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Commit 49c10259 由 刘韬
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1 个父辈 58ba6080
内嵌 并排
正在显示 9 个修改的文件 包含 60 行增加 和 39 行删除
DeviceLibrary/DeviceLibrary/AxisBean.cs
......@@ -101,7 +101,8 @@ namespace DeviceLibrary
}
Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
if (MoveInfo!=null)
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
......
DeviceLibrary/DeviceLibrary/SocketScanner.cs
......@@ -74,7 +74,8 @@ namespace DeviceLibrary
}
while (socket.Client.Available > 0) {
var tmp = new byte[200];
socket.Client.Receive(tmp);
var l= socket.Client.Receive(tmp);
LogUtil.error("SocketScanner 读取到缓存区垃圾:" + Encoding.ASCII.GetString(tmp,0,l));
}
var bf = Encoding.ASCII.GetBytes(trigger);
socket.Client.Send(bf);
......
DeviceLibrary/theMachine/BoxTransport.cs
......@@ -165,16 +165,17 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:进出轴到达取料点{From.InOut_P2}");
break;
case MoveStep.StoreTS06:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS07);
if (From.posid == BoxStorePosition.clamp) {
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
}
Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
if (From.posid == BoxStorePosition.clamp)
{
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
}
break;
case MoveStep.StoreTS07:
RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
MoveInfo.NextMoveStep(MoveStep.StoreTS08);
UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PH, Config.UpDown_P4_speed);
Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
break;
case MoveStep.StoreTS08:
......@@ -226,8 +227,8 @@ namespace DeviceLibrary
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);
UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed);
Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PH, Config.Comp_P2_speed);
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}");
break;
......@@ -278,9 +279,9 @@ namespace DeviceLibrary
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.NextMoveStep(MoveStep.StoreTS14);
UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PL, Config.UpDown_P3_speed);
Comp_Axis.AbsMove(MoveInfo, To.Comp_PH, Config.Comp_P2_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}");
if (To.posid == BoxStorePosition.ngdoor) {
......@@ -319,10 +320,11 @@ namespace DeviceLibrary
break;
}
if (To.posid==BoxStorePosition.strings)
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P5, Config.UpDown_P1_speed);
else
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P2, Config.UpDown_P1_speed);
//if (To.posid==BoxStorePosition.strings)
// UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P5, Config.UpDown_P1_speed);
//else
// UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P2, Config.UpDown_P1_speed);
UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
Middle_Axis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
MoveInfo.log($"{storeMoveType}:上下轴,旋转返回待机点P1");
ErrMsgTxt = "";
......
DeviceLibrary/theMachine/MainMachine.cs
......@@ -296,7 +296,7 @@ namespace DeviceLibrary
ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
ResetMoveInfo.log("进出轴,批量轴回原,料串检测杆退回避让端");
InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
Batch_Axis.HomeMove(null, forceHome);
SingleDoor.ToLow(ResetMoveInfo);
break;
case MoveStep.H02_HomeReset:
......@@ -316,8 +316,7 @@ namespace DeviceLibrary
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
CylinderMove(ResetMoveInfo, IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, IO_VALUE.LOW);
//ResetMoveInfo.log("夹爪轴,P1待机点");
//ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
......@@ -331,12 +330,19 @@ namespace DeviceLibrary
Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
break;
case MoveStep.H07_HomeReset:
if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)) {
ResetMoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
ResetMoveInfo.log("料叉上有料,送到NG口");
Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P2, Config.Middle_P2_speed);
UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P3, Config.UpDown_P2_speed);
}
else
if (IOValue(IO_Type.WidthCheck_7).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.WidthCheck_13).Equals(IO_VALUE.HIGH) )
{
ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
ResetMoveInfo.log("夹爪上有料盘,送到NG口");
}
else
{
......
DeviceLibrary/theMachine/MainMachine_Clamp.cs
......@@ -120,7 +120,10 @@ namespace DeviceLibrary
ClampMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_height, "未检测到盘宽");
ClampMoveInfo.log($"未检测到盘宽");
ReelGetted(false);
//RobotManage.UserPause("未检测到盘", true);
ClampMoveInfo.NextMoveStep(MoveStep.Wait);
SingleDoor.ToHigh(ClampMoveInfo);
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.alarm);
RobotManage.UserPause("未检测到盘", true);
}
else
{
......@@ -414,6 +417,7 @@ namespace DeviceLibrary
ScanTask = Task.Run(new Func<List<CodeInfo>>(()=>
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
//Task.Delay(10).Wait();
List<CodeInfo> LastCodeList;
......@@ -425,8 +429,12 @@ namespace DeviceLibrary
}
else
{
IOMove(IO_Type.Device_Led, IO_VALUE.LOW);
LastCodeList = CodeManager.CameraScan(CodeManager.hikNameList);
IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
}
return LastCodeList;
}));
}
......
DeviceLibrary/theMachine/MainMachine_String.cs
......@@ -148,7 +148,7 @@ namespace DeviceLibrary
if (oldtestheight || newreel)
{
StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo);
BatchAxisToP2(StringMoveInfo, newreel);
TestHeightTask = null;
}
else {
......@@ -271,11 +271,16 @@ namespace DeviceLibrary
case MoveStep.StringReelGetFail:
StringMoveInfo.log($"料盘取走失败,料盘下降");
ReelGetFail++;
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet);
StringMoveInfo.NextMoveStep(MoveStep.StringReelGetFail_02);
var tpos1 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * 20;
if (tpos1 < 0)
tpos1 = 0;
Batch_Axis.AbsMove(StringMoveInfo, tpos1, Config.Batch_P1);
Batch_Axis.AbsMove(StringMoveInfo, tpos1, Config.Batch_P1_speed);
break;
case MoveStep.StringReelGetFail_02:
StringMoveInfo.log($"料盘取走失败,重新上升");
StringMoveInfo.NextMoveStep(MoveStep.StringReelGet);
BatchAxisToP2(StringMoveInfo);
break;
case MoveStep.StringReadyPut:
Msg.add(crc.GetString(L.string_ready_for_put, "料串放料准备就绪"), MsgLevel.info);
......@@ -393,23 +398,13 @@ namespace DeviceLibrary
int StartMovePosition = 0;
void BatchAxisToP2(MoveInfo moveInfo, bool isFirstMove = true)
void BatchAxisToP2(MoveInfo moveInfo, bool isFirstMove = false)
{
int targetP2 = Config.Batch_P2;
int targetSpeed = Config.Batch_P2_speed;
if (!isFirstMove)
if (isFirstMove)
{
int currPosition = Batch_Axis.GetAclPosition();
if (currPosition != -1)
{
//targetP2 = currPosition + Config.Right_Batch_ChangeValue * 80;
if (targetP2 > Config.Batch_P2)
{
targetP2 = Config.Batch_P2;
}
//moveInfo.log("BatchAxisToP2 目标P2: " + targetP2 + "(" + currPosition + ")");
}
//targetSpeed = Config.BatchAxis_P3Speed / 2;
targetSpeed = Config.Batch_P1_speed;
}
moveInfo.log("BatchAxisToP2 目标P2: " + targetP2);
moveInfo.TimeOutSeconds = 200;
......
DeviceLibrary/theMachine/MoveStep.cs
......@@ -43,6 +43,7 @@ namespace DeviceLibrary
StringReadyGet,
StringReelGet,
StringReelGetFail,
StringReelGetFail_02,
StringReadyPut,
StringReelPut,
StringReelPut_01,
......
DeviceLibrary/theMachine/RobotManage.cs
......@@ -26,7 +26,7 @@ namespace DeviceLibrary
public static event LoadFinish LoadFinishEvent;
public static event EventHandler<bool> UserPauseSet;
public static bool isRunning = false;
public static volatile bool isRunning = false;
public static Dictionary<string, ACStorePosition> allPositionMap { get => CSVPositionReader<ACStorePosition>.allPositionMap; }
static List<string> _positionNumList=null;
......
TheMachine/Form1.cs
......@@ -342,7 +342,12 @@ namespace TheMachine
{
Task.Run(()=> {
if (!RobotManage.isRunning)
btn_run_Click(this, EventArgs.Empty);
{
this.Invoke((EventHandler)delegate
{
btn_run_Click(this, EventArgs.Empty);
});
}
});
}
......@@ -350,8 +355,10 @@ namespace TheMachine
{
Task.Run(()=> {
if (RobotManage.isRunning)
//btn_run_Click(this, EventArgs.Empty);
btn_stop_Click(this, EventArgs.Empty);
this.Invoke((EventHandler)delegate
{
btn_stop_Click(this, EventArgs.Empty);
});
});
}
......
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