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Commit 57556aaa 由 张东亮
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存储机构-复位时暂存区有料时，X轴不到暂存区

1 个父辈 4025f23b
内嵌 并排
正在显示 1 个修改的文件 包含 30 行增加 和 5 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
...@@ -381,15 +381,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -381,15 +381,19 @@ namespace OnlineStore.DeviceLibrary
} }
break; break;
case StepEnum.BOX_H0102_MiddleAxisToP2: case StepEnum.BOX_H0102_MiddleAxisToP2:
if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.LOW) || IOValue(IO_Type.UnderArea_Check_A).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StepEnum.BOX_H0103_ToAInputHighPos); MoveInfo.NextMoveStep(StepEnum.BOX_H0103_ToAInputHighPos);
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed); ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed); XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
if (UpdownAxis.GetAclPosition() >= (Config.Updown_P5- axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P4+ axisDiff)) if (UpdownAxis.GetAclPosition() >= (Config.Updown_P5 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P4 + axisDiff)
&& (IOValue(IO_Type.UnderArea_Check_A).Equals(IO_VALUE.LOW)|| BufferDataManager.AOutStoreInfo ==null))
{ {
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A下暂存区低点和高点之间,到高点P4,A面移栽X轴去暂存区P2,A面压紧轴到压紧前点P2"); LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A下暂存区低点和高点之间,到高点P4,A面移栽X轴去暂存区P2,A面压紧轴到压紧前点P2");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed);
} }
else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P3- axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P2+ axisDiff)) else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P3 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P2 + axisDiff)
&& (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.LOW) || BufferDataManager.AInStoreInfo==null))
{ {
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点和高点之间,到高点P2,A面移栽X轴去暂存区P2，A面压紧轴到压紧前点P2"); LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点和高点之间,到高点P2,A面移栽X轴去暂存区P2，A面压紧轴到压紧前点P2");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
...@@ -398,6 +402,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -398,6 +402,13 @@ namespace OnlineStore.DeviceLibrary
{ {
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴不在A暂存区低点和高点之间，不动作"); LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴不在A暂存区低点和高点之间，不动作");
} }
}
else
{
MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1);
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
LogInfo($"复位 {MoveInfo.SLog}：A暂存区有料，A面移栽X轴到待机点P1");
}
break; break;
case StepEnum.BOX_H0103_ToAInputHighPos: case StepEnum.BOX_H0103_ToAInputHighPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0104_ToAInputLowPos); MoveInfo.NextMoveStep(StepEnum.BOX_H0104_ToAInputLowPos);
...@@ -419,19 +430,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -419,19 +430,23 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.BOX_H0104_ToAInputLowPos: case StepEnum.BOX_H0104_ToAInputLowPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1); MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1);
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed); XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
LogInfo($"复位 {MoveInfo.SLog}：A面移栽X轴低到待机点P1"); LogInfo($"复位 {MoveInfo.SLog}：A面移栽X轴到待机点P1");
break; break;
case StepEnum.BOX_H0105_A_XAxisToP1: case StepEnum.BOX_H0105_A_XAxisToP1:
if (IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.LOW) || IOValue(IO_Type.UnderArea_Check_B).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(StepEnum.BOX_H0105_ToBInputHighPos); MoveInfo.NextMoveStep(StepEnum.BOX_H0105_ToBInputHighPos);
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed); ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed); XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed);
if (UpdownAxis.GetAclPosition() >= (Config.Updown_P11-axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P10+axisDiff)) if (UpdownAxis.GetAclPosition() >= (Config.Updown_P11 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P10 + axisDiff)&&
(IOValue(IO_Type.UnderArea_Check_B).Equals(IO_VALUE.LOW)|| BufferDataManager.BOutStoreInfo ==null))
{ {
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点和高点之间,到高点P10,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2"); LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点和高点之间,到高点P10,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed);
} }
else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P9-axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P8+axisDiff)) else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P9 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P8 + axisDiff)&&
(IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.LOW)|| BufferDataManager.BInStoreInfo==null))
{ {
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B上暂存区低点和高点之间,到高点P8,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2"); LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B上暂存区低点和高点之间,到高点P8,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed);
...@@ -440,6 +455,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -440,6 +455,14 @@ namespace OnlineStore.DeviceLibrary
{ {
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴不在B暂存区低点和高点之间，不动作"); LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴不在B暂存区低点和高点之间，不动作");
} }
}
else
{
MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed);
MoveAxisToP1();
LogInfo($"复位 {MoveInfo.SLog}：B暂存区有料，B面移栽X轴到待机点P1,行走机构到待机点P1，在暂存区复位结束");
}
break; break;
case StepEnum.BOX_H0105_ToBInputHighPos: case StepEnum.BOX_H0105_ToBInputHighPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0106_ToBInputLowPos); MoveInfo.NextMoveStep(StepEnum.BOX_H0106_ToBInputLowPos);
...@@ -607,6 +630,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -607,6 +630,8 @@ namespace OnlineStore.DeviceLibrary
// } // }
// return; // return;
//} //}
if (!runStatus.Equals(RunStatus.Runing))
return;
if (waitAOutStoreList.Count > 0) if (waitAOutStoreList.Count > 0)
{ {
InOutParam param = null; InOutParam param = null;
......
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