添加打印回原完成后轴的状态

张东亮
Commit 5e87868b 由 张东亮 编写于 2024-02-21 15:57:44 +0800
DeviceLibrary/DeviceLibrary/AxisBean.cs
DeviceLibrary/theMachine/BoxTransport.cs
--- a/DeviceLibrary/DeviceLibrary/AxisBean.cs
查看文件 @5e87868
+++ b/DeviceLibrary/DeviceLibrary/AxisBean.cs
查看文件 @5e87868
-using OnlineStore.Common;
+using HuichuanLibrary;
+using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
@@ -21,7 +22,7 @@ namespace DeviceLibrary
        /// <summary>
        /// 干涉检测回调 from, to
        /// </summary>
-        public event Func<int,int,(bool,string)> interference;
+        public event Func<int, int, (bool, string)> interference;
        public string AxisName;
        public bool ForceSafeCheck = false;
        public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
@@ -112,7 +113,7 @@ namespace DeviceLibrary
            LogUtil.info("ServoOff【" + AxisName + "】");
            AxisManager.ServoOff(Config.DeviceName, Config.GetAxisValue());
        }
-        public void HomeMove(MoveInfo MoveInfo,bool force=true)
+        public void HomeMove(MoveInfo MoveInfo, bool force = true)
        {
            if (!force && AxisManager.GetHomeEndStatus(Config.DeviceName, (short)Config.GetAxisValue()) == 3)
            {
@@ -121,7 +122,7 @@ namespace DeviceLibrary
            }
            Config.TargetPosition = 0;
            LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
-            if (MoveInfo!=null)
+            if (MoveInfo != null)
                MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
            var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
            var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
@@ -140,7 +141,7 @@ namespace DeviceLibrary
                return;
            }
-            if (ForceSafeCheck && !IsSafe(targetPosition,out string msg))
+            if (ForceSafeCheck && !IsSafe(targetPosition, out string msg))
            {
                Msg.add(msg, MsgLevel.alarm);
                RobotManage.UserPause(msg);
@@ -208,7 +209,7 @@ namespace DeviceLibrary
                        AxisManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
                        Thread.Sleep(100);
                    }
-                    LogUtil.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
+                    LogUtil.error($"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
                    var AddSpeed = axis.AddSpeed > 0 ? axis.AddSpeed : targetSpeed * 4;
                    var DelSpeed = axis.DelSpeed > 0 ? axis.DelSpeed : targetSpeed * 4;
                    AxisManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// , axis.AddSpeed, axis.DelSpeed);
@@ -229,7 +230,11 @@ namespace DeviceLibrary
            if (AxisManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))// || AxisManager.AxisStsINP(axis.DeviceName, axis.GetAxisValue()).Equals(1))
            {
                //原点完成并且位置=0
+                //编码器位置
                int outCount = AxisManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
+                //规划位置
+                int outTarget = AxisManager.GetTargetPosition(axis.DeviceName, axis.GetAxisValue());
+                AxisSts axisS = HCBoardManager.GetAxisSts(axis.GetAxisValue());
                int errorCount = Math.Abs(outCount);
                if (errorCount <= axis.CanErrorCountMax)
                {
@@ -238,14 +243,15 @@ namespace DeviceLibrary
                //判断是否需要重新运动
                if (MoveInfo.CanWhileCount > 0)
                {
-                    LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
+                    msg = $"{MoveInfo.Name} {axis.DisplayStr} 收到原点完成信号，当前位置{outCount}，规划位置{outTarget}，重新回原点，剩余[{MoveInfo.CanWhileCount}]]次。{axisS.ToStr()}";
+                    LogUtil.error(msg);
                    //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
                    AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
                    MoveInfo.CanWhileCount--;
                }
                else
                {
-                    msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
+                    msg =$"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr} ,收到原点完成信号，当前位置[{outCount}]，规划位置{outTarget}，误差过大，需要报警。{axisS.ToStr()}";
                    LogUtil.error(msg);
                }
            }
@@ -316,7 +322,8 @@ namespace DeviceLibrary
            AxisManager.RelMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, AddSpeed, DelSpeed);// , Config.AddSpeed, Config.DelSpeed);
        }
-        public bool IsBusy {
+        public bool IsBusy
+        {
            get => AxisManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()) == 1;
        }
        public bool IsServeoOn
@@ -332,22 +339,26 @@ namespace DeviceLibrary
        /// 判断轴运动是否安全
        /// </summary>
        /// <returns></returns>
-        public bool IsSafe(int Targetpos,out string msg) {
+        public bool IsSafe(int Targetpos, out string msg)
+        {
            msg = "";
            if (interference == null)
                return true;
            bool result;
            var from = GetAclPosition();
-            (result,msg) = interference.Invoke(from, Targetpos);
+            (result, msg) = interference.Invoke(from, Targetpos);
-            if (result) {
+            if (result)
+            {
                LogUtil.info(AxisName + $" 干涉:{msg},From:{from},To:{Targetpos}");
            }
            return !result;
        }
-        public void MonitorAxisLoadRate(float maxloadrate) {
+        public void MonitorAxisLoadRate(float maxloadrate)
-            Task.Run(() => {
+        {
+            Task.Run(() =>
+            {
                Task.Delay(200).Wait();
                LogUtil.info($"{AxisName}-开始负载监控,最大负载阈值:{maxloadrate}");
                List<float> loadrate = new List<float>();
@@ -355,15 +366,17 @@ namespace DeviceLibrary
                {
                    var loadval = ((HCAxisManager)AxisManager.instance).GetAxisLoadRate(Config.DeviceName, Config.GetAxisValue());
                    loadrate.Add(loadval);
-                    if (loadval > maxloadrate) {
+                    if (loadval > maxloadrate)
+                    {
                        LogUtil.info($"{AxisName}-{loadval}>{maxloadrate}超过负载,系统急停");
                        SuddenStop();
-                        Msg.add(AxisName+"-超过负载,系统急停", MsgLevel.alarm,ErrInfo.SuddenStop);
+                        Msg.add(AxisName + "-超过负载,系统急停", MsgLevel.alarm, ErrInfo.SuddenStop);
                        break;
                    }
                    Task.Delay(50).Wait();
                }
-                if (loadrate.Count > 5) {
+                if (loadrate.Count > 5)
+                {
                    loadrate.Sort();
                    int middleIndex = loadrate.Count / 2;
                    LogUtil.info($"{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]}, 最大阈值:{maxloadrate}");
@@ -456,7 +469,7 @@ namespace DeviceLibrary
        public static void CloseMultiAxis(List<AxisBean> axisArray)
        {
            foreach (AxisBean axis in axisArray)
-            {                
+            {
                axis.ServoOff();
                Thread.Sleep(10);
            }

--- a/DeviceLibrary/theMachine/BoxTransport.cs
查看文件 @5e87868
+++ b/DeviceLibrary/theMachine/BoxTransport.cs
查看文件 @5e87868
@@ -423,6 +423,7 @@ namespace DeviceLibrary
                    break;
                case MoveStep.StoreTS17:
                    //MoveInfo.NextMoveStep(MoveStep.StoreTS16);
+                    Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                    MoveInfo.log($"{storeMoveType}:转移料盘完成");
                    MoveInfo.EndMove();
                    ErrMsgTxt = "";