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李娜 / SO908-XLRStore

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Commit 09d04f2e 由 张东亮
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存储机构

1 个父辈 a15891c0
内嵌 并排
正在显示 3 个修改的文件 包含 121 行增加 和 14 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -186,9 +186,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -186,9 +186,16 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SI_03_VerifyBufferState: case StepEnum.SI_03_VerifyBufferState:
MoveInfo.NextMoveStep(StepEnum.SI_04_InOutToBuff); if(!CheckInputMiddleAxisInBuff())
LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); {
XAxis_To_P2(); MoveInfo.NextMoveStep(StepEnum.SI_04_InOutToBuff);
LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2();
}
else if(MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break; break;
case StepEnum.SI_04_InOutToBuff: case StepEnum.SI_04_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SI_05_GetReel); MoveInfo.NextMoveStep(StepEnum.SI_05_GetReel);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -201,9 +201,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -201,9 +201,16 @@ namespace OnlineStore.DeviceLibrary
} }
break; break;
case StepEnum.SO_16_VerifyBufferState: case StepEnum.SO_16_VerifyBufferState:
MoveInfo.NextMoveStep(StepEnum.SO_17_InOutToBuff); if(!CheckInputMiddleAxisInBuff())
LogInfo($"出库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); {
XAxis_To_P2(); MoveInfo.NextMoveStep(StepEnum.SO_17_InOutToBuff);
LogInfo($"出库 {MoveInfo.SLog}：移栽X轴到进出料暂存区取放点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
XAxis_To_P2();
}
else
{
SetWarnMsg($"等待上料机构旋转轴离开{MoveInfo.MoveParam.PosInfo.GetPosSide()}面暂存区超时");
}
break; break;
case StepEnum.SO_17_InOutToBuff: case StepEnum.SO_17_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SO_18_PutReel); MoveInfo.NextMoveStep(StepEnum.SO_18_PutReel);
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -19,16 +19,109 @@ namespace OnlineStore.DeviceLibrary ...@@ -19,16 +19,109 @@ namespace OnlineStore.DeviceLibrary
{ {
return false; return false;
} }
/// <summary>
//public bool InputMiddleAxisCanMove() /// 判断旋转轴是否在暂存区，返回true表示在暂存区
/// </summary>
/// <param name="areaNum">1=A上暂存区，2=A下暂存区，3=B上暂存区，4=B下暂存区</param>
/// <returns></returns>
//public bool AxisInWorkingArea()
//{ //{
// if() // int updownP = UpdownAxis.GetAclPosition();
// int xP = XAxis_A.GetAclPosition();
// int middleWucha = 20000;
// int updownWucha = 20000;
// //旋转轴在A暂存区
// if (UpdownAxis.GetAclPosition() >= (Config.Updown_P5 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P4 + axisDiff))
// {
// }
// if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha))
// {
// //如果升降轴低于下方高点
// if (updownP > Config.Updown_P6_AUnderH - updownWucha)
// {
// //在A下暂存区
// if (areaNum == 2)
// {
// return true;
// }
// }
// //升降轴高于上方低点
// else if (updownP < Config.Updown_P5_AUpperL + updownWucha)
// {
// if (areaNum == 1)
// {
// return true;
// }
// }
// else
// {
// if (areaNum == 1 || areaNum == 2)
// {
// return true;
// }
// }
// }
// else if (MiddleAxis.IsInPosition(Config.Middle_P5_BUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P8_BUnder, middleWucha))
// {
// //如果升降轴低于下方高点
// if (updownP > Config.Updown_P12_BUnderH - updownWucha)
// {
// if (areaNum == 4)
// {
// return true;
// }
// }
// //升降轴高于上方低点
// else if (updownP < Config.Updown_P11_BUpperL + updownWucha)
// {
// if (areaNum == 3)
// {
// return true;
// }
// }
// else
// {
// if (areaNum == 3 || areaNum == 4)
// {
// return true;
// }
// }
// }
// return false; // return false;
//} //}
//public bool CheckInputMiddleAxisInSafe() /// <summary>
//{ /// 1=A上入库料暂存区，2=A下出库料暂存区，3=B上入库暂存区，4=B下出库暂存区
// StoreManager.XLRStore.inputEquip.axiswo /// </summary>
//} /// <returns></returns>
public bool CheckInputMiddleAxisInBuff()
{
if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
if (CheckASide())
{
return StoreManager.XLRStore.inputEquip.AxisInWorkingArea(1);
}
else
{
return StoreManager.XLRStore.inputEquip.AxisInWorkingArea(3);
}
}
else if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{
if (CheckASide())
{
return StoreManager.XLRStore.inputEquip.AxisInWorkingArea(2);
}
else
{
return StoreManager.XLRStore.inputEquip.AxisInWorkingArea(4);
}
}
return true;
}
/// <summary> /// <summary>
/// 忽略相机检测到的抽屉误差误差 /// 忽略相机检测到的抽屉误差误差
/// </summary> /// </summary>
...@@ -233,7 +326,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -233,7 +326,7 @@ namespace OnlineStore.DeviceLibrary
{ {
XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_B_P3_Speed); XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_B_P3_Speed);
} }
} }
/// <summary> /// <summary>
/// AB面移栽X轴到待机点 /// AB面移栽X轴到待机点
/// </summary> /// </summary>
......
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