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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 52 行增加 和 9 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
...@@ -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();
} }
...@@ -198,16 +198,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -198,16 +198,16 @@ namespace OnlineStore.DeviceLibrary
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;
...@@ -267,6 +267,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -267,6 +267,7 @@ namespace OnlineStore.DeviceLibrary
#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(""))
{ {
...@@ -403,7 +419,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -403,7 +419,7 @@ 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();
...@@ -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)
{ {
...@@ -453,7 +469,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -453,7 +469,7 @@ 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(""))
{ {
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -371,11 +371,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -371,11 +371,21 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SI_19_InoutBack: case StepEnum.SI_19_InoutBack:
if (!CheckInStoreOtherSideInfo()) if (!CheckInStoreOtherSideInfo())
{ {
if(InDoorSigCheck())
{
MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
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); SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"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.EndMove();
AutoInout.InOutEndProcess(this, MoveType.InStore); AutoInout.InOutEndProcess(this, MoveType.InStore);
} }
}
else else
{ {
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3); MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
...@@ -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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