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Commit a2a197fe 由 刘韬
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修正干涉错误

1 个父辈 dd1c87f4
内嵌 并排
正在显示 3 个修改的文件 包含 25 行增加 和 22 行删除
DeviceLibrary/Config/Config.csv
类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位 类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
AXIS,,0-行走机构,XAxis,0,HC,,40000,200000,200000,2000,20000,80000,10,300,0,0 AXIS,,0-行走机构,XAxis,0,HC,,60000,200000,200000,8000,80000,80000,10,300,0,0
AXIS,,1-升降轴,YAxis,1,HC,,40000,200000,200000,2000,20000,80000,10,300,0,0 AXIS,,1-升降轴,YAxis,1,HC,,20000,200000,200000,2000,60000,80000,10,300,0,0
AXIS,,2-伸缩轴,ZAxis,2,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0 AXIS,,2-伸缩轴,ZAxis,2,HC,,100000,200000,200000,10000,100000,150000,10,300,0,0
AXIS,,3-入料线体顶升电机,InLift_Moto,3,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0 AXIS,,3-入料线体顶升电机,InLift_Moto,3,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0
AXIS,,4-出料线体顶升电机,OutLift_Moto,4,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0 AXIS,,4-出料线体顶升电机,OutLift_Moto,4,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,, PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,,
PRO,50,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,, PRO,50,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
PRO,50,扫码相机,CameraName,asdasdasd,,,,,,,,,,,, PRO,50,扫码相机,CameraName,GigE:MV-CE200-10GC (00G03770732),,,,,,,,,,,,
PRO,40,入料线体顶升电机速度,InLift_Moto_Speed,10,,,,,,,,,,,, PRO,40,入料线体顶升电机速度,InLift_Moto_Speed,30000,,,,,,,,,,,,
PRO,40,出料线体顶升电机速度,OutLift_Moto_Speed,10,,,,,,,,,,,, PRO,40,出料线体顶升电机速度,OutLift_Moto_Speed,30000,,,,,,,,,,,,
PRO,40,称重传感器端口,WeightSensorPort,COM5,,,,,,,,,,,, PRO,40,称重传感器端口,WeightSensorPort,COM5,,,,,,,,,,,,
PRO,40,称重传感器皮重,WeightSensorBase,22,,,,,,,,,,,, PRO,40,称重传感器皮重,WeightSensorBase,0,,,,,,,,,,,,
PRO,40,库位最大承重,StoreWeightLimited,30,,,,,,,,,,,, PRO,40,库位最大承重,StoreWeightLimited,30,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
PRO,10,行走机构待机点P1,Xaxis_P1,1,,,22,,,,,,,,, PRO,10,行走机构待机点P1,Xaxis_P1,3993729,,,250000,,,,,,,,,
PRO,10,行走机构取料点A侧P2,Xaxis_P2,1,,,22,,,,,,,,, PRO,10,行走机构取料点A侧P2,Xaxis_P2,4671427,,,250000,,,,,,,,,
PRO,10,行走机构取料点B侧P3,Xaxis_P3,1,,,22,,,,,,,,, PRO,10,行走机构取料点B侧P3,Xaxis_P3,4684967,,,250000,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
PRO,11,升降轴待机点P1,Yaxis_P1,2,,,22,,,,,,,,, PRO,11,升降轴待机点P1,Yaxis_P1,370226,,,60000,,,,,,,,,
PRO,11,升降取料低点A侧P2/入库速度,Yaxis_P2,2,,,22,,,,,,,,, PRO,11,升降取料低点A侧P2/入库速度,Yaxis_P2,370226,,,60000,,,,,,,,,
PRO,11,升降取料低点B侧P3,Yaxis_P3,2,,,22,,,,,,,,, PRO,11,升降取料低点B侧P3,Yaxis_P3,370226,,,60000,,,,,,,,,
PRO,11,升降取料高点A侧P4/出库速度,Yaxis_P4,2,,,22,,,,,,,,, PRO,11,升降取料高点A侧P4/出库速度,Yaxis_P4,427555,,,60000,,,,,,,,,
PRO,11,升降取料高点B侧P5,Yaxis_P5,2,,,22,,,,,,,,, PRO,11,升降取料高点B侧P5,Yaxis_P5,440000,,,60000,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
PRO,12,伸缩轴待机点P1,Zaxis_P1,3,,,22,,,,,,,,, PRO,12,伸缩轴待机点P1,Zaxis_P1,0,,,800000,,,,,,,,,
PRO,12,伸缩轴A面取料点P2,Zaxis_P2,3,,,22,,,,,,,,, PRO,12,伸缩轴A面取料点P2,Zaxis_P2,2100000,,,800000,,,,,,,,,
PRO,12,伸缩轴B面取料点P3,Zaxis_P3,3,,,22,,,,,,,,, PRO,12,伸缩轴B面取料点P3,Zaxis_P3,-2152700,,,800000,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,
DI,0,急停,SuddenStop_BTN,0,HC,X00,,,,,,,,,, DI,0,急停,SuddenStop_BTN,0,HC,X00,,,,,,,,,,
DI,0,复位,Reset_BTN,1,HC,X01,,,,,,,,,, DI,0,复位,Reset_BTN,1,HC,X01,,,,,,,,,,
......
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -196,8 +196,10 @@ namespace DeviceLibrary ...@@ -196,8 +196,10 @@ namespace DeviceLibrary
MoveInfo.log($"{storeMoveType}:进出轴到达目的地"); MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
break; break;
case MoveStep.StoreTS13: case MoveStep.StoreTS13:
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn)); if (To != null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide)); GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
if (From!=null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
MoveInfo.NextMoveStep(MoveStep.StoreTS14); MoveInfo.NextMoveStep(MoveStep.StoreTS14);
YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed); YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed);
MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点"); MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点");
...@@ -209,7 +211,8 @@ namespace DeviceLibrary ...@@ -209,7 +211,8 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreTS15: case MoveStep.StoreTS15:
GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut)); GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide)); if (From != null)
RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -167,7 +167,7 @@ namespace DeviceLibrary ...@@ -167,7 +167,7 @@ namespace DeviceLibrary
//行走机构目的地小于P1待机点 //行走机构目的地小于P1待机点
if (to > Config.Xaxis_P1+ Config.XAxis.CanErrorCountMax) { if (to > Config.Xaxis_P1+ Config.XAxis.CanErrorCountMax) {
//上下周小于上下周待机点 //上下周小于上下周待机点
if (YAxis.GetAclPosition() < Config.Yaxis_P1 + Config.YAxis.CanErrorCountMax) { if (YAxis.GetAclPosition() < Config.Yaxis_P1 - Config.YAxis.CanErrorCountMax) {
return (true, "行走机构托盘与进出库线体干涉,请升高升降轴"); return (true, "行走机构托盘与进出库线体干涉,请升高升降轴");
} }
} }
......
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