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Commit eed214ee 由 LN
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托盘横移条件修改。T4托盘放行修改。

1 个父辈 724c41a9
内嵌 并排
正在显示 7 个修改的文件 包含 120 行增加 和 74 行删除
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -5,6 +5,7 @@ using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
......@@ -86,8 +87,17 @@ namespace OnlineStore.DeviceLibrary
}
private static void AgvClient_CloseDoor(string id, string rfid)
{
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] ");
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 更新状态 ");
UpdateAction(id, ClientAction.CloseDoor);
Task.Factory.StartNew(delegate
{
Thread.Sleep(5000);
if (GetAction(id).Equals(ClientAction.CloseDoor))
{
SetStatus(id);
LogUtil.error("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 5秒后，更新状态为None ");
}
});
}
private static void AgvClient_Ready(string id, string rfid)
{
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -990,7 +990,7 @@ namespace OnlineStore.DeviceLibrary
});
}
internal void ShelfEnterProcess()
{
{
Task.Factory.StartNew(delegate
{
string logName = Name + "AGV料架进入 [" + Config.AgvInName + "] ";
......@@ -998,55 +998,55 @@ namespace OnlineStore.DeviceLibrary
{
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(logName + " 开始");
//AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High);
LogUtil.info(logName + " 开始，设置状态=MayEnter");
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.MayEnter, ClientLevel.High, true);
ProcessShelfEnter = true;
////进料阻挡上升
//IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
//转动线体
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待进料检测信号
bool result = WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 60000);
bool result = WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 600000);
if (!result)
{
LogUtil.info(logName + " 等待 SL_Entry_Check=High 超时， 等待 SL_Stop_Check 信号");
}
else
{
LogUtil.info(logName + "已收到 SL_Entry_Check=High ， 等待 SL_Stop_Check 信号");
}
result = WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 60000);
LogUtil.info(logName + " 等待 SL_Entry_Check=High " + result + "， 等待 SL_Stop_Check 信号");
result = WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 600000);
if (!result)
LogUtil.info(logName + " 等待 SL_Stop_Check=High " + result + "，开始等待CloseDoor 超时10分钟");
try
{
LogUtil.info(logName + " 等待 SL_Stop_Check=High 超时，等待3000后停止转动，发送 FinishEnter");
result = WaitUtil.Wait(600000, delegate ()
{
return AgvClient.GetAction(Config.AgvInName).Equals(ClientAction.CloseDoor);
}, logName + "等待CloseDoor超时");
}
else
catch (TimeoutException te)
{
LogUtil.info(logName + "已收到 SL_Stop_Check=High ，等待5000后停止转动，发送 FinishEnter");
LogUtil.error(logName + " 超时：" + te);
}
//等待200毫秒后停止转动
Thread.Sleep(5000);
if (MoveInfo.IsStep(LineMoveStep.FI_05_LineStart))
////等待 15000 毫秒后停止转动
//Thread.Sleep(15000);
if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_05_LineStart))
{
LogUtil.info(logName + " 等待5000后, MoveInfo.MoveType= FI_03_LineStart 不需要停止链条转动");
LogUtil.info(logName + " 完成, MoveInfo.MoveType= FI_03_LineStart 不需要停止链条转动");
}
else
{
LogUtil.info(logName + "等待5000后，停止链条转动");
LogUtil.info(logName + "完成，停止链条转动");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
//料架可离开
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
//AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Thread.Sleep(1000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
ProcessShelfEnter = false;
LogUtil.info(logName + " 结束");
}
else
{
LogUtil.info(logName + "开始，未检测到料架信号，不处理，设置=None");
AgvClient.SetStatus(Config.AgvInName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
}
}
catch (TimeoutException te)
{
......@@ -1063,7 +1063,6 @@ namespace OnlineStore.DeviceLibrary
}
});
}
private bool ReadShelfId()
{
try
......@@ -1109,6 +1108,17 @@ namespace OnlineStore.DeviceLibrary
#endregion
#endregion
internal bool NeedEmptyTray()
{
if (MoveInfo.MoveType.Equals(LineMoveType.InStore) &&
MoveInfo.MoveStep > LineMoveStep.FI_14_TrayLocation_Before &&
MoveInfo.MoveStep < LineMoveStep.FI_51_BatchAxisToP2)
{
return true;
}
return false;
}
private string lastcode = "";
public override string GetMoveStr()
{
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -518,7 +518,6 @@ namespace OnlineStore.DeviceLibrary
}
else
{
TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, LastPosParam.Clone(), LastPosParam.NgMsg);
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P2: [" + targetPositon + "] 更新托盘信息【" + tray.ToStr() + "】");
......@@ -560,14 +559,23 @@ namespace OnlineStore.DeviceLibrary
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_36_TrayMoveOk);
MoveInfo.MoveParam = new InOutParam();
InLog("料盘移栽" + MoveInfo.SLog + "：升降轴已到P1，托盘放行");
TrayMoveOk();
if (IOValue(IO_Type.SL_ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
FI_37_TrayMoveOk();
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_36_ClampCheck);
InLog("料盘移栽" + MoveInfo.SLog + "：等待夹爪无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.LOW));
}
}
}
else if (MoveInfo.IsStep(LineMoveStep.FI_36_TrayMoveOk))
}
else if (MoveInfo.IsStep(LineMoveStep.FI_36_ClampCheck))
{
FI_37_TrayMoveOk();
}
else if (MoveInfo.IsStep(LineMoveStep.FI_37_TrayMoveOk))
{
if (axisCheckTimer != null && axisCheckTimer.Enabled)
{
......@@ -719,6 +727,14 @@ namespace OnlineStore.DeviceLibrary
#endregion
}
private void FI_37_TrayMoveOk()
{
MoveInfo.NextMoveStep(LineMoveStep.FI_37_TrayMoveOk);
MoveInfo.MoveParam = new InOutParam();
InLog("料盘移栽" + MoveInfo.SLog + "：，托盘放行");
TrayMoveOk();
}
private Task getPosTask = null;
private InOutParam LastPosParam = null;
private int LastResult = 0;
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -593,8 +593,7 @@ namespace OnlineStore.DeviceLibrary
{
if (CylinderIsOk(IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take))
{
{
int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
if (UpdownAxis.IsInPosition(targetP))
......@@ -613,13 +612,14 @@ namespace OnlineStore.DeviceLibrary
if (UpdownIsInP1())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_22_CylinderTake);
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端");
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端，等待夹爪无料");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_21_AxisDownMove);
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端 前升降轴先到P1 ["+ Config.UpDownAxisP1 + "]");
OutLog(outType + MoveInfo.SLog + "：上料横移机构取料端 前升降轴先到P1 [" + Config.UpDownAxisP1 + "]");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
}
......@@ -660,38 +660,37 @@ namespace OnlineStore.DeviceLibrary
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(trayNum, false);
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
TrayMoveOk();
}
else if (MoveInfo.IsStep(LineMoveStep.FO_26_UpdownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_27_ClampCheck);
OutLog(outType + MoveInfo.SLog + "：检测夹爪料盘检测=HIGH");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(LineMoveStep.FO_27_ClampCheck))
{
if (UpdownIsInP1())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_28_CylinderGive);
OutLog(outType + MoveInfo.SLog + "：上料横移机构到放料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
if (IOValue(IO_Type.SL_ClampCylinder_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_27_ClampCheck);
OutLog(outType + MoveInfo.SLog + "：检测夹爪料盘检测=HIGH");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_ClampCylinder_Check, IO_VALUE.HIGH));
}
else
{
FO_28_CylinderGive(outType);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_26_UpdownAxisToP1);
OutLog(outType + MoveInfo.SLog + "：上料横移机构到放料端前，先升降轴先到P1 ["+ Config.UpDownAxisP1 + "]");
OutLog(outType + MoveInfo.SLog + "：上料横移机构到放料端前，先升降轴先到P1 [" + Config.UpDownAxisP1 + "]");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
}
else if (MoveInfo.IsStep(LineMoveStep.FO_27_ClampCheck))
{
FO_28_CylinderGive(outType);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_28_CylinderGive))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_29_UpdownAxisToP3);
OutLog(outType + MoveInfo.SLog + "：移栽伺服到P3 ["+ Config.UpDownAxisP3 + "]");
OutLog(outType + MoveInfo.SLog + "：移栽伺服到P3 [" + Config.UpDownAxisP3 + "]");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.IsStep(LineMoveStep.FO_29_UpdownAxisToP3))
......@@ -795,6 +794,17 @@ namespace OnlineStore.DeviceLibrary
}
}
}
private void FO_28_CylinderGive(string outType)
{
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
TrayManager.UpdateTrayInfo(trayNum, false);
TrayMoveOk();
MoveInfo.NextMoveStep(LineMoveStep.FO_28_CylinderGive);
OutLog(outType + MoveInfo.SLog + "：更新托盘【"+ trayNum + "】为空，托盘可离开，上料横移机构到放料端 ");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
private bool afterPutOk = false;
private void FO_25_CylinderTighten(string outType)
{
......
source/DeviceLibrary/assemblyLine/HY/HY_C1Line.cs
......@@ -851,7 +851,7 @@ namespace OnlineStore.DeviceLibrary
FeedingEquip feed1 = LineManager.Line.FeedingEquipMap[101];
FeedingEquip feed2 = LineManager.Line.FeedingEquipMap[102];
if ((!feed1.MoveInfo.MoveType.Equals(LineMoveType.InStore)) && (!feed2.MoveInfo.MoveType.Equals(LineMoveType.InStore)))
if ((!feed1.NeedEmptyTray()) && (!feed2.NeedEmptyTray()))
{
return true;
}
......@@ -864,15 +864,14 @@ namespace OnlineStore.DeviceLibrary
{
if (tray.InOrOutStore.Equals(1))
{
int storeId = tray.InoutPar.GetStoreId();
List<int> instoreId = new List<int> { 1, 2, 3, 4, 5, 13, 14, 15, 16 };
if (!instoreId.Contains(storeId))
//NG料需要横移
if (tray.InoutPar.InStoreNg)
{
return true;
}
//NG料需要横移
if (tray.InoutPar.InStoreNg)
int storeId = tray.InoutPar.GetStoreId();
List<int> instoreId = new List<int> { 1, 2, 3, 4, 5, 13, 14, 15, 16 };
if (!instoreId.Contains(storeId))
{
return true;
}
......@@ -893,16 +892,17 @@ namespace OnlineStore.DeviceLibrary
}
else if (tray.InOrOutStore.Equals(1))
{
int storeId = tray.InoutPar.GetStoreId();
List<int> instoreId = new List<int> { 11, 12, 23, 24 };
if (!instoreId.Contains(storeId))
if (tray.InoutPar.InStoreNg)
{
return true;
}
if (tray.InoutPar.InStoreNg)
int storeId = tray.InoutPar.GetStoreId();
List<int> instoreId = new List<int> { 11, 12, 23, 24 };
if (!instoreId.Contains(storeId))
{
return true;
}
}
}
}
......@@ -928,7 +928,7 @@ namespace OnlineStore.DeviceLibrary
}
FeedingEquip feed5 = LineManager.Line.FeedingEquipMap[105];
if (!feed5.MoveInfo.MoveType.Equals(LineMoveType.InStore))
if (!feed5.NeedEmptyTray())
{
return true;
}
......
source/DeviceLibrary/assemblyLine/HY/HY_C1_SLStation.cs
......@@ -591,10 +591,6 @@ namespace OnlineStore.DeviceLibrary
if (Config.WorkDeviceId > 0)
{
TrayInfo trayInfo = TrayManager.GetTrayInfo(trayNum);
//if (trayInfo.IsFull)
//{
// return false;
//}
//如果是HY02,且T1在等待托盘，先放行一个托盘
if (DeviceID.Equals(202))
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -608,9 +608,13 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_35_AxisToP1,
/// <summary>
/// 料盘移栽：检测夹爪无料
/// </summary>
FI_36_ClampCheck,
/// <summary>
/// 料盘移栽： 放托盘离开
/// </summary>
FI_36_TrayMoveOk,
FI_37_TrayMoveOk,
......
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