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Commit c9ac5b9a 由 刘韬
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优化进出库流程

1 个父辈 694e2c7f
内嵌 并排
正在显示 6 个修改的文件 包含 56 行增加 和 27 行删除
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -26,7 +26,7 @@ namespace DeviceLibrary ...@@ -26,7 +26,7 @@ namespace DeviceLibrary
public event Action<string, StoreMoveType, bool> InOutEndProcessEvent; public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; } public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; }
public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; } public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
public bool IsPutOnOut {get=> To.posid== BoxStorePosition.outdoor && MoveInfo.MoveStep < MoveStep.StoreTS10 && MoveInfo.MoveStep >= MoveStep.StoreTS16; } public bool IsPutOnOut {get=> To.posid== BoxStorePosition.outdoor && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
public BoxTransport(Robot_Config _Config, MainMachine _mainMachine) public BoxTransport(Robot_Config _Config, MainMachine _mainMachine)
{ {
Config = _Config; Config = _Config;
...@@ -72,15 +72,29 @@ namespace DeviceLibrary ...@@ -72,15 +72,29 @@ namespace DeviceLibrary
//thread = new Thread(new ThreadStart(Run)); //thread = new Thread(new ThreadStart(Run));
//thread.Start(); //thread.Start();
} }
bool isSameSide(int from)
bool isNotSameSide(int x_to, int y_to)
{ {
var p = XAxis.GetAclPosition(); var p = XAxis.GetAclPosition();
var rtx = p + Config.XAxis.CanErrorCountMax; var rtx = p + Config.XAxis.CanErrorCountMax;
var ltx = p- Config.XAxis.CanErrorCountMax; var ltx = p - Config.XAxis.CanErrorCountMax;
if (rtx >= Config.Xaxis_P1 && rtx >= from)
return true; var py = YAxis.GetAclPosition();
if (ltx <= Config.Xaxis_P1 && ltx <= from) var uty = py + Config.YAxis.CanErrorCountMax;
return true; var dty = py - Config.YAxis.CanErrorCountMax;
//从外侧到内测,判断目标位置是否小于p1
if (rtx >= Config.Xaxis_P1 && x_to < Config.Xaxis_P1)
{
if (y_to < Config.Yaxis_P1)
return true;
}
//从内测到外侧判断当前位置是否小于p1
if (ltx <= Config.Xaxis_P1 && x_to > Config.Xaxis_P1)
{
if (uty < Config.Yaxis_P1)
return true;
}
return false; return false;
} }
...@@ -118,7 +132,7 @@ namespace DeviceLibrary ...@@ -118,7 +132,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.StoreTS03: case MoveStep.StoreTS03:
MoveInfo.NextMoveStep(MoveStep.StoreTS04); MoveInfo.NextMoveStep(MoveStep.StoreTS04);
if (isSameSide(From.Xaxis_P2)) if (isNotSameSide(From.Xaxis_P2,From.Yaxis_PL))
{ {
YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed); YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed); XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
...@@ -171,7 +185,7 @@ namespace DeviceLibrary ...@@ -171,7 +185,7 @@ namespace DeviceLibrary
{ {
IgnoreX09 = false; IgnoreX09 = false;
MoveInfo.NextMoveStep(MoveStep.StoreTS10); MoveInfo.NextMoveStep(MoveStep.StoreTS10);
if (isSameSide(To.Xaxis_P2)) if (isNotSameSide(To.Xaxis_P2, To.Yaxis_PL))
{ {
YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed); YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed); XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
......
DeviceLibrary/theMachine/LabelParam.cs
...@@ -107,15 +107,24 @@ namespace DeviceLibrary ...@@ -107,15 +107,24 @@ namespace DeviceLibrary
} }
[Serializable] [Serializable]
class BoxStorePosition { class BoxStorePosition {
//行走机构取料点
/// <summary>
/// 行走机构取料点
/// </summary>
public int Xaxis_P2; public int Xaxis_P2;
//升降轴取料高点 /// <summary>
/// 升降轴取料高点
/// </summary>
public int Yaxis_PH; public int Yaxis_PH;
//升降轴取料低点 /// <summary>
/// 升降轴取料低点
/// </summary>
public int Yaxis_PL; public int Yaxis_PL;
//进出轴取料点 /// <summary>
/// 进出轴取料点
/// </summary>
public int Zaxis_P2; public int Zaxis_P2;
public string posid; public string posid;
......
DeviceLibrary/theMachine/MainMachine _Common.cs
...@@ -73,7 +73,7 @@ namespace DeviceLibrary ...@@ -73,7 +73,7 @@ namespace DeviceLibrary
isOk = false; isOk = false;
WarnMsg = msg; WarnMsg = msg;
Alarm(AlarmType.AxisMoveError, WarnMsg); Alarm(AlarmType.AxisMoveError, WarnMsg);
Msg.add(WarnMsg, MsgLevel.warning); Msg.add(WarnMsg, MsgLevel.alarm);
break; break;
} }
} }
......
DeviceLibrary/theMachine/MainMachine _Out.cs
...@@ -32,14 +32,20 @@ namespace DeviceLibrary ...@@ -32,14 +32,20 @@ namespace DeviceLibrary
if (OutSideLift.isAtBOTTOM) if (OutSideLift.isAtBOTTOM)
{ {
OutMoveInfo.NextMoveStep(MoveStep.WaitErr); OutMoveInfo.NextMoveStep(MoveStep.WaitErr);
return;
} }
else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH) && RobotManage.mainMachine.boxTransport.IsPutOnOut) else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH) && OutMoveInfo.IsTimeOut(20))
{ {
Msg.add("检测到出料口有周转箱", MsgLevel.warning); Msg.add("检测到出料口有周转箱,等待信息超时", MsgLevel.warning);
OutMoveInfo.log($"检测到出料口有周转箱,送出"); OutMoveInfo.log($"检测到出料口有周转箱,等待信息超时,送出");
OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn); OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
} return;
}
else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH))
return;
OutMoveInfo.NextMoveStep(MoveStep.Wait);
break; break;
case MoveStep.WaitErr: case MoveStep.WaitErr:
OutMoveInfo.NextMoveStep(MoveStep.Wait); OutMoveInfo.NextMoveStep(MoveStep.Wait);
......
DeviceLibrary/theMachine/MainMachine _Store.cs
...@@ -96,7 +96,7 @@ namespace DeviceLibrary ...@@ -96,7 +96,7 @@ namespace DeviceLibrary
//} //}
break; break;
case MoveStep.StoreOut12: case MoveStep.StoreOut12:
if (boxTransport.IsComplateOrFree) if (boxTransport.IsPutOnOut)
{ {
OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn); OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone(); OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone();
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -288,20 +288,20 @@ namespace DeviceLibrary ...@@ -288,20 +288,20 @@ namespace DeviceLibrary
ServerCM.storeStatus = StoreStatus.ResetMove; ServerCM.storeStatus = StoreStatus.ResetMove;
ZAxis.HomeMove(ResetMoveInfo, forceHome); ZAxis.HomeMove(ResetMoveInfo, forceHome);
break; break;
case MoveStep.H02_HomeReset: case MoveStep.H02_HomeReset:
if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续", MsgLevel.warning);
RobotManage.UserPause("回源时料叉上有物料");
return;
}
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
ResetMoveInfo.log("正在回原,料叉P1待机点"); ResetMoveInfo.log("正在回原,料叉P1待机点");
ZAxis.AbsMove(ResetMoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed); ZAxis.AbsMove(ResetMoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break; break;
case MoveStep.H03_HomeReset: case MoveStep.H03_HomeReset:
if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{
Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续", MsgLevel.warning);
RobotManage.UserPause("回源时料叉上有物料");
return;
}
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
ResetMoveInfo.log("开始回原,行走机构,回原"); ResetMoveInfo.log("开始回原,行走机构,回原");
XAxis.HomeMove(ResetMoveInfo, forceHome); XAxis.HomeMove(ResetMoveInfo, forceHome);
......
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