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Commit b6054b76 由 LN
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1.出料时料串多下降。2.入库旋转和上升可以一起动作。3.增加复位键启动功能

1 个父辈 4e3d775d
内嵌 并排
正在显示 6 个修改的文件 包含 56 行增加 和 11 行删除
source/DeviceLibrary/storeBean/EquipBase.cs
...@@ -32,7 +32,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -32,7 +32,6 @@ namespace OnlineStore.DeviceLibrary
protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e) protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{ {
AutoStartProcess();
TimerProcess(); TimerProcess();
} }
...@@ -130,7 +129,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -130,7 +129,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
protected void AutoStartProcess() internal void AutoStartProcess()
{ {
DateTime time = DateTime.Now; DateTime time = DateTime.Now;
if (runStatus.Equals(RunStatus.Wait)) if (runStatus.Equals(RunStatus.Wait))
......
source/DeviceLibrary/storeBean/XLRStoreBean.cs
...@@ -294,6 +294,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -294,6 +294,9 @@ namespace OnlineStore.DeviceLibrary
break; break;
default: break; default: break;
} }
inputEquip.AutoStartProcess();
boxEquip.AutoStartProcess();
} }
catch (Exception ex) catch (Exception ex)
{ {
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
...@@ -556,8 +556,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -556,8 +556,16 @@ namespace OnlineStore.DeviceLibrary
UpdateShelf(2, xnRfid); UpdateShelf(2, xnRfid);
MoveInfo.NextMoveStep(StepEnum.IS12_AxisDown); MoveInfo.NextMoveStep(StepEnum.IS12_AxisDown);
MoveInfo.MoveParam.PosInfo = posInfo; MoveInfo.MoveParam.PosInfo = posInfo;
//如果料盘检测信号亮或者是上料目标位置，需要多下降20mm
int downValueMM = 4;
if (Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH) || BatchAxis.IsInPosition(Config.BatchAxisP2))
{
downValueMM = 20;
}
int currPositon = BatchAxis.GetAclPosition(); int currPositon = BatchAxis.GetAclPosition();
int downValue = Robot.Config.Height_ChangeValue * (posInfo.PlateH + 2); int downValue = Robot.Config.Height_ChangeValue * (posInfo.PlateH + downValueMM);
int batchTP = currPositon - downValue; int batchTP = currPositon - downValue;
if (batchTP <= Config.BatchAxisP1) if (batchTP <= Config.BatchAxisP1)
{ {
...@@ -590,7 +598,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -590,7 +598,7 @@ namespace OnlineStore.DeviceLibrary
private void CheckShelfIsFull() private void CheckShelfIsFull()
{ {
int currPositon = BatchAxis.GetAclPosition(); int currPositon = BatchAxis.GetAclPosition();
int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 2); int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 20);
if (nextP <= Config.BatchAxisP1) if (nextP <= Config.BatchAxisP1)
{ {
if (Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH)) if (Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH))
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
...@@ -340,7 +340,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -340,7 +340,6 @@ namespace OnlineStore.DeviceLibrary
AgvClient.SetStatus(Config.AgvName_A); AgvClient.SetStatus(Config.AgvName_A);
AgvClient.SetStatus(Config.AgvName_B); AgvClient.SetStatus(Config.AgvName_B);
runStatus = RunStatus.Wait;
MoveInfo.EndMove(); MoveInfo.EndMove();
BatchMove_A.StopMove(); BatchMove_A.StopMove();
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
...@@ -245,11 +245,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -245,11 +245,19 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.II41_MiddleTWaitP4)) else if (MoveInfo.IsStep(StepEnum.II41_MiddleTWaitP4))
{ {
if (UpdownAxis.IsInPosition(Config.Updown_P4_AUpperH))
{
TrayHasLeave(); TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel); MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待A上暂存区无料"); MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待A上暂存区无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW));
} }
else
{
II41_MiddleTWaitP4();
}
}
else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel)) else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
{ {
if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals("")) if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""))
...@@ -333,11 +341,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -333,11 +341,18 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.II61_MiddleToWaitP5)) else if (MoveInfo.IsStep(StepEnum.II61_MiddleToWaitP5))
{ {
if (UpdownAxis.IsInPosition(Config.Updown_P10_BUpperH))
{
TrayHasLeave(); TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel); MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待B上暂存区无料"); MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待B上暂存区无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW));
} }
else
{
II61_MiddleToWaitP5();
}
}
else if (MoveInfo.IsStep(StepEnum.II62_WaitNoReel)) else if (MoveInfo.IsStep(StepEnum.II62_WaitNoReel))
{ {
if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals("")) if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals(""))
...@@ -499,18 +514,38 @@ namespace OnlineStore.DeviceLibrary ...@@ -499,18 +514,38 @@ namespace OnlineStore.DeviceLibrary
} }
else if (lastPosInfo.GetPosSide().Equals("A")) else if (lastPosInfo.GetPosSide().Equals("A"))
{ {
MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4); //MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: A侧入库料{lastPosInfo.ToStr()}, 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}"); //MoveLog($" 入料->A侧 {MoveInfo.SLog}: A侧入库料{lastPosInfo.ToStr()}, 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed); //UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
II41_MiddleTWaitP4();
} }
else else
{ {
MoveInfo.NextMoveStep(StepEnum.II60_UpdownToP10); //MoveInfo.NextMoveStep(StepEnum.II60_UpdownToP10);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: B侧入库料{lastPosInfo.ToStr()} ，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}"); //MoveLog($" 入料->B侧 {MoveInfo.SLog}: B侧入库料{lastPosInfo.ToStr()} ，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed); //UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
II61_MiddleToWaitP5();
}
}
private void II61_MiddleToWaitP5()
{
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II61_MiddleToWaitP5);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}， 旋转轴 到P5{Config.Middle_P5_BUpper}-{Config.MiddleOffsetValue}=目标{targetValue}位置等待暂存区无料");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P5_Speed);
} }
private void II41_MiddleTWaitP4()
{
int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II41_MiddleTWaitP4);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}， 旋转轴 到P4{Config.Middle_P4_AUpper}-{Config.MiddleOffsetValue}=目标{targetV}位置等待暂存区无料");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P4_Speed);
} }
private Task getPosTask = null; private Task getPosTask = null;
......
source/XLRStoreClient/inputForm/FrmInputEquip.cs
...@@ -186,6 +186,7 @@ namespace OnlineStore.XLRStore ...@@ -186,6 +186,7 @@ namespace OnlineStore.XLRStore
clampJawControl1.UpdateSta(); clampJawControl1.UpdateSta();
ReadIOList(); ReadIOList();
lblName.BackColor = inputEquip.GetShowColor(); lblName.BackColor = inputEquip.GetShowColor();
lblStoreStatus.Text = inputEquip.GetRunStr();
if (inputEquip.runStatus > RunStatus.Wait) if (inputEquip.runStatus > RunStatus.Wait)
{ {
if (btnStart.Enabled) if (btnStart.Enabled)
......
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