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Commit d5fc208d 由 张东亮
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1

1 个父辈 f659e457
内嵌 并排
正在显示 2 个修改的文件 包含 24 行增加 和 5 行删除
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -180,7 +180,7 @@ namespace DeviceLibrary ...@@ -180,7 +180,7 @@ namespace DeviceLibrary
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW)) if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{ {
Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect); Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause("出库时料叉X30没有检测到有物料无法继续,请检查"); //RobotManage.UserPause(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."));
} }
else else
{ {
...@@ -237,7 +237,7 @@ namespace DeviceLibrary ...@@ -237,7 +237,7 @@ namespace DeviceLibrary
reelStatusInFix = VisionHelper.ReelStatusCheck(); reelStatusInFix = VisionHelper.ReelStatusCheck();
break; break;
case MoveStep.StoreFIX04_02_CheckLocation: case MoveStep.StoreFIX04_02_CheckLocation:
if(reelStatusInFix) if (reelStatusInFix)
{ {
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos);
MoveInfo.log($"{storeMoveType}:料盘放置正常"); MoveInfo.log($"{storeMoveType}:料盘放置正常");
...@@ -245,7 +245,9 @@ namespace DeviceLibrary ...@@ -245,7 +245,9 @@ namespace DeviceLibrary
else else
{ {
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_ReloadPos); MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_ReloadPos);
MoveInfo.log($"{storeMoveType}:料盘放置异常，准备送到NG口"); mainMachine.CloseFlipDoor(MoveInfo);
Comp_Axis.AbsMove(MoveInfo, 0, Config.Comp_P1_speed);
MoveInfo.log($"{storeMoveType}:料盘放置异常，翻板关闭，压紧轴到零点，准备送到NG口");
} }
break; break;
case MoveStep.StoreFIX04_03_ReloadPos: case MoveStep.StoreFIX04_03_ReloadPos:
...@@ -254,7 +256,7 @@ namespace DeviceLibrary ...@@ -254,7 +256,7 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:更改料盘目的地为NG口,关闭翻板门"); MoveInfo.log($"{storeMoveType}:更改料盘目的地为NG口,关闭翻板门");
mainMachine.StoreMoveInfo.MoveParam.IsNg = true; mainMachine.StoreMoveInfo.MoveParam.IsNg = true;
MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}"; MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
mainMachine.CloseFlipDoor(MoveInfo); Msg.add(crc.GetString("reel_not_in_right_status", "料盘放置异常"), MsgLevel.alarm);
RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true); RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true);
break; break;
case MoveStep.StoreFIX04_04_InoutToPos: case MoveStep.StoreFIX04_04_InoutToPos:
...@@ -272,10 +274,25 @@ namespace DeviceLibrary ...@@ -272,10 +274,25 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}"); MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}");
break; break;
case MoveStep.StoreFIX06: case MoveStep.StoreFIX06:
MoveInfo.NextMoveStep(MoveStep.StoreTS10); MoveInfo.NextMoveStep(MoveStep.StoreFIX07);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed); InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点"); MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
break; break;
case MoveStep.StoreFIX07:
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
//RobotManage.UserPause(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."));
}
else
{
Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS10);
MoveInfo.log($"{storeMoveType}:X30取到料");
}
break;
case MoveStep.StoreTS10: case MoveStep.StoreTS10:
MoveInfo.NextMoveStep(MoveStep.StoreTS11); MoveInfo.NextMoveStep(MoveStep.StoreTS11);
RobotManage.ClearReelInFixPos(); RobotManage.ClearReelInFixPos();
...@@ -283,6 +300,7 @@ namespace DeviceLibrary ...@@ -283,6 +300,7 @@ namespace DeviceLibrary
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);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{To.UpDown_PH}"); MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{To.UpDown_PH}");
break; break;
case MoveStep.StoreTS11: case MoveStep.StoreTS11:
if (To.posid == BoxStorePosition.strings) if (To.posid == BoxStorePosition.strings)
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -144,6 +144,7 @@ namespace DeviceLibrary ...@@ -144,6 +144,7 @@ namespace DeviceLibrary
StoreFIX04_04_InoutToPos, StoreFIX04_04_InoutToPos,
StoreFIX05, StoreFIX05,
StoreFIX06, StoreFIX06,
StoreFIX07,
StoreTS10, StoreTS10,
StoreTS11, StoreTS11,
StoreTS12, StoreTS12,
......
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