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Commit d97b9663 由 张东亮
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存储机构-添加相机拍照点

1 个父辈 8a22b7d4
内嵌 并排
正在显示 6 个修改的文件 包含 37 行增加 和 10 行删除
dll/Asa.Camera.VisionLib.dll 0 → 100644
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source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
...@@ -305,11 +305,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -305,11 +305,21 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.BOX_H001_Wait: case StepEnum.BOX_H001_Wait:
if (GetCurLocation()) if (GetCurLocation())
{ {
MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3); if(MoveAxis.IsInPosition(MoveInfo.MoveParam.MoveP.MoveAxis_P3))
ComAxis_To_P2(); {
UpdownAxisTo_P6_P12(); MoveInfo.NextMoveStep(StepEnum.BOX_H002_PullAxis_UpdownToP3);
PullAxis_UpdownToHighP3(); ComAxis_To_P2();
LogInfo($"复位 {MoveInfo.SLog}：抽屉在料屉轴上,压紧轴到压紧前点，移栽升降轴到料屉上方过度点，料屉升降轴到高点P3"); UpdownAxisTo_P6_P12();
PullAxis_UpdownToHighP3();
LogInfo($"复位 {MoveInfo.SLog}：抽屉在轴上,压紧轴到压紧前点，移栽升降轴到料屉上方过度点，料屉升降轴到高点P3");
}
else
{
LogInfo($"复位 {MoveInfo.SLog}：抽屉在轴上,但行走机构不在抽屉位置，请确认！");
System.Windows.Forms.MessageBox.Show("抽屉在轴上, 但行走机构不在抽屉位置，无法进行复位，请确认！");
SetBoxStatus(DeviceStatus.None, RunStatus.Wait);
MoveInfo.EndMove();
}
} }
else else
{ {
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_AutoFindPos.cs
...@@ -159,7 +159,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -159,7 +159,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(MoveType.Working, param); MoveInfo.NewMove(MoveType.Working, param);
SetBoxStatus(DeviceStatus.Debugging, RunStatus.Busy); SetBoxStatus(DeviceStatus.Debugging, RunStatus.Busy);
MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos); MoveInfo.NextMoveStep(StepEnum.SA_01_Pos_Start_Find_Pos);
PullAxis_Inout_To_P1(); //PullAxis_Inout_To_P1();
PullAxis_Inout_To_Cam();
} }
private bool SaveDrawerPosition() private bool SaveDrawerPosition()
{ {
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
...@@ -244,7 +244,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -244,7 +244,8 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SI_07_MiddleToP3: case StepEnum.SI_07_MiddleToP3:
MoveInfo.NextMoveStep(StepEnum.SI_08_ToPosition); MoveInfo.NextMoveStep(StepEnum.SI_08_ToPosition);
LogInfo($"入库 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," + LogInfo($"入库 {MoveInfo.SLog}：运行到库位,移栽升降轴到料屉上方过渡点P6/P12,行走机构到存储库位取放点位P3," +
$"料斗拉取升降轴到料屉提取低点P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); $"料斗拉取升降轴到料屉提取低点P4,料屉拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();
MoveAxisToP3(); MoveAxisToP3();
PullAxis_UpdownToLowP4(); PullAxis_UpdownToLowP4();
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12();
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -51,7 +51,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -51,7 +51,8 @@ namespace OnlineStore.DeviceLibrary
case StepEnum.SO_01_MoveAxis_Ready: case StepEnum.SO_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SO_02_ToPosition); MoveInfo.NextMoveStep(StepEnum.SO_02_ToPosition);
LogInfo($"出库 {MoveInfo.SLog}：到库位,行走机构到存储库位取放点位P3,移栽升降轴到料屉上方过渡点P6/P12," + LogInfo($"出库 {MoveInfo.SLog}：到库位,行走机构到存储库位取放点位P3,移栽升降轴到料屉上方过渡点P6/P12," +
$"料斗拉取升降轴到料屉提取低点P4，移栽压紧轴到压紧前点P2,移栽X轴到库位取放点P3,移栽旋转轴到料屉库位垂直取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]"); $"料斗拉取升降轴到料屉提取低点P4，移栽压紧轴到压紧前点P2,移栽X轴到库位取放点P3,移栽旋转轴到料屉库位垂直取放料点P3,料屉拉取进出轴到拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
PullAxis_Inout_To_Cam();
MoveAxisToP3(); MoveAxisToP3();
UpdownAxisTo_P6_P12(); UpdownAxisTo_P6_P12();
PullAxis_UpdownToLowP4(); PullAxis_UpdownToLowP4();
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -210,6 +210,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -210,6 +210,20 @@ namespace OnlineStore.DeviceLibrary
{ {
PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed); PullAxis_Inout.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.PullAxis_Inout_P1, Config.PullAxis_Inout_P1_Speed);
} }
/// <summary>
/// 料斗拉取进出轴到取像点
/// </summary>
private void PullAxis_Inout_To_Cam()
{
if (CheckASide())
{
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamA, Config.PullAxis_Inout_P1_Speed);
}
else
{
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed);
}
}
#region 移栽升降轴 #region 移栽升降轴
/// <summary> /// <summary>
/// 移栽升降轴到料屉取放点P7/P13 /// 移栽升降轴到料屉取放点P7/P13
...@@ -501,7 +515,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -501,7 +515,7 @@ namespace OnlineStore.DeviceLibrary
continue; continue;
if (IOValue(trayBColumns[i]).Equals(IO_VALUE.LOW))//&& PullAxis_Inout.GetAclPosition()<=Config.PullAxis_Inout_P1 if (IOValue(trayBColumns[i]).Equals(IO_VALUE.LOW))//&& PullAxis_Inout.GetAclPosition()<=Config.PullAxis_Inout_P1
{ {
LogUtil.info($"复位 检测到料屉在B面"); LogUtil.info($"复位 检测到料屉在B面[col={i}]");
side = "BB"; side = "BB";
atBside = true; atBside = true;
col = i; col = i;
...@@ -521,7 +535,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -521,7 +535,7 @@ namespace OnlineStore.DeviceLibrary
continue; continue;
if (IOValue(trayAColumns[i]).Equals(IO_VALUE.LOW))//&& PullAxis_Inout.GetAclPosition() >= Config.PullAxis_Inout_P1 if (IOValue(trayAColumns[i]).Equals(IO_VALUE.LOW))//&& PullAxis_Inout.GetAclPosition() >= Config.PullAxis_Inout_P1
{ {
LogUtil.info($"复位 检测到料屉在A面"); LogUtil.info($"复位 检测到料屉在A面[col={i}]");
side = "AA"; side = "AA";
col = i; col = i;
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";
......
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