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Commit 4098afb9 由 LN
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夹爪分开配置。

1 个父辈 0c67c918
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内嵌 并排
正在显示 8 个修改的文件 包含 100 行增加 和 46 行删除
source/AssemblyLineClient/记录.txt
20200428 20210510
夹爪脆盘和普通料盘参数分开配置
20200428
1.脆盘料号配置增加界面，修改后实时生效。 1.脆盘料号配置增加界面，修改后实时生效。
2.预扫码扫码失败照片保存到文件夹。 2.预扫码扫码失败照片保存到文件夹。
3.紧急料直接放入NG箱 3.紧急料直接放入NG箱
...@@ -42,3 +45,6 @@ todesk 874075053 Acc123 ...@@ -42,3 +45,6 @@ todesk 874075053 Acc123
线体转动方向 线体转动方向
D7处无检测信号，如何判断出料口是否有料 D7处无检测信号，如何判断出料口是否有料
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 定位气缸下降 ，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); LocationCylinderDown(MoveInfo);
//CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax); //CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo); ClampJwa.Relax(MoveInfo,LastCodeList.ToArray());
break; break;
case LineMoveStep.FR_15_TopDown: case LineMoveStep.FR_15_TopDown:
RFIDData data = RFIDManager.GetShelfId(DeviceID); RFIDData data = RFIDManager.GetShelfId(DeviceID);
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -506,7 +506,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -506,7 +506,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FI_34_CylinderRelax); MoveInfo.NextMoveStep(LineMoveStep.FI_34_CylinderRelax);
InLog("料盘移栽" + MoveInfo.SLog + "：上料气缸放松"); InLog("料盘移栽" + MoveInfo.SLog + "：上料气缸放松");
//CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax); //CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo); ClampJwa.Relax(MoveInfo, LastCodeList.ToArray());
} }
else if (MoveInfo.IsStep(LineMoveStep.FI_34_CylinderRelax)) else if (MoveInfo.IsStep(LineMoveStep.FI_34_CylinderRelax))
{ {
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
...@@ -364,7 +364,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -364,7 +364,7 @@ namespace OnlineStore.DeviceLibrary
ClampCount = 1; ClampCount = 1;
OutLog("出库 " + MoveInfo.SLog + ": 第一次未抓到料，重新抓一次，夹爪先放松", 1); OutLog("出库 " + MoveInfo.SLog + ": 第一次未抓到料，重新抓一次，夹爪先放松", 1);
//CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax); //CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo); ClampJwa.Relax(MoveInfo,MoveInfo.MoveParam.WareCode);
} }
else else
{ {
...@@ -447,7 +447,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -447,7 +447,7 @@ namespace OnlineStore.DeviceLibrary
//出库全部完成 //出库全部完成
MoveInfo.NextMoveStep(LineMoveStep.MO_61_CylinderRelax); MoveInfo.NextMoveStep(LineMoveStep.MO_61_CylinderRelax);
//CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax); //CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo); ClampJwa.Relax(MoveInfo, MoveInfo.MoveParam.WareCode);
EDataManager.UpdateParam(DeviceID); EDataManager.UpdateParam(DeviceID);
} }
...@@ -640,7 +640,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -640,7 +640,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.MI_12_CylinderRelax); MoveInfo.NextMoveStep(LineMoveStep.MI_12_CylinderRelax);
InLog("入库 " + MoveInfo.SLog + "，夹料气缸放松"); InLog("入库 " + MoveInfo.SLog + "，夹料气缸放松");
//CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax); //CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
ClampJwa.Relax(MoveInfo); ClampJwa.Relax(MoveInfo, MoveInfo.MoveParam.WareCode);
EDataManager.UpdateParam(DeviceID); EDataManager.UpdateParam(DeviceID);
} }
else if (MoveInfo.IsStep(LineMoveStep.MI_12_CylinderRelax)) else if (MoveInfo.IsStep(LineMoveStep.MI_12_CylinderRelax))
......
source/DeviceLibrary/assemblymanager/ALineManager.cs
...@@ -24,24 +24,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -24,24 +24,24 @@ namespace OnlineStore.DeviceLibrary
public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals(""); public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals("");
public static LineBean Line = null; public static LineBean Line = null;
public static Line_Config Config = null; public static Line_Config Config = null;
public static Dictionary<int, DeviceConfig> allConfigMap = null; public static Dictionary<int, DeviceConfig> allConfigMap = null;
public LineManager() public LineManager()
{ {
} }
public static bool CheckEnum(Type type) public static bool CheckEnum(Type type)
{ {
if (type.IsEnum) if (type.IsEnum)
{ {
List<int> valueList = new List<int>(); List<int> valueList = new List<int>();
Array array = Enum.GetValues(type); Array array = Enum.GetValues(type);
foreach (int item in array) foreach (int item in array)
{ {
if (valueList.Contains(item)) if (valueList.Contains(item))
{ {
LogUtil.error( type.Name + "枚举值：" + item + "重复存在，请检查代码！程序退出。"); LogUtil.error(type.Name + "枚举值：" + item + "重复存在，请检查代码！程序退出。");
Application.Exit(); Application.Exit();
return false; return false;
} }
valueList.Add(item); valueList.Add(item);
} }
...@@ -77,7 +77,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -77,7 +77,7 @@ namespace OnlineStore.DeviceLibrary
} }
Dictionary<int, MoveEquip_Config> moveECMap = null; Dictionary<int, MoveEquip_Config> moveECMap = null;
Dictionary<int, FeedingEquip_Config> feedingECMap = null; Dictionary<int, FeedingEquip_Config> feedingECMap = null;
Dictionary<int, HYEquip_Config> HYECMap = null; Dictionary<int, HYEquip_Config> HYECMap = null;
DeviceConfig.SubDIList = new Dictionary<int, Dictionary<string, ConfigIO>>(); DeviceConfig.SubDIList = new Dictionary<int, Dictionary<string, ConfigIO>>();
DeviceConfig.SubDOList = new Dictionary<int, Dictionary<string, ConfigIO>>(); DeviceConfig.SubDOList = new Dictionary<int, Dictionary<string, ConfigIO>>();
...@@ -86,9 +86,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -86,9 +86,9 @@ namespace OnlineStore.DeviceLibrary
moveECMap = new Dictionary<int, MoveEquip_Config>(); moveECMap = new Dictionary<int, MoveEquip_Config>();
feedingECMap = new Dictionary<int, FeedingEquip_Config>(); feedingECMap = new Dictionary<int, FeedingEquip_Config>();
HYECMap = new Dictionary<int, HYEquip_Config>(); HYECMap = new Dictionary<int, HYEquip_Config>();
allConfigMap = new Dictionary<int, DeviceConfig>(); allConfigMap = new Dictionary<int, DeviceConfig>();
isInit = true; isInit = true;
string lineType = ConfigAppSettings.GetValue(Setting_Init.Line_Type); string lineType = ConfigAppSettings.GetValue(Setting_Init.Line_Type);
...@@ -113,8 +113,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -113,8 +113,8 @@ namespace OnlineStore.DeviceLibrary
} }
MoveEquip_Config moveConfig = CSVConfigReader.LoadMoveConfig(i, DeviceType.MoveEquip, config); MoveEquip_Config moveConfig = CSVConfigReader.LoadMoveConfig(i, DeviceType.MoveEquip, config);
moveConfig.ConfigSpeed(Config); moveConfig.ConfigSpeed(Config);
int subType = i; int subType = i;
moveECMap.Add(i, moveConfig); moveECMap.Add(i, moveConfig);
} }
foreach (int i in moveECMap.Keys) foreach (int i in moveECMap.Keys)
{ {
...@@ -126,7 +126,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -126,7 +126,7 @@ namespace OnlineStore.DeviceLibrary
string feedingEquipConfig = ConfigAppSettings.GetValue(Setting_Init.ConfigPath_FeedingEquip); string feedingEquipConfig = ConfigAppSettings.GetValue(Setting_Init.ConfigPath_FeedingEquip);
for (int i = 1; i <= feedingEquipCount; i++) for (int i = 1; i <= feedingEquipCount; i++)
{ {
int subType = 100 + i; int subType = 100 + i;
string config = appPath + feedingEquipConfig.Replace(".csv", "_" + i + ".csv"); string config = appPath + feedingEquipConfig.Replace(".csv", "_" + i + ".csv");
FeedingEquip_Config moveConfig = CSVConfigReader.LoadFeedingConfig(subType, DeviceType.FeedingEquip, config); FeedingEquip_Config moveConfig = CSVConfigReader.LoadFeedingConfig(subType, DeviceType.FeedingEquip, config);
moveConfig.ConfigSpeed(Config); moveConfig.ConfigSpeed(Config);
...@@ -154,7 +154,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -154,7 +154,7 @@ namespace OnlineStore.DeviceLibrary
HYECMap.Add(subType, moveConfig); HYECMap.Add(subType, moveConfig);
allConfigMap.Add(subType, moveConfig); allConfigMap.Add(subType, moveConfig);
} }
Config.SetIO(1000); Config.SetIO(1000);
Line = new LineBean(Config, moveECMap, feedingECMap, HYECMap); Line = new LineBean(Config, moveECMap, feedingECMap, HYECMap);
LogUtil.info("加载 完成！"); LogUtil.info("加载 完成！");
...@@ -174,8 +174,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -174,8 +174,8 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
public static void SaveMoveEquipConfig(MoveEquip_Config config) public static void SaveMoveEquipConfig(MoveEquip_Config config)
{ {
try try
...@@ -185,14 +185,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -185,14 +185,14 @@ namespace OnlineStore.DeviceLibrary
string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.ConfigPath_MoveEquip); string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.ConfigPath_MoveEquip);
string configBase = appPath + moveEquipConfig; string configBase = appPath + moveEquipConfig;
string configStr = appPath + moveEquipConfig.Replace(".csv", "_" + config.Id.ToString().PadLeft(2,'0') + ".csv"); string configStr = appPath + moveEquipConfig.Replace(".csv", "_" + config.Id.ToString().PadLeft(2, '0') + ".csv");
allConfigMap[config.Id] = config; allConfigMap[config.Id] = config;
if (!File.Exists(configStr)) if (!File.Exists(configStr))
{ {
LogUtil.info("复制配置文件【" + configBase + "】->【" + configStr + "】"); LogUtil.info("复制配置文件【" + configBase + "】->【" + configStr + "】");
File.Copy(configBase, configStr); File.Copy(configBase, configStr);
} }
bool result = CSVConfigReader.SaveConfig(configStr, config,typeof(MoveEquip_Config)); bool result = CSVConfigReader.SaveConfig(configStr, config, typeof(MoveEquip_Config));
if (!result) if (!result)
{ {
LogUtil.error("保存配置文件失败：" + configStr); LogUtil.error("保存配置文件失败：" + configStr);
...@@ -200,7 +200,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -200,7 +200,7 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("出错：",ex); LogUtil.error("出错：", ex);
} }
} }
public static void SaveFeedingEquipConfig(FeedingEquip_Config config) public static void SaveFeedingEquipConfig(FeedingEquip_Config config)
...@@ -212,9 +212,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -212,9 +212,9 @@ namespace OnlineStore.DeviceLibrary
string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.ConfigPath_FeedingEquip); string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.ConfigPath_FeedingEquip);
int id = config.Id - 100; int id = config.Id - 100;
string configStr = appPath + moveEquipConfig.Replace(".csv", "_" + id+ ".csv"); string configStr = appPath + moveEquipConfig.Replace(".csv", "_" + id + ".csv");
allConfigMap[config.Id] = config; allConfigMap[config.Id] = config;
bool result = CSVConfigReader.SaveConfig(configStr, config,typeof(FeedingEquip_Config)); bool result = CSVConfigReader.SaveConfig(configStr, config, typeof(FeedingEquip_Config));
if (!result) if (!result)
{ {
LogUtil.error("保存配置文件失败：" + configStr); LogUtil.error("保存配置文件失败：" + configStr);
...@@ -222,7 +222,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -222,7 +222,7 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("出错：",ex); LogUtil.error("出错：", ex);
} }
} }
public static void SaveHYEquipConfig(HYEquip_Config config) public static void SaveHYEquipConfig(HYEquip_Config config)
...@@ -241,7 +241,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -241,7 +241,7 @@ namespace OnlineStore.DeviceLibrary
File.Copy(configBase, configStr); File.Copy(configBase, configStr);
} }
allConfigMap[config.Id] = config; allConfigMap[config.Id] = config;
bool result = CSVConfigReader.SaveConfig(configStr, config,typeof(HYEquip_Config)); bool result = CSVConfigReader.SaveConfig(configStr, config, typeof(HYEquip_Config));
if (!result) if (!result)
{ {
LogUtil.error("保存配置文件失败：" + configStr); LogUtil.error("保存配置文件失败：" + configStr);
...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("出错：",ex); LogUtil.error("出错：", ex);
} }
} }
...@@ -298,25 +298,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -298,25 +298,25 @@ namespace OnlineStore.DeviceLibrary
{ {
PnList.Add(s); PnList.Add(s);
} }
} }
} }
return PnList; return PnList;
} }
public static void UpdatePnList() public static void UpdatePnList()
{ {
if (PnList == null) if (PnList == null)
{ {
return; return;
} }
string str = ""; string str = "";
foreach(string obj in PnList) foreach (string obj in PnList)
{ {
str += obj + "#"; str += obj + "#";
} }
ConfigAppSettings.SaveValue(Setting_Init.PNList, str); ConfigAppSettings.SaveValue(Setting_Init.PNList, str);
LogUtil.info("更改脆盘料号集合：" + str); LogUtil.info("更改脆盘料号集合：" + str);
} }
public static void RemovePN(string pn) public static void RemovePN(string pn)
{ {
if (PnList.Contains(pn)) if (PnList.Contains(pn))
{ {
...@@ -328,11 +328,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -328,11 +328,12 @@ namespace OnlineStore.DeviceLibrary
{ {
if (!PnList.Contains(pn)) if (!PnList.Contains(pn))
{ {
PnList.Add (pn); PnList.Add(pn);
UpdatePnList(); UpdatePnList();
} }
} }
public static bool NeedWaitHassReel(params string[] codes)
public static bool IsCrispReel(params string[] codes)
{ {
try try
{ {
...@@ -347,13 +348,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -347,13 +348,13 @@ namespace OnlineStore.DeviceLibrary
{ {
if (codePn.Equals(pn)) if (codePn.Equals(pn))
{ {
LogUtil.info("夹爪不检测是否有料：条码[" + code+"]料号["+ pn + "]是脆盘"); LogUtil.info("IsCrispReel：条码[" + code + "]料号[" + pn + "]是脆盘");
return false; return true;
} }
else if (codePn.StartsWith(pn)) else if (codePn.StartsWith(pn))
{ {
LogUtil.info("夹爪不检测是否有料：条码[" + code + "]料号[" + pn + "]认为是脆盘"); LogUtil.info("IsCrispReel：条码[" + code + "]料号[" + pn + "]认为是脆盘");
return false; return true;
} }
} }
} }
...@@ -361,9 +362,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -361,9 +362,14 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("NeedWaitHassReel出错：" + ex.ToString()); LogUtil.error("IsCrispReel 出错：" + ex.ToString());
} }
return false;
}
public static bool NeedWaitHassReel(params string[] codes)
{
return true; return true;
//return !IsCrispReel(codes);
} }
} }
} }
source/DeviceLibrary/baan/ClampJawBean.cs
...@@ -58,15 +58,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -58,15 +58,27 @@ namespace OnlineStore.DeviceLibrary
} }
public void ClampPush(LineMoveInfo moveInfo, bool checkHasReel, params string[] code) public void ClampPush(LineMoveInfo moveInfo, bool checkHasReel, params string[] code)
{ {
bool iscrisp = LineManager.IsCrispReel(code);
float distance = config.Distance;
if (rmaxis != null && rmaxis.IsPortOpen) if (rmaxis != null && rmaxis.IsPortOpen)
{ {
rmaxis.Push(config.Force, config.Distance, config.Velocity); if (iscrisp)
{
distance = config.CrispDistance;
rmaxis.Push(config.CrispForce, config.CrispDistance, config.CrispPushVelocity);
}
else
{
distance = config.Distance;
rmaxis.Push(config.Force, config.Distance, config.PushVelocity);
}
} }
if (moveInfo != null) if (moveInfo != null)
{ {
moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached((int)config.Distance)); moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached((int)distance));
if (checkHasReel && LineManager.NeedWaitHassReel(code)) if (checkHasReel )
{ //if (checkHasReel && LineManager.NeedWaitHassReel(code))
{
moveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel()); moveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel());
//有一个到位就算到位 //有一个到位就算到位
moveInfo.OneWaitCanEndStep = true; moveInfo.OneWaitCanEndStep = true;
...@@ -121,12 +133,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -121,12 +133,20 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
public void Relax(LineMoveInfo moveInfo = null) public void Relax(LineMoveInfo moveInfo = null, params string[] code)
{ {
bool iscrisp = LineManager.IsCrispReel(code);
int p = 0; int p = 0;
if (rmaxis != null && rmaxis.IsPortOpen) if (rmaxis != null && rmaxis.IsPortOpen)
{ {
rmaxis.MoveAbsolute(p); if (iscrisp)
{
rmaxis.MoveAbsolute(p, config.CrispVelocity, config.CrispAddSpeed, config.CrispDelSpeed);
}
else
{
rmaxis.MoveAbsolute(p, config.Velocity, config.AddSpeed, config.DelSpeed);
}
} }
if (moveInfo != null) if (moveInfo != null)
{ {
...@@ -196,7 +216,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -196,7 +216,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (rmaxis != null && rmaxis.IsPortOpen) if (rmaxis != null && rmaxis.IsPortOpen)
{ {
rmaxis.Push(force, distance, config.Velocity); rmaxis.Push(force, distance, config.CrispVelocity);
} }
} }
......
source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs
...@@ -163,6 +163,28 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -163,6 +163,28 @@ namespace OnlineStore.LoadCSVLibrary
public float Force { get; set; } public float Force { get; set; }
[CSVAttribute("距离")] [CSVAttribute("距离")]
public float Distance { get; set; } public float Distance { get; set; }
[CSVAttribute("推压速度")]
public float PushVelocity { get; set; }
[CSVAttribute("脆盘目标速度")]
public float CrispVelocity { get; set; }
[CSVAttribute("脆盘加速度")]
public float CrispAddSpeed { get; set; }
[CSVAttribute("脆盘减速度")]
public float CrispDelSpeed { get; set; }
[CSVAttribute("脆盘出力")]
public float CrispForce { get; set; }
[CSVAttribute("脆盘距离")]
public float CrispDistance { get; set; }
[CSVAttribute("脆盘推压速度")]
public float CrispPushVelocity { get; set; }
public string GetNameStr() public string GetNameStr()
{ {
......
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