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Commit bde4b79a 由 张东亮
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轴回原命令异常重发

1 个父辈 b0770b49
内嵌 并排
正在显示 8 个修改的文件 包含 52 行增加 和 22 行删除
DeviceLibrary/DeviceLibrary/AxisBean.cs
...@@ -4,6 +4,7 @@ using OnlineStore.LoadCSVLibrary; ...@@ -4,6 +4,7 @@ using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Security.Policy;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
...@@ -122,12 +123,25 @@ namespace DeviceLibrary ...@@ -122,12 +123,25 @@ namespace DeviceLibrary
} }
Config.TargetPosition = 0; Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回"); LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
if (MoveInfo != null)
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10; var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5; var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed); if (AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed))
{
MoveInfo?.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
}
else
{
Thread.Sleep(50);
LogUtil.error(AxisName + "speed[" + Config.HomeHighSpeed + "]发送原点返回命令失败，重试");
if (AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed))
{
MoveInfo?.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
}
}
} }
/// <summary> /// <summary>
...@@ -243,15 +257,18 @@ namespace DeviceLibrary ...@@ -243,15 +257,18 @@ namespace DeviceLibrary
//判断是否需要重新运动 //判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0) if (MoveInfo.CanWhileCount > 0)
{ {
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()}"; string msg1 = $"{MoveInfo.Name} {axis.DisplayStr} 收到原点完成信号，当前位置{outCount}，规划位置{outTarget}，重新回原点，剩余[{MoveInfo.CanWhileCount}]]次。{axisS.ToStr()}";
LogUtil.error(msg); LogUtil.error(msg1);
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点"); //LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed); var HomeLowSpeed = axis.HomeLowSpeed > 0 ? axis.HomeLowSpeed : axis.HomeHighSpeed / 10;
var HomeAddSpeed = axis.HomeAddSpeed > 0 ? axis.HomeAddSpeed : axis.HomeHighSpeed * 5;
AxisManager.HomeMove(axis.DeviceName, (short)axis.GetAxisValue(), axis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
} }
else else
{ {
msg =$"{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()}"; 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); LogUtil.error(msg);
} }
} }
......
DeviceLibrary/DeviceLibrary/AxisManager.cs
...@@ -49,9 +49,9 @@ namespace DeviceLibrary ...@@ -49,9 +49,9 @@ namespace DeviceLibrary
{ {
instance.RelMove(portName, slvAddr, position, targetSpeed, ptpAcc, ptpDec); instance.RelMove(portName, slvAddr, position, targetSpeed, ptpAcc, ptpDec);
} }
public static void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc) public static bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
{ {
instance.HomeMove(portName, slvAddr, highVel, lowVel, acc); return instance.HomeMove(portName, slvAddr, highVel, lowVel, acc);
} }
public static void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec) public static void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec)
......
DeviceLibrary/DeviceLibrary/HC/HCAxisManager.cs
...@@ -74,9 +74,9 @@ namespace DeviceLibrary ...@@ -74,9 +74,9 @@ namespace DeviceLibrary
return (int)HCBoardManager.GetAxisPrfPos(slvAddr); return (int)HCBoardManager.GetAxisPrfPos(slvAddr);
} }
public void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc) public bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
{ {
HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc); return HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
} }
public bool IsHomeMoveEnd(string portName, short slvAddr) public bool IsHomeMoveEnd(string portName, short slvAddr)
{ {
......
DeviceLibrary/DeviceLibrary/IAxisManager.cs
...@@ -24,7 +24,7 @@ namespace DeviceLibrary ...@@ -24,7 +24,7 @@ namespace DeviceLibrary
void ServoOn(string portName, short slvAddr); void ServoOn(string portName, short slvAddr);
void ServoOff(string portName, short slvAddr); void ServoOff(string portName, short slvAddr);
void RelMove(string portName, short slvAddr, int position, int targetSpeed , int ptpAcc , int ptpDec ); void RelMove(string portName, short slvAddr, int position, int targetSpeed , int ptpAcc , int ptpDec );
void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc); bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc);
void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec); void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec);
void SuddenStop(string portName, short slvAddr); void SuddenStop(string portName, short slvAddr);
......
DeviceLibrary/theMachine/MainMachine _BtnProcess.cs
...@@ -35,11 +35,6 @@ namespace DeviceLibrary ...@@ -35,11 +35,6 @@ namespace DeviceLibrary
ProcessMsgEvent?.Invoke(Msg.get()); ProcessMsgEvent?.Invoke(Msg.get());
//暂停时按下reaet按钮
if (RobotManage.isRunning && UserPause)
{
RobotManage.UserPause("Reset_BTN", false);
}
} }
void Run_BTN() void Run_BTN()
{ {
...@@ -55,6 +50,11 @@ namespace DeviceLibrary ...@@ -55,6 +50,11 @@ namespace DeviceLibrary
Msg.add(crc.GetString(L.runbtn_press_with_sudden, "急停中,按下启动按钮,无法启动."), MsgLevel.warning); Msg.add(crc.GetString(L.runbtn_press_with_sudden, "急停中,按下启动按钮,无法启动."), MsgLevel.warning);
} }
lastSuddenStop = false; lastSuddenStop = false;
//暂停时按下reaet按钮
if (RobotManage.isRunning && UserPause)
{
RobotManage.UserPause("Run_BTN", false);
}
LogUtil.info("按下启动按钮"); LogUtil.info("按下启动按钮");
ProcessMsgEvent?.Invoke(Msg.get()); ProcessMsgEvent?.Invoke(Msg.get());
} }
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -345,6 +345,7 @@ namespace DeviceLibrary ...@@ -345,6 +345,7 @@ namespace DeviceLibrary
LogUtil.info("开始停止系统2."); LogUtil.info("开始停止系统2.");
mstart = false; mstart = false;
AutoInOutTest = false; AutoInOutTest = false;
ClearOutJob();
ServerCM.StopConnectServer(); ServerCM.StopConnectServer();
Thread.Sleep(300); Thread.Sleep(300);
Alarm(AlarmType.None); Alarm(AlarmType.None);
......
DeviceLibrary/theMachine/MainMachine_Store.cs
...@@ -16,6 +16,10 @@ namespace DeviceLibrary ...@@ -16,6 +16,10 @@ namespace DeviceLibrary
StoreJobList OutStoreJobList = new StoreJobList($"批量"); StoreJobList OutStoreJobList = new StoreJobList($"批量");
StoreJobList OutSingleJobList = new StoreJobList($"单盘"); StoreJobList OutSingleJobList = new StoreJobList($"单盘");
public void ClearOutJob()
{
}
public void AddOutStoreTask(string posId, int plateW, int plateH) public void AddOutStoreTask(string posId, int plateW, int plateH)
{ {
JobInfo jobInfo = new JobInfo("", posId, plateW, plateH); JobInfo jobInfo = new JobInfo("", posId, plateW, plateH);
......
TheMachine/Form1.cs
...@@ -310,14 +310,22 @@ namespace TheMachine ...@@ -310,14 +310,22 @@ namespace TheMachine
} }
private void RobotManage_DataInitEvent(bool state, string msg) private void RobotManage_DataInitEvent(bool state, string msg)
{ {
if (this.InvokeRequired) try
{ {
this.Invoke((EventHandler)delegate if (this.InvokeRequired)
{ {
RobotManage_DataInitEvent(state, msg); this.Invoke((EventHandler)delegate
}); {
return; RobotManage_DataInitEvent(state, msg);
});
return;
}
} }
catch(Exception ex)
{
LogUtil.error($"RobotManage_DataInitEvent,{state},{msg}",ex);
}
ioc.Config = RobotManage.Config; ioc.Config = RobotManage.Config;
bd.Config = RobotManage.Config; bd.Config = RobotManage.Config;
......
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