导入所有io,修正所有出错位置

source/DUOStore/FrmAxisMove.cs

@@ -34,7 +34,7 @@ namespace OnlineStore.DUOStore
 
         private void FrmTest_Load(object sender, EventArgs e)
         {
-            axisMoveControl1.LoadData(null, new AxisBean[] { StoreManager.Store.T1_BatchAxis, StoreManager.Store.T2_MiddleAxis, StoreManager.Store.T3_UpdownAxis });
+            axisMoveControl1.LoadData(null, new AxisBean[] { StoreManager.Store.T1_BatchAxis, StoreManager.Store.T2_MiddleAxis, StoreManager.Store.T3_UpdownAxis, StoreManager.Store.T4_InOut_Axis });
             LoadPostion();
         }
 

source/DUOStore/FrmIOStatus.cs

@@ -228,12 +228,14 @@ namespace OnlineStore.DUOStore
 
         private void btnLocationUp_Click(object sender, EventArgs e)
         {
-            StoreManager.Store.hoisterCylinder.StartForward(null); 
+            //StoreManager.Store.hoisterCylinder.StartForward(null); 
+            StoreManager.Store.InOutStation_LocationUp();
         }
 
         private void btnLocationDown_Click(object sender, EventArgs e)
         {
-            StoreManager.Store.hoisterCylinder.StartBack(null);
+            //StoreManager.Store.hoisterCylinder.StartBack(null);
+            StoreManager.Store.InOutStation_LocationDown();
         }
 
         private void FrmIOStatus_Shown(object sender, EventArgs e)
@@ -351,5 +353,20 @@ namespace OnlineStore.DUOStore
         {
 
         }
+
+        private void btn_Stop_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.InOutStation_Stop();
+        }
+
+        private void btnFoward_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.InOutStation_GoIn();
+        }
+
+        private void btnBack_Click(object sender, EventArgs e)
+        {
+            StoreManager.Store.InOutStation_GoOut();
+        }
     }
 }

source/DUOStore/FrmStore.cs

@@ -47,7 +47,7 @@ namespace OnlineStore.DUOStore
                     this.Close();
                     return;
                 }
-                foreach (BoxBean box in store.BoxMap.Values)
+                foreach (BoxBean box in store.BoxMap.Values)//eqList
                 {
                     FrmBox frm = new FrmBox();
                     frm.BoxBean = box;
@@ -138,7 +138,7 @@ namespace OnlineStore.DUOStore
             List<EquipBase> eqList = new List<EquipBase>(store.BoxMap.Values);
             eqList.Insert(0, store);
 
-            foreach (EquipBase equip in store.BoxMap.Values)
+            foreach (EquipBase equip in eqList)
             {
                 if (i.Equals(0))
                 {

source/DeviceLibrary/DeviceLibrary.csproj

@@ -73,6 +73,7 @@
     <Compile Include="AXIS\PanasonicServo\ACServerManager.cs" />
     <Compile Include="AXIS\PanasonicServo\ACServerManager_Partial.cs" />
     <Compile Include="device\IO\HCIOManager.cs" />
+    <Compile Include="duoStore\DUOStoreBean_RaiseStation.cs" />
     <Compile Include="duoStore\AxisBean.cs" />
     <Compile Include="duoStore\BoxBean.cs" />
     <Compile Include="duoStore\BoxBean_Partial.cs" />
@@ -80,7 +81,6 @@
     <Compile Include="duoStore\DUOStoreBean_Partial.cs" />
     <Compile Include="duoStore\ElectricClamp.cs" />
     <Compile Include="duoStore\EquipBase.cs" />
-    <Compile Include="duoStore\HoisterCylinder.cs" />
     <Compile Include="duoStore\HumitureBean.cs" />
     <Compile Include="duoStore\DUOStoreBean.cs" />
     <Compile Include="duoStore\StoreManager.cs" />

source/DeviceLibrary/device/IO/HCIOManager.cs

@@ -24,6 +24,7 @@ namespace OnlineStore.DeviceLibrary.IO
         {
             if (dIODeviceNameList.Count > 0 && dIODeviceNameList.Contains("HC"))
             {
+                HCBoardManager.InitConfig();
                 if (!HCBoardManager.CardInitOk())
                 {
                     HCBoardManager.OpenCard();

source/DeviceLibrary/duoStore/DUOStoreBean.cs

@@ -88,7 +88,7 @@ namespace OnlineStore.DeviceLibrary
                 int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
                 if (isAuto == 1)
                 {
-                    mainTimer.Enabled = true;
+                    IoCheckTimer.Enabled = true;
                 }
             });
         }
@@ -239,7 +239,10 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.LR_05_Hoister_Back);
                 LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：取料电机后退，旋转轴回原点");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                hoisterCylinder.StartBack(MoveInfo);
+                //hoisterCylinder.StartBack(MoveInfo);
+                IOMove(IO_Type.RaiseStation_LocationUp, IO_VALUE.LOW);
+                IOMove(IO_Type.RaiseStation_LocationDown, IO_VALUE.HIGH);
+                //InOutStation_LocationDown();
                 T2_MiddleAxis.HomeMove(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LR_05_Hoister_Back))

source/DeviceLibrary/duoStore/DUOStoreBean_Partial.cs

@@ -113,8 +113,19 @@ namespace OnlineStore.DeviceLibrary
 
         public override bool StartOutStoreMove(InOutParam param)
         {
+            if (IOValue(IO_Type.RaiseStation_BackendCheck).Equals(IO_VALUE.HIGH)) {
+                runStatus = StoreRunStatus.Busy;
+                storeStatus = StoreStatus.OutStoreExecute;
+                MoveInfo.NewMove(MoveType.OutStore, new InOutParam(MoveType.OutStore));
+                LogUtil.info(Name + " 检测到库位有料架");
+                //LogUtil.info(Name + " 当前料架[" + CurrShelfNum + "][" + CurrShelfType + "],开始出库");
+                //UpdateShelfNum(CurrShelfNum, 2);
+                //L_05_WaitTime(StoreMoveStep.LO_05_WaitTime);
+                MoveInfo.NextMoveStep(StoreMoveStep.LO_07_RaiseStationForward);
+                return true;
+            }
             //判断是哪个工位有料架
-            if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
+            else if (IOValue(IO_Type.Line_WorkCheck).Equals(IO_VALUE.HIGH))
             {
                 if (CurrShelfNum >= 0 && (CurrShelfType.Equals(0) || CurrShelfType.Equals(2)))
                 { 
@@ -179,19 +190,27 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.LO_05_WaitTime))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_06_TopUp);
-                InOutStoreLog("料架出库：  顶升气缸上升");
-                CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
+                InOutStoreLog("料架出库： 提升机构上升");
+                InOutStation_RasieUp();
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_06_TopUp))
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.LO_07_HoisterForward);
-                InOutStoreLog("料架出库：取料提升机构前进");
-                hoisterCylinder.StartForward(MoveInfo);
+                MoveInfo.NextMoveStep(StoreMoveStep.LO_07_RaiseStationForward);
+                InOutStoreLog("料架出库：横移机构前进");
+                InOutStation_GoIn();
+                //hoisterCylinder.StartForward(MoveInfo);
             }
-            else if (MoveInfo.IsStep(StoreMoveStep.LO_07_HoisterForward))
+            else if (MoveInfo.IsStep(StoreMoveStep.LO_07_RaiseStationForward))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.LO_07_RaiseStationForward_2);
+                InOutStoreLog("料架出库：料窜到位，顶升上升");
+                InOutStation_Stop(1000);
+                InOutStation_LocationUp();
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.LO_07_RaiseStationForward_2))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_08_AxisUpToP2);
-                InOutStoreLog("料架出库：上料轴开始慢速上升到P2点["+Config.BatchAxis_P2+"]，等待检测到料盘");
+                InOutStoreLog("料架出库：上料轴开始慢速上升到P2点[" + Config.BatchAxis_P2 + "]，等待检测到料盘");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                 BatchAxisToP2(true);
             }
@@ -341,13 +360,27 @@ namespace OnlineStore.DeviceLibrary
             #region 送出料架处理
             else if (MoveInfo.IsStep(StoreMoveStep.LO_31_BatchAxisToP1))
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.LO_32_HoisterBack);
+                MoveInfo.NextMoveStep(StoreMoveStep.LO_32_RaiseStationBack);
                 InOutStoreLog("送出料架：升降盘定位气缸后退");
-                hoisterCylinder.StartBack(MoveInfo);
+                InOutStation_LocationDown();
             }
-            else if (MoveInfo.IsStep(StoreMoveStep.LO_32_HoisterBack))
+            else if (MoveInfo.IsStep(StoreMoveStep.LO_32_RaiseStationBack))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.LO_32_RaiseStationBack_2);
+                InOutStoreLog("送出料架：横移机构后退");
+                InOutStation_GoOut();
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.LO_32_RaiseStationBack_2))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.LO_32_RaiseStationBack_3);
+
+                InOutStation_Stop();
+                InOutStoreLog("送出料架：横移机构停止");
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.LO_32_RaiseStationBack_3))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_33_TopCylinderDown);
+
                 InOutStoreLog("送出料架：顶升气缸下降");
                 CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Up);
             }
@@ -534,7 +567,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     MoveInfo.NextMoveStep(StoreMoveStep.LI_02_HoisterBack);
                     InOutStoreLog("检测到料架：取料提升机构后退端");
-                    hoisterCylinder.StartBack(MoveInfo);
+                    InOutStation_LocationDown();
                 }
                 else
                 {
@@ -563,16 +596,17 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_02_HoisterBack);
                 InOutStoreLog("检测到料架：取料提升机构后退端");
-                hoisterCylinder.StartBack(MoveInfo);
+                //hoisterCylinder.StartBack(MoveInfo);
+                InOutStation_LocationDown();
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_02_HoisterBack))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_03_LocationDown);
                 InOutStoreLog("入料检测：定位气缸下降");
-                CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
+                InOutStation_RasieDown();
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_03_LocationDown))
-            {
+            {                
                 LI_04_LineStart();
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_04_LineStart))
@@ -582,18 +616,25 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.LI_05_WaitTime))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_06_TopUp);
-                InOutStoreLog("入料检测：链条停止转动，  顶升气缸上升");
+                InOutStoreLog("入料检测：链条停止转动，  进出机构上升");
                 LineStop(MoveInfo);
-                CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
+                InOutStation_RasieUp();
+                
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_06_TopUp))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_07_HoisterForward);
-                InOutStoreLog("入料检测：取料提升机构前进");
-                hoisterCylinder.StartForward(MoveInfo);
+                InOutStoreLog("入料检测：进出机构前进");
+                InOutStation_GoIn();
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_07_HoisterForward))
             {
+                MoveInfo.NextMoveStep(StoreMoveStep.LI_07_HoisterForward_2);
+                InOutStoreLog("入料检测：定位销上升");
+                InOutStation_LocationUp();
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.LI_07_HoisterForward_2))
+            {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_08_AxisUpToP2);
                 InOutStoreLog("入料检测：上料轴开始慢速上升到P2 [" + Config.BatchAxis_P2 + "]，等待检测到料盘");
                 BatchAxisToP2(true);
@@ -774,18 +815,33 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.LI_31_BatchAxisToP1))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_32_HoisterBack);
-                InOutStoreLog("送出料架：升降盘定位气缸后退");
-                hoisterCylinder.StartBack(MoveInfo);
+
+                InOutStoreLog("送出料架：顶升气缸下降");
+                InOutStation_LocationDown();
+                InOutStation_RasieUp();
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_32_HoisterBack))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_33_TopCylinderDown);
-                InOutStoreLog("送出料架：顶升气缸下降");
-                CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Up);
+                InOutStoreLog("送出料架：升降盘定位气缸后退");
+                InOutStation_GoOut();
+                //hoisterCylinder.StartBack(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_33_TopCylinderDown))
             {
-
+                MoveInfo.NextMoveStep(StoreMoveStep.LI_33_TopCylinderDown_2);
+                InOutStoreLog("送出料架：进出滚筒往外");
+                InOutStation_GoOut();
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.LI_33_TopCylinderDown_2))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.LI_33_TopCylinderDown_3);
+                InOutStoreLog("送出料架：进出机构下降");
+                InOutStation_RasieDown();
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.LI_33_TopCylinderDown_3))
+            {                
+                InOutStation_Stop(1000);
                 //判断是否需要送出料架，如果入口和等待区无料架，暂不送出
                 if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || InstoreEndSendShelf)
                 {
@@ -1133,7 +1189,7 @@ namespace OnlineStore.DeviceLibrary
 
         internal bool BoxDoorFree(int id)
         {
-            if (MoveInfo.MoveType.Equals(MoveType.InStore))
+            if (MoveInfo.MoveType.Equals(MoveType.OutStore))
             {
                 if (MoveInfo.MoveStep >= StoreMoveStep.LO_13_UpdownDown && MoveInfo.MoveStep <= StoreMoveStep.LO_16_MiddleToP1)
                 {
@@ -1143,7 +1199,7 @@ namespace OnlineStore.DeviceLibrary
                     }
                 }
 
-            }else if (MoveInfo.MoveType.Equals(MoveType.OutStore))
+            }else if (MoveInfo.MoveType.Equals(MoveType.InStore))
             {
                 if (MoveInfo.MoveStep >= StoreMoveStep.LI_23_UpdownDown && MoveInfo.MoveStep <= StoreMoveStep.LI_26_AxisToWait)
                 {

source/DeviceLibrary/duoStore/DUOStoreBean_RaiseStation.cs

+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    partial class DUOStoreBean
+    {
+        /// <summary>
+        /// 进出滚筒往内
+        /// </summary>
+        public void InOutStation_GoIn()
+        {
+            IOMove(IO_Type.RaiseStation_GoIn, IO_VALUE.HIGH);
+            IOMove(IO_Type.RaiseStation_GoIn1, IO_VALUE.HIGH);
+            IOMove(IO_Type.RaiseStation_GoOut, IO_VALUE.LOW);
+            IOMove(IO_Type.RaiseStation_GoOut1, IO_VALUE.LOW);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_FrontCheck, IO_VALUE.HIGH));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_BackendCheck, IO_VALUE.HIGH));
+        }
+        /// <summary>
+        /// 进出滚筒停止
+        /// </summary>
+        public void InOutStation_Stop(int delay = 0)
+        {
+            var t = Task.Run(()=> {
+                if (delay > 0)
+                {
+                    Task.Delay(delay).Wait();
+                }
+                IOMove(IO_Type.RaiseStation_GoIn, IO_VALUE.LOW);
+                IOMove(IO_Type.RaiseStation_GoIn1, IO_VALUE.LOW);
+                IOMove(IO_Type.RaiseStation_GoOut, IO_VALUE.LOW);
+                IOMove(IO_Type.RaiseStation_GoOut1, IO_VALUE.LOW);
+            });
+            if (delay == 0)
+                t.Wait();
+            
+        }
+        /// <summary>
+        /// 提升工位定位销上升
+        /// </summary>
+        public void InOutStation_LocationUp()
+        {
+            IOMove(IO_Type.RaiseStation_LocationUp, IO_VALUE.HIGH);
+            IOMove(IO_Type.RaiseStation_LocationDown, IO_VALUE.LOW);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_UpLocation1, IO_VALUE.HIGH));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_UpLocation2, IO_VALUE.HIGH));
+        }
+        /// <summary>
+        /// 进出滚筒往外
+        /// </summary>
+        public void InOutStation_GoOut()
+        {
+            IOMove(IO_Type.RaiseStation_GoIn, IO_VALUE.LOW);
+            IOMove(IO_Type.RaiseStation_GoIn1, IO_VALUE.LOW);
+            IOMove(IO_Type.RaiseStation_GoOut, IO_VALUE.HIGH);
+            IOMove(IO_Type.RaiseStation_GoOut1, IO_VALUE.HIGH);
+
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_FrontCheck, IO_VALUE.LOW));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_BackendCheck, IO_VALUE.LOW));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_SideCheck, IO_VALUE.HIGH));
+        }
+        /// <summary>
+        /// 提升工位定位销下降
+        /// </summary>
+        public void InOutStation_LocationDown()
+        {
+            IOMove(IO_Type.RaiseStation_LocationUp, IO_VALUE.LOW);
+            IOMove(IO_Type.RaiseStation_LocationDown, IO_VALUE.HIGH);
+
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_DownLocation1, IO_VALUE.HIGH));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RaiseStation_DownLocation2, IO_VALUE.HIGH));
+        }
+        /// <summary>
+        /// 进出提升机构提升
+        /// </summary>
+        public void InOutStation_RasieUp()
+        {
+            CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
+        }
+        /// <summary>
+        /// 进出提升机构下降
+        /// </summary>
+        public void InOutStation_RasieDown()
+        {
+            CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
+        }
+    }
+}

source/DeviceLibrary/store/StoreStep.cs

@@ -369,9 +369,10 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         LI_06_TopUp,
         /// <summary>
-        /// 入料检测：取料提升机构前进
+        /// 入料检测：进出机构前进
         /// </summary>
         LI_07_HoisterForward,
+        LI_07_HoisterForward_2,
         /// <summary>
         /// 入料检测：上料轴开始慢速上升到P2点，等待检测到料盘
         /// </summary>
@@ -458,6 +459,8 @@ namespace OnlineStore.DeviceLibrary
         /// 送出料架，顶升气缸下降
         /// </summary>
         LI_33_TopCylinderDown,
+        LI_33_TopCylinderDown_2,
+        LI_33_TopCylinderDown_3,
 
         /// <summary>
         /// 送出料架，上料阻挡下降1秒，流水线开始转动
@@ -509,7 +512,8 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 料架出库：取料提升机构前进
         /// </summary>
-        LO_07_HoisterForward,
+        LO_07_RaiseStationForward,
+        LO_07_RaiseStationForward_2,
         /// <summary>
         /// 料架出库：上料轴开始慢速上升到P2点，等待检测到料盘
         /// </summary>
@@ -575,8 +579,9 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 送出料架，升降盘定位气缸后退
         /// </summary>
-        LO_32_HoisterBack,
-
+        LO_32_RaiseStationBack,
+        LO_32_RaiseStationBack_2,
+        LO_32_RaiseStationBack_3,
         /// <summary>
         /// 送出料架，顶升气缸下降
         /// </summary>

source/LoadCVSLibrary/storeConfig/config/Store_Config.cs

@@ -36,7 +36,7 @@ namespace OnlineStore.LoadCSVLibrary
         /// <summary>
         ///  AXIS,,T4_取料机构进出轴,T4_InOut_Axis,3,COM3,,800,1000,1000,200,500,500,10,1000,0,0
         /// </summary>
-        [ConfigProAttribute("T3_Updown_Axis")]
+        [ConfigProAttribute("T4_InOut_Axis")]
         public ConfigMoveAxis T4_InOut_Axis { get; set; }
 
         /// <summary>