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Commit f8d997d6 由 刘韬
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1 个父辈 75d50573
内嵌 并排
正在显示 8 个修改的文件 包含 89 行增加 和 27 行删除
DeviceLibrary/theMachine/MainMachine.cs
...@@ -254,14 +254,24 @@ namespace DeviceLibrary ...@@ -254,14 +254,24 @@ namespace DeviceLibrary
if (span.TotalSeconds > 2) if (span.TotalSeconds > 2)
{ {
checkAlarmTime = DateTime.Now; checkAlarmTime = DateTime.Now;
foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList) AxisBean.List.ToList().ForEach((x) => { x.Value.ForEach(y => {
AxisManager.AlarmClear(y.Config.DeviceName, y.Config.GetAxisValue());
if (AxisManager.GetAlarmStatus(y.Config.DeviceName, y.Config.GetAxisValue()) == 1)
{ {
if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1) Msg.add(crc.GetString(y.Config.ProName, y.Config.Explain) + $"[{y.Config.GetAxisValue()}]:" + crc.GetString("Res0179", "运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
{
Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:" + crc.GetString("Res0179","运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
ok = false; ok = false;
var errcode = HuichuanLibrary.HCBoardManager.GetAxErrCode(y.Config.GetAxisValue());
var errcodebyte = BitConverter.GetBytes(errcode).ToList();
errcodebyte.Reverse();
HuichuanLibrary.HCBoardManager.GetSdo((ushort)y.Config.GetAxisValue(), 0x203f, 0, out byte[] data, out uint datalen);
var errdatabyte = data.ToList();
errdatabyte.Reverse();
LogUtil.error(y.Config.GetAxisValue() + "," + y.Config.Explain + " errcode " + BitConverter.ToString(errcodebyte.ToArray()) + "," + BitConverter.ToString(errdatabyte.ToArray()));
LogUtil.error(string.Join(",",HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(y.Config.GetAxisValue())));
} }
}
}); });
} }
} }
return ok; return ok;
......
DeviceLibrary/theMachine/TrayManager.cs
...@@ -279,8 +279,8 @@ namespace DeviceLibrary ...@@ -279,8 +279,8 @@ namespace DeviceLibrary
public static Dictionary<int, string> AddrDesc = new Dictionary<int, string>(); public static Dictionary<int, string> AddrDesc = new Dictionary<int, string>();
static TrayManager() { static TrayManager() {
TrayTypeDesc.Add(TrayTypeE.None, crc.GetString("Res0002","空")); TrayTypeDesc.Add(TrayTypeE.None, crc.GetString("Res0002","空"));
TrayTypeDesc.Add(TrayTypeE.MTP1, crc.GetString("Res0003","流水线治具托盘")); TrayTypeDesc.Add(TrayTypeE.MTP1, crc.GetString("Res0004", "流水线料盘托盘"));
TrayTypeDesc.Add(TrayTypeE.MTP2, crc.GetString("Res0004","流水线料盘托盘")); TrayTypeDesc.Add(TrayTypeE.MTP2, crc.GetString("Res0003","流水线治具托盘"));
TrayTypeDesc.Add(TrayTypeE.S007, crc.GetString("Res0005","料串")); TrayTypeDesc.Add(TrayTypeE.S007, crc.GetString("Res0005","料串"));
TrayTypeDesc.Add(TrayTypeE.M03, crc.GetString("Res0006","Tray料格")); TrayTypeDesc.Add(TrayTypeE.M03, crc.GetString("Res0006","Tray料格"));
TrayTypeDesc.Add(TrayTypeE.M02, crc.GetString("Res0007","PCB料格")); TrayTypeDesc.Add(TrayTypeE.M02, crc.GetString("Res0007","PCB料格"));
......
DeviceLibrary/theMachine/sub/SideMove.cs
...@@ -100,6 +100,8 @@ namespace DeviceLibrary ...@@ -100,6 +100,8 @@ namespace DeviceLibrary
} }
int StopBufDelayMS = 500; int StopBufDelayMS = 500;
int StopDelayMS = 1000; int StopDelayMS = 1000;
bool LastGoInFail = false;
DateTime LastGoInFailTime = DateTime.Now;
#region 无Rfid横移 #region 无Rfid横移
public void NoRfidProcess() public void NoRfidProcess()
{ {
...@@ -113,7 +115,13 @@ namespace DeviceLibrary ...@@ -113,7 +115,13 @@ namespace DeviceLibrary
break; break;
case MoveStep.SideMove_01: case MoveStep.SideMove_01:
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
if (IOValue(IO_Type.Ls_A_Front_Check).Equals(IO_VALUE.HIGH)) bool Forcetry = false;
if (LastGoInFail && (LastGoInFailTime - DateTime.Now).TotalSeconds > 5)
{
Forcetry = true;
LSAMoveInfo.log("上次托盘进入失败本次重试");
}
if (IOValue(IO_Type.Ls_A_Front_Check).Equals(IO_VALUE.HIGH)|| Forcetry)
{ {
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
Location_A.ToLow(LSAMoveInfo); Location_A.ToLow(LSAMoveInfo);
...@@ -134,10 +142,17 @@ namespace DeviceLibrary ...@@ -134,10 +142,17 @@ namespace DeviceLibrary
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_04);
IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH, 500); IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH, 500);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
LastGoInFail = false;
} }
else if (LSAMoveInfo.IsTimeOut(10)) else if (LSAMoveInfo.IsTimeOut(10))
{ {
LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01); LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
if (!LastGoInFail)
{
LastGoInFail = true;
LastGoInFailTime = DateTime.Now;
LSAMoveInfo.log("托盘进入失败");
}
} }
break; break;
...@@ -215,6 +230,14 @@ namespace DeviceLibrary ...@@ -215,6 +230,14 @@ namespace DeviceLibrary
case MoveStep.SideMove_01: case MoveStep.SideMove_01:
Minfo.NextMoveStep(MoveStep.SideMove_01); Minfo.NextMoveStep(MoveStep.SideMove_01);
bool Forcetry = false;
if (LastGoInFail && (LastGoInFailTime - DateTime.Now).TotalSeconds > 5)
{
Forcetry = true;
LSAMoveInfo.log("上次托盘进入失败本次重试");
}
if (lsb.MoveStep >= MoveStep.SideMove_10) { if (lsb.MoveStep >= MoveStep.SideMove_10) {
Msg.add(sideb+crc.GetString("Res0015","侧穿越中"), MsgLevel.info); Msg.add(sideb+crc.GetString("Res0015","侧穿越中"), MsgLevel.info);
}else if (IOValue(Ls_A_Tray_Check).Equals(IO_VALUE.HIGH)) }else if (IOValue(Ls_A_Tray_Check).Equals(IO_VALUE.HIGH))
...@@ -223,7 +246,7 @@ namespace DeviceLibrary ...@@ -223,7 +246,7 @@ namespace DeviceLibrary
Minfo.NextMoveStep(MoveStep.SideMove_06); Minfo.NextMoveStep(MoveStep.SideMove_06);
Location_a.ToLow(Minfo); Location_a.ToLow(Minfo);
} }
else if (IOValue(Ls_A_Front_Check).Equals(IO_VALUE.HIGH)) else if (IOValue(Ls_A_Front_Check).Equals(IO_VALUE.HIGH) || Forcetry)
{ {
Minfo.NextMoveStep(MoveStep.SideMove_02); Minfo.NextMoveStep(MoveStep.SideMove_02);
Location_a.ToLow(Minfo); Location_a.ToLow(Minfo);
...@@ -248,12 +271,17 @@ namespace DeviceLibrary ...@@ -248,12 +271,17 @@ namespace DeviceLibrary
Minfo.log($"检测到进入的托盘"); Minfo.log($"检测到进入的托盘");
Minfo.CanWhileCount = 3; Minfo.CanWhileCount = 3;
Minfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); Minfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
} }
else if (Minfo.IsTimeOut(10)) else if (Minfo.IsTimeOut(10))
{ {
Minfo.log($"没有检测到进入的托盘"); Minfo.log($"没有检测到进入的托盘");
Minfo.NextMoveStep(MoveStep.SideMove_01); Minfo.NextMoveStep(MoveStep.SideMove_01);
if (!LastGoInFail)
{
LastGoInFail = true;
LastGoInFailTime = DateTime.Now;
LSAMoveInfo.log("托盘进入失败");
}
} }
break; break;
case MoveStep.SideMove_04: case MoveStep.SideMove_04:
...@@ -267,7 +295,7 @@ namespace DeviceLibrary ...@@ -267,7 +295,7 @@ namespace DeviceLibrary
//Location_a.ToHigh(Minfo); //Location_a.ToHigh(Minfo);
break; break;
case MoveStep.SideMove_05: case MoveStep.SideMove_05:
if (RFID.ReadByte(0x20,16,out byte[] data)) if (RFID.ReadByte(0x20,16,out byte[] data, out string errmsg))
{ {
var rfid = Common.RfidFilter(data); var rfid = Common.RfidFilter(data);
TrayManager.Process(rfid, addr, out TrayInfo trayInfo); TrayManager.Process(rfid, addr, out TrayInfo trayInfo);
...@@ -283,6 +311,7 @@ namespace DeviceLibrary ...@@ -283,6 +311,7 @@ namespace DeviceLibrary
{ {
Minfo.CanWhileCount--; Minfo.CanWhileCount--;
Minfo.log($"RFid读取失败,重试第{3- Minfo.CanWhileCount}次"); Minfo.log($"RFid读取失败,重试第{3- Minfo.CanWhileCount}次");
Minfo.log("RFIDerr:" + errmsg);
Minfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016","RFid读取失败"),MsgLevel.warning)); Minfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016","RFid读取失败"),MsgLevel.warning));
} }
else { else {
...@@ -393,6 +422,10 @@ namespace DeviceLibrary ...@@ -393,6 +422,10 @@ namespace DeviceLibrary
break; break;
case MoveStep.H01_HomeReset: case MoveStep.H01_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H02_HomeReset); LSAMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10 * 1000));
break;
case MoveStep.H02_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
IOMove(IO_Type.Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS); IOMove(IO_Type.Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
IOMove(IO_Type.Ls_B_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS); IOMove(IO_Type.Ls_B_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
var loAdown = IOValue(IO_Type.Ls_A_Location_Down).Equals(IO_VALUE.HIGH); var loAdown = IOValue(IO_Type.Ls_A_Location_Down).Equals(IO_VALUE.HIGH);
...@@ -430,34 +463,34 @@ namespace DeviceLibrary ...@@ -430,34 +463,34 @@ namespace DeviceLibrary
} }
} }
break; break;
case MoveStep.H02_HomeReset: case MoveStep.H03_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H03_HomeReset); LSAMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
Location_A.ToHigh(LSAMoveInfo); Location_A.ToHigh(LSAMoveInfo);
Location_B.ToHigh(LSAMoveInfo); Location_B.ToHigh(LSAMoveInfo);
if (LS_Type== LS_TypeE.NoRfid) if (LS_Type== LS_TypeE.NoRfid)
IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS); IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS);
LSAMoveInfo.log($"顶升顶起"); LSAMoveInfo.log($"顶升顶起");
break; break;
case MoveStep.H03_HomeReset: case MoveStep.H04_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H04_HomeReset); LSAMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
Line.LineRun("n", false, 10); Line.LineRun("n", false, 10);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LSAMoveInfo.log($"横移点击运行"); LSAMoveInfo.log($"横移点击运行");
break; break;
case MoveStep.H04_HomeReset: case MoveStep.H05_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H05_HomeReset); LSAMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
Location_A.ToLow(LSAMoveInfo); Location_A.ToLow(LSAMoveInfo);
Location_B.ToLow(LSAMoveInfo); Location_B.ToLow(LSAMoveInfo);
LSAMoveInfo.log($"顶升下降"); LSAMoveInfo.log($"顶升下降");
break; break;
case MoveStep.H05_HomeReset: case MoveStep.H06_HomeReset:
LSAMoveInfo.NextMoveStep(MoveStep.H06_HomeReset); LSAMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
if (LS_Type!= LS_TypeE.NoRfid) if (LS_Type!= LS_TypeE.NoRfid)
IOMove(IO_Type.Ls_B_Stop, IO_VALUE.HIGH, StopDelayMS); IOMove(IO_Type.Ls_B_Stop, IO_VALUE.HIGH, StopDelayMS);
LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LSAMoveInfo.log($"缓冲回退"); LSAMoveInfo.log($"缓冲回退");
break; break;
case MoveStep.H06_HomeReset: case MoveStep.H07_HomeReset:
LSAMoveInfo.log("回原完成"); LSAMoveInfo.log("回原完成");
DeviceState = DeviceStateE.Run; DeviceState = DeviceStateE.Run;
LSAMoveInfo.EndMove(); LSAMoveInfo.EndMove();
......
DeviceLibrary/theMachine/sub/TransplantMove.cs
...@@ -122,7 +122,7 @@ namespace DeviceLibrary ...@@ -122,7 +122,7 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.TransplantMove_03: case MoveStep.TransplantMove_03:
if (RFID_1.ReadByte(0x20, 16, out byte[] data)) if (RFID_1.ReadByte(0x20, 16, out byte[] data, out string errmsg))
{ {
CurrrentRFID = Common.RfidFilter(data); CurrrentRFID = Common.RfidFilter(data);
MoveInfo.MoveParam.RFID = CurrrentRFID; MoveInfo.MoveParam.RFID = CurrrentRFID;
...@@ -200,6 +200,7 @@ namespace DeviceLibrary ...@@ -200,6 +200,7 @@ namespace DeviceLibrary
{ {
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次"); MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次");
MoveInfo.log("RFIDerr:"+errmsg);
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016", "RFid读取失败"), MsgLevel.warning)); MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016", "RFid读取失败"), MsgLevel.warning));
} }
else else
...@@ -324,7 +325,7 @@ namespace DeviceLibrary ...@@ -324,7 +325,7 @@ namespace DeviceLibrary
remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone(); remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();
var tarytype = CurrrentTrayInfo.TrayType; var tarytype = CurrrentTrayInfo.TrayType;
remoteLoad.RequestLoadInfo.TrayType = tarytype.ToString(); remoteLoad.RequestLoadInfo.TrayType = tarytype.ToString();
if (tarytype == TrayTypeE.MTP1) if (tarytype == TrayTypeE.MTP2)
remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_1; remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_1;
else else
remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_2; remoteLoad.RequestLoadInfo.DeviceGroupName = StoreCID.AMH_ML5_2;
......
DeviceLibrary/theMachine/sub/TrayStop.cs
...@@ -121,7 +121,7 @@ namespace DeviceLibrary ...@@ -121,7 +121,7 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.TrayStop_03: case MoveStep.TrayStop_03:
if (RFID_1.ReadByte(0x20, 16, out byte[] data)) if (RFID_1.ReadByte(0x20, 16, out byte[] data,out string errmsg))
{ {
CurrrentRFID = Common.RfidFilter(data); CurrrentRFID = Common.RfidFilter(data);
TrayManager.Process(CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo); TrayManager.Process(CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
...@@ -174,6 +174,7 @@ namespace DeviceLibrary ...@@ -174,6 +174,7 @@ namespace DeviceLibrary
{ {
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次"); MoveInfo.log($"RFid读取失败,重试第{3 - MoveInfo.CanWhileCount}次");
MoveInfo.log("RFIDerr:" + errmsg);
MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016", "RFid读取失败"), MsgLevel.warning)); MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016", "RFid读取失败"), MsgLevel.warning));
} }
else else
......
RemoteSheardObject/Class1.cs
...@@ -50,8 +50,8 @@ public enum RobotStatusE ...@@ -50,8 +50,8 @@ public enum RobotStatusE
public enum TrayTypeE public enum TrayTypeE
{ {
None, None,
MTP1, //流水线治具托盘 MTP1, //流水线料盘托盘
MTP2, //流水线料盘托盘 MTP2, //流水线治具托盘
S007, //料串 S007, //料串
M03, //Tray料格 M03, //Tray料格
M02, //PCB料格 M02, //PCB料格
...@@ -173,3 +173,18 @@ public enum RemoteResult ...@@ -173,3 +173,18 @@ public enum RemoteResult
False, False,
True True
} }
[Serializable]
public class MTP
{
/// <summary>
/// 料盘托盘
/// </summary>
public static readonly string MTP1 = "MTP1";
/// <summary>
/// 治具托盘
/// </summary>
public static readonly string MTP2 = "MTP2";
}
\ No newline at end of file \ No newline at end of file
RemoteSheardObject/RemoteSheardObject.csproj
...@@ -21,6 +21,7 @@ ...@@ -21,6 +21,7 @@
<DefineConstants>DEBUG;TRACE</DefineConstants> <DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport> <ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel> <WarningLevel>4</WarningLevel>
<DocumentationFile>bin\Debug\RemoteSheardObject.xml</DocumentationFile>
</PropertyGroup> </PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' "> <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<DebugType>pdbonly</DebugType> <DebugType>pdbonly</DebugType>
......
TheMachine/UC/RfidControl.cs
using DeviceLibrary; using DeviceLibrary;
using OnlineStore; using OnlineStore;
using OnlineStore.Common;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
...@@ -28,13 +29,13 @@ namespace TheMachine.UC ...@@ -28,13 +29,13 @@ namespace TheMachine.UC
private void button_read_Click(object sender, EventArgs e) private void button_read_Click(object sender, EventArgs e)
{ {
if (rFID_C2S1.ReadByte(0x20, 16, out byte[] data)) { if (rFID_C2S1.ReadByte(0x20, 16, out byte[] data, out string errmsg)) {
var rfid = Common.RfidFilter(data); var rfid = Common.RfidFilter(data);
textBox_rfidlabel.Text = rfid; textBox_rfidlabel.Text = rfid;
} else { } else {
LogUtil.error("RFIDerr:" + errmsg);
textBox_rfidlabel.Text = crc.GetString("Res0033","读取失败"); textBox_rfidlabel.Text = crc.GetString("Res0033","读取失败");
} }
} }
} }
} }
\ No newline at end of file \ No newline at end of file
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