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Commit f4c7862c 由 LN
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接驳台bug修改

1 个父辈 3b3761ab
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内嵌 并排
正在显示 3 个修改的文件 包含 50 行增加 和 47 行删除
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,
PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00E96448319),,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,
PRO,0,对应的横移模块,SidesWayNum,0,,
......
source/DeviceLibrary/assemblyLine/HY/HY_Coveryor_Partial.cs
......@@ -311,11 +311,19 @@ namespace OnlineStore.DeviceLibrary
JHY_11_TopDown();
}
}
private void JHY_10_ReelProEnd()
private void TrayCanGo()
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_10_ReelProEnd);
LogUtil.info(Name + " 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，更新托盘[" + currTrayNum + "]为空");
TrayManager.UpdateTrayInfo(currTrayNum);
//更新托盘为空
if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.JHY_10_ReelProEnd);
LogUtil.info(Name + " 接驳台托盘" + SecondMoveInfo.SLog + "：料盘已移走，更新托盘[" + currTrayNum + "]为空");
TrayManager.UpdateTrayInfo(currTrayNum);
}
else
{
OutLog(logName + MoveInfo.SLog + "：SecondMoveInfo当前无处理，暂时不用 JHY_10_ReelProEnd ");
}
}
/// <summary>
......@@ -341,9 +349,9 @@ namespace OnlineStore.DeviceLibrary
InOutParam inoup = trayInfo.InoutPar;
if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel.Equals(false) && inoup.cutReel.Equals(false))
{
LogInfo(" 料盘需要横移到出料线：工单出库料" + "" + inoup.ToStr());
LogInfo(" 工单料->接驳台：" + "" + inoup.ToStr());
SecondMoveInfo.MoveParam = inoup;
MoveInfo.MoveParam = inoup;
//MoveInfo.MoveParam = inoup;
return true;
}
......@@ -376,7 +384,7 @@ namespace OnlineStore.DeviceLibrary
InOutParam inoup = trayInfo.InoutPar;
if (trayInfo.IsFull && trayInfo.InoutPar.InStoreNg && this.DeviceID.Equals(217))
{
LogInfo(" 料盘需要移栽到NG箱：入料NG料" + "" + inoup.ToStr());
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 != "")
{
......@@ -388,7 +396,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (trayInfo.InOrOutStore.Equals(ReelType.OutStore) && inoup.urgentReel && this.DeviceID.Equals(217))
{
LogInfo(" 料盘需要移栽到NG箱：紧急料" + "" + inoup.ToStr());
LogInfo(" 紧急料->NG箱" + "" + inoup.ToStr());
SecondMoveInfo.MoveParam = inoup;
MoveInfo.MoveParam = inoup;
return true;
......@@ -459,7 +467,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.JM_02_CylinderTake);
CylinderMove(MoveInfo, IO_Type.HY_MoveCylinder_Give, IO_Type.HY_MoveCylinder_Take);
if (IsNgPro())
{
{
OutLog(logName + MoveInfo.SLog + "：横移气缸取料端");
}
else
......@@ -504,16 +512,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(LineMoveStep.JM_07_ClampCheck))
{
//更新托盘为空
if (SecondMoveInfo.IsStep(LineMoveStep.JHY_09_WaitProcessReel))
{
//托盘可以离开
JHY_10_ReelProEnd();
}
else
{
OutLog(logName + MoveInfo.SLog + "：SecondMoveInfo当前无处理，暂时不用 JHY_10_ReelProEnd ");
}
if (IsNgPro())
{
MoveInfo.NextMoveStep(LineMoveStep.JM_11_CylinderGive);
......@@ -549,26 +548,7 @@ namespace OnlineStore.DeviceLibrary
OutLog(logName + MoveInfo.SLog + "：夹料气缸放松 ");
CylinderMove(MoveInfo, IO_Type.HY_ClampCylinder_Work, IO_Type.HY_ClampCylinder_Relax);
if (MoveInfo.MoveParam.urgentReel)
{
afterPutCutOK = false;
OutLog("紧急出料：" + MoveInfo.SLog + "，料盘已放入NG箱，发送 afterPutCut");
TaskData taskData;
string shefId = "BN";
int ShelfLoc = 1;
string msg = SServerManager.afterPutCut(Name, shefId, MoveInfo.MoveParam.WareCode, "", ShelfLoc, out taskData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "【" + MoveInfo.MoveParam.WareCode + "】【" + shefId + "】【" + ShelfLoc.ToString() + "】afterPutCut 结果：" + msg);
taskData = null;
}
afterPutCutOK = true;
}
else
{
afterPutCutOK = true;
}
}
else if (MoveInfo.IsStep(LineMoveStep.JM_13_ClampRelax))
{
......@@ -589,14 +569,32 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.JM_15_ClampCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.JM_16_ReelArrive);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
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;
int robotIndex = GetRobotIndex();
LogUtil.info(Name + MoveInfo.SLog + logName + "送料，接驳台有料，调用arriveRobotLocation=" + robotIndex + "[" + code + "]");
string msg = SServerManager.arriveRobotLocation(Name, robotIndex, code);
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
if (MoveInfo.MoveParam.urgentReel)
{
LogUtil.info(Name + MoveInfo.SLog + logName + "，紧急料已放入NG箱，发送 afterPutCut [" + code + "] ");
TaskData taskData;
string msg = SServerManager.afterPutCut(Name, "BN", code, "", 1, out taskData);
afterPutCutOK = true;
}
else if (!MoveInfo.MoveParam.InStoreNg)
{
int robotIndex = GetRobotIndex();
LogUtil.info(Name + MoveInfo.SLog + logName + "，工单料到达接驳台，发送 arriveRobotLocation=" + robotIndex + "[" + code + "]");
string msg = SServerManager.arriveRobotLocation(Name, robotIndex, code);
afterPutCutOK = true;
}
else
{
afterPutCutOK = true;
}
TrayCanGo();
//MoveInfo.EndMove();
//runStatus = LineRunStatus.Runing;
}
else if (MoveInfo.IsStep(LineMoveStep.JM_16_ReelArrive))
{
......@@ -606,16 +604,21 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(LineMoveStep.JM_17_CylinderTake))
{
string log = "arriveRobotLocation";
if (IsNgPro())
{
log = "afterPutCutTask";
}
if (afterPutCutOK)
{
ClearTimeoutAlarm("给服务器发送afterPutCutTask完成");
ClearTimeoutAlarm("给服务器发送 "+ log + " 完成");
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
OutLog(logName + MoveInfo.SLog + "：结束 ");
}
else if (MoveInfo.IsTimeOut(60))
{
MoveTimeOut(MoveInfo, "等待给服务器发送afterPutCutTask完成");
MoveTimeOut(MoveInfo, "等待给服务器发送 " + log + " 完成");
}
}
else
......
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