增加上料轴慢速匀速上升速度

source/ACSingleStore/记录.txt

@@ -122,8 +122,8 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,,
 
 
 
-
-
+	1768450
+	1796771
 
 
 

source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv

@@ -129,6 +129,7 @@ PRO,硕科步进电机(压紧轴)原点返回速度,CompressAxis_HomeSpeed,4000,,,,,,,
 PRO,硕科步进电机轴地址(压紧轴),CompressAxis_Slv,1,,,,,, ,
 ,,,,,,,,,,
 PRO,(轴五)上料轴目标速度,BatchAxis_TargetSpeed,300,,,,,,,
+PRO,(轴五)上料轴慢速匀速上升速度,BatchAxis_SlowSpeed,150,,,,,,,
 PRO,(轴五)上料轴加速度,BatchAxis_AddSpeed,300,,,,,,,
 PRO,(轴五)上料轴减速度,BatchAxis_DelSpeed,300,,,,,,,
 PRO,(轴五)上料轴原点低速,BatchAxis_HomeLowSpeed,20,,,,,,,

source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs

@@ -4,6 +4,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 
 namespace OnlineStore.DeviceLibrary
 {
@@ -175,8 +176,18 @@ namespace OnlineStore.DeviceLibrary
                     break;
                 case StoreMoveStep.AUTO_R01_CloseDoor:
                     StoreMove.NextMoveStep(StoreMoveStep.AUTO_R02_AutoAxisHome);
-                    LogUtil.info(Name + "复位中：批量上下料轴原点返回");
+                    
                     StoreMove.TimeOutSeconds = 120;
+                    if (ACServerManager.GetAlarmStatus(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue()).Equals(1))
+                    {
+                        LogUtil.info(Name + "复位中：批量上下料轴清理报警，然后原点返回");
+                        ACServerManager.AlarmClear(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
+                        Thread.Sleep(100);
+                    }
+                    else
+                    {
+                        LogUtil.info(Name + "复位中：批量上下料轴原点返回");
+                    }
                     ACAxisHomeMove(StoreManager.Config.Batch_Axis);
                     break;
                 case StoreMoveStep.AUTO_R02_AutoAxisHome:
@@ -335,8 +346,8 @@ namespace OnlineStore.DeviceLibrary
                 if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
                 {
                     StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
-                    LogUtil.info(Name + "入料: 批量上下料轴上升速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
-                    ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
+                    LogUtil.info(Name + "入料: 批量上下料轴上升速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
+                    ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed );
                     CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
                     if (StoreManager.Config.Default_TrayWidth.Equals(7))
                     {

source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs

@@ -4,6 +4,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
@@ -19,7 +20,7 @@ namespace OnlineStore.DeviceLibrary
             //AutoAxisIsMove = 1;
             StartMovePosition = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
             EndMovePosition = StartMovePosition;
-            LogUtil.info("当前坐标："+StartMovePosition+",批量上料轴开始匀速"+targetSpeed+"上升"); 
+            LogUtil.debug("当前坐标："+StartMovePosition+",批量上料轴开始匀速"+targetSpeed+"上升"); 
             StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(moveAxis,0));
             BatchAxisController.StartCheck();
             ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
@@ -246,6 +247,8 @@ namespace OnlineStore.DeviceLibrary
             else if (ACServerManager.GetLimitPositiveSingle(wait.AxisInfo).Equals(1))
             {
                 LogUtil.info(wait.ToStr() + "  检测到正极限信号，可以停止运动");
+                ACServerManager.SuddenStop(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
+                Thread.Sleep(50);
                 result = true;
             }
             if (result)

source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs

@@ -568,7 +568,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("BatchAxis_P1_Speed", true)]
         public int BatchAxis_P1_Speed { get; set; }
-
+        /// <summary>
+        ///    PRO	（轴五）上料轴慢速匀速上升速度	BatchAxis_SlowSpeed	150  
+        /// </summary>
+        [ConfigProAttribute("BatchAxis_SlowSpeed", true)]
+        public int BatchAxis_SlowSpeed { get; set; }
 
         /// <summary>
         ///    PRO(轴五)上料轴出料时距离检测信号需要下降的高度 BatchAxis_OutDownPosition