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Commit 7f886fa7 由 刘韬
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Merge branch 'master' of http://106.15.194.121:8083/liutao/1069_MIMO_PlUS

2 个父辈 cb0174dd 0a82a1e2
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正在显示 8 个修改的文件 包含 87 行增加 和 18 行删除
Common/Setting_Init.cs
...@@ -31,5 +31,9 @@ namespace OnlineStore.Common ...@@ -31,5 +31,9 @@ namespace OnlineStore.Common
public static string QRCodeCount = "QRCodeCount"; public static string QRCodeCount = "QRCodeCount";
public static string CodeTimeOut = "CodeTimeOut"; public static string CodeTimeOut = "CodeTimeOut";
/// <summary>
/// 校准库位的料盘信息
/// </summary>
public static string FixBuffInfo = "FixBuffInfo";
} }
} }
Common/bean/Bean.cs
...@@ -72,6 +72,7 @@ namespace OnlineStore.Common ...@@ -72,6 +72,7 @@ namespace OnlineStore.Common
get { return _data; } get { return _data; }
set { _data = value; } set { _data = value; }
} }
public Dictionary<String, Dictionary<String, String>> mimoOpMap = new Dictionary<string, Dictionary<string, string>>();
/// <summary> /// <summary>
/// 整体料仓状态 /// 整体料仓状态
/// 1=正常运行中 /// 1=正常运行中
...@@ -291,5 +292,22 @@ namespace OnlineStore.Common ...@@ -291,5 +292,22 @@ namespace OnlineStore.Common
public static string disable = "disable"; public static string disable = "disable";
public static string queueTaskCount="queueTaskCount"; public static string queueTaskCount="queueTaskCount";
/// <summary>
/// 贴标机交互按钮,出口 满料串取出
/// </summary>
public static string SendFullShelf = "SendFullShelf";
/// <summary>
/// 贴标机交互按钮,出口 空料串送入
/// </summary>
public static string NeedEmptySHelf = "NeedEmptySHelf";
/// <summary>
/// 贴标机交互按钮,入口 满料串送入
/// </summary>
public static string NeedFullShelf = "NeedFullShelf";
/// <summary>
/// 贴标机交互按钮,入口 空料串取出
/// </summary>
public static string SendEmptyShelf = "SendEmptyShelf";
} }
} }
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -190,6 +190,7 @@ namespace DeviceLibrary ...@@ -190,6 +190,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreFIX01: case MoveStep.StoreFIX01:
MoveInfo.NextMoveStep(MoveStep.StoreFIX02); MoveInfo.NextMoveStep(MoveStep.StoreFIX02);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed); Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}"); MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed); UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
...@@ -226,6 +227,7 @@ namespace DeviceLibrary ...@@ -226,6 +227,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreTS10: case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11); MoveInfo.NextMoveStep(MoveStep.StoreTS11);
RobotManage.ClearReelInFixPos();
Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed); Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}"); MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed); UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -535,6 +535,17 @@ namespace DeviceLibrary ...@@ -535,6 +535,17 @@ namespace DeviceLibrary
ServerCM.storeStatus = StoreStatus.OutStoreExecute; ServerCM.storeStatus = StoreStatus.OutStoreExecute;
CloseFlipDoor(StoreMoveInfo); CloseFlipDoor(StoreMoveInfo);
} }
else if((RobotManage.HasReelInFixPos(out ReelParam reelParam))
&& boxTransport.IsComplateOrFree
&& ClampMoveInfo.MoveStep == MoveStep.Wait && ConfigHelper.Config.Get("Device_Use_Fixpos", false)
&& IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
var pos = BoxStorePosition.GetFixPos(Config, reelParam);
LogUtil.info($"复位完成，校准库位出库:{pos.posid}");
RobotManage.mainMachine.AddSingleStoreTask(pos.posid, reelParam.PlateW, reelParam.PlateH);
RobotManage.ClearReelInFixPos();
CloseFlipDoor(StoreMoveInfo);
}
runStatus = RunStatus.Running; runStatus = RunStatus.Running;
ServerCM.storeStatus = StoreStatus.StoreOnline; ServerCM.storeStatus = StoreStatus.StoreOnline;
break; break;
......
DeviceLibrary/theMachine/MainMachine_String.cs
...@@ -59,9 +59,10 @@ namespace DeviceLibrary ...@@ -59,9 +59,10 @@ namespace DeviceLibrary
/// <summary> /// <summary>
/// 强制转换料串为出库模式 /// 强制转换料串为出库模式
/// </summary> /// </summary>
public bool TurnToOut() { public bool TurnToOut()
{
if (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep==MoveStep.StringOut_Released) if (StringState == StringStateE.OutStore && StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
{ {
StringMoveInfo.log($"升起待机料串"); StringMoveInfo.log($"升起待机料串");
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
...@@ -173,7 +174,7 @@ namespace DeviceLibrary ...@@ -173,7 +174,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
//CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW); //CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
BatchAxisToP2(StringMoveInfo, StringState == StringStateE.OutStore); BatchAxisToP2(StringMoveInfo, StringState == StringStateE.OutStore);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009","料串正在上升"), MsgLevel.warning)); StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0009", "料串正在上升"), MsgLevel.warning));
} }
else if (StringMoveInfo.IsTimeOut(10)) else if (StringMoveInfo.IsTimeOut(10))
{ {
...@@ -197,11 +198,11 @@ namespace DeviceLibrary ...@@ -197,11 +198,11 @@ namespace DeviceLibrary
if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0) if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0)
{ {
SetReelHeight(GetHeight(StringMoveInfo)); SetReelHeight(GetHeight(StringMoveInfo));
StringMoveInfo.log($"当钱空料串, 并且没有出库任务, 料串下降待机"); StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01); StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
} }
} }
else if(StringState != StringStateE.OutStore) else if (StringState != StringStateE.OutStore)
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
StringState = StringStateE.InStore; StringState = StringStateE.InStore;
...@@ -244,7 +245,7 @@ namespace DeviceLibrary ...@@ -244,7 +245,7 @@ namespace DeviceLibrary
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet); StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
StringMoveInfo.log($"料串有盘上升5mm"); StringMoveInfo.log($"料串有盘上升5mm");
var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM+2); var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed); Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW); CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
//OpenFlipDoor(StringMoveInfo); //OpenFlipDoor(StringMoveInfo);
...@@ -291,7 +292,7 @@ namespace DeviceLibrary ...@@ -291,7 +292,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StringReelPut: case MoveStep.StringReelPut:
LastStringState = StringStateE.OutStore; LastStringState = StringStateE.OutStore;
if (ConfigHelper.Config.Get("Device_OutStoreStringReelCheck",false)) if (ConfigHelper.Config.Get("Device_OutStoreStringReelCheck", false))
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03); StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
StringMoveInfo.log($"检测阻挡工作"); StringMoveInfo.log($"检测阻挡工作");
...@@ -340,12 +341,12 @@ namespace DeviceLibrary ...@@ -340,12 +341,12 @@ namespace DeviceLibrary
case MoveStep.StringReelPut_02: case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true); BatchAxisToP2(StringMoveInfo, true);
break; break;
case MoveStep.StringReelPut_03: case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04); StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo,true); BatchAxisToP2(StringMoveInfo, true);
break; break;
case MoveStep.StringReelPut_04: case MoveStep.StringReelPut_04:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05); StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_05);
...@@ -379,7 +380,7 @@ namespace DeviceLibrary ...@@ -379,7 +380,7 @@ namespace DeviceLibrary
StringMoveInfo.log($"料串下降到P1点"); StringMoveInfo.log($"料串下降到P1点");
Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed); Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW); CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0010","料串正在下降"), MsgLevel.warning)); StringMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0010", "料串正在下降"), MsgLevel.warning));
break; break;
case MoveStep.StringOut_02: case MoveStep.StringOut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_03); StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
...@@ -392,6 +393,7 @@ namespace DeviceLibrary ...@@ -392,6 +393,7 @@ namespace DeviceLibrary
CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW); CylinderMove(StringMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
break; break;
case MoveStep.StringOut_Released: case MoveStep.StringOut_Released:
ServerCM.storeStatus = StoreStatus.StoreOnline;
if (StringState == StringStateE.Full) if (StringState == StringStateE.Full)
Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0427 Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0427
else else
...@@ -445,14 +447,15 @@ namespace DeviceLibrary ...@@ -445,14 +447,15 @@ namespace DeviceLibrary
} }
} }
string StringProcessState() { string StringProcessState()
{
string state = ""; string state = "";
if (StringState == StringStateE.OutStore) if (StringState == StringStateE.OutStore)
state = crc.GetString(L.empty_reel, "空料串"); state = crc.GetString(L.empty_reel, "空料串");
else if (StringState == StringStateE.Full) else if (StringState == StringStateE.Full)
{ {
state = crc.GetString(L.full_reel, "满料串"); state = crc.GetString(L.full_reel, "满料串");
} }
else if (StringState == StringStateE.InStore) else if (StringState == StringStateE.InStore)
...@@ -488,14 +491,14 @@ namespace DeviceLibrary ...@@ -488,14 +491,14 @@ namespace DeviceLibrary
int targetSpeed = Config.Batch_P2_speed; int targetSpeed = Config.Batch_P2_speed;
if (isFirstMove) if (isFirstMove)
{ {
targetSpeed= Config.Batch_P1_speed; targetSpeed = Config.Batch_P1_speed;
} }
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2); moveInfo.log("BatchAxisToP2 目标P2: " + targetP2);
moveInfo.TimeOutSeconds = 200; moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0; moveInfo.CanWhileCount = 0;
Batch_Axis.SuddenStop(); Batch_Axis.SuddenStop();
// 需要增加定时器，获取验证信号并停止伺服 // 需要增加定时器，获取验证信号并停止伺服
StartMovePosition = Batch_Axis.GetAclPosition()- (Config.Batch_PoToMM * 2); StartMovePosition = Batch_Axis.GetAclPosition() - (Config.Batch_PoToMM * 2);
moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Batch_Axis, targetP2, targetSpeed)); moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxisMove(Config.Batch_Axis, targetP2, targetSpeed));
Config.Batch_Axis.TargetPosition = targetP2; Config.Batch_Axis.TargetPosition = targetP2;
Batch_Axis.AbsMove(null, targetP2, targetSpeed); Batch_Axis.AbsMove(null, targetP2, targetSpeed);
...@@ -507,7 +510,7 @@ namespace DeviceLibrary ...@@ -507,7 +510,7 @@ namespace DeviceLibrary
{ {
int targetP1 = Config.Batch_P1; int targetP1 = Config.Batch_P1;
int targetSpeed = Config.Batch_P2_speed; int targetSpeed = Config.Batch_P2_speed;
moveInfo.log("BatchAxisToLow 目标P1: " + targetP1); moveInfo.log("BatchAxisToLow 目标P1: " + targetP1);
moveInfo.TimeOutSeconds = 200; moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0; moveInfo.CanWhileCount = 0;
...@@ -568,7 +571,8 @@ namespace DeviceLibrary ...@@ -568,7 +571,8 @@ namespace DeviceLibrary
return LastHeight; return LastHeight;
} }
public void StringDoorOpen(MoveInfo moveInfo) { public void StringDoorOpen(MoveInfo moveInfo)
{
if (StringDoor != null) if (StringDoor != null)
{ {
StringDoor.LiftUp(moveInfo); StringDoor.LiftUp(moveInfo);
...@@ -580,10 +584,12 @@ namespace DeviceLibrary ...@@ -580,10 +584,12 @@ namespace DeviceLibrary
} }
public void StringDoorClose(MoveInfo moveInfo) public void StringDoorClose(MoveInfo moveInfo)
{ {
if (StringDoor!=null) { if (StringDoor != null)
{
StringDoor.LiftDown(moveInfo); StringDoor.LiftDown(moveInfo);
} }
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);
} }
......
DeviceLibrary/theMachine/RobotManage.cs
...@@ -183,6 +183,34 @@ namespace DeviceLibrary ...@@ -183,6 +183,34 @@ namespace DeviceLibrary
else else
LogUtil.info("用户取消忽略安全光栅"); LogUtil.info("用户取消忽略安全光栅");
} }
#region 校准库位缓存
public static bool HasReelInFixPos(out ReelParam reelParam)
{
reelParam = null;
try
{
string fix = ConfigHelper.Config.Get(Setting_Init.FixBuffInfo,"");
if(!string.IsNullOrEmpty(fix))
{
reelParam=JsonHelper.DeserializeJsonToObject<ReelParam>(fix);
return true;
}
}
catch (Exception e)
{
LogUtil.error("解析校准库位缓存异常",e);
}
return false;
}
public static void PutReelInFixPos(ReelParam reelParam)
{
ConfigHelper.Config.Set(Setting_Init.FixBuffInfo,JsonHelper.SerializeObject(reelParam));
}
public static void ClearReelInFixPos()
{
ConfigHelper.Config.Set(Setting_Init.FixBuffInfo,"");
}
#endregion
} }
public enum StoreType { public enum StoreType {
......
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