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Commit 6cebbc55 由 张东亮
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1. 出库流程中，取完料盘后x轴先到待机点然后旋转轴翻转 

2. 进出轴退出后检查抽屉到位信号
1 个父辈 850a2f8d
内嵌 并排
正在显示 2 个修改的文件 包含 12 行增加 和 16 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -350,24 +350,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -350,24 +350,22 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SI_18_PutTrayMiddle: case StepEnum.SI_18_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown); MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayDown);
//LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"入库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToLowP4(); PullAxis_UpdownToLowP4();
break;
case StepEnum.SI_18_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide()) if (CheckASide())
{ {
LogInfo($"入库 {MoveInfo.SLog}：放下料屉,料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidAColmns[GetPosColumn()])) if (!GetShieldState(sheidAColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
} }
else else
{ {
LogInfo($"入库 {MoveInfo.SLog}：放下料屉,料斗拉取升降轴到料屉提取低点P4,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidBColmns[GetPosColumn()])) if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
} }
break;
case StepEnum.SI_18_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
LogInfo($"入库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam();
SaveSpecifiedImage(); SaveSpecifiedImage();
break; break;
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -117,9 +117,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -117,9 +117,8 @@ namespace OnlineStore.DeviceLibrary
//XAxis_To_P1(); //XAxis_To_P1();
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle); MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayMiddle);
LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽旋转轴到取放料水平点P2,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：推到抽屉提取点，料斗拉取进出轴到料屉提取点P2/P4,移栽X到P1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_P2_P4(); PullAxis_Inout_To_P2_P4();
MiddleAxis_To_P2();
XAxis_To_P1(); XAxis_To_P1();
break; break;
case StepEnum.SO_11_PushTray: case StepEnum.SO_11_PushTray:
...@@ -147,24 +146,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -147,24 +146,23 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StepEnum.SO_12_PutTrayMiddle: case StepEnum.SO_12_PutTrayMiddle:
MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown); MoveInfo.NextMoveStep(StepEnum.SO_12_PutTrayDown);
//LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); LogInfo($"出库 {MoveInfo.SLog}：放下料屉，移栽旋转轴到取放料水平点P2,料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_UpdownToLowP4(); PullAxis_UpdownToLowP4();
MiddleAxis_To_P2();
break;
case StepEnum.SO_12_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (CheckASide()) if (CheckASide())
{ {
LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidAColmns[GetPosColumn()])) if (!GetShieldState(sheidAColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
} }
else else
{ {
LogInfo($"出库 {MoveInfo.SLog}：放下料屉，料斗拉取升降轴到料屉提取低点P4,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
if (!GetShieldState(sheidBColmns[GetPosColumn()])) if (!GetShieldState(sheidBColmns[GetPosColumn()]))
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
} }
break;
case StepEnum.SO_12_PutTrayDown:
MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
LogInfo($"出库 {MoveInfo.SLog}：料斗拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam(); PullAxis_Inout_To_Cam();
SaveSpecifiedImage(); SaveSpecifiedImage();
break; break;
......
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