Skip to content

刘韬 / SO1057_XLC_Store

转到一个项目
切换导航栏
切换导航栏固定状态
Commit eb0ac6d4 由 张东亮
选项

伸缩叉2侧X06/X07检测到有物料无法继续

1 个父辈 5eb95d2d
内嵌 并排
正在显示 2 个修改的文件 包含 38 行增加 和 15 行删除
DeviceLibrary/theMachine/BoxTransport.cs
...@@ -147,8 +147,13 @@ namespace DeviceLibrary ...@@ -147,8 +147,13 @@ namespace DeviceLibrary
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))
{ {
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm); if(IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check,Config,IO_VALUE.HIGH,2000)||
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查"); IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
{
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
}
} }
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH)) else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -240,8 +245,13 @@ namespace DeviceLibrary ...@@ -240,8 +245,13 @@ namespace DeviceLibrary
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))
{ {
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm); if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查"); IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
{
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
}
} }
else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW)) else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
{ {
...@@ -312,8 +322,12 @@ namespace DeviceLibrary ...@@ -312,8 +322,12 @@ namespace DeviceLibrary
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))
{ {
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm); if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查"); IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
{
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
}
} }
else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH)) else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -304,17 +304,21 @@ namespace DeviceLibrary ...@@ -304,17 +304,21 @@ namespace DeviceLibrary
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) || if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check,Config, IO_VALUE.LOW,2000)&&
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check,Config,IO_VALUE.LOW,2000))
{
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
YAxis.HomeMove(ResetMoveInfo, forceHome);
ResetMoveInfo.log("正在回原 ,升降轴,回原");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else
{ {
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning); Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning);
RobotManage.UserPause("回原时料叉上有物料"); RobotManage.UserPause("回原时料叉上有物料");
return; return;
} }
ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
YAxis.HomeMove(ResetMoveInfo, forceHome);
ResetMoveInfo.log("正在回原 ,升降轴,回原");
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break; break;
case MoveStep.H04_HomeReset: case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
...@@ -350,9 +354,14 @@ namespace DeviceLibrary ...@@ -350,9 +354,14 @@ namespace DeviceLibrary
else if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) || else if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH)) IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
{ {
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning); if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
RobotManage.UserPause("回源时料叉上有物料"); IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
return; {
Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning);
RobotManage.UserPause("回源时料叉上有物料");
return;
}
} }
else else
{ {
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!