrayReelOk = true;
//如果不是NG口，提前放托盘离开
......@@ -786,10 +789,10 @@ namespace OnlineStore.DeviceLibrary
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))
if (IOValue(IO_Type.HY_ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
getTrayReelOk = false;
LogInfo("从托盘["+ OutTrayNum + "]上抓取无料失败，夹爪气缸料盘检测信号=LOW");
LogInfo("从托盘[" + OutTrayNum + "]上抓取无料失败，夹爪气缸料盘检测信号=LOW");
}
//TrayCanGo();
if (IsNgPro())
......@@ -852,7 +855,7 @@ namespace OnlineStore.DeviceLibrary
//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[" + OutTrayNum + "]为空 ，发送 arrive3fRobotLocation = " + msg,1);
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台，更新托盘[" + OutTrayNum + "]为空 ，发送 arrive3fRobotLocation = " + msg, 1);
afterPutCutOK = true;
//清空托盘
TrayManager.UpdateTrayInfo(OutTrayNum);
......@@ -865,19 +868,19 @@ namespace OnlineStore.DeviceLibrary
afterPutCutOK = true;
if (getTrayReelOk)
{
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 ，更新托盘[" + OutTrayNum + "]为NG ，发送 clearOutTask=" + msg,1);
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 ，更新托盘[" + OutTrayNum + "]为NG ，发送 clearOutTask=" + msg, 1);
//更新托盘为NG
TrayManager.UpdateInStoreNG(OutTrayNum, 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[" + OutTrayNum + "]为NG ，发送 clearOutTask=" + msg,1);
OutLog(logName + MoveInfo.SLog + "，工单料到达接驳台失败 (未抓起料盘），更新托盘[" + OutTrayNum + "]为NG ，发送 clearOutTask=" + msg, 1);
//更新托盘为NG
TrayManager.UpdateInStoreNG(OutTrayNum, 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 ",1);
OutLog(logName + MoveInfo.SLog + "：夹爪料盘检测无料 ", 1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_ClampCylinder_Check, IO_VALUE.LOW));
}
......@@ -902,7 +905,8 @@ namespace OnlineStore.DeviceLibrary
TaskData taskData;
string msg = SServerManager.afterPutCut(Name, "BN", code, "", 1, out taskData);
afterPutCutOK = true;
}else if (MoveInfo.MoveParam.cutReel)
}
else if (MoveInfo.MoveParam.cutReel)
{
OutLog(logName + MoveInfo.SLog + "，分盘料已放入NG箱，发送 afterPutCut ");
TaskData taskData;
......@@ -937,7 +941,7 @@ namespace OnlineStore.DeviceLibrary
}
if (afterPutCutOK)
{
ClearTimeoutAlarm("给服务器发送 "+ log + " 完成");
ClearTimeoutAlarm("给服务器发送 " + log + " 完成");
MoveEndS();
}
else if (MoveInfo.IsTimeOut(60))
......@@ -1023,7 +1027,7 @@ namespace OnlineStore.DeviceLibrary
int tLength = 15;
if (!String.IsNullOrEmpty(RFIDIP))
{
msg += "当前托盘：" + currTrayNum + " 上个托盘：" + preTrayNum + "，料盘托盘："+OutTrayNum+"\n";
msg += "当前托盘：" + currTrayNum + " 上个托盘：" + preTrayNum + "，料盘托盘：" + OutTrayNum + "\n";
}
msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + " " + LastAlarmTime.ToLongTimeString() + "\n";
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!