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Commit 8d4a1ed4 由 刘韬
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1 个父辈 fe77a2a0
内嵌 并排
正在显示 4 个修改的文件 包含 50 行增加 和 14 行删除
DeviceLibrary/theMachine/MoveInfo.cs
...@@ -33,6 +33,7 @@ namespace DeviceLibrary ...@@ -33,6 +33,7 @@ namespace DeviceLibrary
public bool OneWaitCanEndStep = false; public bool OneWaitCanEndStep = false;
public ReelParam MoveParam { get; set; } public ReelParam MoveParam { get; set; }
public RemoteLoad remoteLoad { get; set; }
public bool IsInWait { get; set; } public bool IsInWait { get; set; }
......
DeviceLibrary/theMachine/sub/SideMove.cs
...@@ -91,8 +91,12 @@ namespace DeviceLibrary ...@@ -91,8 +91,12 @@ namespace DeviceLibrary
else if (DeviceState == DeviceStateE.Run) else if (DeviceState == DeviceStateE.Run)
{ {
if (LS_Type == LS_TypeE.NoRfid) if (LS_Type == LS_TypeE.NoRfid)
{
NoRfidProcess(); NoRfidProcess();
else { NoRfidProcessB();
}
else
{
OneWayProcess(LSAMoveInfo); OneWayProcess(LSAMoveInfo);
OneWayProcess(LSBMoveInfo); OneWayProcess(LSBMoveInfo);
} }
...@@ -125,7 +129,7 @@ namespace DeviceLibrary ...@@ -125,7 +129,7 @@ namespace DeviceLibrary
{ {
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
Location_A.ToLow(LSAMoveInfo); Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo); //Location_B.ToLow(LSAMoveInfo);
IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS); IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
...@@ -157,10 +161,17 @@ namespace DeviceLibrary ...@@ -157,10 +161,17 @@ namespace DeviceLibrary
LastGoInFailTime = DateTime.Now; LastGoInFailTime = DateTime.Now;
LSAMoveInfo.log("托盘进入失败"); LSAMoveInfo.log("托盘进入失败");
} }
} }
break; break;
case MoveStep.SideMove_04: case MoveStep.SideMove_04:
if (LSBMoveInfo.MoveStep==MoveStep.Wait)
{
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06);
Location_A.ToHigh(LSAMoveInfo);
Location_B.ToHigh(LSAMoveInfo);
}
break;
case MoveStep.SideMove_05:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06);
Location_A.ToHigh(LSAMoveInfo); Location_A.ToHigh(LSAMoveInfo);
Location_B.ToHigh(LSAMoveInfo); Location_B.ToHigh(LSAMoveInfo);
...@@ -175,25 +186,40 @@ namespace DeviceLibrary ...@@ -175,25 +186,40 @@ namespace DeviceLibrary
break; break;
case MoveStep.SideMove_08: case MoveStep.SideMove_08:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
break; break;
case MoveStep.SideMove_09: case MoveStep.SideMove_09:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_10); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_10);
Line.LineStop("n"); Line.LineStop("n");
Location_A.ToLow(LSAMoveInfo); Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo); Location_B.ToLow(LSAMoveInfo);
LSBMoveInfo.NextMoveStep(MoveStep.SideMove_01);
break; break;
case MoveStep.SideMove_10: case MoveStep.SideMove_10:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_11); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.LOW));
break; break;
case MoveStep.SideMove_11: }
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_12); }
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); public void NoRfidProcessB()
{
if (CheckWait(LSBMoveInfo))
return;
switch (LSBMoveInfo.MoveStep)
{
case MoveStep.Wait:
break; break;
case MoveStep.SideMove_12: case MoveStep.SideMove_01:
LSAMoveInfo.NewMove(MoveStep.SideMove_01); LSBMoveInfo.NextMoveStep(MoveStep.SideMove_02);
LSBMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.LOW));
break;
case MoveStep.SideMove_02:
LSBMoveInfo.NextMoveStep(MoveStep.SideMove_03);
LSBMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break; break;
case MoveStep.SideMove_03:
LSBMoveInfo.NewMove(MoveStep.Wait);
break;
} }
} }
#endregion #endregion
......
DeviceLibrary/theMachine/sub/TransplantMove.cs
...@@ -252,11 +252,14 @@ namespace DeviceLibrary ...@@ -252,11 +252,14 @@ namespace DeviceLibrary
axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed); axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed);
IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH); IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH);
MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}"); MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}");
break; break;
case MoveStep.TransplantMove_12: case MoveStep.TransplantMove_12:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_13); MoveInfo.NextMoveStep(MoveStep.TransplantMove_13);
axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed); axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
MoveInfo.log("取料轴到P1"); MoveInfo.log("取料轴到P1");
if (MoveInfo.MoveParam.PlateH == 120 && MoveInfo.MoveParam.PlateW == 330)
Location.ToLow(MoveInfo);
break; break;
case MoveStep.TransplantMove_13: case MoveStep.TransplantMove_13:
if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
...@@ -271,12 +274,14 @@ namespace DeviceLibrary ...@@ -271,12 +274,14 @@ namespace DeviceLibrary
RobotManage.UserPause($"{MoveInfo.Name}取料失败"); RobotManage.UserPause($"{MoveInfo.Name}取料失败");
} }
MoveInfo.NextMoveStep(MoveStep.TransplantMove_11); MoveInfo.NextMoveStep(MoveStep.TransplantMove_11);
if (MoveInfo.MoveParam.PlateH == 120 && MoveInfo.MoveParam.PlateW == 330)
Location.ToHigh(MoveInfo);
} }
break; break;
case MoveStep.TransplantMove_14: case MoveStep.TransplantMove_14:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_15); MoveInfo.NextMoveStep(MoveStep.TransplantMove_15);
Transplant.ToHigh(MoveInfo); Transplant.ToHigh(MoveInfo);
MoveInfo.log("移栽气缸的前进"); MoveInfo.log("移栽气缸的前进");
break; break;
case MoveStep.TransplantMove_15: case MoveStep.TransplantMove_15:
MoveInfo.NextMoveStep(MoveStep.TransplantMove_16); MoveInfo.NextMoveStep(MoveStep.TransplantMove_16);
......
DeviceLibrary/theMachine/sub/TrayStop.cs
...@@ -165,7 +165,8 @@ namespace DeviceLibrary ...@@ -165,7 +165,8 @@ namespace DeviceLibrary
{ {
MoveInfo.NextMoveStep(MoveStep.TrayStop_07); MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
//抵达了一个有物料的托盘等待处理 //抵达了一个有物料的托盘等待处理
} }else
MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
return; return;
} }
#endregion #endregion
...@@ -179,6 +180,8 @@ namespace DeviceLibrary ...@@ -179,6 +180,8 @@ namespace DeviceLibrary
if (trayInfo.TrayParam!=null) if (trayInfo.TrayParam!=null)
remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone(); remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
remoteLoad.RequestLoadInfo.IsEmpty = true; remoteLoad.RequestLoadInfo.IsEmpty = true;
MoveInfo.remoteLoad = remoteLoad;
if (RemoteService.SendAndWait(GroupName, remoteLoad)!=RemoteResult.True) if (RemoteService.SendAndWait(GroupName, remoteLoad)!=RemoteResult.True)
MoveInfo.NextMoveStep(MoveStep.TrayStop_04); MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
...@@ -196,6 +199,7 @@ namespace DeviceLibrary ...@@ -196,6 +199,7 @@ namespace DeviceLibrary
remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString(); remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone(); remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
remoteLoad.RequestLoadInfo.IsEmpty = false; remoteLoad.RequestLoadInfo.IsEmpty = false;
MoveInfo.remoteLoad = remoteLoad;
var result = RemoteService.SendAndWait(GroupName, remoteLoad); var result = RemoteService.SendAndWait(GroupName, remoteLoad);
if (result != RemoteResult.True) if (result != RemoteResult.True)
{ {
......
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