更新IO配置

source/DUOStore/FrmIOStatus.cs

@@ -287,7 +287,7 @@ namespace OnlineStore.DUOStore
          
         private void btnStoreOn_Click(object sender, EventArgs e)
         {
-            BtnMove(btnCamerLed, "打开设备电源", "关闭设备电源", IO_Type.Device_Led);
+            BtnMove(btnCamerLed, "打开设备照明", "关闭设备照明", IO_Type.Device_Led);
         }
 
         private void btnCloseCyDo_Click(object sender, EventArgs e)
@@ -303,12 +303,12 @@ namespace OnlineStore.DUOStore
 
         private void btnClamp_Click(object sender, EventArgs e)
         {
-            StoreManager.Store.CylinderMove(null, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Clamp);
+            ElectricClamp.Clamp();
         }
 
         private void btnRelax_Click(object sender, EventArgs e)
         {
-            StoreManager.Store.CylinderMove(null, IO_Type.ClampCylinder_Clamp, IO_Type.ClampCylinder_Relax);
+            ElectricClamp.Release();
         }
 
         private void btnLDoorUp_Click(object sender, EventArgs e)

source/DeviceLibrary/DeviceLibrary.csproj

@@ -78,6 +78,7 @@
     <Compile Include="duoStore\BoxBean_Partial.cs" />
     <Compile Include="duoStore\BoxBean_Shelf.cs" />
     <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" />

source/DeviceLibrary/duoStore/DUOStoreBean.cs

@@ -25,10 +25,12 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 取料提升机构气缸
         /// </summary>
-        public HoisterCylinder hoisterCylinder = new HoisterCylinder(0);
+        //public HoisterCylinder hoisterCylinder = new HoisterCylinder(0);
+        public ElectricClamp electricClamp = new ElectricClamp(0);
         public AxisBean T1_BatchAxis = null;
         public AxisBean T2_MiddleAxis = null;
         public AxisBean T3_UpdownAxis = null;
+        public AxisBean T4_InOut_Axis = null;
 
 
         #region  初始化
@@ -67,6 +69,7 @@ namespace OnlineStore.DeviceLibrary
             T1_BatchAxis = new AxisBean(Config.T1_Batch_Axis, Name);
             T2_MiddleAxis = new AxisBean(Config.T2_Middle_Axis,Name);
             T3_UpdownAxis = new AxisBean(Config.T3_Updown_Axis,Name);
+            T4_InOut_Axis = new AxisBean(Config.T4_InOut_Axis, Name);
             IOManager.Init();
 
             CodeManager.LoadConfig();
@@ -188,13 +191,10 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(600));
             IOMove(IO_Type.Line_Stop1_Wait, IO_VALUE.LOW);
             IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.LOW);
-            IOMove(IO_Type.Line_Stop3_Buffer, IO_VALUE.LOW);
             IOMove(IO_Type.Line_Stop4_Out, IO_VALUE.LOW);
             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Stop1_Wait, IO_VALUE.LOW));
             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Stop2_Work, IO_VALUE.LOW));
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Stop3_Buffer, IO_VALUE.LOW));
             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Stop4_Out, IO_VALUE.LOW)); 
-            hoisterCylinder.StartForward(MoveInfo); 
         }
 
         protected override void ResetProcess()
@@ -220,7 +220,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.LR_03_BatchAxisHome);
                 LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：夹爪放松，提升轴回原点，上下轴回原点，流水线停止");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                CylinderMove(MoveInfo, IO_Type.ClampCylinder_Clamp, IO_Type.ClampCylinder_Relax);
+                ElectricClamp.Release(MoveInfo);
                 T1_BatchAxis.HomeMove(MoveInfo);
                 T3_UpdownAxis.HomeMove(MoveInfo);
                 LineStop(MoveInfo);
@@ -300,12 +300,11 @@ namespace OnlineStore.DeviceLibrary
                 equip.StopMove(); 
             }
             MoveInfo.EndMove();
-            hoisterCylinder.Stop();
             //轴运动停止
             T3_UpdownAxis.SuddenStop();
             T2_MiddleAxis.SuddenStop();
             T1_BatchAxis.SuddenStop();
-
+            T4_InOut_Axis.SuddenStop();
             CloseAllAxis();
 
             LineStop();
@@ -581,10 +580,8 @@ namespace OnlineStore.DeviceLibrary
             try
             {
                 if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.LOW) &&
-                      IOValue(IO_Type.Line_BackRun).Equals(IO_VALUE.LOW) &&
                       IOValue(IO_Type.Line_Run).Equals(IO_VALUE.LOW) &&
                       IOValue(IO_Type.Line_BufferCheck).Equals(IO_VALUE.HIGH) &&
-                      IOValue(IO_Type.Line_Stop3_Buffer).Equals(IO_VALUE.LOW) &&
                       IOValue(IO_Type.Line_Stop4_Out).Equals(IO_VALUE.LOW) &&
                       LowProcess.Equals(false))
                 {
@@ -596,7 +593,7 @@ namespace OnlineStore.DeviceLibrary
                             LowProcess = true;
                             LogUtil.info(Name + "从料架堆积处放一个料架到后端");
                             IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 30000);
-                            IOMove(IO_Type.Line_Stop3_Buffer, IO_VALUE.HIGH, false, 2000);
+                            //IOMove(IO_Type.Line_Stop3_Buffer, IO_VALUE.HIGH, false, 2000);
                             if (WaitIo(IO_Type.Line_OutCheck, IO_VALUE.HIGH, 30000, "堆积处放料架到后端"))
                             {
                                 LineStop();
@@ -619,10 +616,10 @@ namespace OnlineStore.DeviceLibrary
 
         public int GetShelfNum()
         {
-            int ShelfCheck1 = (int)IOValue(IO_Type.ShelfCheck1);
-            int ShelfCheck2 = (int)IOValue(IO_Type.ShelfCheck2);
-            int ShelfCheck3 = (int)IOValue(IO_Type.ShelfCheck3);
-            int ShelfCheck4 = (int)IOValue(IO_Type.ShelfCheck4);
+            int ShelfCheck1 = 0;// (int)IOValue(IO_Type.ShelfCheck1);
+            int ShelfCheck2 = 0;//(int)IOValue(IO_Type.ShelfCheck2);
+            int ShelfCheck3 = 0;//(int)IOValue(IO_Type.ShelfCheck3);
+            int ShelfCheck4 = 0;//(int)IOValue(IO_Type.ShelfCheck4);
 
             string dStr = ShelfCheck4.ToString()+ShelfCheck3.ToString() + ShelfCheck2.ToString() + ShelfCheck1.ToString();
             int num = Convert.ToInt32(dStr, 2);
@@ -633,10 +630,8 @@ namespace OnlineStore.DeviceLibrary
         {
             if (move != null)
             {
-                move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_BackRun, IO_VALUE.LOW));
                 move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.HIGH));
             }
-            IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
             IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
         }
 
@@ -644,29 +639,26 @@ namespace OnlineStore.DeviceLibrary
         {
             if (move != null)
             {
-                move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_BackRun, IO_VALUE.LOW));
                 move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.LOW));
             }
-            IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
             IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
         }
 
         public bool OpenAllAxis(bool isCheck = true)
         {
-            if (RunMultiAxis(isCheck, new AxisBean []{ T3_UpdownAxis,T2_MiddleAxis}))
+            if (RunMultiAxis(isCheck, new AxisBean []{ T3_UpdownAxis,T2_MiddleAxis,T4_InOut_Axis, T1_BatchAxis }))
             {
-                if (RunAxis(isCheck, T1_BatchAxis)  )
-                {
-                    return true;
-                }
+                return true;
+                //if (RunAxis(isCheck, T1_BatchAxis)  )                    
+                //   return true;
             }
             return false;
         }
 
         public void CloseAllAxis()
         {
-            CloseMultiAxis(new AxisBean[] { T3_UpdownAxis, T2_MiddleAxis });
-            CloseAxis(T1_BatchAxis); 
+            CloseMultiAxis(new AxisBean[] { T3_UpdownAxis, T2_MiddleAxis, T4_InOut_Axis, T1_BatchAxis });
+            //CloseAxis(T1_BatchAxis); 
         }
     }
 }
\ No newline at end of file

source/DeviceLibrary/duoStore/DUOStoreBean_Partial.cs

@@ -254,7 +254,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_14_CylinderTighten);
                 InOutStoreLog("取料：夹爪气缸夹紧");
-                CylinderMove(MoveInfo, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Clamp);
+                ElectricClamp.Clamp(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_14_CylinderTighten))
             {
@@ -292,7 +292,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_19_CylinderRelax);
                 InOutStoreLog("料盘移栽： 夹爪气缸放松");
-                CylinderMove(MoveInfo, IO_Type.ClampCylinder_Clamp, IO_Type.ClampCylinder_Relax);
+                ElectricClamp.Release(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_19_CylinderRelax))
             {
@@ -335,7 +335,6 @@ namespace OnlineStore.DeviceLibrary
                     InOutStoreLog(" 等待料盘出库");
                 }
             }
-
             #endregion
 
 
@@ -610,7 +609,6 @@ namespace OnlineStore.DeviceLibrary
                 InOutStoreLog("入料检测：有料盘：升降轴到料串高点P2["+ Config.UpdownAxis_P2 + "]，旋转轴到料串位置P4["+ Config.MiddleAxis_P4 + "]");
                 T3_UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P2, Config.UpdownAxis_P2Speed);
                 T2_MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P4, Config.MiddleAxis_P4Speed);
-
             }
             #endregion
 
@@ -625,7 +623,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_13_CylinderTighten);
                 InOutStoreLog("取料：夹爪气缸夹紧");
-                CylinderMove(MoveInfo, IO_Type.ClampCylinder_Relax, IO_Type.ClampCylinder_Clamp);
+                ElectricClamp.Clamp(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_13_CylinderTighten))
             {
@@ -741,7 +739,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_24_CylinderRelax);
                 InOutStoreLog("料盘移栽： 上料气缸放松");
-                CylinderMove(MoveInfo, IO_Type.ClampCylinder_Clamp, IO_Type.ClampCylinder_Relax);
+                ElectricClamp.Release(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_24_CylinderRelax))
             {

source/DeviceLibrary/duoStore/ElectricClamp.cs

+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    public class ElectricClamp
+    {
+        private static int subType = 0;
+        public static bool needClamp = false;
+        public ElectricClamp(int subType)
+        {
+            //this.subType = subType;
+        }
+        public static void Clamp(StoreMoveInfo moveInfo = null)
+        {
+            needClamp = true;
+            if (!IsBusy)
+            {
+                IOManager.IOMove(IO_Type.Clamp_SetPos0, IO_VALUE.LOW, subType);
+                IOManager.IOMove(IO_Type.Clamp_SetPos1, IO_VALUE.HIGH, subType);
+                IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
+            }
+            if (moveInfo != null)
+                moveInfo.WaitList.Add(WaitResultInfo.WaitElectricClamp());
+        }
+        public static bool Release(StoreMoveInfo moveInfo = null)
+        {
+            needClamp = false;
+            if (!IsBusy)
+            {
+                IOManager.IOMove(IO_Type.Clamp_SetPos0, IO_VALUE.HIGH, subType);
+                IOManager.IOMove(IO_Type.Clamp_SetPos1, IO_VALUE.LOW, subType);
+                IOManager.IOMove(IO_Type.Clamp_DoAction, IO_VALUE.HIGH, subType);
+                moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                return true;
+            }
+            else
+            {
+                return false;
+                if (moveInfo != null)
+                    moveInfo.WaitList.Add(WaitResultInfo.WaitElectricClamp());
+            }
+        }
+        public static bool IsBusy {
+            get {
+                return IOManager.IOValue(IO_Type.Clamp_Busy, subType).Equals(IO_VALUE.HIGH);
+            }
+        }
+        public static bool IsClamp {
+            get
+            {
+                return IOManager.IOValue(IO_Type.Clamp_OnPosition, subType).Equals(IO_VALUE.HIGH);
+            }
+        }
+    }
+}

source/DeviceLibrary/duoStore/EquipBase.cs

@@ -231,10 +231,14 @@ namespace OnlineStore.DeviceLibrary
                     int timeOutMs = StoreManager.Config.IOSingle_TimerOut;
                     if (!wait.IsEnd)
                     {
-                        if (wait.IoType.Equals(IO_Type.Line_BackRun) || wait.IoType.Equals(IO_Type.Line_Run))
+                        if (wait.IoType.Equals(IO_Type.Line_Run))
                         {
                             IOMove(wait.IoType, wait.IoValue);
-                        } 
+                        }
+                        else if (wait.IoType.Equals(IO_Type.Clamp_OnPosition))
+                        {
+                            ElectricClamp.Clamp();
+                        }
                         else if (span.TotalMilliseconds > timeOutMs && NoAlarm())
                         {
                           
@@ -253,6 +257,25 @@ namespace OnlineStore.DeviceLibrary
                 {
                     wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
                 }
+                else if (wait.WaitType.Equals(WaitEnum.W012_ElectricClampEvent))
+                {
+                    if (ElectricClamp.IsBusy)
+                        break;
+
+                    if (ElectricClamp.needClamp)
+                    {
+                        if (ElectricClamp.IsClamp)
+                            wait.IsEnd = true;
+                        else
+                        {
+                            ElectricClamp.Clamp();
+                            break;
+                        }
+                    }
+                    else {
+                        wait.IsEnd = ElectricClamp.Release();
+                    }
+                }
                 else
                 {
                     wait.IsEnd = CheckWaitResult(MoveInfo, wait);

source/DeviceLibrary/store/KTK_Store.cs

@@ -94,6 +94,7 @@ namespace OnlineStore.DeviceLibrary
         /// 运动处理
         /// </summary> 
         protected bool isInPro = false;
+        object worklock = new object();
         protected virtual void BusyMoveProcess()
         {
             //if (isInPro)
@@ -101,32 +102,39 @@ namespace OnlineStore.DeviceLibrary
             //    return;
             //}
             isInPro = true;
-            try
+            if (Monitor.TryEnter(worklock))
             {
-                switch (MoveInfo.MoveType)
+                try
                 {
-                    case MoveType.InStore:
-                        InStoreProcess();
-                        isInPro = false;
-                        break;
-                    case MoveType.OutStore:
-                        OutStoreProcess();
-                        isInPro = false;
-                        break;
-                    case MoveType.ReturnHome:
-                        ResetProcess();
-                        isInPro = false;
-                        break;
-                    case MoveType.Reset:
-                        ResetProcess();
-                        isInPro = false;
-                        break;
-                    default: break;
+                    switch (MoveInfo.MoveType)
+                    {
+                        case MoveType.InStore:
+                            InStoreProcess();
+                            isInPro = false;
+                            break;
+                        case MoveType.OutStore:
+                            OutStoreProcess();
+                            isInPro = false;
+                            break;
+                        case MoveType.ReturnHome:
+                            ResetProcess();
+                            isInPro = false;
+                            break;
+                        case MoveType.Reset:
+                            ResetProcess();
+                            isInPro = false;
+                            break;
+                        default: break;
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error("BusyMoveProcess出错：" + ex.ToString());
+                }
+                finally
+                {
+                    Monitor.Exit(worklock);
                 }
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error("BusyMoveProcess出错：" + ex.ToString());
             }
             isInPro = false;
         }
@@ -497,12 +505,10 @@ namespace OnlineStore.DeviceLibrary
 
         public bool RunAxis(bool isCheck, AxisBean axis)
         {
-            IOMove(axis.Config.ServerOnDO, IO_VALUE.HIGH);
             string msg = "";
             bool result = axis.Open(isCheck, out msg);
             if (result && String.IsNullOrEmpty(msg))
             {
-                IOMove(axis.Config.BreakOnDO, IO_VALUE.HIGH);
                 return true;
             }
             SetWarnMsg(Name + msg);
@@ -513,10 +519,8 @@ namespace OnlineStore.DeviceLibrary
 
         public void CloseAxis(AxisBean axis)
         {
-            IOMove(axis.Config.BreakOnDO, IO_VALUE.LOW);
             axis.ServoOff();
             Thread.Sleep(100);
-            IOMove(axis.Config.ServerOnDO, IO_VALUE.LOW);
         }
 
 

source/DeviceLibrary/store/model/StoreMoveInfo.cs

@@ -214,6 +214,12 @@ namespace OnlineStore.DeviceLibrary
             wait.WaitType = WaitEnum.W011_DoorCloseEvent;
             return wait;
         }
+        public static WaitResultInfo WaitElectricClamp()
+        {
+            WaitResultInfo wait = new WaitResultInfo();
+            wait.WaitType = WaitEnum.W012_ElectricClampEvent;
+            return wait;
+        }
         public string ToStr()
         {
             if (WaitType.Equals(WaitEnum.W001_AxisMove))
@@ -363,11 +369,14 @@ namespace OnlineStore.DeviceLibrary
         /// Agv状态
         /// </summary>
         internal static int W010_AgvStatus = 10;
-
         /// <summary>
         /// 等待agvDoorClose事件
         /// </summary>
         internal static int W011_DoorCloseEvent = 11;
+        /// <summary>
+        /// 等待电夹爪事件
+        /// </summary>
+        internal static int W012_ElectricClampEvent = 12;
     }
     public enum MoveType
     {

source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs

@@ -61,11 +61,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// <summary>
         /// 伺服ON的Do信号
         /// </summary>
-        public string ServerOnDO = "";
-        /// <summary>
+        //public string ServerOnDO = "";
+        //// <summary>
         /// 伺服刹车信号
         /// </summary>
-        public string BreakOnDO = "";
+        //public string BreakOnDO = "";
 
         [CSVAttribute("设备名称")]
         public string DeviceName { get; set; }

source/LoadCVSLibrary/storeConfig/config/Store_Config.cs

@@ -34,6 +34,12 @@ namespace OnlineStore.LoadCSVLibrary
         [ConfigProAttribute("T3_Updown_Axis")]
         public ConfigMoveAxis T3_Updown_Axis { get; set; }
         /// <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")]
+        public ConfigMoveAxis T4_InOut_Axis { get; set; }
+
+        /// <summary>
         ///  PRO,,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#16;192.168.200.23#8
         /// </summary>
         [ConfigProAttribute("IO_DILength")]