旋转轴增加反向间隙补偿功能

dll/HuichuanDLL/HuichuanLibrary.xml

@@ -333,6 +333,17 @@
             <param name="value">最大力矩限制</param>
             <returns></returns>
         </member>
+        <member name="M:HuichuanLibrary.HCBoardManager.SetAxBacklash(System.Int16,System.Int32,System.Int32,System.Int16)">
+            <summary>
+            设置反向间隙
+            HuichuanLibrary.HCBoardManager.SetAxBacklash(MiddleAxis.Config.GetAxisValue(),Config.MiddleAxis_Reverse_Offset, MiddleAxis.Config.HomeLowSpeed,-1);
+            </summary>
+            <param name="axisNo"></param>
+            <param name="wholdCmpVal"></param>
+            <param name="cmpVel"></param>
+            <param name="cmpDir"></param>
+            <returns></returns>
+        </member>
         <member name="M:HuichuanLibrary.HCBoardManager.GetAxisLoadRate(System.Int16)">
             <summary>
             获取轴的负载率

source/DeviceLibrary/Config/Config_InputEquip.csv

@@ -71,3 +71,6 @@ PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,100000,,,,,,,,,,,,
 PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,100000,,,,,,,,,,,,
 PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,100000,,,,,,,,,,,,
 PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,100000,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,
+PRO,0,取料旋转轴_反向间隙补偿值,MiddleAxis_Reverse_Offset,300,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

 using Asa;
+using HuichuanLibrary;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
@@ -260,6 +261,11 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(StepEnum.IR04_MiddleToP1))
             {
+                //旋转轴到达P1结束，设置反向补偿间隙
+                HCBoardManager.SetAxBacklash(MiddleAxis.Config.GetAxisValue(), Config.MiddleAxis_Reverse_Offset, MiddleAxis.Config.HomeLowSpeed, -1);
+                LogInfo($"复位{MoveInfo.SLog}：旋转轴回待机点P1完成，设置反向补偿：axisNo【{MiddleAxis.Config.GetAxisValue() }】补偿值【{Config.MiddleAxis_Reverse_Offset}】速度【{MiddleAxis.Config.HomeLowSpeed}】");
+
+
                 if (UpdownAxis.IsNeedHome)
                 {
                     MoveInfo.NextMoveStep(StepEnum.IR05_UpdownHome);

source/LoadCVSLibrary/storeConfig/config/InputEquip_Config.cs

@@ -339,6 +339,14 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("Middle_P8_Speed")]
         public int Middle_P8_Speed { get; set; }
+         
+        /// <summary>
+        ///  PRO,0,取料旋转轴_反向间隙补偿值,MiddleAxis_Reverse_Offset,300,,,,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("MiddleAxis_Reverse_Offset")]
+        public int MiddleAxis_Reverse_Offset { get; set; }
+
+
         private List<string> CameraList = null;
 
       

source/XLRStoreClient/记录.txt

@@ -18,3 +18,9 @@ AA：第3和第4位存储机构A面或B面，AA或者BB
 点击复位按钮自动启动。
 
 
+
+20211208
+旋转轴增加反向间隙补偿功能，
+Config_InputEquip.csv 配置文件需要增加一行配置：
+PRO,0,取料旋转轴_反向间隙补偿值,MiddleAxis_Reverse_Offset,300,,,,,,,,,,,,
+