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Commit d61d070a 由 LN
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上料模块气缸修改

1 个父辈 0201f333
内嵌 并排
正在显示 9 个修改的文件 包含 237 行增加 和 314 行删除
source/AssemblyLineClient/App.config
......@@ -62,6 +62,8 @@
<add key="Feed_LastShelfID_104" value="B7" />
<add key ="SaveErrorImageToFile" value ="1"/>
<add key ="UseHCBoard" value ="1"/>
<add key ="ShowIOForm" value ="1"/>
<add key ="RfidServer_Port" value ="12001"/>
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......
source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -379,8 +379,8 @@ namespace OnlineStore.AssemblyLine
}
private void btnOutTopCylinder_Click(object sender, EventArgs e)
{
LogUtil.info(equipBase.Name + "界面点击：" + SL_OutTopCylinder_Up.Text);
equipBean.CylinderMove(null, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
//LogUtil.info(equipBase.Name + "界面点击：" + SL_OutTopCylinder_Up.Text);
//equipBean.CylinderMove(null, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
}
private void btnFeedSideWayCylinder_Click(object sender, EventArgs e)
......@@ -719,8 +719,15 @@ namespace OnlineStore.AssemblyLine
private void btnTopUp_Click(object sender, EventArgs e)
{
LogUtil.info(equipBase.Name + "界面点击：" + SL_TopCylinder_Up.Text);
equipBean.CylinderMove(null, IO_Type.SL_TopCylinder_Down, IO_Type.SL_TopCylinder_Up);
if (equipBean.IsFixedCylinderUp())
{
LogUtil.info(equipBase.Name + "界面点击：" + SL_TopCylinder_Up.Text);
equipBean.CylinderMove(null, IO_Type.SL_TopCylinder_Down, IO_Type.SL_TopCylinder_Up);
}
else
{
MessageBox.Show("固定气缸不在上升端，顶升气缸不能上升", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void btnRollerRun_Click(object sender, EventArgs e)
......@@ -772,8 +779,8 @@ namespace OnlineStore.AssemblyLine
private void SL_OutTopCylinder_Down_Click(object sender, EventArgs e)
{
LogUtil.info(equipBase.Name + "界面点击：" + SL_OutTopCylinder_Down.Text);
equipBean.CylinderMove(null, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
//LogUtil.info(equipBase.Name + "界面点击：" + SL_OutTopCylinder_Down.Text);
//equipBean.CylinderMove(null, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
}
private void SL_TrayLocation_After_Click(object sender, EventArgs e)
......
source/AssemblyLineClient/FrmIOTest.Designer.cs
......@@ -21,28 +21,28 @@
this.panel1 = new System.Windows.Forms.Panel();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.panel4 = new System.Windows.Forms.Panel();
this.lblDes3 = new System.Windows.Forms.Label();
this.comboBox3 = new System.Windows.Forms.ComboBox();
this.lblDO3 = new System.Windows.Forms.Label();
this.lblDI3 = new System.Windows.Forms.Label();
this.groupBox4 = new System.Windows.Forms.GroupBox();
this.panel5 = new System.Windows.Forms.Panel();
this.lblDes4 = new System.Windows.Forms.Label();
this.comboBox4 = new System.Windows.Forms.ComboBox();
this.lblDO4 = new System.Windows.Forms.Label();
this.lblDI4 = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.panel2 = new System.Windows.Forms.Panel();
this.lblDes2 = new System.Windows.Forms.Label();
this.comboBox2 = new System.Windows.Forms.ComboBox();
this.lblDO2 = new System.Windows.Forms.Label();
this.lblDI2 = new System.Windows.Forms.Label();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.panel3 = new System.Windows.Forms.Panel();
this.lblDes1 = new System.Windows.Forms.Label();
this.comboBox1 = new System.Windows.Forms.ComboBox();
this.lblDO1 = new System.Windows.Forms.Label();
this.lblDI1 = new System.Windows.Forms.Label();
this.lblDes1 = new System.Windows.Forms.Label();
this.lblDes2 = new System.Windows.Forms.Label();
this.lblDes4 = new System.Windows.Forms.Label();
this.lblDes3 = new System.Windows.Forms.Label();
this.panel1.SuspendLayout();
this.groupBox3.SuspendLayout();
this.panel4.SuspendLayout();
......@@ -96,6 +96,16 @@
this.panel4.Size = new System.Drawing.Size(855, 385);
this.panel4.TabIndex = 294;
//
// lblDes3
//
this.lblDes3.AutoSize = true;
this.lblDes3.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes3.Location = new System.Drawing.Point(666, 35);
this.lblDes3.Name = "lblDes3";
this.lblDes3.Size = new System.Drawing.Size(43, 17);
this.lblDes3.TabIndex = 296;
this.lblDes3.Text = "label3";
//
// comboBox3
//
this.comboBox3.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
......@@ -153,6 +163,16 @@
this.panel5.Size = new System.Drawing.Size(855, 385);
this.panel5.TabIndex = 292;
//
// lblDes4
//
this.lblDes4.AutoSize = true;
this.lblDes4.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes4.Location = new System.Drawing.Point(643, 35);
this.lblDes4.Name = "lblDes4";
this.lblDes4.Size = new System.Drawing.Size(43, 17);
this.lblDes4.TabIndex = 295;
this.lblDes4.Text = "label2";
//
// comboBox4
//
this.comboBox4.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
......@@ -208,6 +228,16 @@
this.panel2.Size = new System.Drawing.Size(855, 347);
this.panel2.TabIndex = 294;
//
// lblDes2
//
this.lblDes2.AutoSize = true;
this.lblDes2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes2.Location = new System.Drawing.Point(667, 35);
this.lblDes2.Name = "lblDes2";
this.lblDes2.Size = new System.Drawing.Size(43, 17);
this.lblDes2.TabIndex = 294;
this.lblDes2.Text = "label1";
//
// comboBox2
//
this.comboBox2.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
......@@ -263,6 +293,16 @@
this.panel3.Size = new System.Drawing.Size(855, 347);
this.panel3.TabIndex = 292;
//
// lblDes1
//
this.lblDes1.AutoSize = true;
this.lblDes1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes1.Location = new System.Drawing.Point(644, 35);
this.lblDes1.Name = "lblDes1";
this.lblDes1.Size = new System.Drawing.Size(51, 17);
this.lblDes1.TabIndex = 292;
this.lblDes1.Text = "lblDes1";
//
// comboBox1
//
this.comboBox1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
......@@ -295,46 +335,6 @@
this.lblDI1.TabIndex = 290;
this.lblDI1.Text = "DIO";
//
// lblDes1
//
this.lblDes1.AutoSize = true;
this.lblDes1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes1.Location = new System.Drawing.Point(697, 35);
this.lblDes1.Name = "lblDes1";
this.lblDes1.Size = new System.Drawing.Size(51, 17);
this.lblDes1.TabIndex = 292;
this.lblDes1.Text = "lblDes1";
//
// lblDes2
//
this.lblDes2.AutoSize = true;
this.lblDes2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes2.Location = new System.Drawing.Point(720, 35);
this.lblDes2.Name = "lblDes2";
this.lblDes2.Size = new System.Drawing.Size(43, 17);
this.lblDes2.TabIndex = 294;
this.lblDes2.Text = "label1";
//
// lblDes4
//
this.lblDes4.AutoSize = true;
this.lblDes4.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes4.Location = new System.Drawing.Point(696, 35);
this.lblDes4.Name = "lblDes4";
this.lblDes4.Size = new System.Drawing.Size(43, 17);
this.lblDes4.TabIndex = 295;
this.lblDes4.Text = "label2";
//
// lblDes3
//
this.lblDes3.AutoSize = true;
this.lblDes3.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblDes3.Location = new System.Drawing.Point(719, 35);
this.lblDes3.Name = "lblDes3";
this.lblDes3.Size = new System.Drawing.Size(43, 17);
this.lblDes3.TabIndex = 296;
this.lblDes3.Text = "label3";
//
// FrmIOTest
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
......
source/AssemblyLineClient/FrmLineStore.cs
......@@ -71,7 +71,11 @@ namespace OnlineStore.AssemblyLine
Application.Exit();
return;
}
if (ConfigAppSettings.GetIntValue("ShowIOForm").Equals(1))
{
FrmIOTest ioStatus = new FrmIOTest();
AddForm(" IO列表查看 ", ioStatus);
}
//FrmIOTest ioStatus = new FrmIOTest();
//AddForm(" IO列表查看 ", ioStatus);
FrmLineIO frmIOStatus = new FrmLineIO();
......
source/AssemblyLineClient/记录.txt
......@@ -26,79 +26,11 @@
出料与托盘关联
20201210
四楼环形线问题：
移栽入库过程中报警，导致托盘信息未清除。
托盘 [35] [23:36:12] [有料] [入料： [35] [R00922020101502653] [4D1206CC0018] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B25],rfidLoc [0]]
[2020-11-04 23:39:41,242][167]ERROR [_进仓_12-Move][InStore][MI_06_CylinderDown]等待 [X434-进仓12升降下降端-UpDownCylinder_Down=HIGH]超时[151.5]秒[2020-11-04 23:39:42,024][1]INFO _进仓_12 点击：复位
[2020-11-04 23:39:42,024][1]INFO _进仓_12 点击 ：复位
[2020-11-04 23:39:42,024][1]INFO _进仓_12 停止运动：上下气缸上升端，阻挡气缸上升
[2020-11-04 23:39:42,133][1]INFO _进仓_12 开始重置： 升降轴回原点，阻挡气缸上升
[2020-11-05 11:45:14,568][1]INFO 托盘 [36] [23:40:59] [有料] [入料： [36] [R0080820200910E1123] [4D0117CC0019] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B7],rfidLoc [0]]
[2020-11-04 23:41:36,352][159]ERROR [_进仓_01-Move][_进仓_01-Move][InStore][MI_11_CylinderDown] 等待 [X284-进仓1升降下降端-UpDownCylinder_Down=HIGH] 超时 986.3秒
[2020-11-04 23:41:44,016][1]INFO _进仓_01 点击：复位
[2020-11-04 23:41:44,016][1]INFO _进仓_01 点击 ：复位
[2020-11-04 23:41:44,016][1]INFO _进仓_01 停止运动：上下气缸上升端，阻挡气缸上升
[2020-11-04 23:41:44,110][150]INFO _入料_2 [3256] IP [192.168.210.110] [33] 当前托盘 [23]
[2020-11-04 23:41:44,126][1]INFO _进仓_01 开始重置： 升降轴回原点，阻挡气缸上升
[2020-11-05 11:45:14,537][1]INFO 托盘 [2] [16:59:10] [有料] [入料： [2] [R04192020092750364] [4D1704CC0020] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B16],rfidLoc [0]]
[2020-11-05 11:45:14,537][1]INFO 托盘 [3] [18:21:53] [有料] [入料： [3] [R04192020083152252] [4D1403AA0023] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B14],rfidLoc [0]]
[2020-11-05 11:45:14,537][1]INFO 托盘 [15] [8:18:43] [有料] [入料： [15] [R008062020082601596] [4D0808BB0003] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B24],rfidLoc [0]]
[2020-11-04 17:01:17,688][169]INFO _进仓_17 *******托盘2需要入库【 [2] [R04192020092750364] [4D1704CC0020] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B16],rfidLoc [0]】 ，开始入库移栽
[2020-11-04 17:03:16,242][124]ERROR [_进仓_17-Move][_进仓_17-Move][InStore][MI_06_CylinderDown] 等待 [X540-进仓17升降下降端-UpDownCylinder_Down=HIGH] 超时 117秒
[2020-11-04 17:03:17,792][1]INFO _进仓_17 点击：复位
[2020-11-04 17:03:17,792][1]INFO _进仓_17 点击 ：复位
[2020-11-04 17:03:17,792][1]INFO _进仓_17 停止运动：上下气缸上升端，阻挡气缸上升
[2020-11-04 18:23:39,676][152]INFO _进仓_14 *******托盘3需要入库【 [3] [R04192020083152252] [4D1403AA0023] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B14],rfidLoc [0]】 ，开始入库移栽
[2020-11-04 18:23:39,679][152]INFO _进仓_14 23980*************** 托盘【3】，有对应的入库任务，等待移栽
[2020-11-04 18:25:38,330][162]ERROR [_进仓_14-Move][_进仓_14-Move][InStore][MI_11_CylinderDown] 等待 [X474-进仓14升降下降端-UpDownCylinder_Down=HIGH] 超时 322.6秒
[2020-11-04 18:25:38,330][162]ERROR [_进仓_14-Move][InStore][MI_11_CylinderDown]等待 [X474-进仓14升降下降端-UpDownCylinder_Down=HIGH]超时[322.6]秒
Line 467047: [2020-11-04 18:30:49,333][1]INFO _进仓_14 点击：复位
Line 467048: [2020-11-04 18:30:49,333][1]INFO _进仓_14 点击 ：复位
Line 467049: [2020-11-04 18:30:49,333][1]INFO _进仓_14 停止运动：上下气缸上升端，阻挡气缸上升
Line 467050: [2020-11-04 18:30:49,420][1]INFO _进仓_14 开始重置： 升降轴回原点，阻挡气缸上升
Line 219740: [2020-11-05 08:19:09,983][139]INFO _进仓_08 *******托盘15需要入库【 [15] [R008062020082601596] [4D0808BB0003] [7x8]，InStoreNg [False],urgentReel [False],cutReel [False],smallReel [False],rfid [B24],rfidLoc [0]】 ，开始入库移栽
Line 220403: [2020-11-05 08:21:08,589][139]ERROR [_进仓_08-Move][_进仓_08-Move][InStore][MI_06_CylinderDown] 等待 [X376-进仓8升降下降端-UpDownCylinder_Down=HIGH] 超时 117秒
Line 220403: [2020-11-05 08:21:08,589][139]ERROR [_进仓_08-Move][_进仓_08-Move][InStore][MI_06_CylinderDown] 等待 [X376-进仓8升降下降端-UpDownCylinder_Down=HIGH] 超时 117秒
Line 220427: [2020-11-05 08:21:18,680][1]INFO _进仓_08 点击：复位
Line 220428: [2020-11-05 08:21:18,680][1]INFO _进仓_08 点击 ：复位
Line 220429: [2020-11-05 08:21:18,680][1]INFO _进仓_08 停止运动：上下气缸上升端，阻挡气缸上升
定位气缸定位之后，固定气缸才下降。
固定气缸默认是上升状态
上料模块，顶升气缸升降时，出口顶升气缸同时动作。
......@@ -110,88 +42,11 @@
/****************************************原有更改**********************************************/
0200925
1.去掉清理内存代码。
2.扫码失败保存图片的功能暂时关闭。
3.halcon的dll更新为18的版本
20200902
增加分流横移2，位置在进仓4-5，进仓14-15中间。
横移条件：
1，进仓，15,16,17,18 ，料仓入库
2. 紧急料，需要到出料四
3. 入库NG料，需要到出料四
4. 必须走皮带线3,皮带线4的出料
20200825
入料模块获取库位号时不等待料串上升到位。
当是首盘料时，如果到达出料口4且空闲中，抓料到皮带线。
20200817
紧急出料从入料NG口出
分盘料从入料4出
20200812
分流bug修改。
httpPost方法修改。
20200805
横移3和横移1顶升下降之后需要等待1秒再检测托盘检测信号是否消失。
出料4紧急出料最多等待20-30秒，如果料架已离开或者当前无料架直接放行托盘。
上升端不到位就横移。
两头的横移有时皮带不转。
进仓18个夹爪，夹紧DI信号不用
横移四个定位气缸暂时不用
20200623
入库，料仓与服务器 通信超时改为3秒。入库验证时如果超时重新发送。
入库NG的到达NG口时再调用下取消入库任务。
20200610
BUG：托盘一直显示有料
伺服SuddenStop方法调用3次，防止停止失败。
增加四条出料皮带线滚刷功能。
紧急出料模块：料架号不一致时直接放走托盘不再等待，防止托盘移动过慢。
出料模块阻挡bug修改。
料仓是否可出料条件修改：避免移栽入料，料仓出料冲突问题
20200603
入库时。料仓正好复位，导致未开始入库，入库信息丢失。
20200529
1.上料模块料架号增加缓存
20200528
RFID更改为最新方式。
接驳台等待料盘到位去掉超时时间。
需要修改
1.紧急出料托盘定位逻辑
2.皮带线无信号不扫码。
20200522
1.入口阻挡气缸下降改为时间控制1200ms.
2.托盘定位时，先前进2s后退，再重新前进。
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-->
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -162,7 +162,7 @@ namespace OnlineStore.DeviceLibrary
break;
case LineMoveStep.FR_02_LineRun:
MoveInfo.NextMoveStep(LineMoveStep.FR_03_CylinderUp);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：链条停止转动，上料横移机构上升，出口顶升下降，所有阻挡气缸上升");
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：链条停止转动，上料横移机构上升，顶升气缸下降，所有阻挡气缸上升");
//线体停止
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
......@@ -170,7 +170,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW));
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
TopCylinderDown(MoveInfo);
break;
case LineMoveStep.FR_03_CylinderUp:
......@@ -228,16 +228,15 @@ namespace OnlineStore.DeviceLibrary
break;
case LineMoveStep.FR_13_LocationDown:
MoveInfo.NextMoveStep(LineMoveStep.FR_14_FixedDown);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：固定气缸下降");
FixedCylinderDown(MoveInfo);
MoveInfo.NextMoveStep(LineMoveStep.FR_14_FixedUp);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：固定气缸上升");
FixedCylinderUp(MoveInfo);
break;
case LineMoveStep.FR_14_FixedDown:
case LineMoveStep.FR_14_FixedUp:
MoveInfo.NextMoveStep(LineMoveStep.FR_15_TopDown);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 定位气缸下降 ，出口顶升气缸下降，夹紧气缸放松");
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 定位气缸下降 ，夹紧气缸放松");
LocationCylinderDown(MoveInfo);
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
//CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax );
break;
case LineMoveStep.FR_15_TopDown:
......@@ -443,9 +442,29 @@ namespace OnlineStore.DeviceLibrary
}
private Stopwatch needEnterWatch = new Stopwatch();
private Stopwatch needLeaveWatch = new Stopwatch();
#region 气缸判断及动作
#region 气缸判断及动作
public void TopCylinderUp(LineMoveInfo moveinfo = null)
{
CylinderMove(moveinfo, IO_Type.SL_TopCylinder_Down, IO_Type.TopCylinder_Up);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Down, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Up, IO_VALUE.HIGH));
}
}
public void TopCylinderDown(LineMoveInfo moveinfo = null)
{
CylinderMove(moveinfo, IO_Type.SL_TopCylinder_Up, IO_Type.SL_TopCylinder_Down);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Up, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_OutTopCylinder_Down, IO_VALUE.HIGH));
}
}
public void LocationCylinderUp(LineMoveInfo moveinfo = null)
{
......@@ -471,14 +490,14 @@ namespace OnlineStore.DeviceLibrary
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Up2, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_LocationCylinder_Down2, IO_VALUE.HIGH));
}
}
}
public void FixedCylinderUp(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_FixedCylinder_Down, IO_VALUE.LOW);
IOMove(IO_Type.SL_FixedCylinder_Up, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up1, IO_VALUE.HIGH));
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up1, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up2, IO_VALUE.HIGH));
}
}
......@@ -490,9 +509,9 @@ namespace OnlineStore.DeviceLibrary
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up2, IO_VALUE.LOW));
}
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up1, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_FixedCylinder_Up2, IO_VALUE.LOW));
}
}
public void TrayLCylinderBefore(LineMoveInfo moveinfo = null)
......@@ -552,8 +571,7 @@ namespace OnlineStore.DeviceLibrary
}
public bool IsTrayLCylinderAfter()
{
{
if (IOValue(IO_Type.SL_TrayLocation1_After).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_TrayLocation1_Before).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SL_TrayLocation2_After).Equals(IO_VALUE.HIGH) &&
......@@ -564,6 +582,16 @@ namespace OnlineStore.DeviceLibrary
return false;
}
public bool IsFixedCylinderUp()
{
if (IOValue(IO_Type.SL_FixedCylinder_Up1).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SL_FixedCylinder_Up2).Equals(IO_VALUE.HIGH))
{
return true;
}
return false;
}
public bool UpdownIsInP1()
{
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -199,23 +199,25 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(LineMoveStep.FI_01_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_02_TrayLocation_After);
InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸下降");
InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_02_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LocationDown);
MoveInfo.NextMoveStep(LineMoveStep.FI_03_FixedUp);
InLog("料架入库" + MoveInfo.SLog + "：固定气缸上升");
FixedCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_03_FixedUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_04_LocationDown);
InLog("料架入库" + MoveInfo.SLog + "：定位气缸下降，提升伺服移动到P1");
LocationCylinderDown(MoveInfo);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_03_LocationDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_04_FixedDown);
InLog("料架入库" + MoveInfo.SLog + "：固定气缸下降");
FixedCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_04_FixedDown))
else if (MoveInfo.IsStep(LineMoveStep.FI_04_LocationDown))
{
LineInStoreProcess();
}
......@@ -232,18 +234,17 @@ namespace OnlineStore.DeviceLibrary
if (CurrShelfId.EndsWith("00"))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_53_BatchAxisToP1);
InLog("料架号【" + CurrShelfId + "】无效，送出料架，" + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
InLog("料架号【" + CurrShelfId + "】无效，送出料架，" + MoveInfo.SLog + "：提升伺服到P1点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
LocationCylinderDown(MoveInfo);
}
else
{
MoveInfo.ShelfNoTray = false;
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_FixedUp);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 固定气缸上升，读取并缓存料架RFID" + CurrShelfId);
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationUp);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 定位气缸上升，读取并缓存料架RFID" + CurrShelfId);
UpdateLastShelfID(CurrShelfId);
FixedCylinderUp(MoveInfo);
LocationCylinderUp(MoveInfo);
}
}
else
......@@ -251,15 +252,14 @@ namespace OnlineStore.DeviceLibrary
MoveEndS();
InLog(" 未检测到料架，入料结束");
}
}
else if (MoveInfo.IsStep(LineMoveStep.FI_07_FixedUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_LocationUp);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 定位气缸上升");
LocationCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_08_LocationUp))
else if (MoveInfo.IsStep(LineMoveStep.FI_07_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_FixedDown);
InLog("料架入库： " + MoveInfo.SLog + " 固定气缸下降" );
FixedCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_08_FixedDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_11_BatchAxisToP2);
InLog("料架入库" + MoveInfo.SLog + "：提升轴下降到位P2 ["+ Config.BatchAxisP2 + "] ");
......@@ -580,17 +580,17 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.FI_52_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_53_BatchAxisToP1);
InLog("上料完成" + MoveInfo.SLog + "：提升伺服到P1点["+ Config.BatchAxisP1 + "]，定位气缸下降");
InLog("上料完成" + MoveInfo.SLog + "：提升伺服到P1点["+ Config.BatchAxisP1 + "]");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
LocationCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_53_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_54_FixedDown);
InLog("上料完成" + MoveInfo.SLog + "，固定气缸下降");
FixedCylinderDown(MoveInfo);
MoveInfo.NextMoveStep(LineMoveStep.FI_54_FixedUp);
InLog("上料完成" + MoveInfo.SLog + "，固定气缸上升");
LocationCylinderDown(MoveInfo);
FixedCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FI_54_FixedDown))
else if (MoveInfo.IsStep(LineMoveStep.FI_54_FixedUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_55_OutCheck);
InLog("上料完成" + MoveInfo.SLog + "，等待出料线体无料架");
......@@ -601,13 +601,23 @@ namespace OnlineStore.DeviceLibrary
{
if (!ProcessShelfOut)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_56_OutTopCylinder_Up);
InLog("上料完成" + MoveInfo.SLog + "，出口顶升气缸上升,出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
if (IsFixedCylinderUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_56_TopUp);
InLog("上料完成" + MoveInfo.SLog + "，顶升气缸上升,出料缓冲阻挡上升");
TopCylinderUp(MoveInfo);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
else
{
InLog("上料完成" + MoveInfo.SLog + "，顶升气缸上升时发现固定气缸不在上升端，重新上升定位气缸");
MoveInfo.NextMoveStep(LineMoveStep.FI_54_FixedUp);
InLog("上料完成" + MoveInfo.SLog + "， 固定气缸上升");
FixedCylinderUp(MoveInfo);
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.FI_56_OutTopCylinder_Up))
else if (MoveInfo.IsStep(LineMoveStep.FI_56_TopUp))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FI_57_SideWayLineRun);
......@@ -638,9 +648,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.FI_59_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_60_TopDown);
InLog("上料完成" + MoveInfo.SLog + "， 料架到达出口，出口顶升下降 ，清理缓存料架RFID ");
InLog("上料完成" + MoveInfo.SLog + "， 料架到达出口，顶升气缸下降 ，清理缓存料架RFID ");
UpdateLastShelfID();
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
TopCylinderDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.IsStep(LineMoveStep.FI_60_TopDown))
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -256,18 +256,18 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(LineMoveStep.FO_02_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LocationDown);
MoveInfo.NextMoveStep(LineMoveStep.FO_03_FixedUp);
OutLog("出库： " + MoveInfo.SLog + " 开始：固定气缸上升");
FixedCylinderUp(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_03_FixedUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_04_LocationDown);
OutLog("出库： " + MoveInfo.SLog + " 开始：定位气缸下降，提升轴移动到P1");
LocationCylinderDown(MoveInfo);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_03_LocationDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_04_FixedDown);
OutLog("出库： " + MoveInfo.SLog + " 开始：固定气缸下降");
FixedCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_04_FixedDown))
else if (MoveInfo.IsStep(LineMoveStep.FO_04_LocationDown))
{
LineOutStoreProcess();
}
......@@ -307,8 +307,8 @@ namespace OnlineStore.DeviceLibrary
}
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_08_LocationUp);
OutLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡下降， 定位气缸上升，读取并缓存料架RFID");
MoveInfo.NextMoveStep(LineMoveStep.FO_07_LocationUp);
OutLog("定位工位检测到料架： " + MoveInfo.SLog + " 定位气缸上升，读取并缓存料架RFID");
UpdateLastShelfID(CurrShelfId);
LocationCylinderUp(MoveInfo);
......@@ -319,10 +319,16 @@ namespace OnlineStore.DeviceLibrary
OutLog(" 未检测到料架，料架处理结束");
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_08_LocationUp))
else if (MoveInfo.IsStep(LineMoveStep.FO_07_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_FixedDown);
OutLog("准备出库料架： " + MoveInfo.SLog + " 固定气缸下降");
FixedCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_08_FixedDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_11_BatchAxisToP2);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2["+ Config.BatchAxisP2 + "]");
OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2[" + Config.BatchAxisP2 + "]");
if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
......@@ -364,7 +370,7 @@ namespace OnlineStore.DeviceLibrary
OutStoreCount = 0;
//如果再出库中直接出库
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
runStatus = LineRunStatus.Runing;
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("准备出库料架完成");
// FO_11_AxisDownMove();
......@@ -377,7 +383,7 @@ namespace OnlineStore.DeviceLibrary
{
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，下降的目标高度为【" + tp + "】<【" + Config.BatchAxisP2 + "】，料架已满，直接送出料架");
MoveInfo.NextMoveStep(LineMoveStep.FO_51_BatchAxisToP2);
OutLog("出库移栽 " + MoveInfo.SLog + "：提升伺服到P2点 ["+ Config.BatchAxisP2 + "]");
OutLog("出库移栽 " + MoveInfo.SLog + "：提升伺服到P2点 [" + Config.BatchAxisP2 + "]");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
......@@ -406,17 +412,17 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.FO_52_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_53_BatchAxisToP1);
OutLog("送出料串： " + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
OutLog("送出料串： " + MoveInfo.SLog + "：提升伺服到P1点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
LocationCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_53_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_54_FixedDown);
OutLog("送出料串： " + MoveInfo.SLog + "：固定气缸下降");
FixedCylinderDown(MoveInfo);
MoveInfo.NextMoveStep(LineMoveStep.FO_54_FixedUp);
OutLog("送出料串： " + MoveInfo.SLog + "：固定气缸上升，定位气缸下降");
FixedCylinderUp(MoveInfo);
LocationCylinderDown(MoveInfo);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_54_FixedDown))
else if (MoveInfo.IsStep(LineMoveStep.FO_54_FixedUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_55_OutCheck);
OutLog("送出料串： " + MoveInfo.SLog + "，等待出料线体无料架");
......@@ -426,13 +432,24 @@ namespace OnlineStore.DeviceLibrary
{
if (!ProcessShelfOut)
{
MoveInfo.NextMoveStep(LineMoveStep.FO_56_OutTopCylinder_Up);
OutLog("送出料串： " + MoveInfo.SLog + "，出口顶升气缸上升，出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
if (IsFixedCylinderUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_56_TopUp);
OutLog("送出料串： " + MoveInfo.SLog + "，顶升气缸上升，出料缓冲阻挡上升");
TopCylinderUp(MoveInfo);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
else
{
OutLog("送出料串： " + MoveInfo.SLog + "，顶升气缸上升时发现固定气缸不在上升端，重新上升固定气缸");
MoveInfo.NextMoveStep(LineMoveStep.FO_54_FixedUp);
OutLog("送出料串： " + MoveInfo.SLog + "：固定气缸上升，定位气缸下降");
FixedCylinderUp(MoveInfo);
LocationCylinderDown(MoveInfo);
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_56_OutTopCylinder_Up))
else if (MoveInfo.IsStep(LineMoveStep.FO_56_TopUp))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_57_SideWayLineRun);
......@@ -463,7 +480,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FO_59_LineStop);
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，线体横移电机停止 ");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
if (Config.DOList.ContainsKey(IO_Type.SL_RollerLine_Run))
{
IOMove(IO_Type.SL_RollerLine_Run, IO_VALUE.LOW);
......@@ -474,9 +491,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.FO_59_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_60_TopDown);
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，出口顶升下降 ,清空LastOutParam，清理缓存料架RFID ");
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，顶升气缸下降 ,清空LastOutParam，清理缓存料架RFID ");
UpdateLastShelfID();
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
TopCylinderDown(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
LastOutParam = new InOutParam();
}
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -413,9 +413,9 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FR_13_LocationDown,
/// <summary>
/// 上料模块复位：放开固定气缸
/// 上料模块复位：放开固定气缸，固定气缸上升
/// </summary>
FR_14_FixedDown,
FR_14_FixedUp,
/// <summary>
///上料模块复位： 顶升气缸下降
/// </summary>
......@@ -472,13 +472,14 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_02_TrayLocation_After,
/// <summary>
/// 入料流程：定位气缸下降
/// 入料流程：固定气缸上升
/// </summary>
FI_03_LocationDown,
FI_03_FixedUp,
/// <summary>
/// 入料流程：固定气缸下降
/// 入料流程：定位气缸下降
/// </summary>
FI_04_FixedDown,
FI_04_LocationDown,
/// <summary>
/// 入口流水线转动，等待入料检测信号消失
/// </summary>
......@@ -488,17 +489,17 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_06_WaitTime,
/// <summary>
///入料检测： 工位检测信号，固定气缸上升
/// </summary>
FI_07_FixedUp,
/// <summary>
///入料检测： 工位检测信号，定位气缸上升
/// </summary>
FI_08_LocationUp,
FI_07_LocationUp,
/// <summary>
///入料检测： 固定气缸下降
/// </summary>
FI_08_FixedDown,
/// <summary>
/// 入料检测：提升轴下降到位P2
/// </summary>
FI_11_BatchAxisToP2,
......@@ -623,18 +624,18 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_53_BatchAxisToP1,
/// <summary>
/// 上料完成，固定气缸下降
/// 上料完成，放开固定气缸，固定气缸上升
/// </summary>
FI_54_FixedDown,
FI_54_FixedUp,
/// <summary>
/// 上料完成，等待出料线体无料架
/// </summary>
FI_55_OutCheck,
/// <summary>
/// 上料完成，出口顶升气缸上升
/// 上料完成，顶升气缸上升
/// </summary>
FI_56_OutTopCylinder_Up,
FI_56_TopUp,
/// <summary>
///上料完成， 线体横移电机运转，等待料架到达出口
......@@ -650,7 +651,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_59_LineStop,
/// <summary>
///上料完成， 料架到达出口，出口顶升下降，定位气缸下降,
///上料完成， 料架到达出口，顶升气缸下降，定位气缸下降,
/// </summary>
FI_60_TopDown,
......@@ -678,13 +679,13 @@ namespace OnlineStore.DeviceLibrary
/// 出料流程：升降盘定位气缸后退
/// </summary>
FO_02_TrayLocation_After,
/// 出料流程：放开固定气缸，固定气缸上升
/// </summary>
FO_03_FixedUp,
/// <summary>
/// 出料流程：定位气缸下降
/// </summary>
FO_03_LocationDown,
/// 出料流程：固定气缸下降
/// </summary>
FO_04_FixedDown,
FO_04_LocationDown,
/// <summary>
/// 入口流水线转动，等待出料检测信号消失
/// </summary>
......@@ -693,16 +694,15 @@ namespace OnlineStore.DeviceLibrary
/// 定位工位检测到料架，等待1秒钟后重新检测
/// </summary>
FO_06_WaitTime,
/// <summary>
///出料检测： 工位检测信号，固定气缸上升
/// </summary>
FO_07_FixedUp,
/// <summary>
///出料检测： 工位检测信号，定位气缸上升
/// </summary>
FO_08_LocationUp,
FO_07_LocationUp,
/// <summary>
///出料检测： 固定气缸下降
/// </summary>
FO_08_FixedDown,
/// <summary>
/// 出料检测：提升轴下降到位P2
/// </summary>
......@@ -799,17 +799,17 @@ namespace OnlineStore.DeviceLibrary
FO_53_BatchAxisToP1,
/// <summary>
/// 出料完成，固定气缸下降
/// 出料完成，放开固定气缸，固定气缸上升
/// </summary>
FO_54_FixedDown,
FO_54_FixedUp,
/// <summary>
/// 出料完成，等待出料线体无料架
/// </summary>
FO_55_OutCheck,
/// <summary>
/// 出料完成，出口顶升气缸上升
/// 出料完成，顶升气缸上升
/// </summary>
FO_56_OutTopCylinder_Up,
FO_56_TopUp,
/// <summary>
///出料完成， 线体横移电机运转，等待料架到达出口
......@@ -825,7 +825,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FO_59_LineStop,
/// <summary>
///出料完成， 料架到达出口，出口顶升下降，定位气缸下降,
///出料完成， 料架到达出口，顶升气缸下降，定位气缸下降,
/// </summary>
FO_60_TopDown,
......
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