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Commit 6f641e7d 由 刘韬
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适配 新款 SO21637

1 个父辈 3c7363df
内嵌 并排
正在显示 10 个修改的文件 包含 121 行增加 和 53 行删除
Common/Setting_Init.cs
......@@ -70,10 +70,15 @@ namespace OnlineStore.Common
[MyConfigComment("是否启用库位屏蔽")]
public static MyConfig<bool> Device_DisableStorePosition = false;
[MyConfigComment("是否屏蔽RFID")]
public static MyConfig<bool> Device_Disable_RFID_Check = false;
[MyConfigComment("超声波传感器液位距离")]
public static MyConfig<int> Device_Liquid_level_distance = 180;
[MyConfigComment("取料检测位置,取料低点p3-偏移量")]
public static MyConfig<int> Device_TinDetect_Offset = 205000;
[MyConfigComment("打印机IP地址")]
public static MyConfig<string> Printer_IP = "192.168.4.21";
[MyConfigComment("打印机标签模版")]
......@@ -112,5 +117,15 @@ namespace OnlineStore.Common
public static MyConfig<int> CameraScan_QRCodeCount = 3;
[MyConfigComment("二维码扫码超时毫秒")]
public static MyConfig<int> CameraScan_CodeTimeOut = 3000;
[MyConfigComment("设备型号")]
public static MyConfig<Module_SO> Module_No = Module_SO.SO20031;
}
public enum Module_SO {
SO20031,
SO21637
}
}
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
......@@ -56,7 +56,10 @@ namespace DeviceLibrary
// Monitor.Exit(serverConnectTimer);
// }
// return;
//}
//}\
if (!server.ToLower().StartsWith("http"))
return;
try
{
if (!RobotManage.isRunning)
......
DeviceLibrary/theMachine/BoxTransport.cs
......@@ -144,11 +144,11 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.StoreTS05);
if (From.posid != MainMachine.LabelP)
{
var zp2 = From.Z_Axis_P3 - 205000;
var zp2 = From.Z_Axis_P3 - Setting_Init.Device_TinDetect_Offset;
if (zp2 < 0)
zp2 = 0;
Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
MoveInfo.log($"{storeMoveType}:Z轴到达取料前点,{From.Z_Axis_P2}");
MoveInfo.log($"{storeMoveType}:Z轴到达取料检测点,{From.Z_Axis_P3}-{Setting_Init.Device_TinDetect_Offset}={zp2}");
}
RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.LOW);
MoveInfo.log($"{storeMoveType}:松开夹爪");
......@@ -248,7 +248,7 @@ namespace DeviceLibrary
}
else if (To.posid != MainMachine.LabelP)
{
var zp2 = To.Z_Axis_P3 - 205000;
var zp2 = To.Z_Axis_P3 - Setting_Init.Device_TinDetect_Offset;
if (zp2 < 0)
zp2 = 0;
Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
......
DeviceLibrary/theMachine/CameraPointTest.cs
......@@ -3,6 +3,7 @@ using Newtonsoft.Json;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
......@@ -189,6 +190,7 @@ namespace DeviceLibrary
var v = cl.Average(cc => cc.V);
var has = s > CameraData[Name].S && h > 60 && h < 200;
Debug.WriteLine($"TestStorePoint: tp:{tp},haslist:{haslist.Count}, h:{h}, s:{s}, v:{v}");
haslist.Add(has ? 1 : 0);
}
}
......
DeviceLibrary/theMachine/MainMachine _AutoInOutTest.cs
......@@ -50,11 +50,11 @@ namespace DeviceLibrary
switch (AIOTMoveInfo.MoveStep)
{
case MoveStep.Wait:
if (IsInStoreReady)
{
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn01);
AIOTMoveInfo.log($"入库料盘已准备好");
}
//if (IsInStoreReady)
//{
// AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn01);
// AIOTMoveInfo.log($"入库料盘已准备好");
//}
break;
case MoveStep.StoreIn01:
AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn02);
......
DeviceLibrary/theMachine/MainMachine_Labeling.cs
......@@ -123,7 +123,7 @@ namespace DeviceLibrary
LabelingMoveInfo.log($"获取库位失败,送到NG口:{LabelingMoveInfo.MoveParam.NgMsg}");
return;
}
if (LabelingMoveInfo.MoveParam.usedCount >= 1)
if (LabelingMoveInfo.MoveParam.usedCount >= 1 && Setting_Init.Module_No.Val != Module_SO.SO21637)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling57);
Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
......@@ -242,10 +242,10 @@ namespace DeviceLibrary
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling12);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelingMoveInfo.log("打印成功,等待标签被取走");
Task.Run(() => {
Task.Delay(2000).Wait();
IOMove(IO_Type.Label_TakeBlow, IO_VALUE.HIGH, false, 1000);
});
//Task.Run(() => {
// Task.Delay(2000).Wait();
// IOMove(IO_Type.Label_TakeBlow, IO_VALUE.HIGH, false, 1000);
//});
}
else
......@@ -271,7 +271,7 @@ namespace DeviceLibrary
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
LabelingMoveInfo.log("接标台上升");
}
else {
else if(LabelingMoveInfo.IsTimeOut(2)) {
Msg.add(crc.GetString("Res0173.8a024375","没有检测到打印出的标签"), MsgLevel.alarm, ErrInfo.LabelInPaste);
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.LOW);
......@@ -287,7 +287,8 @@ namespace DeviceLibrary
case MoveStep.Labeling14:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling15);
IOMove(IO_Type.Label_Vacuum, IO_VALUE.HIGH);
IOMove(IO_Type.Label_PasteBlow, IO_VALUE.HIGH);
if (Setting_Init.Module_No.Val==Module_SO.SO20031)
IOMove(IO_Type.Label_PasteBlow, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
......@@ -306,6 +307,12 @@ namespace DeviceLibrary
case MoveStep.Labeling50:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling51);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.LOW);
if (Setting_Init.Module_No.Val == Module_SO.SO21637)
{
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.LOW);
LabelingMoveInfo.log("SO21637接标台前移动");
}
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling51:
......@@ -324,13 +331,22 @@ namespace DeviceLibrary
//IOMove(IO_Type.Label_Vacuum, IO_VALUE.LOW);
RobotManage.UserPause(crc.GetString("Res0167.8453b300","取标失败"));
return;
}
if (Setting_Init.Module_No.Val == Module_SO.SO21637)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling54_SO21637);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
//IOMove(IO_Type.Label_PasteBlow, IO_VALUE.HIGH);
LabelingMoveInfo.log("SO21637,贴标流程");
}
else
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
LabelingMoveInfo.log("SO20031,贴标流程");
}
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52);
CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
//IOMove(IO_Type.Label_PasteBlow, IO_VALUE.HIGH);
//Setting_Init.Runtime_Step = Runtime_StepE.LabelGot;
Setting_Init.Runtime_Step = Runtime_StepE.LabelPaste;
//LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Labeling52:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52_2);
......@@ -363,6 +379,20 @@ namespace DeviceLibrary
RotateEquip.TurnDouble();
}
break;
case MoveStep.Labeling54_SO21637:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling54_SO21637_2);
IOMove(IO_Type.Label_PasteBlow, IO_VALUE.HIGH);
LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
LabelingMoveInfo.log("SO21637,贴标流程2");
break;
case MoveStep.Labeling54_SO21637_2:
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
IOMove(IO_Type.Label_Vacuum, IO_VALUE.LOW);
IOMove(IO_Type.Label_PasteBlow, IO_VALUE.LOW);
CylinderMove(LabelingMoveInfo, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
//RotateEquip.TurnDegree(90);
LabelingMoveInfo.log("SO21637,贴标流程3");
break;
case MoveStep.Labeling55:
if (RotateEquip.TurnWork.IsCompleted)
{
......@@ -373,7 +403,7 @@ namespace DeviceLibrary
}
break;
case MoveStep.Labeling56:
if (RotateEquip.TurnWork.IsCompleted)
if (RotateEquip.TurnWork==null || RotateEquip.TurnWork.IsCompleted)
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling57);
if (LabelingTestMode)
......@@ -391,6 +421,8 @@ namespace DeviceLibrary
if (RotateEquip.WaitStatus(null))
{
LabelingMoveInfo.NextMoveStep(MoveStep.Labeling58);
RobotManage.mainMachine.CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
LabelingMoveInfo.log("夹抓释放");
}
break;
case MoveStep.Labeling58:
......@@ -399,7 +431,7 @@ namespace DeviceLibrary
CylinderMove(null, IO_Type.Labeling_Left, IO_Type.Labeling_Right, IO_VALUE.HIGH);
CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.LOW);
//CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
//LabelingMoveInfo.log("锡膏横移到左侧");
LabelingMoveInfo.log("锡膏横移到左侧");
break;
case MoveStep.Labeling59:
LabelingMoveInfo.NextMoveStep(MoveStep.Wait);
......
DeviceLibrary/theMachine/MainMachine_Store.cs
......@@ -240,7 +240,7 @@ namespace DeviceLibrary
if (!boxTransport.IsComplateOrFree)
break;
Setting_Init.Runtime_Step = Runtime_StepE.None;
if (StoreMoveInfo.MoveParam.usedCount == 0)
if (StoreMoveInfo.MoveParam.usedCount == 0 && !Setting_Init.Device_Disable_RFID_Check)
{
if (StoreMoveInfo.MoveParam.RFID.Length > 16)
StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 16);
......@@ -482,48 +482,54 @@ namespace DeviceLibrary
//ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
bool issame = false;
string ds = "";
for (int i = 0; i < 15; i++)
if (!Setting_Init.Device_Disable_RFID_Check)
{
if (RobotManage.RFID.ReadEPC(16, out byte[] data))
{
if (data[0] != 0xFF)
{
ds = Encoding.ASCII.GetString(data).Trim();
var mds = ds;
if (mds.StartsWith("S"))
mds = mds.Substring(1);
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(mds) > -1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID:" + ds + " , " + RobotManage.RFID.HexBuff(data));
issame = true;
break;
}
}
}
if (!issame)
for (int i = 0; i < 15; i++)
{
if (RobotManage.RFID2.ReadEPC(16, out data))
if (RobotManage.RFID.ReadEPC(16, out byte[] data))
{
if (data[0] != 0xFF)
{
ds = Encoding.ASCII.GetString(data).Trim();
var mds = ds;
if (mds.StartsWith("S"))
mds = mds.Substring(1);
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(mds) > -1)
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds) > -1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID2:" + ds + " , " + RobotManage.RFID2.HexBuff(data));
issame = true;
break;
}
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID:" + ds + " , " + RobotManage.RFID.HexBuff(data));
issame = true;
break;
}
}
}
if (!issame)
{
if (RobotManage.RFID2.ReadEPC(16, out data))
{
if (data[0] != 0xFF)
{
var mds = ds;
if (mds.StartsWith("S"))
mds = mds.Substring(1);
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(mds) > -1)
if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds) > -1)
{
StoreMoveInfo.MoveParam.RFID = ds;
StoreMoveInfo.log("读取到 RFID2:" + ds + " , " + RobotManage.RFID2.HexBuff(data));
issame = true;
break;
}
}
}
}
Thread.Sleep(200);
}
Thread.Sleep(200);
}
else
{
issame = true;
}
if (!issame)
{
StoreMoveInfo.log("读取到的RFID与物料信息不符 读取到 RFID:" + ds);
......
DeviceLibrary/theMachine/MoveStep.cs
......@@ -135,6 +135,8 @@ namespace DeviceLibrary
Labeling52_2,
Labeling53,
Labeling54,
Labeling54_SO21637,
Labeling54_SO21637_2,
Labeling55,
Labeling56,
Labeling57,
......
SO20031_TinStorage.sln
......@@ -19,6 +19,7 @@ Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
Release|Any CPU = Release|Any CPU
Description = 锡膏料仓 SO1202/SO20031 SO1540/SO21637
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{064BEBF5-8FAA-4EA2-A5F3-A06E6E7D9251}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
......
TheMachine/UC/uc_boxdebug.cs
......@@ -53,8 +53,15 @@ namespace TheMachine
{
FillBoxPos();
timer1.Enabled = true;
crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
return;
}
private void Crc_LanguageChangeEvent(object sender, EventArgs e)
{
FillBoxPos();
}
private void Store_InOutEndProcessEvent(string arg1, StoreMoveType arg2, bool arg3)
{
//LogUtil.info($"出入库完成状态:{arg2},库位:{arg1}");
......
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