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Commit e8101af2 由 张东亮
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1 个父辈 8e9d83c3
内嵌 并排
正在显示 2 个修改的文件 包含 39 行增加 和 29 行删除
DeviceLibrary/theMachine/BoxTransport.cs
......@@ -134,7 +134,7 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
Comp_Axis.AbsMove(MoveInfo, From.Comp_PH, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1");
MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1【{From.Comp_PH}】【{Config.Comp_P2_speed}】");
break;
case MoveStep.StoreTS03:
MoveInfo.NextMoveStep(MoveStep.StoreTS04);
......@@ -148,9 +148,9 @@ namespace DeviceLibrary
case MoveStep.StoreTS04:
MoveInfo.NextMoveStep(MoveStep.StoreTS06);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PL, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料低点{From.UpDown_PL}");
MoveInfo.log($"{storeMoveType}:升降轴去取料低点【{From.UpDown_PL}】【{Config.UpDown_P1_speed}】");
Middle_Axis.AbsMove(MoveInfo, From.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达取料点{From.Middle_P2}");
MoveInfo.log($"{storeMoveType}:旋转轴去取料点P2【{From.Middle_P2}】【{From.Middle_P2}】");
break;
case MoveStep.StoreTS05:
if (!PreMove)
......@@ -160,20 +160,21 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.StoreTS07);
InOut_Axis.AbsMove(MoveInfo, From.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
MoveInfo.log($"{storeMoveType}:进出轴到达取料点{From.InOut_P2}");
MoveInfo.log($"{storeMoveType}:进出轴去取料点P2【{From.InOut_P2}】【{Config.InOut_P2_speed}】");
break;
case MoveStep.StoreTS07:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PH, Config.UpDown_P4_speed);
MoveInfo.log($"{storeMoveType}:升降轴去取料高点【{From.UpDown_PH}】【{Config.UpDown_P4_speed}】");
Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
MoveInfo.log($"{storeMoveType}:压紧轴去压紧点【{From.Comp_PL}】【{Config.Comp_P2_speed}】");
break;
case MoveStep.StoreTS08:
MoveInfo.NextMoveStep(MoveStep.StoreTS09);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
MoveInfo.log($"{storeMoveType}:进出轴去待机点P1【{Config.InOut_P1}】【{Config.InOut_P1_speed}】");
break;
case MoveStep.StoreTS09:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
......@@ -198,23 +199,23 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.StoreFIX02);
RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}");
MoveInfo.log($"{storeMoveType}:旋转轴去取料点P2【{Fix.Middle_P2}】【{Config.Middle_P2_speed}】");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{Fix.UpDown_PH}");
MoveInfo.log($"{storeMoveType}:升降轴去取料高点【{Fix.UpDown_PH}】【{Config.UpDown_P1_speed}】");
break;
case MoveStep.StoreFIX02:
MoveInfo.NextMoveStep(MoveStep.StoreFIX03);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
MoveInfo.log($"{storeMoveType}:进出轴去取料点【{Fix.InOut_P2}】【{Config.InOut_P2_speed}】");
break;
case MoveStep.StoreFIX03:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix));
MoveInfo.NextMoveStep(MoveStep.StoreFIX04);
Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PH, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:压紧轴去压紧高点【{Fix.Comp_PH}】【{Config.Comp_P2_speed}】");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:压紧轴高点:{Fix.Comp_PH}");
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点:{Fix.UpDown_PL}");
MoveInfo.log($"{storeMoveType}:升降轴去取料低点【{Fix.UpDown_PL}】【{Config.UpDown_P3_speed / 2}】");
break;
case MoveStep.StoreFIX04:
......@@ -222,7 +223,7 @@ namespace DeviceLibrary
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_01_InoutBackToP1);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴回到待机点");
MoveInfo.log($"{storeMoveType}:进出轴回到待机点【{Config.InOut_P1}】【{Config.InOut_P1_speed}】");
}
else
{
......@@ -237,9 +238,9 @@ namespace DeviceLibrary
var fixpos = "fix#" + To.Reel.PlateW.ToString();
int camPos = ConfigHelper.Config.Get($"CamPos_{fixpos}", Fix.UpDown_PL);
Comp_Axis.AbsMove(MoveInfo, 0, Config.Comp_P1_speed);
MoveInfo.log($"{storeMoveType}:压紧轴去待机点【{0}】【{Config.Comp_P1_speed}】");
UpDown_Axis.AbsMove(MoveInfo, camPos, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:压紧轴回到待机点");
MoveInfo.log($"{storeMoveType}:升降轴到拍照点");
MoveInfo.log($"{storeMoveType}:升降轴去拍照点【{camPos}】【{Config.UpDown_P3_speed / 2}】");
break;
case MoveStep.StoreFIX04_02_UpToCamLoc:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_CheckLocation);
......@@ -251,7 +252,7 @@ namespace DeviceLibrary
{
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:料盘放置正常，升降轴到库位低点");
MoveInfo.log($"{storeMoveType}:料盘放置正常，升降轴去库位低点【{Fix.UpDown_PL}】【{Config.UpDown_P3_speed / 2}】");
}
else
{
......@@ -268,32 +269,35 @@ namespace DeviceLibrary
case MoveStep.StoreFIX04_04_ReloadPos:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
mainMachine.CloseFlipDoor(MoveInfo);
MoveInfo.log($"{storeMoveType}:翻板关闭");
Comp_Axis.AbsMove(MoveInfo, 0, Config.Comp_P1_speed);
MoveInfo.log($"{storeMoveType}:压紧轴去待机点【{0}】【{Config.Comp_P1_speed}】");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
MoveInfo.log($"{storeMoveType}:翻板关闭，压紧轴到待机点，升降轴到库位低点,准备送到NG口");
MoveInfo.log($"{storeMoveType}:升降轴去库位低点【{Fix.UpDown_PL}】【{Config.UpDown_P3_speed / 2}】,准备送到NG口");
break;
case MoveStep.StoreFIX04_05_DownToFixLow:
MoveInfo.NextMoveStep(MoveStep.StoreFIX04_06_InoutToPos);
InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
MoveInfo.log($"{storeMoveType}:进出轴去取料点P2【{Fix.InOut_P2}】【{Config.InOut_P2_speed}】");
break;
case MoveStep.StoreFIX04_06_InoutToPos:
MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
MoveInfo.log($"{storeMoveType}:进出轴已到达目的地");
break;
#endregion
case MoveStep.StoreFIX05:
MoveInfo.NextMoveStep(MoveStep.StoreFIX06);
Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PL, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:压紧轴去压紧点【{Fix.Comp_PL}】【{Config.Comp_P2_speed}】");
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P3_speed);
MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{Fix.Comp_PL}");
MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}");
MoveInfo.log($"{storeMoveType}:升降轴去目的高点【{Fix.UpDown_PH}】【{Config.UpDown_P3_speed}】");
break;
case MoveStep.StoreFIX06:
MoveInfo.NextMoveStep(MoveStep.StoreFIX07);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
IgnoreX09 = false;
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
MoveInfo.log($"{storeMoveType}:进出轴去待机点P1【{Config.InOut_P1}】【{Config.InOut_P1_speed}】");
break;
case MoveStep.StoreFIX07:
if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
......@@ -313,9 +317,9 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.StoreTS11);
RobotManage.ClearReelInFixPos();
Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);
MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
MoveInfo.log($"{storeMoveType}:旋转轴去取料点P2【{To.Middle_P2}】【{Config.Middle_P2_speed}】");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{To.UpDown_PH}");
MoveInfo.log($"{storeMoveType}:升降轴去目的地高点【{To.UpDown_PH}】【{Config.UpDown_P1_speed}】");
break;
case MoveStep.StoreTS11:
......@@ -347,22 +351,22 @@ namespace DeviceLibrary
break;
case MoveStep.StoreTS12:
MoveInfo.NextMoveStep(MoveStep.StoreTS13);
MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
InOut_Axis.AbsMove(MoveInfo, To.InOut_P2, Config.InOut_P2_speed);
InOut_Axis.MonitorAxisLoadRate(Setting_Init.Device_InOutMaxLoadRate);
MoveInfo.log($"{storeMoveType}:进出轴去取料点P2【{To.InOut_P2}】【{Config.InOut_P2_speed}】");
break;
case MoveStep.StoreTS13:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS14);
Comp_Axis.AbsMove(MoveInfo, To.Comp_PH, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:压紧轴去压紧点【{To.Comp_PH}】【{Config.Comp_P2_speed}】");
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PL, Config.UpDown_P3_speed);
MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{To.Comp_PH}");
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点:{To.UpDown_PL}");
MoveInfo.log($"{storeMoveType}:升降轴去目的地低点【{To.UpDown_PL}】【{Config.UpDown_P3_speed}】");
break;
case MoveStep.StoreTS14:
MoveInfo.NextMoveStep(MoveStep.StoreTS15);
InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
MoveInfo.log($"{storeMoveType}:进出轴去待机点【{Config.InOut_P1}】【{Config.InOut_P1_speed}】");
break;
case MoveStep.StoreTS15:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
......@@ -391,9 +395,16 @@ namespace DeviceLibrary
}
if (To.posid == BoxStorePosition.strings)
{
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P5, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:升降轴去料串放料低点P5【{Config.UpDown_P5}】【{Config.UpDown_P1_speed}】");
}
else
{
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P3, Config.UpDown_P1_speed);
MoveInfo.log($"{storeMoveType}:升降轴去NG口低点P3【{Config.UpDown_P3}】【{Config.UpDown_P1_speed}】");
}
Middle_Axis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
if (Comp_Axis_HomeResetTimes <= 0)
{
......@@ -402,7 +413,7 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:Comp_Axis到达最大次数开始回原");
}
Comp_Axis_HomeResetTimes--;
MoveInfo.log($"{storeMoveType}:上下轴,旋转返回待机点P1,comrest:{Comp_Axis_HomeResetTimes}");
MoveInfo.log($"{storeMoveType}:旋转返回待机点P1【{Config.Middle_P1}】【{Config.Middle_P1_speed}】,comrest:{Comp_Axis_HomeResetTimes}");
ErrMsgTxt = "";
break;
case MoveStep.StoreTS17:
......
TheMachine/Form1.cs
......@@ -403,14 +403,13 @@ namespace TheMachine
MainMachine_ProcessMsgEvent(Msg.get());
return;
}
LogUtil.info("用户按下启动");
LogUtil.info("用户按下启动按钮");
RobotManage.Start();
userpause = false;
if (RobotManage.isRunning)
{
btn_stop.Enabled = true;
RobotManage_UserPauseSet(this, false);
//(sender as Button).Text = "暂停运行";
}
}
......
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