Skip to content

刘韬 / 1069_MIMO_PlUS

转到一个项目
切换导航栏
切换导航栏固定状态
Commit dc9b148f 由 张东亮
选项

折叠门逻辑

1 个父辈 1991b45f
内嵌 并排
正在显示 1 个修改的文件 包含 33 行增加 和 29 行删除
DeviceLibrary/theMachine/MainMachine.cs
...@@ -486,7 +486,7 @@ namespace DeviceLibrary ...@@ -486,7 +486,7 @@ namespace DeviceLibrary
{ {
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 if (!h.Value) else 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);
RobotManage.UserPause(crc.GetString("x29_low_no_reel", "传感器未检测到单料口料盘.")); RobotManage.UserPause(crc.GetString("x29_low_no_reel", "传感器未检测到单料口料盘."));
...@@ -640,19 +640,23 @@ namespace DeviceLibrary ...@@ -640,19 +640,23 @@ namespace DeviceLibrary
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) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW))
{ {
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) if (lastStringSafetyStatus)
//{ {
// lastStringSafetyStatus = false; lastStringSafetyStatus = false;
// StringDoor.Pause(); StringDoor.Pause();
//} }
//ok = false; ok = false;
StringDoorSuddenStop(); DeviceSuddenStop();
}
else if (!lastStringDoorSafetyStatus)
{
// StringDoor.ResumeSingle();
lastStringDoorSafetyStatus = true;
} }
//else if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.HIGH))
//{
// if (!lastStringDoorSafetyStatus)
// {
// StringDoor.ResumeSingle();
// lastStringDoorSafetyStatus = true;
// }
//}
} }
if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false)) if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
{ {
...@@ -706,29 +710,29 @@ namespace DeviceLibrary ...@@ -706,29 +710,29 @@ namespace DeviceLibrary
MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; }); MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
SafetyDevice.PauseAll(); SafetyDevice.PauseAll();
StringDoor.Pause(); StringDoor.Pause();
if (runStatus == RunStatus.HomeReset)
{
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
}
}
}
bool lastStringDoorSafetyStatus=true;
void StringDoorSuddenStop()
{
if (lastStringDoorSafetyStatus)
{
AxisBean axis = StringDoor.axisBean;
AxisBean.StopMultiAxis(new List<AxisBean> { axis });
StringDoor.Pause();
if (runStatus == RunStatus.HomeReset) if (runStatus == RunStatus.HomeReset)
{ {
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset); ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
} }
lastStringDoorSafetyStatus=false;
} }
} }
//bool lastStringDoorSafetyStatus = true;
//void StringDoorSuddenStop()
//{
// if (lastStringDoorSafetyStatus)
// {
// AxisBean axis = StringDoor.axisBean;
// AxisBean.StopMultiAxis(new List<AxisBean> { axis });
// StringDoor.Pause();
// if (runStatus == RunStatus.HomeReset)
// {
// ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
// }
// lastStringDoorSafetyStatus = false;
// }
//}
/// <summary> /// <summary>
/// 最后一次气压检测变为0的时间 /// 最后一次气压检测变为0的时间
/// </summary> /// </summary>
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!