夹爪修改

source/AssemblyLineClient/useControl/ClampJawControl.cs

@@ -30,6 +30,13 @@ namespace OnlineStore.AssemblyLine.useControl
             {
                 JName = clampJaw.config.Explain + "_" + clampJaw.config.PortName + "_" + clampJaw.config.AxisNo; 
                 groupClamp.Text = JName;
+                lblReached.Text = "";
+                lblIsMoving.Text = "";
+                lblErrorCode.Text = "";
+                lblEmpty.Text = "";
+                lblForce.Text = "";
+                lblPosition.Text = "";
+                lblSensor.Text = "";
             }
         }
 
@@ -42,11 +49,19 @@ namespace OnlineStore.AssemblyLine.useControl
         {
             if (clampJaw.IsReached())
             {
-                lblMoveOk.Text = "运动到位 ✔";
+                lblReached.Text = "到达目标 ✔";
             }
             else
             { 
-                lblMoveOk.Text = " ";
+                lblReached.Text = " ";
+            }
+            if (clampJaw.IsMoving())
+            {
+                lblIsMoving.Text = "运动中 ✔";
+            }
+            else
+            {
+                lblIsMoving.Text = " ";
             }
             if (clampJaw.HasReel())
             {
@@ -58,6 +73,7 @@ namespace OnlineStore.AssemblyLine.useControl
             }
             lblPosition.Text = "实时位置：" + clampJaw.GetPosition();
             lblForce.Text = "实时出力：" + clampJaw.GetTorque();
+            lblSensor.Text = "传感器读数：" + clampJaw.GetForceSensor();
             int code = clampJaw.GetErrorCode();
             if (code > 0)
             {

source/DeviceLibrary/assemblyLine/EquipBase.cs

@@ -514,14 +514,14 @@ namespace OnlineStore.DeviceLibrary
                                 ConfigIO io = baseConfig.getWaitIO(wait.IoType);
                                 WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
 
-                                LogUtil.error(  WarnMsg, DeviceID * 1000 + 13);
+                                LogUtil.error(WarnMsg, DeviceID * 1000 + 13);
                                 if (NoAlarm())
                                 {
                                     Alarm(LineAlarmType.IoSingleTimeOut);
                                     CheckAlarmProcess(moveInfo, LineAlarmType.IoSingleTimeOut);
                                 }
                             }
-                             if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
+                            if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
                             {
                                 preRWTime = DateTime.Now;
                                 string msg = moveInfo.Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
@@ -554,20 +554,20 @@ namespace OnlineStore.DeviceLibrary
                     else if (wait.WaitType.Equals(WaitEnum.W003_Time))
                     {
                         wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
-                    }else if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
+                    } else if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
                     {
                         if (ClampJwa != null)
                         {
                             if (ClampJwa.IsReached())
                             {
-                                float currp = ClampJwa.GetPosition() -(float) wait.TargetPosition;
+                                float currp = ClampJwa.GetPosition() - (float)wait.TargetPosition;
                                 if (currp < 1)
                                 {
                                     wait.IsEnd = true;
                                 }
                             }
                         }
-                    }else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
+                    } else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
                     {
                         if (ClampJwa != null)
                         {
@@ -578,13 +578,19 @@ namespace OnlineStore.DeviceLibrary
                                 LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作");
                                 wait.IsEnd = true;
                             }
-                            //如果出力>=0.3，且已等待5秒
-                            float torque = ClampJwa.GetTorque();
-                            if ((!wait.IsEnd) && torque > 0.25 && span.TotalSeconds > 5)
+                            //如果是运动中，且到达目标，认为有料 
+                            if ((!wait.IsEnd) && ClampJwa.IsMoving() && ClampJwa.IsReached() && span.TotalSeconds > 3)
                             {
-                                LogUtil.info(Name + "  无料，但力度为[" + torque + "]>=0.25认为有料");
+                                LogUtil.info(Name + "  无料，但在运动中，且运动到位，认为有料");
                                 wait.IsEnd = true;
-                            } 
+                            }
+                            ////如果出力>=0.3，且已等待5秒
+                            //float torque = ClampJwa.GetTorque();
+                            //if ((!wait.IsEnd) && torque > 0.25 && span.TotalSeconds > 5)
+                            //{
+                            //    LogUtil.info(Name + "  无料，但力度为[" + torque + "]>=0.25认为有料");
+                            //    wait.IsEnd = true;
+                            //} 
                         }
                     }
                     else if (wait.WaitType.Equals(WaitEnum.W008_InStoreCheckOK))
@@ -600,7 +606,7 @@ namespace OnlineStore.DeviceLibrary
                         {
                             storeId = 7;
                         }
-                        wait.IsEnd = LineServer.BoxCanReviceTray(storeId,out NotOkMsg);
+                        wait.IsEnd = LineServer.BoxCanReviceTray(storeId, out NotOkMsg);
                     }
                     else
                     {

source/DeviceLibrary/baan/ClampJawBean.cs

@@ -82,6 +82,21 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
+        public bool IsMoving()
+        {
+            try
+            {
+                if (rmaxis != null && rmaxis.IsPortOpen)
+                {
+                    return rmaxis.IsMoving;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + " IsMoving  error :" + ex.ToString());
+            }
+            return false;
+        }
         public bool HasReel()
         {
             try
@@ -121,7 +136,30 @@ namespace OnlineStore.DeviceLibrary
                 moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached(0));
             }
         }
-
+        public float GetForceSensor()
+        {
+            try
+            {
+                return rmaxis.GetForceSensor();
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + " GetForceSensor  error :" + ex.ToString());
+            }
+            return -1;
+        }
+        public float GetVelocity()
+        {
+            try
+            {
+                return rmaxis.GetVelocity();
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + " GetVelocity  error :" + ex.ToString());
+            }
+            return -1;
+        }
         public float GetPosition()
         {
             try