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Commit de5831f7 由 LN
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夹爪气缸检测信号修改。

1 个父辈 2540daa0
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正在显示 13 个修改的文件 包含 74 行增加 和 55 行删除
doc/环形线IO(1)(1).xlsx 0 → 100644
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source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -392,7 +392,7 @@ namespace OnlineStore.AssemblyLine
private void btnFeedSideWayCylinder_Click(object sender, EventArgs e)
{
if (equipBean.MoveCylineIsUp())
if (equipBean.UpdownIsUp())
{
BtnMove(btnFeedSideWayCylinder, "上料横移气缸取料端", "上料横移气缸放料端", IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
......
source/AssemblyLineClient/记录.txt
......@@ -3,10 +3,20 @@
新建项目，SO664环形线
移栽修改：夹紧信号需要拿料，气缸上升之后再检测。
上料修改：夹紧信号需要拿料，气缸上升之后再检测。
新加固定气缸，固定气缸固定之后，定位气缸再动作
定位工位的顶升气缸只有在横移料架离开的时候才用。
出料线分为两种。
上料环形线托盘处理模块放入横移处理中，或者T3-C1处理。
夹爪气缸修改。上料模块增加固定气缸
......
source/DeviceLibrary/LineConfig/Config_Line.csv
......@@ -223,8 +223,8 @@ DI,105,T5料盘检测15寸,SL_TrayCheck4,87,HC,X87
DI,105,T5伺服定位料盘检测,SL_AxisLocationCheck,88,HC,X88
DI,105,T5上料横移气缸取料端,SL_MoveCylinder_Take,89,HC,X89
DI,105,T5上料横移气缸放料端,SL_MoveCylinder_Give,90,HC,X90
DI,105,T5上料气缸放松端,SL_MoveCylinder_Relax,91,HC,X91
DI,105,T5上料气缸料盘检测,SL_MoveCylinder_Check,92,HC,X92
DI,105,T5上料气缸放松端,SL_ClampCylinder_Relax,91,HC,X91
DI,105,T5上料气缸料盘检测,SL_ClampCylinder_Check,92,HC,X92
,,,,93,HC,X93
,,,,94,HC,X94
,,,,95,HC,X95
......@@ -264,8 +264,8 @@ DO,105,T5顶升上升,SL_TopCylinder_Up,78,HC,Y78
DO,105,T5顶升下降,SL_TopCylinder_Down,79,HC,Y79
DO,105,T5上料横移气缸取料,SL_MoveCylinder_Take,80,HC,Y80
DO,105,T5上料横移气缸放料,SL_MoveCylinder_Give,81,HC,Y81
DO,105,T5上料气缸放松,SL_MoveCylinder_Relax,82,HC,Y82
DO,105,T5上料气缸夹紧,SL_MoveCylinder_Work,83,HC,Y83
DO,105,T5上料气缸放松,SL_ClampCylinder_Relax,82,HC,Y82
DO,105,T5上料气缸夹紧,SL_ClampCylinder_Work,83,HC,Y83
DO,105,T5托盘定位气缸前进,SL_TrayLocation_Before,84,HC,Y84
DO,105,T5托盘定位气缸后退,SL_TrayLocation_After,85,HC,Y85
DO,219,HY19横移顶升上升,HY_TopCylinder_UP,86,HC,Y86
......@@ -309,8 +309,8 @@ DI,104,T4料盘检测15寸,SL_TrayCheck4,135,HC,X135
DI,104,T4伺服定位料盘检测,SL_AxisLocationCheck,136,HC,X136
DI,104,T4上料横移气缸取料端,SL_MoveCylinder_Take,137,HC,X137
DI,104,T4上料横移气缸放料端,SL_MoveCylinder_Give,138,HC,X138
DI,104,T4上料气缸放松端,SL_MoveCylinder_Relax,139,HC,X139
DI,104,T4上料气缸料盘检测,SL_MoveCylinder_Check,140,HC,X140
DI,104,T4上料气缸放松端,SL_ClampCylinder_Relax,139,HC,X139
DI,104,T4上料气缸料盘检测,SL_ClampCylinder_Check,140,HC,X140
DI,104,T4出口检测,SL_OutLine_Check,141,HC,X141
,,,,142,HC,X142
,,,,143,HC,X143
......@@ -351,8 +351,8 @@ DO,104,T4顶升上升,SL_TopCylinder_Up,112,HC,Y112
DO,104,T4顶升下降,SL_TopCylinder_Down,113,HC,Y113
DO,104,T4上料横移气缸取料,SL_MoveCylinder_Take,114,HC,Y114
DO,104,T4上料横移气缸放料,SL_MoveCylinder_Give,115,HC,Y115
DO,104,T4上料气缸放松,SL_MoveCylinder_Relax,116,HC,Y116
DO,104,T4上料气缸夹紧,SL_MoveCylinder_Work,117,HC,Y117
DO,104,T4上料气缸放松,SL_ClampCylinder_Relax,116,HC,Y116
DO,104,T4上料气缸夹紧,SL_ClampCylinder_Work,117,HC,Y117
DO,104,T4托盘定位气缸前进,SL_TrayLocation_Before,118,HC,Y118
DO,104,T4托盘定位气缸后退,SL_TrayLocation_After,119,HC,Y119
DO,218,HY18横移顶升上升,HY_TopCylinder_UP,120,HC,Y120
......@@ -564,8 +564,8 @@ DI,103,T3料盘检测15寸,SL_TrayCheck4,263,HC,X263
DI,103,T3伺服定位料盘检测,SL_AxisLocationCheck,264,HC,X264
DI,103,T3上料横移气缸取料端,SL_MoveCylinder_Take,265,HC,X265
DI,103,T3上料横移气缸放料端,SL_MoveCylinder_Give,266,HC,X266
DI,103,T3上料气缸放松端,SL_MoveCylinder_Relax,267,HC,X267
DI,103,T3上料气缸料盘检测,SL_MoveCylinder_Check,268,HC,X268
DI,103,T3上料气缸放松端,SL_ClampCylinder_Relax,267,HC,X267
DI,103,T3上料气缸料盘检测,SL_ClampCylinder_Check,268,HC,X268
DI,103,T3出口检测,SL_OutLine_Check,269,HC,X269
,,,,270,HC,X270
,,,,271,HC,X271
......@@ -588,8 +588,8 @@ DO,103,T3顶升上升,SL_TopCylinder_Up,222,HC,Y222
DO,103,T3顶升下降,SL_TopCylinder_Down,223,HC,Y223
DO,103,T3上料横移气缸取料,SL_MoveCylinder_Take,224,HC,Y224
DO,103,T3上料横移气缸放料,SL_MoveCylinder_Give,225,HC,Y225
DO,103,T3上料气缸放松,SL_MoveCylinder_Relax,226,HC,Y226
DO,103,T3上料气缸夹紧,SL_MoveCylinder_Work,227,HC,Y227
DO,103,T3上料气缸放松,SL_ClampCylinder_Relax,226,HC,Y226
DO,103,T3上料气缸夹紧,SL_ClampCylinder_Work,227,HC,Y227
DO,103,T3托盘定位气缸前进,SL_TrayLocation_Before,228,HC,Y228
DO,103,T3托盘定位气缸后退,SL_TrayLocation_After,229,HC,Y229
,,,,230,HC,Y230
......@@ -802,8 +802,8 @@ DI,101,T1料盘检测15寸,SL_TrayCheck4,375,HC,X375
DI,101,T1伺服定位料盘检测,SL_AxisLocationCheck,376,HC,X376
DI,101,T1上料横移气缸取料端,SL_MoveCylinder_Take,377,HC,X377
DI,101,T1上料横移气缸放料端,SL_MoveCylinder_Give,378,HC,X378
DI,101,T1上料气缸放松端,SL_MoveCylinder_Relax,379,HC,X379
DI,101,T1上料气缸料盘检测,SL_MoveCylinder_Check,380,HC,X380
DI,101,T1上料气缸放松端,SL_ClampCylinder_Relax,379,HC,X379
DI,101,T1上料气缸料盘检测,SL_ClampCylinder_Check,380,HC,X380
,,,,381,HC,X381
,,,,382,HC,X382
,,,,383,HC,X383
......@@ -843,8 +843,8 @@ DO,101,T1顶升上升,SL_TopCylinder_Up,334,HC,Y334
DO,101,T1顶升下降,SL_TopCylinder_Down,335,HC,Y335
DO,101,T1上料横移气缸取料,SL_MoveCylinder_Take,336,HC,Y336
DO,101,T1上料横移气缸放料,SL_MoveCylinder_Give,337,HC,Y337
DO,101,T1上料气缸放松,SL_MoveCylinder_Relax,338,HC,Y338
DO,101,T1上料气缸夹紧,SL_MoveCylinder_Work,339,HC,Y339
DO,101,T1上料气缸放松,SL_ClampCylinder_Relax,338,HC,Y338
DO,101,T1上料气缸夹紧,SL_ClampCylinder_Work,339,HC,Y339
DO,101,T1托盘定位气缸前进,SL_TrayLocation_Before,340,HC,Y340
DO,101,T1托盘定位气缸后退,SL_TrayLocation_After,341,HC,Y341
DO,201,HY1横移顶升上升,HY_TopCylinder_UP,342,HC,Y342
......@@ -888,8 +888,8 @@ DI,102,T2料盘检测15寸,SL_TrayCheck4,423,HC,X423
DI,102,T2伺服定位料盘检测,SL_AxisLocationCheck,424,HC,X424
DI,102,T2上料横移气缸取料端,SL_MoveCylinder_Take,425,HC,X425
DI,102,T2上料横移气缸放料端,SL_MoveCylinder_Give,426,HC,X426
DI,102,T2上料气缸放松端,SL_MoveCylinder_Relax,427,HC,X427
DI,102,T2上料气缸料盘检测,SL_MoveCylinder_Check,428,HC,X428
DI,102,T2上料气缸放松端,SL_ClampCylinder_Relax,427,HC,X427
DI,102,T2上料气缸料盘检测,SL_ClampCylinder_Check,428,HC,X428
,,,,429,HC,X429
,,,,430,HC,X430
,,,,431,HC,X431
......@@ -930,8 +930,8 @@ DO,102,T2顶升上升,SL_TopCylinder_Up,367,HC,Y367
DO,102,T2顶升下降,SL_TopCylinder_Down,368,HC,Y368
DO,102,T2上料横移气缸取料,SL_MoveCylinder_Take,369,HC,Y369
DO,102,T2上料横移气缸放料,SL_MoveCylinder_Give,370,HC,Y370
DO,102,T2上料气缸放松,SL_MoveCylinder_Relax,371,HC,Y371
DO,102,T2上料气缸夹紧,SL_MoveCylinder_Work,372,HC,Y372
DO,102,T2上料气缸放松,SL_ClampCylinder_Relax,371,HC,Y371
DO,102,T2上料气缸夹紧,SL_ClampCylinder_Work,372,HC,Y372
DO,102,T2托盘定位气缸前进,SL_TrayLocation_Before,373,HC,Y373
DO,102,T2托盘定位气缸后退,SL_TrayLocation_After,374,HC,Y374
DO,202,HY2横移顶升上升,HY_TopCylinder_UP,375,HC,Y375
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -331,7 +331,7 @@ namespace OnlineStore.DeviceLibrary
{
return true;
}
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_57_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
&&move.CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
return true;
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
......@@ -26,18 +26,11 @@ namespace OnlineStore.DeviceLibrary
Name = (" " + "_"+ GetNByID() + "_进仓" + DeviceID.ToString().PadLeft(2, '0') + "_" ).ToUpper();
Init();
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-SMove]");
UseAxis = config.UpDownUseAxis.Equals(1);
//if (UseAxis)
//{
// Config.UpDown_Axis.ServerOnDO = IO_Type.UpDownAxis_ServoOn;
// Config.UpDown_Axis.BreakOnDO = IO_Type.UpDownAxis_BreakOn;
//}
UseAxis = config.UpDownUseAxis.Equals(1);
UpdownAxis = new AxisBean(config.UpDown_Axis, Name);
}
private string GetNByID()
......@@ -146,22 +139,27 @@ namespace OnlineStore.DeviceLibrary
//复位时夹紧气缸需要发送，不然后面出入库会有问题
switch (MoveInfo.MoveStep)
{
case LineMoveStep.MH_UpDownHome:
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
case LineMoveStep.MH_01_UpDownHome:
MoveInfo.NextMoveStep(LineMoveStep.MH_02_CylinderUp);
DebugInfo(MoveInfo.MoveType + " ： 升降轴走到待机点");
UpdownUpMove();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case LineMoveStep.MH_CylinderUp:
case LineMoveStep.MH_02_CylinderUp:
MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinderBack);
MoveInfo.NextMoveStep(LineMoveStep.MH_03_OtherBack);
DebugInfo(MoveInfo.MoveType + " : 上升气缸到位，顶升气缸下降，前后气缸后退，夹紧气缸放松");
CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
break;
case LineMoveStep.MH_OtherCylinderBack:
case LineMoveStep.MH_03_OtherBack:
MoveInfo.NextMoveStep(LineMoveStep.MH_04_ClampCheck);
DebugInfo(MoveInfo.MoveType + " : 等待夹爪气缸料盘检测无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
break;
case LineMoveStep.MH_04_ClampCheck:
LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing;
......@@ -252,10 +250,7 @@ namespace OnlineStore.DeviceLibrary
}
OutStoreListPro();
}
/// <summary>
/// 出库队列处理
/// </summary>
private void OutStoreListPro()
{
//料仓出库完成，进仓装置开始出库检测
......@@ -374,17 +369,18 @@ namespace OnlineStore.DeviceLibrary
{
if (UseAxis)
{
MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHome);
MoveInfo.NextMoveStep(LineMoveStep.MH_01_UpDownHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
UpdownAxis.HomeMove(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MH_CylinderUp);
MoveInfo.NextMoveStep(LineMoveStep.MH_02_CylinderUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
#endregion
}
......
source/DeviceLibrary/model/KTK_Store.cs
......@@ -492,17 +492,30 @@ namespace OnlineStore.DeviceLibrary
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
//如果是进仓门口 夹紧
if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Work)))
{
if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.SL_ClampCylinder_Work)))
{
//夹爪夹紧
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
}
if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.SL_ClampCylinder_Relax)))
{
//夹爪放松
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
}
else if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Relax)))
{
//进仓门口放松
//夹爪放松
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
}
else if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Work)))
{
//夹爪夹紧
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
}
else
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
......@@ -313,13 +313,13 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
public static string SL_MoveCylinder_Give = "SL_MoveCylinder_Give";
/// <summary>
/// DI,105,T5上料气缸放松端,SL_MoveCylinder_Relax,91,HC,X91
/// DI,105,T5上料气缸放松端,SL_ClampCylinder_Relax,91,HC,X91
/// </summary>
public static string SL_MoveCylinder_Relax = "SL_MoveCylinder_Relax";
public static string SL_ClampCylinder_Relax = "SL_ClampCylinder_Relax";
/// <summary>
/// DI,105,T5上料气缸料盘检测,SL_MoveCylinder_Check,92,HC,X92
/// DI,105,T5上料气缸料盘检测,SL_ClampCylinder_Check,92,HC,X92
/// </summary>
public static string SL_MoveCylinder_Check = "SL_MoveCylinder_Check";
public static string SL_ClampCylinder_Check = "SL_ClampCylinder_Check";
/// <summary>
/// DO,105,T5运行指示灯,SL_HddLed,64,HC,Y64
/// </summary>
......@@ -369,9 +369,9 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
public static string SL_FixedCylinder_Down = "SL_FixedCylinder_Down";
/// <summary>
/// DO,105,T5上料气缸夹紧,SL_MoveCylinder_Work,83,HC,Y83
/// DO,105,T5上料气缸夹紧,SL_ClampCylinder_Work,83,HC,Y83
/// </summary>
public static string SL_MoveCylinder_Work = "SL_MoveCylinder_Work";
public static string SL_ClampCylinder_Work = "SL_ClampCylinder_Work";
/// <summary>
/// DO,105,T5托盘定位气缸前进,SL_TrayLocation_Before,84,HC,Y84
/// </summary>
......@@ -614,13 +614,13 @@ namespace OnlineStore.LoadCSVLibrary
//public static string SL_MoveCylinder_Down = "SL_MoveCylinder_Down";
///// <summary>
///// DI /DO SL1上料气缸放松端 SL_MoveCylinder_Relax X128
///// DI /DO SL1上料气缸放松端 SL_ClampCylinder_Relax X128
///// </summary>
//public static string SL_MoveCylinder_Relax = "SL_MoveCylinder_Relax";
//public static string SL_ClampCylinder_Relax = "SL_ClampCylinder_Relax";
///// <summary>
///// DI /DO SL1上料气缸夹紧端 SL_MoveCylinder_Work X129
///// DI /DO SL1上料气缸夹紧端 SL_ClampCylinder_Work X129
///// </summary>
//public static string SL_MoveCylinder_Work = "SL_MoveCylinder_Work";
//public static string SL_ClampCylinder_Work = "SL_ClampCylinder_Work";
///// <summary>
///// DI SL1线体出口横移检测 SL_SideWay_OutCheck X136
......
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