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Commit 322170bb 由 张东亮
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存储机构-添加进出轴扭矩打印

1 个父辈 1fa71d78
内嵌 并排
正在显示 4 个修改的文件 包含 97 行增加 和 54 行删除
source/DeviceLibrary/deviceLibrary/AXIS/HC/HCAxisManager.cs
...@@ -158,6 +158,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -158,6 +158,14 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
/// <summary>
/// 获取轴扭矩
/// </summary>
/// <param name="slvAddr"></param>
/// <returns></returns>
public short GetAxActTorq(short slvAddr)
{
return HCBoardManager.GetAxActTorq(slvAddr);
}
} }
} }
source/DeviceLibrary/manager/model/DeviceStep.cs
...@@ -454,7 +454,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -454,7 +454,10 @@ namespace OnlineStore.DeviceLibrary
/// 料仓入库:料斗拉取进出轴到P1（待机点）,检查另一边入库情况 /// 料仓入库:料斗拉取进出轴到P1（待机点）,检查另一边入库情况
/// </summary> /// </summary>
SI_19_InoutBack, SI_19_InoutBack,
/// <summary>
/// 料仓入库:如果上料机构入料口有料，则去待机点
/// </summary>
SI_20_ToStandby,
#endregion #endregion
#region 存储机构自动对位功能 400开始 #region 存储机构自动对位功能 400开始
......
source/DeviceLibrary/storeBean/EquipBase.cs
 
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
...@@ -14,8 +14,8 @@ using System.Timers; ...@@ -14,8 +14,8 @@ using System.Timers;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
public abstract class EquipBase : DeviceBase public abstract class EquipBase : DeviceBase
{ {
public bool IsDebug = false; public bool IsDebug = false;
public bool MoveStop = false; public bool MoveStop = false;
protected int TimerMaxSeconds = 3; protected int TimerMaxSeconds = 3;
...@@ -26,10 +26,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -26,10 +26,10 @@ namespace OnlineStore.DeviceLibrary
mainTimer.Enabled = open; mainTimer.Enabled = open;
ledProcessTimer.Enabled = open; ledProcessTimer.Enabled = open;
} }
protected abstract void BaseTimerProcess(); protected abstract void BaseTimerProcess();
protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e) protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{ {
TimerProcess(); TimerProcess();
...@@ -60,7 +60,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -60,7 +60,7 @@ namespace OnlineStore.DeviceLibrary
} }
this.alarmType = alarmType; this.alarmType = alarmType;
if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirpressure_Check) || if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirpressure_Check) ||
alarmType.Equals(AlarmType.AxisAlarm)||alarmType.Equals(AlarmType.AxisMoveError)) alarmType.Equals(AlarmType.AxisAlarm) || alarmType.Equals(AlarmType.AxisMoveError))
{ {
StopMove(); StopMove();
} }
...@@ -85,8 +85,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -85,8 +85,8 @@ namespace OnlineStore.DeviceLibrary
ResetProcess(); ResetProcess();
} }
if (MoveInfo.MoveType.Equals(MoveType.InStore)) if (MoveInfo.MoveType.Equals(MoveType.InStore))
{ {
InstoreProcess(); InstoreProcess();
} }
else if (MoveInfo.MoveType.Equals(MoveType.OutStore)) else if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{ {
...@@ -142,9 +142,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,9 +142,9 @@ namespace OnlineStore.DeviceLibrary
//取新的Io状态 //取新的Io状态
IO_VALUE fuweiValue = IOValue(IO_Type.Reset_BTN); IO_VALUE fuweiValue = IOValue(IO_Type.Reset_BTN);
if (DILastValueMap.ContainsKey(IO_Type.Reset_BTN)) if (DILastValueMap.ContainsKey(IO_Type.Reset_BTN))
{ {
IO_VALUE lastFuwei = DILastValueMap[IO_Type.Reset_BTN]; IO_VALUE lastFuwei = DILastValueMap[IO_Type.Reset_BTN];
bool isAutoStart = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun) == 1; bool isAutoStart = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun) == 1;
//收到复位信号后启动 //收到复位信号后启动
if (isAutoStart && fuweiValue.Equals(IO_VALUE.HIGH) && lastFuwei.Equals(IO_VALUE.LOW)) if (isAutoStart && fuweiValue.Equals(IO_VALUE.HIGH) && lastFuwei.Equals(IO_VALUE.LOW))
{ {
...@@ -193,47 +193,47 @@ namespace OnlineStore.DeviceLibrary ...@@ -193,47 +193,47 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("IOTimeOutProcess出错：", ex); LogUtil.error("IOTimeOutProcess出错：", ex);
} }
} }
public bool CanStartRun() public bool CanStartRun()
{ {
string canResult = StoreManager.XLRStore.CanStart(); string canResult = StoreManager.XLRStore.CanStart();
if (String.IsNullOrEmpty(canResult).Equals(false)) if (String.IsNullOrEmpty(canResult).Equals(false))
{ {
SetWarnMsg(Name+ canResult); SetWarnMsg(Name + canResult);
return false; return false;
} }
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{ {
SetWarnMsg(Name +"启动失败：急停未开"); SetWarnMsg(Name + "启动失败：急停未开");
return false; return false;
} }
else if (this.baseConfig.DType.Equals(DeviceType.InputEquip)&& IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW)) else if (this.baseConfig.DType.Equals(DeviceType.InputEquip) && IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
{ {
SetWarnMsg(Name + "启动失败：没有气压信号"); SetWarnMsg(Name + "启动失败：没有气压信号");
return false; return false;
} }
return true; return true;
} }
public void ChangeDebug(bool isDebug) public void ChangeDebug(bool isDebug)
{ {
} }
#region 伺服运动 #region 伺服运动
public bool RunAxis(bool isCheck, AxisBean axis) public bool RunAxis(bool isCheck, AxisBean axis)
{ {
string msg = ""; string msg = "";
bool result = axis.Open(isCheck, out msg); bool result = axis.Open(isCheck, out msg);
if (result && String.IsNullOrEmpty(msg)) if (result && String.IsNullOrEmpty(msg))
{ {
return true; return true;
} }
return false; return false;
} }
public void CloseAxis(AxisBean axis) public void CloseAxis(AxisBean axis)
{ {
axis.ServoOff(); axis.ServoOff();
} }
...@@ -248,9 +248,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -248,9 +248,9 @@ namespace OnlineStore.DeviceLibrary
if (alarmIo.Equals(1)) if (alarmIo.Equals(1))
{ {
WarnMsg = Name + " " + axisInfo.AxisName + "报警"; WarnMsg = Name + " " + axisInfo.AxisName + "报警";
LogUtil.error(WarnMsg); LogUtil.error(WarnMsg);
if (NeedAlarm) if (NeedAlarm)
{ {
Alarm(AlarmType.AxisAlarm); Alarm(AlarmType.AxisAlarm);
...@@ -262,11 +262,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -262,11 +262,12 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
#endregion #endregion
#region CheckWait处理 #region CheckWait处理
protected DateTime preRWTime = DateTime.Now; protected DateTime preRWTime = DateTime.Now;
short curTor, preTor;
internal void CheckWait(DeviceMoveInfo moveInfo) internal void CheckWait(DeviceMoveInfo moveInfo)
{ {
try try
...@@ -312,6 +313,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -312,6 +313,21 @@ namespace OnlineStore.DeviceLibrary
// LogInfo($"移栽升降轴 目标位置：{wait.TargetPosition},当前位置：{outCount}"); // LogInfo($"移栽升降轴 目标位置：{wait.TargetPosition},当前位置：{outCount}");
//} //}
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg); wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
try
{
if (wait.AxisInfo.DeviceName.Equals("料斗拉取进出轴"))
{
short axisNo = wait.AxisInfo.GetAxisValue();
preTor = curTor;
curTor = ((HCAxisManager)AxisManager.instance).GetAxActTorq(axisNo);
if (!preTor.Equals(curTor))
LogInfo($"料斗拉取进出轴 扭矩：{curTor}");
}
}
catch (Exception e)
{
LogUtil.error("获取料斗拉取进出轴轴距失败", e);
}
} }
if (!msg.Equals("")) if (!msg.Equals(""))
{ {
...@@ -381,7 +397,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -381,7 +397,7 @@ namespace OnlineStore.DeviceLibrary
{ {
wait.IsEnd = CheckWaitResult(moveInfo, wait); wait.IsEnd = CheckWaitResult(moveInfo, wait);
} }
if (wait.IsEnd) if (wait.IsEnd)
{ {
if (moveInfo.OneWaitCanEndStep) if (moveInfo.OneWaitCanEndStep)
...@@ -403,17 +419,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -403,17 +419,17 @@ namespace OnlineStore.DeviceLibrary
{ {
if (moveInfo.WaitList.Count > cutWLcount && !moveInfo.OneWaitCanEndStep) if (moveInfo.WaitList.Count > cutWLcount && !moveInfo.OneWaitCanEndStep)
{ {
LogUtil.info(moveInfo.Name+" moveInfo.WaitList.Count:" + moveInfo.WaitList.Count.ToString()+ ",cutWLcount:"+ cutWLcount.ToString()); ; LogUtil.info(moveInfo.Name + " moveInfo.WaitList.Count:" + moveInfo.WaitList.Count.ToString() + ",cutWLcount:" + cutWLcount.ToString()); ;
} }
moveInfo.EndStepWait(); moveInfo.EndStepWait();
} }
else if (span.TotalSeconds > moveInfo.TimeOutSeconds) else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
{ {
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg
+ "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒"; + "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
//int second = 10; //int second = 10;
//second = (int)(span.TotalSeconds/moveInfo.TimeOutSeconds ) * 10; //second = (int)(span.TotalSeconds/moveInfo.TimeOutSeconds ) * 10;
//if (second > 120) //if (second > 120)
//{ //{
...@@ -424,7 +440,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -424,7 +440,7 @@ namespace OnlineStore.DeviceLibrary
// second = 10; // second = 10;
//} //}
LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds()); LogUtil.error(WarnMsg, moveInfo.ErrorLogType, moveInfo.logSeconds());
Alarm(AlarmType.IoSingleTimeOut); Alarm(AlarmType.IoSingleTimeOut);
} }
} }
catch (Exception ex) catch (Exception ex)
...@@ -442,7 +458,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -442,7 +458,7 @@ namespace OnlineStore.DeviceLibrary
#region 日志打印 #region 日志打印
internal int WorkLogLevel = 1; internal int WorkLogLevel = 1;
protected void InoutLog(string msg,int level=1) protected void InoutLog(string msg, int level = 1)
{ {
if (level < 0) if (level < 0)
{ {
...@@ -453,42 +469,42 @@ namespace OnlineStore.DeviceLibrary ...@@ -453,42 +469,42 @@ namespace OnlineStore.DeviceLibrary
level = WorkLogLevel; level = WorkLogLevel;
} }
string code = ""; string code = "";
if (MoveInfo.MoveParam != null &&MoveInfo.MoveParam.PosInfo!=null&& MoveInfo.MoveParam.PosInfo.barcode != null) if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PosInfo != null && MoveInfo.MoveParam.PosInfo.barcode != null)
{ {
if (!MoveInfo.MoveParam.PosInfo.barcode.Equals("")) if (!MoveInfo.MoveParam.PosInfo.barcode.Equals(""))
{ {
code = MoveInfo.MoveParam.PosInfo.barcode; code = MoveInfo.MoveParam.PosInfo.barcode;
} }
} }
if (level.Equals(1)) if (level.Equals(1))
{ {
LogUtil.info(MoveInfo.Name + "[" + code + "]" + "[" + MoveInfo.MoveStep + "] " + msg); LogUtil.info(MoveInfo.Name + "[" + code + "]" + "[" + MoveInfo.MoveStep + "] " + msg);
} }
else else
{ {
LogUtil.debug(MoveInfo.Name + "[" + code + "]" + "[" + MoveInfo.MoveStep + "] " + msg); LogUtil.debug(MoveInfo.Name + "[" + code + "]" + "[" + MoveInfo.MoveStep + "] " + msg);
} }
} }
public virtual string GetMoveStr() public virtual string GetMoveStr()
{ {
string msg = ""; string msg = "";
int tLength = 15; int tLength = 15;
msg += "runS： " + runStatus + "\n"; msg += "runS： " + runStatus + "\n";
msg += "alarm： " + alarmType + " " + LastAlarmTime.ToLongTimeString() + "\n"; msg += "alarm： " + alarmType + " " + LastAlarmTime.ToLongTimeString() + "\n";
msg += "MoveT：" + MoveInfo.MoveType + "\n"; msg += "MoveT：" + MoveInfo.MoveType + "\n";
msg += "MoveS ：" + MoveInfo.MoveStep + "\n"; msg += "MoveS ：" + MoveInfo.MoveStep + "\n";
return msg; return msg;
} }
#endregion #endregion
#region 灯光处理 #region 灯光处理
protected void CloseLed() protected void CloseLed()
{ {
...@@ -531,7 +547,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -531,7 +547,7 @@ namespace OnlineStore.DeviceLibrary
{ {
yellowMove = true; yellowMove = true;
} }
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -371,10 +371,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -371,10 +371,20 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SI_19_InoutBack: case StepEnum.SI_19_InoutBack:
if (!CheckInStoreOtherSideInfo()) if (!CheckInStoreOtherSideInfo())
{ {
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing); if(InDoorSigCheck())
LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); {
MoveInfo.EndMove(); MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
AutoInout.InOutEndProcess(this, MoveType.InStore); LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveAxisToP1();
}
else
{
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.EndMove();
AutoInout.InOutEndProcess(this, MoveType.InStore);
}
} }
else else
{ {
...@@ -387,6 +397,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -387,6 +397,12 @@ namespace OnlineStore.DeviceLibrary
} }
break; break;
case StepEnum.SI_20_ToStandby:
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveInfo.EndMove();
AutoInout.InOutEndProcess(this, MoveType.InStore);
break;
} }
} }
#endregion #endregion
......
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