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Commit 78edc3d2 由 张东亮
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轴返回结果打印

1 个父辈 dd44844a
内嵌 并排
正在显示 5 个修改的文件 包含 39 行增加 和 38 行删除
source/DeviceLibrary/baan/AxisBean.cs
......@@ -121,16 +121,18 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public void AbsMove(DeviceMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{
bool rtn;
if (MoveInfo == null)
{
AbsMove(targetPosition, targetSpeed);
rtn = AbsMove(targetPosition, targetSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][{rtn}][MoveInfo = null]");
}
else
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition;
AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, Config.AddSpeed, Config.DelSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}]");
rtn = AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, Config.AddSpeed, Config.DelSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][{rtn}]");
}
}
......@@ -143,7 +145,7 @@ namespace OnlineStore.DeviceLibrary
string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue();
bool isOk = AxisManager.instance.GetBusyStatus(deviceName, axisNo).Equals(0) && AxisManager.instance.GetInPositionSingle(deviceName, axisNo).Equals(0);
bool isOk = AxisManager.instance.GetBusyStatus(deviceName, axisNo).Equals(0) && AxisManager.instance.GetInPositionSingle(deviceName, axisNo).Equals(1);
int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
......@@ -259,7 +261,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
private void AbsMove(int targetPos, double targetSpeed)
private bool AbsMove(int targetPos, double targetSpeed)
{
if (targetPos.Equals(-1))
{
......@@ -275,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
{
targetSpeed = Config.TargetSpeed * targetSpeed;
}
AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, Config.AddSpeed, Config.DelSpeed);
return AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, Config.AddSpeed, Config.DelSpeed);
}
public void SuddenStop()
......
source/DeviceLibrary/deviceLibrary/AXIS/AxisManager.cs
......@@ -53,7 +53,7 @@ namespace OnlineStore.DeviceLibrary
public abstract void SuddenStop(string portName, short slvAddr);
public abstract bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount, bool isLog = false);
public abstract void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed , int ptpAcc , int ptpDec );
public abstract bool AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed , int ptpAcc , int ptpDec );
public abstract void AlarmClear(string portName, short slvAddr);
/// <summary>
......
source/DeviceLibrary/deviceLibrary/AXIS/HC/HCAxisManager.cs
......@@ -19,9 +19,9 @@ namespace OnlineStore.DeviceLibrary
{
return HCBoardManager.CloseCard();
}
public override void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed ,int ptpAcc ,int ptpDec )
public override bool AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed ,int ptpAcc ,int ptpDec )
{
HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
return HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
}
public override void AlarmClear(string portName, short slvAddr)
......
source/DeviceLibrary/storeBean/EquipBase.cs
......@@ -313,21 +313,21 @@ namespace OnlineStore.DeviceLibrary
else
{
wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
try
{
if (wait.AxisInfo.Explain.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))
LogUtil.info($"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);
}
//try
//{
// if (wait.AxisInfo.Explain.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))
// LogUtil.info($"料斗拉取进出轴 扭矩：{curTor}");
// }
//}
//catch (Exception e)
//{
// LogUtil.error("获取料斗拉取进出轴轴距失败", e);
//}
}
if (!msg.Equals(""))
{
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
......@@ -721,6 +721,19 @@ namespace OnlineStore.DeviceLibrary
}
private void PullAxisToP1(string InOutType = "入库")
{
if (MoveInfo.MoveStep.Equals(StepEnum.SI_00_StartInstore))
{
MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SO_00_StartOutstore))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug))
{
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
}
if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1))
{
PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
......@@ -741,20 +754,6 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed);
}
}
if (MoveInfo.MoveStep.Equals(StepEnum.SI_00_StartInstore))
{
MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SO_00_StartOutstore))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug))
{
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
}
LogInfo($"{InOutType} {MoveInfo.SLog}：料屉拉取升降轴到待机点P1、料屉拉取进出轴到拍照点");
}
/// <summary>
......
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