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Commit c60ccbf4 由 刘韬
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1 个父辈 cf9f0446
内嵌 并排
正在显示 6 个修改的文件 包含 63 行增加 和 10 行删除
Common/Setting_Init.cs
...@@ -55,6 +55,8 @@ namespace OnlineStore.Common ...@@ -55,6 +55,8 @@ namespace OnlineStore.Common
public static MyConfig<string[]> Device_Ignore_FixtureCheck = new string[] { }; public static MyConfig<string[]> Device_Ignore_FixtureCheck = new string[] { };
[MyConfigComment("屏蔽出入库时料叉检测")] [MyConfigComment("屏蔽出入库时料叉检测")]
public static MyConfig<bool> Device_Disable_INOUT_FixtureCheck = false; public static MyConfig<bool> Device_Disable_INOUT_FixtureCheck = false;
[MyConfigComment("出库时料串检测料盘高度")]
public static MyConfig<bool> Device_OutStoreStringReelCheck = false;
[MyConfigComment("管理员密码")] [MyConfigComment("管理员密码")]
public static MyConfig<string> User_AdminPassword = "123456"; public static MyConfig<string> User_AdminPassword = "123456";
......
DeviceLibrary/DeviceLibrary/LiftMonitor.cs
...@@ -9,7 +9,7 @@ using System.Threading.Tasks; ...@@ -9,7 +9,7 @@ using System.Threading.Tasks;
namespace DeviceLibrary namespace DeviceLibrary
{ {
public class LiftMonitor public class LiftMonitor :ISafetyDevice
{ {
string up; string up;
string down; string down;
...@@ -28,6 +28,7 @@ namespace DeviceLibrary ...@@ -28,6 +28,7 @@ namespace DeviceLibrary
if (downspeed == 0) { if (downspeed == 0) {
downspeed = upspeed; downspeed = upspeed;
} }
SafetyDevice.AddDevice(this);
} }
public bool isAtTOP { public bool isAtTOP {
get { get {
...@@ -123,5 +124,15 @@ namespace DeviceLibrary ...@@ -123,5 +124,15 @@ namespace DeviceLibrary
} }
return false; return false;
} }
public void Pause()
{
axisBean.SuddenStop();
}
public void Resume()
{
// throw new NotImplementedException();
}
} }
} }
DeviceLibrary/theMachine/MainMachine_Clamp.cs
...@@ -175,7 +175,7 @@ namespace DeviceLibrary ...@@ -175,7 +175,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.WaitInStore: case MoveStep.WaitInStore:
if (ClampMoveInfo.MoveParam.IsNg) if (ClampMoveInfo.MoveParam.IsNg)
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.info); Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
else else
Msg.add(crc.GetString(L.reel_wait_in_store, "料盘等待入库"), MsgLevel.info); Msg.add(crc.GetString(L.reel_wait_in_store, "料盘等待入库"), MsgLevel.info);
break; break;
......
DeviceLibrary/theMachine/MainMachine_String.cs
...@@ -104,6 +104,11 @@ namespace DeviceLibrary ...@@ -104,6 +104,11 @@ namespace DeviceLibrary
Task TestHeightTask = null; Task TestHeightTask = null;
const bool oldtestheight = true; const bool oldtestheight = true;
/// <summary>
/// 出库下降对射触发位置高度
/// </summary>
int LastOutDownPosition = 0;
void StringProcess() void StringProcess()
{ {
if (CheckWait(StringMoveInfo)) if (CheckWait(StringMoveInfo))
...@@ -217,20 +222,20 @@ namespace DeviceLibrary ...@@ -217,20 +222,20 @@ namespace DeviceLibrary
else if (StringState == StringStateE.OutStore) else if (StringState == StringStateE.OutStore)
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut); StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
LastOutDownPosition = Batch_Axis.GetAclPosition();
var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM; var tpos4 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
if (tpos3 < 0) if (tpos4 < 0)
{ {
tpos3 = 0; tpos4 = 0;
} }
StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,{tpos3},{Batch_Axis.GetAclPosition()}"); StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,{tpos4},{Batch_Axis.GetAclPosition()}");
if (tpos3 < Config.Batch_P1) if (tpos4 < Config.Batch_P1)
{ {
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01); StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full; StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满,无法出库,开始送出"); StringMoveInfo.log($"料串已满,无法出库,开始送出");
} }
Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1_speed); Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
} }
break; break;
case MoveStep.StringLoad_07: case MoveStep.StringLoad_07:
...@@ -305,6 +310,12 @@ namespace DeviceLibrary ...@@ -305,6 +310,12 @@ namespace DeviceLibrary
} }
break; break;
case MoveStep.StringReelPut: case MoveStep.StringReelPut:
if (Setting_Init.Device_OutStoreStringReelCheck) {
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
BatchAxisToP2(StringMoveInfo,true);
return;
}
var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH+Config.Batch_OutPlateDownMM); var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH+Config.Batch_OutPlateDownMM);
if (tpos < 0) if (tpos < 0)
tpos = 0; tpos = 0;
...@@ -348,6 +359,33 @@ namespace DeviceLibrary ...@@ -348,6 +359,33 @@ namespace DeviceLibrary
StringMoveInfo.log($"批量轴到顶部检测点"); StringMoveInfo.log($"批量轴到顶部检测点");
BatchAxisToP2(StringMoveInfo); BatchAxisToP2(StringMoveInfo);
break; break;
case MoveStep.StringReelPut_03:
StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
var heightcheck = (LastOutDownPosition - Batch_Axis.GetAclPosition()) / Config.Batch_PoToMM;
StringMoveInfo.log($"LastOutDownPosition={LastOutDownPosition},CurrentPosition={Batch_Axis.GetAclPosition()},heightcheck={heightcheck}");
if (heightcheck <= 5) {
Msg.add("出库时料盘未成功放入料串,请检查", MsgLevel.alarm);
RobotManage.UserPause("出库时料盘未成功放入料串,请检查");
}
break;
case MoveStep.StringReelPut_04:
LastOutDownPosition = Batch_Axis.GetAclPosition();
var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutPlateDownMM;
if (tpos3 < 0)
tpos3 = 0;
if (tpos3 > Config.Batch_P1)
{
StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
StringMoveInfo.log($"料盘放入料串,下降{Config.Batch_OutPlateDownMM}cm");
Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1_speed);
}
else
{
StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
StringState = StringStateE.Full;
StringMoveInfo.log($"料串已满可以送出");
}
break;
case MoveStep.StringOut_01: case MoveStep.StringOut_01:
StringMoveInfo.NextMoveStep(MoveStep.StringOut_Released); StringMoveInfo.NextMoveStep(MoveStep.StringOut_Released);
StringMoveInfo.log($"料串下降到P1点"); StringMoveInfo.log($"料串下降到P1点");
......
DeviceLibrary/theMachine/MoveStep.cs
...@@ -50,6 +50,8 @@ namespace DeviceLibrary ...@@ -50,6 +50,8 @@ namespace DeviceLibrary
StringReelPut, StringReelPut,
StringReelPut_01, StringReelPut_01,
StringReelPut_02, StringReelPut_02,
StringReelPut_03,
StringReelPut_04,
StringOut_01, StringOut_01,
StringOut_02, StringOut_02,
StringOut_03, StringOut_03,
......
TheMachine/App.config
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
</appSettings> </appSettings>
<log4net> <log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender"> <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/AutoScanAndLabel.log"/> <file value="logs/TheMachine.log"/>
<param name="Encoding" value="UTF-8"/> <param name="Encoding" value="UTF-8"/>
<appendToFile value="true"/> <appendToFile value="true"/>
<rollingStyle value="Date"/> <rollingStyle value="Date"/>
......
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