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Commit feb7259e 由 LN
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顶升之后等待2秒再转动横移电机

1 个父辈 57a41544
内嵌 并排
正在显示 2 个修改的文件 包含 23 行增加 和 12 行删除
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -325,20 +325,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -325,20 +325,20 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
FI_13_TrayLocation_Back(); FI_13_TrayLocation_Back();
} }
} }
else if (MoveInfo.IsStep(LineMoveStep.FI_13_TrayLocation_Back)) else if (MoveInfo.IsStep(LineMoveStep.FI_13_TrayLocation_Back))
{ {
TrayLCyResetCount++; TrayLCyResetCount++;
MoveInfo.NextMoveStep(LineMoveStep.FI_14_TrayLocation_Before); MoveInfo.NextMoveStep(LineMoveStep.FI_14_TrayLocation_Before);
InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸第【"+TrayLCyResetCount+"】次前进 "); InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸第【" + TrayLCyResetCount + "】次前进 ");
if (TrayLCyResetCount <= 4) if (TrayLCyResetCount <= 4)
{ {
TrayLCylinderBefore(null); TrayLCylinderBefore(null);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} }
else else
{ {
TrayLCylinderBefore(MoveInfo); TrayLCylinderBefore(MoveInfo);
} }
} }
...@@ -399,16 +399,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -399,16 +399,16 @@ namespace OnlineStore.DeviceLibrary
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed); UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
} }
else if (MoveInfo.IsStep(LineMoveStep.FI_21_UpdownToP3)) else if (MoveInfo.IsStep(LineMoveStep.FI_21_UpdownToP3))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_22_WaitTime); MoveInfo.NextMoveStep(LineMoveStep.FI_22_WaitTime);
InLog("料盘移栽" + MoveInfo.SLog + "：等待1000ms后夹紧"); InLog("料盘移栽" + MoveInfo.SLog + "：等待1000ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
} }
else if (MoveInfo.IsStep(LineMoveStep.FI_22_WaitTime)) else if (MoveInfo.IsStep(LineMoveStep.FI_22_WaitTime))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_23_CylinderTighten); MoveInfo.NextMoveStep(LineMoveStep.FI_23_CylinderTighten);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构夹紧"); InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构夹紧");
ClampJwa.Push(MoveInfo,true,LastCodeList.ToArray()); ClampJwa.Push(MoveInfo, true, LastCodeList.ToArray());
} }
else if (MoveInfo.IsStep(LineMoveStep.FI_23_CylinderTighten)) else if (MoveInfo.IsStep(LineMoveStep.FI_23_CylinderTighten))
{ {
...@@ -429,7 +429,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -429,7 +429,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel()); MoveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel());
} }
else else
{ {
InLog("料盘移栽" + MoveInfo.SLog + "：等待 SL_AxisLocationCheck=LOW 不需要验证夹爪有料"); InLog("料盘移栽" + MoveInfo.SLog + "：等待 SL_AxisLocationCheck=LOW 不需要验证夹爪有料");
} }
} }
...@@ -443,7 +443,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -443,7 +443,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(LineMoveStep.FI_25_CheckTray)) else if (MoveInfo.IsStep(LineMoveStep.FI_25_CheckTray))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_26_BatchAxisToP3); MoveInfo.NextMoveStep(LineMoveStep.FI_26_BatchAxisToP3);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，横移气缸上升 "); InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，横移气缸上升 ");
CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give); CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
BatchAxisToP3(false); BatchAxisToP3(false);
...@@ -453,7 +453,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -453,7 +453,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FI_28_CylinderGive); MoveInfo.NextMoveStep(LineMoveStep.FI_28_CylinderGive);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL"); InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give); CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
LastHeight = GetHeight(); LastHeight = GetHeight();
MoveInfo.MoveParam.PlateH = LastHeight; MoveInfo.MoveParam.PlateH = LastHeight;
...@@ -507,7 +507,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -507,7 +507,7 @@ namespace OnlineStore.DeviceLibrary
//else if (MoveInfo.IsStep(LineMoveStep.FI_31_GetPosID)) //else if (MoveInfo.IsStep(LineMoveStep.FI_31_GetPosID))
//{ //{
// FI_32_WaitTray(); // FI_32_WaitTray();
//} //}
else if (MoveInfo.IsStep(LineMoveStep.FI_32_WaitTray))//TODO else if (MoveInfo.IsStep(LineMoveStep.FI_32_WaitTray))//TODO
{ {
...@@ -519,7 +519,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -519,7 +519,7 @@ namespace OnlineStore.DeviceLibrary
int targetPositon = Config.GetUpdownP2Detial(LastHeight, LastWidth); int targetPositon = Config.GetUpdownP2Detial(LastHeight, LastWidth);
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed); UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
LastPosParam.TrayNumber = currTrayNum; LastPosParam.TrayNumber = currTrayNum;
InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P2: [" + targetPositon + "] 暂不更新托盘["+currTrayNum+"]信息"); InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P2: [" + targetPositon + "] 暂不更新托盘[" + currTrayNum + "]信息");
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false)) if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
{ {
...@@ -586,7 +586,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -586,7 +586,7 @@ namespace OnlineStore.DeviceLibrary
//如果批量轴还在运动中，停止运动 //如果批量轴还在运动中，停止运动
AxisManager.instance.SuddenStop(BatchAxis.Config.DeviceName, BatchAxis.Config.GetAxisValue()); AxisManager.instance.SuddenStop(BatchAxis.Config.DeviceName, BatchAxis.Config.GetAxisValue());
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位 ,料盘耗时["+FormUtil.GetSpanStr(newTrayWatch.Elapsed)+"] "); InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位 ,料盘耗时[" + FormUtil.GetSpanStr(newTrayWatch.Elapsed) + "] ");
CheckHasTray(); CheckHasTray();
} }
...@@ -643,6 +643,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -643,6 +643,12 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(LineMoveStep.FI_56_TopUp)) else if (MoveInfo.IsStep(LineMoveStep.FI_56_TopUp))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_57_WaitTime);
InLog("上料完成" + MoveInfo.SLog + "， 顶升上升之后等待2秒");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if(MoveInfo.IsStep(LineMoveStep.FI_57_WaitTime))
{
//TODO //TODO
MoveInfo.NextMoveStep(LineMoveStep.FI_57_SideWayLineRun); MoveInfo.NextMoveStep(LineMoveStep.FI_57_SideWayLineRun);
InLog("上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开上料工位"); InLog("上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开上料工位");
......
source/DeviceLibrary/model/StoreStep.cs
...@@ -666,6 +666,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -666,6 +666,11 @@ namespace OnlineStore.DeviceLibrary
FI_56_TopUp, FI_56_TopUp,
/// <summary> /// <summary>
/// 上料完成，顶升上升到位之后等待2秒再转动电机
/// </summary>
FI_57_WaitTime,
/// <summary>
///上料完成， 线体横移电机运转，等待料架到达出口 ///上料完成， 线体横移电机运转，等待料架到达出口
/// </summary> /// </summary>
FI_57_SideWayLineRun, FI_57_SideWayLineRun,
......
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