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Commit ed58a7dd 由 LN
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抓取脆盘时也需要检测是否有料

1 个父辈 4f5bc8cc
内嵌 并排
正在显示 9 个修改的文件 包含 86 行增加 和 53 行删除
source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
......@@ -183,9 +183,9 @@
this.groupBox1.Controls.Add(this.txtWriteTime);
this.groupBox1.Controls.Add(this.label5);
this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox1.Location = new System.Drawing.Point(468, 6);
this.groupBox1.Location = new System.Drawing.Point(468, 4);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(501, 107);
this.groupBox1.Size = new System.Drawing.Size(501, 102);
this.groupBox1.TabIndex = 105;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "DO写入";
......@@ -392,9 +392,9 @@
this.groupDO.Controls.Add(this.SL_Entry_StopDown);
this.groupDO.Controls.Add(this.SL_LocationCylinder_Up);
this.groupDO.Controls.Add(this.SL_MoveCylinder_Take);
this.groupDO.Location = new System.Drawing.Point(468, 119);
this.groupDO.Location = new System.Drawing.Point(468, 109);
this.groupDO.Name = "groupDO";
this.groupDO.Size = new System.Drawing.Size(501, 274);
this.groupDO.Size = new System.Drawing.Size(501, 275);
this.groupDO.TabIndex = 255;
this.groupDO.TabStop = false;
this.groupDO.Text = "IO操作测试";
......@@ -764,9 +764,9 @@
//
// clampJawControl1
//
this.clampJawControl1.Location = new System.Drawing.Point(464, 395);
this.clampJawControl1.Location = new System.Drawing.Point(464, 389);
this.clampJawControl1.Name = "clampJawControl1";
this.clampJawControl1.Size = new System.Drawing.Size(507, 208);
this.clampJawControl1.Size = new System.Drawing.Size(507, 216);
this.clampJawControl1.TabIndex = 280;
//
// tabPage2
......
source/AssemblyLineClient/FrmMoveEquip.Designer.cs
......@@ -359,9 +359,9 @@
this.groupDO.Controls.Add(this.BeforeAfterCylinder_Before);
this.groupDO.Controls.Add(this.TopCylinder_Up);
this.groupDO.Controls.Add(this.UpDownCylinder_Up);
this.groupDO.Location = new System.Drawing.Point(414, 402);
this.groupDO.Location = new System.Drawing.Point(414, 408);
this.groupDO.Name = "groupDO";
this.groupDO.Size = new System.Drawing.Size(556, 111);
this.groupDO.Size = new System.Drawing.Size(556, 108);
this.groupDO.TabIndex = 255;
this.groupDO.TabStop = false;
this.groupDO.Text = "IO操作测试";
......@@ -550,7 +550,7 @@
//
this.clampJawControl1.Location = new System.Drawing.Point(703, 182);
this.clampJawControl1.Name = "clampJawControl1";
this.clampJawControl1.Size = new System.Drawing.Size(274, 220);
this.clampJawControl1.Size = new System.Drawing.Size(274, 221);
this.clampJawControl1.TabIndex = 279;
//
// groupBox6
......
source/AssemblyLineClient/model/detect-tiny.cfg
......@@ -124,7 +124,7 @@ activation=leaky
size=1
stride=1
pad=1
filters=21
filters=18
activation=linear
......@@ -132,7 +132,7 @@ activation=linear
[yolo]
mask = 3,4,5
anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319
classes=2
classes=1
num=6
jitter=.3
ignore_thresh = .7
......@@ -168,13 +168,13 @@ activation=leaky
size=1
stride=1
pad=1
filters=21
filters=18
activation=linear
[yolo]
mask = 0,1,2
anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319
classes=2
classes=1
num=6
jitter=.3
ignore_thresh = .7
......
source/AssemblyLineClient/useControl/ClampJawControl.Designer.cs
......@@ -30,6 +30,7 @@ namespace OnlineStore.AssemblyLine.useControl
private void InitializeComponent()
{
this.groupClamp = new System.Windows.Forms.GroupBox();
this.lblSensor = new System.Windows.Forms.Label();
this.lblIsMoving = new System.Windows.Forms.Label();
this.btnReset = new System.Windows.Forms.Button();
this.lblErrorCode = new System.Windows.Forms.Label();
......@@ -41,7 +42,7 @@ namespace OnlineStore.AssemblyLine.useControl
this.linkLabel1 = new System.Windows.Forms.LinkLabel();
this.btnClampWork = new System.Windows.Forms.Button();
this.btnClampRelax = new System.Windows.Forms.Button();
this.lblSensor = new System.Windows.Forms.Label();
this.chbTray = new System.Windows.Forms.CheckBox();
this.groupClamp.SuspendLayout();
this.SuspendLayout();
//
......@@ -50,6 +51,7 @@ namespace OnlineStore.AssemblyLine.useControl
this.groupClamp.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.groupClamp.Controls.Add(this.chbTray);
this.groupClamp.Controls.Add(this.lblSensor);
this.groupClamp.Controls.Add(this.lblIsMoving);
this.groupClamp.Controls.Add(this.btnReset);
......@@ -65,15 +67,24 @@ namespace OnlineStore.AssemblyLine.useControl
this.groupClamp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupClamp.Location = new System.Drawing.Point(7, 4);
this.groupClamp.Name = "groupClamp";
this.groupClamp.Size = new System.Drawing.Size(272, 182);
this.groupClamp.Size = new System.Drawing.Size(272, 212);
this.groupClamp.TabIndex = 283;
this.groupClamp.TabStop = false;
this.groupClamp.Text = "夹爪操作";
//
// lblSensor
//
this.lblSensor.AutoSize = true;
this.lblSensor.Location = new System.Drawing.Point(149, 75);
this.lblSensor.Name = "lblSensor";
this.lblSensor.Size = new System.Drawing.Size(80, 17);
this.lblSensor.TabIndex = 294;
this.lblSensor.Text = "传感器读数：";
//
// lblIsMoving
//
this.lblIsMoving.AutoSize = true;
this.lblIsMoving.Location = new System.Drawing.Point(149, 131);
this.lblIsMoving.Location = new System.Drawing.Point(149, 144);
this.lblIsMoving.Name = "lblIsMoving";
this.lblIsMoving.Size = new System.Drawing.Size(56, 17);
this.lblIsMoving.TabIndex = 293;
......@@ -84,9 +95,9 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnReset.BackColor = System.Drawing.Color.White;
this.btnReset.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnReset.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnReset.Location = new System.Drawing.Point(12, 141);
this.btnReset.Location = new System.Drawing.Point(11, 144);
this.btnReset.Name = "btnReset";
this.btnReset.Size = new System.Drawing.Size(120, 34);
this.btnReset.Size = new System.Drawing.Size(121, 34);
this.btnReset.TabIndex = 292;
this.btnReset.Text = "夹爪复位";
this.btnReset.UseVisualStyleBackColor = false;
......@@ -96,7 +107,7 @@ namespace OnlineStore.AssemblyLine.useControl
//
this.lblErrorCode.AutoSize = true;
this.lblErrorCode.ForeColor = System.Drawing.Color.Red;
this.lblErrorCode.Location = new System.Drawing.Point(149, 154);
this.lblErrorCode.Location = new System.Drawing.Point(149, 167);
this.lblErrorCode.Name = "lblErrorCode";
this.lblErrorCode.Size = new System.Drawing.Size(0, 17);
this.lblErrorCode.TabIndex = 291;
......@@ -104,7 +115,7 @@ namespace OnlineStore.AssemblyLine.useControl
// lblEmpty
//
this.lblEmpty.AutoSize = true;
this.lblEmpty.Location = new System.Drawing.Point(149, 85);
this.lblEmpty.Location = new System.Drawing.Point(149, 98);
this.lblEmpty.Name = "lblEmpty";
this.lblEmpty.Size = new System.Drawing.Size(44, 17);
this.lblEmpty.TabIndex = 290;
......@@ -115,9 +126,9 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnHome.BackColor = System.Drawing.Color.White;
this.btnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnHome.Location = new System.Drawing.Point(12, 24);
this.btnHome.Location = new System.Drawing.Point(11, 24);
this.btnHome.Name = "btnHome";
this.btnHome.Size = new System.Drawing.Size(120, 34);
this.btnHome.Size = new System.Drawing.Size(121, 34);
this.btnHome.TabIndex = 289;
this.btnHome.Text = "夹爪回原点";
this.btnHome.UseVisualStyleBackColor = false;
......@@ -126,7 +137,7 @@ namespace OnlineStore.AssemblyLine.useControl
// lblReached
//
this.lblReached.AutoSize = true;
this.lblReached.Location = new System.Drawing.Point(149, 108);
this.lblReached.Location = new System.Drawing.Point(149, 121);
this.lblReached.Name = "lblReached";
this.lblReached.Size = new System.Drawing.Size(68, 17);
this.lblReached.TabIndex = 288;
......@@ -135,7 +146,7 @@ namespace OnlineStore.AssemblyLine.useControl
// lblPosition
//
this.lblPosition.AutoSize = true;
this.lblPosition.Location = new System.Drawing.Point(149, 39);
this.lblPosition.Location = new System.Drawing.Point(149, 52);
this.lblPosition.Name = "lblPosition";
this.lblPosition.Size = new System.Drawing.Size(68, 17);
this.lblPosition.TabIndex = 287;
......@@ -144,7 +155,7 @@ namespace OnlineStore.AssemblyLine.useControl
// lblForce
//
this.lblForce.AutoSize = true;
this.lblForce.Location = new System.Drawing.Point(149, 16);
this.lblForce.Location = new System.Drawing.Point(149, 29);
this.lblForce.Name = "lblForce";
this.lblForce.Size = new System.Drawing.Size(68, 17);
this.lblForce.TabIndex = 286;
......@@ -168,9 +179,9 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnClampWork.BackColor = System.Drawing.Color.White;
this.btnClampWork.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClampWork.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClampWork.Location = new System.Drawing.Point(12, 102);
this.btnClampWork.Location = new System.Drawing.Point(11, 104);
this.btnClampWork.Name = "btnClampWork";
this.btnClampWork.Size = new System.Drawing.Size(120, 34);
this.btnClampWork.Size = new System.Drawing.Size(121, 34);
this.btnClampWork.TabIndex = 282;
this.btnClampWork.Text = "夹料气缸夹紧";
this.btnClampWork.UseVisualStyleBackColor = false;
......@@ -181,29 +192,30 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnClampRelax.BackColor = System.Drawing.Color.White;
this.btnClampRelax.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClampRelax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClampRelax.Location = new System.Drawing.Point(12, 63);
this.btnClampRelax.Location = new System.Drawing.Point(11, 64);
this.btnClampRelax.Name = "btnClampRelax";
this.btnClampRelax.Size = new System.Drawing.Size(120, 34);
this.btnClampRelax.Size = new System.Drawing.Size(121, 34);
this.btnClampRelax.TabIndex = 281;
this.btnClampRelax.Text = "夹料气缸放松";
this.btnClampRelax.UseVisualStyleBackColor = false;
this.btnClampRelax.Click += new System.EventHandler(this.btnClampRelax_Click);
//
// lblSensor
// chbTray
//
this.lblSensor.AutoSize = true;
this.lblSensor.Location = new System.Drawing.Point(149, 62);
this.lblSensor.Name = "lblSensor";
this.lblSensor.Size = new System.Drawing.Size(80, 17);
this.lblSensor.TabIndex = 294;
this.lblSensor.Text = "传感器读数：";
this.chbTray.AutoSize = true;
this.chbTray.Location = new System.Drawing.Point(22, 184);
this.chbTray.Name = "chbTray";
this.chbTray.Size = new System.Drawing.Size(99, 21);
this.chbTray.TabIndex = 295;
this.chbTray.Text = "脆盘参数测试";
this.chbTray.UseVisualStyleBackColor = true;
//
// ClampJawControl
//
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
this.Controls.Add(this.groupClamp);
this.Name = "ClampJawControl";
this.Size = new System.Drawing.Size(285, 191);
this.Size = new System.Drawing.Size(285, 220);
this.Load += new System.EventHandler(this.ClampJawControl_Load);
this.groupClamp.ResumeLayout(false);
this.groupClamp.PerformLayout();
......@@ -226,5 +238,6 @@ namespace OnlineStore.AssemblyLine.useControl
private System.Windows.Forms.Button btnReset;
private System.Windows.Forms.Label lblIsMoving;
private System.Windows.Forms.Label lblSensor;
private System.Windows.Forms.CheckBox chbTray;
}
}
source/AssemblyLineClient/useControl/ClampJawControl.cs
......@@ -87,14 +87,33 @@ namespace OnlineStore.AssemblyLine.useControl
private void btnClampRelax_Click(object sender, EventArgs e)
{
LogUtil.info(JName + "界面点击：" + btnClampRelax.Text);
clampJaw.Relax();
LogUtil.info(JName + "界面点击：" + btnClampRelax.Text + "，是否脆盘：" + chbTray.Checked);
if (chbTray.Checked && LineManager.GetPnList().Count > 0)
{
string code = "";
code =$"640253A*{LineManager.GetPnList()[0]}*RC00003*5000*0C03" ;
clampJaw.Relax(null, code);
}
else
{
clampJaw.Relax();
}
}
private void btnClampWork_Click(object sender, EventArgs e)
{
LogUtil.info(JName + "界面点击：" + btnClampRelax.Text);
clampJaw.Push();
LogUtil.info(JName + "界面点击：" + btnClampRelax.Text + "，是否脆盘：" + chbTray.Checked);
if (chbTray.Checked && LineManager.GetPnList().Count > 0)
{
string code = "";
code = $"640253A*{LineManager.GetPnList()[0]}*RC00003*5000*0C03";
clampJaw.Push(null, false, code);
}
else
{
clampJaw.Push();
}
}
private void btnHome_Click(object sender, EventArgs e)
......
source/DeviceLibrary/LineConfig/Config_Line.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,出力,距离,推压速度,脆盘目标速度,脆盘加速度,脆盘减速度,脆盘出力,脆盘距离,脆盘推压速度
CLAW,1,移栽D1_夹爪,CLAW_D1,0,COM13,,100,500,500,60,6,20,15,15,15,20,20,15
CLAW,2,移栽D2_夹爪,CLAW_D2,1,COM13,,100,500,500,60,6,20,15,15,15,20,20,15
CLAW,3,移栽D3_夹爪,CLAW_D3,2,COM13,,100,500,500,60,6,20,15,15,15,20,20,15
CLAW,4,移栽D4_夹爪,CLAW_D4,3,COM13,,100,500,500,90,6,20,15,15,15,20,20,15
CLAW,5,移栽D5_夹爪,CLAW_D5,0,COM12,,60,500,500,70,6,20,15,15,15,20,20,15
CLAW,6,移栽D6_夹爪,CLAW_D6,1,COM12,,100,500,500,90,6,20,15,15,15,20,20,15
CLAW,7,移栽D7_夹爪,CLAW_D7,2,COM12,,100,500,500,90,6,20,15,15,15,20,20,15
CLAW,101,上料模块T1夹爪,CLAW_T1,3,COM12,,100,500,500,90,6,20,15,15,15,20,20,15
CLAW,1,移栽D1_夹爪,CLAW_D1,0,COM13,,100,500,500,60,6,20,100,500,500,20,20,15
CLAW,2,移栽D2_夹爪,CLAW_D2,1,COM13,,100,500,500,60,6,20,100,500,500,20,20,15
CLAW,3,移栽D3_夹爪,CLAW_D3,2,COM13,,100,500,500,60,6,20,100,500,500,20,20,15
CLAW,4,移栽D4_夹爪,CLAW_D4,3,COM13,,100,500,500,90,6,20,100,500,500,20,20,15
CLAW,5,移栽D5_夹爪,CLAW_D5,0,COM12,,60,500,500,70,6,20,100,500,500,20,20,15
CLAW,6,移栽D6_夹爪,CLAW_D6,1,COM12,,100,500,500,90,6,20,100,500,500,20,20,15
CLAW,7,移栽D7_夹爪,CLAW_D7,2,COM12,,100,500,500,90,6,20,100,500,500,20,20,15
CLAW,101,上料模块T1夹爪,CLAW_T1,3,COM12,,100,500,500,90,6,20,100,500,500,20,20,15
PRO,0,当多久没操作时流水线休眠（秒）,Sleep_MSeconds,600,,,,,,,,,,,,,,
PRO,0,气压检测信号关闭需要持续的时间,AirCheckSeconds,600,,,,,,,,,,,,,,
PRO,0,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,,,,
......
source/DeviceLibrary/assemblymanager/ALineManager.cs
......@@ -368,8 +368,8 @@ namespace OnlineStore.DeviceLibrary
}
public static bool NeedWaitHassReel(params string[] codes)
{
//return true;
return !IsCrispReel(codes);
return true;
//return !IsCrispReel(codes);
}
}
}
source/DeviceLibrary/baan/ClampJawBean.cs
......@@ -65,6 +65,7 @@ namespace OnlineStore.DeviceLibrary
if (iscrisp)
{
distance = config.CrispDistance;
LogUtil.info(Name + " Push [" + config.CrispForce + "][" + config.CrispDistance + "][" + config.CrispPushVelocity + "]");
rmaxis.Push(config.CrispForce, config.CrispDistance, config.CrispPushVelocity);
}
else
......@@ -76,8 +77,8 @@ namespace OnlineStore.DeviceLibrary
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached((int)distance));
//if (checkHasReel )
if (checkHasReel && (!iscrisp))
if (checkHasReel)
//if (checkHasReel && (!iscrisp))
{
moveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel());
//有一个到位就算到位
......
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