1

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -341,7 +341,7 @@ namespace DeviceLibrary
         #region  匀速上升处理 
         private System.Timers.Timer axisCheckTimer = null;
         internal string[] TargetIoType = new string[] { };
-        internal IO_VALUE TargetIoValue = IO_VALUE.HIGH;
+        internal volatile IO_VALUE TargetIoValue = IO_VALUE.HIGH;
         public bool BatchAxisStartCheck(string[] targetIo, IO_VALUE value = IO_VALUE.HIGH)
         {
             if (axisCheckTimer == null)
@@ -365,6 +365,7 @@ namespace DeviceLibrary
             {
                 axisCheckTimer.Stop();
             }
+            TargetIoValue = IO_VALUE.None;
             return true;
         }
         private bool IsInProcess = false;
@@ -378,9 +379,9 @@ namespace DeviceLibrary
                 {
                     if (IOManager.IOValue(io).Equals(TargetIoValue))
                     {
-                        SuddenStop();
-                        StopAxisCheckMove();
+                        SuddenStop();                        
                         LogUtil.info(AxisName + "上料轴，检测到 " + io + "=" + TargetIoValue + "，停止运动");
+                        StopAxisCheckMove();
                         break;
                     }
                 }

DeviceLibrary/DeviceLibrary/PrinterHelper.cs

@@ -61,6 +61,7 @@ namespace DeviceLibrary
 
             print.LoadLabel(labelname);
             var bmp = print.PrintPreview(data);
+            //print.Print(data);
             if (!zebraManger.PrintImage(bmp, out msg))
             {
                 LogUtil.error(msg);

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -122,37 +122,46 @@ namespace DeviceLibrary
                 else if (wait.WaitType.Equals(WaitEnum.W008_BatchAxis))
                 {                    
                     AxisBean axisBean = AxisBean.List.Find(a => a.Config.GetAxisValue() == wait.AxisInfo.GetAxisValue());
-                    //等待信号亮或者走到绝对位置才停止
-                    var tio = axisBean.TargetIoType.Where(io => { return IOValue(io).Equals(axisBean.TargetIoValue); });
-                    if (tio.Count()>0)
+                    if (axisBean.TargetIoValue == IO_VALUE.None)
                     {
-                        LogUtil.info(Name + "CheckWaitResult 检测到" + string.Join(",",tio.ToArray()) + "=" + axisBean.TargetIoValue + ",停止运行");
-                        axisBean.StopAxisCheckMove();
-                        if (AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
-                        {
-                            axisBean.SuddenStop();
-                        }
                         wait.IsEnd = true;
+                        axisBean.SuddenStop();
+                        LogUtil.info(Name + "axisCheckTimer 已经结束,停止运行");
                     }
                     else
                     {
-                        bool isbusy = AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1);
-                        if (!isbusy)
+                        //等待信号亮或者走到绝对位置才停止
+                        var tio = axisBean.TargetIoType.Where(io => { return IOValue(io).Equals(axisBean.TargetIoValue); });
+                        if (tio.Count() > 0)
                         {
-                            int outCount = AxisManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
-                            LogUtil.info($"{wait.AxisInfo.Explain},当前位置:{outCount}");
-                            int errorCount = Math.Abs(outCount - wait.TargetPosition);
-                            if (errorCount <= wait.AxisInfo.CanErrorCountMax)
+                            LogUtil.info(Name + "CheckWaitResult 检测到" + string.Join(",", tio.ToArray()) + "=" + axisBean.TargetIoValue + ",停止运行");
+                            axisBean.StopAxisCheckMove();
+                            if (AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
                             {
-                                LogUtil.info($"{wait.AxisInfo.Explain},到达目标:errorCount:{errorCount},停止上升");
-                                axisBean.StopAxisCheckMove();
-                                wait.IsEnd = true;
+                                axisBean.SuddenStop();
                             }
-                            else
+                            wait.IsEnd = true;
+                        }
+                        else
+                        {
+                            bool isbusy = AxisManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1);
+                            if (!isbusy && axisBean.TargetIoValue != IO_VALUE.None)
                             {
-                                LogUtil.info($"{wait.AxisInfo.Explain},继续上升:{wait.TargetPosition}");
-                                axisBean.AbsMove(null, wait.TargetPosition, wait.TargetSpeed);
-                                wait.IsEnd = false;
+                                int outCount = AxisManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
+                                LogUtil.info($"{wait.AxisInfo.Explain},当前位置:{outCount}");
+                                int errorCount = Math.Abs(outCount - wait.TargetPosition);
+                                if (errorCount <= wait.AxisInfo.CanErrorCountMax)
+                                {
+                                    LogUtil.info($"{wait.AxisInfo.Explain},到达目标:errorCount:{errorCount},停止上升");
+                                    axisBean.StopAxisCheckMove();
+                                    wait.IsEnd = true;
+                                }
+                                else
+                                {
+                                    LogUtil.info($"{wait.AxisInfo.Explain},继续上升:{wait.TargetPosition}");
+                                    axisBean.AbsMove(null, wait.TargetPosition, wait.TargetSpeed);
+                                    wait.IsEnd = false;
+                                }
                             }
                         }
                     }

DeviceLibrary/theMachine/MainMachine.cs

@@ -358,7 +358,7 @@ namespace DeviceLibrary
                     ResetMoveInfo.log("小车批量轴, 贴标z轴回原");
                     Loading_Batch_Axis.HomeMove(null, forceHome);
                     Unloading_Batch_Axis.HomeMove(null, forceHome);
-                    Label_Z_Axis.HomeMove(ResetMoveInfo, forceHome);
+                    Label_Z_Axis.HomeMove(null, forceHome);
                     GrabImageEX();
                     break;
                 case MoveStep.H02_HomeReset_02:
@@ -366,6 +366,7 @@ namespace DeviceLibrary
                     ResetMoveInfo.log("2侧升降轴回原");
                     Loading_UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
                     Unloading_UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
+                    Label_Z_Axis.HomeMove(ResetMoveInfo, forceHome);
                     break;
                 case MoveStep.H02_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_1);
@@ -387,13 +388,15 @@ namespace DeviceLibrary
                 case MoveStep.H03_HomeReset:                    
                     ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                     ResetMoveInfo.log("2侧旋转轴回原");
-                    Loading_Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
-                    Unloading_Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
+                    Loading_Middle_Axis.HomeMove(null, forceHome);
+                    Unloading_Middle_Axis.HomeMove(null, forceHome);
                     break;
                 case MoveStep.H04_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
                     Loading_Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
                     Unloading_Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
+                    Loading_Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
+                    Unloading_Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
                     break;
                 case MoveStep.H05_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);

DeviceLibrary/theMachine/MainMachine_Counting.cs

@@ -271,13 +271,13 @@ namespace DeviceLibrary
                     CountMoveInfo.log("料盘已取走");
                     break;
                 case MoveStep.Count_20:
-                    if (IOValue(IO_Type.Counting_ExitDoor_Close).Equals(IO_VALUE.HIGH) || OutMoveInfo.MoveStep>= MoveStep.Out_03)
+                    if (OutMoveInfo.MoveStep>= MoveStep.Out_09)
                     {
                         CountMoveInfo.NextMoveStep(MoveStep.Count_21);
-                        CountMoveInfo.log("出口门已关闭");
+                        CountMoveInfo.log("料盘已取走");
                     }
                     else if (CountMoveInfo.IsTimeOut(60)) {
-                        CountMoveInfo.log("等待出口门关闭");
+                        CountMoveInfo.log("等待料盘取走超时");
                     }
                     break;
                 case MoveStep.Count_21:

DeviceLibrary/theMachine/MainMachine_InMove.cs

@@ -130,7 +130,7 @@ namespace DeviceLibrary
                     InMoveInfo.log($"旋转轴到达p1点,升降轴到放料P2");
                     break;
                 case MoveStep.In_11:
-                    if (CountMoveInfo.MoveStep == MoveStep.Wait)
+                    if (CountMoveInfo.MoveStep == MoveStep.Wait || IOValue(IO_Type.Counting_EnterDoor_Open).Equals(IO_VALUE.HIGH))
                     {
                         InMoveInfo.NextMoveStep(MoveStep.In_12);
                         InMoveInfo.log($"点料机已空闲");
@@ -151,9 +151,16 @@ namespace DeviceLibrary
                     InMoveInfo.log($"旋转轴,升降轴到达放料p2点");
                     break;
                 case MoveStep.In_14:
-                    InMoveInfo.NextMoveStep(MoveStep.In_15);
-                    Loading_InOut_Axis.AbsMove(InMoveInfo, InToPos.InOut_P2, Config.Loading_InOut_Axis_P1_speed);
-                    InMoveInfo.log($"进出轴达放料p2点");
+                    if (CountMoveInfo.MoveStep == MoveStep.Wait)
+                    {
+                        InMoveInfo.NextMoveStep(MoveStep.In_15);
+                        Loading_InOut_Axis.AbsMove(InMoveInfo, InToPos.InOut_P2, Config.Loading_InOut_Axis_P1_speed);
+                        InMoveInfo.log($"进出轴达放料p2点");
+                    }
+                    else
+                    {
+                        Msg.add("等待点料机空闲", MsgLevel.info);
+                    }                    
                     break;
                 case MoveStep.In_15:
                     if (IOValue(IO_Type.Counting_Reel_Check).Equals(IO_VALUE.LOW))
@@ -174,7 +181,7 @@ namespace DeviceLibrary
                 case MoveStep.In_16:
                     InMoveInfo.NextMoveStep(MoveStep.In_17);
                     IOMove(IO_Type.Loading_ReelVacuum_On, IO_VALUE.LOW);
-                    InMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    InMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                     InMoveInfo.log($"关闭吸盘");
                     break;
                 case MoveStep.In_17:

DeviceLibrary/theMachine/MainMachine_OutCar.cs

@@ -64,9 +64,18 @@ namespace DeviceLibrary
                         else
                             OutCarType = CarTypeE.Car13;
 
-                        OutCarMoveInfo.log($"检测到料车尺寸:{InCarType}");
-                        OutCarMoveInfo.NextMoveStep(MoveStep.OutCar_03);
-                        Unloading_NOCar_Led.LedState = LedState.on;
+
+                        if (InCarType != CarTypeE.None && InCarType != OutCarType)
+                        {
+                            OutCarMoveInfo.NextMoveStep(MoveStep.OutCarOut_01);
+                            OutCarMoveInfo.log("检测到出料车与入料车尺寸不符");
+                        }
+                        else
+                        {
+                            OutCarMoveInfo.log($"检测到料车尺寸:{OutCarType}");
+                            OutCarMoveInfo.NextMoveStep(MoveStep.OutCar_03);
+                            Unloading_NOCar_Led.LedState = LedState.on;
+                        }                            
                     }
                     else {
                         OutCarMoveInfo.log($"小车丢失,重新检测");
@@ -86,7 +95,7 @@ namespace DeviceLibrary
                     if (lowlist.Length > 0)
                     {
                         OutCarMoveInfo.log($"批量轴高速上升到顶部检测点");
-                        BatchAxisToP2(OutCarMoveInfo, Unloading_Batch_Axis, OutGetLowReelCheckIOList(), IO_VALUE.HIGH, Config.Unloading_Batch_Axis_P2, Config.Unloading_Batch_Axis_P1_speed);
+                        BatchAxisToP2(OutCarMoveInfo, Unloading_Batch_Axis, lowlist, IO_VALUE.HIGH, Config.Unloading_Batch_Axis_P2, Config.Unloading_Batch_Axis_P1_speed);
                     }
                     else {
                         OutCarMoveInfo.log($"批量轴所有监测点都已Low");

DeviceLibrary/theMachine/MainMachine_OutMove.cs

@@ -51,9 +51,13 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.Out_01:
-                    OutMoveInfo.NextMoveStep(MoveStep.Out_02);
+                    OutMoveInfo.NextMoveStep(MoveStep.Out_03);
                     Unloading_InOut_Axis.AbsMove(OutMoveInfo, Config.Unloading_InOut_Axis_P1, Config.Unloading_InOut_Axis_P1_speed);
                     OutMoveInfo.log($"进出轴回到p1");
+                    CylinderMove(OutMoveInfo, IO_Type.Counting_ExitDoor_Close, IO_Type.Counting_ExitDoor_Open, IO_VALUE.HIGH);
+                    if (InMoveInfo.MoveStep>=MoveStep.In_10 && InMoveInfo.MoveStep <= MoveStep.In_13)
+                        CylinderMove(null, IO_Type.Counting_EnterDoor_Close, IO_Type.Counting_EnterDoor_Open, IO_VALUE.HIGH);
+                    OutMoveInfo.log($"打开点料机出口大门");
                     break;
                 case MoveStep.Out_02:
                     OutMoveInfo.NextMoveStep(MoveStep.Out_03);
@@ -120,6 +124,8 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.Out_09:
                     OutMoveInfo.NextMoveStep(MoveStep.Out_10);
+                    if (CountMoveInfo.MoveStep == MoveStep.Count_ReadyOut)
+                        CountMoveInfo.NextMoveStep(MoveStep.Count_Outted);
                     Unloading_Middle_Axis.AbsMove(OutMoveInfo, Config.Unloading_Middle_Axis_P1, Config.Unloading_Middle_Axis_P1_speed);
                     Unloading_UpDown_Axis.AbsMove(OutMoveInfo, Config.Unloading_UpDown_Axis_P1, Config.Unloading_UpDown_Axis_P1_speed);
                     OutMoveInfo.log($"旋转轴, 升降轴到p1");
@@ -131,8 +137,7 @@ namespace DeviceLibrary
                     if (OutMoveInfo.MoveParam.IsNg)
                         OutMoveInfo.NextMoveStep(MoveStep.Out_20);
 
-                    if (CountMoveInfo.MoveStep == MoveStep.Count_ReadyOut)
-                        CountMoveInfo.NextMoveStep(MoveStep.Count_Outted);
+
                     break;
                 case MoveStep.Out_11:
                     if (string.IsNullOrEmpty(OutMoveInfo.MoveParam.ReeID)) {
@@ -197,7 +202,7 @@ namespace DeviceLibrary
 
                         }
                     }
-                    else if (OutCarMoveInfo.MoveStep == MoveStep.OutCarReadyPut)
+                    else if (OutCarMoveInfo.MoveStep == MoveStep.OutCarReadyPut && (InCarType == OutCarType || InCarType== CarTypeE.None))
                     {
                         OutMoveInfo.MoveParam.CurrentStringNum = OutCurrentStringNum;
                         var topos = "Unloading_T" + OutCurrentStringNum;
@@ -207,7 +212,12 @@ namespace DeviceLibrary
                         Unloading_UpDown_Axis.AbsMove(OutMoveInfo, OutToPos.UpDown_P2, Config.Unloading_UpDown_Axis_P1_speed);
                         OutMoveInfo.log($"旋转轴,升降轴到达p2点");
                     }
-                    else {
+                    else if (InCarType != OutCarType) {
+                        Msg.add("出料车尺寸与入料车不符", MsgLevel.alarm);
+                        LogUtil.info("出料车尺寸与入料车不符");
+                    }
+                    else
+                    {
                         Msg.add("等待出口料车可以放料", MsgLevel.info);
                         LogUtil.info("等待出口料车可以放料");
                     }
@@ -215,7 +225,7 @@ namespace DeviceLibrary
                 case MoveStep.Out_21:
                     OutMoveInfo.NextMoveStep(MoveStep.Out_22);
                     Unloading_InOut_Axis.AbsMove(OutMoveInfo, OutToPos.InOut_P2, Config.Unloading_InOut_Axis_P1_speed);
-                    OutMoveInfo.log($"进出轴达p2点");                    
+                    OutMoveInfo.log($"进出轴达p2点");
                     break;
                 case MoveStep.Out_22:
                     OutMoveInfo.NextMoveStep(MoveStep.Out_23);
@@ -277,8 +287,10 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.Out_30:
                     OutMoveInfo.NextMoveStep(MoveStep.Out_31);
-                    BatchAxisToP2(OutMoveInfo, Unloading_Batch_Axis, OutGetReelCheckIOList(OutCurrentStringNum), IO_VALUE.HIGH, Config.Unloading_Batch_Axis_P2, Config.Unloading_Batch_Axis_P2_speed);
-                    OutMoveInfo.log($"批量轴慢速上升到检测点亮");
+                    var target = Unloading_Batch_Axis.GetAclPosition();
+                    target = target + (OutMoveInfo.MoveParam.PlateH +20) * 1000;
+                    BatchAxisToP2(OutMoveInfo, Unloading_Batch_Axis, OutGetReelCheckIOList(OutCurrentStringNum), IO_VALUE.HIGH, target, Config.Unloading_Batch_Axis_P2_speed);
+                    OutMoveInfo.log($"批量轴慢速上升到检测点亮,当前位置:{Unloading_Batch_Axis.GetAclPosition()},控制上升:{OutMoveInfo.MoveParam.PlateH},{target}");
                     break;
                 case MoveStep.Out_31:
                     OutMoveInfo.NextMoveStep(MoveStep.Out_WaitForLabel);

SO20117_AutoCountAndLabel.sln → SO1196_AutoCountAndLabel.sln

 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 16
-VisualStudioVersion = 16.0.30907.101
+# Visual Studio Version 17
+VisualStudioVersion = 17.9.34701.34
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LoadCSVLibrary", "LoadCVSLibrary\LoadCSVLibrary.csproj", "{064BEBF5-8FAA-4EA2-A5F3-A06E6E7D9251}"
 EndProject

TheMachine/Form1.cs

@@ -344,6 +344,14 @@ namespace TheMachine
                 lm.Add(m);
             }
             SetMsg(lm);
+
+            foreach (var cn in pnl.Controls)
+            {
+                if (cn is CylinderButton)
+                {
+                    (cn as CylinderButton).DataUpdate();
+                }
+            }
         }
 
         private void MainMachine_ButtenEvent(object sender, ErrInfo e)

TheMachine/Program.cs

@@ -84,7 +84,7 @@ namespace TheMachine
 
             Environment.CurrentDirectory = Application.StartupPath;
             XmlConfigurator.Configure();
-
+            var pn = ServerCommunication.GetPnByReelid("123");
             //var pn= ServerCommunication.GetPnByReelid("S202306181351530002");
             //LogUtil.info(pn);
             //return;

TheMachine/UC/CylinderButton.cs

@@ -82,7 +82,9 @@ namespace TheMachine
 
             }
         }
-        void DataUpdate() {
+        [Category("数据"), Description("需要确认"), Browsable(true)]
+        public bool Confirm{get;set;}=false;
+        public void DataUpdate() {
             if (string.IsNullOrEmpty(io_high) || !DeviceConfig.AllDOlist.ContainsKey(io_high))
                 this.Text = $"IO {io_high} Not Find";
             else
@@ -111,6 +113,9 @@ namespace TheMachine
         }
         void StateUpdate()
         {
+            if (configio_high == null)
+                return;
+
             io_state = IOManager.GetDOValue(configio_high.DeviceName, configio_high.SlaveID, configio_high.GetIOAddr());
             if (configio_low != null)
             {
@@ -142,6 +147,18 @@ namespace TheMachine
         }
         private void CylinderButton_Click(object sender, EventArgs e)
         {
+            if (Confirm) {
+
+                if (RobotManage.isRunning) {
+                    MessageBox.Show($"设备正在运行,不能操作IO");
+                    return;
+                }
+
+                var r = MessageBox.Show($"您正在点击:{Text}", "请注意", MessageBoxButtons.OKCancel);
+                if (r != DialogResult.OK) {
+                    return;
+                }
+            }
 
             if (io_state.Equals(IO_VALUE.LOW))
             {