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Commit f5fa363c 由 LN
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出库修改

1 个父辈 4025f23b
内嵌 并排
正在显示 8 个修改的文件 包含 156 行增加 和 78 行删除
source/DeviceLibrary/Config/Config_InputEquip.csv
......@@ -8,6 +8,7 @@ PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,,,,,
PRO,0,是否使用夹爪（1=使用夹爪，0=用吸盘）,UseClampJaw,1,,,,,,,,,,,,
PRO,0,A侧扫码的相机名称(多个用#分隔),CameraNameList_A,GigE:MV-CE200-10GC (00E70964538),,,,,,,,,,,,
PRO,0,B侧扫码的相机名称(多个用#分隔),CameraNameList_B,GigE:MV-CE200-10GC (00E78064946),,,,,,,,,,,,
PRO,0,旋转轴到暂存区附近等待时的偏移位置,MiddleOffsetValue,40000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,A侧上料料架-RFID-IP,PRO_RFIP_A,192.168.101.103,,,,,,,,,,,,
PRO,0,B侧上料料架-RFID-IP,PRO_RFIP_B,192.168.101.104,,,,,,,,,,,,
......
source/DeviceLibrary/manager/model/DeviceStep.cs
......@@ -528,10 +528,10 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 入料机构入料 1100 开始
/// <summary>
/// 入料料串取料：判断旋转轴是否在P1,不在的话直接到P1
/// </summary>
II00_MiddleToP1=1100,
///// <summary>
///// 入料料串取料：判断旋转轴是否在P1,不在的话直接到P1
///// </summary>
//II00_MiddleToP1=1100,
/// <summary>
/// 入库料串取料：升降轴到达P1
......@@ -590,13 +590,20 @@ namespace OnlineStore.DeviceLibrary
#region 入料->A侧上暂存区 1140
/// <summary>
/// 入料->A侧：等待A上暂存区无料
/// 入料->A侧：取料升降轴 到P4(A上暂存区放料高点)
/// </summary>
II41_WaitNoReel = 1140,
II40_UpdownToP4,
/// <summary>
/// 入料->A侧：取料升降轴 到P4(A上暂存区放料高点)
///入料->A侧：暂存区不为空，先旋转轴到P4附近位置
/// </summary>
II41_MiddleTWaitP4,
/// <summary>
/// 入料->A侧：等待A上暂存区无料
/// </summary>
II42_UpdownToP4,
II42_WaitNoReel = 1140,
/// <summary>
/// 入料->A侧：取料旋转轴 到P4(A上暂存区放料点)
/// </summary>
......@@ -622,14 +629,19 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 入料->B侧上暂存区 1160
/// <summary>
/// 入料->B侧：等待B上暂存区无料
/// 入料->B侧：取料升降轴 到P10（B上暂存区放料高点)
/// </summary>
II61_WaitNoReel,
II60_UpdownToP10,
/// <summary>
/// 入料->B侧：取料升降轴 到P10（B上暂存区放料高点)
/// 入料->B侧：暂存区有物料，旋转轴先到P5附近等待
/// </summary>
II61_MiddleToWaitP5,
/// <summary>
/// 入料->B侧：等待B上暂存区无料
/// </summary>
II62_UpdownToP10,
II62_WaitNoReel,
/// <summary>
/// 入料->B侧：取料旋转轴 到P5 (B上暂存区放料点)
/// </summary>
......
source/DeviceLibrary/storeBean/XLRStoreBean.cs
......@@ -66,7 +66,7 @@ namespace OnlineStore.DeviceLibrary
AgvClient.NodeList.Add(inputConfig.AgvName_A);
AgvClient.NodeList.Add(inputConfig.AgvName_B);
BufferDataManager.InitData();
mainTimer.Enabled = true;
canStart = true;
AgvClient.Init();
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
......@@ -58,6 +58,10 @@ namespace OnlineStore.DeviceLibrary
addLastDI(IO_Type.Airpressure_Check, IO_VALUE.LOW);
addLastDI(IO_Type.SuddenStop_BTN, IO_VALUE.LOW);
addLastDI(IO_Type.Reset_BTN, IO_VALUE.LOW);
if (config.MiddleOffsetValue < 30000)
{
config.MiddleOffsetValue = 40000;
}
runStatus = RunStatus.Wait;
}
......@@ -421,9 +425,9 @@ namespace OnlineStore.DeviceLibrary
{
foreach (BatchMoveBean moveBean in BatchMoveList)
{
if (moveBean.ShelfReadyOut(BufferDataManager.AOutStoreInfo, shelfAutoLeave))
if (moveBean.ShelfReadyOut(posInfo, shelfAutoLeave))
{
InOutParam param = new InOutParam(BufferDataManager.AOutStoreInfo.ToCopy());
InOutParam param = new InOutParam(posInfo.ToCopy());
param.ShelfType = moveBean.ShelfType;
LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到料串{param.ShelfType}");
StartOutstore(param);
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
......@@ -68,26 +68,26 @@ namespace OnlineStore.DeviceLibrary
{
runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.InStore, param);
if (MiddleAxis.IsInPosition(Config.Middle_P1))
//if (MiddleAxis.IsInPosition(Config.Middle_P1))
//{
if (UpdownAxis.IsInPosition(Config.Updown_P1))
{
if (UpdownAxis.IsInPosition(Config.Updown_P1))
{
ToShelfMove();
}
else
{
MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
MoveLog($"开始入库{param.ShelfType}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
}
ToShelfMove();
}
else
{
MoveInfo.NextMoveStep(StepEnum.II00_MiddleToP1);
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
MoveLog($"开始入库{MoveInfo.SLog}: 料串{param.ShelfType}，旋转轴先返回P1{Config.Middle_P1}");
}
return true;
MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
MoveLog($"开始入库{param.ShelfType}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
}
//}
//else
//{
// MoveInfo.NextMoveStep(StepEnum.II00_MiddleToP1);
// MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
// MoveLog($"开始入库{MoveInfo.SLog}: 料串{param.ShelfType}，旋转轴先返回P1{Config.Middle_P1}");
//}
return true;
}
return false;
}
......@@ -105,19 +105,19 @@ namespace OnlineStore.DeviceLibrary
int shelf = MoveInfo.MoveParam.ShelfType;
#region 入库取料，获取库位号
if (MoveInfo.IsStep(StepEnum.II00_MiddleToP1))
{
if (UpdownAxis.IsInPosition(Config.Updown_P1))
{
ToShelfMove();
}
else
{
MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
}
}
//if (MoveInfo.IsStep(StepEnum.II00_MiddleToP1))
//{
// if (UpdownAxis.IsInPosition(Config.Updown_P1))
// {
// ToShelfMove();
// }
// else
// {
// MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
// UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
// MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
// }
//}
if (MoveInfo.IsStep(StepEnum.II01_UpdownToP1))
{
ToShelfMove();
......@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 条码 {MoveInfo.MoveParam.PosInfo.barcode}为测试料，直接去目标位置");
LastPosInfo = MoveInfo.MoveParam.PosInfo;
StrartToTargetP(MoveInfo.MoveParam.PosInfo);
StrartToTargetP();
}
else
{
......@@ -216,9 +216,7 @@ namespace OnlineStore.DeviceLibrary
//出库料 暂不处理出库，全部入库
}
StrartToTargetP(LastPosInfo);
StrartToTargetP();
}
else if (MoveInfo.IsTimeOut(15))
{
......@@ -229,22 +227,45 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 入料->A侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II41_WaitNoReel))
else if (MoveInfo.IsStep(StepEnum.II40_UpdownToP4))
{
//如果无料且暂存区为空，直接过去
bool empty = (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""));
if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.LOW) && empty)
{
II43_MiddleToP4();
}
else
{
int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II41_MiddleTWaitP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料， 旋转轴 到P4{Config.Middle_P4_AUpper}-{Config.MiddleOffsetValue}=目标{targetV}位置等待暂存区无料");
MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P4_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II41_MiddleTWaitP4))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel);
MoveLog($"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));
}
else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
{
if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""))
{
ClearTimeoutAlarm("A上暂存区物料拿走");
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II42_UpdownToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区为空， 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "A上暂存区物料拿走");
}
}
else if (MoveInfo.IsStep(StepEnum.II42_UpdownToP4))
else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
{
MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
......@@ -253,6 +274,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.II43_MiddleToP4))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区放料低点){Config.Updown_P5_AUpperL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5_AUpperL, Config.Updown_P5_Speed);
......@@ -293,31 +315,44 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 入料->B侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II61_WaitNoReel))
else if (MoveInfo.IsStep(StepEnum.II60_UpdownToP10))
{
bool empty = BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals("");
if (IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.LOW) && empty)
{
II63_MiddleToP5();
}
else
{
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II61_MiddleToWaitP5);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料， 旋转轴 到P5{Config.Middle_P5_BUpper}-{Config.MiddleOffsetValue}=目标{targetValue}位置等待暂存区无料");
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P5_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II61_MiddleToWaitP5))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
MoveLog($"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));
}
else if (MoveInfo.IsStep(StepEnum.II62_WaitNoReel))
{
if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals(""))
{
TrayHasLeave();
ClearTimeoutAlarm("B上暂存区物料拿走");
MoveInfo.NextMoveStep(StepEnum.II62_UpdownToP10);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
II63_MiddleToP5();
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "B上暂存区物料拿走");
}
}
else if (MoveInfo.IsStep(StepEnum.II62_UpdownToP10))
{
MoveInfo.NextMoveStep(StepEnum.II63_MiddleToP5);
MoveInfo.TimeOutSeconds = 10;
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5 (B上暂存区放料点){Config.Middle_P5_BUpper}，等待{MiddleAxis.AxisName}原点信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P5_BUpper, Config.Middle_P5_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisOrg(MiddleAxis.Config, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StepEnum.II63_MiddleToP5))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II64_UpdownToP11);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P11 (B上暂存区放料低点){Config.Updown_P11_BUpperL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11_BUpperL, Config.Updown_P11_Speed);
......@@ -409,6 +444,24 @@ namespace OnlineStore.DeviceLibrary
#endregion
}
private void II63_MiddleToP5()
{
MoveInfo.NextMoveStep(StepEnum.II63_MiddleToP5);
MoveInfo.TimeOutSeconds = 10;
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区无料，旋转轴 到P5 (B上暂存区放料点){Config.Middle_P5_BUpper}，等待{MiddleAxis.AxisName}原点信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P5_BUpper, Config.Middle_P5_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisOrg(MiddleAxis.Config, IO_VALUE.HIGH));
}
private void II43_MiddleToP4()
{
MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveInfo.TimeOutSeconds = 10;
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区为空， 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
}
private void ToShelfMove()
{
int shelf = MoveInfo.MoveParam.ShelfType;
......@@ -433,8 +486,9 @@ namespace OnlineStore.DeviceLibrary
runStatus = RunStatus.Runing;
}
}
private void StrartToTargetP(InOutPosInfo lastPosInfo)
{
private void StrartToTargetP()
{
InOutPosInfo lastPosInfo = MoveInfo.MoveParam.PosInfo ;
int shelf = MoveInfo.MoveParam.ShelfType;
//判断是A还是B
if (lastPosInfo.IsNG)
......@@ -445,15 +499,17 @@ namespace OnlineStore.DeviceLibrary
}
else if (lastPosInfo.GetPosSide().Equals("A"))
{
MoveInfo.NextMoveStep(StepEnum.II41_WaitNoReel);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: A侧入库料{lastPosInfo.ToStr()} 等待A上暂存区无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW));
MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: A侧入库料{lastPosInfo.ToStr()}, 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
}
else
{
MoveInfo.NextMoveStep(StepEnum.II61_WaitNoReel);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: B侧入库料{lastPosInfo.ToStr()} 等待B上暂存区无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW));
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}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
}
}
......
source/LoadCVSLibrary/storeConfig/config/InputEquip_Config.cs
......@@ -82,6 +82,12 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("AgvName_B")]
public string AgvName_B { get; set; }
/// <summary>
/// PRO,0,旋转轴到暂存区附近等待时的偏移位置,MiddleOffsetValue,40000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("MiddleOffsetValue")]
public int MiddleOffsetValue { get; set; }
/// <summary>
/// PRO,0,提升轴待机点_A侧,BatchAxisP1_A,1000,,,,,,,,,,,,
/// </summary>
......
source/XLRStoreClient/XLRStore.csproj
......@@ -89,7 +89,6 @@
<Reference Include="UserFromControl">
<HintPath>..\..\dll\UserFromControl.dll</HintPath>
</Reference>
<Reference Include="XLRStore, Version=1.0.7818.19677, Culture=neutral, PublicKeyToken=null" />
</ItemGroup>
<ItemGroup>
<Compile Include="boxForm\FrmAutoFindPos.cs">
......
source/XLRStoreClient/inputForm/FrmInputEquip.cs
......@@ -360,7 +360,7 @@ namespace OnlineStore.XLRStore
updownAxisP10.SetMoveData(inputEquip.UpdownAxis, config.Updown_P10_Speed,config.Updown_P10_BUpperH);
updownAxisP11.SetMoveData(inputEquip.UpdownAxis, config.Updown_P11_Speed,config.Updown_P11_BUpperL);
updownAxisP12.SetMoveData(inputEquip.UpdownAxis, config.Updown_P12_Speed,config.Updown_P12_BUnderH);
updownAxisP13.SetMoveData(inputEquip.UpdownAxis, config.Updown_P13_Speed,config.Updown_P12_BUnderH);
updownAxisP13.SetMoveData(inputEquip.UpdownAxis, config.Updown_P13_Speed,config.Updown_P13_BUnderL);
}
protected void AddForm(TabControl tabcon, string text, Form form)
......@@ -585,7 +585,7 @@ namespace OnlineStore.XLRStore
inputEquip.Config.Updown_P10_BUpperH = updownAxisP10.PointValue;
inputEquip.Config.Updown_P11_BUpperL = updownAxisP11.PointValue;
inputEquip.Config.Updown_P12_BUnderH = updownAxisP12.PointValue;
inputEquip.Config.Updown_P12_BUnderH = updownAxisP13.PointValue;
inputEquip.Config.Updown_P13_BUnderL = updownAxisP13.PointValue;
inputEquip.Config.Middle_P1 = mideleAxisP1.PointValue;
inputEquip.Config.Middle_P2_ATake = mideleAxisP2.PointValue;
......
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