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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 ...@@ -121,16 +121,18 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public void AbsMove(DeviceMoveInfo MoveInfo, int targetPosition, int targetSpeed) public void AbsMove(DeviceMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{ {
bool rtn;
if (MoveInfo == null) if (MoveInfo == null)
{ {
AbsMove(targetPosition, targetSpeed); rtn = AbsMove(targetPosition, targetSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][{rtn}][MoveInfo = null]");
} }
else else
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed)); MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition; Config.TargetPosition = targetPosition;
AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, Config.AddSpeed, Config.DelSpeed); rtn = AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, Config.AddSpeed, Config.DelSpeed);
LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}]"); LogUtil.info($"{this.AxisName} AbsMove To [{targetPosition}] [speed={targetSpeed}][{rtn}]");
} }
} }
...@@ -143,7 +145,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -143,7 +145,7 @@ namespace OnlineStore.DeviceLibrary
string deviceName = axis.DeviceName; string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue(); 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 outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo); int targetCount = AxisManager.instance.GetTargetPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition); int errorCount = Math.Abs(outCount - targetPosition);
...@@ -259,7 +261,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -259,7 +261,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 绝对运动至点，不等待结果 /// 绝对运动至点，不等待结果
/// </summary> /// </summary>
private void AbsMove(int targetPos, double targetSpeed) private bool AbsMove(int targetPos, double targetSpeed)
{ {
if (targetPos.Equals(-1)) if (targetPos.Equals(-1))
{ {
...@@ -275,7 +277,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -275,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
{ {
targetSpeed = Config.TargetSpeed * targetSpeed; 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() public void SuddenStop()
......
source/DeviceLibrary/deviceLibrary/AXIS/AxisManager.cs
...@@ -53,7 +53,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -53,7 +53,7 @@ namespace OnlineStore.DeviceLibrary
public abstract void SuddenStop(string portName, short slvAddr); 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 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); public abstract void AlarmClear(string portName, short slvAddr);
/// <summary> /// <summary>
......
source/DeviceLibrary/deviceLibrary/AXIS/HC/HCAxisManager.cs
...@@ -19,9 +19,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -19,9 +19,9 @@ namespace OnlineStore.DeviceLibrary
{ {
return HCBoardManager.CloseCard(); 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) public override void AlarmClear(string portName, short slvAddr)
......
source/DeviceLibrary/storeBean/EquipBase.cs
...@@ -313,21 +313,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -313,21 +313,21 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
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 //try
{ //{
if (wait.AxisInfo.Explain.Equals("料斗拉取进出轴")) // if (wait.AxisInfo.Explain.Equals("料斗拉取进出轴"))
{ // {
short axisNo = wait.AxisInfo.GetAxisValue(); // short axisNo = wait.AxisInfo.GetAxisValue();
preTor = curTor; // preTor = curTor;
curTor = ((HCAxisManager)AxisManager.instance).GetAxActTorq(axisNo); // curTor = ((HCAxisManager)AxisManager.instance).GetAxActTorq(axisNo);
if (!preTor.Equals(curTor)) // if (!preTor.Equals(curTor))
LogUtil.info($"料斗拉取进出轴 扭矩：{curTor}"); // LogUtil.info($"料斗拉取进出轴 扭矩：{curTor}");
} // }
} //}
catch (Exception e) //catch (Exception e)
{ //{
LogUtil.error("获取料斗拉取进出轴轴距失败", e); // LogUtil.error("获取料斗拉取进出轴轴距失败", e);
} //}
} }
if (!msg.Equals("")) if (!msg.Equals(""))
{ {
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -721,6 +721,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -721,6 +721,19 @@ namespace OnlineStore.DeviceLibrary
} }
private void PullAxisToP1(string InOutType = "入库") private void PullAxisToP1(string InOutType = "入库")
{ {
if (MoveInfo.MoveStep.Equals(StepEnum.SI_00_StartInstore))
{
MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SO_00_StartOutstore))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug))
{
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
}
if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1)) if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1))
{ {
PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed); PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
...@@ -741,20 +754,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -741,20 +754,6 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed); PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed);
} }
} }
if (MoveInfo.MoveStep.Equals(StepEnum.SI_00_StartInstore))
{
MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SO_00_StartOutstore))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SP_00_1_StartPosDebug))
{
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
}
LogInfo($"{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"); 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> /// <summary>
......
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