1

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -346,17 +346,17 @@ namespace DeviceLibrary
 
 
             return !result;
             return !result;
         }
         }
-        public void MonitorAxisLoadRate() {
+        public void MonitorAxisLoadRate(float maxloadrate) {
             Task.Run(() => {
             Task.Run(() => {
                 Task.Delay(200).Wait();
                 Task.Delay(200).Wait();
-                LogUtil.info($"{AxisName}-开始负载监控,最大负载阈值:{Setting_Init.Device_InOutMaxLoadRate}");
+                LogUtil.info($"{AxisName}-开始负载监控,最大负载阈值:{maxloadrate}");
                 List<float> loadrate = new List<float>();
                 List<float> loadrate = new List<float>();
                 while (IsBusy)
                 while (IsBusy)
                 {
                 {
                     var loadval = ((HCAxisManager)AxisManager.instance).GetAxisLoadRate(Config.DeviceName, Config.GetAxisValue());
                     var loadval = ((HCAxisManager)AxisManager.instance).GetAxisLoadRate(Config.DeviceName, Config.GetAxisValue());
                     loadrate.Add(loadval);
                     loadrate.Add(loadval);
-                    if (loadval > Setting_Init.Device_InOutMaxLoadRate) {
-                        LogUtil.info($"{AxisName}-{loadval}>{Setting_Init.Device_InOutMaxLoadRate}超过负载,系统急停");
+                    if (loadval > maxloadrate) {
+                        LogUtil.info($"{AxisName}-{loadval}>{maxloadrate}超过负载,系统急停");
                         SuddenStop();
                         SuddenStop();
                         Msg.add(AxisName+"-超过负载,系统急停", MsgLevel.alarm,ErrInfo.SuddenStop);
                         Msg.add(AxisName+"-超过负载,系统急停", MsgLevel.alarm,ErrInfo.SuddenStop);
                         break;
                         break;
@@ -366,7 +366,7 @@ namespace DeviceLibrary
                 if (loadrate.Count > 5) {
                 if (loadrate.Count > 5) {
                     loadrate.Sort();
                     loadrate.Sort();
                     int middleIndex = loadrate.Count / 2;
                     int middleIndex = loadrate.Count / 2;
-                    LogUtil.info($"{AxisName}-本次负载监控:最小值:{loadrate.Min()}, 平均值:{loadrate.Average()}, 最大值{loadrate.Max()},中位数:{loadrate[middleIndex]}");
+                    LogUtil.info($"{AxisName}-本次负载监控:最小值:{loadrate.Min()}, 平均值:{loadrate.Average()}, 最大值{loadrate.Max()},中位数:{loadrate[middleIndex]}, 最大阈值:{maxloadrate}");
                 }
                 }
             });
             });
         }
         }

DeviceLibrary/theMachine/BoxTransport.cs

@@ -159,7 +159,7 @@ namespace DeviceLibrary
                 case MoveStep.StoreTS06:
                 case MoveStep.StoreTS06:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS07);
                     MoveInfo.NextMoveStep(MoveStep.StoreTS07);
                     InOut_Axis.AbsMove(MoveInfo, From.InOut_P2, Config.InOut_P2_speed);
                     InOut_Axis.AbsMove(MoveInfo, From.InOut_P2, Config.InOut_P2_speed);
-                    InOut_Axis.MonitorAxisLoadRate();
+                    InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
                     MoveInfo.log($"{storeMoveType}:进出轴到达取料点{From.InOut_P2}");
                     MoveInfo.log($"{storeMoveType}:进出轴到达取料点{From.InOut_P2}");
                     break;
                     break;
                 case MoveStep.StoreTS07:
                 case MoveStep.StoreTS07:
@@ -206,7 +206,7 @@ namespace DeviceLibrary
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX03);
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX03);
                     MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
                     MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
                     InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
                     InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
-                    InOut_Axis.MonitorAxisLoadRate();
+                    InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
                     break;
                     break;
                 case MoveStep.StoreFIX03:
                 case MoveStep.StoreFIX03:
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix));
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix));
@@ -275,7 +275,7 @@ namespace DeviceLibrary
                 case MoveStep.StoreFIX04_05_DownToFixLow:
                 case MoveStep.StoreFIX04_05_DownToFixLow:
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX04_06_InoutToPos);
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX04_06_InoutToPos);
                     InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
                     InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
-                    InOut_Axis.MonitorAxisLoadRate();
+                    InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
                     break;
                     break;
                 case MoveStep.StoreFIX04_06_InoutToPos:
                 case MoveStep.StoreFIX04_06_InoutToPos:
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
@@ -349,7 +349,7 @@ namespace DeviceLibrary
                     MoveInfo.NextMoveStep(MoveStep.StoreTS13);
                     MoveInfo.NextMoveStep(MoveStep.StoreTS13);
                     MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
                     MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
                     InOut_Axis.AbsMove(MoveInfo, To.InOut_P2, Config.InOut_P2_speed);
                     InOut_Axis.AbsMove(MoveInfo, To.InOut_P2, Config.InOut_P2_speed);
-                    InOut_Axis.MonitorAxisLoadRate();
+                    InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
                     break;
                     break;
                 case MoveStep.StoreTS13:
                 case MoveStep.StoreTS13:
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));