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Commit a684000c 由 刘韬
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入库取料时压紧轴改走p1

1 个父辈 ad4e221b
内嵌 并排
正在显示 3 个修改的文件 包含 48 行增加 和 28 行删除
source/DeviceLibrary/duoStore/BoxBean.cs
......@@ -470,6 +470,22 @@ namespace OnlineStore.DeviceLibrary
waitInStoreParam = null;
}
}
else if (false && IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && noInStore && IsDebug.Equals(false))
{
LogInfo("发现入口有无信息料");
InOutParam inOutParam = new InOutParam(MoveType.InStore);
inOutParam.InStoreNg = true;
inOutParam.TargetPosition = 1;
inOutParam.moveType = MoveType.InStore;
inOutParam.PlateH = 56;
StoreManager.LoadInoutParam(inOutParam, MoveType.InStore, true, this);
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, inOutParam);
MoveInfo.NextMoveStep(StoreMoveStep.SI_01_InoutToP1);
}
else if (waitOutStoreList.Count > 0 && noInStore && IsDebug.Equals(false))
{
lock (waitOutStoreList)
......@@ -487,21 +503,7 @@ namespace OnlineStore.DeviceLibrary
}
}
}
else if (false && IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && noInStore && IsDebug.Equals(false))
{
LogInfo("发现入口有无信息料");
InOutParam inOutParam = new InOutParam(MoveType.InStore);
inOutParam.InStoreNg = true;
inOutParam.TargetPosition = 1;
inOutParam.moveType = MoveType.InStore;
inOutParam.PlateH = 56;
StoreManager.LoadInoutParam(inOutParam, MoveType.InStore, true, this);
runStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(MoveType.InStore, inOutParam);
MoveInfo.NextMoveStep(StoreMoveStep.SI_01_InoutToP1);
}
}
catch (Exception ex)
{
......
source/DeviceLibrary/duoStore/BoxBean_Partial.cs
......@@ -156,7 +156,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_02_AxisBack);
InOutStoreLog(outType + " 升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P3[" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
......@@ -451,7 +451,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_InoutToP3);
InOutStoreLog(outType + " 进出轴至P3 [" + moveP.InOut_P3 + "] ");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_03_InoutToP3))
{
......@@ -460,7 +460,7 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog(outType + "升降轴到P6[" + moveP.UpDown_P6 + "]，压紧轴到P2[" + moveP.ComPress_P2 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_04_GetReel))
{
......@@ -544,7 +544,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06A_03_FixDisk);
InOutStoreLog(outType + "[修正]进出轴到P3 [" + fixMoveP.InOut_P3 + "] ");
InoutAxis.AbsMove(MoveInfo, fixMoveP.InOut_P3, Config.InOutAxis_P3_Speed*3);
InoutAxis.AbsMove(MoveInfo, fixMoveP.InOut_P3, Config.InOutAxis_P3_Speed * 3);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_06A_03_FixDisk))
{
......@@ -577,13 +577,14 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck))
{
bool waitLeftStore = false;
if (StoreManager.Store.HasT4Axis && ID == 2 && StoreManager.Store.MoveInfo.MoveParam!=null && StoreManager.Store.MoveInfo.MoveParam.TargetBox==1)
if (StoreManager.Store.HasT4Axis && ID == 2 && StoreManager.Store.MoveInfo.MoveParam != null && StoreManager.Store.MoveInfo.MoveParam.TargetBox == 1)
{
if (StoreManager.Store.MoveInfo.MoveStep >= StoreMoveStep.LO_11_BatchAxisDown && StoreManager.Store.MoveInfo.MoveStep <= StoreMoveStep.LO_16_MiddleToP1)
waitLeftStore = true;
}
if (!waitLeftStore) {
if (!waitLeftStore)
{
CameraGrabOne(GetFixtureStateFilename(MoveInfo.MoveParam, FixtureState.DoorIn));
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2);
InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]");
......@@ -635,7 +636,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitTrayGo);
InOutStoreLog(outType + "等待提升机构拿走料盘 ");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ClearTimeoutAlarm("提升机构夹爪开始取料");
ClearTimeoutAlarm("提升机构可以取料");
......@@ -645,12 +646,13 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 提升机构夹爪开始取料 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, ID * 1000 + 30);
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsTimeOut(60))
{
if (StoreManager.Store.MoveInfo.MoveStep == StoreMoveStep.LI_17_SaveSize) {
if (StoreManager.Store.MoveInfo.MoveStep == StoreMoveStep.LI_17_SaveSize)
{
InOutStoreLog(outType + " 线体开始入库, 将当前滞留盘送往紧急出料口");
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_InoutToP1);
}
......@@ -667,9 +669,22 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(Name + " 等待夹爪取料超时,送至紧急出料口！");
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_InoutToP1);
}
else if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW)|| AutoInout.autoNext)
else if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW) || AutoInout.autoNext)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitTrayGo_checkagain);
LogUtil.info(Name + " 再次检查料盘有无抓走");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_12_WaitTrayGo_checkagain)) {
if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && MoveInfo.IsTimeOut(5))
{
LogUtil.info(Name + " 抓料失败,送至紧急出料口");
MoveInfo.NextMoveStep(StoreMoveStep.SO_14_InoutToP1);
}
else if(IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW) || AutoInout.autoNext)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam.PosID;
LogUtil.info(Name + " 【" + posId + "】 出库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
......@@ -677,6 +692,7 @@ namespace OnlineStore.DeviceLibrary
MoveEndP();
AutoInout.InOutEndProcess(this, MoveType.OutStore);
}
}
#endregion
#region 出料移栽失败,送至紧急出料口
......@@ -750,7 +766,8 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog(outType + "触发出口安全光栅,进出轴暂停运行");
InoutAxis.SuddenStop();
}
else if (!IsInoutAxisBusy) {
else if (!IsInoutAxisBusy)
{
InOutStoreLog(outType + "进出轴恢复运行");
InoutAxis.AbsMove(null, Config.InOutAxis_P11, Config.InOutAxis_P11_Speed);
}
......@@ -760,7 +777,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.SO_26_InoutToP1);
InOutStoreLog(outType + "进出轴返回待机点P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
if (OutDoorReelType==0)
if (OutDoorReelType == 0)
OutDoorReelType = 1;
CylinderMove(MoveInfo, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutDoor_Check, IO_VALUE.LOW));
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -284,6 +284,7 @@ namespace OnlineStore.DeviceLibrary
/// 等待提升机构拿走料盘
/// </summary>
SO_12_WaitTrayGo,
SO_12_WaitTrayGo_checkagain,
SO_14_InoutToP1,
SO_15_AxisBack,
......
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