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Commit 3f460bbe 由 张东亮
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1 个父辈 ea7849b6
内嵌 并排
正在显示 3 个修改的文件 包含 38 行增加 和 24 行删除
DeviceLibrary/DeviceLibrary/VisionHelper.cs
...@@ -19,7 +19,7 @@ namespace DeviceLibrary ...@@ -19,7 +19,7 @@ namespace DeviceLibrary
public static bool ReelStatusCheck(string configName) public static bool ReelStatusCheck(string configName)
{ {
string cameraName = ConfigHelper.Config.Get("MonitorCamName", "cam1"); string cameraName = ConfigHelper.Config.Get("MonitorCamName", "cam1");
string url = visionUrl + $"/reelStatusCheck/cam?camName={cameraName}&configName={configName}"; string url = visionUrl + $"/reelStatusCheck/cam?camName={cameraName}&configName={configName.Replace("#", "%23")}";
try try
{ {
CheckAndRunServer(); CheckAndRunServer();
......
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -233,39 +233,51 @@ namespace DeviceLibrary ...@@ -233,39 +233,51 @@ namespace DeviceLibrary
break; break;
#region 料盘放置位置检查 #region 料盘放置位置检查
case MoveStep.StoreFIX04_01_InoutBackToP1: case MoveStep.StoreFIX04_01_InoutBackToP1:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_CheckLocation); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_UpToCamLoc);
var fixpos = "fix#" + MoveInfo.MoveParam.PlateW.ToString(); var fixpos = "fix#" + To.Reel.PlateW.ToString();
int camPos = ConfigHelper.Config.Get($"CamPos_{fixpos}", Fix.UpDown_PL);
UpDown_Axis.AbsMove(MoveInfo, camPos, Config.UpDown_P3_speed/2);
MoveInfo.log($"{storeMoveType}:升降轴到拍照点");
break;
case MoveStep.StoreFIX04_02_UpToCamLoc:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_CheckLocation);
fixpos = "fix#" + To.Reel.PlateW.ToString();
reelStatusInFix = VisionHelper.ReelStatusCheck(fixpos); reelStatusInFix = VisionHelper.ReelStatusCheck(fixpos);
break; break;
case MoveStep.StoreFIX04_02_CheckLocation: case MoveStep.StoreFIX04_03_CheckLocation:
if (reelStatusInFix) if (reelStatusInFix)
{ {
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
MoveInfo.log($"{storeMoveType}:料盘放置正常"); UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:料盘放置正常，升降轴到库位低点");
} }
else else
{ {
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_ReloadPos); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_ReloadPos);
mainMachine.CloseFlipDoor(MoveInfo); To = new BoxStorePosition(Config, StoreSide.NGDoor, To.Reel);
Comp_Axis.AbsMove(MoveInfo, Config.Comp_P1, Config.Comp_P1_speed); MoveInfo.log($"{storeMoveType}:料盘放置异常,更改料盘目的地为NG口");
MoveInfo.log($"{storeMoveType}:料盘放置异常，翻板关闭，压紧轴到零点，准备送到NG口"); mainMachine.StoreMoveInfo.MoveParam.IsNg = true;
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
Msg.add(crc.GetString("reel_not_in_right_status", "料盘放置异常"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true);
} }
break; break;
case MoveStep.StoreFIX04_03_ReloadPos: case MoveStep.StoreFIX04_04_ReloadPos:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
To = new BoxStorePosition(Config, StoreSide.NGDoor, To.Reel); mainMachine.CloseFlipDoor(MoveInfo);
MoveInfo.log($"{storeMoveType}:更改料盘目的地为NG口,关闭翻板门"); Comp_Axis.AbsMove(MoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
mainMachine.StoreMoveInfo.MoveParam.IsNg = true; UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}"; MoveInfo.log($"{storeMoveType}:翻板关闭，压紧轴到待机点，升降轴到库位低点,准备送到NG口");
Msg.add(crc.GetString("reel_not_in_right_status", "料盘放置异常"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true);
break; break;
case MoveStep.StoreFIX04_04_InoutToPos: case MoveStep.StoreFIX04_05_DownToFixLow:
MoveInfo.NextMoveStep(MoveStep.StoreFIX05); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_06_InoutToPos);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed); InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate(); InOut_Axis.MonitorAxisLoadRate();
break; break;
case MoveStep.StoreFIX04_06_InoutToPos:
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
break;
#endregion #endregion
case MoveStep.StoreFIX05: case MoveStep.StoreFIX05:
MoveInfo.NextMoveStep(MoveStep.StoreFIX06); MoveInfo.NextMoveStep(MoveStep.StoreFIX06);
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -139,9 +139,11 @@ namespace DeviceLibrary ...@@ -139,9 +139,11 @@ namespace DeviceLibrary
StoreFIX03, StoreFIX03,
StoreFIX04, StoreFIX04,
StoreFIX04_01_InoutBackToP1, StoreFIX04_01_InoutBackToP1,
StoreFIX04_02_CheckLocation, StoreFIX04_02_UpToCamLoc,
StoreFIX04_03_ReloadPos, StoreFIX04_03_CheckLocation,
StoreFIX04_04_InoutToPos, StoreFIX04_04_ReloadPos,
StoreFIX04_05_DownToFixLow,
StoreFIX04_06_InoutToPos,
StoreFIX05, StoreFIX05,
StoreFIX06, StoreFIX06,
StoreFIX07, StoreFIX07,
......
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