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Commit b430fed8 由 LN
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Merge branch 'master' of http://106.15.194.121:8083/lina/SO908-XLRStore

2 个父辈 d9847538 e9e02fe6
内嵌 并排
正在显示 4 个修改的文件 包含 129 行增加 和 9 行删除
source/DeviceLibrary/manager/model/DeviceStep.cs
...@@ -130,6 +130,36 @@ namespace OnlineStore.DeviceLibrary ...@@ -130,6 +130,36 @@ namespace OnlineStore.DeviceLibrary
/// BOX复位：抽屉降到低点 /// BOX复位：抽屉降到低点
/// </summary> /// </summary>
BOX_H005_PullAxis_UpdownToLow, BOX_H005_PullAxis_UpdownToLow,
/// <summary>
/// BOX复位：检查行走机构是否在暂存区
/// </summary>
BOX_H0101_CheckCurMoveAxisPos,
/// <summary>
/// BOX复位：AB面旋转轴到水平点
/// </summary>
BOX_H0102_MiddleAxisToP2,
/// <summary>
/// BOX复位：去暂存区高点：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
/// </summary>
BOX_H0103_ToAInputHighPos,
/// <summary>
/// BOX复位：去暂存区低点
/// </summary>
BOX_H0104_ToAInputLowPos,
/// <summary>
/// BOX复位：A面移栽X轴到待机点
/// </summary>
BOX_H0105_A_XAxisToP1,
/// <summary>
///BOX复位：去暂存区高点：移栽升降轴在B暂存区低点和高点之间,到高点P4,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2
/// </summary>
BOX_H0105_ToBInputHighPos,
/// <summary>
/// BOX复位：A面移栽X轴到待机点
/// </summary>
BOX_H0106_ToBInputLowPos,
/// <summary> /// <summary>
/// BOX复位：检查料屉升降轴位置 /// BOX复位：检查料屉升降轴位置
/// </summary> /// </summary>
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
...@@ -299,21 +299,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -299,21 +299,25 @@ namespace OnlineStore.DeviceLibrary
{ {
//回零 //回零
case StepEnum.BOX_H001_Wait: case StepEnum.BOX_H001_Wait:
if(GetCurLocation(out string posid)) if (GetCurLocation())
{ {
MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3); MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3);
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", posid));
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12();
PullAxis_UpdownToHighP3(); PullAxis_UpdownToHighP3();
LogInfo($"复位 {MoveInfo.SLog}：抽屉在料屉轴上,移栽升降轴到料屉上方过度点，料屉升降轴到高点P3"); LogInfo($"复位 {MoveInfo.SLog}：抽屉在料屉轴上,移栽升降轴到料屉上方过度点，料屉升降轴到高点P3");
} }
else else
{ {
if (MoveAxis.IsInPosition(Config.MoveAxis_P2))
{
MoveInfo.NextMoveStep(StepEnum.BOX_H0101_CheckCurMoveAxisPos);
LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上,行走机构在暂存区");
}
else
{
MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos); MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", posid)); LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上且行走机构不在暂存区");
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId); }
LogInfo($"复位 {MoveInfo.SLog}：抽屉未在料屉轴上");
} }
break; break;
case StepEnum.BOX_H002_PullAxis_UpdownToP3: case StepEnum.BOX_H002_PullAxis_UpdownToP3:
...@@ -345,6 +349,88 @@ namespace OnlineStore.DeviceLibrary ...@@ -345,6 +349,88 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout_To_P1(); PullAxis_Inout_To_P1();
LogInfo($"复位 {MoveInfo.SLog}：料斗拉取拉取轴到待机点P1"); LogInfo($"复位 {MoveInfo.SLog}：料斗拉取拉取轴到待机点P1");
break; break;
case StepEnum.BOX_H0101_CheckCurMoveAxisPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0102_MiddleAxisToP2);
if (!MiddleAxis_A.IsInPosition(Config.MiddleAxis_A_P2))
{
MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P2, Config.MiddleAxis_A_P2_Speed);
LogInfo($"复位 {MoveInfo.SLog}：A面旋转轴不在水平面，A面移栽旋转轴到水平点");
}
if (!MiddleAxis_B.IsInPosition(Config.MiddleAxis_B_P2))
{
MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P2, Config.MiddleAxis_B_P2_Speed);
LogInfo($"复位 {MoveInfo.SLog}：B面旋转轴不在水平面，B面移栽旋转轴到水平点");
}
break;
case StepEnum.BOX_H0102_MiddleAxisToP2:
MoveInfo.NextMoveStep(StepEnum.BOX_H0103_ToAInputHighPos);
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
if (UpdownAxis.GetAclPosition() >= Config.Updown_P5 && UpdownAxis.GetAclPosition() <= Config.Updown_P4)
{
LogInfo($"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);
}
else if (UpdownAxis.GetAclPosition() >= Config.Updown_P3 && UpdownAxis.GetAclPosition() <= Config.Updown_P2)
{
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点和高点之间,到高点P2,A面移栽X轴去暂存区P2，A面压紧轴到压紧前点P2");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
}
break;
case StepEnum.BOX_H0103_ToAInputHighPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0104_ToAInputLowPos);
if (UpdownAxis.GetAclPosition() >= Config.Updown_P5 && UpdownAxis.GetAclPosition() <= Config.Updown_P4)
{
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上下暂存区低点P5");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5, Config.Updown_P5_Speed);
}
else if (UpdownAxis.GetAclPosition() >= Config.Updown_P3 && UpdownAxis.GetAclPosition() <= Config.Updown_P2)
{
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点P3");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3, Config.Updown_P3_Speed);
}
break;
case StepEnum.BOX_H0104_ToAInputLowPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1);
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
LogInfo($"复位 {MoveInfo.SLog}：A面移栽X轴低到待机点P1");
break;
case StepEnum.BOX_H0105_A_XAxisToP1:
MoveInfo.NextMoveStep(StepEnum.BOX_H0105_ToBInputHighPos);
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);
if (UpdownAxis.GetAclPosition() >= Config.Updown_P11 && UpdownAxis.GetAclPosition() <= Config.Updown_P10)
{
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点和高点之间,到高点P10,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed);
}
else if (UpdownAxis.GetAclPosition() >= Config.Updown_P9 && UpdownAxis.GetAclPosition() <= Config.Updown_P8)
{
LogInfo($"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);
}
break;
case StepEnum.BOX_H0105_ToBInputHighPos:
MoveInfo.NextMoveStep(StepEnum.BOX_H0106_ToBInputLowPos);
if (UpdownAxis.GetAclPosition() >= Config.Updown_P11 && UpdownAxis.GetAclPosition() <= Config.Updown_P10)
{
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点P11");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11, Config.Updown_P11_Speed);
}
else if (UpdownAxis.GetAclPosition() >= Config.Updown_P9 && UpdownAxis.GetAclPosition() <= Config.Updown_P8)
{
LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B上暂存区低点P9");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9, Config.Updown_P9_Speed);
}
break;
case StepEnum.BOX_H0106_ToBInputLowPos:
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;
case StepEnum.BOX_H01_CheckCurPullDownPos: case StepEnum.BOX_H01_CheckCurPullDownPos:
if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1) && !PullAxis_Updown.IsInPosition(MoveInfo.MoveParam.MoveP.PullAxis_Updown_P2)) if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1) && !PullAxis_Updown.IsInPosition(MoveInfo.MoveParam.MoveP.PullAxis_Updown_P2))
{ {
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -372,12 +372,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -372,12 +372,12 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
/// <param name="PosId"></param> /// <param name="PosId"></param>
/// <returns>true表示抽屉挂在轴上</returns> /// <returns>true表示抽屉挂在轴上</returns>
private bool GetCurLocation(out string PosId) private bool GetCurLocation()
{ {
int row = 1; int row = 1;
int col = 1; int col = 1;
string side = "BB"; string side = "BB";
PosId = "05BB01010101"; string PosId = "05BB01010101";
for (int i = 1; i <= trayRows.Length; i++) for (int i = 1; i <= trayRows.Length; i++)
{ {
if (i == trayRows.Length) if (i == trayRows.Length)
...@@ -425,6 +425,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -425,6 +425,8 @@ namespace OnlineStore.DeviceLibrary
} }
} }
PosId = $"05{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101"; PosId = $"05{side}{row.ToString().PadLeft(2, '0')}{col.ToString().PadLeft(2, '0')}0101";
MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("Reset", PosId));
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
return false; return false;
} }
/// <summary> /// <summary>
...@@ -540,7 +542,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -540,7 +542,7 @@ namespace OnlineStore.DeviceLibrary
int res = AutoFindPos.GetMarkInfo(bitmap, $"{MoveInfo.MoveParam.PosInfo.PosId.Substring(0, 4)}", $"row{autoFindPos.CurRow}_col{autoFindPos.CurColumn}", out ocsFXYR); int res = AutoFindPos.GetMarkInfo(bitmap, $"{MoveInfo.MoveParam.PosInfo.PosId.Substring(0, 4)}", $"row{autoFindPos.CurRow}_col{autoFindPos.CurColumn}", out ocsFXYR);
if (res == 0) if (res == 0)
{ {
LogInfo($"存储机构-相机检查库位 {MoveInfo.SLog}：取图[{MoveInfo.MoveParam.PosInfo.PosId}]"); LogInfo($"存储机构-相机检查库位 {MoveInfo.SLog}：取图并检查Mark点[{MoveInfo.MoveParam.PosInfo.PosId}]");
} }
else if (res == -4) else if (res == -4)
{ {
...@@ -554,6 +556,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -554,6 +556,7 @@ namespace OnlineStore.DeviceLibrary
CamDetectError = true; CamDetectError = true;
return false; return false;
} }
if (Math.Abs(Config.Drawer_X - ocsFXYR.fX) < Config.Drawer_X_Error && Math.Abs(Config.Drawer_Y - ocsFXYR.fY) < Config.Drawer_Y_Error) if (Math.Abs(Config.Drawer_X - ocsFXYR.fX) < Config.Drawer_X_Error && Math.Abs(Config.Drawer_Y - ocsFXYR.fY) < Config.Drawer_Y_Error)
{ {
CamDetectError = false; CamDetectError = false;
......
source/XLRStoreClient/boxForm/FrmAxisMove.cs
...@@ -584,6 +584,7 @@ namespace OnlineStore.XLRStore ...@@ -584,6 +584,7 @@ namespace OnlineStore.XLRStore
/// <param name="e"></param> /// <param name="e"></param>
private void btnSavePosIds_Click(object sender, EventArgs e) private void btnSavePosIds_Click(object sender, EventArgs e)
{ {
btnSavePoints_Click(null,null);
if (posId.Equals("")) if (posId.Equals(""))
return; return;
BoxPosition ktkPosition = CSVPositionReader<BoxPosition>.GetPositon(posId); BoxPosition ktkPosition = CSVPositionReader<BoxPosition>.GetPositon(posId);
......
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