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Commit e42f8115 由 张东亮
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取完料上升时以2/3速度上升

1 个父辈 097668dc
内嵌 并排
正在显示 5 个修改的文件 包含 105 行增加 和 20 行删除
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs


using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
......@@ -62,15 +62,15 @@ namespace OnlineStore.DeviceLibrary
}
public void TimerProcess()
{
{
//如果急停，不再处理
if (Robot.alarmType.Equals(AlarmType.SuddenStop)|| Robot.alarmType.Equals(AlarmType.NoAirpressure_Check))
if (Robot.alarmType.Equals(AlarmType.SuddenStop) || Robot.alarmType.Equals(AlarmType.NoAirpressure_Check))
{
return;
}
if (!MoveStop)
{
{
if (MoveInfo.MoveType.Equals(MoveType.None))
{
if (Robot.MoveInfo.MoveType.Equals(MoveType.Reset) || Robot.MoveInfo.MoveType.Equals(MoveType.RHome))
......@@ -110,10 +110,10 @@ namespace OnlineStore.DeviceLibrary
{
if (StoreManager.checkWatch(shelfWatch, 10000, true))
{
Asa.ClientAction action= AgvClient.GetAction(Config.AgvName);
Asa.ClientAction action = AgvClient.GetAction(Config.AgvName);
var agvcallresult = AgvClient.NeedEnter(Config.AgvName, "", Asa.ClientLevel.High);
if (!action.Equals(Asa.ClientAction.NeedEnter))
{
{
WorkLog("无料串,：通知agv来送料串AgvName:" + Config.AgvName + ",send NeedEnter=:" + agvcallresult.ToString());
}
}
......@@ -132,20 +132,20 @@ namespace OnlineStore.DeviceLibrary
if (Robot.CanStartRun())
{
if (Robot.runStatus >= RunStatus.HomeMoving)
{
{
if (needStop)
{
StopMove();
}
string msg = "";
bool axisOpen = BatchAxis.Open(true, out msg);
// WorkLog("批量轴打开结果：" + axisOpen);
// WorkLog("批量轴打开结果：" + axisOpen);
if (!axisOpen)
{
BatchAxis.SuddenStop();
BatchAxis.ServoOff();
WarnMsg = Name + "复位失败：批量轴打开失败:"+msg;
WarnMsg = Name + "复位失败：批量轴打开失败:" + msg;
return false;
}
if (resetShelf)
......@@ -156,10 +156,10 @@ namespace OnlineStore.DeviceLibrary
preCodeList = new List<string>();
WarnMsg = "";
alarmType = AlarmType.None;
MoveInfo.NewMove(MoveType.Reset,new InOutParam());
MoveInfo.NewMove(MoveType.Reset, new InOutParam());
MoveInfo.NextMoveStep(StepEnum.IBR01_StopDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
WorkLog("开始复位，定位气缸下降");
WorkLog("开始复位，定位气缸下降");
StopDown(MoveInfo);
return true;
}
......@@ -188,11 +188,11 @@ namespace OnlineStore.DeviceLibrary
}
if (MoveInfo.IsStep(StepEnum.IBR01_StopDown))
{
{
MoveInfo.NextMoveStep(StepEnum.IBR02_LineRun);
WorkLog("复位：链条正转3秒");
LineRun(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
else if (MoveInfo.IsStep(StepEnum.IBR02_LineRun))
{
......@@ -233,7 +233,7 @@ namespace OnlineStore.DeviceLibrary
BatchAxis.AxisStopCheckMove();
BatchAxis.SuddenStop();
}
public DateTime LastAlarmTime = DateTime.Now;
public AlarmType alarmType = AlarmType.None;
internal void Alarm(AlarmType alarmType)
......@@ -251,7 +251,7 @@ namespace OnlineStore.DeviceLibrary
{
StopMove();
}
}
}
#region 气缸操作
public void LineRun(DeviceMoveInfo moveInfo = null)
......@@ -326,7 +326,7 @@ namespace OnlineStore.DeviceLibrary
}
LogUtil.info(Name + " BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
targetSpeed = Robot.Config.BatchAxis_P2Speed * 2 / 3;
}
// 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = BatchAxis.GetAclPosition();
......@@ -565,7 +565,7 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveType.Equals(MoveType.OutStore))
{
string code = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.ToStr() : "";
return CurrShelf.ToStr() + "， 出料：" + " " + MoveInfo.MoveStep +" "+$"{MoveInfo?.MoveParam?.PosInfo.hSerial??""} {SServerManager.GetOutTaskCount(MoveInfo?.MoveParam?.PosInfo?.hSerial??"")}" +" \r\n" + code + "\n";
return CurrShelf.ToStr() + "， 出料：" + " " + MoveInfo.MoveStep + " " + $"{MoveInfo?.MoveParam?.PosInfo.hSerial ?? ""} {SServerManager.GetOutTaskCount(MoveInfo?.MoveParam?.PosInfo?.hSerial ?? "")}" + " \r\n" + code + "\n";
}
else if (MoveInfo.MoveType.Equals(MoveType.InStore))
{
......@@ -616,7 +616,7 @@ namespace OnlineStore.DeviceLibrary
{
if (WarnMsg.Contains(msg))
{
WarnMsg="";
WarnMsg = "";
}
}
}
......@@ -634,7 +634,7 @@ namespace OnlineStore.DeviceLibrary
internal string RfidIP = "";
#region 左右入料口共有IO
//伺服料盘检测
internal string IO_ReelCheck = "ReelCheck";
internal string IO_ReelCheck = "ReelCheck";
//料串前端检测
internal string IO_LineIn_Check = "LineIn_Check";
//料串到位检测
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
......@@ -288,7 +288,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.IB15_BatchAxisToP2);
WorkLog("料串入料 ：料盘已拿走，批量轴到P2,测盘高 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
BatchAxisToP2();
BatchAxisToP2(false);
}
else if (MoveInfo.IsStep(StepEnum.IB15_BatchAxisToP2))
{
......
source/XLRStoreClient/XLRStore.csproj
......@@ -54,6 +54,9 @@
<ApplicationIcon>DfIcon.ico</ApplicationIcon>
</PropertyGroup>
<PropertyGroup />
<PropertyGroup>
<ApplicationManifest>app.manifest</ApplicationManifest>
</PropertyGroup>
<ItemGroup>
<Reference Include="Client">
<HintPath>..\..\dll\Client.dll</HintPath>
......@@ -305,6 +308,7 @@
<Content Include="model\sr.prototxt">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</Content>
<None Include="app.manifest" />
<None Include="packages.config" />
<None Include="Properties\Settings.settings">
<Generator>SettingsSingleFileGenerator</Generator>
......
source/XLRStoreClient/app.manifest 0 → 100644
<?xml version="1.0" encoding="utf-8"?>
<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
<assemblyIdentity version="1.0.0.0" name="MyApplication.app"/>
<trustInfo xmlns="urn:schemas-microsoft-com:asm.v2">
<security>
<requestedPrivileges xmlns="urn:schemas-microsoft-com:asm.v3">
<!-- UAC 清单选项
如果想要更改 Windows 用户帐户控制级别，请使用
以下节点之一替换 requestedExecutionLevel 节点。
<requestedExecutionLevel level="asInvoker" uiAccess="false" />
<requestedExecutionLevel level="requireAdministrator" uiAccess="false" />
<requestedExecutionLevel level="highestAvailable" uiAccess="false" />
指定 requestedExecutionLevel 元素将禁用文件和注册表虚拟化。
如果你的应用程序需要此虚拟化来实现向后兼容性，则移除此
元素。
-->
<requestedExecutionLevel level="requireAdministrator" uiAccess="false" />
</requestedPrivileges>
</security>
</trustInfo>
<compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
<application>
<!-- 设计此应用程序与其一起工作且已针对此应用程序进行测试的
Windows 版本的列表。取消评论适当的元素，
Windows 将自动选择最兼容的环境。 -->
<!-- Windows Vista -->
<!--<supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f0}" />-->
<!-- Windows 7 -->
<!--<supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}" />-->
<!-- Windows 8 -->
<!--<supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}" />-->
<!-- Windows 8.1 -->
<!--<supportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}" />-->
<!-- Windows 10 -->
<!--<supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}" />-->
</application>
</compatibility>
<!-- 指示该应用程序可感知 DPI 且 Windows 在 DPI 较高时将不会对其进行
自动缩放。Windows Presentation Foundation (WPF)应用程序自动感知 DPI，无需
选择加入。选择加入此设置的 Windows 窗体应用程序(面向 .NET Framework 4.6)还应
在其 app.config 中将 "EnableWindowsFormsHighDpiAutoResizing" 设置设置为 "true"。
将应用程序设为感知长路径。请参阅 https://docs.microsoft.com/windows/win32/fileio/maximum-file-path-limitation -->
<!--
<application xmlns="urn:schemas-microsoft-com:asm.v3">
<windowsSettings>
<dpiAware xmlns="http://schemas.microsoft.com/SMI/2005/WindowsSettings">true</dpiAware>
<longPathAware xmlns="http://schemas.microsoft.com/SMI/2016/WindowsSettings">true</longPathAware>
</windowsSettings>
</application>
-->
<!-- 启用 Windows 公共控件和对话框的主题(Windows XP 和更高版本) -->
<!--
<dependency>
<dependentAssembly>
<assemblyIdentity
type="win32"
name="Microsoft.Windows.Common-Controls"
version="6.0.0.0"
processorArchitecture="*"
publicKeyToken="6595b64144ccf1df"
language="*"
/>
</dependentAssembly>
</dependency>
-->
</assembly>
source/XLRStoreClient/inputForm/FrmInputEquip.cs
......@@ -787,10 +787,12 @@ namespace OnlineStore.XLRStore
thread.IsBackground = true;
thread.Start();
MessageBox.Show("夹爪循环测试开始！");
MessageBox.Show("夹爪循环测试开始！");
}
private void btnClampJawStop_Click(object sender, EventArgs e)
{
enable = false;
LogUtil.info($"夹爪循环测试结束！");
MessageBox.Show("夹爪循环测试结束！");
}
bool enable = false;
......
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