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Commit 371a409a 由 LN
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折叠门光栅处理。

1 个父辈 e40760ab
内嵌 并排
正在显示 5 个修改的文件 包含 81 行增加 和 7 行删除
DeviceLibrary/DeviceLibrary/CylinderManger.cs
...@@ -42,7 +42,22 @@ namespace DeviceLibrary ...@@ -42,7 +42,22 @@ namespace DeviceLibrary
Resume(); Resume();
LogUtil.info($"{Name},设置{High}=Low"); LogUtil.info($"{Name},设置{High}=Low");
} }
public bool NeedStop()
{
if (currentIOvalue == IO_VALUE.None)
{
return false ;
}
else if (currentIOvalue == IO_VALUE.HIGH && IOManager.IOValue(High).Equals(IO_VALUE.HIGH))
{
return false ;
}
else if (currentIOvalue == IO_VALUE.LOW && IOManager.IOValue(Low).Equals(IO_VALUE.HIGH))
{
return false ;
}
return true;
}
public void Pause() public void Pause()
{ {
LogUtil.info($"{Name},停止运行"); LogUtil.info($"{Name},停止运行");
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -66,6 +66,7 @@ namespace DeviceLibrary ...@@ -66,6 +66,7 @@ namespace DeviceLibrary
public LineRunMonitor Line; public LineRunMonitor Line;
public CylinderManger SingleDoor; public CylinderManger SingleDoor;
public CylinderManger FlipDoor; public CylinderManger FlipDoor;
public CylinderManger CyStringDoor;
public LiftMonitor MotorFlipDoorA; public LiftMonitor MotorFlipDoorA;
public LiftMonitor MotorFlipDoorB; public LiftMonitor MotorFlipDoorB;
public LiftMonitor StringDoor; public LiftMonitor StringDoor;
...@@ -157,14 +158,17 @@ namespace DeviceLibrary ...@@ -157,14 +158,17 @@ namespace DeviceLibrary
var sf = ""; var sf = "";
if (Setting_Init.StringDoor_X08IsStringDoor_SafetyLightCurtains) if (Setting_Init.StringDoor_X08IsStringDoor_SafetyLightCurtains)
sf = IO_Type.AGV_OnPosition; sf = IO_Type.AGV_OnPosition;
StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, sf, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed, 0, "折叠门",true); StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, sf, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed, 0, "折叠门", true);
StringDoor.DownOverTimeMS = Setting_Init.StringDoor_DownOverTimeMS; StringDoor.DownOverTimeMS = Setting_Init.StringDoor_DownOverTimeMS;
StringDoor.UpOverTimeMS = Setting_Init.StringDoor_UpOverTimeMS; StringDoor.UpOverTimeMS = Setting_Init.StringDoor_UpOverTimeMS;
StringDoor.ResumeWaitTimeSec = 5; StringDoor.ResumeWaitTimeSec = 5;
LogUtil.info("加载料串门类型为:步进"); LogUtil.info("加载料串门类型为:步进");
} }
else else
{
LogUtil.info("加载料串门类型为:气缸"); LogUtil.info("加载料串门类型为:气缸");
CyStringDoor= new CylinderManger($"折叠门", IO_Type.StringDoor_Open,IO_Type.StringDoor_Close);
}
if (!Setting_Init.StringDoor_X08IsStringDoor_SafetyLightCurtains) if (!Setting_Init.StringDoor_X08IsStringDoor_SafetyLightCurtains)
{ {
RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition); RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition);
...@@ -820,7 +824,8 @@ namespace DeviceLibrary ...@@ -820,7 +824,8 @@ namespace DeviceLibrary
if (Setting_Init.StringDoor_X08IsStringDoor_SafetyLightCurtains) if (Setting_Init.StringDoor_X08IsStringDoor_SafetyLightCurtains)
{ {
//IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) && //IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) &&
if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
//if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW))
{ {
Msg.add(crc.GetString(L.stringDoorSafety, "料串门光栅被遮挡"), MsgLevel.warning); Msg.add(crc.GetString(L.stringDoorSafety, "料串门光栅被遮挡"), MsgLevel.warning);
if (lastStringSafetyStatus) if (lastStringSafetyStatus)
...@@ -855,6 +860,10 @@ namespace DeviceLibrary ...@@ -855,6 +860,10 @@ namespace DeviceLibrary
{ {
StringDoor.ResumeSingle(); StringDoor.ResumeSingle();
} }
else
{
CyStringDoor.Resume();
}
lastStringSafetyStatus = true; lastStringSafetyStatus = true;
} }
} }
......
DeviceLibrary/theMachine/MainMachine_String.cs
...@@ -797,7 +797,8 @@ namespace DeviceLibrary ...@@ -797,7 +797,8 @@ namespace DeviceLibrary
} }
else else
{ {
CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH); //CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.HIGH);
CyStringDoor.ToHigh(moveInfo);
} }
} }
public void StringDoorClose(MoveInfo moveInfo) public void StringDoorClose(MoveInfo moveInfo)
...@@ -813,7 +814,8 @@ namespace DeviceLibrary ...@@ -813,7 +814,8 @@ namespace DeviceLibrary
} }
else else
{ {
CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW); //CylinderMove(moveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
CyStringDoor.ToLow(moveInfo);
} }
} }
public void StringDoorPause() public void StringDoorPause()
...@@ -829,8 +831,9 @@ namespace DeviceLibrary ...@@ -829,8 +831,9 @@ namespace DeviceLibrary
} }
else else
{ {
IOMove(IO_Type.StringDoor_Close, IO_VALUE.LOW); CyStringDoor.Pause();
IOMove(IO_Type.StringDoor_Open, IO_VALUE.LOW); //IOMove(IO_Type.StringDoor_Close, IO_VALUE.LOW);
//IOMove(IO_Type.StringDoor_Open, IO_VALUE.LOW);
} }
} }
} }
......
TheMachine/IOControls.cs
...@@ -33,16 +33,19 @@ namespace TheMachine ...@@ -33,16 +33,19 @@ namespace TheMachine
private void btn_linerun_Click(object sender, EventArgs e) private void btn_linerun_Click(object sender, EventArgs e)
{ {
LogUtil.info("点击按钮：" + btn_linerun.Text);
RobotManage.mainMachine.Line.LineRun("n",false, 999); RobotManage.mainMachine.Line.LineRun("n",false, 999);
} }
private void btn_linerev_Click(object sender, EventArgs e) private void btn_linerev_Click(object sender, EventArgs e)
{ {
LogUtil.info("点击按钮：" + btn_linerev.Text);
RobotManage.mainMachine.Line.LineRun("n",true, 999); RobotManage.mainMachine.Line.LineRun("n",true, 999);
} }
private void btn_linestop_Click(object sender, EventArgs e) private void btn_linestop_Click(object sender, EventArgs e)
{ {
LogUtil.info("点击按钮：" + btn_linestop.Text);
RobotManage.mainMachine.Line.LineStop("n"); RobotManage.mainMachine.Line.LineStop("n");
} }
......
TheMachineNView/IOControls.cs
...@@ -6,9 +6,11 @@ using System; ...@@ -6,9 +6,11 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.ComponentModel; using System.ComponentModel;
using System.Data; using System.Data;
using System.Diagnostics;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
...@@ -29,8 +31,38 @@ namespace TheMachineNView ...@@ -29,8 +31,38 @@ namespace TheMachineNView
public IOControls() public IOControls()
{ {
InitializeComponent(); InitializeComponent();
ioControllerTimer = new System.Threading.Timer(new TimerCallback(IOPRocess), null, 0, 1000);
GC.KeepAlive(ioControllerTimer);
} }
private void IOPRocess(object state)
{
if (RobotManage.mainMachine != null && RobotManage.mainMachine.runStatus.Equals(RunStatus.Stop))
{
if (IOManager.IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
{
//如果折叠门再打开状态
if (RobotManage.mainMachine.CyStringDoor != null &&RobotManage.mainMachine.CyStringDoor.NeedStop())
{
RobotManage.mainMachine.CyStringDoor.Pause();
}
}
if(IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
if(RobotManage.mainMachine.SingleDoor != null&& RobotManage.mainMachine.SingleDoor.NeedStop())
{
RobotManage.mainMachine.SingleDoor.Pause();
}
}
}
}
System.Threading.Timer ioControllerTimer;
private void btn_linerun_Click(object sender, EventArgs e) private void btn_linerun_Click(object sender, EventArgs e)
{ {
RobotManage.mainMachine.Line.LineRun("n",false, 999); RobotManage.mainMachine.Line.LineRun("n",false, 999);
...@@ -64,12 +96,24 @@ namespace TheMachineNView ...@@ -64,12 +96,24 @@ namespace TheMachineNView
private void btn_stringdooropen_Click(object sender, EventArgs e) private void btn_stringdooropen_Click(object sender, EventArgs e)
{ {
//判断光栅是否关闭
if (IOManager.IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
{
MessageBox.Show(crc.GetString("OpeartionFail", "操作失败"));
return;
}
LogUtil.info("手动控制:折叠门门打开"); LogUtil.info("手动控制:折叠门门打开");
RobotManage.mainMachine.StringDoorOpen(null); RobotManage.mainMachine.StringDoorOpen(null);
} }
private void btn_stringdoorclose_Click(object sender, EventArgs e) private void btn_stringdoorclose_Click(object sender, EventArgs e)
{ {
//判断光栅是否关闭
if (IOManager.IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
{
MessageBox.Show(crc.GetString("OpeartionFail", "操作失败"));
return;
}
LogUtil.info("手动控制:折叠门门关闭"); LogUtil.info("手动控制:折叠门门关闭");
RobotManage.mainMachine.StringDoorClose(null); RobotManage.mainMachine.StringDoorClose(null);
} }
......
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