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Commit a34c99dc 由 刘韬
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修改测高方式为下降到low

1 个父辈 d0f3a0b1
内嵌 并排
正在显示 5 个修改的文件 包含 42 行增加 和 11 行删除
Common/StringList.cs
...@@ -139,6 +139,7 @@ namespace OnlineStore.Common ...@@ -139,6 +139,7 @@ namespace OnlineStore.Common
string_not_onposition_01, string_not_onposition_01,
begin_close_string_door, begin_close_string_door,
tray_detect_reel_01, tray_detect_reel_01,
system_running_cantmove system_running_cantmove,
before_FrmPositionTool_stopmuchine
} }
} }
DeviceLibrary/theMachine/MainMachine_Clamp.cs
...@@ -246,18 +246,17 @@ namespace DeviceLibrary ...@@ -246,18 +246,17 @@ namespace DeviceLibrary
break; break;
case MoveStep.NGOUT_02: case MoveStep.NGOUT_02:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03); ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03);
if (!NGDoor_Tray_Test_Reel) if (ConfigHelper.Config.Get("CamTestReel_Ability", false) && !NGDoor_Tray_Test_Reel)
{ {
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm); Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm);
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning); Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
RobotManage.UserPause("传感器X29未检测到单料口料盘"); RobotManage.UserPause("传感器X29未检测到单料口料盘");
} }
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(ClampMoveInfo); SingleDoor.ToHigh(ClampMoveInfo);
break; break;
case MoveStep.NGOUT_03: case MoveStep.NGOUT_03:
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning); Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
if (NGDoor_Tray_Test_Reel) if (!ConfigHelper.Config.Get("CamTestReel_Ability", false) || NGDoor_Tray_Test_Reel)
{ {
Msg.add(crc.GetString(L.please_take_ngdoor_reel, "等待取走单口料盘"), MsgLevel.alarm); Msg.add(crc.GetString(L.please_take_ngdoor_reel, "等待取走单口料盘"), MsgLevel.alarm);
if (ConfigHelper.Config.Get("CamTestReel_Ability", false)) if (ConfigHelper.Config.Get("CamTestReel_Ability", false))
......
DeviceLibrary/theMachine/MainMachine_String.cs
...@@ -155,7 +155,7 @@ namespace DeviceLibrary ...@@ -155,7 +155,7 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.StringLoad_04: case MoveStep.StringLoad_04:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
if (LastStringState == StringStateE.OutStore) if (LastStringState == StringStateE.OutStore)
{ {
StringMoveInfo.log($"恢复上次料串信息为出库料串"); StringMoveInfo.log($"恢复上次料串信息为出库料串");
...@@ -176,11 +176,17 @@ namespace DeviceLibrary ...@@ -176,11 +176,17 @@ namespace DeviceLibrary
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a);
StringState = StringStateE.InStore; StringState = StringStateE.InStore;
} }
break;
case MoveStep.StringLoad_04a:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"料串下降到x13信号灭");
BatchAxisToTagLow(StringMoveInfo);
if (!newreel) if (!newreel)
SetReelHeight(GetHeight(StringMoveInfo)); SetReelHeight(GetHeight(StringMoveInfo));
newreel = false; newreel = false;
break; break;
case MoveStep.StringLoad_04a: case MoveStep.StringLoad_04b:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
//if (StringState == StringStateE.HasReel) //if (StringState == StringStateE.HasReel)
{ {
...@@ -196,7 +202,7 @@ namespace DeviceLibrary ...@@ -196,7 +202,7 @@ namespace DeviceLibrary
StringState = StringStateE.Full; StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出"); StringMoveInfo.log($"料串已满可以送出");
} }
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1); Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
} }
break; break;
case MoveStep.StringLoad_05: case MoveStep.StringLoad_05:
...@@ -218,12 +224,12 @@ namespace DeviceLibrary ...@@ -218,12 +224,12 @@ namespace DeviceLibrary
else if (StringState == StringStateE.OutStore) else if (StringState == StringStateE.OutStore)
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut); StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
StringMoveInfo.log($"料串出库模式,下降5cm");
var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM; var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
if (tpos2 < 0) if (tpos2 < 0)
{ {
tpos2 = 0; tpos2 = 0;
} }
StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}cm,={tpos2},{Batch_Axis.GetAclPosition()}");
Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1); Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1);
StringType = StringTypeE.Out; StringType = StringTypeE.Out;
} }
...@@ -297,7 +303,7 @@ namespace DeviceLibrary ...@@ -297,7 +303,7 @@ namespace DeviceLibrary
CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH); CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
break; break;
case MoveStep.StringReelPut_02: case MoveStep.StringReelPut_02:
StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04a); StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo); BatchAxisToP2(StringMoveInfo);
break; break;
...@@ -435,6 +441,23 @@ namespace DeviceLibrary ...@@ -435,6 +441,23 @@ namespace DeviceLibrary
Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.HIGH); Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.HIGH);
} }
void BatchAxisToTagLow(MoveInfo moveInfo)
{
int targetP1 = Config.Batch_P1;
int targetSpeed = Config.Batch_P2_speed;
moveInfo.log("BatchAxisToLow 目标P1: " + targetP1);
moveInfo.TimeOutSeconds = 200;
moveInfo.CanWhileCount = 0;
// 需要增加定时器，获取验证信号并停止伺服
//StartMovePosition = Batch_Axis.GetAclPosition();
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck, IO_VALUE.LOW));
Config.Batch_Axis.TargetPosition = targetP1;
Batch_Axis.AbsMove(null, targetP1, targetSpeed);
//开始检测信号
Batch_Axis.BatchAxisStartCheck(IO_Type.TrayCheck, IO_VALUE.LOW);
}
string LastCode = ""; string LastCode = "";
private int GetHeight(MoveInfo moveInfo) private int GetHeight(MoveInfo moveInfo)
{ {
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -38,6 +38,7 @@ namespace DeviceLibrary ...@@ -38,6 +38,7 @@ namespace DeviceLibrary
StringLoad_03, StringLoad_03,
StringLoad_04, StringLoad_04,
StringLoad_04a, StringLoad_04a,
StringLoad_04b,
StringLoad_05, StringLoad_05,
StringLoad_06, StringLoad_06,
StringReadyGet, StringReadyGet,
......
TheMachine/SettingControl.cs
...@@ -92,8 +92,15 @@ namespace TheMachine ...@@ -92,8 +92,15 @@ namespace TheMachine
private void button_positiontool_Click(object sender, EventArgs e) private void button_positiontool_Click(object sender, EventArgs e)
{ {
FrmPositionTool frmPositionTool = new FrmPositionTool(RobotManage.mainMachine.UpDown_Axis, IO_Type.Laser_Location); if (RobotManage.isRunning)
frmPositionTool.ShowDialog(); {
MessageBox.Show(crc.GetString(L.before_FrmPositionTool_stopmuchine,"运行库位校准程序前,需要先停止料仓的运行"));
}
else
{
FrmPositionTool frmPositionTool = new FrmPositionTool(RobotManage.mainMachine.UpDown_Axis, IO_Type.Laser_Location);
frmPositionTool.ShowDialog();
}
} }
private void button1_Click(object sender, EventArgs e) private void button1_Click(object sender, EventArgs e)
......
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