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Commit d45702e0 由 张东亮
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折叠门停止问题

1 个父辈 4972d290
内嵌 并排
正在显示 3 个修改的文件 包含 35 行增加 和 19 行删除
DeviceLibrary/DeviceLibrary/AxisBean.cs
...@@ -325,6 +325,7 @@ namespace DeviceLibrary ...@@ -325,6 +325,7 @@ namespace DeviceLibrary
public void SuddenStop() public void SuddenStop()
{ {
AxisManager.SuddenStop(Config.DeviceName, Config.GetAxisValue()); AxisManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
LogUtil.info("SuddenStop【" + AxisName + "】");
} }
/// <summary> /// <summary>
/// 判断轴运动是否安全 /// 判断轴运动是否安全
......
DeviceLibrary/DeviceLibrary/LiftMonitor.cs
...@@ -116,7 +116,7 @@ namespace DeviceLibrary ...@@ -116,7 +116,7 @@ namespace DeviceLibrary
} }
if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW) && IOManager.IOValue(down.ToString()).Equals(IO_VALUE.LOW)) if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW) && IOManager.IOValue(down.ToString()).Equals(IO_VALUE.LOW))
{ {
moveInfo.log("安全光栅触发停止"); moveInfo.log($"{saftylight}触发停止");
Pause(); Pause();
return; return;
} }
...@@ -214,7 +214,7 @@ namespace DeviceLibrary ...@@ -214,7 +214,7 @@ namespace DeviceLibrary
} }
if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW)) if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW))
{ {
moveInfo.log("安全光栅触发停止"); moveInfo.log($"{saftylight}触发停止");
Pause(); Pause();
return; return;
} }
...@@ -275,7 +275,7 @@ namespace DeviceLibrary ...@@ -275,7 +275,7 @@ namespace DeviceLibrary
} }
public void Pause() public void Pause()
{ {
if (!isDoorClose()) // if (!isDoorClose())
{ {
paused = true; paused = true;
axisBean.SuddenStop(); axisBean.SuddenStop();
...@@ -290,6 +290,10 @@ namespace DeviceLibrary ...@@ -290,6 +290,10 @@ namespace DeviceLibrary
public int ResumeWaitTimeSec = 0; public int ResumeWaitTimeSec = 0;
public void Resume() public void Resume()
{ {
}
public void ResumeSingle()
{
LastResumeTime = DateTime.Now; LastResumeTime = DateTime.Now;
try try
{ {
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -124,8 +124,8 @@ namespace DeviceLibrary ...@@ -124,8 +124,8 @@ namespace DeviceLibrary
{ {
RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Work); RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Work);
RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Home); RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Home);
MotorFlipDoorB = new LiftMonitor(IO_Type.ReelFlipDoor_L_Home, IO_Type.ReelFlipDoor_L_Work, IO_Type.SafetyLightCurtains, null, new AxisBean(Config.FlipDoor_L_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed,0,"B翻转门"); MotorFlipDoorB = new LiftMonitor(IO_Type.ReelFlipDoor_L_Home, IO_Type.ReelFlipDoor_L_Work, IO_Type.SafetyLightCurtains, null, new AxisBean(Config.FlipDoor_L_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed, 0, "B翻转门");
MotorFlipDoorA = new LiftMonitor(IO_Type.ReelFlipDoor_R_Home, IO_Type.ReelFlipDoor_R_Work, IO_Type.SafetyLightCurtains, null, new AxisBean(Config.FlipDoor_R_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed,0, "A翻转门"); MotorFlipDoorA = new LiftMonitor(IO_Type.ReelFlipDoor_R_Home, IO_Type.ReelFlipDoor_R_Work, IO_Type.SafetyLightCurtains, null, new AxisBean(Config.FlipDoor_R_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed, 0, "A翻转门");
MotorFlipDoorB.SlowAftPause = true; MotorFlipDoorB.SlowAftPause = true;
MotorFlipDoorB.SlowAftPause = true; MotorFlipDoorB.SlowAftPause = true;
LogUtil.info("加载翻板门类型为:步进"); LogUtil.info("加载翻板门类型为:步进");
...@@ -143,7 +143,7 @@ namespace DeviceLibrary ...@@ -143,7 +143,7 @@ namespace DeviceLibrary
var sf = ""; var sf = "";
if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false)) if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
sf = IO_Type.AGV_OnPosition; sf = IO_Type.AGV_OnPosition;
StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, sf, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed,0,"折叠门"); StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, sf, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed, 0, "折叠门");
StringDoor.DownOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_DownOverTimeMS", 0); StringDoor.DownOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_DownOverTimeMS", 0);
StringDoor.UpOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_UpOverTimeMS", 0); StringDoor.UpOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_UpOverTimeMS", 0);
StringDoor.ResumeWaitTimeSec = 5; StringDoor.ResumeWaitTimeSec = 5;
...@@ -151,17 +151,16 @@ namespace DeviceLibrary ...@@ -151,17 +151,16 @@ namespace DeviceLibrary
} }
else else
LogUtil.info("加载料串门类型为:气缸"); LogUtil.info("加载料串门类型为:气缸");
if (!ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
{
RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition);
}
if (ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false)) if (ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
{ {
RobotManage.Config.DIList.Remove(IO_Type.LeftDoorClose_Check); RobotManage.Config.DIList.Remove(IO_Type.LeftDoorClose_Check);
RobotManage.Config.DIList.Remove(IO_Type.RightDoorClose_Check); RobotManage.Config.DIList.Remove(IO_Type.RightDoorClose_Check);
RobotManage.Config.DIList.Remove(IO_Type.BackDoorClose_Check); RobotManage.Config.DIList.Remove(IO_Type.BackDoorClose_Check);
if (!ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
{
RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition);
}
RobotManage.Config.DOList.Remove(IO_Type.DoorSafe_Disable); RobotManage.Config.DOList.Remove(IO_Type.DoorSafe_Disable);
} }
if (!ConfigHelper.Config.Get("Device_IO_HasX29", true)) if (!ConfigHelper.Config.Get("Device_IO_HasX29", true))
...@@ -481,9 +480,11 @@ namespace DeviceLibrary ...@@ -481,9 +480,11 @@ namespace DeviceLibrary
case MoveStep.H13_HomeReset: case MoveStep.H13_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H14_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H14_HomeReset);
var h = NGDoor_Tray_Test_Reel; var h = NGDoor_Tray_Test_Reel;
if (!h.HasValue) { if (!h.HasValue)
{
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm); Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}else }
else
if (!h.Value) if (!h.Value)
{ {
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器未检测到单料口料盘."), MsgLevel.alarm); Msg.add(crc.GetString(L.x29_low_no_reel, "传感器未检测到单料口料盘."), MsgLevel.alarm);
...@@ -535,7 +536,8 @@ namespace DeviceLibrary ...@@ -535,7 +536,8 @@ namespace DeviceLibrary
if (!h.HasValue) if (!h.HasValue)
{ {
Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm); Msg.add(crc.GetString(L.x29_low_no_reel, "检测相机打开失败."), MsgLevel.alarm);
}else }
else
if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && h.Value) if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH) && h.Value)
{ {
ResetMoveInfo.log("NG口还是检测到料盘"); ResetMoveInfo.log("NG口还是检测到料盘");
...@@ -582,7 +584,7 @@ namespace DeviceLibrary ...@@ -582,7 +584,7 @@ namespace DeviceLibrary
&& IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW)) && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{ {
var pos = BoxStorePosition.GetFixPos(Config, reelParam); var pos = BoxStorePosition.GetFixPos(Config, reelParam);
if(pos!=null) if (pos != null)
{ {
LogUtil.info($"复位完成，校准库位出库:{pos.posid}"); LogUtil.info($"复位完成，校准库位出库:{pos.posid}");
RobotManage.mainMachine.AddSingleStoreTask(pos.posid, reelParam.PlateW, reelParam.PlateH); RobotManage.mainMachine.AddSingleStoreTask(pos.posid, reelParam.PlateW, reelParam.PlateH);
...@@ -591,7 +593,7 @@ namespace DeviceLibrary ...@@ -591,7 +593,7 @@ namespace DeviceLibrary
} }
else else
{ {
RobotManage.ClearReelInFixPos() ; RobotManage.ClearReelInFixPos();
} }
} }
runStatus = RunStatus.Running; runStatus = RunStatus.Running;
...@@ -617,6 +619,7 @@ namespace DeviceLibrary ...@@ -617,6 +619,7 @@ namespace DeviceLibrary
public bool IgnoreGratingSignal = false; public bool IgnoreGratingSignal = false;
bool lastSafeCheckStatus = true; bool lastSafeCheckStatus = true;
bool lastStringSafetyStatus = true;
bool SafeCheck() bool SafeCheck()
{ {
bool ok = true; bool ok = true;
...@@ -633,11 +636,19 @@ namespace DeviceLibrary ...@@ -633,11 +636,19 @@ namespace DeviceLibrary
if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false)) if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
{ {
//IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) && //IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) &&
if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
{ {
ok = false;
DeviceSuddenStop();
Msg.add("料串门光栅被遮挡", MsgLevel.warning); Msg.add("料串门光栅被遮挡", MsgLevel.warning);
if (lastStringSafetyStatus)
{
lastStringSafetyStatus = false;
StringDoor.Pause();
}
}
else if (!lastStringSafetyStatus)
{
StringDoor.ResumeSingle();
lastStringSafetyStatus = true;
} }
} }
if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false)) if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
......
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