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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 148 行增加 和 70 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,,,,,,,,, ...@@ -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,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,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,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,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,,,,,,,,,,,, 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 ...@@ -528,10 +528,10 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 入料机构入料 1100 开始 #region 入料机构入料 1100 开始
/// <summary> ///// <summary>
/// 入料料串取料：判断旋转轴是否在P1,不在的话直接到P1 ///// 入料料串取料：判断旋转轴是否在P1,不在的话直接到P1
/// </summary> ///// </summary>
II00_MiddleToP1=1100, //II00_MiddleToP1=1100,
/// <summary> /// <summary>
/// 入库料串取料：升降轴到达P1 /// 入库料串取料：升降轴到达P1
...@@ -590,13 +590,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -590,13 +590,20 @@ namespace OnlineStore.DeviceLibrary
#region 入料->A侧上暂存区 1140 #region 入料->A侧上暂存区 1140
/// <summary> /// <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> /// </summary>
II41_WaitNoReel = 1140, II40_UpdownToP4,
/// <summary> /// <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> /// </summary>
II42_UpdownToP4, II42_WaitNoReel = 1140,
/// <summary> /// <summary>
/// 入料->A侧：取料旋转轴 到P4(A上暂存区放料点) /// 入料->A侧：取料旋转轴 到P4(A上暂存区放料点)
/// </summary> /// </summary>
...@@ -622,14 +629,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -622,14 +629,19 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 入料->B侧上暂存区 1160 #region 入料->B侧上暂存区 1160
/// <summary> /// <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> /// </summary>
II61_WaitNoReel, II60_UpdownToP10,
/// <summary> /// <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> /// </summary>
II62_UpdownToP10, II62_WaitNoReel,
/// <summary> /// <summary>
/// 入料->B侧：取料旋转轴 到P5 (B上暂存区放料点) /// 入料->B侧：取料旋转轴 到P5 (B上暂存区放料点)
/// </summary> /// </summary>
......
source/DeviceLibrary/storeBean/XLRStoreBean.cs
...@@ -66,7 +66,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -66,7 +66,7 @@ namespace OnlineStore.DeviceLibrary
AgvClient.NodeList.Add(inputConfig.AgvName_A); AgvClient.NodeList.Add(inputConfig.AgvName_A);
AgvClient.NodeList.Add(inputConfig.AgvName_B); AgvClient.NodeList.Add(inputConfig.AgvName_B);
BufferDataManager.InitData();
mainTimer.Enabled = true; mainTimer.Enabled = true;
canStart = true; canStart = true;
AgvClient.Init(); AgvClient.Init();
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
...@@ -58,6 +58,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -58,6 +58,10 @@ namespace OnlineStore.DeviceLibrary
addLastDI(IO_Type.Airpressure_Check, IO_VALUE.LOW); addLastDI(IO_Type.Airpressure_Check, IO_VALUE.LOW);
addLastDI(IO_Type.SuddenStop_BTN, IO_VALUE.LOW); addLastDI(IO_Type.SuddenStop_BTN, IO_VALUE.LOW);
addLastDI(IO_Type.Reset_BTN, IO_VALUE.LOW); addLastDI(IO_Type.Reset_BTN, IO_VALUE.LOW);
if (config.MiddleOffsetValue < 30000)
{
config.MiddleOffsetValue = 40000;
}
runStatus = RunStatus.Wait; runStatus = RunStatus.Wait;
} }
...@@ -421,9 +425,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -421,9 +425,9 @@ namespace OnlineStore.DeviceLibrary
{ {
foreach (BatchMoveBean moveBean in BatchMoveList) 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; param.ShelfType = moveBean.ShelfType;
LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到料串{param.ShelfType}"); LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到料串{param.ShelfType}");
StartOutstore(param); StartOutstore(param);
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
...@@ -68,8 +68,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -68,8 +68,8 @@ namespace OnlineStore.DeviceLibrary
{ {
runStatus = RunStatus.Busy; runStatus = RunStatus.Busy;
MoveInfo.NewMove(MoveType.InStore, param); 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(); ToShelfMove();
...@@ -80,13 +80,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -80,13 +80,13 @@ namespace OnlineStore.DeviceLibrary
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
MoveLog($"开始入库{param.ShelfType}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}"); MoveLog($"开始入库{param.ShelfType}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
} }
} //}
else //else
{ //{
MoveInfo.NextMoveStep(StepEnum.II00_MiddleToP1); // MoveInfo.NextMoveStep(StepEnum.II00_MiddleToP1);
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed); // MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
MoveLog($"开始入库{MoveInfo.SLog}: 料串{param.ShelfType}，旋转轴先返回P1{Config.Middle_P1}"); // MoveLog($"开始入库{MoveInfo.SLog}: 料串{param.ShelfType}，旋转轴先返回P1{Config.Middle_P1}");
} //}
return true; return true;
} }
return false; return false;
...@@ -105,19 +105,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -105,19 +105,19 @@ namespace OnlineStore.DeviceLibrary
int shelf = MoveInfo.MoveParam.ShelfType; int shelf = MoveInfo.MoveParam.ShelfType;
#region 入库取料，获取库位号 #region 入库取料，获取库位号
if (MoveInfo.IsStep(StepEnum.II00_MiddleToP1)) //if (MoveInfo.IsStep(StepEnum.II00_MiddleToP1))
{ //{
if (UpdownAxis.IsInPosition(Config.Updown_P1)) // if (UpdownAxis.IsInPosition(Config.Updown_P1))
{ // {
ToShelfMove(); // ToShelfMove();
} // }
else // else
{ // {
MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1); // MoveInfo.NextMoveStep(StepEnum.II01_UpdownToP1);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed); // UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}"); // MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 升降轴先返回P1{Config.Updown_P1}");
} // }
} //}
if (MoveInfo.IsStep(StepEnum.II01_UpdownToP1)) if (MoveInfo.IsStep(StepEnum.II01_UpdownToP1))
{ {
ToShelfMove(); ToShelfMove();
...@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 条码 {MoveInfo.MoveParam.PosInfo.barcode}为测试料，直接去目标位置"); MoveLog($"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; LastPosInfo = MoveInfo.MoveParam.PosInfo;
StrartToTargetP(MoveInfo.MoveParam.PosInfo); StrartToTargetP();
} }
else else
{ {
...@@ -216,9 +216,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -216,9 +216,7 @@ namespace OnlineStore.DeviceLibrary
//出库料 暂不处理出库，全部入库 //出库料 暂不处理出库，全部入库
} }
StrartToTargetP(LastPosInfo); StrartToTargetP();
} }
else if (MoveInfo.IsTimeOut(15)) else if (MoveInfo.IsTimeOut(15))
{ {
...@@ -229,22 +227,45 @@ namespace OnlineStore.DeviceLibrary ...@@ -229,22 +227,45 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 入料->A侧上暂存区 #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("")) if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""))
{ {
ClearTimeoutAlarm("A上暂存区物料拿走"); ClearTimeoutAlarm("A上暂存区物料拿走");
TrayHasLeave(); MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveInfo.NextMoveStep(StepEnum.II42_UpdownToP4); MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区为空， 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮");
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}"); MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_AreaA, IO_VALUE.HIGH));
} }
else if (MoveInfo.IsTimeOut(20)) else if (MoveInfo.IsTimeOut(20))
{ {
MoveTimeOut(MoveInfo, "A上暂存区物料拿走"); 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); MoveInfo.NextMoveStep(StepEnum.II43_MiddleToP4);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4(A上暂存区放料点){Config.Middle_P4_AUpper}，等待{IO_Type.MAxis_Check_AreaA}信号亮"); MoveLog($" 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 ...@@ -253,6 +274,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.II43_MiddleToP4)) else if (MoveInfo.IsStep(StepEnum.II43_MiddleToP4))
{ {
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5); MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5);
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区放料低点){Config.Updown_P5_AUpperL}"); MoveLog($" 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); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5_AUpperL, Config.Updown_P5_Speed);
...@@ -293,31 +315,44 @@ namespace OnlineStore.DeviceLibrary ...@@ -293,31 +315,44 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 入料->B侧上暂存区 #region 入料->B侧上暂存区
else if (MoveInfo.IsStep(StepEnum.II61_WaitNoReel))
else if (MoveInfo.IsStep(StepEnum.II60_UpdownToP10))
{ {
if (BufferDataManager.BInStoreInfo == null || BufferDataManager.BInStoreInfo.PosId.Equals("")) 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($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料， 旋转轴 到P5{Config.Middle_P5_BUpper}-{Config.MiddleOffsetValue}=目标{targetValue}位置等待暂存区无料");
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P5_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.II61_MiddleToWaitP5))
{ {
TrayHasLeave(); TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
MoveLog($"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(""))
{
ClearTimeoutAlarm("B上暂存区物料拿走"); ClearTimeoutAlarm("B上暂存区物料拿走");
MoveInfo.NextMoveStep(StepEnum.II62_UpdownToP10); II63_MiddleToP5();
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
} }
else if (MoveInfo.IsTimeOut(20)) else if (MoveInfo.IsTimeOut(20))
{ {
MoveTimeOut(MoveInfo, "B上暂存区物料拿走"); MoveTimeOut(MoveInfo, "B上暂存区物料拿走");
} }
} }
else if (MoveInfo.IsStep(StepEnum.II62_UpdownToP10))
{
MoveInfo.NextMoveStep(StepEnum.II63_MiddleToP5);
MoveInfo.TimeOutSeconds = 10;
MoveLog($" 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)) else if (MoveInfo.IsStep(StepEnum.II63_MiddleToP5))
{ {
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.II64_UpdownToP11); MoveInfo.NextMoveStep(StepEnum.II64_UpdownToP11);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 升降轴 到P11 (B上暂存区放料低点){Config.Updown_P11_BUpperL}"); MoveLog($" 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); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P11_BUpperL, Config.Updown_P11_Speed);
...@@ -409,6 +444,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -409,6 +444,24 @@ namespace OnlineStore.DeviceLibrary
#endregion #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() private void ToShelfMove()
{ {
int shelf = MoveInfo.MoveParam.ShelfType; int shelf = MoveInfo.MoveParam.ShelfType;
...@@ -433,8 +486,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -433,8 +486,9 @@ namespace OnlineStore.DeviceLibrary
runStatus = RunStatus.Runing; runStatus = RunStatus.Runing;
} }
} }
private void StrartToTargetP(InOutPosInfo lastPosInfo) private void StrartToTargetP()
{ {
InOutPosInfo lastPosInfo = MoveInfo.MoveParam.PosInfo ;
int shelf = MoveInfo.MoveParam.ShelfType; int shelf = MoveInfo.MoveParam.ShelfType;
//判断是A还是B //判断是A还是B
if (lastPosInfo.IsNG) if (lastPosInfo.IsNG)
...@@ -445,15 +499,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -445,15 +499,17 @@ namespace OnlineStore.DeviceLibrary
} }
else if (lastPosInfo.GetPosSide().Equals("A")) else if (lastPosInfo.GetPosSide().Equals("A"))
{ {
MoveInfo.NextMoveStep(StepEnum.II41_WaitNoReel); MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: A侧入库料{lastPosInfo.ToStr()} 等待A上暂存区无料"); MoveLog($" 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}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW)); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
} }
else else
{ {
MoveInfo.NextMoveStep(StepEnum.II61_WaitNoReel); MoveInfo.NextMoveStep(StepEnum.II60_UpdownToP10);
MoveLog($"入库取料{shelf}{MoveInfo.SLog}: B侧入库料{lastPosInfo.ToStr()} 等待B上暂存区无料"); MoveLog($" 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}");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW)); 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 ...@@ -82,6 +82,12 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("AgvName_B")] [ConfigProAttribute("AgvName_B")]
public string AgvName_B { get; set; } 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> /// <summary>
/// PRO,0,提升轴待机点_A侧,BatchAxisP1_A,1000,,,,,,,,,,,, /// PRO,0,提升轴待机点_A侧,BatchAxisP1_A,1000,,,,,,,,,,,,
/// </summary> /// </summary>
......
source/XLRStoreClient/XLRStore.csproj
...@@ -89,7 +89,6 @@ ...@@ -89,7 +89,6 @@
<Reference Include="UserFromControl"> <Reference Include="UserFromControl">
<HintPath>..\..\dll\UserFromControl.dll</HintPath> <HintPath>..\..\dll\UserFromControl.dll</HintPath>
</Reference> </Reference>
<Reference Include="XLRStore, Version=1.0.7818.19677, Culture=neutral, PublicKeyToken=null" />
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="boxForm\FrmAutoFindPos.cs"> <Compile Include="boxForm\FrmAutoFindPos.cs">
......
source/XLRStoreClient/inputForm/FrmInputEquip.cs
...@@ -360,7 +360,7 @@ namespace OnlineStore.XLRStore ...@@ -360,7 +360,7 @@ namespace OnlineStore.XLRStore
updownAxisP10.SetMoveData(inputEquip.UpdownAxis, config.Updown_P10_Speed,config.Updown_P10_BUpperH); updownAxisP10.SetMoveData(inputEquip.UpdownAxis, config.Updown_P10_Speed,config.Updown_P10_BUpperH);
updownAxisP11.SetMoveData(inputEquip.UpdownAxis, config.Updown_P11_Speed,config.Updown_P11_BUpperL); updownAxisP11.SetMoveData(inputEquip.UpdownAxis, config.Updown_P11_Speed,config.Updown_P11_BUpperL);
updownAxisP12.SetMoveData(inputEquip.UpdownAxis, config.Updown_P12_Speed,config.Updown_P12_BUnderH); 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) protected void AddForm(TabControl tabcon, string text, Form form)
...@@ -585,7 +585,7 @@ namespace OnlineStore.XLRStore ...@@ -585,7 +585,7 @@ namespace OnlineStore.XLRStore
inputEquip.Config.Updown_P10_BUpperH = updownAxisP10.PointValue; inputEquip.Config.Updown_P10_BUpperH = updownAxisP10.PointValue;
inputEquip.Config.Updown_P11_BUpperL = updownAxisP11.PointValue; inputEquip.Config.Updown_P11_BUpperL = updownAxisP11.PointValue;
inputEquip.Config.Updown_P12_BUnderH = updownAxisP12.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_P1 = mideleAxisP1.PointValue;
inputEquip.Config.Middle_P2_ATake = mideleAxisP2.PointValue; inputEquip.Config.Middle_P2_ATake = mideleAxisP2.PointValue;
......
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