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Commit 286d8531 由 张东亮
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Merge branch 'master' of http://106.15.194.121:8083/lina/SO908-XLRStore

2 个父辈 5eed315c 9926659c
内嵌 并排
正在显示 9 个修改的文件 包含 494 行增加 和 442 行删除
dll/CodeLibrary.dll
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source/DeviceLibrary/Config/Config_BoxEquip.csv
......@@ -22,31 +22,31 @@ PRO,0,抽屉层数,Drawer_Rows,15,,,,,,,,,,,,
PRO,0,抽屉列数,Drawer_Columns,6,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,行走机构_待机点P1,MoveAxis_P1,80000,,,,,,,,,,,,
PRO,0,行走机构_进出料机构取放点P2,MoveAxis_P2,60000,,,,,,,,,,,,
PRO,0,行走机构_进出料机构取放点P2,MoveAxis_P2,-18000,,,,,,,,,,,,
PRO,0,行走机构_安全位置,MoveAxis_SafePos,80000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,料斗拉取进出轴_待机点P1,PullAxis_Inout_P1,10000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,移栽升降轴_待机点P1,Updown_P1,500000,,,,,,,,,,,,
PRO,0,移栽升降轴_A上暂存区取料高点P2,Updown_P2,1200000,,,,,,,,,,,,
PRO,0,移栽升降轴_A上暂存区取料低点P3,Updown_P3,1000000,,,,,,,,,,,,
PRO,0,移栽升降轴_A下暂存区放料高点P4,Updown_P4,800000,,,,,,,,,,,,
PRO,0,移栽升降轴_A下暂存区放料低点P5,Updown_P5,600000,,,,,,,,,,,,
PRO,0,移栽升降轴_B上暂存区取料高点P8,Updown_P8,1200000,,,,,,,,,,,,
PRO,0,移栽升降轴_B上暂存区取料低点P9,Updown_P9,1000000,,,,,,,,,,,,
PRO,0,移栽升降轴_B下暂存区取料高点P10,Updown_P10,800000,,,,,,,,,,,,
PRO,0,移栽升降轴_B下暂存区取料低点P11,Updown_P11,600000,,,,,,,,,,,,
PRO,0,移栽升降轴_待机点P1,Updown_P1,880000,,,,,,,,,,,,
PRO,0,移栽升降轴_A上暂存区取料高点P2,Updown_P2,1506534,,,,,,,,,,,,
PRO,0,移栽升降轴_A上暂存区取料低点P3,Updown_P3,1368381,,,,,,,,,,,,
PRO,0,移栽升降轴_A下暂存区放料高点P4,Updown_P4,827531,,,,,,,,,,,,
PRO,0,移栽升降轴_A下暂存区放料低点P5,Updown_P5,677217,,,,,,,,,,,,
PRO,0,移栽升降轴_B上暂存区取料高点P8,Updown_P8,1506534,,,,,,,,,,,,
PRO,0,移栽升降轴_B上暂存区取料低点P9,Updown_P9,1368381,,,,,,,,,,,,
PRO,0,移栽升降轴_B下暂存区取料高点P10,Updown_P10,827531,,,,,,,,,,,,
PRO,0,移栽升降轴_B下暂存区取料低点P11,Updown_P11,677217,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,料斗拉取升降轴_待机点P1,PullAxis_Updown_P1,0,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,A面移栽X轴_待机点P1,XAxis_A_P1,661000,,,,,,,,,,,,
PRO,0,A面移栽X轴_A进出料暂存区取放料点P2,XAxis_A_P2,1160000,,,,,,,,,,,,
PRO,0,A面移栽X轴_A进出料暂存区取放料点P2,XAxis_A_P2,1245809,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,A面移栽旋转轴_待机点P1,MiddleAxis_A_P1,1000,,,,,,,,,,,,
PRO,0,A面移栽旋转轴_A进出料暂存区取放料水平点P2,MiddleAxis_A_P2,95000,,,,,,,,,,,,
PRO,0,A面移栽旋转轴_A面料屉库位垂直取放料点P3,MiddleAxis_A_P3,-2000,,,,,,,,,,,,
PRO,0,A面移栽旋转轴_A面料屉库位垂直取放料点P3,MiddleAxis_A_P3,-918,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,A面移栽压紧轴_待机点P1,ComAxis_A_P1,1000,,,,,,,,,,,,
PRO,0,A面移栽压紧轴_待机点P1,ComAxis_A_P1,10000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,B面移栽X轴_待机点P1,XAxis_B_P1,661000,,,,,,,,,,,,
......
source/DeviceLibrary/Config/Config_InputEquip.csv
......@@ -21,52 +21,52 @@ PRO,0,提升轴上料目标点_A侧,BatchAxisP2_A,582239,,,,,,,,,,,,
PRO,0,提升轴待机点_B侧,BatchAxisP1_B,1000,,,,,,,,,,,,
PRO,0,提升轴上料目标点_B侧,BatchAxisP2_B,428000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,20000,,,,,,,,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,30000,,,,,,,,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,5000,,,,,,,,,,,,
PRO,0,提升上料轴P3速度/料盘拿走后提升轴下降速度,BatchAxis_P3Speed,10000,,,,,,,,,,,,
PRO,0,提升上料轴P3速度/料盘拿走后提升轴下降速度,BatchAxis_P3Speed,20000,,,,,,,,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,804,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料升降轴_待机点,Updown_P1,403669,,,,,,,,,,,,
PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,20660,,,,,,,,,,,,
PRO,0,取料升降轴_B料口取料点,Updown_P3_BTake,102,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料高点,Updown_P4_AUpperH,405000,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料低点,Updown_P5_AUpperL,342828,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料高点,Updown_P6_AUnderH,103403,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料低点,Updown_P7_AUnderL,39619,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料高点,Updown_P8_NGH,113403,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料低点,Updown_P9_NGL,37981,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料高点,Updown_P10_BUpperH,405000,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料低点,Updown_P11_BUpperL,342828,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料高点,Updown_P12_BUnderH,43619,,,,,,,,,,,,
PRO,0,取料升降轴_待机点,Updown_P1,18000,,,,,,,,,,,,
PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,386317,,,,,,,,,,,,
PRO,0,取料升降轴_B料口取料点,Updown_P3_BTake,386317,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料高点,Updown_P4_AUpperH,18000,,,,,,,,,,,,
PRO,0,取料升降轴_A上暂存区放料低点,Updown_P5_AUpperL,65798,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料高点,Updown_P6_AUnderH,310000,,,,,,,,,,,,
PRO,0,取料升降轴_A下暂存区取料低点,Updown_P7_AUnderL,368000,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料高点,Updown_P8_NGH,310000,,,,,,,,,,,,
PRO,0,取料升降轴_NG料区放料低点,Updown_P9_NGL,310000,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料高点,Updown_P10_BUpperH,18000,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区放料低点,Updown_P11_BUpperL,65798,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料高点,Updown_P12_BUnderH,368000,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区取料低点,Updown_P13_BUnderL,112,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料升降轴_P1速度,Updown_P1_Speed,10000,,,,,,,,,,,,
PRO,1,取料升降轴_P2速度,Updown_P2_Speed,10000,,,,,,,,,,,,
PRO,2,取料升降轴_P3速度,Updown_P3_Speed,10000,,,,,,,,,,,,
PRO,3,取料升降轴_P4速度,Updown_P4_Speed,10000,,,,,,,,,,,,
PRO,4,取料升降轴_P5速度,Updown_P5_Speed,10000,,,,,,,,,,,,
PRO,5,取料升降轴_P6速度,Updown_P6_Speed,10000,,,,,,,,,,,,
PRO,6,取料升降轴_P7速度,Updown_P7_Speed,10000,,,,,,,,,,,,
PRO,7,取料升降轴_P8速度,Updown_P8_Speed,10000,,,,,,,,,,,,
PRO,8,取料升降轴_P9速度,Updown_P9_Speed,10000,,,,,,,,,,,,
PRO,9,取料升降轴_P10速度,Updown_P10_Speed,10000,,,,,,,,,,,,
PRO,10,取料升降轴_P11速度,Updown_P11_Speed,10000,,,,,,,,,,,,
PRO,11,取料升降轴_P12速度,Updown_P12_Speed,10000,,,,,,,,,,,,
PRO,12,取料升降轴_P13速度,Updown_P13_Speed,10000,,,,,,,,,,,,
PRO,0,取料升降轴_P1速度,Updown_P1_Speed,40000,,,,,,,,,,,,
PRO,1,取料升降轴_P2速度,Updown_P2_Speed,40000,,,,,,,,,,,,
PRO,2,取料升降轴_P3速度,Updown_P3_Speed,40000,,,,,,,,,,,,
PRO,3,取料升降轴_P4速度,Updown_P4_Speed,40000,,,,,,,,,,,,
PRO,4,取料升降轴_P5速度,Updown_P5_Speed,40000,,,,,,,,,,,,
PRO,5,取料升降轴_P6速度,Updown_P6_Speed,40000,,,,,,,,,,,,
PRO,6,取料升降轴_P7速度,Updown_P7_Speed,40000,,,,,,,,,,,,
PRO,7,取料升降轴_P8速度,Updown_P8_Speed,40000,,,,,,,,,,,,
PRO,8,取料升降轴_P9速度,Updown_P9_Speed,40000,,,,,,,,,,,,
PRO,9,取料升降轴_P10速度,Updown_P10_Speed,40000,,,,,,,,,,,,
PRO,10,取料升降轴_P11速度,Updown_P11_Speed,40000,,,,,,,,,,,,
PRO,11,取料升降轴_P12速度,Updown_P12_Speed,40000,,,,,,,,,,,,
PRO,12,取料升降轴_P13速度,Updown_P13_Speed,40000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料旋转轴_待机点,Middle_P1,126912,,,,,,,,,,,,
PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,160838,,,,,,,,,,,,
PRO,0,取料旋转轴_B料口取料点,Middle_P3_BTake,102,,,,,,,,,,,,
PRO,0,取料旋转轴_B料口取料点,Middle_P3_BTake,93462,,,,,,,,,,,,
PRO,0,取料旋转轴_A上暂存区放料点,Middle_P4_AUpper,251022,,,,,,,,,,,,
PRO,0,取料旋转轴_B上暂存区放料点,Middle_P5_BUpper,104,,,,,,,,,,,,
PRO,0,取料旋转轴_NG料区放料点,Middle_P6_NG,214355,,,,,,,,,,,,
PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,251022,,,,,,,,,,,,
PRO,0,取料旋转轴_B下暂存区取料点,Middle_P8_BUnder,107,,,,,,,,,,,,
PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,10000,,,,,,,,,,,,
PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,10000,,,,,,,,,,,,
PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,10000,,,,,,,,,,,,
PRO,3,取料旋转轴_P4速度,Middle_P4_Speed,10000,,,,,,,,,,,,
PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,10000,,,,,,,,,,,,
PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,10000,,,,,,,,,,,,
PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,10000,,,,,,,,,,,,
PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,10000,,,,,,,,,,,,
PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,20000,,,,,,,,,,,,
PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,20000,,,,,,,,,,,,
PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,20000,,,,,,,,,,,,
PRO,3,取料旋转轴_P4速度,Middle_P4_Speed,20000,,,,,,,,,,,,
PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,20000,,,,,,,,,,,,
PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,20000,,,,,,,,,,,,
PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,20000,,,,,,,,,,,,
PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,20000,,,,,,,,,,,,
source/DeviceLibrary/Config/Config_Store.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,入料机构夹爪,CLAW_Input,0,COM13,,100,500,500,60,6,20,15,15,15,20,20,15
CLAW,1,入料机构夹爪,CLAW_Input,0,COM12,,100,500,500,60,6,20,15,15,15,20,20,15
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,Airpressure_CheckSeconds,600,,,,,,,,,,,,,,
PRO,0,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,,,,
......@@ -75,10 +75,15 @@ DI,1,空气压力检测,Airpressure_Check,57,HC,X57,,,,,,,,,,,,
,,,,62,HC,X62,,,,,,,,,,,,
,,,,63,HC,X63,,,,,,,,,,,,
,,,,,,,,,,,,,,,,,,
DI,2,A进料上暂存区料盘检测,UpperArea_Check_A,53,HC,X53,,,,,,,,,,,,
DI,2,A出料下暂存区料盘检测,UnderArea_Check_A,54,HC,X54,,,,,,,,,,,,
DI,2,B进料上暂存区料盘检测,UpperArea_Check_B,55,HC,X55,,,,,,,,,,,,
DI,2,B出料下暂存区料盘检测,UnderArea_Check_B,56,HC,X56,,,,,,,,,,,,
,,,,,,,,,,,,,,,,,,
DO,2,自动绿色指示灯（存储机构）,RunSign_HddLed,0,HC,Y00,,,,,,,,,,,,
DO,2,故障红色指示灯（存储机构）,Alarm_HddLed,1,HC,Y01,,,,,,,,,,,,
DO,2,待机黄色指示灯（存储机构）,AutoRun_HddLed,2,HC,Y02,,,,,,,,,,,,
DO,2,报警蜂鸣器,AlarmBuzzer_Box,3,HC,Y03,,,,,,,,,,,,
DO,2,报警蜂鸣器,Alarm_Buzzer,3,HC,Y03,,,,,,,,,,,,
DO,2,设备照明,DeviceLed,4,HC,Y04,,,,,,,,,,,,
DO,2,门禁屏蔽,DisDoorLimit,5,HC,Y05,,,,,,,,,,,,
,,,,6,HC,Y06,,,,,,,,,,,,
......
source/DeviceLibrary/Config/linePositions.csv
位置,优先级,高度,宽度,料仓ID,料斗进出轴料屉提取点P2P4,料斗进出轴料屉库位点P3P5,料斗升降轴料屉提取高点P3,料斗升降轴料屉提取低点P4,存储库位取放点位P3,移栽升降轴料屉上方过渡点P6P12,移栽升降轴料屉取放点P7P13,AB移栽X轴料屉库位取放料点P3,AB移栽压紧轴压紧前点P2,AB移栽压紧轴压紧点P3,料斗拉取升降轴_料屉提取水平点P2
05AA01010101,1,8,7,2,-490000,-232800,68116,0,85000,460000,459995,9236,9500,-2000,20000
05AA01010102,1,8,7,2,2,3,68116,0,85000,7,459995,9,10,11,20000
05AA01010101,1,8,7,2,478807,219703,68116,0,97000,460000,5332,739399,9500,-2000,20000
05AA01010102,1,8,7,2,2,3,68116,0,85000,7,459995,705003,9500,-2000,20000
05AA01010103,1,8,7,2,3,4,68116,0,85000,8,459995,10,11,12,20000
05AA01010104,1,8,7,2,4,5,68116,0,85000,9,459995,11,12,13,20000
05AA01010105,1,8,7,2,5,6,68116,0,85000,10,459995,12,13,14,20000
......@@ -7199,28 +7199,28 @@
05AA15060418,1,8,7,2,78,79,80,81,82,83,84,85,86,87,88
05AA15060419,1,8,7,2,79,80,81,82,83,84,85,86,87,88,89
05AA15060420,1,8,7,2,80,81,82,83,84,85,86,87,88,89,90
05BB01010101,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,9236,8000,-2000,20000
05BB01010102,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,45334,8000,-2000,20000
05BB01010103,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,81432,8000,-2000,20000
05BB01010104,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,117530,8000,-2000,20000
05BB01010105,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,153628,8000,-2000,20000
05BB01010106,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,189726,8000,-2000,20000
05BB01010107,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,225824,8000,-2000,20000
05BB01010108,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,261922,8000,-2000,20000
05BB01010109,1,8,7,2,-490000,-232800,68116,0,85000,459990,2990,298020,8000,-2000,20000
05BB01010110,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,334118,8000,-2000,20000
05BB01010111,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,370216,8000,-2000,20000
05BB01010112,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,406314,8000,-2000,20000
05BB01010113,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,442412,8000,-2000,20000
05BB01010114,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,478510,8000,-2000,20000
05BB01010115,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,514608,8000,-2000,20000
05BB01010116,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,550706,8000,-2000,20000
05BB01010117,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,586804,8000,-2000,20000
05BB01010118,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,622902,8000,-2000,20000
05BB01010119,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,659000,8000,-2000,20000
05BB01010120,1,8,7,2,-490000,-232800,68116,0,85000,459991,2991,695098,8000,-2000,20000
05BB01010201,1,8,7,2,-490000,-6037,68116,0,85000,459991,2991,9236,8000,-2000,20000
05BB01010202,1,8,7,2,-490000,-6037,68116,0,85000,459991,2991,45334,8000,-2000,20000
05BB01010101,1,8,7,2,-490000,-232800,68116,0,85000,459986,2986,9236,8000,-2000,20000
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......@@ -7266,339 +7266,339 @@
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05BB01050401,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,9236,8000,-2000,21675
05BB01050402,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,45334,8000,-2000,21675
05BB01050403,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,81432,8000,-2000,21675
05BB01050404,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,117530,8000,-2000,21675
05BB01050405,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,153628,8000,-2000,21675
05BB01050406,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,189726,8000,-2000,21675
05BB01050407,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,225824,8000,-2000,21675
05BB01050408,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,261922,8000,-2000,21675
05BB01050409,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,298020,8000,-2000,21675
05BB01050410,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,334118,8000,-2000,21675
05BB01050411,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,370216,8000,-2000,21675
05BB01050412,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,406314,8000,-2000,21675
05BB01050413,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,442412,8000,-2000,21675
05BB01050414,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,478510,8000,-2000,21675
05BB01050415,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,514608,8000,-2000,21675
05BB01050416,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,550706,8000,-2000,21675
05BB01050417,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,586804,8000,-2000,21675
05BB01050418,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,622902,8000,-2000,21675
05BB01050419,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,659000,8000,-2000,21675
05BB01050420,1,8,7,2,-490000,442210,69791,1675,3548238,461661,4661,695098,8000,-2000,21675
05BB01060101,1,8,7,2,-490000,-232800,68116,0,85000,460000,3000,9236,8000,-2000,20000
05BB01060102,1,8,7,2,-490000,-232800,68116,0,85000,460000,3000,45334,8000,-2000,20000
05BB01060103,1,8,7,2,-490000,-232800,68116,0,85000,460000,3000,81432,8000,-2000,20000
......
source/DeviceLibrary/manager/model/DeviceStep.cs
......@@ -566,7 +566,7 @@ namespace OnlineStore.DeviceLibrary
/// 入库料串取料：升降轴到待机点P1
/// </summary>
II09_UpdownToP1,
/// <summary>
/// 入库料串取料：等待伺服检测信号消失,通知料串料盘已离开
/// </summary>
......@@ -898,6 +898,10 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
IB13_SaveHight,
/// <summary>
/// 料串入料：等待夹爪离开
/// </summary>
IB14_WaitReelLeave,
/// <summary>
......
source/DeviceLibrary/storeBean/EquipBase.cs
......@@ -634,17 +634,22 @@ namespace OnlineStore.DeviceLibrary
//取新的Io状态
IO_VALUE fuweiValue = IOValue(IO_Type.Reset_BTN);
IO_VALUE suddenBtn = IOValue(IO_Type.SuddenStop_BTN);
IO_VALUE Airpressure_Check = IOValue(IO_Type.Airpressure_Check);
if (DILastValueMap.ContainsKey(IO_Type.Airpressure_Check) && DILastValueMap.ContainsKey(IO_Type.Reset_BTN))
addLastDI(IO_Type.SuddenStop_BTN, suddenBtn);
IO_VALUE airValue = IO_VALUE.HIGH;
if (DILastValueMap.ContainsKey(IO_Type.Airpressure_Check) && baseConfig.DIList.ContainsKey(IO_Type.Airpressure_Check))
{
IO_VALUE Airpressure_Check = IOValue(IO_Type.Airpressure_Check);
IO_VALUE lastAir = DILastValueMap[IO_Type.Airpressure_Check];
IO_VALUE lastFuwei = DILastValueMap[IO_Type.Reset_BTN];
addLastDI(IO_Type.Airpressure_Check, Airpressure_Check);
addLastDI(IO_Type.SuddenStop_BTN, suddenBtn);
addLastDI(IO_Type.Reset_BTN, fuweiValue);
//气压检测按钮灭三秒以上才算关闭
IO_VALUE airValue = CheckAir(Airpressure_Check, lastAir);
airValue = CheckAir(Airpressure_Check, lastAir);
}
if (DILastValueMap.ContainsKey(IO_Type.Reset_BTN))
{
IO_VALUE lastFuwei = DILastValueMap[IO_Type.Reset_BTN];
addLastDI(IO_Type.Reset_BTN, fuweiValue);
//急停按钮和气压检测按钮需要一起使用
if (suddenBtn.Equals(IO_VALUE.LOW))
......@@ -654,12 +659,12 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(Name + "收到急停信号，等待200后再次验证急停");
//Task.Factory.StartNew(delegate
//{
Thread.Sleep(200);
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg("收到急停信号，报警急停");
Alarm(AlarmType.SuddenStop);
}
Thread.Sleep(200);
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg("收到急停信号，报警急停");
Alarm(AlarmType.SuddenStop);
}
//});
}
}
......@@ -679,12 +684,11 @@ namespace OnlineStore.DeviceLibrary
Reset();
}
}
}
}
else
{
addLastDI(IO_Type.Airpressure_Check, Airpressure_Check);
addLastDI(IO_Type.SuddenStop_BTN, suddenBtn);
addLastDI(IO_Type.Reset_BTN, fuweiValue);
addLastDI(IO_Type.Reset_BTN, fuweiValue);
}
}
}
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
......@@ -74,10 +74,10 @@ namespace OnlineStore.DeviceLibrary
{
// 定位工位有料串，等待1秒后再次检测
MoveInfo.NextMoveStep(StepEnum.IB05_StopUp);
WorkLog("定位工位检测到料串： 链条转动，阻挡气缸上升， 3秒再次检测");
LineRun();
WorkLog("定位工位检测到料串： 链条停止，阻挡气缸上升");
LineStop();
StopUp(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
private void IB02_BatchAxisToP1()
{
......@@ -162,24 +162,24 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.EndMove();
LogUtil.info(" 未检测到料串，入料结束");
}
}
else if (MoveInfo.IsStep(StepEnum.IB06_WaitTime))
}
else if (MoveInfo.IsStep(StepEnum.IB05_StopUp))
{
LineStop();
if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH) && Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
if ( Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
{
if (CurrShelf.ShelfState.Equals(2))
if (CurrShelf!=null&& CurrShelf.ShelfState.Equals(2))
{
SendInShelfLeave(" 料串【" + CurrShelf.ToStr() + "】为出库中料串，不需要入库 ");
}
else
{
UpdateShelf(1);
if (CurrShelf.ShelfRfid.EndsWith("00"))
{
SendInShelfLeave(" 料串号【" + CurrShelf.ShelfRfid + "】无效 ");
}
else
//if (CurrShelf.ShelfRfid.EndsWith("00"))
//{
// SendInShelfLeave(" 料串号【" + CurrShelf.ShelfRfid + "】无效 ");
//}
//else
{
IB07_AxisUpMove();
}
......@@ -231,8 +231,11 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToP2))
{
MoveInfo.NextMoveStep(StepEnum.IB13_SaveHight);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LastHeight = GetHeight();
}
else if (MoveInfo.IsStep(StepEnum.IB14_WaitReelLeave))
{
CheckHasTray();
}
......@@ -349,7 +352,8 @@ namespace OnlineStore.DeviceLibrary
}
}
private void SendInShelfLeave(string msg = "")
{
{
WorkLog(" SendInShelfLeave :" + msg);
bool needLeave = true;
//入料完成直接开始出库
if (ShelfAutoOut || CurrShelf.ShelfState.Equals(2))
......@@ -790,6 +794,22 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(Name + "当前状态：" + MoveInfo.MoveType + ",GetTrayOK暂不处理");
}
}
public void GetTrayLeave()
{
if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
if (MoveInfo.IsStep(StepEnum.IB13_SaveHight))
{
MoveInfo.NextMoveStep(StepEnum.IB14_WaitReelLeave);
WorkLog("当前料盘已离开,开始判断是否有下一盘，开始扫码");
LastHeight = 0;
}
}
else
{
LogUtil.error(Name + "当前状态：" + MoveInfo.MoveType + ",GetTrayLeave暂不处理");
}
}
private bool isFastLoad = false;
private bool UpdateShelf(int state = 0, string xnRfid = "")
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
......@@ -121,7 +121,7 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(StepEnum.II01_UpdownToP1))
{
ToShelfMove();
}
else if (MoveInfo.IsStep(StepEnum.II02_MIddleToP2))
{
......@@ -151,6 +151,11 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.II09_UpdownToP1))
{
// MoveInfo.NextMoveStep(StepEnum.II09_MiddleToP1);
// MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 旋转轴到待机点P1 {Config.Middle_P1}");
// UpdownAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
//}else if (MoveInfo.IsStep(StepEnum.II09_MiddleToP1))
//{
//如果是测试，直接开始取目标位置
if (MoveInfo.MoveParam.PosInfo.barcode.EndsWith("TEST"))
{
......@@ -160,8 +165,7 @@ namespace OnlineStore.DeviceLibrary
else
{
II10_WaitAxisCheck();
}
}
}
else if (MoveInfo.IsStep(StepEnum.II10_WaitAxisCheck))
{
......@@ -229,6 +233,7 @@ namespace OnlineStore.DeviceLibrary
if (BufferDataManager.AInStoreInfo == null||BufferDataManager.AInStoreInfo.PosId.Equals(""))
{
ClearTimeoutAlarm("A上暂存区物料拿走");
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II42_UpdownToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
......@@ -282,6 +287,7 @@ namespace OnlineStore.DeviceLibrary
{
if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals(""))
{
TrayHasLeave();
ClearTimeoutAlarm("B上暂存区物料拿走");
MoveInfo.NextMoveStep(StepEnum.II62_UpdownToP10);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
......@@ -334,13 +340,14 @@ namespace OnlineStore.DeviceLibrary
#region 入料->NG箱上暂存区
else if (MoveInfo.IsStep(StepEnum.II81_UpdownToP8))
{
{
MoveInfo.NextMoveStep(StepEnum.II82_MiddleToNg);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 旋转轴到P6（NG料区放料点）{Config.Middle_P6_NG}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P6_NG, Config.Middle_P6_Speed);
}
else if (MoveInfo.IsStep(StepEnum.II82_MiddleToNg))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II83_UpdownToP9);
MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 升降轴到P9（NG料区放料低点）{Config.Updown_P9_NGL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9_NGL, Config.Updown_P9_Speed);
......@@ -580,6 +587,18 @@ namespace OnlineStore.DeviceLibrary
return false;
}
private void TrayHasLeave()
{
int shelf = MoveInfo.MoveParam.ShelfType;
if (shelf.Equals(1))
{
BatchMove_A.GetTrayLeave();
}
else if (shelf.Equals(2))
{
BatchMove_B.GetTrayLeave();
}
}
protected override void OutstoreProcess()
{
if (MoveInfo.IsInWait)
......
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