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Commit ed7c8bfe 由 LN
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1 个父辈 e6b574fc
内嵌 并排
正在显示 3 个修改的文件 包含 89 行增加 和 117 行删除
source/DeviceLibrary/duoStore/BoxBean_Partial.cs
......@@ -124,7 +124,7 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.IsStep(StoreMoveStep.SI_01_InoutToP1))
{
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 + "]");
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);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
......@@ -148,9 +148,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StoreMoveStep.SI_03_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_04_GetReel);
InOutStoreLog(outType + "升降轴到入料口高点P2 ["+ moveP.UpDown_P2 + "],压紧轴到P2 ["+ moveP.ComPress_P2 + "] ");
InOutStoreLog(outType + "升降轴到入料口高点P2 [" + moveP.UpDown_P2 + "],压紧轴到P2 [" + moveP.ComPress_P2 + "] ");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed );
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_04_GetReel))
{
......@@ -160,6 +160,12 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_05_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_FixtureCheck);
InOutStoreLog(outType + "等待料叉检测信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StoreMoveStep.SI_06_FixtureCheck))
{
if (MoveInfo.MoveParam.TargetPosition.Equals(0))
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_ToPos);
......@@ -384,7 +390,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_ToDoor);
InOutStoreLog(outType + "旋转轴 至P1[" + moveP.Middle_P1 + "],升降轴到P2[" + moveP.UpDown_P2 + "] ");
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1 , Config.MiddleAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P2, Config.UpDownAxis_P1_Speed);
}
else
......@@ -399,9 +405,28 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StoreMoveStep.SO_06_ToDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_FixtureCheck);
InOutStoreLog(outType + "等待料叉检测信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
//if (StoreManager.Store.BoxDoorFree(ID))
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2);
// InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]");
// InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
// ClearTimeoutAlarm("进出轴可以到P2");
//}
//else if (MoveInfo.IsTimeOut(60))
//{
// WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 等待 进出轴可以到P2 超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
// LogUtil.error(WarnMsg, ID * 1000 + 30);
// Alarm(AlarmType.IoSingleTimeOut);
//}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck))
{
if (StoreManager.Store.BoxDoorFree(ID))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_InoutToP2);
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2);
InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]");
InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
ClearTimeoutAlarm("进出轴可以到P2");
......@@ -413,22 +438,22 @@ namespace OnlineStore.DeviceLibrary
Alarm(AlarmType.IoSingleTimeOut);
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_07_InoutToP2))
else if (MoveInfo.IsStep(StoreMoveStep.SO_08_InoutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_PutReel);
MoveInfo.NextMoveStep(StoreMoveStep.SO_09_PutReel);
InOutStoreLog(outType + "放下物品 升降轴至P1[" + moveP.UpDown_P1 + "]，压紧轴到P3 [" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_08_PutReel))
else if (MoveInfo.IsStep(StoreMoveStep.SO_09_PutReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_09_InoutBack);
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_InoutBack);
InOutStoreLog(outType + "进出轴返回P1[" + moveP.InOut_P1 + "]");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_09_InoutBack))
else if (MoveInfo.IsStep(StoreMoveStep.SO_10_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_GoBack);
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_GoBack);
InOutStoreLog(outType + "升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "] ,压紧轴到P1[" + moveP.ComPress_P1 + "] ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
......@@ -436,11 +461,11 @@ namespace OnlineStore.DeviceLibrary
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_10_GoBack))
{
else if (MoveInfo.IsStep(StoreMoveStep.SO_11_GoBack))
{
if (AutoInout.autoNext)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_WaitTrayGo);
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitTrayGo);
InOutStoreLog(outType + "自动出入库，等待提升机构拿走料盘 或等待1000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.InDoor_Check, IO_VALUE.LOW));
......@@ -453,7 +478,7 @@ namespace OnlineStore.DeviceLibrary
bool result = StoreManager.Store.StartTrayOut(MoveInfo.MoveParam);
if (result)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_WaitTrayGo);
MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitTrayGo);
InOutStoreLog(outType + "等待提升机构拿走料盘 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.InDoor_Check, IO_VALUE.LOW));
......@@ -476,7 +501,7 @@ namespace OnlineStore.DeviceLibrary
}
}
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_11_WaitTrayGo))
else if (MoveInfo.IsStep(StoreMoveStep.SO_12_WaitTrayGo))
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = MoveInfo.MoveParam.PosID;
......@@ -489,44 +514,49 @@ namespace OnlineStore.DeviceLibrary
#region 单盘出料，到出料口
else if (MoveInfo.IsStep(StoreMoveStep.SO_21_ToOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_OpenOutDoor);
MoveInfo.NextMoveStep(StoreMoveStep.SO_22_FixtureCheck);
InOutStoreLog(outType + "等待料叉检测信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Fixture_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_22_FixtureCheck))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_23_OpenOutDoor);
InOutStoreLog(outType + "打开出料口门 ");
CylinderMove(MoveInfo, IO_Type.OutDoor_Down, IO_Type.OutDoor_Up);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_22_OpenOutDoor))
else if (MoveInfo.IsStep(StoreMoveStep.SO_23_OpenOutDoor))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_23_InoutToP11);
MoveInfo.NextMoveStep(StoreMoveStep.SO_24_InoutToP11);
InOutStoreLog(outType + "进出轴到_P11-出料口取放料点 [" + Config.InOutAxis_P11 + "] ");
InoutAxis.AbsMove(MoveInfo, Config.InOutAxis_P11, Config.InOutAxis_P11_Speed);
//关闭舱门
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_23_InoutToP11))
else if (MoveInfo.IsStep(StoreMoveStep.SO_24_InoutToP11))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_24_PurReel);
MoveInfo.NextMoveStep(StoreMoveStep.SO_25_PurReel);
InOutStoreLog(outType + "升降轴到_P11-出料口-低点[" + Config.UpDownAxis_P11 + "]，压紧轴到压紧前点P3 [" + moveP.ComPress_P3 + "]");
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxis_P11, Config.UpDownAxis_P11_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_24_PurReel))
else if (MoveInfo.IsStep(StoreMoveStep.SO_25_PurReel))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_25_InoutToP1);
MoveInfo.NextMoveStep(StoreMoveStep.SO_26_InoutToP1);
InOutStoreLog(outType + "进出轴返回待机点P1 [" + moveP.InOut_P1 + "] ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.IsStep( StoreMoveStep.SO_25_InoutToP1))
else if (MoveInfo.IsStep(StoreMoveStep.SO_26_InoutToP1))
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_26_GoBack);
MoveInfo.NextMoveStep(StoreMoveStep.SO_27_GoBack);
InOutStoreLog(outType + "升降轴到P1[" + moveP.UpDown_P1 + "]，旋转轴到P1[" + moveP.Middle_P1 + "]，压紧轴到P1[" + moveP.ComPress_P1 + "]，关闭出料口门");
CylinderMove(MoveInfo, IO_Type.OutDoor_Up, IO_Type.OutDoor_Down);
ComAxis.AbsMove(MoveInfo, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
MiddleAxis.AbsMove(MoveInfo, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
UpdownAxis.AbsMove(MoveInfo, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (MoveInfo.IsStep(StoreMoveStep.SO_26_GoBack))
else if (MoveInfo.IsStep(StoreMoveStep.SO_27_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -165,6 +165,11 @@ namespace OnlineStore.DeviceLibrary
SI_05_InoutToP1,
/// <summary>
/// 入库：检测料叉检测信号
/// </summary>
SI_06_FixtureCheck,
/// <summary>
/// 入库：移动到库位点，旋转轴到P2（ 库位点），升降轴到P3(库位入库前点）
/// </summary>
SI_06_ToPos,
......@@ -246,26 +251,30 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SO_06_ToDoor,
/// <summary>
/// 检测叉子是否有物料
/// </summary>
SO_07_FixtureCheck,
/// <summary>
/// 料仓出库：进出轴到P2
/// /// </summary>
SO_07_InoutToP2,
SO_08_InoutToP2,
/// <summary>
/// 料仓出库： 放下物品 升降轴至P1，压紧轴到P3
/// </summary>
SO_08_PutReel,
SO_09_PutReel,
/// <summary>
/// 料仓出库： 进出轴到P1
/// </summary>
SO_09_InoutBack,
SO_10_InoutBack,
/// <summary>
/// 料仓出库：升降轴，旋转轴到待机点P1
/// </summary>
SO_10_GoBack,
SO_11_GoBack,
/// <summary>
/// 等待提升机构拿走料盘
/// </summary>
SO_11_WaitTrayGo,
SO_12_WaitTrayGo,
/// <summary>
......@@ -273,25 +282,29 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SO_21_ToOutDoor,
/// <summary>
/// 检测叉子是否有物料
/// </summary>
SO_22_FixtureCheck,
/// <summary>
/// 单盘出库：打开出料口门
/// </summary>
SO_22_OpenOutDoor,
SO_23_OpenOutDoor,
/// <summary>
/// 单盘出库：进出轴到_P11-出料口取放料点
/// </summary>
SO_23_InoutToP11,
SO_24_InoutToP11,
/// <summary>
/// 单盘出库：升降轴到_P11-出料口-低点，压紧轴到压紧前点P3
/// </summary>
SO_24_PurReel,
SO_25_PurReel,
/// <summary>
/// 单盘出库：进出轴返回待机点P1
/// </summary>
SO_25_InoutToP1,
SO_26_InoutToP1,
/// <summary>
/// 单盘出库：升降轴，旋转轴，压紧轴返回P1，关闭出料口门
/// </summary>
SO_26_GoBack,
SO_27_GoBack,
#endregion
#region 流水线模块复位 1001开始
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
......@@ -113,18 +113,8 @@ namespace OnlineStore.LoadCSVLibrary
/// DO,1,左侧料口物料指示灯红色,DoorLed_Red,5,PRO_AOI_IP_1,Y06,
/// </summary>
public static string DoorLed_Red = "DoorLed_Red";
///// <summary>
///// DO,2,右侧料口物料指示灯绿色,DoorLed_Green,6,PRO_AOI_IP_1,Y07,
///// </summary>
//public static string DoorLed_Green = "DoorLed_Green";
///// <summary>
///// DO,2,右侧料口物料指示灯红色,DoorLed_Red,7,PRO_AOI_IP_1,Y08,
///// </summary>
//public static string DoorLed_Red = "DoorLed_Red";
///// <summary>
///// DO,0,取料提升机构电机前进,Hoister_Forward,8,PRO_AOI_IP_1,Y09,
///// </summary>
//public static string Hoister_Forward = "Hoister_Forward";
/// <summary>
/// DO,0,取料提升机构电机后退,Hoister_Back,9,PRO_AOI_IP_1,Y10,
/// </summary>
......@@ -137,10 +127,9 @@ namespace OnlineStore.LoadCSVLibrary
/// DO,1,左侧料仓升降轴刹车ON,UpdownAxis_Break,11,PRO_AOI_IP_1,Y12,
/// </summary>
public static string UpdownAxis_Break = "UpdownAxis_Break";
///// <summary>
///// DO,2,右侧料仓升降轴刹车ON,UpdownAxis_Break,12,PRO_AOI_IP_1,Y13,
///// </summary>
//public static string UpdownAxis_Break = "UpdownAxis_Break";
/// <summary>
/// DO,0,提升机构升降轴刹车ON,BatchAxis_Break,13,PRO_AOI_IP_1,Y14,
/// </summary>
......@@ -153,10 +142,8 @@ namespace OnlineStore.LoadCSVLibrary
/// DO,1,左侧料仓伺服ON,Axis_Run,15,PRO_AOI_IP_1,Y16,
/// </summary>
public static string Axis_Run = "Axis_Run";
///// <summary>
///// DI,0,取料提升机构后退端,Hoister_Back,0,PRO_AOI_IP_2,X21,
///// </summary>
//public static string Hoister_Back = "Hoister_Back";
/// <summary>
/// DI,0,提升机构料盘检测,BatchAxis_Check,1,PRO_AOI_IP_2,X22,
/// </summary>
......@@ -193,34 +180,7 @@ namespace OnlineStore.LoadCSVLibrary
/// DI,1,左侧料叉料盘检测,Fixture_Check,9,PRO_AOI_IP_2,X30,
/// </summary>
public static string Fixture_Check = "Fixture_Check";
///// <summary>
///// DI,2,右侧出料口安全光栅,OutDoor_SafeSignal,10,PRO_AOI_IP_2,X31,
///// </summary>
//public static string OutDoor_SafeSignal = "OutDoor_SafeSignal";
///// <summary>
///// DI,2,右侧暂存区料盘检测,InDoor_Check,11,PRO_AOI_IP_2,X32,
///// </summary>
//public static string InDoor_Check = "InDoor_Check";
///// <summary>
///// DI,2,右侧出料口门上升/打开端,OutDoor_Up,12,PRO_AOI_IP_2,X33,
///// </summary>
//public static string OutDoor_Up = "OutDoor_Up";
///// <summary>
///// DI,2,右侧出料口门下降/关闭端,OutDoor_Down,13,PRO_AOI_IP_2,X34,
///// </summary>
//public static string OutDoor_Down = "OutDoor_Down";
///// <summary>
///// DI,2,右侧料叉料盘检测,OutDoor_Check,14,PRO_AOI_IP_2,X35,
///// </summary>
//public static string OutDoor_Check = "OutDoor_Check";
///// <summary>
///// DI,2,右侧出料口料盘检测,Fixture_Check,15,PRO_AOI_IP_2,X36,
///// </summary>
//public static string Fixture_Check = "Fixture_Check";
///// <summary>
///// DO,2,右侧料仓伺服ON,Axis_Run,0,PRO_AOI_IP_2,Y21,
///// </summary>
//public static string Axis_Run = "Axis_Run";
/// <summary>
/// DO,0,取料机构伺服ON,MoveAxis_Run,1,PRO_AOI_IP_2,Y22,
/// </summary>
......@@ -249,38 +209,7 @@ namespace OnlineStore.LoadCSVLibrary
/// DO,0,线体放行阻挡4上升,Line_Stop4_Out,7,PRO_AOI_IP_2,Y28,
/// </summary>
public static string Line_Stop4_Out = "Line_Stop4_Out";
///// <summary>
///// DO,0,线体顶升气缸上升SOL,TopCylinder_Up,8,PRO_AOI_IP_2,Y29,
///// </summary>
//public static string TopCylinder_Up = "TopCylinder_Up";
///// <summary>
///// DO,0,线体顶升气缸下降SOL,TopCylinder_Down,9,PRO_AOI_IP_2,Y30,
///// </summary>
//public static string TopCylinder_Down = "TopCylinder_Down";
///// <summary>
///// DO,0,取料气缸放松SOL,ClampCylinder_Relax,10,PRO_AOI_IP_2,Y31,
///// </summary>
//public static string ClampCylinder_Relax = "ClampCylinder_Relax";
///// <summary>
///// DO,0,取料气缸夹紧SOL,ClampCylinder_Clamp,11,PRO_AOI_IP_2,Y32,
///// </summary>
//public static string ClampCylinder_Clamp = "ClampCylinder_Clamp";
///// <summary>
///// DO,1,左侧出料口门上升SOL,OutDoor_Up,12,PRO_AOI_IP_2,Y33,
///// </summary>
//public static string OutDoor_Up = "OutDoor_Up";
///// <summary>
///// DO,1,左侧出料口门下降SOL,OutDoor_Down,13,PRO_AOI_IP_2,Y34,
///// </summary>
//public static string OutDoor_Down = "OutDoor_Down";
///// <summary>
///// DO,2,右侧出料口门上升SOL,OutDoor_Up,14,PRO_AOI_IP_2,Y35,
///// </summary>
//public static string OutDoor_Up = "OutDoor_Up";
///// <summary>
///// DO,2,右侧出料口门下降SOL,OutDoor_Down,15,PRO_AOI_IP_2,Y36,
///// </summary>
//public static string OutDoor_Down = "OutDoor_Down";
/// <summary>
/// DI,0,取料气缸料盘检测,ClampCylinder_Check,0,PRO_AOI_IP_3,X41,
/// </summary>
......
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