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Commit 60e454df 由 LN
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多料架放料bug修改。报警显示修改

1 个父辈 8e3f0ffb
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正在显示 7 个修改的文件 包含 86 行增加 和 63 行删除
source/DeviceLibrary/StoreConfig/StoreConfig.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
AXIS,0,（轴一）旋转轴,Middle_Axis,0,HC,,100,1000,1000,20,100,3000,10,100,0,0
AXIS,0,（轴一）旋转轴,Middle_Axis,0,HC,,1000,1000,1000,50,400,3000,10,100,0,0
AXIS,0,（轴二）升降轴,UpDown_Axis,1,HC,,100,1000,1000,20,150,3000,10,100,0,0
AXIS,0,（轴三）进出轴,InOut_Axis,2,HC,,3000,3000,3000,100,400,3000,10,100,0,0
AXIS,0,（轴四）压紧轴,Comp_Axis,3,HC,,30000,15000,15000,3000,5000,10000,10,100,0,0
,,,,,,,,,,,,,,,,
PRO,0,升降轴（轴2）进料口取料低点 P1,UpDownAxis_DoorL_P1,2914,,,,,,,,,,,,
PRO,0,升降轴（轴2）进料口取料高点 P2,UpDownAxis_DoorH_P2,3200,,,,,,,,,,,,
PRO,0,升降轴（轴2）NG口放料高点 P5,UpDownAxis_DoorH_P5,4900,,,,,,,,,,,,
PRO,0,升降轴（轴2）NG口放料低点 P6,UpDownAxis_DoorH_P6,4900,,,,,,,,,,,,
PRO,0,升降轴（轴2）NG口放料高点 P5,UpDownAxis_DoorH_P5,4760,,,,,,,,,,,,
PRO,0,升降轴（轴2）NG口放料低点 P6,UpDownAxis_DoorH_P6,4760,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P1/取料点/待机原位点,MiddleAxis_P1,4760,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P3/NG口放料点,MiddleAxis_P3,2450,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P3/NG口放料点,MiddleAxis_P3,4760,,,,,,,,,,,,
PRO,0,进出轴（轴3）P1/待机原位点,InOutAxis_P1,200,,,,,,,,,,,,
PRO,0,进出轴（轴3）P4/NG口放料点,InOutAxis_P4,100,,,,,,,,,,,,
PRO,0,进出轴（轴3）P4/NG口放料点,InOutAxis_P4,4760,,,,,,,,,,,,
PRO,0,压紧轴（轴4）P1待机原位点,CompressAxis_P1,4760,,,,,,,,,,,,
PRO,0,压紧轴（轴4）P2压紧点列表,CompAxis_P2_List,8=74800,12=71300,28=59300,36=46800,48=40400,,,,,,,,
,,,,,,,,,,,,,,,,
......@@ -21,9 +21,9 @@ PRO,0,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,1000,,,,,,,,,,,,
PRO,0,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,500,,,,,,,,,,,,
PRO,0,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,1000,,,,,,,,,,,,
PRO,0,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,500,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,300,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,300,,,,,,,,,,,,
PRO,1,旋转轴（轴1）P3速度,MiddleAxis_P3_Speed,301,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,3000,,,,,,,,,,,,
PRO,0,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,3000,,,,,,,,,,,,
PRO,1,旋转轴（轴1）P3速度,MiddleAxis_P3_Speed,3000,,,,,,,,,,,,
PRO,0,进出轴（轴3）P1速度,InOutAxis_P1_Speed,6000,,,,,,,,,,,,
PRO,0,进出轴（轴3）P2速度,InOutAxis_P2_Speed,6000,,,,,,,,,,,,
PRO,0,进出轴（轴3）P3速度,InOutAxis_P3_Speed,6000,,,,,,,,,,,,
......
source/DeviceLibrary/bean/EquipBean.cs
......@@ -822,7 +822,6 @@ namespace OnlineStore.DeviceLibrary
CurrTray = HttpServer.GetLocation(LineConnect.DoorPosInfo.barcode, shelfRfid, out outMsg);
//需要取放料，且料架已准备好
if (outMsg.Equals(""))
//if (String.IsNullOrEmpty(CurrTray.getP).Equals(false) && outMsg.Equals(""))
{
ClearWarnMsg("getLocation");
string targetP = GetShelfPosId();
......@@ -833,7 +832,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
WarnMsg = " getLocation " + outMsg;
WarnMsg = "未找到可用料架 getLocation " + CurrTray.ToStr();
}
}
else if (!outMsg.Equals(""))
......@@ -890,15 +889,15 @@ namespace OnlineStore.DeviceLibrary
}
private void StartMove()
{
LogInfo("开始移栽【" + LineConnect.DoorPosInfo.ToStr() + "】");
LogUtil.debug(Name+ "开始移栽【" + LineConnect.DoorPosInfo.ToStr() + "】");
bool result = StartOutMove(new InOutParam(LineConnect.DoorPosInfo));
if (!result)
{
LogInfo(" 移栽【" + LineConnect.DoorPosInfo.ToStr() + "】失败");
LogUtil.debug(Name + " 移栽【" + LineConnect.DoorPosInfo.ToStr() + "】失败");
}
else
{
LogInfo(" 移栽【" + LineConnect.DoorPosInfo.ToStr() + "】成功，清理门口数据");
LogUtil.debug(Name + " 移栽【" + LineConnect.DoorPosInfo.ToStr() + "】成功，清理门口数据");
LineConnect.DoorPosInfo = null;
}
}
......@@ -1007,7 +1006,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
msg += shelf.Name + ": " + shelf.CurrShelf.ToStr() + "\r\n";
msg += shelf.Name + ": " + shelf.CurrShelf.ToStr() + " "+shelf.MoveInfo.MoveType+"_"+shelf.MoveInfo.MoveStep+"_"+shelf.alarmType+"\r\n";
}
}
if (alarmType.Equals(StoreAlarmType.None))
......
source/DeviceLibrary/bean/EquipBean_Partial.cs
......@@ -273,15 +273,15 @@ namespace OnlineStore.DeviceLibrary
{
if (!LoadParamPosition(param))
{
LogUtil.error(Name + " 启动出料【" + param.PosInfo.ToStr() + "】出错，找不到库位");
LogUtil.error(Name + " 启动出料移栽【" + param.PosInfo.ToStr() + "】出错，找不到库位");
return false ;
}
if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动出料【" + param.PosInfo.ToStr() + "】出错，叉子料盘检测有料");
LogUtil.error(Name + " 启动出料移栽【" + param.PosInfo.ToStr() + "】出错，叉子料盘检测有料");
return false ;
}
LogInfo( " 启动出料【" + param.PosInfo.ToStr() + "】");
LogInfo(" 启动出料移栽【" + param.PosInfo.ToStr() + "】成功");
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.OutStoreExecute;
MoveInfo.NewMove(StoreMoveType.OutStore, param);
......@@ -630,6 +630,7 @@ namespace OnlineStore.DeviceLibrary
{
string moveStr = "->料架 ";
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.ShelfPosId : "";
string BoxPosId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.BoxPosId : "";
string barcode = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.barcode : "";
if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PosInfo != null && MoveInfo.MoveParam.PosInfo.IsNg)
{
......@@ -638,7 +639,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
LogUtil.info(Name + "["+ barcode + "]"+ moveStr + "[" + posId + "] : " + MoveInfo.MoveStep + " " +msg);
LogUtil.info(Name + "["+ BoxPosId + "]"+ moveStr + "[" + posId + "] : " + MoveInfo.MoveStep + " " +msg);
}
}
}
......
source/DeviceLibrary/bean/WorkStation.cs
......@@ -55,9 +55,17 @@ namespace OnlineStore.DeviceLibrary
}
if (CheckShelf(IO_VALUE.HIGH))
{
if (!CurrShelf.IsNeedLeave && (!String.IsNullOrEmpty(CurrShelf.RealShelf)) && LocationIsUp())
if (!CurrShelf.IsNeedLeave && (!String.IsNullOrEmpty(CurrShelf.RealShelf)) )
{
return true;
if (LocationIsUp())
{
return true;
}
else
{
WarnMsg = Name+"定位气缸上升不到位";
}
}
}
//料架准备好可以放料
......@@ -91,7 +99,8 @@ namespace OnlineStore.DeviceLibrary
private string ReadShelfId()
{
string rfid = RFIDManager.ReadRFID(rfidIp).NumStr();
CurrShelf = new ShelfInfo(rfid);
CurrShelf = new ShelfInfo(rfid);
LogUtil.info(Name + "读取料架号：" + CurrShelf.ToStr());
return CurrShelf.RealShelf;
}
......@@ -191,13 +200,26 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(MoveStep.SR_04_LocationUp))
{
LogUtil.info(Name + "复位："+ CurrShelf.ToStr() + "准备完成，可以放料 ");
MoveInfo.EndMove();
if (LocationIsUp())
{
LogUtil.info(Name + "复位：" + CurrShelf.ToStr() + "准备完成，可以放料 ");
MoveInfo.EndMove();
}
else
{
MoveInfo.NextMoveStep(MoveStep.SR_04_LocationUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LocationUp(MoveInfo);
LogUtil.info(Name + "复位：料架" + CurrShelf.ToStr() + "定位气缸不到位，再次顶升上升 ");
}
}
}
private void SR_04_LocationUp()
{
MoveInfo.NewMove(StoreMoveType.StoreReset);
//MoveInfo.NewMove(StoreMoveType.StoreReset);
MoveInfo.NextMoveStep(MoveStep.SR_04_LocationUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ReadShelfId();
if (CheckNeedLeave(false ))
......@@ -208,7 +230,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
MoveInfo.NextMoveStep(MoveStep.SR_04_LocationUp);
//MoveInfo.NextMoveStep(MoveStep.SR_04_LocationUp);
LocationUp(MoveInfo);
LogUtil.info(Name + "复位：读取到新料架：" + CurrShelf.ToStr() + "，顶升上升 ");
}
......@@ -271,7 +293,11 @@ namespace OnlineStore.DeviceLibrary
if (IsReady())
{
if (CurrShelf.RealShelf.Equals(CurrTray.realRFID))
{
{if (String.IsNullOrEmpty(CurrShelf.XNShelf))
{
CurrShelf.XNShelf = CurrTray.rfid;
LogUtil.info(Name + "增加虚拟料架号绑定：" + CurrShelf.ToStr());
}
ShelfPosId = Name + CurrTray.shelfP;
return true ;
}
......@@ -287,14 +313,16 @@ namespace OnlineStore.DeviceLibrary
{
string[] array = CurrTray.usedRfidList.Split(',');
//若料架已使用过，直接返回false
if (array.Contains(CurrShelf.XNShelf))
if (array.Contains(CurrShelf.RealShelf))
{
return false ;
}
}
if (CurrShelf.XNShelf.Equals(""))
{
CurrShelf.XNShelf = CurrTray.rfid;
CurrTray.realRFID = CurrShelf.RealShelf;
LogUtil.info(Name + "增加虚拟料架号绑定：" + CurrShelf.ToStr());
ShelfPosId = Name + CurrTray.shelfP;
return true;
}
......@@ -335,19 +363,14 @@ namespace OnlineStore.DeviceLibrary
}
else if (wait.WaitType == 2)
{
wait.IsEnd = EquipManager.Equip.IOValue(wait.IoType).Equals(wait.IoValue);
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = EquipManager.Equip.Config.IOSingle_TimerOut;
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = EquipManager.Equip.Config.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + checkmove.MoveType + "][" + checkmove.MoveStep + "] 等待" + io.DisplayStr + "=" + wait.IoValue + "超时 ";
if (WarnMsg.Contains("Check_Pos") || WarnMsg.Contains("X03_点检"))
{
WarnMsg = "";
break;
}
alarmType = StoreAlarmType.IoSingleTimeOut;
LogUtil.error(Name + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
isOk = false;
......@@ -408,12 +431,7 @@ namespace OnlineStore.DeviceLibrary
{
WarnMsg = Name + "[" + checkmove.MoveType + "][" + checkmove.MoveStep + "] 等待超时 [" + NotOkMsg
+ "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
if (WarnMsg.Contains("Check_Pos") || WarnMsg.Contains("X03_点检"))
{
WarnMsg = "";
return;
}
LogUtil.error(WarnMsg, 100);
alarmType = StoreAlarmType.IoSingleTimeOut;
}
......@@ -596,7 +614,7 @@ namespace OnlineStore.DeviceLibrary
try
{
CurrShelf = new ShelfInfo();
LogUtil.info(logName + " 开始，设置状态=MayEnter");
LogUtil.info(logName + " 开始，清空料架信息，设置状态=MayEnter");
AgvClient.SetStatus(AgvName, "", ClientAction.MayEnter, ClientLevel.High, true);
ProcessShelfEnter = true;
......@@ -719,7 +737,7 @@ namespace OnlineStore.DeviceLibrary
}
}
public bool LocationIsDown(StoreMoveInfo moveInfo = null)
public bool LocationIsDown()
{
if (IOManager.IOValue(DI_LocationCylinder_Up1).Equals(IO_VALUE.LOW) &&
IOManager.IOValue(DI_LocationCylinder_Down1).Equals(IO_VALUE.HIGH) &&
......@@ -731,7 +749,7 @@ namespace OnlineStore.DeviceLibrary
}
return false;
}
public bool LocationIsUp(StoreMoveInfo moveInfo = null)
public bool LocationIsUp()
{
if (IOManager.IOValue(DI_LocationCylinder_Down1).Equals(IO_VALUE.LOW) &&
IOManager.IOValue(DI_LocationCylinder_Up1).Equals(IO_VALUE.HIGH) &&
......
source/DeviceLibrary/mananger/HttpServer.cs
......@@ -178,14 +178,14 @@ namespace OnlineStore.DeviceLibrary
public static TrayInfo GetLocation(string barcode, string currRFID, out string msg)
{
//getLocation这个接口传入barcode和rfid列表会分配料架
TrayInfo tray = new TrayInfo();
string api = "getLocation";
TrayInfo tray = new TrayInfo();
msg = "";
try
{
string url = httpAddr + api + "?barcode=" + barcode + "&rfid=" + currRFID;
string api = "getLocation" + "?barcode=" + barcode + "&rfid=" + currRFID;
string url = httpAddr + api;
string logName = "http :URL:" + url + "";
string logName = "http :URL:" + api;
DateTime startTime = DateTime.Now;
string json = HttpHelper.Post(url, "", 10000);
LogUtil.info(logName + "： Response:" + json + "，耗时【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】");
......@@ -212,17 +212,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(logName + ": data=null");
return tray;
}
//if (dict.TryGetValue("w", out value))
//{
// switch (value)
// {
// case "7": tray.getP = "p1"; break;
// case "11": tray.getP = "p2"; break;
// case "13": tray.getP = "p3"; break;
// case "15": tray.getP = "p4"; break;
// }
//}
if (dict.TryGetValue("rfidLoc", out value))
int.TryParse(value.ToString(), out tray.shelfP);
if (dict.TryGetValue("rfid", out value))
......@@ -247,12 +237,26 @@ namespace OnlineStore.DeviceLibrary
}
public class TrayInfo
{
//public int robotNum = 0;
//public string getP = "";
//Response:{"code":0,"msg":"ok","data":{"w":"7","realRfid":"","h":"8","rfid":"1-2F","usedRfidList":"F102","rfidLoc":"11","barcode":"985022*35030377*0822*3000*08220350"}}
/// <summary>
/// 料架位置，1-31
/// </summary>
public int shelfP = 0;
/// <summary>
/// 虚拟料架号
/// </summary>
public string rfid = "";
/// <summary>
/// 真实料架号
/// </summary>
public string realRFID = "";
/// <summary>
/// 条码信息
/// </summary>
public string barcode = "";
/// <summary>
/// 已使用的真实料架号
/// </summary>
public string usedRfidList = "";
public string ToStr()
{
......
source/HCSingleStore/FrmEquip.cs
......@@ -345,10 +345,11 @@ namespace OnlineStore.ACSingleStore
private int GetV(int currV, TextBox text, ref bool needUpdate)
{
if (currV != FormUtil.GetIntValue(text))
int targetV = FormUtil.GetIntValue(text);
if (currV != targetV)
{
needUpdate = true;
return FormUtil.GetIntValue(txtMiddleP1);
return targetV;
}
return currV;
}
......@@ -1230,6 +1231,6 @@ namespace OnlineStore.ACSingleStore
equip.MoveStop = chbMoveStop.Checked;
LogUtil.info(equip.Name + "用户切换是否暂停： " + equip.MoveStop);
}
}
}
}
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