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Commit 612feae2 由 刘韬
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1 个父辈 63494615
内嵌 并排
正在显示 2 个修改的文件 包含 28 行增加 和 11 行删除
DeviceLibrary/theMachine/sub/TransplantMove.cs
......@@ -244,10 +244,14 @@ namespace DeviceLibrary
break;
case MoveStep.TransplantMove_11:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_12);
var AMH_TS_P2 = DeviceGroup.p2 - (MoveInfo.MoveParam.PlateH - 70) * Config.AMH_TS_PoToMM + MetrialGetRetry * 2 * Config.AMH_TS_PoToMM;
int ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out int actualheight1))
ReelHeight = actualheight1;
var AMH_TS_P2 = DeviceGroup.p2 - (ReelHeight - 70) * Config.AMH_TS_PoToMM + MetrialGetRetry * 2 * Config.AMH_TS_PoToMM;
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},MetrialGetRetry:{MetrialGetRetry}");
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}");
break;
case MoveStep.TransplantMove_12:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_13);
......@@ -304,12 +308,15 @@ namespace DeviceLibrary
break;
case MoveStep.TransplantMove_21:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_22);
AMH_TS_P2 = DeviceGroup.p3 - (MoveInfo.MoveParam.PlateH - 70) * Config.AMH_TS_PoToMM+ (MetrialGetRetry*2* Config.AMH_TS_PoToMM);
ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out actualheight1))
ReelHeight = actualheight1;
AMH_TS_P2 = DeviceGroup.p3 - (ReelHeight - 70) * Config.AMH_TS_PoToMM+ (MetrialGetRetry*2* Config.AMH_TS_PoToMM);
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},MetrialGetRetry:{MetrialGetRetry}");
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}");
break;
case MoveStep.TransplantMove_22:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_23);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
......@@ -360,9 +367,12 @@ namespace DeviceLibrary
break;
case MoveStep.TransplantMove_25:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_26);
AMH_TS_P2 = DeviceGroup.p2 - (MoveInfo.MoveParam.PlateH - 70) * Config.AMH_TS_PoToMM;
ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out actualheight1))
ReelHeight = actualheight1;
AMH_TS_P2 = DeviceGroup.p2 - (ReelHeight - 70) * Config.AMH_TS_PoToMM;
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P2_speed);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2}");
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight}");
break;
case MoveStep.TransplantMove_26:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_27);
......@@ -410,9 +420,12 @@ namespace DeviceLibrary
break;
case MoveStep.TransplantMove_02:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_03);
var AMH_TS_P2 = DeviceGroup.p3 - (MoveInfo2.MoveParam.PlateH - 70) * Config.AMH_TS_PoToMM;
int ReelHeight = MoveInfo.MoveParam.PlateH;
if (FixtureConfig.GetFixtureHeight(MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, out int actualheight1))
ReelHeight = actualheight1;
var AMH_TS_P2 = DeviceGroup.p3 - (ReelHeight - 70) * Config.AMH_TS_PoToMM;
axis.AbsMove(MoveInfo2, AMH_TS_P2, Config.AMH_TS_P2_speed);
MoveInfo2.log($"PlateH:{MoveInfo2.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2}");
MoveInfo2.log($"PlateH:{MoveInfo2.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight}");
break;
case MoveStep.TransplantMove_03:
MoveInfo2.NextMoveStep(MoveStep.TransplantMove_04);
......
DeviceLibrary/theMachine/sub/TrayStop.cs
......@@ -129,7 +129,7 @@ namespace DeviceLibrary
if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "TrayReady";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
......@@ -147,7 +147,7 @@ namespace DeviceLibrary
}
else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
RemoteLoad remoteLoad = new RemoteLoad();
remoteLoad.Action = "TrayReady";
remoteLoad.RequestLoadInfo = new RequestLoadInfo();
......@@ -205,6 +205,10 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
}
break;
case MoveStep.TrayStop_07:
MoveInfo.NextMoveStep(MoveStep.TrayStop_WaitLoadProcess);
Location.ToHigh(MoveInfo);
break;
case MoveStep.TrayStop_WaitLoadProcess:
Msg.add("等待处理载荷",MsgLevel.info);
break;
......
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