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Commit 45436e18 由 几米阳光
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未扫到码或者单盘出库时，需要等待操作人员拿走料盘

1 个父辈 b16c6142
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内嵌 并排
正在显示 10 个修改的文件 包含 218 行增加 和 135 行删除
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -45,11 +45,12 @@ AXIS,(轴三)进出轴,InOut_Axis,1,COM6,0,,,,, ...@@ -45,11 +45,12 @@ AXIS,(轴三)进出轴,InOut_Axis,1,COM6,0,,,,,
AXIS,(轴五)批量上下料轴,Batch_Axis,1,COM3,0,,,,, AXIS,(轴五)批量上下料轴,Batch_Axis,1,COM3,0,,,,,
,,,,,,,,,, ,,,,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,403000,,,,,,, PRO,升降轴 进料口仓门位置,UpDownAxis_DoorPosition,403000,,,,,,,
PRO,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,415000,,,,,,, ,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,403000,,,,,,,
PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,415000,,,,,,, ,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,415000,,,,,,,
PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,403000,,,,,,, ,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,415000,,,,,,,
PRO,升降轴 待机点P1集合,UpDownAxis_P1_List,8#20000;12#22000,,,,,,, ,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,403000,,,,,,,
PRO,升降轴 出入料待机点P1集合,UpDownAxis_P1_List,8#20000;12#22000,,,,,,,
PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,268093,,,,,,, PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,268093,,,,,,,
PRO,进出轴(轴三)P1待机原位点,InOutAxis_P1_Position,1000,,,,,,, PRO,进出轴(轴三)P1待机原位点,InOutAxis_P1_Position,1000,,,,,,,
PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-75000,,,,,,, PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-75000,,,,,,,
...@@ -79,14 +80,15 @@ PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,300,,,,,,, ...@@ -79,14 +80,15 @@ PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,300,,,,,,,
PRO,(轴三)进出轴原点低速,InoutAxis_HomeLowSpeed,20,,,,,,, PRO,(轴三)进出轴原点低速,InoutAxis_HomeLowSpeed,20,,,,,,,
PRO,(轴三)进出轴原点高速,InoutAxis_HomeHighSpeed,60,,,,,,, PRO,(轴三)进出轴原点高速,InoutAxis_HomeHighSpeed,60,,,,,,,
PRO,(轴三)进出轴原点加速度,InoutAxis_HomeAddSpeed,200,,,,,,, PRO,(轴三)进出轴原点加速度,InoutAxis_HomeAddSpeed,200,,,,,,,
PRO,升降轴(轴二)到仓门速度,UpDownAxis_Door_Speed,500,,,,,,,
PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,2500,,,,,,, PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,2500,,,,,,,
PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,2500,,,,,,, ,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,2500,,,,,,,
PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,2500,,,,,,, PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,2500,,,,,,,
PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,1500,,,,,,, PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,1500,,,,,,,
PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,2500,,,,,,, PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,2500,,,,,,,
PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,1000,,,,,,, PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,1000,,,,,,,
PRO,升降轴(轴二)P7速度,UpDownAxis_P7_Speed,1000,,,,,,, ,升降轴(轴二)P7速度,UpDownAxis_P7_Speed,1000,,,,,,,
PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,1000,,,,,,, ,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,1000,,,,,,,
PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,1200,,,,,,, PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,1200,,,,,,,
PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,1200,,,,,,, PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,1200,,,,,,,
PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,1000,,,,,,, PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,1000,,,,,,,
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
...@@ -10,6 +10,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -10,6 +10,11 @@ namespace OnlineStore.DeviceLibrary
public partial class AutomaticBaiting public partial class AutomaticBaiting
{ {
/// <summary> /// <summary>
/// 操作人员是否拿走料盘
/// </summary>
public static bool IsGetTrayGo = false;
public static bool IsWaitTragGo = false;
/// <summary>
/// 0=未知。1=门打开，2=门关闭 /// 0=未知。1=门打开，2=门关闭
/// </summary> /// </summary>
public static int DoorStatus = 2; public static int DoorStatus = 2;
...@@ -243,13 +248,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -243,13 +248,16 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up))
{ {
if (StoreManager.Store.CanStarInOut())
{
if (LastCode.Equals("")) if (LastCode.Equals(""))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_OpenDoor); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
LogUtil.info(Name + "入料: 未扫到二维码，打开仓门"); LogUtil.info(Name + "入料: 未扫到二维码，叉子过来拿料盘");
CylinderMove(IO_Type.Door_Up, IO_Type.Door_Down, true); string posId = StoreManager.Store.PositionNumList[0];
StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false);
} }
else if (StoreManager.Store.CanStarInOut()) else
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_GetPosId); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_GetPosId);
//计算高度 //计算高度
...@@ -263,23 +271,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -263,23 +271,23 @@ namespace OnlineStore.DeviceLibrary
StoreMove.OneWaitCanEndStep = true; StoreMove.OneWaitCanEndStep = true;
} }
} }
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_GetPosId)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_GetPosId))
{ {
//判断是否开始入库 //判断是否开始入库
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore)) if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_WaitTrayLeave); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入料，等待料盘拿走"); LogUtil.info(Name + "入料: 开始入料【" + LastPosId + "】，等待料盘拿走");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Work, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_OpenDoor); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
LogUtil.info(Name + "入料: 没有PosID，打开仓门等待拿走料盘"); LogUtil.info(Name + "入料: 未扫到二维码，叉子过来拿料盘");
CylinderMove(IO_Type.Door_Up, IO_Type.Door_Down, true); string posId = StoreManager.Store.PositionNumList[0];
StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false);
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_WaitTrayLeave)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_WaitTrayLeave))
...@@ -289,31 +297,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -289,31 +297,29 @@ namespace OnlineStore.DeviceLibrary
IsNeedScanCode(); IsNeedScanCode();
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_OpenDoor)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_WaitTrayGo))
{ {
if (StoreManager.Store.CanStarInOut())
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_WaitTakeTray);
LogUtil.info(Name + "入料: 未扫到二维码，等待拿走料盘");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Work, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I08_WaitTakeTray))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_TrayLeaveWaitTime);
LogUtil.info(Name + "入料: 未扫到二维码，料盘已拿走，等待1秒后关门");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I09_TrayLeaveWaitTime))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_CloseDoor);
LogUtil.info(Name + "入料: 未扫到二维码，料盘已拿走，关闭仓门");
CylinderMove(IO_Type.Door_Down, IO_Type.Door_Up, true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_CloseDoor))
{ {
IsNeedScanCode(); IsNeedScanCode();
} }
}
//else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I011_WaitTakeTray))
//{
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_TrayLeaveWaitTime);
// LogUtil.info(Name + "入料: 未扫到二维码，料盘已拿走，等待1秒后关门");
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
//}
//else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I09_TrayLeaveWaitTime))
//{
// StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_CloseDoor);
// LogUtil.info(Name + "入料: 未扫到二维码，料盘已拿走，关闭仓门");
// CylinderMove(IO_Type.Door_Down, IO_Type.Door_Up, true);
//}
//else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I10_CloseDoor))
//{
// IsNeedScanCode();
//}
else else
{ {
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType); LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
...@@ -321,6 +327,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -321,6 +327,7 @@ namespace OnlineStore.DeviceLibrary
} }
private static void SuckingDiscWork() private static void SuckingDiscWork()
{ {
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_SuckingDisc_Work); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_SuckingDisc_Work);
SuckingDisc_WorkCount++; SuckingDisc_WorkCount++;
LogUtil.info(Name + "入料: 吸盘开始第" + SuckingDisc_WorkCount + "次工作"); LogUtil.info(Name + "入料: 吸盘开始第" + SuckingDisc_WorkCount + "次工作");
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary
ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed); ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
} }
private static void ACAxisRelMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed) private static void ACAxisAbsMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{ {
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed)); StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition; moveAxis.TargetPosition = targetPosition;
......
source/DeviceLibrary/store/LineMoveP.cs
...@@ -13,13 +13,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -13,13 +13,17 @@ namespace OnlineStore.DeviceLibrary
public class LineMoveP public class LineMoveP
{ {
/// <summary> /// <summary>
/// 轴2（ 升降轴） 进料口取料点 P1 /// 轴2（升降轴）门口位置，需要等待拿走料盘的位置
/// </summary> /// </summary>
public int UpDown_P1 { get; set; } public int UpDown_Door { get; set; }
/// <summary> /// <summary>
/// 轴2（ 升降轴） 进料口出料前点P2 /// 轴2（ 升降轴） 进料口取料点 P1
/// </summary> /// </summary>
public int UpDown_P2 { get; set; } public int UpDown_P1 { get; set; }
///// <summary>
///// 轴2（ 升降轴） 进料口出料前点P2
///// </summary>
//public int UpDown_P2 { get; set; }
/// <summary> /// <summary>
/// 轴2（ 升降轴） 库位入料前点P3 /// 轴2（ 升降轴） 库位入料前点P3
/// </summary> /// </summary>
...@@ -36,14 +40,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -36,14 +40,14 @@ namespace OnlineStore.DeviceLibrary
/// 轴2（ 升降轴） 库位出料缓冲点P6 /// 轴2（ 升降轴） 库位出料缓冲点P6
/// </summary> /// </summary>
public int UpDown_P6 { get; set; } public int UpDown_P6 { get; set; }
/// <summary> ///// <summary>
/// 轴2（ 升降轴） 进料口取料缓冲点P7 ///// 轴2（ 升降轴） 进料口取料缓冲点P7
/// </summary> ///// </summary>
public int UpDown_P7 { get; set; } //public int UpDown_P7 { get; set; }
/// <summary> ///// <summary>
/// 轴2（ 升降轴） 进料口出料缓冲点P8 ///// 轴2（ 升降轴） 进料口出料缓冲点P8
/// </summary> ///// </summary>
public int UpDown_P8 { get; set; } //public int UpDown_P8 { get; set; }
/// <summary> /// <summary>
/// 轴1旋转轴 待机原位点 P1 /// 轴1旋转轴 待机原位点 P1
...@@ -78,7 +82,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -78,7 +82,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 轴4（ 压紧轴） 压紧前点P3 /// 轴4（ 压紧轴） 压紧前点P3
/// </summary> /// </summary>
public int ComPress_P3{ get; set; } public int ComPress_P3 { get; set; }
/// <summary> /// <summary>
......
source/DeviceLibrary/store/StoreMoveStep.cs
...@@ -223,52 +223,64 @@ namespace OnlineStore.DeviceLibrary ...@@ -223,52 +223,64 @@ namespace OnlineStore.DeviceLibrary
/// 料仓出库，，叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点） /// 料仓出库，，叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点）
/// /// </summary> /// /// </summary>
SO_10_DeviceToDoor = 110, SO_10_DeviceToDoor = 110,
/// <summary> ///// <summary>
/// 料仓出库，，把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点) ///// 料仓出库，，把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)
/// </summary> ///// </summary>
SO_11_DevicePutWare = 111, //SO_11_DevicePutWare = 111,
/// <summary> ///// <summary>
/// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点） ///// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）
/// </summary> ///// </summary>
SO_12_DeviceOutFromDoor = 112, //SO_12_DeviceOutFromDoor = 112,
/// <summary> /// <summary>
/// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点） /// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点）
/// </summary> /// </summary>
SO_13_GoBack = 113, SO_11_PutTray = 111,
/// <summary>
/// 叉子返回待机位
/// </summary>
SO_13_InoutBack=112,
/// <summary> /// <summary>
/// 等待拿走物品 /// 等待拿走物品
/// </summary> /// </summary>
SO_14_WaitTake=114, SO_14_WaitTake=114,
/// <summary> /// <summary>
/// 料仓出库，批量出库，所有轴运行到吸盘下方，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P1 /// 升降轴走到门口位置
/// </summary> /// </summary>
SO_58_ToBatchDoorPosition = 158, SO_21_OpenDoor=121,
/// <summary> /// <summary>
/// 料仓出库，定位气缸退回（有压紧轴的不需要此步骤 /// 等待操作人员拿走料盘
/// </summary> /// </summary>
SO_59_LocationCylinder_Down = 159, SO_22_WaitTrayGo=122,
/// <summary>
/// 料仓出库，，叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点） ///// <summary>
/// /// </summary> ///// 料仓出库，批量出库，所有轴运行到吸盘下方，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P1
SO_60_DeviceToDoor = 160, ///// </summary>
/// <summary> //SO_58_ToBatchDoorPosition = 158,
/// 料仓出库，，把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)
/// </summary> ///// <summary>
SO_61_DevicePutWare = 161, ///// 料仓出库，定位气缸退回（有压紧轴的不需要此步骤
/// <summary> ///// </summary>
/// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点） //SO_59_LocationCylinder_Down = 159,
/// 批量轴需要下降对应的高度
/// </summary> ///// <summary>
SO_62_DeviceOutFromDoor = 162, ///// 料仓出库，，叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点）
/// <summary> ///// /// </summary>
/// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点） //SO_60_DeviceToDoor = 160,
/// </summary> ///// <summary>
SO_63_GoBack = 163, ///// 料仓出库，，把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)
///// </summary>
//SO_61_DevicePutWare = 161,
///// <summary>
///// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）
///// 批量轴需要下降对应的高度
///// </summary>
//SO_62_DeviceOutFromDoor = 162,
///// <summary>
///// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点）
///// </summary>
//SO_63_GoBack = 163,
#endregion #endregion
#region 料仓内部入库步骤 #region 料仓内部入库步骤
...@@ -329,12 +341,33 @@ namespace OnlineStore.DeviceLibrary ...@@ -329,12 +341,33 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点） /// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
/// </summary> /// </summary>
SI_13_DeviceBackFromBag = 213, SI_13_InoutBack = 213,
/// <summary> /// <summary>
/// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始 /// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
/// </summary> /// </summary>
SI_14_GoBack = 214, SI_14_GoBack = 214,
/// <summary>
/// 入库未取到PosID，，叉子走到门口位置， 打开仓门
/// </summary>
SI_21_DeviceToDoor= 221,
/// <summary>
/// 入库未取到PosID，，等待料盘拿走
/// </summary>
SI_22_WaitTrayGo = 222,
///// <summary>
///// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点）
///// </summary>
//SI_23_GoBack = 233,
///// <summary>
///// 等待拿走物品
///// </summary>
//SI_24_WaitTake = 234,
#endregion #endregion
...@@ -342,7 +375,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -342,7 +375,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 关闭门锁 /// 关闭门锁
/// </summary> /// </summary>
AUTO_R01_CloseDoor =1101, AUTO_R01_CloseDoor = 1101,
/// <summary> /// <summary>
/// 自动轴原点返回 /// 自动轴原点返回
/// </summary> /// </summary>
...@@ -397,22 +430,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -397,22 +430,34 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
AUTO_I06_WaitTrayLeave, AUTO_I06_WaitTrayLeave,
/// <summary> /// <summary>
/// 打开仓门 /// 未扫到码：等待操作人员拿走料盘
/// </summary>
AUTO_I07_OpenDoor,
/// <summary>
/// 等待拿走料盘
/// </summary>
AUTO_I08_WaitTakeTray,
/// <summary>
/// 料盘已手动拿走，需要等一秒钟后关闭仓门
/// </summary> /// </summary>
AUTO_I09_TrayLeaveWaitTime, AUTO_I10_WaitTrayGo,
///// <summary>
/////未扫到码： 把料盘放到叉子上
///// </summary>
//AUTO_I11_PutTrayToInout,
///// <summary>
///// 未扫到码：叉子进入门槛
///// </summary>
//AUTO_I12_InoutToDoor,
///// <summary>
///// 未扫到码：把料盘放到门口
///// </summary>
//AUTO_I13_PutTrayToDoor,
///// <summary>
///// 未扫到码：等待拿走料盘
///// </summary>
//AUTO_I14_WaitTakeTray,
///// <summary>
///// 未扫到码：料盘已手动拿走，需要等一秒钟后关闭仓门
///// </summary>
//AUTO_I15_TrayLeaveWaitTime,
/// <summary> ///// <summary>
/// 关闭仓门 ///// 未扫到码：关闭仓门
/// </summary> ///// </summary>
AUTO_I10_CloseDoor, //AUTO_I16_CloseDoor,
#endregion #endregion
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
...@@ -84,7 +84,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -84,7 +84,10 @@ namespace OnlineStore.DeviceLibrary
/// 是否是批量出入库 /// 是否是批量出入库
/// </summary> /// </summary>
public bool IsBatchInOutStore=true ; public bool IsBatchInOutStore=true ;
/// <summary>
/// 是否需要入库，不需要入库把料盘放在门口即可
/// </summary>
public bool IsNeedInStore = true;
public List<WaitResultInfo> WaitList = new List<WaitResultInfo>(); public List<WaitResultInfo> WaitList = new List<WaitResultInfo>();
public void NextMoveStep(StoreMoveStep step) public void NextMoveStep(StoreMoveStep step)
{ {
...@@ -294,6 +297,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -294,6 +297,16 @@ namespace OnlineStore.DeviceLibrary
wait.WaitType = 11; wait.WaitType = 11;
return wait; return wait;
} }
/// <summary>
/// 12=等待操作人员拿走料盘
/// </summary>
/// <returns></returns>
public static WaitResultInfo WaitTakeTray()
{
WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = 12;
return wait;
}
public string ToStr() public string ToStr()
{ {
if (WaitType == 1) if (WaitType == 1)
...@@ -359,6 +372,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -359,6 +372,7 @@ namespace OnlineStore.DeviceLibrary
/// 等待结果，1=轴运动，2=IO运动，3=时间,4=电钢,5=硕科电机,6=等待轴原点信号 /// 等待结果，1=轴运动，2=IO运动，3=时间,4=电钢,5=硕科电机,6=等待轴原点信号
/// 7=等待高度为0，8=等待轴的负限位，9=等待轴的正限位。10=上料轴运动停止 /// 7=等待高度为0，8=等待轴的负限位，9=等待轴的正限位。10=上料轴运动停止
/// 11=扫码结束。 /// 11=扫码结束。
/// 12=操作人员拿走料盘，并点击确定。
/// </summary> /// </summary>
public int WaitType { get; set; } public int WaitType { get; set; }
/// <summary> /// <summary>
......
source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs
...@@ -159,11 +159,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -159,11 +159,11 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("UpDownAxis_P1_Speed")] [ConfigProAttribute("UpDownAxis_P1_Speed")]
public int UpDownAxis_P1_Speed { get; set; } public int UpDownAxis_P1_Speed { get; set; }
/// <summary> ///// <summary>
/// PRO 升降轴（轴2）P2速度 UpDownAxis_P2_Speed ///// PRO 升降轴（轴2）P2速度 UpDownAxis_P2_Speed
/// </summary> ///// </summary>
[ConfigProAttribute("UpDownAxis_P2_Speed")] //[ConfigProAttribute("UpDownAxis_P2_Speed")]
public int UpDownAxis_P2_Speed { get; set; } //public int UpDownAxis_P2_Speed { get; set; }
/// <summary> /// <summary>
/// PRO 升降轴（轴2）P3速度 UpDownAxis_P3_Speed /// PRO 升降轴（轴2）P3速度 UpDownAxis_P3_Speed
/// </summary> /// </summary>
...@@ -186,18 +186,18 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -186,18 +186,18 @@ namespace OnlineStore.LoadCSVLibrary
public int UpDownAxis_P6_Speed { get; set; } public int UpDownAxis_P6_Speed { get; set; }
/// <summary> ///// <summary>
/// PRO 升降轴（轴2）P7速度 UpDownAxis_P7_Speed ///// PRO 升降轴（轴2）P7速度 UpDownAxis_P7_Speed
/// </summary> ///// </summary>
[ConfigProAttribute("UpDownAxis_P7_Speed")] //[ConfigProAttribute("UpDownAxis_P7_Speed")]
public int UpDownAxis_P7_Speed { get; set; } //public int UpDownAxis_P7_Speed { get; set; }
/// <summary> ///// <summary>
/// PRO 升降轴（轴2）P8速度 UpDownAxis_P8_Speed ///// PRO 升降轴（轴2）P8速度 UpDownAxis_P8_Speed
/// </summary> ///// </summary>
[ConfigProAttribute("UpDownAxis_P8_Speed")] //[ConfigProAttribute("UpDownAxis_P8_Speed")]
public int UpDownAxis_P8_Speed { get; set; } //public int UpDownAxis_P8_Speed { get; set; }
/// <summary> /// <summary>
/// PRO 旋转轴（轴1）P1速度 MiddleAxis_P1_Speed /// PRO 旋转轴（轴1）P1速度 MiddleAxis_P1_Speed
...@@ -284,28 +284,39 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -284,28 +284,39 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("UpDownAxis_P1_List")] [ConfigProAttribute("UpDownAxis_P1_List")]
public string UpDownAxis_P1_List { get; set; } public string UpDownAxis_P1_List { get; set; }
/// <summary>
/// PRO,升降轴 进料口位置, UpDownAxis_DoorPosition,403000,,,,,,,
/// </summary>
[ConfigProAttribute("UpDownAxis_DoorPosition")]
public int UpDownAxis_DoorPosition { get; set; }
/// <summary>
/// 升降轴(轴二)到仓门速度 UpDownAxis_Door_Speed 2500
/// </summary>
[ConfigProAttribute("UpDownAxis_Door_Speed")]
public int UpDownAxis_Door_Speed { get; set; }
///// <summary> ///// <summary>
///// 升降轴 进料口取料点 P1 ///// 升降轴 进料口取料点 P1
///// </summary> ///// </summary>
//[ConfigProAttribute("UpDownAxis_DoorOPosition_P1")] //[ConfigProAttribute("UpDownAxis_DoorOPosition_P1")]
//public int UpDownAxis_DoorOPosition_P1 { get; set; } //public int UpDownAxis_DoorOPosition_P1 { get; set; }
/// <summary> ///// <summary>
/// 升降轴 进料口出料前点 P2 ///// 升降轴 进料口出料前点 P2
/// </summary> ///// </summary>
[ConfigProAttribute("UpDownAxis_DoorIPosition_P2")] //[ConfigProAttribute("UpDownAxis_DoorIPosition_P2")]
public int UpDownAxis_DoorIPosition_P2 { get; set; } //public int UpDownAxis_DoorIPosition_P2 { get; set; }
/// <summary> ///// <summary>
/// 升降轴 进料口取料缓冲点 P7 ///// 升降轴 进料口取料缓冲点 P7
/// </summary> ///// </summary>
[ConfigProAttribute("UpDownAxis_DoorOBPosition_P7")] //[ConfigProAttribute("UpDownAxis_DoorOBPosition_P7")]
public int UpDownAxis_DoorOBPosition_P7 { get; set; } //public int UpDownAxis_DoorOBPosition_P7 { get; set; }
/// <summary> ///// <summary>
/// 升降轴 进料口出料缓冲点 P8 ///// 升降轴 进料口出料缓冲点 P8
/// </summary> ///// </summary>
[ConfigProAttribute("UpDownAxis_DoorIBPosition_P8")] //[ConfigProAttribute("UpDownAxis_DoorIBPosition_P8")]
public int UpDownAxis_DoorIBPosition_P8 { get; set; } //public int UpDownAxis_DoorIBPosition_P8 { get; set; }
///// <summary> ///// <summary>
///// 进出轴进料口取料点 P2 ///// 进出轴进料口取料点 P2
......
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