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Commit 1c43d39d 由 刘韬
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导入汇川库

1 个父辈 73bbb05b
内嵌 并排
正在显示 29 个修改的文件 包含 2221 行增加 和 438 行删除
RC1271-DUOStore.sln → SO755-DUOStore.sln
 
Microsoft Visual Studio Solution File, Format Version 12.00 Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15 # Visual Studio Version 16
VisualStudioVersion = 15.0.27130.2024 VisualStudioVersion = 16.0.30621.155
MinimumVisualStudioVersion = 10.0.40219.1 MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Common", "source\Common\Common.csproj", "{43CDD09E-FCF3-4960-A01D-3BBFE9933122}" Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Common", "source\Common\Common.csproj", "{43CDD09E-FCF3-4960-A01D-3BBFE9933122}"
EndProject EndProject
......
source/Common/Setting_Init.cs
...@@ -73,7 +73,10 @@ namespace OnlineStore.Common ...@@ -73,7 +73,10 @@ namespace OnlineStore.Common
/// 温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪 /// 温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪
/// </summary> /// </summary>
public static string HumitureControllerType = "HumitureControllerType"; public static string HumitureControllerType = "HumitureControllerType";
public static string UseHCBoard = "UseHCBoard";
public static string UseAIOBOX = "UseAIOBOX";
public static string LineServerIp = "LineServerIp"; public static string LineServerIp = "LineServerIp";
public static string LineServerPort = "LineServerPort"; public static string LineServerPort = "LineServerPort";
......
source/DUOStore/DUOStore.csproj
...@@ -41,9 +41,6 @@ ...@@ -41,9 +41,6 @@
<Reference Include="CodeLibrary"> <Reference Include="CodeLibrary">
<HintPath>..\..\dll\CodeLibrary.dll</HintPath> <HintPath>..\..\dll\CodeLibrary.dll</HintPath>
</Reference> </Reference>
<Reference Include="DeviceLib">
<HintPath>..\..\dll\DeviceLib.dll</HintPath>
</Reference>
<Reference Include="halcondotnet"> <Reference Include="halcondotnet">
<HintPath>..\..\dll\halcondotnet.dll</HintPath> <HintPath>..\..\dll\halcondotnet.dll</HintPath>
</Reference> </Reference>
......
source/DUOStore/FrmAxisDebug.cs
using DeviceLib; using log4net;
using log4net;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.DeviceLibrary; using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
...@@ -40,7 +39,7 @@ namespace OnlineStore.DUOStore ...@@ -40,7 +39,7 @@ namespace OnlineStore.DUOStore
private void AxisMove(ConfigMoveAxis axis, int speed) private void AxisMove(ConfigMoveAxis axis, int speed)
{ {
LogUtil.debug( "点动：deviceName=" + axis.DeviceName + "，axis=" + axis.GetAxisValue() + "，speed=" + speed); LogUtil.debug( "点动：deviceName=" + axis.DeviceName + "，axis=" + axis.GetAxisValue() + "，speed=" + speed);
ACServerManager.SpeedMove(axis.DeviceName, axis.GetAxisValue(), speed); AxisManager.instance.SpeedMove(axis.DeviceName, axis.GetAxisValue(), speed);
} }
private void FrmAxisDebug_Load(object sender, EventArgs e) private void FrmAxisDebug_Load(object sender, EventArgs e)
...@@ -55,7 +54,7 @@ namespace OnlineStore.DUOStore ...@@ -55,7 +54,7 @@ namespace OnlineStore.DUOStore
{ {
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
int currValue = ACServerManager.GetActualtPosition(inout.DeviceName, inout.GetAxisValue()); int currValue = AxisManager.instance.GetActualtPosition(inout.DeviceName, inout.GetAxisValue());
if (currValue <= InOutDefaultPosition) if (currValue <= InOutDefaultPosition)
{ {
return true; return true;
...@@ -88,7 +87,7 @@ namespace OnlineStore.DUOStore ...@@ -88,7 +87,7 @@ namespace OnlineStore.DUOStore
if (btnMiddleMove.BackColor == Color.Green) if (btnMiddleMove.BackColor == Color.Green)
{ {
btnMiddleMove.BackColor = System.Drawing.SystemColors.Control; btnMiddleMove.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(middle.DeviceName, middle.GetAxisValue()); AxisManager.instance.SuddenStop(middle.DeviceName, middle.GetAxisValue());
UpdateMiddlePosition(); UpdateMiddlePosition();
} }
} }
...@@ -116,8 +115,8 @@ namespace OnlineStore.DUOStore ...@@ -116,8 +115,8 @@ namespace OnlineStore.DUOStore
{ {
if (btnUpDownMove.BackColor == Color.Green) if (btnUpDownMove.BackColor == Color.Green)
{ {
btnUpDownMove.BackColor = System.Drawing.SystemColors.Control; btnUpDownMove.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(updown.DeviceName, updown.GetAxisValue()); AxisManager.instance.SuddenStop(updown.DeviceName, updown.GetAxisValue());
UpdateUpdownPosition(); UpdateUpdownPosition();
} }
} }
...@@ -142,7 +141,7 @@ namespace OnlineStore.DUOStore ...@@ -142,7 +141,7 @@ namespace OnlineStore.DUOStore
if (this.btnInOutMove.BackColor == Color.Green) if (this.btnInOutMove.BackColor == Color.Green)
{ {
btnInOutMove.BackColor = System.Drawing.SystemColors.Control; btnInOutMove.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(inout.DeviceName, inout.GetAxisValue()); AxisManager.instance.SuddenStop(inout.DeviceName, inout.GetAxisValue());
UpdateInOutPosition(); UpdateInOutPosition();
} }
} }
...@@ -170,7 +169,7 @@ namespace OnlineStore.DUOStore ...@@ -170,7 +169,7 @@ namespace OnlineStore.DUOStore
if (btnMiddleMovej.BackColor == Color.Green) if (btnMiddleMovej.BackColor == Color.Green)
{ {
btnMiddleMovej.BackColor = System.Drawing.SystemColors.Control; btnMiddleMovej.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(middle.DeviceName, middle.GetAxisValue()); AxisManager.instance.SuddenStop(middle.DeviceName, middle.GetAxisValue());
UpdateMiddlePosition(); UpdateMiddlePosition();
} }
} }
...@@ -199,7 +198,7 @@ namespace OnlineStore.DUOStore ...@@ -199,7 +198,7 @@ namespace OnlineStore.DUOStore
if (btnUpDownMovej.BackColor == Color.Green) if (btnUpDownMovej.BackColor == Color.Green)
{ {
btnUpDownMovej.BackColor = System.Drawing.SystemColors.Control; btnUpDownMovej.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(updown.DeviceName, updown.GetAxisValue()); AxisManager.instance.SuddenStop(updown.DeviceName, updown.GetAxisValue());
UpdateUpdownPosition(); UpdateUpdownPosition();
} }
} }
...@@ -224,7 +223,7 @@ namespace OnlineStore.DUOStore ...@@ -224,7 +223,7 @@ namespace OnlineStore.DUOStore
if (btnInOutMovej.BackColor.Equals(Color.Green)) if (btnInOutMovej.BackColor.Equals(Color.Green))
{ {
btnInOutMovej.BackColor = System.Drawing.SystemColors.Control; btnInOutMovej.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(inout.DeviceName, inout.GetAxisValue()); AxisManager.instance.SuddenStop(inout.DeviceName, inout.GetAxisValue());
UpdateInOutPosition(); UpdateInOutPosition();
} }
} }
...@@ -247,8 +246,8 @@ namespace OnlineStore.DUOStore ...@@ -247,8 +246,8 @@ namespace OnlineStore.DUOStore
{ {
if (this.btnComMove.BackColor == Color.Green) if (this.btnComMove.BackColor == Color.Green)
{ {
btnComMove.BackColor = System.Drawing.SystemColors.Control; btnComMove.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(comp.DeviceName, comp.GetAxisValue()); AxisManager.instance.SuddenStop(comp.DeviceName, comp.GetAxisValue());
UpdateCompPosition(); UpdateCompPosition();
} }
} }
...@@ -268,8 +267,8 @@ namespace OnlineStore.DUOStore ...@@ -268,8 +267,8 @@ namespace OnlineStore.DUOStore
{ {
if (btnComMovej.BackColor.Equals(Color.Green)) if (btnComMovej.BackColor.Equals(Color.Green))
{ {
btnComMovej.BackColor = System.Drawing.SystemColors.Control; btnComMovej.BackColor = System.Drawing.SystemColors.Control;
ACServerManager.SuddenStop(comp.DeviceName,comp.GetAxisValue()); AxisManager.instance.SuddenStop(comp.DeviceName,comp.GetAxisValue());
UpdateCompPosition(); UpdateCompPosition();
} }
} }
...@@ -297,7 +296,7 @@ namespace OnlineStore.DUOStore ...@@ -297,7 +296,7 @@ namespace OnlineStore.DUOStore
} }
private void UpdateCompPosition() private void UpdateCompPosition()
{ {
int compPosition = ACServerManager.GetTargetPosition(comp.DeviceName, comp.GetAxisValue()); int compPosition = AxisManager.instance.GetTargetPosition(comp.DeviceName, comp.GetAxisValue());
if (!txtComPosition.Text.Equals(compPosition.ToString())) if (!txtComPosition.Text.Equals(compPosition.ToString()))
{ {
txtComPosition.Text = compPosition.ToString(); txtComPosition.Text = compPosition.ToString();
...@@ -305,7 +304,7 @@ namespace OnlineStore.DUOStore ...@@ -305,7 +304,7 @@ namespace OnlineStore.DUOStore
} }
private void UpdateUpdownPosition() private void UpdateUpdownPosition()
{ {
int updownPosition = ACServerManager.GetTargetPosition(updown.DeviceName, updown.GetAxisValue()); int updownPosition = AxisManager.instance.GetTargetPosition(updown.DeviceName, updown.GetAxisValue());
if (!txtUpdownPosition.Text.Equals(updownPosition.ToString())) if (!txtUpdownPosition.Text.Equals(updownPosition.ToString()))
{ {
txtUpdownPosition.Text = updownPosition.ToString(); txtUpdownPosition.Text = updownPosition.ToString();
...@@ -314,7 +313,7 @@ namespace OnlineStore.DUOStore ...@@ -314,7 +313,7 @@ namespace OnlineStore.DUOStore
private void UpdateMiddlePosition() private void UpdateMiddlePosition()
{ {
int middlePosition = ACServerManager.GetTargetPosition(middle.DeviceName, middle.GetAxisValue()); int middlePosition = AxisManager.instance.GetTargetPosition(middle.DeviceName, middle.GetAxisValue());
if (!txtMiddlePosition.Text.Equals(middlePosition.ToString())) if (!txtMiddlePosition.Text.Equals(middlePosition.ToString()))
{ {
txtMiddlePosition.Text = middlePosition.ToString(); txtMiddlePosition.Text = middlePosition.ToString();
...@@ -323,7 +322,7 @@ namespace OnlineStore.DUOStore ...@@ -323,7 +322,7 @@ namespace OnlineStore.DUOStore
private void UpdateInOutPosition() private void UpdateInOutPosition()
{ {
int inoutPosition = ACServerManager.GetTargetPosition(inout.DeviceName, inout.GetAxisValue()); int inoutPosition = AxisManager.instance.GetTargetPosition(inout.DeviceName, inout.GetAxisValue());
if (!txtInOutPosition.Text.Equals(inoutPosition.ToString())) if (!txtInOutPosition.Text.Equals(inoutPosition.ToString()))
{ {
txtInOutPosition.Text = inoutPosition.ToString(); txtInOutPosition.Text = inoutPosition.ToString();
......
source/DUOStore/FrmAxisMove.cs
...@@ -17,7 +17,6 @@ using OnlineStore.DeviceLibrary; ...@@ -17,7 +17,6 @@ using OnlineStore.DeviceLibrary;
using System.IO.Ports; using System.IO.Ports;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using CodeLibrary; using CodeLibrary;
using DeviceLib;
using UserFromControl; using UserFromControl;
namespace OnlineStore.DUOStore namespace OnlineStore.DUOStore
......
source/DUOStore/FrmBox.cs
...@@ -17,7 +17,6 @@ using OnlineStore.DeviceLibrary; ...@@ -17,7 +17,6 @@ using OnlineStore.DeviceLibrary;
using System.IO.Ports; using System.IO.Ports;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using CodeLibrary; using CodeLibrary;
using DeviceLib;
using UserFromControl; using UserFromControl;
namespace OnlineStore.DUOStore namespace OnlineStore.DUOStore
...@@ -411,7 +410,7 @@ namespace OnlineStore.DUOStore ...@@ -411,7 +410,7 @@ namespace OnlineStore.DUOStore
private bool InOutIsIsP1() private bool InOutIsIsP1()
{ {
int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue()); int currValue = AxisManager.instance.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue());
if (currValue <= InOutDefaultPosition) if (currValue <= InOutDefaultPosition)
{ {
return true; return true;
...@@ -431,7 +430,7 @@ namespace OnlineStore.DUOStore ...@@ -431,7 +430,7 @@ namespace OnlineStore.DUOStore
} }
int targetPosition = FormUtil.GetIntValue(txtValue); int targetPosition = FormUtil.GetIntValue(txtValue);
moveAxis.TargetPosition = targetPosition; moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed); AxisManager.instance.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, moveAxis.AddSpeed, moveAxis.DelSpeed);
} }
private void btnUpDownP1_Click(object sender, EventArgs e) private void btnUpDownP1_Click(object sender, EventArgs e)
{ {
...@@ -711,7 +710,7 @@ namespace OnlineStore.DUOStore ...@@ -711,7 +710,7 @@ namespace OnlineStore.DUOStore
private void btnUpdown_Click(object sender, EventArgs e) private void btnUpdown_Click(object sender, EventArgs e)
{ {
string PortName = BoxBean.Config.UpDown_Axis.DeviceName; string PortName = BoxBean.Config.UpDown_Axis.DeviceName;
int slvAddr = BoxBean.Config.UpDown_Axis.GetAxisValue(); short slvAddr = BoxBean.Config.UpDown_Axis.GetAxisValue();
string ioIP = "192.168.200.13"; string ioIP = "192.168.200.13";
int ioIndex = 0; int ioIndex = 0;
// if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal)) // if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal))
......
source/DUOStore/FrmStore.cs
using CodeLibrary; using CodeLibrary;
using DeviceLib;
using log4net; using log4net;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.DeviceLibrary; using OnlineStore.DeviceLibrary;
...@@ -243,7 +242,7 @@ namespace OnlineStore.DUOStore ...@@ -243,7 +242,7 @@ namespace OnlineStore.DUOStore
e.Cancel = true; e.Cancel = true;
HideForm(); HideForm();
} }
} }
private void ExitApp() private void ExitApp()
{ {
...@@ -270,8 +269,8 @@ namespace OnlineStore.DUOStore ...@@ -270,8 +269,8 @@ namespace OnlineStore.DUOStore
IOManager.instance.CloseAllDO(); IOManager.instance.CloseAllDO();
IOManager.instance.CloseAllConnection(); IOManager.instance.CloseAllConnection();
HumitureController.CloseAllPort(); HumitureController.CloseAllPort();
ACServerManager.CloseAllPort(); AxisManager.instance.CloseAllPort();
if (Camera._cam != null) if (Camera._cam != null)
{ {
Camera._cam.CloseAll(); Camera._cam.CloseAll();
......
source/DUOStore/positionTool/FrmPositionTool.cs
 
using DeviceLib;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.DeviceLibrary; using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
...@@ -22,14 +21,16 @@ namespace OnlineStore.DUOStore ...@@ -22,14 +21,16 @@ namespace OnlineStore.DUOStore
{ {
private string LogName = ResourceCulture.GetString("升降轴位置调试："); private string LogName = ResourceCulture.GetString("升降轴位置调试：");
private string PortName = ""; private string PortName = "";
private int SlvAddr = 0; private short SlvAddr = 0;
private string IoIp = ""; private string IoIp = "";
private int IoIndex = 0; private int IoIndex = 0;
public string Axis_Brake = IO_Type.UpdownAxis_Break; public string Axis_Brake = IO_Type.UpdownAxis_Break;
private int subType = 0; private int subType = 0;
private System.Timers.Timer toolTimer = new System.Timers.Timer(); private System.Timers.Timer toolTimer = new System.Timers.Timer();
public int ptpAcc=0;
public int ptpDec = 0;
private string boxName = ""; private string boxName = "";
public FrmPositionTool(string protName, int slvAddr, string ioIp, int ioIndex, string text,int ioSubType) public FrmPositionTool(string protName, short slvAddr, string ioIp, int ioIndex, string text,int ioSubType)
{ {
InitializeComponent(); InitializeComponent();
this.PortName = protName; this.PortName = protName;
...@@ -49,11 +50,11 @@ namespace OnlineStore.DUOStore ...@@ -49,11 +50,11 @@ namespace OnlineStore.DUOStore
private void Form1_Load(object sender, EventArgs e) private void Form1_Load(object sender, EventArgs e)
{ {
ACServerManager.IsShowMsg = false; AxisManager.instance.IsShowMsg = false;
LogUtil.logBox = this.richTextBox1; LogUtil.logBox = this.richTextBox1;
//ACServerManager.richeBox = this.richTextBox1; //AxisManager.instance.richeBox = this.richTextBox1;
CheckForIllegalCrossThreadCalls = false; CheckForIllegalCrossThreadCalls = false;
txtPortName.Text = PortName; txtPortName.Text = PortName;
...@@ -91,7 +92,7 @@ namespace OnlineStore.DUOStore ...@@ -91,7 +92,7 @@ namespace OnlineStore.DUOStore
SaveConfig(tSpeed, tPosition); SaveConfig(tSpeed, tPosition);
//判断伺服是否已经打开 //判断伺服是否已经打开
bool isOn = ACServerManager.ServerOnStatus(PortName, SlvAddr); bool isOn = AxisManager.instance.IsServeoOn(PortName, SlvAddr);
formStatus(isOn); formStatus(isOn);
timer1.Start(); timer1.Start();
ioStatusControl1.IOName = ResourceCulture.GetString("检测信号"); ioStatusControl1.IOName = ResourceCulture.GetString("检测信号");
...@@ -109,8 +110,8 @@ namespace OnlineStore.DUOStore ...@@ -109,8 +110,8 @@ namespace OnlineStore.DUOStore
//P6Offset = FormUtil.GetIntValue(txtP6Offset); //P6Offset = FormUtil.GetIntValue(txtP6Offset);
//StopTimer(); //StopTimer();
this.PortName = txtPortName.Text; this.PortName = txtPortName.Text;
this.SlvAddr = FormUtil.GetIntValue(txtAddr); this.SlvAddr = FormUtil.GetShortValue(txtAddr);
bool result = ACServerManager.OpenPort(PortName,ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate)); bool result = AxisManager.instance.OpenPort(PortName);
if (!result) if (!result)
{ {
MessageBox.Show(ResourceCulture.GetString("打开串口失败")); MessageBox.Show(ResourceCulture.GetString("打开串口失败"));
...@@ -118,10 +119,10 @@ namespace OnlineStore.DUOStore ...@@ -118,10 +119,10 @@ namespace OnlineStore.DUOStore
} }
formStatus(true); formStatus(true);
ACServerManager.InitSlvAddr(PortName, SlvAddr); //AxisManager.instance.InitSlvAddr(PortName, SlvAddr);
Thread.Sleep(100); Thread.Sleep(100);
ACServerManager.AlarmClear(PortName, SlvAddr); AxisManager.instance.AlarmClear(PortName, SlvAddr);
ACServerManager.ServoOn(PortName, SlvAddr); AxisManager.instance.ServoOn(PortName, SlvAddr);
try try
{ {
...@@ -137,7 +138,7 @@ namespace OnlineStore.DUOStore ...@@ -137,7 +138,7 @@ namespace OnlineStore.DUOStore
{ {
StopTimer(); StopTimer();
// toolTimer.Stop(); // toolTimer.Stop();
ACServerManager.SuddenStop(PortName, SlvAddr); AxisManager.instance.SuddenStop(PortName, SlvAddr);
Thread.Sleep(100); Thread.Sleep(100);
try try
{ {
...@@ -147,7 +148,7 @@ namespace OnlineStore.DUOStore ...@@ -147,7 +148,7 @@ namespace OnlineStore.DUOStore
{ {
} }
ACServerManager.ServoOff(PortName, SlvAddr); AxisManager.instance.ServoOff(PortName, SlvAddr);
formStatus(false); formStatus(false);
} }
...@@ -174,25 +175,25 @@ namespace OnlineStore.DUOStore ...@@ -174,25 +175,25 @@ namespace OnlineStore.DUOStore
private void btnRelMove_Click(object sender, EventArgs e) private void btnRelMove_Click(object sender, EventArgs e)
{ {
int speed = Convert.ToInt32(txtSpeed.Text); //int speed = Convert.ToInt32(txtSpeed.Text);
int position = Convert.ToInt32(txtPosition.Text); //int position = Convert.ToInt32(txtPosition.Text);
ACServerManager.RelMove(PortName, SlvAddr, position,speed); //AxisManager.instance.RelMove(PortName, SlvAddr, position,speed);
} }
private void btnHomeMove_Click(object sender, EventArgs e) private void btnHomeMove_Click(object sender, EventArgs e)
{ {
int speed = Convert.ToInt32(txtSpeed.Text); int speed = Convert.ToInt32(txtSpeed.Text);
ACServerManager.HomeMove(PortName, SlvAddr, speed); AxisManager.instance.HomeMove(PortName, SlvAddr,50,1 ,speed);
} }
private void btnSpeedMove_Click(object sender, EventArgs e) private void btnSpeedMove_Click(object sender, EventArgs e)
{ {
int speed = Convert.ToInt32(txtSpeed.Text); int speed = Convert.ToInt32(txtSpeed.Text);
ACServerManager.SpeedMove(PortName, SlvAddr, speed); AxisManager.instance.SpeedMove(PortName, SlvAddr, speed);
} }
private void btnGetActualPosition_Click(object sender, EventArgs e) private void btnGetActualPosition_Click(object sender, EventArgs e)
{ {
int value = ACServerManager.GetTargetPosition(PortName, SlvAddr); int value = AxisManager.instance.GetTargetPosition(PortName, SlvAddr);
txtTargetPosition.Text = value.ToString(); txtTargetPosition.Text = value.ToString();
value = ACServerManager.GetActualtPosition(PortName, SlvAddr); value = AxisManager.instance.GetActualtPosition(PortName, SlvAddr);
txtActualPosition.Text = value.ToString(); txtActualPosition.Text = value.ToString();
} }
...@@ -242,7 +243,7 @@ namespace OnlineStore.DUOStore ...@@ -242,7 +243,7 @@ namespace OnlineStore.DUOStore
PositionList = new List<int>(); PositionList = new List<int>();
LogUtil.info(LogName + "伺服开始运动，速度【"+speed+"】位置【"+position+"】启动定时器 "); LogUtil.info(LogName + "伺服开始运动，速度【"+speed+"】位置【"+position+"】启动定时器 ");
formMoveStatus(false); formMoveStatus(false);
ACServerManager.AbsMove(PortName, SlvAddr, position,speed); AxisManager.instance.AbsMove(PortName, SlvAddr, position,speed,ptpAcc,ptpDec);
toolTimer.Start(); toolTimer.Start();
} }
private int P3Offset = 0; private int P3Offset = 0;
...@@ -263,7 +264,7 @@ namespace OnlineStore.DUOStore ...@@ -263,7 +264,7 @@ namespace OnlineStore.DUOStore
private void btnSdStop_Click(object sender, EventArgs e) private void btnSdStop_Click(object sender, EventArgs e)
{ {
toolTimer.Stop(); toolTimer.Stop();
ACServerManager.SuddenStop(PortName, SlvAddr); AxisManager.instance.SuddenStop(PortName, SlvAddr);
} }
private IO_VALUE GetSingleValue() private IO_VALUE GetSingleValue()
...@@ -289,14 +290,14 @@ namespace OnlineStore.DUOStore ...@@ -289,14 +290,14 @@ namespace OnlineStore.DUOStore
isInProcesss = true; isInProcesss = true;
try try
{ {
int moveS = ACServerManager.GetBusyStatus(PortName, SlvAddr); int moveS = AxisManager.instance.GetBusyStatus(PortName, SlvAddr);
if (moveS.Equals(1)) if (moveS.Equals(1))
{ {
IO_VALUE currValue = GetSingleValue(); IO_VALUE currValue = GetSingleValue();
TimeSpan checkSpan = DateTime.Now - LastGetPTime; TimeSpan checkSpan = DateTime.Now - LastGetPTime;
if (LastValue.Equals(IO_VALUE.LOW) && currValue.Equals(IO_VALUE.HIGH) && checkSpan.TotalSeconds > 2) if (LastValue.Equals(IO_VALUE.LOW) && currValue.Equals(IO_VALUE.HIGH) && checkSpan.TotalSeconds > 2)
{ {
int currPos = ACServerManager.GetActualtPosition(PortName, SlvAddr); int currPos = AxisManager.instance.GetActualtPosition(PortName, SlvAddr);
txtActualPosition.Text = currPos.ToString(); txtActualPosition.Text = currPos.ToString();
PositionList.Add(currPos); PositionList.Add(currPos);
int num = PositionList.Count; int num = PositionList.Count;
...@@ -399,11 +400,11 @@ namespace OnlineStore.DUOStore ...@@ -399,11 +400,11 @@ namespace OnlineStore.DUOStore
{ {
StopTimer(); StopTimer();
// toolTimer.Stop(); // toolTimer.Stop();
ACServerManager.SuddenStop(PortName, SlvAddr); AxisManager.instance.SuddenStop(PortName, SlvAddr);
Thread.Sleep(100); Thread.Sleep(100);
} }
LogUtil.logBox = null; LogUtil.logBox = null;
//ACServerManager.CloseAllPort(); //AxisManager.instance.CloseAllPort();
//IOManager.instance.CloseAllConnection(); //IOManager.instance.CloseAllConnection();
} }
......
source/DUOStore/useControl/AxisMoveControl.cs
...@@ -11,7 +11,6 @@ using OnlineStore.DeviceLibrary; ...@@ -11,7 +11,6 @@ using OnlineStore.DeviceLibrary;
using OnlineStore.Common; using OnlineStore.Common;
using System.Threading; using System.Threading;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using DeviceLib;
namespace OnlineStore.DUOStore namespace OnlineStore.DUOStore
{ {
...@@ -20,8 +19,9 @@ namespace OnlineStore.DUOStore ...@@ -20,8 +19,9 @@ namespace OnlineStore.DUOStore
private List<AxisBean> axisList = new List<AxisBean>(); private List<AxisBean> axisList = new List<AxisBean>();
private BoxBean boxBean = null; private BoxBean boxBean = null;
private string PortName = ""; private string PortName = "";
private int SlvAddr = 0; private short SlvAddr = 0;
public int ptpAcc = 0;
public int ptpDec = 0;
public AxisMoveControl() public AxisMoveControl()
{ {
InitializeComponent(); InitializeComponent();
...@@ -85,7 +85,7 @@ namespace OnlineStore.DUOStore ...@@ -85,7 +85,7 @@ namespace OnlineStore.DUOStore
private void btnCloseAxis_Click(object sender, EventArgs e) private void btnCloseAxis_Click(object sender, EventArgs e)
{ {
LogUtil.info("点击【关闭伺服】，【" + PortName + "_" + SlvAddr + "】 "); LogUtil.info("点击【关闭伺服】，【" + PortName + "_" + SlvAddr + "】 ");
// ACServerManager.ServoOff(PortName, SlvAddr); // AxisManager.instance.ServoOff(PortName, SlvAddr);
axisList[comboBox1.SelectedIndex].ServoOff(); axisList[comboBox1.SelectedIndex].ServoOff();
} }
...@@ -98,7 +98,7 @@ namespace OnlineStore.DUOStore ...@@ -98,7 +98,7 @@ namespace OnlineStore.DUOStore
int position = FormUtil.GetIntValue(txtAPosition); int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed); int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】"); LogUtil.info("点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(PortName, SlvAddr, position, speed); AxisManager.instance.AbsMove(PortName, SlvAddr, position, speed, ptpAcc, ptpDec);
} }
private void btnAxisRMove_Click(object sender, EventArgs e) private void btnAxisRMove_Click(object sender, EventArgs e)
...@@ -110,7 +110,7 @@ namespace OnlineStore.DUOStore ...@@ -110,7 +110,7 @@ namespace OnlineStore.DUOStore
int position = FormUtil.GetIntValue(txtAPosition); int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed); int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】"); LogUtil.info("点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.RelMove(PortName, SlvAddr, position, speed); AxisManager.instance.RelMove(PortName, SlvAddr, position, speed,ptpAcc,ptpDec);
} }
private void btnAxisVMove_Click(object sender, EventArgs e) private void btnAxisVMove_Click(object sender, EventArgs e)
...@@ -121,13 +121,13 @@ namespace OnlineStore.DUOStore ...@@ -121,13 +121,13 @@ namespace OnlineStore.DUOStore
} }
int speed = FormUtil.GetIntValue(txtASpeed); int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【匀速运动】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】"); LogUtil.info("点击【匀速运动】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.SpeedMove(PortName, SlvAddr, speed); AxisManager.instance.SpeedMove(PortName, SlvAddr, speed);
} }
private void btnAxisStop_Click(object sender, EventArgs e) private void btnAxisStop_Click(object sender, EventArgs e)
{ {
LogUtil.info("点击【停止运动】，【" + PortName + "_" + SlvAddr + "】 "); LogUtil.info("点击【停止运动】，【" + PortName + "_" + SlvAddr + "】 ");
ACServerManager.SuddenStop(PortName, SlvAddr); AxisManager.instance.SuddenStop(PortName, SlvAddr);
if (btnAddMove.BackColor == Color.Green) if (btnAddMove.BackColor == Color.Green)
{ {
btnAddMove.BackColor = System.Drawing.SystemColors.Control; btnAddMove.BackColor = System.Drawing.SystemColors.Control;
...@@ -143,9 +143,9 @@ namespace OnlineStore.DUOStore ...@@ -143,9 +143,9 @@ namespace OnlineStore.DUOStore
private void btnComAlarmClear_Click(object sender, EventArgs e) private void btnComAlarmClear_Click(object sender, EventArgs e)
{ {
LogUtil.info("点击【清理报警】，【" + PortName + "_" + SlvAddr + "】 "); LogUtil.info("点击【清理报警】，【" + PortName + "_" + SlvAddr + "】 ");
ACServerManager.AlarmClear(PortName, SlvAddr); AxisManager.instance.AlarmClear(PortName, SlvAddr);
Thread.Sleep(100); Thread.Sleep(100);
ACServerManager.ServoOn(PortName, SlvAddr); AxisManager.instance.ServoOn(PortName, SlvAddr);
} }
private void btnAxisReturnHome_Click(object sender, EventArgs e) private void btnAxisReturnHome_Click(object sender, EventArgs e)
...@@ -156,25 +156,25 @@ namespace OnlineStore.DUOStore ...@@ -156,25 +156,25 @@ namespace OnlineStore.DUOStore
} }
int speed = FormUtil.GetIntValue(txtASpeed); int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】"); LogUtil.info("点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.HomeMove(PortName, SlvAddr, speed); AxisManager.instance.HomeMove(PortName, SlvAddr,50,1,speed);
} }
private void btnGetAlarm_Click(object sender, EventArgs e) private void btnGetAlarm_Click(object sender, EventArgs e)
{ {
this.txtAlarmStatus.Text = ACServerManager.GetAlarmStatus(PortName, SlvAddr).ToString(); this.txtAlarmStatus.Text = AxisManager.instance.GetAlarmStatus(PortName, SlvAddr).ToString();
this.txtBusyStatus.Text = ACServerManager.GetBusyStatus(PortName, SlvAddr).ToString(); this.txtBusyStatus.Text = AxisManager.instance.GetBusyStatus(PortName, SlvAddr).ToString();
this.txtStb.Text = ACServerManager.GetSTBState(PortName, SlvAddr).ToString(); //this.txtStb.Text = AxisManager.instance.GetSTBState(PortName, SlvAddr).ToString();
this.txtHomeStatus.Text = ACServerManager.GetHomeEndStatus(PortName, SlvAddr).ToString(); this.txtHomeStatus.Text = AxisManager.instance.GetHomeEndStatus(PortName, SlvAddr).ToString();
this.txtHomeSingle.Text = ACServerManager.GetHomeSingle(PortName, SlvAddr).ToString(); this.txtHomeSingle.Text = AxisManager.instance.GetHomeSingle(PortName, SlvAddr).ToString();
this.txtLimit1.Text = ACServerManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString(); this.txtLimit1.Text = AxisManager.instance.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
this.txtLimit2.Text = ACServerManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString(); this.txtLimit2.Text = AxisManager.instance.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
txtServoStatue.Text = ACServerManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘"; txtServoStatue.Text = AxisManager.instance.IsServeoOn(PortName, SlvAddr) ? "✔" : "✘";
} }
private void btnReadPosition_Click(object sender, EventArgs e) private void btnReadPosition_Click(object sender, EventArgs e)
{ {
lblCountPulse.Text = ACServerManager.GetActualtPosition(PortName, SlvAddr).ToString(); lblCountPulse.Text = AxisManager.instance.GetActualtPosition(PortName, SlvAddr).ToString();
} }
...@@ -254,7 +254,7 @@ namespace OnlineStore.DUOStore ...@@ -254,7 +254,7 @@ namespace OnlineStore.DUOStore
private void AxisMove(int speed) private void AxisMove(int speed)
{ {
LogUtil.info("【" + PortName + "_" + SlvAddr + "】点动： 速度：" + speed); LogUtil.info("【" + PortName + "_" + SlvAddr + "】点动： 速度：" + speed);
ACServerManager.SpeedMove(PortName, SlvAddr, speed); AxisManager.instance.SpeedMove(PortName, SlvAddr, speed);
} }
private void btnAddMove_MouseDown(object sender, MouseEventArgs e) private void btnAddMove_MouseDown(object sender, MouseEventArgs e)
{ {
...@@ -280,7 +280,7 @@ namespace OnlineStore.DUOStore ...@@ -280,7 +280,7 @@ namespace OnlineStore.DUOStore
if (btnAddMove.BackColor == Color.Green) if (btnAddMove.BackColor == Color.Green)
{ {
btnAddMove.BackColor = Color.White; btnAddMove.BackColor = Color.White;
ACServerManager.SuddenStop(PortName, SlvAddr); AxisManager.instance.SuddenStop(PortName, SlvAddr);
btnReadPosition_Click(null, null); btnReadPosition_Click(null, null);
} }
} }
...@@ -309,7 +309,7 @@ namespace OnlineStore.DUOStore ...@@ -309,7 +309,7 @@ namespace OnlineStore.DUOStore
if (btnDelMove.BackColor == Color.Green) if (btnDelMove.BackColor == Color.Green)
{ {
btnDelMove.BackColor = Color.White; btnDelMove.BackColor = Color.White;
ACServerManager.SuddenStop(PortName, SlvAddr); AxisManager.instance.SuddenStop(PortName, SlvAddr);
btnReadPosition_Click(null, null); btnReadPosition_Click(null, null);
} }
} }
......
source/DeviceLibrary/AXIS/AxisManager.cs 0 → 100644
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public abstract class AxisManager
{
public bool IsShowMsg = false;
public static AxisManager instance;
public static bool UseHCBoard = true;
public static void Init()
{
// UseHCBoard = ConfigAppSettings.GetIntValue(Setting_Init.UseHCBoard).Equals(1);
if (UseHCBoard)
{
instance = new HCAxisManager();
}
else
{
//instance = new ACServerManager();
}
}
#region 485通信方法
public abstract bool OpenPort(string portName);
/// <summary>
/// 松下专用
/// </summary>
/// <param name="portName"></param>
public abstract void ColsePort(string portName);
/// <summary>
/// 松下专用
/// </summary>
public abstract void CloseAllPort();
/// <summary>
/// 松下专用
/// </summary>
public abstract void ClearSpeed();
/// <summary>
/// 松下专用
/// </summary>
/// <param name="portName"></param>
/// <param name="slvAddr"></param>
/// <param name="targetSpeed"></param>
/// <param name="addSpeed"></param>
/// <param name="delSpeed"></param>
public abstract void InitSlvAddr(string portName, short slvAddr, int targetSpeed, int addSpeed, int delSpeed);
public abstract bool IsServeoOn(string portName, short slvAddr);
#endregion
public abstract bool OpenCard();
public abstract bool CloseCard();
public abstract bool IsHomeMoveEnd(string portName, short slvAddr);
public abstract bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError);
public abstract void ServoOn(string portName, short slvAddr);
public abstract void ServoOff(string portName, short slvAddr);
public abstract void RelMove(string portName, short slvAddr, int position, int targetSpeed , int ptpAcc , int ptpDec );
public abstract void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc);
public abstract void SpeedMove(string portName, short slvAddr, int speed);
public abstract void SuddenStop(string portName, short slvAddr);
public abstract bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount, bool isLog = false);
public abstract void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed , int ptpAcc , int ptpDec );
public abstract void AlarmClear(string portName, short slvAddr);
public abstract int GetTargetPosition(string portName, short slvAddr);
public abstract int GetActualtPosition(string portName, short slvAddr);
public abstract int GetAlarmStatus(string portName, short slvAddr);
public abstract int GetBusyStatus(string portName, short slvAddr);
public abstract int GetHomeEndStatus(string portName, short slvAddr);
public abstract int GetHomeSingle(string portName, short slvAddr);
/// <summary>
/// 负极限
/// </summary>
public abstract int GetLimitNegativeSingle(string portName, short slvAddr);
/// <summary>
/// 正极限
/// </summary>
public abstract int GetLimitPositiveSingle(string portName, short slvAddr);
public abstract short GetErrorCode(string portName, short slvAddr);
}
}
source/DeviceLibrary/AXIS/HC/HCAxisManager.cs 0 → 100644
using HuichuanLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public class HCAxisManager : AxisManager
{
public override bool OpenCard()
{
return HCBoardManager.OpenCard();
}
public override bool CloseCard()
{
return HCBoardManager.CloseCard();
}
public override void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed,int ptpAcc,int ptpDec)
{
HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
}
public override void AlarmClear(string portName, short slvAddr)
{
HCBoardManager.ClearAxisSts((short)slvAddr);
}
public override bool OpenPort(string portName)
{
return true;
}
public override void ClearSpeed()
{
}
public override void CloseAllPort()
{
}
public override void ColsePort(string portName)
{
}
public override void InitSlvAddr(string portName, short slvAddr, int targetSpeed, int addSpeed, int delSpeed)
{
}
public override int GetActualtPosition(string portName, short slvAddr)
{
return (int)HCBoardManager.GetAxisCurrPos(slvAddr);
}
public override int GetAlarmStatus(string portName, short slvAddr)
{
AxisSts axisS= HCBoardManager.GetAxisSts(slvAddr);
return axisS.ALM;
}
public override int GetBusyStatus(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.BUSY;
}
public override int GetHomeEndStatus(string portName, short slvAddr)
{
return (int) HCBoardManager.GetHomeStatus(slvAddr);
}
public override int GetHomeSingle(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.ALM;
}
public override int GetLimitNegativeSingle(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.NEL;
}
public override int GetLimitPositiveSingle(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.PEL;
}
public override int GetTargetPosition(string portName, short slvAddr)
{
return (int)HCBoardManager.GetAxisPrfPos(slvAddr);
}
public override void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
{
HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
}
public override bool IsHomeMoveEnd(string portName, short slvAddr)
{
return HCBoardManager.HomeingIsEnd(slvAddr);
}
public override bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount, bool isLog = false)
{
return HCBoardManager.IsInPosition(slvAddr, PPosition,canErrorCount );
}
public override void RelMove(string portName, short slvAddr, int position, int targetSpeed, int ptpAcc , int ptpDec )
{
HCBoardManager.RelMove(slvAddr, position, targetSpeed, ptpAcc, ptpDec);
}
public override bool IsServeoOn(string portName, short slvAddr)
{
AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
return axisS.ServoOn.Equals(1);
}
public override void ServoOff(string portName, short slvAddr)
{
HCBoardManager.ServoOff(slvAddr);
}
public override void ServoOn(string portName, short slvAddr)
{
HCBoardManager.ServoOn(slvAddr);
}
public override void SpeedMove(string portName, short slvAddr, int speed)
{
HCBoardManager.SpeedMove(slvAddr, speed);
}
public override void SuddenStop(string portName, short slvAddr)
{
HCBoardManager.AxisStop(slvAddr);
}
public override bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError)
{
countError = false;
bool isOk = HCBoardManager.MoveIsEnd(axisNo);
if (isOk)
{
if (HCBoardManager.IsInPosition(axisNo, targetPosition, canErrorCount))
{
return true;
}
else
{
countError = true;
}
}
return false;
}
public override short GetErrorCode(string portName, short slvAddr)
{
return HCBoardManager.GetAxErrCode(slvAddr);
}
}
}
source/DeviceLibrary/AXIS/PanasonicServo/ACCMDManager.cs 0 → 100644
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace OnlineStore.DeviceLibrary
{
public class ACCMDManager
{
/// <summary>
/// 0132h 原点接近传感器输入 (HOME) 状态 ReadOnly 0： 输入 OFF 1： 输入 ON
/// </summary>
public static string Home_Single = "0132";
//
//
/// <summary>
/// 0022h 负方向驱动禁止输入(NOT) ReadOnly 0： 输入 OFF、 1： 输入 ON
/// </summary>
public static string Limit_Negative_Single = "0022";
/// <summary>
/// 0023h 正方向驱动禁止输入(POT) ReadOnly 0： 输入 OFF、 1： 输入 ON
/// </summary>
public static string Limit_Positive_Single = "0023";
/// <summary>
///速度 4601
/// </summary>
public static string Speed_Addr = "4601";
/// <summary>
/// 0060h 伺服 On 输入 (SRV-ON) 操作 R/W 0000h:输入 OFF、FF00h：输入 ON
/// </summary>
public static string ServerOn_Addr = "0060";
/// <summary>
/// 0120h 选通输入 (STB) 操作 R/W 0000h:输入 OFF、FF00h：输入 ON
/// </summary>
public static string STB_Addr = "0120";
/// <summary>
/// 0124h 减速停止输入 (S-STOP) 操作 R/W 0000h:输入 OFF、FF00h：输入 ON
/// </summary>
public static string Stop_Addr = "0124";
/// <summary>
/// 0123h 紧急停止输入 (H-STOP) 操作 R/W 0000h:输入 OFF、FF00h：输入 ON
/// </summary>
public static string SDStop_Addr = "0123";
/// <summary>
/// 0061h 报警清除输入 (A-CLR) 操作 R/W 0000h:输入 OFF、FF00h：输入 ON
/// </summary>
public static string Clear_Alarm_Addr = "0061";
/// <summary>
/// 1020h Save all parameters - 0 - 4294967295 2 R/W 参数写入 EEPROM 写入“6173h”后，实行 EEPROM 写入
/// </summary>
public static string EEPROM_Param_Addr = "1020";
/// <summary>
/// 目标位置=600B
/// </summary>
public static string TargetPostion = "600B";
/// <summary>
/// 实际位置=600F
/// </summary>
public static string ActualPosition = "600F";
/// <summary>
/// BUSY状态=0140，0140h 动作执行状态 (BUSY) ReadOnly 0：未执行 1：执行中
public static string BUSYStatus = "0140";
/// <summary>
/// HOME-CMP=0141，0141h 回原点完成状态 (HOME-CMP) ReadOnly 0：未完成 1：完成
/// </summary>
public static string HOME_CMP_Status = "0141";
/// <summary>
/// 私服Ready状态，00A0h 伺服 Ready 状态 (S-RDY) ReadOnly 0：Ready OFF 1：Ready ON
/// </summary>
public static string ServerOn_Status = "00A0";
/// <summary>
/// 报警状态=00A1,00A1h 报警状态 (ALM) ReadOnly 0：报警未发生 1：报警发生
/// </summary>
public static string Alarm_Status = "00A1";
/// <summary>
/// 指定BlockNo=4414
/// </summary>
public static string BlockNo = "4414";
/// <summary>
/// 读线圈01
/// </summary>
public static byte CMD_ReadCoil= 0x01;
/// <summary>
/// 写线圈 05
/// </summary>
public static byte CMD_WriteCoil = 0x05;
/// <summary>
/// 读寄存器03
/// </summary>
public static byte CMD_ReadRegisters = 0x03;
/// <summary>
/// 写寄存器06
/// </summary>
public static byte CMD_WriteRegisters = 0x06;
/// <summary>
/// 写多个线圈 0f
/// </summary>
public static byte CMD_WriteMCoil = 0x0F;
/// <summary>
/// 写多个寄存器10
/// </summary>
public static byte CMD_WriteMRegisters = 0x10;
/// <summary>
/// block0=原点返回，正方向
/// </summary>
public static string Block_HomeMove0 = "0";
/// <summary>
/// block1=原点返回，反方向
/// </summary>
public static string Block_HomeMove1 = "1";
/// <summary>
/// block2=绝对位置运动
/// </summary>
public static string Block_AbsMove = "2";
/// <summary>
/// block3=相对位置运动
/// </summary>
public static string Block_RelMove = "3";
/// <summary>
/// block4=正方向匀速运动
/// </summary>
public static string Block_VolMove0 = "4";
/// <summary>
/// block5=反方向匀速运动
/// </summary>
public static string Block_VolMove1 = "5";
/// <summary>
/// block6=减速停止
/// </summary>
public static string Block_DelSpeedStop = "6";
/// <summary>
/// block7=紧急停止
/// </summary>
public static string Block_SuddenStop = "7";
public static byte[] buildCheckData(byte[] sendData, int length)
{
ushort pChecksum = 0;
AcSerialBean.CalculateCRC(sendData, length, out pChecksum);
string checkStr = Convert.ToString(pChecksum, 16);
byte[] checkByte = AcSerialBean.StringToByte(checkStr);
if (checkByte.Length == 1)
{
sendData[length] = checkByte[0];
sendData[length + 1] = 0x00;
}
else
{
sendData[length + 1] = checkByte[0];
sendData[length] = checkByte[1];
}
return sendData;
}
public static byte[] GetWriteData(int slvAddr, byte cmd, string addr, string dataValue, int length)
{
// （ 2） 读取寄存器（ 03h）
if (cmd.Equals(CMD_ReadRegisters))
{
return Get03WriteData(slvAddr, addr,length);
}
else if (cmd.Equals(CMD_WriteRegisters))
{
// （ 4） 写入寄存器（ 06h）
return Get06WriteData(slvAddr, addr, dataValue);
}
else if (cmd.Equals(CMD_WriteCoil))
{
return Get05WriteData(slvAddr, addr, dataValue);
}
else if (cmd.Equals(CMD_ReadCoil))
{
return Get01WriteData(slvAddr, addr, length);
}
return null;
}
private static byte[] Get05WriteData(int slvAddr, string addr, string dataValue)
{
byte[] sendData = new byte[8];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_WriteCoil;
byte[] addrByte = AcSerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = AcSerialBean.StringToByte(dataValue);
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[5] = dataByte[1];
sendData[4] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length - 2);
return sendData;
}
private static byte[] Get01WriteData(int slvAddr, string addr, int length)
{
byte[] sendData = new byte[8];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_ReadCoil;
byte[] addrByte = AcSerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = AcSerialBean.StringToByte(length.ToString());
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[4] = dataByte[1];
sendData[5] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length - 2);
return sendData;
}
private static byte[] Get03WriteData(int slvAddr, string addr, int length)
{
// （ 2） 读取寄存器（ 03h）
//发送
//从站地址
//03h
//寄存器起始地址 高位
//低位
//寄存器数(N) 高位
//低位
//CRC 低位
//高位
byte[] sendData = new byte[8 ];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_ReadRegisters;
byte[] addrByte = AcSerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = AcSerialBean.StringToByte(length.ToString());
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[4] = dataByte[1];
sendData[5] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length-2);
return sendData;
}
private static byte[] Get06WriteData(int slvAddr, string addr, string dataValue)
{
// （ 4） 写入寄存器（ 06h）
//从站地址
//06h
//地址 高位
//低位
//変更数据 高位
//低位
//CRC 低位
//高位
byte[] sendData = new byte[8];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_WriteRegisters;
byte[] addrByte = AcSerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = AcSerialBean.StringToByte(dataValue);
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[4] = dataByte[0];
sendData[5] = dataByte[1];
//sendData[4] = dataByte[1];
//sendData[5] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length - 2);
return sendData;
}
}
}
source/DeviceLibrary/AXIS/PanasonicServo/ACServerManager.cs 0 → 100644
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
/// <summary>
/// 外部调用的接口放在此文件中
/// </summary>
public partial class ACServerManager : AxisManager
{
private int SleepMSendons = 20;
private int ReviceOutTimeMS = 100;
private Dictionary<string, Dictionary<string, int>> ComAddrValue = new Dictionary<string, Dictionary<string, int>>();
private string mapObj = "";
private int GetAddrValue(string portName, short slvAddr, string addr)
{
int value = -1;
try
{
string name = portName + "_" + slvAddr;
Dictionary<string, int> map = null;
ComAddrValue.TryGetValue(name, out map);
if (map == null)
{
return -1;
}
if (map.ContainsKey(addr))
{
return map[addr];
}
}
catch (Exception ex)
{
LogUtil.error("UpdateAddrValue出错：" + ex.ToString());
}
return value;
}
private void UpdateAddrValue(string portName, short slvAddr, string addr, int value)
{
try
{
lock (mapObj)
{
string name = portName + "_" + slvAddr;
Dictionary<string, int> map = null;
ComAddrValue.TryGetValue(name, out map);
if (map == null)
{
map = new Dictionary<string, int>();
ComAddrValue.Add(name, map);
}
if (map.ContainsKey(addr))
{
ComAddrValue[name][addr] = value;
}
else
{
ComAddrValue[name].Add(addr, value);
}
}
}
catch (Exception ex)
{
LogUtil.error("UpdateAddrValue出错：" + ex.ToString());
}
}
public override void ClearSpeed()
{
LogUtil.info("清理之前设置保存的速度列表");
ComAddrValue = new Dictionary<string, Dictionary<string, int>>();
}
public override bool OpenPort(string portName)
{
if (serialBeanMap.ContainsKey(portName))
{
return true;
}
int ACBaudRate = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
if (ACBaudRate <= 0)
{
ACBaudRate = 115200;
}
AcSerialBean bean = new AcSerialBean(portName, ACBaudRate, Parity.Even, 8, StopBits.One);
bool result = bean.openPort();
if (!result)
{
LogUtil.info("打开串口【" + portName + "】【" + ACBaudRate + "】失败");
return false;
}
LogUtil.info("打开串口【" + portName + "】【" + ACBaudRate + "】成功");
//bean.DataReceived += DataReceived;
if (serialBeanMap.ContainsKey(portName))
{
serialBeanMap.Remove(portName);
}
serialBeanMap.Add(portName, bean);
return true;
}
public override void ColsePort(string portName)
{
AcSerialBean bean = GetSerialBean(portName);
if (bean == null)
{
LogUtil.info("串口【" + portName + "】未打开，不需要关闭");
return;
}
//清理缓存
bean.clearInBuffer();
bean.clearOutBuffer();
bean.closePort();
if (serialBeanMap.ContainsKey(portName))
{
serialBeanMap.Remove(portName);
}
LogUtil.info("ACServerManager 关闭串口【" + portName + "】 ");
}
public override void CloseAllPort()
{
List<string> kes = new List<string>(serialBeanMap.Keys);
foreach (string key in kes)
{
ColsePort(key);
}
}
/// <summary>
/// 是否成功打开伺服
/// </summary>
public override bool IsServeoOn(string portName, short slvAddr)
{
if (!serialBeanMap.ContainsKey(portName))
{
return false;
}
PreReadCoilAddr = ACCMDManager.ServerOn_Addr;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, PreReadCoilAddr, "0000", 1);
//SendData(portName,dataArray);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
int result = GetCoilData(portName, reviceData, PreReadCoilAddr);
//TODO
return result >= 1;
}
/// <summary>
/// 是否原点返回完成
/// </summary>
public override bool IsHomeMoveEnd(string portName, short slvAddr)
{
int status = GetHomeEndStatus(portName, slvAddr);
if (status >= 1)
{
return true;
}
return false;
}
//把数字转换为四位的字符串
public string SpeedToStr(int speed, int length)
{
string str = String.Format("{0:X}", speed);
return str.PadLeft(length, '0');
}
public override void InitSlvAddr(string portName, short slvAddr, int targetSpeed, int addSpeed, int delSpeed)
//public void InitSlvAddr(string portName, short slvAddr,int targetSpeed,int addSpeed,int delSpeed,int homeHighSpeed,int homeLowSpeed,int homeAddSpeed)
{
LogUtil.info("开始初始化伺服【" + portName + "】【" + slvAddr + "】");
//写入block
int sleep = 20;
string slvAddrStr = string.Format(strFromat, slvAddr);
//block0=原点返回，正方向
string str0 = slvAddrStr + "104800 000408 00000420 00000000 ffff";
SendStrAndSleep(portName, str0, sleep);
//block1=原点返回，反方向
string str1 = slvAddrStr + "104804 000408 04000420 00000000 ffff";
SendStrAndSleep(portName, str1, sleep);
//block2=绝对位置运动
string str2 = slvAddrStr + "104808 000408 10000211EC78FFFF ffff";
SendStrAndSleep(portName, str2, sleep);
//block3=相对位置运动
string str3 = slvAddrStr + "10480C 000408 10000111EC78FFFF ffff";
SendStrAndSleep(portName, str3, sleep);
//block4=正方向匀速运动
string str4 = slvAddrStr + "104810 000408 10000311 00000000 ffff";
SendStrAndSleep(portName, str4, sleep);
//block5=反方向匀速运动
string str5 = slvAddrStr + "104814 000408 14000311 00000000 ffff";
SendStrAndSleep(portName, str5, sleep);
//block6=减速停止
string str6 = slvAddrStr + "104818 000408 00000500 00000000 ffff";
SendStrAndSleep(portName, str6, sleep);
//block7=紧急停止
string str7 = slvAddrStr + "10481c 000408 00000510 00000000 ffff";
SendStrAndSleep(portName, str7, sleep);
//0106460001009D12
//速度 V1 =100
string v1 = slvAddrStr + "064601 " + SpeedToStr(targetSpeed, 4) + " ffff";
SendStrAndSleep(portName, v1, sleep);
//加速度 A1 =30
string a1 = slvAddrStr + "064611 " + SpeedToStr(addSpeed, 4) + " ffff";
SendStrAndSleep(portName, a1, sleep);
//减速度 D1=30
string d1 = slvAddrStr + "064621 " + SpeedToStr(delSpeed, 4) + " ffff";
SendStrAndSleep(portName, d1, sleep);
////原点返回高速 homeHighSpeed=100
//SendStrAndSleep(portName, slvAddrStr + "06 4637 " + SpeedToStr(homeHighSpeed, 4) + " ffff", sleep);
////原点返回抵速 homeLowSpeed=50
//SendStrAndSleep(portName, slvAddrStr + "06 4638 " + SpeedToStr(homeLowSpeed, 4) + " ffff", sleep);
////原点返回加速度=30
//SendStrAndSleep(portName, slvAddrStr + "06 4639 " + SpeedToStr(homeAddSpeed, 4) + " ffff", sleep);
//UpdateEEPROM(portName, slvAddr);
}
public void UpdateEEPROM(string portName, short slvAddr)
{
string addr = ACCMDManager.EEPROM_Param_Addr;
string data = "6173";
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, addr, data, length);
SendData(portName, dataArray, 5);
}
public override void ServoOn(string portName, short slvAddr)
{
string addr = ACCMDManager.ServerOn_Addr;
string data = "FF00";
//byte cmd = 0x05;
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
public override void ServoOff(string portName, short slvAddr)
{
string addr = ACCMDManager.ServerOn_Addr;
string data = "0000";
//byte cmd = 0x05;
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
public override void RelMove(string portName, short slvAddr, int position, int targetSpeed = 0, int ptpAcc = 0, int ptpDec = 0)
{
if (targetSpeed != 0)
{
//先更新速度
string slvAddrStr = string.Format(strFromat, slvAddr);
string v1 = slvAddrStr + "064601 " + SpeedToStr(targetSpeed, 4) + " ffff";
SendStrAndSleep(portName, v1, SleepMSendons);
}
RelMove(portName, slvAddr, position);
}
private void RelMove(string portName, short slvAddr, int position)
{
//int position = Convert.ToInt32(txtPosition.Text);
byte[] positionData = AcSerialBean.StringToByte(position.ToString("X8"));
byte[] data = AcSerialBean.StringToByte("0110480C 000408 10000111EC78FFFF ffff");
data[0] = (byte)slvAddr;
data[data.Length - 1] = 0x00;
data[data.Length - 2] = 0x00;
if (positionData.Length == 4)
{
data[11] = positionData[2];
data[12] = positionData[3];
data[13] = positionData[0];
data[14] = positionData[1];
}
else if (positionData.Length == 3)
{
data[11] = positionData[1];
data[12] = positionData[2];
data[13] = 0x00;
data[14] = positionData[0];
}
else if (positionData.Length == 2)
{
data[11] = positionData[0];
data[12] = positionData[1];
data[13] = 0x00;
data[14] = 0x00;
}
else if (positionData.Length == 1)
{
data[11] = 0x00;
data[12] = positionData[0];
data[13] = 0x00;
data[14] = 0x00;
}
data = ACCMDManager.buildCheckData(data, data.Length - 2);
SendData(portName, data);
System.Threading.Thread.Sleep(SleepMSendons);
UpdateBlock(portName, slvAddr, ACCMDManager.Block_RelMove);
OpenAndCloseSTB(portName, slvAddr);
}
public override void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
{
try
{
int speed = highVel;
//先判断是否在原点，如果已经在原点，先向正方向走2000
int homeSingle = GetHomeSingle(portName, slvAddr);
if (homeSingle.Equals(1))
{
int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
if (isHomeEnd.Equals(1))
{
int value = 2000;
LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮且回过原点，需要先相对走" + value);
RelMove(portName, slvAddr, value);
bool isStop = false;
for (int i = 0; i <= 10; i++)
{
Thread.Sleep(200);
if (GetBusyStatus(portName, slvAddr).Equals(0))
{
isStop = true;
LogUtil.info("轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已结束");
break;
}
}
if (!isStop)
{
LogUtil.info("轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已等待2分钟，直接停止");
SuddenStop(portName, slvAddr);
}
}
else
{
int volSpeed = Math.Abs(speed / 5);
int time = 1500;
LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮但未回过原点，先匀速向上走" + time + "，速度[" + volSpeed + "]");
//需要匀速向上走
SpeedMove(portName, slvAddr, volSpeed);
Thread.Sleep(time);
LogUtil.info("轴【" + portName + "_" + slvAddr + "】匀速 已等待" + time + "，直接停止");
SuddenStop(portName, slvAddr);
Thread.Sleep(100);
}
}
}
catch (Exception ex)
{
LogUtil.error("轴【" + portName + "_" + slvAddr + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
}
//默认负方向原点返回
UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
Thread.Sleep(SleepMSendons);
OpenAndCloseSTB(portName, slvAddr);
}
private void SetSpeed(string portName, short slvAddr, int speed)
{
int preSpeed = GetAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr);
if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(Math.Abs(speed))))
{
string v1 = slvAddr + "064601 " + SpeedToStr(speed, 4) + " ffff";
LogUtil.debug("轴【" + portName + "_" + slvAddr + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】");
Thread.Sleep(SleepMSendons);
for (int i = 1; i <= 3; i++)
{
bool result = SendStrAndSleep(portName, v1, SleepMSendons);
if (result)
{
break;
}
else
{
LogUtil.error("轴【" + portName + "_" + slvAddr + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】,第【" + i + "】次失败");
Thread.Sleep(SleepMSendons);
}
}
UpdateAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr, Math.Abs(speed));
Thread.Sleep(SleepMSendons);
}
}
public override void SpeedMove(string portName, short slvAddr, int speed)
{
SetSpeed(portName, slvAddr, speed);
if (speed > 0)
{
UpdateBlock(portName, slvAddr, ACCMDManager.Block_VolMove0);
}
else
{
UpdateBlock(portName, slvAddr, ACCMDManager.Block_VolMove1);
}
//Thread.Sleep(SleepMSendons);
OpenAndCloseSTB(portName, slvAddr);
}
public override bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount,bool isLog = false)
{
string Name = "轴【" + portName + "_" + slvAddr + "】";
int outCount = GetActualtPosition(portName, slvAddr);
int errorCount = Math.Abs(outCount - PPosition);
if (errorCount <= canErrorCount)
{
if (isLog)
{
LogUtil.info("【" + Name + "】isInPosition【" + PPosition + "】，当前实时位置：【" + outCount + "】 return true");
}
return true;
}
else
{
if (isLog)
{
LogUtil.info("【" + Name + "】isInPosition【" + PPosition + "】，当前实时位置：【" + outCount + "】 return false");
}
return false;
}
}
public override void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed=0,int ptpAcc=0,int ptpDec=0)
{
//先更新速度
string slvAddrStr = string.Format(strFromat, slvAddr);
if (targetSpeed != 0)
{
int preSpeed = GetAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr);
if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(targetSpeed)))
{
//速度 V1 =100
string v1 = slvAddrStr + "064601 " + SpeedToStr(targetSpeed, 4) + " ffff";
SendStrAndSleep(portName, v1, SleepMSendons);
UpdateAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr, targetSpeed);
}
}
//绝对运动
AbsMove(portName, slvAddr, targetPosition);
}
private void AbsMove(string portName, short slvAddr, int position)
{
//int position = Convert.ToInt32(txtPosition.Text, 10);
byte[] positionData = AcSerialBean.StringToByte(position.ToString("X8"));
byte[] data = AcSerialBean.StringToByte("01104808 000408 10000211 EC78FFFF ffff");
data[0] = (byte)slvAddr;
data[data.Length - 1] = 0x00;
data[data.Length - 2] = 0x00;
if (positionData.Length == 4)
{
data[11] = positionData[2];
data[12] = positionData[3];
data[13] = positionData[0];
data[14] = positionData[1];
}
else if (positionData.Length == 3)
{
data[11] = positionData[1];
data[12] = positionData[2];
data[13] = 0x00;
data[14] = positionData[0];
}
else if (positionData.Length == 2)
{
data[11] = positionData[0];
data[12] = positionData[1];
data[13] = 0x00;
data[14] = 0x00;
}
else if (positionData.Length == 1)
{
data[11] = 0x00;
data[12] = positionData[0];
data[13] = 0x00;
data[14] = 0x00;
}
data = ACCMDManager.buildCheckData(data, data.Length - 2);
SendData(portName, data);
Thread.Sleep(SleepMSendons);
UpdateBlock(portName, slvAddr, ACCMDManager.Block_AbsMove);
//data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_AbsMove, 2);
//SendData(portName, data);
//Thread.Sleep(SleepMSendons);
OpenAndCloseSTB(portName, slvAddr);
}
public override bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError)
{
countError = false;
bool isOk = AxisManager.instance.GetBusyStatus(portName, axisNo).Equals(0);
int CurrPosition = AxisManager.instance.GetActualtPosition(portName, axisNo);
int errorCount = Math.Abs(CurrPosition - targetPosition);
if (isOk)
{
if (errorCount <= canErrorCount)
{
return true;
}
else
{
countError = true;
}
}
return false;
}
public override short GetErrorCode(string portName, short slvAddr)
{
return 0;
}
}
}
source/DeviceLibrary/AXIS/PanasonicServo/ACServerManager_Partial.cs 0 → 100644
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
namespace OnlineStore.DeviceLibrary
{
partial class ACServerManager
{
private Dictionary<int, Dictionary<string, RegisterInfo>> LastDataMap = new Dictionary<int, Dictionary<string, RegisterInfo>>();
private string strFromat = "{0:X2}";
private Dictionary<string, AcSerialBean> serialBeanMap = new Dictionary<string, AcSerialBean>();
private AcSerialBean GetSerialBean(string portName)
{
if (serialBeanMap.ContainsKey(portName))
{
return serialBeanMap[portName];
}
return null;
}
private bool SendStrAndSleep(string portName, string str, int sleepS)
{
byte[] data = AcSerialBean.StringToByte(str);
data[data.Length - 1] = 0x00;
data[data.Length - 2] = 0x00;
data = ACCMDManager.buildCheckData(data, data.Length - 2);
bool result = SendData(portName, data);
System.Threading.Thread.Sleep(sleepS);
return result;
}
private void SaveData(string portName, byte slvAddr, string regAddr, int value)
{
if (LastDataMap.ContainsKey(slvAddr))
{
if (LastDataMap[slvAddr].ContainsKey(regAddr))
{
LastDataMap[slvAddr][regAddr] = new RegisterInfo(slvAddr, regAddr, value);
}
else
{
LastDataMap[slvAddr].Add(regAddr, new RegisterInfo(slvAddr, regAddr, value));
}
}
else
{
Dictionary<string, RegisterInfo> map = new Dictionary<string, RegisterInfo>();
map.Add(regAddr, new RegisterInfo(slvAddr, regAddr, value));
LastDataMap.Add(slvAddr, map);
}
}
private RegisterInfo GetData(string portName, byte slvAddr, string regAddr)
{
if (LastDataMap.ContainsKey(slvAddr))
{
if (LastDataMap[slvAddr].ContainsKey(regAddr))
{
return LastDataMap[slvAddr][regAddr];
}
}
return null;
}
private void SendData(string portName, byte[] data, int reviceLength)
{
if (data == null)
{
return;
}
byte[] returnData = SendCommand(portName, data, ReviceOutTimeMS, reviceLength);
string strSend = "";
for (int i = 0; i < returnData.Length; i++)
{
strSend += string.Format("{0:X2} ", returnData[i]);
}
if (IsShowMsg)
{
LogUtil.info( "串口" + portName + " 收到数据：" + strSend + "");
}
}
private bool SendData(string portName, byte[] data)
{
if (data == null)
{
return false;
}
bool result = false;
byte[] returnData = SendCommand(portName, data, ReviceOutTimeMS, 8, out result);
if (returnData != null)
{
string strSend = "";
for (int i = 0; i < returnData.Length; i++)
{
strSend += string.Format("{0:X2} ", returnData[i]);
}
if (IsShowMsg)
{
LogUtil.info("串口" + portName + " 收到数据：" + strSend + "");
}
}
return result;
}
/// <summary>
/// 发送数据并获取返回值
/// </summary>
/// <param name="data">发送的数据</param>
/// <param name="outTime">超时时间</param>
/// <returns>返回值的长度</returns>
private byte[] SendCommand(string portName, byte[] data, int outTime, int reviceLength)
{
if (outTime <100)
{
outTime = 100;
}
byte[] returnData = null;
try
{
if (data == null)
{
return returnData;
}
string strSend = "";
for (int i = 0; i < data.Length; i++)
{
strSend += string.Format("{0:X2} ", data[i]);
}
if (strSend.Equals(""))
{
return returnData;
}
if (IsShowMsg)
{
LogUtil.info( "串口" + portName + " 写入数据：" + strSend + "");
}
AcSerialBean bean = GetSerialBean(portName);
if (bean == null)
{
LogUtil.debug("ACServerManager SendCommand 试图向未打开串口【" + portName + "】写入数据：" + strSend + "。");
}
else
{
int ret= bean.SendCommand(data, ref returnData, outTime, reviceLength);
if (!ret.Equals(reviceLength))
{
LogUtil.error("串口" + portName + " 写入数据：" + strSend + "，预计返回字节数【"+reviceLength+"】实际返回【"+ret+"】");
}
System.Threading.Thread.Sleep(2);
}
}
catch (Exception ex)
{
LogUtil.info(ex.ToString());
}
return returnData;
}
/// <summary>
/// 发送数据并获取返回值
/// </summary>
/// <param name="data">发送的数据</param>
/// <param name="outTime">超时时间</param>
/// <param name="result">返回结果，是否发送成功</param>
/// <returns>返回值的长度</returns>
private byte[] SendCommand(string portName, byte[] data, int outTime, int reviceLength,out bool result)
{
if (outTime < 100)
{
outTime = 100;
}
byte[] returnData = null;
result = false;
try
{
if (data == null)
{
return returnData;
}
string strSend = "";
for (int i = 0; i < data.Length; i++)
{
strSend += string.Format("{0:X2} ", data[i]);
}
if (strSend.Equals(""))
{
return returnData;
}
if (IsShowMsg)
{
LogUtil.info("串口" + portName + " 写入数据：" + strSend + "");
}
AcSerialBean bean = GetSerialBean(portName);
if (bean == null)
{
LogUtil.debug("ACServerManager SendCommand 试图向未打开串口【" + portName + "】写入数据：" + strSend + "。");
}
else
{
int ret = bean.SendCommand(data, ref returnData, outTime, reviceLength);
if (!ret.Equals(reviceLength))
{
LogUtil.error("串口" + portName + " 写入数据：" + strSend + "，预计返回字节数【" + reviceLength + "】实际返回【" + ret + "】");
}else
{
result = true ;
}
System.Threading.Thread.Sleep(2);
}
}
catch (Exception ex)
{
LogUtil.info(ex.ToString());
}
return returnData;
}
private void WriteData(string portName, short slvAddr, string addr, string data, byte cmd, int length)
{
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
SendData(portName, dataArray);
}
private void SendStr(string portName, short slvAddr, string str)
{
//string str = txtSendStr.Text;
byte[] data = AcSerialBean.StringToByte(str);
data[data.Length - 1] = 0x00;
data[data.Length - 2] = 0x00;
data = ACCMDManager.buildCheckData(data, data.Length - 2);
SendData(portName, data);
}
public override void SuddenStop(string portName, short slvAddr)
{
// RunBlock(7);
string addr = ACCMDManager.SDStop_Addr;
string data = "FF00";
//byte cmd = 0x05;
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
System.Threading.Thread.Sleep(500);
data = "0000";
dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
private void OpenAndCloseSTB(string portName, short slvAddr)
{
OnlyOpenSTB(portName, slvAddr);
System.Threading.Thread.Sleep(200);
CloseSTB(portName, slvAddr);
System.Threading.Thread.Sleep(SleepMSendons);
}
private void OnlyOpenSTB(string portName, short slvAddr)
{
string addr = ACCMDManager.STB_Addr;
string data = "FF00";
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
private void CloseSTB(string portName, short slvAddr)
{
string addr = ACCMDManager.STB_Addr;
string data = "0000";
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
private void UpdateBlock(string portName, short slvAddr, string blockNum)
{
int preNum = GetAddrValue(portName,slvAddr, ACCMDManager.BlockNo);
if (preNum.Equals(-1) || (!preNum.ToString().Equals(blockNum)))
{
byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, blockNum , 2);
SendData(portName, data);
int value = Convert.ToInt16(blockNum);
UpdateAddrValue(portName,slvAddr, ACCMDManager.BlockNo, value);
Thread.Sleep(SleepMSendons);
}
}
public override void AlarmClear(string portName, short slvAddr)
{
string addr = ACCMDManager.Clear_Alarm_Addr;
string data = "FF00";
//byte cmd = 0x05;
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
System.Threading.Thread.Sleep(200);
data = "0000";
dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
private void CloseAlarmClear(string portName, short slvAddr)
{
string addr = ACCMDManager.Clear_Alarm_Addr;
string data = "0000";
//byte cmd = 0x05;
int length = 2;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
private string PreReadAddr = "";
private string PreReadCoilAddr = "";
private int GetRegisterData(string portName, byte[] reviceData, string Address)
{
if (reviceData != null && reviceData.Length > 0)
{
string strSend = "";
for (int i = 0; i < reviceData.Length; i++)
{
strSend += string.Format("{0:X2} ", reviceData[i]);
}
if (IsShowMsg)
{
LogUtil.info( "串口" + portName + " 收到数据：" + strSend + "");
}
string strFromat = "{0:X2}";
byte slvAddrR = reviceData[0];
int lenth = reviceData[2];
byte cmd = reviceData[1];
if (cmd.Equals(ACCMDManager.CMD_ReadRegisters) && reviceData.Length > 6 && lenth == 4)
{
string str = string.Format(strFromat, reviceData[5]) + string.Format(strFromat, reviceData[6]) + string.Format(strFromat, reviceData[3]) + string.Format(strFromat, reviceData[4]);
int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
SaveData(portName, slvAddrR, Address, value);
return value;
}
}
return -1;
}
public override int GetTargetPosition(string portName, short slvAddr)
{
PreReadAddr = ACCMDManager.TargetPostion;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.TargetPostion, "0000", 2);
// SendData(portName,dataArray);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9);
return GetRegisterData(portName, reviceData, ACCMDManager.TargetPostion);
}
public override int GetActualtPosition(string portName, short slvAddr)
{
PreReadAddr = ACCMDManager.ActualPosition;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.ActualPosition, "0000", 2);
// SendData(portName,dataArray);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9);
int result = -1;
for (int i = 1; i <= 3; i++)
{
result = GetRegisterData(portName, reviceData, ACCMDManager.ActualPosition);
if (!result.Equals(-1))
{
break;
}
else
{
LogUtil.error("第" + i + "次获取" + portName + "_" + slvAddr + "的实时位置" + result);
}
}
return result;
}
private int GetCoilData(string portName, byte[] reviceData, string Address)
{
if (reviceData != null && reviceData.Length > 0)
{
string strSend = "";
for (int i = 0; i < reviceData.Length; i++)
{
strSend += string.Format("{0:X2} ", reviceData[i]);
}
if (IsShowMsg)
{
LogUtil.info( "串口" + portName + " 收到数据：" + strSend + "");
}
string strFromat = "{0:X2}";
byte slvAddrR = reviceData[0];
int lenth = reviceData[2];
byte cmd = reviceData[1];
if (cmd.Equals(ACCMDManager.CMD_ReadCoil) && reviceData.Length >= 6 && lenth == 1)
{
string str = string.Format(strFromat, reviceData[3]);
int value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
SaveData(portName, slvAddrR, Address, value);
return value;
}
}
return -1;
}
public override int GetAlarmStatus(string portName, short slvAddr)
{
PreReadCoilAddr = ACCMDManager.Alarm_Status;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, PreReadCoilAddr, "0000", 1);
//SendData(portName,dataArray);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, PreReadCoilAddr);
}
public override int GetBusyStatus(string portName, short slvAddr)
{
PreReadCoilAddr = ACCMDManager.BUSYStatus;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.BUSYStatus, "0000", 1);
//SendData(portName,dataArray);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, ACCMDManager.BUSYStatus);
}
public override int GetHomeEndStatus(string portName, short slvAddr)
{
PreReadCoilAddr = ACCMDManager.HOME_CMP_Status;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.HOME_CMP_Status, "0000", 1);
//SendData(portName,dataArray);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, ACCMDManager.HOME_CMP_Status);
}
public override int GetHomeSingle(string portName, short slvAddr)
{
PreReadCoilAddr = ACCMDManager.Home_Single;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.Home_Single, "0000", 1);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
}
/// <summary>
/// 负极限
/// </summary>
public override int GetLimitNegativeSingle(string portName, short slvAddr)
{
PreReadCoilAddr = ACCMDManager.Home_Single;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.Limit_Negative_Single, "0000", 1);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
}
/// <summary>
/// 负极限
/// </summary>
/// <summary>
/// 正极限
/// </summary>
public override int GetLimitPositiveSingle(string portName, short slvAddr)
{
PreReadCoilAddr = ACCMDManager.Home_Single;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.Limit_Positive_Single, "0000", 1);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
}
public override bool OpenCard()
{
return true;
}
public override bool CloseCard()
{
return true;
}
}
/// <summary>
/// 记录最后一次获得的寄存器的值
/// </summary>
public class RegisterInfo
{
public RegisterInfo(short slv, string addr, int data)
{
this.SlvAddr = slv;
this.RegisterAddr = addr;
this.LastData = data;
this.LastTime = new DateTime();
}
public short SlvAddr { get; set; }
public string RegisterAddr { get; set; }
public int LastData { get; set; }
public DateTime LastTime { get; set; }
}
}
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -46,13 +46,12 @@ ...@@ -46,13 +46,12 @@
<Reference Include="CodeLibrary"> <Reference Include="CodeLibrary">
<HintPath>..\..\dll\CodeLibrary.dll</HintPath> <HintPath>..\..\dll\CodeLibrary.dll</HintPath>
</Reference> </Reference>
<Reference Include="DeviceLib, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\DeviceLib.dll</HintPath>
</Reference>
<Reference Include="halcondotnet"> <Reference Include="halcondotnet">
<HintPath>..\..\dll\halcondotnet.dll</HintPath> <HintPath>..\..\dll\halcondotnet.dll</HintPath>
</Reference> </Reference>
<Reference Include="HuichuanLibrary">
<HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
</Reference>
<Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL"> <Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\log4net.dll</HintPath> <HintPath>..\..\dll\log4net.dll</HintPath>
...@@ -68,6 +67,12 @@ ...@@ -68,6 +67,12 @@
<Reference Include="System.Xml" /> <Reference Include="System.Xml" />
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<Compile Include="AXIS\AxisManager.cs" />
<Compile Include="AXIS\HC\HCAxisManager.cs" />
<Compile Include="AXIS\PanasonicServo\ACCMDManager.cs" />
<Compile Include="AXIS\PanasonicServo\ACServerManager.cs" />
<Compile Include="AXIS\PanasonicServo\ACServerManager_Partial.cs" />
<Compile Include="device\IO\HCIOManager.cs" />
<Compile Include="duoStore\AxisBean.cs" /> <Compile Include="duoStore\AxisBean.cs" />
<Compile Include="duoStore\BoxBean.cs" /> <Compile Include="duoStore\BoxBean.cs" />
<Compile Include="duoStore\BoxBean_Partial.cs" /> <Compile Include="duoStore\BoxBean_Partial.cs" />
......
source/DeviceLibrary/StoreConfig/StoreConfig.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,,T1_提升机构升降轴,T1_Batch_Axis,1,COM3,,250,500,500,100,200,1000,10,1000,0,0 AXIS,,T1_提升机构升降轴,T1_Batch_Axis,1,COM3,,250,500,500,100,200,1000,10,1000,0,0,
AXIS,,T2_取料机构旋转轴,T2_Middle_Axis,2,COM3,,1000,1000,1000,200,500,500,10,1000,0,0 AXIS,,T2_取料机构旋转轴,T2_Middle_Axis,2,COM3,,1000,1000,1000,200,500,500,10,1000,0,0,
AXIS,,T3_取料机构上下轴,T3_Updown_Axis,3,COM3,,800,1000,1000,200,500,500,10,1000,0,0 AXIS,,T3_取料机构上下轴,T3_Updown_Axis,3,COM3,,800,1000,1000,200,500,500,10,1000,0,0,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
PRO,,IO模块对应的DI数量,IO_DILength,192.168.201.21#16;192.168.201.22#16;192.168.200.23#8,,,,,,,,,,,, PRO,,IO模块对应的DI数量,IO_DILength,192.168.201.21#16;192.168.201.22#16;192.168.200.23#8,,,,,,,,,,,,,
PRO,,IO模块对应的DO数量,IO_DOLength,192.168.201.21#16;192.168.201.22#16;192.168.200.23#8,,,,,,,,,,,, PRO,,IO模块对应的DO数量,IO_DOLength,192.168.201.21#16;192.168.201.22#16;192.168.200.23#8,,,,,,,,,,,,,
PRO,,第一块IO模块IP,PRO_AIO_IP_1,192.168.200.21,,,,,,,,,,,, PRO,,第一块IO模块IP,PRO_AIO_IP_1,192.168.200.21,,,,,,,,,,,,,
PRO,,第二块IO模块IP,PRO_AIO_IP_2,192.168.200.22,,,,,,,,,,,, PRO,,第二块IO模块IP,PRO_AIO_IP_2,192.168.200.22,,,,,,,,,,,,,
PRO,,第三块IO模块IP,PRO_AIO_IP_3,192.168.200.23,,,,,,,,,,,, PRO,,第三块IO模块IP,PRO_AIO_IP_3,192.168.200.23,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
DI,0,急停,SuddenStop_BTN,0,PRO_AIO_IP_1,X01,,,,,,,,,, DI,0,急停,SuddenStop_BTN,0,PRO_AIO_IP_1,X01,X00,急停,,,,,,,,,
DI,0,复位,Reset_BTN,1,PRO_AIO_IP_1,X02,,,,,,,,,, DI,0,复位,Reset_BTN,1,PRO_AIO_IP_1,X02,X01,复位,,,,,,,,,
DI,0,启动,AutoRun_BTN,2,PRO_AIO_IP_1,X03,,,,,,,,,, DI,0,启动,AutoRun_BTN,2,PRO_AIO_IP_1,X03,*,,,,,,,,,,
DI,0,气压检测,Airpressure_Check,3,PRO_AIO_IP_1,X04,,,,,,,,,, DI,0,气压检测,Airpressure_Check,3,PRO_AIO_IP_1,X04,X02,气压检测,,,,,,,,,
DI,0,线体入口料串检测,Line_InCheck,4,PRO_AIO_IP_1,X05,,,,,,,,,, DI,0,线体入口料串检测,Line_InCheck,4,PRO_AIO_IP_1,X05,X03,线体入口料串检测,,,,,,,,,
DI,0,线体上料等待区检测,Line_WaitCheck,5,PRO_AIO_IP_1,X06,,,,,,,,,, DI,0,线体上料等待区检测,Line_WaitCheck,5,PRO_AIO_IP_1,X06,X04,线体上料等待区检测,,,,,,,,,
DI,0,线体上料区料串检测,Line_WorkCheck,6,PRO_AIO_IP_1,X07,,,,,,,,,, DI,0,线体上料区料串检测,Line_WorkCheck,6,PRO_AIO_IP_1,X07,,,,,,,,,,,
DI,0,料串识别检测1,ShelfCheck1,7,PRO_AIO_IP_1,X08,,,,,,,,,, DI,0,料串识别检测1,ShelfCheck1,7,PRO_AIO_IP_1,X08,,,,,,,,,,,
DI,0,料串识别检测2,ShelfCheck2,8,PRO_AIO_IP_1,X09,,,,,,,,,, DI,0,料串识别检测2,ShelfCheck2,8,PRO_AIO_IP_1,X09,,,,,,,,,,,
DI,0,料串识别检测3,ShelfCheck3,9,PRO_AIO_IP_1,X10,,,,,,,,,, DI,0,料串识别检测3,ShelfCheck3,9,PRO_AIO_IP_1,X10,,,,,,,,,,,
DI,0,料串识别检测4,ShelfCheck4,10,PRO_AIO_IP_1,X11,,,,,,,,,, DI,0,料串识别检测4,ShelfCheck4,10,PRO_AIO_IP_1,X11,,,,,,,,,,,
DI,0,线体后端料串堆积检测,Line_BufferCheck,11,PRO_AIO_IP_1,X12,,,,,,,,,, DI,0,线体后端料串堆积检测,Line_BufferCheck,11,PRO_AIO_IP_1,X12,,,,,,,,,,,
DI,0,线体后端料串检测,Line_OutCheck,12,PRO_AIO_IP_1,X13,,,,,,,,,, DI,0,线体后端料串检测,Line_OutCheck,12,PRO_AIO_IP_1,X13,,,,,,,,,,,
DI,0,线体顶升气缸上升端,TopCylinder_Up,13,PRO_AIO_IP_1,X14,,,,,,,,,, DI,0,线体顶升气缸上升端,TopCylinder_Up,13,PRO_AIO_IP_1,X14,,,,,,,,,,,
DI,0,线体顶升气缸下降端,TopCylinder_Down,14,PRO_AIO_IP_1,X15,,,,,,,,,, DI,0,线体顶升气缸下降端,TopCylinder_Down,14,PRO_AIO_IP_1,X15,,,,,,,,,,,
DI,0,取料提升机构前进端,Hoister_Forward,15,PRO_AIO_IP_1,X16,,,,,,,,,, DI,0,取料提升机构前进端,Hoister_Forward,15,PRO_AIO_IP_1,X16,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
DO,0,自动指示灯,AutoRun_HddLed,0,PRO_AIO_IP_1,Y01,,,,,,,,,, DO,0,自动指示灯,AutoRun_HddLed,0,PRO_AIO_IP_1,Y01,Y00,自动指示灯,,,,,,,,,
DO,0,故障指示灯,Alarm_HddLed,1,PRO_AIO_IP_1,Y02,,,,,,,,,, DO,0,故障指示灯,Alarm_HddLed,1,PRO_AIO_IP_1,Y02,Y01,故障指示灯,,,,,,,,,
DO,0,待机指示灯,RunSign_HddLed,2,PRO_AIO_IP_1,Y03,,,,,,,,,, DO,0,待机指示灯,RunSign_HddLed,2,PRO_AIO_IP_1,Y03,Y02,待机指示灯,,,,,,,,,
DO,0,报警蜂鸣器,Alarm_Buzzer,3,PRO_AIO_IP_1,Y04,,,,,,,,,, DO,0,报警蜂鸣器,Alarm_Buzzer,3,PRO_AIO_IP_1,Y04,Y03,报警蜂鸣器,,,,,,,,,
DO,1,左侧料口物料指示灯绿色,DoorLed_Green,4,PRO_AIO_IP_1,Y05,,,,,,,,,, DO,1,左侧料口物料指示灯绿色,DoorLed_Green,4,PRO_AIO_IP_1,Y05,Y04,左侧料口绿色指示灯,,,,,,,,,
DO,1,左侧料口物料指示灯红色,DoorLed_Red,5,PRO_AIO_IP_1,Y06,,,,,,,,,, DO,1,左侧料口物料指示灯红色,DoorLed_Red,5,PRO_AIO_IP_1,Y06,Y05,左侧料口红色指示灯,,,,,,,,,
DO,2,右侧料口物料指示灯绿色,DoorLed_Green,6,PRO_AIO_IP_1,Y07,,,,,,,,,, DO,2,右侧料口物料指示灯绿色,DoorLed_Green,6,PRO_AIO_IP_1,Y07,Y06,右侧料口绿色指示灯,,,,,,,,,
DO,2,右侧料口物料指示灯红色,DoorLed_Red,7,PRO_AIO_IP_1,Y08,,,,,,,,,, DO,2,右侧料口物料指示灯红色,DoorLed_Red,7,PRO_AIO_IP_1,Y08,Y07,右侧料口红色指示灯,,,,,,,,,
DO,0,取料提升机构电机前进,Hoister_Forward,8,PRO_AIO_IP_1,Y09,,,,,,,,,, DO,0,取料提升机构电机前进,Hoister_Forward,8,PRO_AIO_IP_1,Y09,,,,,,,,,,,
DO,0,取料提升机构电机后退,Hoister_Back,9,PRO_AIO_IP_1,Y10,,,,,,,,,, DO,0,取料提升机构电机后退,Hoister_Back,9,PRO_AIO_IP_1,Y10,,,,,,,,,,,
DO,0,相机光源ON,Camera_Led,10,PRO_AIO_IP_1,Y11,,,,,,,,,, DO,0,相机光源ON,Camera_Led,10,PRO_AIO_IP_1,Y11,Y09,相机光源开启,,,,,,,,,
DO,1,左侧料仓升降轴刹车ON,UpdownAxis_Break,11,PRO_AIO_IP_1,Y12,,,,,,,,,, DO,1,*左侧料仓升降轴刹车ON,UpdownAxis_Break,11,PRO_AIO_IP_1,Y12,*,,,,,,,,,,
DO,2,右侧料仓升降轴刹车ON,UpdownAxis_Break,12,PRO_AIO_IP_1,Y13,,,,,,,,,, DO,2,*右侧料仓升降轴刹车ON,UpdownAxis_Break,12,PRO_AIO_IP_1,Y13,*,,,,,,,,,,
DO,0,提升机构升降轴刹车ON,BatchAxis_Break,13,PRO_AIO_IP_1,Y14,,,,,,,,,, DO,0,*提升机构升降轴刹车ON,BatchAxis_Break,13,PRO_AIO_IP_1,Y14,*,,,,,,,,,,
DO,0,移栽机构上下轴刹车ON,MoveAxis_Break,14,PRO_AIO_IP_1,Y15,,,,,,,,,, DO,0,*移栽机构上下轴刹车ON,MoveAxis_Break,14,PRO_AIO_IP_1,Y15,*,,,,,,,,,,
DO,1,左侧料仓伺服ON,Axis_Run,15,PRO_AIO_IP_1,Y16,,,,,,,,,, DO,1,*左侧料仓伺服ON,Axis_Run,15,PRO_AIO_IP_1,Y16,*,,,,,,,,,,
,,,,,,, ,,,,,,,,, ,,,,,,, ,,,,,,,,,,
DI,0,取料提升机构后退端,Hoister_Back,0,PRO_AIO_IP_2,X21, ,,,,,,,,, DI,0,取料提升机构后退端,Hoister_Back,0,PRO_AIO_IP_2,X21, ,,,,,,,,,,
DI,0,提升机构料盘检测,BatchAxis_Check,1,PRO_AIO_IP_2,X22,,,,,,,,,, DI,0,提升机构料盘检测,BatchAxis_Check,1,PRO_AIO_IP_2,X22,,,,,,,,,,,
DI,0,取料气缸放松端,ClampCylinder_Relax,2,PRO_AIO_IP_2,X23,,,,,,,,,, DI,0,*取料气缸放松端,ClampCylinder_Relax,2,PRO_AIO_IP_2,X23,*,,,,,,,,,,
DI,0,取料气缸夹紧端,ClampCylinder_Clamp,3,PRO_AIO_IP_2,X24,,,,,,,,,, DI,0,*取料气缸夹紧端,ClampCylinder_Clamp,3,PRO_AIO_IP_2,X24,*,,,,,,,,,,
DI,1,左侧出料口安全光栅,OutDoor_SafeSignal,4,PRO_AIO_IP_2,X25,,,,,,,,,, DI,1,左侧出料口安全光栅,OutDoor_SafeSignal,4,PRO_AIO_IP_2,X25,X12,左侧出料口安全光栅,,,,,,,,,
DI,1,左侧暂存区料盘检测,InDoor_Check,5,PRO_AIO_IP_2,X26,,,,,,,,,, DI,1,左侧暂存区料盘检测,InDoor_Check,5,PRO_AIO_IP_2,X26,X11,左侧暂存区料盘检测,,,,,,,,,
DI,1,左侧出料口门上升/打开端,OutDoor_Up,6,PRO_AIO_IP_2,X27,,,,,,,,,, DI,1,左侧出料口门上升/打开端,OutDoor_Up,6,PRO_AIO_IP_2,X27,X13,左侧出料口门上升端,,,,,,,,,
DI,1,左侧出料口门下降/关闭端,OutDoor_Down,7,PRO_AIO_IP_2,X28,,,,,,,,,, DI,1,左侧出料口门下降/关闭端,OutDoor_Down,7,PRO_AIO_IP_2,X28,X14,左侧出料口门下降端,,,,,,,,,
DI,1,左侧出料口料盘检测,OutDoor_Check,8,PRO_AIO_IP_2,X29,,,,,,,,,, DI,1,左侧出料口料盘检测,OutDoor_Check,8,PRO_AIO_IP_2,X29,X15,左侧出料口料盘检测,,,,,,,,,
DI,1,左侧料叉料盘检测,Fixture_Check,9,PRO_AIO_IP_2,X30,,,,,,,,,, DI,1,左侧料叉料盘检测,Fixture_Check,9,PRO_AIO_IP_2,X30,X16,左侧料叉料盘检测,,,,,,,,,
DI,2,右侧出料口安全光栅,OutDoor_SafeSignal,10,PRO_AIO_IP_2,X31,,,,,,,,,, DI,2,右侧出料口安全光栅,OutDoor_SafeSignal,10,PRO_AIO_IP_2,X31,X19,右侧出料口安全光栅,,,,,,,,,
DI,2,右侧暂存区料盘检测,InDoor_Check,11,PRO_AIO_IP_2,X32,,,,,,,,,, DI,2,右侧暂存区料盘检测,InDoor_Check,11,PRO_AIO_IP_2,X32,X18,右侧暂存区料盘检测,,,,,,,,,
DI,2,右侧出料口门上升/打开端,OutDoor_Up,12,PRO_AIO_IP_2,X33,,,,,,,,,, DI,2,右侧出料口门上升/打开端,OutDoor_Up,12,PRO_AIO_IP_2,X33,X20,右侧出料口门上升端,,,,,,,,,
DI,2,右侧出料口门下降/关闭端,OutDoor_Down,13,PRO_AIO_IP_2,X34,,,,,,,,,, DI,2,右侧出料口门下降/关闭端,OutDoor_Down,13,PRO_AIO_IP_2,X34,X21,右侧出料口门下降端,,,,,,,,,
DI,2,右侧料叉料盘检测,Fixture_Check,14,PRO_AIO_IP_2,X35,,,,,,,,,, DI,2,右侧料叉料盘检测,Fixture_Check,14,PRO_AIO_IP_2,X35,X23,右侧料叉料盘检测,,,,,,,,,
DI,2,右侧出料口料盘检测,OutDoor_Check,15,PRO_AIO_IP_2,X36,,,,,,,,,, DI,2,右侧出料口料盘检测,OutDoor_Check,15,PRO_AIO_IP_2,X36,X22,右侧出料口料盘检测,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
DO,2,右侧料仓伺服ON,Axis_Run,0,PRO_AIO_IP_2,Y21,,,,,,,,,, DO,2,*右侧料仓伺服ON,Axis_Run,0,PRO_AIO_IP_2,Y21,*,,,,,,,,,,
DO,0,取料机构伺服ON,MoveAxis_Run,1,PRO_AIO_IP_2,Y22,,,,,,,,,, DO,0,*取料机构伺服ON,MoveAxis_Run,1,PRO_AIO_IP_2,Y22,*,,,,,,,,,,
DO,0,线体皮带正转,Line_Run,2,PRO_AIO_IP_2,Y23,,,,,,,,,, DO,0,线体皮带正转,Line_Run,2,PRO_AIO_IP_2,Y23,Y11,横移电机正转,,,,,,,,,
DO,0,线体皮带反转,Line_BackRun,3,PRO_AIO_IP_2,Y24,,,,,,,,,, DO,0,线体皮带反转,Line_BackRun,3,PRO_AIO_IP_2,Y24,Y12,横移电机反转,,,,,,,,,
DO,0,线体等待区阻挡1上升,Line_Stop1_Wait,4,PRO_AIO_IP_2,Y25,,,,,,,,,, DO,0,线体等待区阻挡1上升,Line_Stop1_Wait,4,PRO_AIO_IP_2,Y25,Y16,线体等待区阻挡上升,,,,,,,,,
DO,0,线体上料区阻挡2上升,Line_Stop2_Work,5,PRO_AIO_IP_2,Y26,,,,,,,,,, DO,0,线体上料区阻挡2上升,Line_Stop2_Work,5,PRO_AIO_IP_2,Y26,Y17,线体上料区阻挡上升,,,,,,,,,
DO,0,线体出料区阻挡3上升,Line_Stop3_Buffer,6,PRO_AIO_IP_2,Y27,,,,,,,,,, DO,0,线体出料区阻挡3上升,Line_Stop3_Buffer,6,PRO_AIO_IP_2,Y27,,,,,,,,,,,
DO,0,线体放行阻挡4上升,Line_Stop4_Out,7,PRO_AIO_IP_2,Y28,,,,,,,,,, DO,0,线体放行阻挡4上升,Line_Stop4_Out,7,PRO_AIO_IP_2,Y28,Y18,线体放行阻挡上升,,,,,,,,,
DO,0,线体顶升气缸上升SOL,TopCylinder_Up,8,PRO_AIO_IP_2,Y29,,,,,,,,,, DO,0,线体顶升气缸上升SOL,TopCylinder_Up,8,PRO_AIO_IP_2,Y29,Y19,线体横移顶升上升,,,,,,,,,
DO,0,线体顶升气缸下降SOL,TopCylinder_Down,9,PRO_AIO_IP_2,Y30,,,,,,,,,, DO,0,线体顶升气缸下降SOL,TopCylinder_Down,9,PRO_AIO_IP_2,Y30,Y20,线体横移顶升下降,,,,,,,,,
DO,0,取料气缸放松SOL,ClampCylinder_Relax,10,PRO_AIO_IP_2,Y31,,,,,,,,,, DO,0,取料气缸放松SOL,ClampCylinder_Relax,10,PRO_AIO_IP_2,Y31,*,,,,,,,,,,
DO,0,取料气缸夹紧SOL,ClampCylinder_Clamp,11,PRO_AIO_IP_2,Y32,,,,,,,,,, DO,0,取料气缸夹紧SOL,ClampCylinder_Clamp,11,PRO_AIO_IP_2,Y32,*,,,,,,,,,,
DO,1,左侧出料口门上升/打开SOL,OutDoor_Up,12,PRO_AIO_IP_2,Y33,,,,,,,,,, DO,1,左侧出料口门上升/打开SOL,OutDoor_Up,12,PRO_AIO_IP_2,Y33,Y25,左侧出料口门上升,,,,,,,,,
DO,1,左侧出料口门下降/关闭SOL,OutDoor_Down,13,PRO_AIO_IP_2,Y34,,,,,,,,,, DO,1,左侧出料口门下降/关闭SOL,OutDoor_Down,13,PRO_AIO_IP_2,Y34,Y26,左侧出料口门下降,,,,,,,,,
DO,2,右侧出料口门上升/打开SOL,OutDoor_Up,14,PRO_AIO_IP_2,Y35,,,,,,,,,, DO,2,右侧出料口门上升/打开SOL,OutDoor_Up,14,PRO_AIO_IP_2,Y35,Y29,右侧出料口门上升,,,,,,,,,
DO,2,右侧出料口门下降/关闭SOL,OutDoor_Down,15,PRO_AIO_IP_2,Y36,,,,,,,,,, DO,2,右侧出料口门下降/关闭SOL,OutDoor_Down,15,PRO_AIO_IP_2,Y36,Y30,右侧出料口门下降,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
DI,0,取料气缸料盘检测,ClampCylinder_Check,0,PRO_AIO_IP_3,X41,,,,,,,,,, DI,0,*取料气缸料盘检测,ClampCylinder_Check,0,PRO_AIO_IP_3,X41,,,,,,,,,,,
DI,0,线体出口放行信号,LineOut_BTN,1,PRO_AIO_IP_3,X42,,,,,,,,,, DI,0,*线体出口放行信号,LineOut_BTN,1,PRO_AIO_IP_3,X42,,,,,,,,,,,
,0,,,2,PRO_AIO_IP_3,X43,,,,,,,,,, ,0,,,2,PRO_AIO_IP_3,X43,,,,,,,,,,,
,0,,,3,PRO_AIO_IP_3,X44,,,,,,,,,, ,0,,,3,PRO_AIO_IP_3,X44,,,,,,,,,,,
,0,,,4,PRO_AIO_IP_3,X45,,,,,,,,,, ,0,,,4,PRO_AIO_IP_3,X45,,,,,,,,,,,
,0,,,5,PRO_AIO_IP_3,X46,,,,,,,,,, ,0,,,5,PRO_AIO_IP_3,X46,,,,,,,,,,,
,0,,,6,PRO_AIO_IP_3,X47,,,,,,,,,, ,0,,,6,PRO_AIO_IP_3,X47,,,,,,,,,,,
,0,,,7,PRO_AIO_IP_3,X48,,,,,,,,,, ,0,,,7,PRO_AIO_IP_3,X48,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
DO,0,线体入口指示灯,LineIn_Led,0,PRO_AIO_IP_3,Y41,,,,,,,,,, DO,0,*线体入口指示灯,LineIn_Led,0,PRO_AIO_IP_3,Y41,,,,,,,,,,,
DO,0,线体出口指示灯,LineOut_Led,1,PRO_AIO_IP_3,Y42,,,,,,,,,, DO,0,*线体出口指示灯,LineOut_Led,1,PRO_AIO_IP_3,Y42,,,,,,,,,,,
DO,0,设备内部照明ON,Device_Led,2,PRO_AIO_IP_3,Y43,,,,,,,,,, DO,0,设备内部照明ON,Device_Led,2,PRO_AIO_IP_3,Y43,Y08,设备内部照明开启,,,,,,,,,Y08
,0,,,3,PRO_AIO_IP_3,Y44,,,,,,,,,, ,0,,,3,PRO_AIO_IP_3,Y44,,,,,,,,,,,
,0,,,4,PRO_AIO_IP_3,Y45,,,,,,,,,, ,0,,,4,PRO_AIO_IP_3,Y45,,,,,,,,,,,
,0,,,5,PRO_AIO_IP_3,Y46,,,,,,,,,, ,0,,,5,PRO_AIO_IP_3,Y46,,,,,,,,,,,
,0,,,6,PRO_AIO_IP_3,Y47,,,,,,,,,, ,0,,,6,PRO_AIO_IP_3,Y47,,,,,,,,,,,
,0,,,7,PRO_AIO_IP_3,Y48,,,,,,,,,, ,0,,,7,PRO_AIO_IP_3,Y48,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,, ,
PRO,0,T1_提升轴待机点 P1,BatchAxis_P1,5000,,,,, ,,,,,,, PRO,0,T1_提升轴待机点 P1,BatchAxis_P1,5000,,,,, ,,,,,,,,
PRO,0,T1_提升轴上升目标点_P2,BatchAxis_P2,4000,,,,, ,,,,,,, PRO,0,T1_提升轴上升目标点_P2,BatchAxis_P2,4000,,,,, ,,,,,,,,
PRO,0,T1_提升轴P1速度,BatchAxis_P1Speed,4000,,,,,,,,,,,, PRO,0,T1_提升轴P1速度,BatchAxis_P1Speed,4000,,,,,,,,,,,,,
PRO,0,T1_提升轴P2速度,BatchAxis_P2Speed,500,,,,, ,,,,,,, PRO,0,T1_提升轴P2速度,BatchAxis_P2Speed,500,,,,, ,,,,,,,,
PRO,0,T1_提升轴高度转换系数（1mm对应的脉冲）,BatchAxis_ChangeValue,11000,,,,,,,,,,,, PRO,0,T1_提升轴高度转换系数（1mm对应的脉冲）,BatchAxis_ChangeValue,11000,,,,,,,,,,,,,
,,,,,,,,,,,,,,,,T2_旋转轴_料串取放料点P4: ,,,,,,,,,,,,,,,,T2_旋转轴_料串取放料点P4:,
PRO,0,T2_旋转轴待机点/取放料点 P1,MiddleAxis_P1,5000,,,,,,,,,,,, PRO,0,T2_旋转轴待机点/取放料点 P1,MiddleAxis_P1,5000,,,,,,,,,,,,,
PRO,0,T2_旋转轴左侧料仓取放料点_P2,MiddleAxis_P2,59002,,,,,,,,,,,, PRO,0,T2_旋转轴左侧料仓取放料点_P2,MiddleAxis_P2,59002,,,,,,,,,,,,,
PRO,0,T2_旋转轴右侧料仓取放料点_P3,MiddleAxis_P3,59003,,,,,,,,,,,, PRO,0,T2_旋转轴右侧料仓取放料点_P3,MiddleAxis_P3,59003,,,,,,,,,,,,,
PRO,0,T2_旋转轴_料串取放料点_P4,MiddleAxis_P4,59004,,,,,,,,,,,, PRO,0,T2_旋转轴_料串取放料点_P4,MiddleAxis_P4,59004,,,,,,,,,,,,,
PRO,0,T2_旋转轴P1速度,MiddleAxis_P1Speed,500,,,,,,,,,,,, PRO,0,T2_旋转轴P1速度,MiddleAxis_P1Speed,500,,,,,,,,,,,,,
PRO,0,T2_旋转轴P2速度,MiddleAxis_P2Speed,500,,,,,,,,,,,, PRO,0,T2_旋转轴P2速度,MiddleAxis_P2Speed,500,,,,,,,,,,,,,
PRO,0,T2_旋转轴P3速度,MiddleAxis_P3Speed,500,,,,,,,,,,,, PRO,0,T2_旋转轴P3速度,MiddleAxis_P3Speed,500,,,,,,,,,,,,,
PRO,0,T2_旋转轴P4速度,MiddleAxis_P4Speed,500,,,,,,,,,,,, PRO,0,T2_旋转轴P4速度,MiddleAxis_P4Speed,500,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
PRO,0,T3_升降轴料串取放料低点 P1,UpdownAxis_P1,5000,,,,,,,,,,,, PRO,0,T3_升降轴料串取放料低点 P1,UpdownAxis_P1,5000,,,,,,,,,,,,,
PRO,0,T3_升降轴料串取放料高点/待机点 P2,UpdownAxis_P2,5001,,,,,,,,,,,, PRO,0,T3_升降轴料串取放料高点/待机点 P2,UpdownAxis_P2,5001,,,,,,,,,,,,,
PRO,0,T3_升降轴左侧料仓取放料低点 P3,UpdownAxis_P3,5002,,,,,,,,,,,, PRO,0,T3_升降轴左侧料仓取放料低点 P3,UpdownAxis_P3,5002,,,,,,,,,,,,,
PRO,0,T3_升降轴左侧料仓取放料高点 P4,UpdownAxis_P4,5003,,,,,,,,,,,, PRO,0,T3_升降轴左侧料仓取放料高点 P4,UpdownAxis_P4,5003,,,,,,,,,,,,,
PRO,0,T3_升降轴右侧料仓取放料低点 P5,UpdownAxis_P5,5004,,,,,,,,,,,, PRO,0,T3_升降轴右侧料仓取放料低点 P5,UpdownAxis_P5,5004,,,,,,,,,,,,,
PRO,0,T3_升降轴右侧料仓取放料高点 P6,UpdownAxis_P6,5005,,,,,,,,,,,, PRO,0,T3_升降轴右侧料仓取放料高点 P6,UpdownAxis_P6,5005,,,,,,,,,,,,,
PRO,0,T2_升降轴P1速度/慢速度,UpdownAxis_P1Speed,500,,,,,,,,,,,, PRO,0,T2_升降轴P1速度/慢速度,UpdownAxis_P1Speed,500,,,,,,,,,,,,,
PRO,0,T2_升降轴P2速度/快速度,UpdownAxis_P2Speed,501,,,,,,,,,,,, PRO,0,T2_升降轴P2速度/快速度,UpdownAxis_P2Speed,501,,,,,,,,,,,,,
PRO,0,T2_升降轴P3速度/慢速度,UpdownAxis_P3Speed,502,,,,,,,,,,,, PRO,0,T2_升降轴P3速度/慢速度,UpdownAxis_P3Speed,502,,,,,,,,,,,,,
PRO,0,T2_升降轴P4速度/快速度,UpdownAxis_P4Speed,503,,,,,,,,,,,, PRO,0,T2_升降轴P4速度/快速度,UpdownAxis_P4Speed,503,,,,,,,,,,,,,
PRO,0,T2_升降轴P5速度/慢速度,UpdownAxis_P5Speed,504,,,,,,,,,,,, PRO,0,T2_升降轴P5速度/慢速度,UpdownAxis_P5Speed,504,,,,,,,,,,,,,
PRO,0,T2_升降轴P6速度/快速度,UpdownAxis_P6Speed,505,,,,,,,,,,,, PRO,0,T2_升降轴P6速度/快速度,UpdownAxis_P6Speed,505,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
PRO,,预警温度,WarnTemperate,80,,,,,,,,,,,, PRO,,预警温度,WarnTemperate,80,,,,,,,,,,,,,
PRO,,预警湿度,WarnHumidity,80,,,,,,,,,,,, PRO,,预警湿度,WarnHumidity,80,,,,,,,,,,,,,
PRO,,出入库多少次，会自动重置旋转轴,Box_ResetMCount,1000,,,,,,,,,,,, PRO,,出入库多少次，会自动重置旋转轴,Box_ResetMCount,1000,,,,,,,,,,,,,
PRO,,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,,,,,,,,, PRO,,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,,,,,,,,,,
PRO,,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,,,,,, PRO,,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,,,,,,,
PRO,,需要吹气的温度(温度标准),Max_Temperature,0,,,,,,,,,,,, PRO,,需要吹气的温度(温度标准),Max_Temperature,0,,,,,,,,,,,,,
PRO,,需要吹气的湿度(湿度标准),Max_Humidity,10,,,,,,,,,,,, PRO,,需要吹气的湿度(湿度标准),Max_Humidity,10,,,,,,,,,,,,,
PRO,,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,,,,,, PRO,,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,,,,,,,
PRO,,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,,,,,,, PRO,,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,, ,,,,,,,,,,,,,,,,,
PRO,0,是否调试状态（1=调试，0=正常）,IsDebug,1,,,,,,,,,,,, PRO,0,是否调试状态（1=调试，0=正常）,IsDebug,1,,,,,,,,,,,,,
PRO,,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,,,,,,, PRO,,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,,,,,,,,
PRO,,所有料仓的CID(用#号分隔),All_CIDs,packing-1#packing-2,,,,,,,,,,,, PRO,,所有料仓的CID(用#号分隔),All_CIDs,packing-1#packing-2,,,,,,,,,,,,,
PRO,,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00D76546875),,,,,,,,,,,, PRO,,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00D76546875),,,,,,,,,,,,,
source/DeviceLibrary/device/IO/AIOBOX/AIOBOXManager.cs
...@@ -15,6 +15,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -15,6 +15,9 @@ namespace OnlineStore.DeviceLibrary
{ {
public class AIOBOXManager : IOManager public class AIOBOXManager : IOManager
{ {
//public static uint DefaultDICount = 16;
//public static uint DefaultDOCount = 16;
public Dictionary<string, AIOBOX> AIOMap = new Dictionary<string, AIOBOX>(); public Dictionary<string, AIOBOX> AIOMap = new Dictionary<string, AIOBOX>();
public Dictionary<string, List<Box_Sta>> DIValueMap = new Dictionary<string, List<Box_Sta>>(); public Dictionary<string, List<Box_Sta>> DIValueMap = new Dictionary<string, List<Box_Sta>>();
...@@ -25,18 +28,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -25,18 +28,19 @@ namespace OnlineStore.DeviceLibrary
private object DILock = ""; private object DILock = "";
private object DOLock = ""; private object DOLock = "";
private List<string> IoIPLIst = new List<string>();
private System.Timers.Timer conTimer = null;
public override void ConnectionIOList(List<string> DIONameList) public override void ConnectionIOList(List<string> DIONameList)
{ {
foreach (string ip in DIONameList) foreach (string ip in DIONameList)
{ {
ConnectionIP(ip); ConnectionIP(ip);
} }
} }
private bool isProcess = false; private bool isProcess = false;
private DateTime lastTime = DateTime.Now; private DateTime lastTime = DateTime.Now;
public void ConnectionIP(string ioIp) public void ConnectionIP(string ioIp)
{ {
AIOBOX aioBox = null; AIOBOX aioBox = null;
...@@ -65,46 +69,80 @@ namespace OnlineStore.DeviceLibrary ...@@ -65,46 +69,80 @@ namespace OnlineStore.DeviceLibrary
{ {
DOValueMap.Remove(ioIp); DOValueMap.Remove(ioIp);
} }
int DIMS = ConfigAppSettings.GetIntValue("DIMS");
if (DIMS <= 0)
{
DIMS = 150;
}
else if (DIMS < 20)
{
DIMS = 100;
}
int DOMS = ConfigAppSettings.GetIntValue("DOMS");
if (DOMS <= 0)
{
DOMS = 300;
}
else if (DOMS < 100)
{
DOMS = 300;
}
int DILength = StoreManager.Config.GetDILength(ioIp); int DILength = StoreManager.Config.GetDILength(ioIp);
int DOLength = StoreManager.Config.GetDOLength(ioIp); int DOLength = StoreManager.Config.GetDOLength(ioIp);
string logName = "IO模块[" + ioIp + "] DI[" + DILength + "] DO[" + DOLength + "] "; string logName = "IO模块[" + ioIp + "] DI[" + DILength + "] DO[" + DOLength + "]，[" + DIMS + "] [" + DOMS + "]";
try try
{ {
aioBox = new AIOBOX("AIOBOX"); // Create new modbus master and add event functions
aioBox.SetType(Asa.IOModule.Box_Type.DI, DILength, Asa.IOModule.Box_Type.DO, DOLength); aioBox = new AIOBOX();
aioBox.SetType(Box_Type.DI, DILength, Box_Type.DO, DOLength);
//aioBox.LogPath(Application.StartupPath + @"\logs\aio\", LogType.OnlyError);
aioBox.IP = ioIp; aioBox.IP = ioIp;
aioBox.Upload = false;
// bool rtn = aioBox.AutoIP(ioIp);
// aioBox.SetInput(Asa.IOModule.Box_Type.DI, DILength);
// aioBox.SetOutput(Asa.IOModule.Box_Type.DO, DOLength);
//DI主动上传
// aioBox.AutoReadInput(true, DIMS);
// aioBox.AutoReadOutput(false, DOMS);
aioBox.DI_Changed_Event += AioBox_DI_Changed_Event; ; aioBox.DI_Changed_Event += AioBox_DI_Changed_Event; ;
aioBox.DO_Changed_Event += AioBox_DO_Changed_Event; aioBox.DO_Changed_Event += AioBox_DO_Changed_Event;
LogUtil.info("开始连接：" + logName + "：");
aioBox.Connect();
bool conRes = aioBox.Connect();
LogUtil.info("开始连接：" + logName + "：" + conRes.ToString());
AIOMap.Add(ioIp, aioBox); AIOMap.Add(ioIp, aioBox);
Thread.Sleep(5); Thread.Sleep(5);
//读取所有的DO //读取所有的DO
ReadAllDI(ioIp, 0); ReadAllDI(ioIp, 0);
Thread.Sleep(5); Thread.Sleep(5);
GC.Collect(); GC.Collect();
} }
catch (Exception error) catch (Exception error)
{ {
LogUtil.error("连接IO模块 " + logName + " 出错：" + error.ToString()); LogUtil.error( "连接IO模块 " + logName + " 出错：" + error.ToString());
} }
} }
private DateTime lastLogTime = DateTime.Now; private DateTime lastLogTime = DateTime.Now;
private void AioBox_Log_Out_Event(AIOBOX box, string[] s)
{
foreach (string str in s)
{
LogUtil.AIOLog.Debug("[" + box.IP + "]" + str);
}
}
private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta) private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta)
{ {
try try
{ {
UpdateAllDI(box.IP, sta); UpdateAllDI(box.IP, sta);
//LogUtil.info("ReadAllDI [" + box.IP + "]：" + string.Join(" ", sta));
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -123,6 +161,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -123,6 +161,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("AioBox_DO_Changed_Event出错：" + ex.ToString()); LogUtil.error("AioBox_DO_Changed_Event出错：" + ex.ToString());
} }
} }
private void UpdateAllDI(string ip, Box_Sta[] sta) private void UpdateAllDI(string ip, Box_Sta[] sta)
{ {
if (sta != null && sta.Length >= StoreManager.Config.GetDILength(ip)) if (sta != null && sta.Length >= StoreManager.Config.GetDILength(ip))
...@@ -171,7 +210,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -171,7 +210,12 @@ namespace OnlineStore.DeviceLibrary
newList.AddRange(sta); newList.AddRange(sta);
List<Box_Sta> oldList = null; List<Box_Sta> oldList = null;
DOValueMap.TryGetValue(ip, out oldList); DOValueMap.TryGetValue(ip, out oldList);
//string result = "UpdateAllDO ip[" + ip + "], sta :";
//for (int i = 0; i < newList.Count; i++)
//{
// result += newList[i] + ",";
//}
//LogUtil.info(result);
if (oldList == null || oldList.Count.Equals(newList.Count).Equals(false)) if (oldList == null || oldList.Count.Equals(newList.Count).Equals(false))
{ {
needUpdate = true; needUpdate = true;
...@@ -247,7 +291,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -247,7 +291,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.error("WriteSingleDO出错 没有连接IO模块：" + ioIp); LogUtil.error( "WriteSingleDO出错 没有连接IO模块：" + ioIp);
} }
} }
catch (Exception ex) catch (Exception ex)
...@@ -272,11 +316,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,11 +316,11 @@ namespace OnlineStore.DeviceLibrary
try try
{ {
aioBox.WriteDO(StartAddress, aioBox.ReverseStatus(currBox_Sta)); aioBox.WriteDO(StartAddress, aioBox.ReverseStatus(currBox_Sta));
LogUtil.debug("**********定时回写入 IO [" + ioIp + "] [" + StartAddress + "]值" + aioBox.ReverseStatus(currBox_Sta) + "】："); LogUtil.debug( "**********定时回写入 IO [" + ioIp + "] [" + StartAddress + "]值" + aioBox.ReverseStatus(currBox_Sta) + "】：");
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("**********定时回写入 出错：" + ex.ToString()); LogUtil.error( "**********定时回写入 出错：" + ex.StackTrace);
} }
}; };
mytimer.AutoReset = false;//设置是否自动重启，即自动执行多次； mytimer.AutoReset = false;//设置是否自动重启，即自动执行多次；
...@@ -285,7 +329,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -285,7 +329,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.error("AIO WriteSingleDO [" + ioIp + "] [" + StartAddress + "] 出错 没有连接IO模块：" + ioIp); LogUtil.error( "AIO WriteSingleDO [" + ioIp + "] [" + StartAddress + "] 出错 没有连接IO模块：" + ioIp);
} }
} }
catch (Exception ex) catch (Exception ex)
...@@ -328,7 +372,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -328,7 +372,7 @@ namespace OnlineStore.DeviceLibrary
} }
public override IO_VALUE GetDOValue(string ioIP, byte slaveId, ushort StartAddress) public override IO_VALUE GetDOValue(string ioIP, byte slaveId, ushort StartAddress)
{ {
IO_VALUE value = IO_VALUE.None; IO_VALUE value = IO_VALUE.LOW;
try try
{ {
AIOBOX aioBox = getAIO(ioIP); AIOBOX aioBox = getAIO(ioIP);
...@@ -345,10 +389,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -345,10 +389,6 @@ namespace OnlineStore.DeviceLibrary
{ {
value = IO_VALUE.HIGH; value = IO_VALUE.HIGH;
} }
else
{
value = IO_VALUE.LOW;
}
} }
} }
catch (Exception ex) catch (Exception ex)
...@@ -360,7 +400,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -360,7 +400,7 @@ namespace OnlineStore.DeviceLibrary
public override IO_VALUE GetDIValue(string ioIP, byte slaveId, ushort StartAddress) public override IO_VALUE GetDIValue(string ioIP, byte slaveId, ushort StartAddress)
{ {
IO_VALUE value = IO_VALUE.None; IO_VALUE value = IO_VALUE.LOW;
for (int i = 1; i <= 3; i++) for (int i = 1; i <= 3; i++)
{ {
try try
...@@ -383,44 +423,32 @@ namespace OnlineStore.DeviceLibrary ...@@ -383,44 +423,32 @@ namespace OnlineStore.DeviceLibrary
{ {
value = IO_VALUE.HIGH; value = IO_VALUE.HIGH;
} }
else
{
value = IO_VALUE.LOW;
}
} }
break;
} }
catch (Exception ex) catch (Exception ex)
{ {
if (i <= 1) LogUtil.error("GetDIValue [" + ioIP + "] [" + StartAddress + "] ["+i+"] 出错：" + ex.ToString());
{
LogUtil.debug (" 第【" + i + "】次 GetDIValue [" + ioIP + "] [" + StartAddress + "] 出错：" + ex.ToString());
}
else
{
LogUtil.error(" 第【" + i + "】次 GetDIValue [" + ioIP + "] [" + StartAddress + "] 出错：" + ex.ToString());
}
} }
} }
return value; return value;
} }
public override IO_VALUE GetIOValue(ConfigIO configIO) public override IO_VALUE GetIOValue(ConfigIO configIO)
{ {
IO_VALUE value = IO_VALUE.None; IO_VALUE value = IO_VALUE.LOW;
try try
{ {
if (configIO.ProType.Equals(ConfigItemType.DI)) if (configIO.ProType.Equals(ConfigItemType.DI))
{ {
return GetDIValue(configIO.IO_IP, 0, configIO.GetIOAddr()); return GetDIValue(configIO.IO_IP, configIO.SlaveID, configIO.GetIOAddr());
} }
else if (configIO.ProType.Equals(ConfigItemType.DO)) else if (configIO.ProType.Equals(ConfigItemType.DO))
{ {
return GetDOValue(configIO.IO_IP, 0, configIO.GetIOAddr()); return GetDOValue(configIO.IO_IP, configIO.SlaveID, configIO.GetIOAddr());
} }
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error(" GetIOValue [" + configIO.IO_IP + "] [" + configIO.GetIOAddr() + "] 获取数据出错：", ex); LogUtil.error( " GetIOValue [" + configIO.IO_IP + "] [" + configIO.GetIOAddr() + "] 获取数据出错：" + ex.ToString());
} }
return value; return value;
} }
...@@ -448,4 +476,5 @@ namespace OnlineStore.DeviceLibrary ...@@ -448,4 +476,5 @@ namespace OnlineStore.DeviceLibrary
} }
} }
}
}
\ No newline at end of file \ No newline at end of file
source/DeviceLibrary/device/IO/HCIOManager.cs 0 → 100644
using HuichuanLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary.IO
{
public class HCIOManager : IOManager
{
public override void CloseAllConnection()
{
}
public override void CloseAllDO()
{
HCBoardManager.CloseAllDO();
}
public override void ConnectionIOList(List<string> dIODeviceNameList)
{
if (dIODeviceNameList.Count > 0 && dIODeviceNameList.Contains("HC"))
{
if (!HCBoardManager.CardInitOk())
{
HCBoardManager.OpenCard();
}
}
}
public override IO_VALUE GetDIValue(string deviceName, byte slaveID, ushort index)
{
short v = HCBoardManager.GetBitDI((short)index);
return (IO_VALUE)v;
}
public override IO_VALUE GetDOValue(string deviceName, byte slaveID, ushort index)
{
short v = HCBoardManager.GetBitDO((short)index);
return (IO_VALUE)v;
}
public override IO_VALUE GetIOValue(ConfigIO configIO)
{
short index =(short) configIO.GetIOAddr();
short v = HCBoardManager.GetBitDO(index);
return (IO_VALUE)v;
}
public override void ReadAllDI(string deviceName, byte slaveId)
{
}
public override void ReadAllDO(string deviceName, byte slaveId)
{
}
public override void WriteSingleDO(string deviceName, byte slaveId, ushort index, IO_VALUE value, int time)
{
try
{
short v = (short)value;
HCBoardManager.SetBitDO((short)index, v);
short targetV = 0;
if (v.Equals((short)0))
{
targetV = 1;
}
//写入之后，等待指定间隔后回写
System.Timers.Timer mytimer = new System.Timers.Timer(time);
mytimer.Elapsed += (o1, e1) =>
{
try
{
HCBoardManager.SetBitDO((short)index, targetV);
}
catch (Exception ex)
{
LogUtil.error("**********定时回写入 出错：" + ex.StackTrace);
}
};
mytimer.AutoReset = false;
mytimer.Enabled = true;
}
catch (Exception ex)
{
LogUtil.error("AIO WriteSingleDO [" + index + "] 出错：" + ex.ToString());
}
}
public override void WriteSingleDO(string deviceName, byte slaveId, ushort index, IO_VALUE value)
{
short v = (short)value;
HCBoardManager.SetBitDO((short)index, v);
}
}
}
source/DeviceLibrary/device/IO/IOManager.cs
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.DeviceLibrary.IO;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
...@@ -18,11 +19,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -18,11 +19,15 @@ namespace OnlineStore.DeviceLibrary
#region KNDIO #region KNDIO
public static void IOMove(string ioType, IO_VALUE ioValue, int subType) public static void IOMove(string ioType, IO_VALUE ioValue, int subType)
{ {
if (string.IsNullOrEmpty(ioType))
{
return;
}
ConfigIO configIo = GetDO(ioType, subType); ConfigIO configIo = GetDO(ioType, subType);
if (configIo != null) if (configIo != null)
{ {
instance.WriteSingleDO(configIo.IO_IP, 0, configIo.GetIOAddr(), ioValue); instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
Thread.Sleep(1); Thread.Sleep(10);
} }
else else
{ {
...@@ -32,7 +37,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -32,7 +37,11 @@ namespace OnlineStore.DeviceLibrary
public static IO_VALUE IOValue(string ioType, int subType) public static IO_VALUE IOValue(string ioType, int subType)
{ {
IO_VALUE ioValue = IO_VALUE.LOW; if (string.IsNullOrEmpty(ioType))
{
return IO_VALUE.None;
}
IO_VALUE ioValue = IO_VALUE.None;
ConfigIO configIo = GetDI(ioType, subType); ConfigIO configIo = GetDI(ioType, subType);
if (configIo == null) if (configIo == null)
{ {
...@@ -43,12 +52,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -43,12 +52,11 @@ namespace OnlineStore.DeviceLibrary
{ {
if (configIo.ProType.Equals(ConfigItemType.DI)) if (configIo.ProType.Equals(ConfigItemType.DI))
{ {
ioValue = instance.GetDIValue(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr());
ioValue = instance.GetDIValue(configIo.IO_IP, 0, configIo.GetIOAddr());
} }
else else
{ {
ioValue = instance.GetDOValue(configIo.IO_IP, 0, configIo.GetIOAddr()); ioValue = instance.GetDOValue(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr());
} }
} }
else else
...@@ -57,14 +65,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -57,14 +65,18 @@ namespace OnlineStore.DeviceLibrary
} }
return ioValue; return ioValue;
} }
public static IO_VALUE DOValue(string ioType, int subType = 0) public static IO_VALUE DOValue(string ioType, int subType)
{ {
IO_VALUE ioValue = IO_VALUE.LOW; if (string.IsNullOrEmpty(ioType))
{
return IO_VALUE.None;
}
IO_VALUE ioValue = IO_VALUE.None;
ConfigIO configIo = GetDO(ioType, subType); ConfigIO configIo = GetDO(ioType, subType);
if (configIo != null) if (configIo != null)
{ {
ioValue = instance.GetDOValue(configIo.IO_IP, 0, configIo.GetIOAddr()); ioValue = instance.GetDOValue(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr());
} }
else else
{ {
...@@ -72,7 +84,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -72,7 +84,34 @@ namespace OnlineStore.DeviceLibrary
} }
return ioValue; return ioValue;
} }
private static ConfigIO GetDI(string ioType, int subType) public static IO_VALUE DIValue(string ioType, int subType)
{
if (string.IsNullOrEmpty(ioType))
{
return IO_VALUE.None;
}
IO_VALUE ioValue = IO_VALUE.None;
ConfigIO configIo = GetDI(ioType, subType);
if (configIo != null)
{
ioValue = instance.GetDIValue(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr());
}
else
{
LogUtil.error("未找到 DI [" + ioType + "][" + subType + "]");
}
return ioValue;
}
internal static ConfigIO GetIO(string ioType, int subType)
{
ConfigIO configIo = GetDI(ioType, subType);
if (configIo == null)
{
configIo = GetDO(ioType, subType);
}
return configIo;
}
internal static ConfigIO GetDI(string ioType, int subType)
{ {
ConfigIO configIo = null; ConfigIO configIo = null;
if (subType <= 0) if (subType <= 0)
...@@ -84,19 +123,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -84,19 +123,25 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (StoreManager.AllConfigMap.ContainsKey(subType)) if (StoreManager.allConfigMap.ContainsKey(subType))
{ {
string newType = ioType.Replace("SW1_", "SW_").Replace("SW2_", "SW_").Replace("SW3_", "SW_").Replace("SW4_", "SW_"); if (StoreManager.allConfigMap[subType].DIList.ContainsKey(ioType))
if (StoreManager.AllConfigMap[subType].DIList.ContainsKey(newType))
{ {
return StoreManager.AllConfigMap[subType].DIList[newType]; return StoreManager.allConfigMap[subType].DIList[ioType];
} }
} }
} }
if (configIo == null && subType > 0)
{
if (StoreManager.Config.DIList.ContainsKey(ioType))
{
return StoreManager.Config.DIList[ioType];
}
}
return configIo; return configIo;
} }
private static ConfigIO GetDO(string ioType, int subType) internal static ConfigIO GetDO(string ioType, int subType)
{ {
ConfigIO configIo = null; ConfigIO configIo = null;
if (subType <= 0) if (subType <= 0)
...@@ -108,48 +153,44 @@ namespace OnlineStore.DeviceLibrary ...@@ -108,48 +153,44 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (StoreManager.AllConfigMap.ContainsKey(subType)) if (StoreManager.allConfigMap.ContainsKey(subType))
{ {
string newType = ioType.Replace("SW1_", "SW_").Replace("SW2_", "SW_").Replace("SW3_", "SW_").Replace("SW4_", "SW_"); if (StoreManager.allConfigMap[subType].DOList.ContainsKey(ioType))
if (StoreManager.AllConfigMap[subType].DOList.ContainsKey(newType))
{ {
return StoreManager.AllConfigMap[subType].DOList[newType]; return StoreManager.allConfigMap[subType].DOList[ioType];
} }
} }
} }
return configIo; if (configIo == null && subType > 0)
}
public static void CloseDeviceDO(List<ConfigIO> DoList)
{
foreach (ConfigIO io in DoList)
{ {
instance.WriteSingleDO(io.IO_IP, 0, io.GetIOAddr(), IO_VALUE.LOW); if (StoreManager.Config.DOList.ContainsKey(ioType))
Thread.Sleep(60); {
return StoreManager.Config.DOList[ioType];
}
} }
return configIo;
} }
public static void CloseDeviceDO(int subType) #endregion
public static void Init()
{ {
List<ConfigIO> DoList = new List<ConfigIO>(); bool UseHCBoard = true;// ConfigAppSettings.GetIntValue(Setting_Init.UseHCBoard).Equals(1);
if (subType <= 0) if (UseHCBoard)
{ {
DoList = new List<ConfigIO>(StoreManager.Config.DOList.Values); instance = new HCIOManager();
} }
else else
{ {
if (StoreManager.AllConfigMap.ContainsKey(subType)) bool isAIOBox = ConfigAppSettings.GetIntValue(Setting_Init.UseAIOBOX).Equals(1); if (isAIOBox)
{ {
DoList = new List<ConfigIO>(StoreManager.AllConfigMap[subType].DOList.Values); instance = new AIOBOXManager();
} }
//else
//{
// instance = new KNDManager();
//}
} }
CloseDeviceDO(DoList);
}
#endregion
public static void Init()
{
instance = new AIOBOXManager();
} }
public abstract void ReadAllDI(string deviceName, byte slaveId); public abstract void ReadAllDI(string deviceName, byte slaveId);
public abstract void ReadAllDO(string deviceName, byte slaveId); public abstract void ReadAllDO(string deviceName, byte slaveId);
...@@ -158,11 +199,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -158,11 +199,11 @@ namespace OnlineStore.DeviceLibrary
public abstract void WriteSingleDO(string deviceName, byte slaveId, ushort index, IO_VALUE value); public abstract void WriteSingleDO(string deviceName, byte slaveId, ushort index, IO_VALUE value);
public abstract IO_VALUE GetDIValue(string deviceName, byte slaveID, ushort v); public abstract IO_VALUE GetDIValue(string deviceName, byte slaveID, ushort index);
public abstract IO_VALUE GetDOValue(string deviceName, byte slaveID, ushort v);
public abstract IO_VALUE GetDOValue(string deviceName, byte slaveID, ushort index);
public abstract IO_VALUE GetIOValue(ConfigIO configIO); public abstract IO_VALUE GetIOValue(ConfigIO configIO);
......
source/DeviceLibrary/duoStore/AxisBean.cs
using DeviceLib; using OnlineStore.Common;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
...@@ -14,41 +13,43 @@ namespace OnlineStore.DeviceLibrary ...@@ -14,41 +13,43 @@ namespace OnlineStore.DeviceLibrary
{ {
public ConfigMoveAxis Config = null; public ConfigMoveAxis Config = null;
public static int TimeoutInterval = 500; public static int TimeoutInterval = 500;
/// <summary>
/// 正常工作过程中判断位置是否到达时使用
/// </summary>
public int LastPosition = 0; public int LastPosition = 0;
public string AxisName; public string AxisName;
public AxisBean(ConfigMoveAxis axisConfig, string deviceName) public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
{ {
this.Config = axisConfig; this.Config = axisConfig;
AxisName = "[" + Config.Explain + "_" + Config.DeviceName + "_" + Config.GetAxisValue() + "]"; AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
} }
private bool IsIntSlvBlock = false; private bool IsIntSlvBlock = false;
public bool Open(bool isCheck, out string Msg) public bool Open(bool isCheck, out string Msg)
{ {
Msg = ""; Msg = "";
string portName = Config.DeviceName; string portName = Config.DeviceName;
int slvAddr = Config.GetAxisValue(); short slvAddr = Config.GetAxisValue();
//打开所有轴 //打开所有轴
int bot = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate); AxisManager.instance.OpenPort(Config.DeviceName);
ACServerManager.OpenPort(Config.DeviceName, bot);
Thread.Sleep(50); Thread.Sleep(50);
//初始化 //初始化
if (!IsIntSlvBlock) if (!IsIntSlvBlock)
{ {
ACServerManager.InitSlvAddr(portName, slvAddr, Config.TargetSpeed, Config.AddSpeed, Config.DelSpeed); AxisManager.instance.InitSlvAddr(portName, slvAddr, Config.TargetSpeed, Config.AddSpeed, Config.DelSpeed);
Thread.Sleep(100); Thread.Sleep(100);
} }
ACServerManager.AlarmClear(portName, slvAddr); AxisManager.instance.AlarmClear(portName, slvAddr);
Thread.Sleep(100); Thread.Sleep(50);
ACServerManager.ServoOn(portName, slvAddr); AxisManager.instance.ServoOn(portName, slvAddr);
Thread.Sleep(1000);
//打开所有轴 //打开所有轴
if (isCheck) if (isCheck)
{ {
Thread.Sleep(1000); if (!OpenAxis(out Msg))
if (!AxisIsOpen(out Msg))
{ {
return false; return false;
} }
...@@ -56,33 +57,36 @@ namespace OnlineStore.DeviceLibrary ...@@ -56,33 +57,36 @@ namespace OnlineStore.DeviceLibrary
IsIntSlvBlock = true; IsIntSlvBlock = true;
return true; return true;
} }
/// <summary>
public bool AxisIsOpen(out string msg) /// 打开所有轴
/// </summary>
/// <returns></returns>
private bool OpenAxis(out string msg)
{ {
msg = ""; msg = "";
//判断轴是否正常 //判断轴是否正常
string portName = Config.DeviceName; string portName = Config.DeviceName;
int slvAddr = Config.GetAxisValue(); short slvAddr = Config.GetAxisValue();
if (ACServerManager.ServerOnStatus(portName, slvAddr)) if (AxisManager.instance.IsServeoOn(portName, slvAddr))
{ {
LogUtil.info(AxisName + "成功打开"); LogUtil.info(AxisName + "成功打开");
} }
else else
{ {
//清理报警，再重新打开一次 //清理报警，再重新打开一次
LogUtil.info(AxisName + "打开失败，清理报警，重新打开"); LogUtil.info(AxisName + "第一次打开失败，先清理一下报警，再重新打开一次");
ACServerManager.AlarmClear(portName, slvAddr); AxisManager.instance.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200); System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr); AxisManager.instance.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(300); System.Threading.Thread.Sleep(100);
if (ACServerManager.ServerOnStatus(portName, slvAddr)) if (AxisManager.instance.IsServeoOn(portName, slvAddr))
{ {
LogUtil.info(AxisName + "重新打开成功"); LogUtil.info(AxisName + "清理报警后重新打卡轴成功：" + Config.Explain);
} }
else else
{ {
ACServerManager.ServoOff(portName, slvAddr); AxisManager.instance.ServoOff(portName, slvAddr);
msg = AxisName + "打开失败 "; msg = "打开轴" + Config.Explain + "失败 ";
LogUtil.info(AxisName + msg); LogUtil.info(AxisName + msg);
return false; return false;
} }
...@@ -93,16 +97,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -93,16 +97,19 @@ namespace OnlineStore.DeviceLibrary
public void ServoOff() public void ServoOff()
{ {
LogUtil.info("ServoOff【" + AxisName + "】"); LogUtil.info("ServoOff【" + AxisName + "】");
ACServerManager.ServoOff(Config.DeviceName, Config.GetAxisValue()); AxisManager.instance.ServoOff(Config.DeviceName, Config.GetAxisValue());
} }
public void HomeMove(StoreMoveInfo MoveInfo) public void HomeMove(StoreMoveInfo MoveInfo)
{ {
Config.TargetPosition = 0; Config.TargetPosition = 0;
LogUtil.info(AxisName + "speed[" + Config.TargetSpeed + "]开始原点返回"); LogUtil.info(AxisName + "speed[" + Config.TargetSpeed + "]开始原点返回");
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true)); MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
ACServerManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed); AxisManager.instance.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, Config.HomeLowSpeed, Config.HomeAddSpeed);
} }
/// <summary>
/// 松下伺服电机运动
/// </summary>
public void AbsMove(StoreMoveInfo MoveInfo, int targetPosition, int targetSpeed) public void AbsMove(StoreMoveInfo MoveInfo, int targetPosition, int targetSpeed)
{ {
if (MoveInfo == null) if (MoveInfo == null)
...@@ -113,18 +120,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -113,18 +120,21 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed)); MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
Config.TargetPosition = targetPosition; Config.TargetPosition = targetPosition;
ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed); AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, Config.AddSpeed, Config.DelSpeed);
} }
} }
/// <summary>
/// 判断AC伺服电机轴是否运动完成
/// </summary>
public static bool ACAxisMoveIsEnd(StoreMoveInfo MoveInfo, ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg) public static bool ACAxisMoveIsEnd(StoreMoveInfo MoveInfo, ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg)
{ {
msg = ""; msg = "";
string deviceName = axis.DeviceName; string deviceName = axis.DeviceName;
short axisNo = axis.GetAxisValue(); short axisNo = axis.GetAxisValue();
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0); bool isOk = AxisManager.instance.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo); int outCount = AxisManager.instance.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition); int errorCount = Math.Abs(outCount - targetPosition);
if (isOk) if (isOk)
{ {
...@@ -139,32 +149,32 @@ namespace OnlineStore.DeviceLibrary ...@@ -139,32 +149,32 @@ namespace OnlineStore.DeviceLibrary
//判断轴是否报警 //判断轴是否报警
if (MoveInfo.CanWhileCount <= 3) if (MoveInfo.CanWhileCount <= 3)
{ {
int isAlarm = ACServerManager.GetAlarmStatus(deviceName, axisNo); int isAlarm = AxisManager.instance.GetAlarmStatus(deviceName, axisNo);
if (isAlarm.Equals(1)) if (isAlarm.Equals(1))
{ {
clearMsg = "清理报警，"; clearMsg = "清理报警，";
ACServerManager.AlarmClear(deviceName, axisNo); AxisManager.instance.AlarmClear(deviceName, axisNo);
Thread.Sleep(200); Thread.Sleep(200);
ACServerManager.ServoOn(deviceName, axisNo); AxisManager.instance.ServoOn(deviceName, axisNo);
Thread.Sleep(500); Thread.Sleep(500);
} }
} }
if (String.IsNullOrEmpty(clearMsg)) if (String.IsNullOrEmpty(clearMsg))
{ {
ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue()); AxisManager.instance.SuddenStop(axis.DeviceName, axis.GetAxisValue());
Thread.Sleep(100); Thread.Sleep(100);
} }
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount + LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，" + clearMsg + "重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次"); "]，误差过大，" + clearMsg + "重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed); AxisManager.instance.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, axis.AddSpeed, axis.DelSpeed);
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
Thread.Sleep(200); Thread.Sleep(200);
} }
else else
{ {
msg = " " + MoveInfo.MoveStep + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount msg = " " + MoveInfo.SLog + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]，误差过大，需要报警"; + "]，误差过大，需要报警";
LogUtil.error(msg, MoveInfo.ErrorLogType); LogUtil.error(msg, 600);
} }
} }
return false; return false;
...@@ -172,10 +182,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -172,10 +182,10 @@ namespace OnlineStore.DeviceLibrary
public static bool HomeMoveIsEnd(StoreMoveInfo MoveInfo, ConfigMoveAxis axis, out string msg) public static bool HomeMoveIsEnd(StoreMoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
{ {
msg = ""; msg = "";
if (ACServerManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue())) if (AxisManager.instance.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))
{ {
//原点完成并且位置=0 //原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue()); int outCount = AxisManager.instance.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
int errorCount = Math.Abs(outCount); int errorCount = Math.Abs(outCount);
if (errorCount <= axis.CanErrorCountMax) if (errorCount <= axis.CanErrorCountMax)
{ {
...@@ -186,12 +196,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -186,12 +196,12 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次"); LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
//LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点"); //LogUtil.error( StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, true); AxisManager.instance.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
MoveInfo.CanWhileCount--; MoveInfo.CanWhileCount--;
} }
else else
{ {
msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警"; msg = MoveInfo.Name + " " + MoveInfo.SLog + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg); LogUtil.error(msg);
} }
} }
...@@ -200,7 +210,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -200,7 +210,7 @@ namespace OnlineStore.DeviceLibrary
public int GetAclPosition() public int GetAclPosition()
{ {
int p = ACServerManager.GetActualtPosition(Config.DeviceName, Config.GetAxisValue()); int p = AxisManager.instance.GetActualtPosition(Config.DeviceName, Config.GetAxisValue());
return p; return p;
} }
public bool IsInPosition(int targetP) public bool IsInPosition(int targetP)
...@@ -214,6 +224,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -214,6 +224,9 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
/// <summary>
/// 绝对运动至点，不等待结果
/// </summary>
private void AbsMove(int targetPos, double targetSpeed) private void AbsMove(int targetPos, double targetSpeed)
{ {
if (targetPos.Equals(-1)) if (targetPos.Equals(-1))
...@@ -230,23 +243,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -230,23 +243,15 @@ namespace OnlineStore.DeviceLibrary
{ {
targetSpeed = Config.TargetSpeed * targetSpeed; targetSpeed = Config.TargetSpeed * targetSpeed;
} }
ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed); AxisManager.instance.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, Config.AddSpeed, Config.DelSpeed);
} }
public void SuddenStop(bool needCheck = false) public void SuddenStop()
{ {
if (needCheck) AxisManager.instance.SuddenStop(Config.DeviceName, Config.GetAxisValue());
{
if (ACServerManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()).Equals(0))
{
return;
}
}
ACServerManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
} }
#region 匀速上升处理 #region 匀速上升处理
private System.Timers.Timer axisCheckTimer = null; private System.Timers.Timer axisCheckTimer = null;
internal string TargetIoType = ""; internal string TargetIoType = "";
...@@ -313,3 +318,4 @@ namespace OnlineStore.DeviceLibrary ...@@ -313,3 +318,4 @@ namespace OnlineStore.DeviceLibrary
} }
} }
source/DeviceLibrary/duoStore/BoxBean.cs
 using Asa;
using Asa;
using DeviceLib;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
...@@ -224,7 +222,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -224,7 +222,7 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_H02_InoutToP1: case StoreMoveStep.BOX_H02_InoutToP1:
//如果此时轴三还在报警，需要提示错误并等待 //如果此时轴三还在报警，需要提示错误并等待
if (ACServerManager.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0) if (AxisManager.instance.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0)
{ {
LogUtil.error(Name + MoveInfo.MoveType + "复位失败: " + Config.InOut_Axis.Explain + "报警"); LogUtil.error(Name + MoveInfo.MoveType + "复位失败: " + Config.InOut_Axis.Explain + "报警");
WarnMsg = Name + "复位失败: " + Config.InOut_Axis.Explain + "报警"; WarnMsg = Name + "复位失败: " + Config.InOut_Axis.Explain + "报警";
...@@ -370,10 +368,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -370,10 +368,10 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.EndMove(); MoveInfo.EndMove();
IOMove(IO_Type.UpdownAxis_Break, IO_VALUE.LOW); IOMove(IO_Type.UpdownAxis_Break, IO_VALUE.LOW);
//运动版停止 //运动版停止
MiddleAxis.SuddenStop(true); MiddleAxis.SuddenStop();
UpdownAxis.SuddenStop(true); UpdownAxis.SuddenStop();
InoutAxis.SuddenStop(true); InoutAxis.SuddenStop();
ComAxis.SuddenStop(true); ComAxis.SuddenStop();
CloseAllAxis(); CloseAllAxis();
LogInfo("StopMove"); LogInfo("StopMove");
isInPro = false; isInPro = false;
......
source/DeviceLibrary/duoStore/BoxBean_Partial.cs
using Asa; using Asa;
using DeviceLib;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
...@@ -20,7 +19,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -20,7 +19,7 @@ namespace OnlineStore.DeviceLibrary
#region 出入库结果验证 #region 出入库结果验证
private bool AcInPosition(ConfigMoveAxis axis, int p) private bool AcInPosition(ConfigMoveAxis axis, int p)
{ {
return ACServerManager.isInPosition(axis.DeviceName, axis.GetAxisValue(), p, axis.CanErrorCountMax); return AxisManager.instance.isInPosition(axis.DeviceName, axis.GetAxisValue(), p, axis.CanErrorCountMax);
} }
private static DateTime lastComRHomeTime = DateTime.Now; private static DateTime lastComRHomeTime = DateTime.Now;
......
source/DeviceLibrary/duoStore/DUOStoreBean.cs
...@@ -294,7 +294,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -294,7 +294,6 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
public override void StopMove() public override void StopMove()
{ {
foreach (BoxBean equip in this.BoxMap.Values) foreach (BoxBean equip in this.BoxMap.Values)
...@@ -304,16 +303,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -304,16 +303,14 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.EndMove(); MoveInfo.EndMove();
hoisterCylinder.Stop(); hoisterCylinder.Stop();
//轴运动停止 //轴运动停止
T3_UpdownAxis.SuddenStop(true); T3_UpdownAxis.SuddenStop();
T2_MiddleAxis.SuddenStop(true); T2_MiddleAxis.SuddenStop();
T1_BatchAxis.SuddenStop(true); T1_BatchAxis.SuddenStop();
CloseAllAxis(); CloseAllAxis();
LineStop(); LineStop();
} }
public override void StopRun() public override void StopRun()
{ {
mainTimer.Enabled = false; mainTimer.Enabled = false;
...@@ -323,7 +320,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -323,7 +320,7 @@ namespace OnlineStore.DeviceLibrary
foreach (BoxBean equip in BoxMap.Values) foreach (BoxBean equip in BoxMap.Values)
{ {
equip.StopRun(); equip.StopRun();
} }
runStatus = StoreRunStatus.Wait; runStatus = StoreRunStatus.Wait;
// RFIDManager.Close(); // RFIDManager.Close();
TimeSpan span = DateTime.Now - StartTime; TimeSpan span = DateTime.Now - StartTime;
...@@ -657,7 +654,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -657,7 +654,6 @@ namespace OnlineStore.DeviceLibrary
public bool OpenAllAxis(bool isCheck = true) public bool OpenAllAxis(bool isCheck = true)
{ {
if (RunMultiAxis(isCheck, IO_Type.MoveAxis_Run, IO_Type.MoveAxis_Break, new AxisBean []{ T3_UpdownAxis,T2_MiddleAxis})) if (RunMultiAxis(isCheck, IO_Type.MoveAxis_Run, IO_Type.MoveAxis_Break, new AxisBean []{ T3_UpdownAxis,T2_MiddleAxis}))
{ {
if (RunAxis(isCheck, T1_BatchAxis) ) if (RunAxis(isCheck, T1_BatchAxis) )
......
source/DeviceLibrary/duoStore/DUOStoreBean_Partial.cs
using DeviceLib; using OnlineStore.Common;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
...@@ -48,7 +47,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -48,7 +47,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.debug(Name + "CheckWaitResult 检测到" + T1_BatchAxis.TargetIoType + "=" + T1_BatchAxis.TargetIoValue + ",停止运行"); LogUtil.debug(Name + "CheckWaitResult 检测到" + T1_BatchAxis.TargetIoType + "=" + T1_BatchAxis.TargetIoValue + ",停止运行");
T1_BatchAxis.StopAxisCheckMove(); T1_BatchAxis.StopAxisCheckMove();
if (ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1)) if (AxisManager.instance.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
{ {
T1_BatchAxis.SuddenStop(); T1_BatchAxis.SuddenStop();
} }
...@@ -56,7 +55,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -56,7 +55,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
bool isOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0); bool isOk = AxisManager.instance.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isOk) if (isOk)
{ {
//TODO 判断是否达到高度，如果未达到，继续上升 //TODO 判断是否达到高度，如果未达到，继续上升
......
source/DeviceLibrary/duoStore/EquipBase.cs
using DeviceLib; using OnlineStore.Common;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
...@@ -147,7 +146,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -147,7 +146,7 @@ namespace OnlineStore.DeviceLibrary
{ {
short axis = axisInfo.Config.GetAxisValue(); short axis = axisInfo.Config.GetAxisValue();
string deviceName = axisInfo.Config.GetNameStr(); string deviceName = axisInfo.Config.GetNameStr();
int value = ACServerManager.GetAlarmStatus(deviceName, axis); int value = AxisManager.instance.GetAlarmStatus(deviceName, axis);
//if (value.Equals(-1)) //if (value.Equals(-1))
//{ //{
// value = ACServerManager.GetAlarmStatus(deviceName, axis); // value = ACServerManager.GetAlarmStatus(deviceName, axis);
......
source/DeviceLibrary/duoStore/StoreManager.cs
using DeviceLib; using log4net;
using log4net;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
...@@ -18,7 +17,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -18,7 +17,7 @@ namespace OnlineStore.DeviceLibrary
public static DUOStoreBean Store = null; public static DUOStoreBean Store = null;
public static Store_Config Config = null; public static Store_Config Config = null;
public static Dictionary<int, BaseConfig> AllConfigMap = null; public static Dictionary<int, BaseConfig> allConfigMap = null;
private static bool isInit = false; private static bool isInit = false;
public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals(""); public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals("");
public StoreManager() public StoreManager()
...@@ -48,7 +47,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -48,7 +47,7 @@ namespace OnlineStore.DeviceLibrary
{ {
try try
{ {
AllConfigMap = new Dictionary<int, BaseConfig>(); allConfigMap = new Dictionary<int, BaseConfig>();
BaseConfig.ProIOIpMap = new Dictionary<string, string>(); BaseConfig.ProIOIpMap = new Dictionary<string, string>();
if (!isInit) if (!isInit)
{ {
...@@ -77,7 +76,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -77,7 +76,7 @@ namespace OnlineStore.DeviceLibrary
string linefilePath = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_ConfigPath); string linefilePath = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_ConfigPath);
Config = CSVConfigReader.LoadLineConfig(0, CID, "Line", linefilePath); Config = CSVConfigReader.LoadLineConfig(0, CID, "Line", linefilePath);
AllConfigMap.Add(0, Config); allConfigMap.Add(0, Config);
string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.BOX_ConfigPath); string moveEquipConfig = ConfigAppSettings.GetValue(Setting_Init.BOX_ConfigPath);
for (int i = 1; i <= count; i++) for (int i = 1; i <= count; i++)
...@@ -88,7 +87,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -88,7 +87,7 @@ namespace OnlineStore.DeviceLibrary
string boxCid = ConfigAppSettings.GetValue(storeIdConfig); string boxCid = ConfigAppSettings.GetValue(storeIdConfig);
BOX_Config moveConfig = CSVConfigReader.LoadBoxConfig(i, boxCid, "BOX", config); BOX_Config moveConfig = CSVConfigReader.LoadBoxConfig(i, boxCid, "BOX", config);
moveConfig.SetIO(i); moveConfig.SetIO(i);
AllConfigMap.Add(i, moveConfig); allConfigMap.Add(i, moveConfig);
storeConfig.Add(i, moveConfig); storeConfig.Add(i, moveConfig);
} }
string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config); string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config);
...@@ -108,7 +107,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -108,7 +107,6 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info("加载料仓完成！"); LogUtil.info("加载料仓完成！");
} }
ACServerManager.LogEvent += ACServerManager_LogEvent;
Store = new DUOStoreBean(Config, storeConfig); Store = new DUOStoreBean(Config, storeConfig);
} }
} }
...@@ -137,7 +135,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -137,7 +135,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error("保存配置文件失败：" + configFile); LogUtil.error("保存配置文件失败：" + configFile);
} }
AllConfigMap[storeConfig.Id] = storeConfig; allConfigMap[storeConfig.Id] = storeConfig;
Store.BoxConfigMap[storeConfig.Id] = storeConfig; Store.BoxConfigMap[storeConfig.Id] = storeConfig;
Store.BoxMap[storeConfig.Id].Config = storeConfig; Store.BoxMap[storeConfig.Id].Config = storeConfig;
Store.BoxMap[storeConfig.Id].MoveAxisConfig(); Store.BoxMap[storeConfig.Id].MoveAxisConfig();
...@@ -176,21 +174,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -176,21 +174,7 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
private static void ACServerManager_LogEvent(InfoType type, string msg)
{
if (type.Equals(InfoType.Error))
{
LogUtil.error(msg);
}
else if (type.Equals(InfoType.Info))
{
LogUtil.info(msg);
}
else
{
LogUtil.debug(msg);
}
}
#endregion #endregion
#region 位置加载 #region 位置加载
......
source/DeviceLibrary/store/KTK_Store.cs
using DeviceLib; using log4net;
using log4net;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
...@@ -458,7 +457,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -458,7 +457,7 @@ namespace OnlineStore.DeviceLibrary
#region 多个伺服运动 #region 多个伺服运动
public bool RunMultiAxis(bool isCheck, string serverOnDO, string breakOnDO, params AxisBean[] axisArray) public bool RunMultiAxis(bool isCheck, params AxisBean[] axisArray)
{ {
IOManager.IOMove(serverOnDO, IO_VALUE.HIGH, baseConfig.Id); IOManager.IOMove(serverOnDO, IO_VALUE.HIGH, baseConfig.Id);
string msg = ""; string msg = "";
...@@ -474,18 +473,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -474,18 +473,18 @@ namespace OnlineStore.DeviceLibrary
} }
Thread.Sleep(500); Thread.Sleep(500);
//打开所有轴 //打开所有轴
if (isCheck) //if (isCheck)
{ //{
foreach (AxisBean axis in axisArray) // foreach (AxisBean axis in axisArray)
{ // {
if (!axis.AxisIsOpen(out msg)) // if (!axis.OpenAxis(out msg))
{ // {
SetWarnMsg(Name + msg); // SetWarnMsg(Name + msg);
Alarm(AlarmType.AxisAlarm); // Alarm(AlarmType.AxisAlarm);
return false; // return false;
} // }
} // }
} //}
IOManager.IOMove(breakOnDO, IO_VALUE.HIGH, baseConfig.Id); IOManager.IOMove(breakOnDO, IO_VALUE.HIGH, baseConfig.Id);
return true; return true;
} }
......
source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs
...@@ -51,6 +51,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -51,6 +51,7 @@ namespace OnlineStore.LoadCSVLibrary
throw new CVSFieldNotMatchingExection(ConfigStr + "，【类型：" + ProType + "】【名称：" + ProName + "】【属性值：" + ProValue + "】必须配置值！"); throw new CVSFieldNotMatchingExection(ConfigStr + "，【类型：" + ProType + "】【名称：" + ProName + "】【属性值：" + ProValue + "】必须配置值！");
} }
} }
public byte SlaveID = 0;
} }
/// <summary> /// <summary>
/// 运动轴配置 /// 运动轴配置
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
...@@ -36,7 +36,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -36,7 +36,7 @@ namespace OnlineStore.LoadCSVLibrary
/// <summary> /// <summary>
/// DI,0,启动,AutoRun_BTN,2,PRO_AOI_IP_1,X03, /// DI,0,启动,AutoRun_BTN,2,PRO_AOI_IP_1,X03,
/// </summary> /// </summary>
public static string AutoRun_BTN = "AutoRun_BTN"; //public static string AutoRun_BTN = "AutoRun_BTN";
/// <summary> /// <summary>
/// DI,0,气压检测,Airpressure_Check,3,PRO_AOI_IP_1,X04, /// DI,0,气压检测,Airpressure_Check,3,PRO_AOI_IP_1,X04,
/// </summary> /// </summary>
...@@ -126,22 +126,22 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -126,22 +126,22 @@ namespace OnlineStore.LoadCSVLibrary
/// <summary> /// <summary>
/// DO,1,左侧料仓升降轴刹车ON,UpdownAxis_Break,11,PRO_AOI_IP_1,Y12, /// DO,1,左侧料仓升降轴刹车ON,UpdownAxis_Break,11,PRO_AOI_IP_1,Y12,
/// </summary> /// </summary>
public static string UpdownAxis_Break = "UpdownAxis_Break"; //public static string UpdownAxis_Break = "UpdownAxis_Break";
/// <summary> /// <summary>
/// DO,0,提升机构升降轴刹车ON,BatchAxis_Break,13,PRO_AOI_IP_1,Y14, /// DO,0,提升机构升降轴刹车ON,BatchAxis_Break,13,PRO_AOI_IP_1,Y14,
/// </summary> /// </summary>
public static string BatchAxis_Break = "BatchAxis_Break"; //public static string BatchAxis_Break = "BatchAxis_Break";
/// <summary> /// <summary>
/// DO,0,移栽机构上下轴刹车ON,MoveAxis_Break,14,PRO_AOI_IP_1,Y15, /// DO,0,移栽机构上下轴刹车ON,MoveAxis_Break,14,PRO_AOI_IP_1,Y15,
/// </summary> /// </summary>
public static string MoveAxis_Break = "MoveAxis_Break"; //public static string MoveAxis_Break = "MoveAxis_Break";
/// <summary> /// <summary>
/// DO,1,左侧料仓伺服ON,Axis_Run,15,PRO_AOI_IP_1,Y16, /// DO,1,左侧料仓伺服ON,Axis_Run,15,PRO_AOI_IP_1,Y16,
/// </summary> /// </summary>
public static string Axis_Run = "Axis_Run"; //public static string Axis_Run = "Axis_Run";
/// <summary> /// <summary>
...@@ -213,19 +213,19 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -213,19 +213,19 @@ namespace OnlineStore.LoadCSVLibrary
/// <summary> /// <summary>
/// DI,0,取料气缸料盘检测,ClampCylinder_Check,0,PRO_AOI_IP_3,X41, /// DI,0,取料气缸料盘检测,ClampCylinder_Check,0,PRO_AOI_IP_3,X41,
/// </summary> /// </summary>
public static string ClampCylinder_Check = "ClampCylinder_Check"; //public static string ClampCylinder_Check = "ClampCylinder_Check";
/// <summary> /// <summary>
/// DI,0,线体出口放行信号,LineOut_BTN,1,PRO_AOI_IP_3,X42, /// DI,0,线体出口放行信号,LineOut_BTN,1,PRO_AOI_IP_3,X42,
/// </summary> /// </summary>
public static string LineOut_BTN = "LineOut_BTN"; // public static string LineOut_BTN = "LineOut_BTN";
/// <summary> /// <summary>
/// DO,0,线体入口指示灯,LineIn_Led,0,PRO_AOI_IP_3,Y41, /// DO,0,线体入口指示灯,LineIn_Led,0,PRO_AOI_IP_3,Y41,
/// </summary> /// </summary>
public static string LineIn_Led = "LineIn_Led"; //public static string LineIn_Led = "LineIn_Led";
/// <summary> /// <summary>
/// DO,0,线体出口指示灯,LineOut_Led,1,PRO_AOI_IP_3,Y42, /// DO,0,线体出口指示灯,LineOut_Led,1,PRO_AOI_IP_3,Y42,
/// </summary> /// </summary>
public static string LineOut_Led = "LineOut_Led"; //public static string LineOut_Led = "LineOut_Led";
/// <summary> /// <summary>
/// DO,0,设备内部照明ON,Device_Led,2,PRO_AOI_IP_3,Y43, /// DO,0,设备内部照明ON,Device_Led,2,PRO_AOI_IP_3,Y43,
/// </summary> /// </summary>
......
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