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Commit 5338ca7a 由 几米阳光
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拿走料盘的过程中增加出库处理。

1 个父辈 35b5eb93
内嵌 并排
正在显示 11 个修改的文件 包含 505 行增加 和 473 行删除
source/ACSingleStore/App.config
......@@ -10,22 +10,22 @@
<add key="Server_Log_Open" value="0" />
<add key="scanner_start_command" value="S" />
<!-- 开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）-->
<add key="StartBlowValue" value="4" />
<add key="StartBlowValue" value="0.5" />
<!-- 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）-->
<add key="StopBlowValue" value="4" />
<add key="StopBlowValue" value="1" />
<!--Server address-->
<add key="http.server" value="" />
<!--<add key="http.server" value="http://192.168.1.187/myproject/" /> -->
<!--<add key="http.server" value="" />-->
<add key="http.server" value="http://localhost/myproject/" />
<!--storeType-->
<add key="store_count" value="1" />
<!--start one store config-->
<add key="Store_Position_Config" value="\StoreConfig\AC\linePositions.csv" />
<add key="Store_ConfigPath" value="\StoreConfig\AC\StoreConfig.csv" />
<add key="Store_Type" value="AUTO_SA_Config" />
<add key="Store_CID" value="nanrui1" />
<add key="Store_CID" value="auto1" />
<!--end one store config-->
<!--摄像机名称列表配置，用#分割-->
<add key="CameraName" value="GigE:MV-CE100-30GC (00C69898477)" />
<add key="CameraName" value="GigE:MV-CE100-30GC (00C81915560)#GigE:MV-CE100-30GC (00C81915565)" />
<!--二维码类型列表配置，用#分割-->
<add key="CodeType" value="QR Code" />
<!--<add key="CodeType" value="Data Matrix ECC 200#QR Code"/>-->
......@@ -36,11 +36,11 @@
<!--5000脉冲对应1mm-->
<add key="AxisChangeValue" value="5000" />
<!--压紧轴计量检测信号亮1次的脉冲值-->
<add key="ComAxisChangeValue" value="10000" />
<add key ="DebugPosId" value ="1#AC1_2_1_1"/>
<add key="ComAxisChangeValue" value="20000" />
<add key="DebugPosId" value="1#AC2_2_1_1" />
<!--是否有门禁屏蔽功能，=1表示有此功能-->
<add key ="HasDisableDoorControl" value ="0"/>
<add key ="ACBaudRate" value ="9600"/>
<add key="HasDisableDoorControl" value="1" />
<add key="ACBaudRate" value="9600" />
<add key="Default_Language" value="zh-CN" />
</appSettings>
<log4net>
......
source/ACSingleStore/记录.txt
......@@ -130,7 +130,8 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,,
2.从料仓下方接盘时，压紧轴和升降轴一起运动。
3.吸盘吸料后，等待入库的过程中增加超时报警。
20190314修改：
拿走料盘的过程中增加出库处理。
......
source/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs
......@@ -190,7 +190,10 @@ namespace OnlineStore.DeviceLibrary
dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray);
}
public static void SuddenStop(ConfigMoveAxis axis)
{
SuddenStop(axis.DeviceName, axis.GetAxisValue());
}
public static void SuddenStop(string portName, int slvAddr)
{
// RunBlock(7);
......
source/DeviceLibrary/PanasonicServo/BatchAxisController.cs
......@@ -15,7 +15,8 @@ namespace OnlineStore.DeviceLibrary
private static bool IsStop = false;
private static System.Timers.Timer checkTimer = null;
public static bool StartCheck()
private static string TargetIoType = IO_Type.TrayCheck_LoadMaterial;
public static bool StartCheck(string targetIo)
{
if (checkTimer == null)
{
......@@ -24,12 +25,12 @@ namespace OnlineStore.DeviceLibrary
checkTimer.Interval += 50;
checkTimer.Elapsed += CheckTimer_Elapsed;
checkTimer.Enabled = false;
}
}
TargetIoType = targetIo;
checkTimer.Start();
return true;
}
public static bool StopCheck()
{
if (!(checkTimer == null))
......@@ -39,14 +40,14 @@ namespace OnlineStore.DeviceLibrary
return true;
}
private static bool IsInProcess = false;
private static void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
private static void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (IsInProcess) { return; }
IsInProcess = true;
bool result = false;
if (KND.IOValue(LoadCSVLibrary.IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
LogUtil.info("批量上料轴，检测到上料机构料盘信号，可以停止运动");
if (KND.IOValue(TargetIoType).Equals(IO_VALUE.HIGH))
{
LogUtil.info("批量上料轴，检测到【" + TargetIoType + "】信号，可以停止运动");
result = true;
}
//else if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(1))
......@@ -61,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
StopCheck();
}
IsInProcess = false ;
IsInProcess = false;
}
}
}
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
类型,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义,SlaveID,
DI,急停,SuddenStop_BTN,200,192.168.200.11,0,急停,X01,DI-01,0,
DI,复位,Reset_BTN,201,192.168.200.11,0,复位,X02,DI-02,0,
DI,自动启动,AutoRun_Single,202,192.168.200.11,0,自动启动,X03,DI-03,0,
DI,安全光栅,SafetyLightCurtains,203,192.168.200.11,0,安全光栅,X04,DI-04,0,
DI,进料口门上升端,Door_Up,204,192.168.200.11,0,进料口门上升端,X05,DI-05,0,
DI,进料口门下降端,Door_Down,205,192.168.200.11,0,进料口门下降端,X06,DI-06,0,
DI,吸盘气缸上升端,SuckingDisc_Up,206,192.168.200.11,0,吸盘气缸上升端,X07,DI-07,0,
DI,吸盘气缸下降端,SuckingDisc_Down,207,192.168.200.11,0,吸盘气缸下降端,X08,DI-08,0,
DI,料盘宽度检测1,WidthCheck1,208,192.168.200.11,0,料盘宽度检测1,X09,DI-09,0,
DI,料盘宽度检测2,WidthCheck2,209,192.168.200.11,0,料盘宽度检测2,X10,DI-10,0,
DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial,210,192.168.200.11,0,料盘检测1（上料机构）,X11,DI-11,0,
DI,上料机构出料检测,OutCheck,211,192.168.200.11,0,上料机构出料检测,X12,DI-12,0,
DI,门锁气缸打开端,BatchDoor_Open,212,192.168.200.11,0,门锁气缸打开端,X13,DI-13,0,
DI,门锁气缸关闭端,BatchDoor_Close,213,192.168.200.11,0,门锁气缸关闭端,X14,DI-14,0,
DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.11,0,料盘检测2（料叉机构）,X15,DI-15,0,
DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.11,0,压紧机构计量检测,X16,DI-16,0,
DO,自动指示灯,AutoRun_HddLed,100,192.168.200.11,0,自动指示灯,Y01,DO-01,0,
DO,故障指示灯,Alarm_HddLed,101,192.168.200.11,0,故障指示灯,Y02,DO-02,0,
DO,待机指示灯,RunSign_HddLed,102,192.168.200.11,0,待机指示灯,Y03,DO-03,0,
DO,吹气SOL ON,StartOrStopBlow,103,192.168.200.11,0,吹气SOL ON,Y04,DO-04,0,
DO,料仓运转ON,Run_Sign,104,192.168.200.11,0,料仓运转ON,Y05,DO-05,0,
DO,轴2刹车电源ON,Axis_Brake,105,192.168.200.11,0,轴2刹车电源ON,Y06,DO-06,0,
DO,相机照明开,CameraLight_Power,106,192.168.200.11,0,相机照明开,Y07,DO-07,0,
DO,吸盘吸料SOL,SuckingDisc_Work,107,192.168.200.11,0,吸盘吸料SOL,Y08,DO-08,0,
DO,进料口门上升SOL,Door_Up,108,192.168.200.11,0,进料口门上升SOL,Y09,DO-09,0,
DO,进料口门下降SOL,Door_Down,109,192.168.200.11,0,进料口门下降SOL,Y10,DO-10,0,
DO,吸盘气缸上升SOL,SuckingDisc_Up,110,192.168.200.11,0,吸盘气缸上升SOL,Y11,DO-11,0,
DO,吸盘气缸下降SOL,SuckingDisc_Down,111,192.168.200.11,0,吸盘气缸下降SOL,Y12,DO-12,0,
DO,门锁气缸打开SOL,BatchDoor_Open,112,192.168.200.11,0,门锁气缸打开SOL,Y13,DO-13,0,
DO,门锁气缸关闭SOL,BatchDoor_Close,113,192.168.200.11,0,门锁气缸关闭SOL,Y14,DO-14,0,
DO,门禁功能屏蔽,DisableDoorControl,114,192.168.200.11,0,门禁功能屏蔽,Y15,DO-15,0,
,,,115,192.168.200.11,0,,Y16,DO-16,0,
DI,上料机构门关闭,DoorClose_LoadMaterial,200,192.168.200.12,0,上料机构门关闭,X21,DI-21,0,
DI,气压检测,Airpressure_Check,201,192.168.200.12,0,气压检测,X22,DI-22,0,
DI,吸盘压力确认信号,SuckingDisc_Air,202,192.168.200.12,0,吸盘压力确认信号,X23,DI-23,0,
DI,左侧门关闭,DoorColse_Single,203,192.168.200.12,0,左侧门关闭,X24,DI-24,0,
,,,100,192.168.200.12,0,,Y21,DO-21,0,
,,,101,192.168.200.12,0,,Y22,DO-22,0,
,,,102,192.168.200.12,0,,Y23,DO-23,0,
,,,103,192.168.200.12,0,,Y24,DO-24,0,
DI,急停,SuddenStop_BTN,200,192.168.200.21,0,急停,X01,DI-01,0,
DI,复位,Reset_BTN,201,192.168.200.21,0,复位,X02,DI-02,0,
DI,自动启动,AutoRun_Single,202,192.168.200.21,0,自动启动,X03,DI-03,0,
DI,安全光栅,SafetyLightCurtains,203,192.168.200.21,0,安全光栅,X04,DI-04,0,
DI,进料口门上升端,Door_Up,204,192.168.200.21,0,进料口门上升端,X05,DI-05,0,
DI,进料口门下降端,Door_Down,205,192.168.200.21,0,进料口门下降端,X06,DI-06,0,
DI,吸盘气缸上升端,SuckingDisc_Up,206,192.168.200.21,0,吸盘气缸上升端,X07,DI-07,0,
DI,吸盘气缸下降端,SuckingDisc_Down,207,192.168.200.21,0,吸盘气缸下降端,X08,DI-08,0,
DI,料盘宽度检测1,WidthCheck1,208,192.168.200.21,0,料盘宽度检测1,X09,DI-09,0,
DI,料盘宽度检测2,WidthCheck2,209,192.168.200.21,0,料盘宽度检测2,X10,DI-10,0,
DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial,210,192.168.200.21,0,料盘检测1（上料机构）,X11,DI-11,0,
DI,上料机构出料检测,OutCheck,211,192.168.200.21,0,上料机构出料检测,X12,DI-12,0,
DI,门锁气缸打开端,BatchDoor_Open,212,192.168.200.21,0,门锁气缸打开端,X13,DI-13,0,
DI,门锁气缸关闭端,BatchDoor_Close,213,192.168.200.21,0,门锁气缸关闭端,X14,DI-14,0,
DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.21,0,料盘检测2（料叉机构）,X15,DI-15,0,
DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.21,0,压紧机构计量检测,X16,DI-16,0,
DO,自动指示灯,AutoRun_HddLed,100,192.168.200.21,0,自动指示灯,Y01,DO-01,0,
DO,故障指示灯,Alarm_HddLed,101,192.168.200.21,0,故障指示灯,Y02,DO-02,0,
DO,待机指示灯,RunSign_HddLed,102,192.168.200.21,0,待机指示灯,Y03,DO-03,0,
DO,吹气SOL ON,StartOrStopBlow,103,192.168.200.21,0,吹气SOL ON,Y04,DO-04,0,
DO,料仓运转ON,Run_Sign,104,192.168.200.21,0,料仓运转ON,Y05,DO-05,0,
DO,轴2刹车电源ON,Axis_Brake,105,192.168.200.21,0,轴2刹车电源ON,Y06,DO-06,0,
DO,相机照明开,CameraLight_Power,106,192.168.200.21,0,相机照明开,Y07,DO-07,0,
DO,吸盘吸料SOL,SuckingDisc_Work,107,192.168.200.21,0,吸盘吸料SOL,Y08,DO-08,0,
DO,进料口门上升SOL,Door_Up,108,192.168.200.21,0,进料口门上升SOL,Y09,DO-09,0,
DO,进料口门下降SOL,Door_Down,109,192.168.200.21,0,进料口门下降SOL,Y10,DO-10,0,
DO,吸盘气缸上升SOL,SuckingDisc_Up,110,192.168.200.21,0,吸盘气缸上升SOL,Y11,DO-11,0,
DO,吸盘气缸下降SOL,SuckingDisc_Down,111,192.168.200.21,0,吸盘气缸下降SOL,Y12,DO-12,0,
DO,门锁气缸打开SOL,BatchDoor_Open,112,192.168.200.21,0,门锁气缸打开SOL,Y13,DO-13,0,
DO,门锁气缸关闭SOL,BatchDoor_Close,113,192.168.200.21,0,门锁气缸关闭SOL,Y14,DO-14,0,
DO,门禁功能屏蔽,DisableDoorControl,114,192.168.200.21,0,门禁功能屏蔽,Y15,DO-15,0,
,,,115,192.168.200.21,0,,Y16,DO-16,0,
DI,上料机构门关闭,DoorClose_LoadMaterial,200,192.168.200.22,0,上料机构门关闭,X21,DI-21,0,
DI,气压检测,Airpressure_Check,201,192.168.200.22,0,气压检测,X22,DI-22,0,
DI,吸盘压力确认信号,SuckingDisc_Air,202,192.168.200.22,0,吸盘压力确认信号,X23,DI-23,0,
DI,左侧门关闭,DoorColse_Single,203,192.168.200.22,0,左侧门关闭,X24,DI-24,0,
,,,100,192.168.200.22,0,,Y21,DO-21,0,
,,,101,192.168.200.22,0,,Y22,DO-22,0,
,,,102,192.168.200.22,0,,Y23,DO-23,0,
,,,103,192.168.200.22,0,,Y24,DO-24,0,
AXIS,(轴一)旋转轴,Middle_Axis,1,COM1,0,,,,,
AXIS,(轴二)升降轴轴,UpDown_Axis,2,COM1,0,,,,,
AXIS,(轴三)进出轴,InOut_Axis,3,COM1,0,,,,,
......@@ -47,13 +47,13 @@ AXIS,(轴五)批量上下料轴,Batch_Axis,4,COM1,0,,,,,
,,,,,,,,,,
PRO,升降轴 仓门位置P7(人工拿走盘的位置),UpDownAxis_Door_P7,347550,,,,,,,
PRO,升降轴 出库高点P2,UpDownAxis_OutHigh_P2,247000,,,,,,,
PRO,升降轴 出库低点P8,UpDownAxis_OutLow_P8,217000,,,,,,,
PRO,升降轴 出库低点P8,UpDownAxis_OutLow_P8,230000,,,,,,,
PRO,升降轴从吸盘下方接料后下降的高度,UpDownAxis_DownValue,10000,,,,,,,
PRO,升降轴 入库P1点集合,UpDownAxis_P1_List,12#396000;16#394000;20#394000;24#390500;28#390500;32#390500;36#390500;40#390500;52#390500;,,,,,,,
PRO,升降轴 入库P1点集合,UpDownAxis_P1_List,8#398000;12#398000;16#393000;20#393000;24#390500;28#390500;32#390500;36#390500;40#390500;52#390500;,,,,,,,
PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,217400,,,,,,,
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,-25000,,,,,,,
PRO,压紧轴（轴4）P2压紧点集合,CompressAxis_P2_List,12#-110000;16#-90000;20#-90000;24#-70000;28#-70000;32#-70000;36#-70000;40#-70000;44#-70000;48#-70000;52#-70000;,,,,,,,
PRO,压紧轴（轴4）P2压紧点集合,CompressAxis_P2_List,8#-110000;12#-110000;16#-90000;20#-90000;24#-110000;28#-70000;32#-70000;36#-70000;40#-70000;44#-70000;48#-70000;52#-70000;,,,,,,,
PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,,
PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,,
PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,,,,
......@@ -63,38 +63,38 @@ PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,180,,,,, ,,
,,,,,,,,,,
PRO,预警温度,WarnTemperate,80,,,,,,,
PRO,预警湿度,WarnHumidity,80,,,,,,,
PRO,(轴一)旋转轴目标速度,MiddleAxis_TargetSpeed,250,,,,,,,
PRO,(轴一)旋转轴加速度,MiddleAxis_AddSpeed,80,,,,,,,
PRO,(轴一)旋转轴减速度,MiddleAxis_DelSpeed,80,,,,,,,
PRO,(轴一)旋转轴原点低速度,MiddleAxis_HomeLowSpeed,80,,,,,,,
PRO,(轴一)旋转轴原点高速,MiddleAxis_HomeHighSpeed,60,,,,,,,
PRO,(轴一)旋转轴原点加速度,MiddleAxis_HomeAddSpeed,50,,,,,,,
PRO,(轴二)升降轴轴目标速度,UpdownAxis_TargetSpeed,150,,,,,,,
PRO,(轴二)升降轴轴加速度,UpdownAxis_AddSpeed,40,,,,,,,
PRO,(轴二)升降轴轴减速度,UpdownAxis_DelSpeed,40,,,,,,,
PRO,(轴二)升降轴轴原点低速度,UpdownAxis_HomeLowSpeed,10,,,,,,,
PRO,(轴二)升降轴轴原点高速,UpdownAxis_HomeHighSpeed,20,,,,,,,
PRO,(轴二)升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,20,,,,,,,
PRO,(轴三)进出轴目标速度,InoutAxis_TargetSpeed,100,,,,,,,
PRO,(轴三)进出轴加速度,InoutAxis_AddSpeed,30,,,,,,,
PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,30,,,,,,,
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)进出轴原点加速度,InoutAxis_HomeAddSpeed,20,,,,,,,
PRO,升降轴(轴二)到仓门速度,UpDownAxis_Door_Speed,50,,,,,,,
PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,250,,,,,,,
PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,250,,,,,,,
PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,250,,,,,,,
PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,150,,,,,,,
PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,250,,,,,,,
PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,100,,,,,,,
PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,100,,,,,,,
PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,100,,,,,,,
PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,120,,,,,,,
PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,120,,,,,,,
PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,100,,,,,,,
PRO,进出轴(轴三)P2速度,InOutAxis_P2_Speed,100,,,,,,,
PRO,进出轴(轴三)P3速度,InOutAxis_P3_Speed,100,,,,,,,
PRO,(轴一)旋转轴目标速度,MiddleAxis_TargetSpeed,1000,,,,,,,
PRO,(轴一)旋转轴加速度,MiddleAxis_AddSpeed,1000,,,,,,,
PRO,(轴一)旋转轴减速度,MiddleAxis_DelSpeed,1000,,,,,,,
PRO,(轴一)旋转轴原点低速度,MiddleAxis_HomeLowSpeed,1000,,,,,,,
PRO,(轴一)旋转轴原点高速,MiddleAxis_HomeHighSpeed,1000,,,,,,,
PRO,(轴一)旋转轴原点加速度,MiddleAxis_HomeAddSpeed,1000,,,,,,,
PRO,(轴二)升降轴轴目标速度,UpdownAxis_TargetSpeed,200,,,,,,,
PRO,(轴二)升降轴轴加速度,UpdownAxis_AddSpeed,200,,,,,,,
PRO,(轴二)升降轴轴减速度,UpdownAxis_DelSpeed,200,,,,,,,
PRO,(轴二)升降轴轴原点低速度,UpdownAxis_HomeLowSpeed,200,,,,,,,
PRO,(轴二)升降轴轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,,,
PRO,(轴二)升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,,,
PRO,(轴三)进出轴目标速度,InoutAxis_TargetSpeed,200,,,,,,,
PRO,(轴三)进出轴加速度,InoutAxis_AddSpeed,200,,,,,,,
PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,200,,,,,,,
PRO,(轴三)进出轴原点低速,InoutAxis_HomeLowSpeed,200,,,,,,,
PRO,(轴三)进出轴原点高速,InoutAxis_HomeHighSpeed,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,250,,,,,,,
PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,1000,,,,,,,
PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,1000,,,,,,,
PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,1000,,,,,,,
PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,500,,,,,,,
PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,1000,,,,,,,
PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,500,,,,,,,
PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,1000,,,,,,,
PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,500,,,,,,,
PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,500,,,,,,,
PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,500,,,,,,,
PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,500,,,,,,,
PRO,进出轴(轴三)P2速度,InOutAxis_P2_Speed,500,,,,,,,
PRO,进出轴(轴三)P3速度,InOutAxis_P3_Speed,500,,,,,,,
PRO,(轴一)旋转轴最小误差脉冲值,MiddleAxis_ErrorCountMin,10,,,,,, ,
PRO,(轴二)升降轴轴最小误差脉冲值,UpdownAxis_ErrorCountMin,10,,,,,,,
PRO,(轴三)进出轴最小误差脉冲值,InoutAxis_ErrorCountMin,10,,,,,,,
......@@ -112,16 +112,16 @@ PRO,(轴一)旋转轴最大限位,MiddleAxis_PositionMax,0,,,,,,,
PRO,(轴二)升降轴最大限位,UpdownAxis_PositionMax,0,,,,,,,
PRO,(轴三)进出轴最大限位,InoutAxis_PositionMax,0,,,,,,,
PRO,需要吹气的温度(温度标准),Max_Temperature,0,,,,,, ,
PRO,需要吹气的湿度(湿度标准),Max_Humidity,10,,,,,,,
PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,
PRO,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,,
PRO,温湿度端口号,Humiture_Port,COM2,,,,,,,
PRO,需要吹气的湿度(湿度标准),Max_Humidity,5,,,,,,,
PRO,每次吹气的时间（分钟）,BlowAir_Time,30,,,,,,,
PRO,两次吹气间隔（分钟）,BlowAir_Interval,1,,,,,,,
PRO,温湿度端口号,Humiture_Port,COM5,,,,,,,
,,,,,,,,,,
PRO,硕科步进电机(压紧轴)控制端口号,CompressAxis_PortName,COM6,,,,,,,
PRO,硕科步进电机(压紧轴)控制波特率,CompressAxis_PortBaudrate,9600,,,,,,,
PRO,硕科步进电机(压紧轴)控制奇偶校验,CompressAxis_PortParity,0,,,,,,,
PRO,硕科步进电机(压紧轴)控制停止位,CompressAxis_StopBits,1,,,,,,,
PRO,硕科步进电机(压紧轴)控制初速度,CompressAxis_StartSpeed,16000,,,,,,,
PRO,硕科步进电机(压紧轴)控制初速度,CompressAxis_StartSpeed,30000,,,,,,,
PRO,硕科步进电机(压紧轴)控制最大速度,CompressAxis_MaxSpeed,40000,,,,,,,
PRO,硕科步进电机(压紧轴)控制末速度,CompressAxis_EndSpeed,40000,,,,,,,
PRO,硕科步进电机(压紧轴)控制加速度,CompressAxis_AddSpeed,4000,,,,,,,
......@@ -129,25 +129,25 @@ PRO,硕科步进电机(压紧轴)控制减速度,CompressAxis_DelSpeed,4000,,,,,,,
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)上料轴目标速度,BatchAxis_TargetSpeed,800,,,,,,,
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,,,,,,,
PRO,(轴五)上料轴原点高速,BatchAxis_HomeHighSpeed,60,,,,,,,
PRO,(轴五)上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,,,
PRO,(轴五)上料轴P1点（出库时接料盘的位置）,BatchAxis_P1,1730000,,,,,, ,
PRO,(轴五)上料轴P2点（待机点）,BatchAxis_P2,20000,,,,,, ,
PRO,(轴五)上料轴P2速度,BatchAxis_P2_Speed,300,,,,,,,
PRO,(轴五)上料轴P1点（出库时接料盘的位置）,BatchAxis_P1,1750000,,,,,, ,
PRO,(轴五)上料轴P2点（待机点）,BatchAxis_P2,30000,,,,,, ,
PRO,(轴五)上料轴P2速度,BatchAxis_P2_Speed,2500,,,,,,,
PRO,(轴五)上料轴最小误差脉冲值,BatchAxis_ErrorCountMin,10,,,,,,,
PRO,(轴五)上料轴最大误差脉冲值,BatchAxis_ErrorCountMax,1000,,,,,,,
PRO,(轴五)上料轴最小限位,BatchAxis_PositionMin,0,,,,,,,
PRO,(轴五)上料轴最大限位,BatchAxis_PositionMax,0,,,,,,,
PRO,(轴五)上料轴P1速度,BatchAxis_P1_Speed,300,,,,,,,
PRO,(轴五)上料轴P1速度,BatchAxis_P1_Speed,2000,,,,,,,
PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,80000,,,,,,,
PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,340,,,,,,,
PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,360,,,,,,,
PRO,最后一盘料需要补充的高度,LastTrayAddHeight,12,,,,,,,
,,,,,,,,,,
,,,,,,,,,,
PRO,IO模块对应的DI数量,IO_DILength,192.168.200.11#16;192.168.200.12#4,,,,,, ,
PRO,模块对应的DO数量,IO_DOLength,192.168.200.11#16;192.168.200.12#4,,,,,,,
PRO,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#4,,,,,, ,
PRO,模块对应的DO数量,IO_DOLength,192.168.200.21#16;192.168.200.22#4,,,,,,,
source/DeviceLibrary/StoreConfig/AC/linePositions.csv
位置,优先级,高度,宽度,料仓ID,中轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,压紧轴压紧点P2,压紧轴压紧前点P3,进出轴仓门出料点P4,进出轴吸盘取料点P2
1#AUTO1_1_1_1,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_2,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_3,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_4,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_5,773,40,13,,211783,67807,71168,71168,67807,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_6,772,40,13,,211783,83730,87091,87091,83730,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_7,771,40,13,,211783,99653,103014,103014,99653,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_8,770,40,13,,211783,115576,118937,118937,115576,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_9,769,40,13,,211783,131499,134860,134860,131499,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_10,768,40,13,,211783,147422,150783,150783,147422,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_11,767,40,13,,211783,163345,166706,166706,163345,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_12,766,40,13,,211783,179268,182629,182629,179268,86693,-40000,-20000,84854,84854
1#AUTO1_1_1_13,765,52,13,,211783,195191,198552,198552,195191,86693,-40000,-10000,84854,84854
1#AUTO1_1_2_1,755,40,13,,211783,385700,389433,389433,385700,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_2,755,40,13,,211783,385700,389433,389433,385700,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_3,755,40,13,,211783,385700,389433,389433,385700,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_4,754,40,13,,211783,403000,405356,405356,403000,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_5,753,40,13,,211783,418345,421279,421279,418345,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_6,752,40,13,,211783,434000,437202,437202,434000,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_7,751,40,13,,211783,450000,453125,453125,450000,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_8,750,40,13,,211783,465900,469048,469048,465900,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_9,749,40,13,,211783,481800,484971,484971,481800,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_10,748,40,13,,211783,497660,500894,500894,497660,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_11,747,40,13,,211783,513600,516817,516817,513600,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_12,746,40,13,,211783,529200,532740,532740,529200,86693,-40000,-20000,84854,84854
1#AUTO1_1_2_13,745,40,13,,211783,545100,548663,548663,545100,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_1,735,40,13,,211400,706257,709866,709866,706257,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_2,734,40,13,,211400,722180,725789,725789,722180,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_3,733,40,13,,211400,738103,741712,741712,738103,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_4,732,40,13,,211400,753026,757635,757635,753026,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_5,731,40,13,,211400,767949,773558,773558,767949,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_6,730,40,13,,211400,783872,789481,789481,783872,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_7,729,40,13,,211400,799795,805404,805404,799795,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_8,728,40,13,,211800,814218,819327,819327,814218,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_9,727,40,13,,211800,832141,835250,835250,832141,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_10,726,40,13,,211800,848064,851173,851173,848064,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_11,725,40,13,,212000,861987,867096,867096,861987,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_12,724,40,13,,212000,877910,883019,883019,877910,86693,-40000,-20000,84854,84854
1#AUTO1_1_3_13,723,52,13,,212000,893833,898942,898942,893833,86693,-40000,-10000,84854,84854
1#AUTO1_2_1_1,714,40,13,1,75212,7370,11760,11760,7370,86693,-50000,-20000,84854,84854
1#AUTO1_2_1_2,713,40,13,1,75212,37397,41787,41787,37397,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_3,712,40,13,1,75212,67424,71814,71814,67424,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_4,711,40,13,1,75212,97451,101841,101841,97451,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_5,710,40,13,1,75212,127478,131868,131868,127478,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_6,709,40,13,1,75212,157505,161895,161895,157505,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_7,708,40,13,1,75212,187532,191922,191922,187532,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_8,707,40,13,1,75212,217559,221949,221949,217559,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_9,706,40,13,1,75212,247586,251976,251976,247586,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_10,705,40,13,1,75212,277613,282003,282003,277613,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_11,704,40,13,1,75212,307640,312030,312030,307640,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_12,703,40,13,1,75212,337667,342057,342057,337667,86693,-40000,-20000,84854,84854
1#AUTO1_2_1_13,702,52,13,1,75212,367694,372084,372084,367694,86693,-40000,-10000,84854,84854
1#AUTO1_2_2_1,693,40,13,1,75134,354811,358235,358235,354811,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_2,692,40,13,1,75134,370576,374000,374000,370576,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_3,691,40,13,1,75134,386341,389765,389765,386341,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_4,690,40,13,1,75134,402106,405530,405530,402106,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_5,689,40,13,1,75134,417871,421295,421295,417871,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_6,688,40,13,1,75134,433636,437060,437060,433636,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_7,687,40,13,1,75134,449401,452825,452825,449401,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_8,686,40,13,1,75134,465166,468590,468590,465166,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_9,685,40,13,1,75134,480931,484355,484355,480931,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_10,684,40,13,1,75134,496696,500120,500120,496696,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_11,683,40,13,1,75134,512461,515885,515885,512461,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_12,682,40,13,1,75134,528226,531650,531650,528226,86693,-40000,-20000,84854,84854
1#AUTO1_2_2_13,681,40,13,1,75134,543991,547415,547415,543991,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_1,671,40,13,1,75605,706257,709866,709866,706257,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_2,670,40,13,1,75605,720180,723789,723789,720180,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_3,669,40,13,1,75605,736103,739712,739712,736103,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_4,668,40,13,1,75605,752526,757135,757135,752526,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_5,667,40,13,1,75605,767449,773058,773058,767449,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_6,666,40,13,1,75605,783372,788981,788981,783372,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_7,665,40,13,1,75605,799295,804904,804904,799295,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_8,664,40,13,1,75605,815218,820327,820327,815218,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_9,663,40,13,1,75605,832000,836000,836000,832000,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_10,662,40,13,1,75605,847500,852173,852173,847500,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_11,661,40,13,1,75605,862987,868096,868096,862987,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_12,660,40,13,1,75605,878910,884019,884019,878910,86693,-40000,-20000,84854,84854
1#AUTO1_2_3_13,659,52,13,1,75605,894833,899942,899942,894833,86693,-40000,-10000,84854,84854
1#AUTO1_3_1_1,650,40,13,1,127750,5800,8700,8700,5800,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_2,649,40,13,1,127750,21565,24465,24465,21565,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_3,648,40,13,1,127750,37330,40230,40230,37330,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_4,647,40,13,1,127750,53095,55995,55995,53095,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_5,646,40,13,1,127750,68860,71760,71760,68860,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_6,645,40,13,1,127750,84625,87525,87525,84625,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_7,644,40,13,1,127750,100390,103290,103290,100390,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_8,643,40,13,1,127750,116155,119055,119055,116155,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_9,642,40,13,1,127750,131920,134820,134820,131920,86693,-40000,-20000,84854,84854
1#AUTO1_3_1_10,641,40,13,1,127750,147685,150585,150585,147685,86693,-40000,-20000,84854,84854
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1#AC2_5_1_7,85,24,13,1,433700,181500,188000,188000,181500,86000,-110000,-25000,88750,88750
1#AC2_5_1_8,84,24,13,1,433700,211750,218250,218250,211750,86000,-110000,-25000,88750,88750
1#AC2_5_1_9,83,24,13,1,433700,242000,248500,248500,242000,86000,-110000,-25000,88750,88750
1#AC2_5_1_10,82,24,13,1,433700,272250,278750,278750,272250,86000,-110000,-25000,88750,88750
1#AC2_5_1_11,81,24,13,1,433700,302500,309000,309000,302500,86000,-110000,-25000,88750,88750
1#AC2_5_1_12,80,24,13,1,433700,332750,339250,339250,332750,86000,-110000,-25000,88750,88750
1#AC2_5_1_13,79,24,13,1,433700,363000,369500,369500,363000,86000,-110000,-25000,88750,88750
1#AC2_5_2_1,78,24,13,1,433700,393250,399750,399750,393250,86000,-110000,-25000,88750,88750
1#AC2_5_2_2,77,24,13,1,433700,423350,429850,429850,423350,86000,-110000,-25000,88750,88750
1#AC2_5_2_3,76,24,13,1,433700,453450,459950,459950,453450,86000,-110000,-25000,88750,88750
1#AC2_5_2_4,75,24,13,1,433700,483550,490050,490050,483550,86000,-110000,-25000,88750,88750
1#AC2_5_2_5,74,24,13,1,433700,513650,520150,520150,513650,86000,-110000,-25000,88750,88750
1#AC2_5_2_6,73,24,13,1,433700,543750,550250,550250,543750,86000,-110000,-25000,88750,88750
1#AC2_5_2_7,72,24,13,1,433700,573850,580350,580350,573850,86000,-110000,-25000,88750,88750
1#AC2_5_2_8,71,24,13,1,433700,603950,610450,610450,603950,86000,-110000,-25000,88750,88750
1#AC2_5_2_9,70,24,13,1,433700,634050,640550,640550,634050,86000,-110000,-25000,88750,88750
1#AC2_5_2_10,69,24,13,1,433700,664150,670650,670650,664150,86000,-110000,-25000,88750,88750
1#AC2_5_2_11,68,24,13,1,433700,694250,700750,700750,694250,86000,-110000,-25000,88750,88750
1#AC2_5_2_12,67,24,13,1,433700,724350,730850,730850,724350,86000,-110000,-25000,88750,88750
1#AC2_5_2_13,66,24,13,1,433700,754450,760950,760950,754450,86000,-110000,-25000,88750,88750
1#AC2_5_3_1,65,24,13,1,433900,784500,791500,791500,784500,86000,-110000,-25000,88750,88750
1#AC2_5_3_2,64,24,13,1,433950,814750,821750,821750,814750,86000,-110000,-25000,88750,88750
1#AC2_5_3_3,63,24,13,1,434000,845000,852000,852000,845000,86000,-110000,-25000,88750,88750
1#AC2_5_3_4,62,24,13,1,434050,875250,882250,882250,875250,86000,-110000,-25000,88750,88750
1#AC2_5_3_5,61,24,13,1,434100,905500,912500,912500,905500,86000,-110000,-25000,88750,88750
1#AC2_5_3_6,60,24,13,1,434150,935750,942750,942750,935750,86000,-110000,-25000,88750,88750
1#AC2_5_3_7,59,24,13,1,434200,966000,973000,973000,966000,86000,-110000,-25000,88750,88750
1#AC2_5_3_8,58,24,13,1,434250,996250,1003250,1003250,996250,86000,-110000,-25000,88750,88750
1#AC2_5_3_9,57,24,13,1,434300,1026500,1033500,1033500,1026500,86000,-110000,-25000,88750,88750
1#AC2_5_3_10,56,24,13,1,434350,1056750,1063750,1063750,1056750,86000,-110000,-25000,88750,88750
1#AC2_5_3_11,55,24,13,1,434400,1087000,1094000,1094000,1087000,86000,-110000,-25000,88750,88750
1#AC2_5_3_12,54,24,13,1,434450,1117250,1124250,1124250,1117250,86000,-110000,-25000,88750,88750
1#AC2_5_3_13,53,24,13,1,434500,1147500,1154500,1154500,1147500,86000,-110000,-25000,88750,88750
1#AC2_6_1_1,52,24,13,1,362000,0,6500,6500,0,86000,-110000,-25000,88750,88750
1#AC2_6_1_2,51,24,13,1,361970,30250,36750,36750,30250,86000,-110000,-25000,88750,88750
1#AC2_6_1_3,50,24,13,1,361940,60500,67000,67000,60500,86000,-110000,-25000,88750,88750
1#AC2_6_1_4,49,24,13,1,361910,90750,97250,97250,90750,86000,-110000,-25000,88750,88750
1#AC2_6_1_5,48,24,13,1,361880,121000,127500,127500,121000,86000,-110000,-25000,88750,88750
1#AC2_6_1_6,47,24,13,1,361850,151250,157750,157750,151250,86000,-110000,-25000,88750,88750
1#AC2_6_1_7,46,24,13,1,361820,181500,188000,188000,181500,86000,-110000,-25000,88750,88750
1#AC2_6_1_8,45,24,13,1,361790,211750,218250,218250,211750,86000,-110000,-25000,88750,88750
1#AC2_6_1_9,44,24,13,1,361760,242000,248500,248500,242000,86000,-110000,-25000,88750,88750
1#AC2_6_1_10,43,24,13,1,361730,272250,278750,278750,272250,86000,-110000,-25000,88750,88750
1#AC2_6_1_11,42,24,13,1,361700,302500,309000,309000,302500,86000,-110000,-25000,88750,88750
1#AC2_6_1_12,41,24,13,1,361670,332750,339250,339250,332750,86000,-110000,-25000,88750,88750
1#AC2_6_1_13,40,24,13,1,361640,363000,369500,369500,363000,86000,-110000,-25000,88750,88750
1#AC2_6_2_1,39,24,13,1,362000,393250,399750,399750,393250,86000,-110000,-25000,88750,88750
1#AC2_6_2_2,38,24,13,1,362000,423350,429850,429850,423350,86000,-110000,-25000,88750,88750
1#AC2_6_2_3,37,24,13,1,362000,453450,459950,459950,453450,86000,-110000,-25000,88750,88750
1#AC2_6_2_4,36,24,13,1,362000,483550,490050,490050,483550,86000,-110000,-25000,88750,88750
1#AC2_6_2_5,35,24,13,1,362000,513650,520150,520150,513650,86000,-110000,-25000,88750,88750
1#AC2_6_2_6,34,24,13,1,362000,543750,550250,550250,543750,86000,-110000,-25000,88750,88750
1#AC2_6_2_7,33,24,13,1,362000,573850,580350,580350,573850,86000,-110000,-25000,88750,88750
1#AC2_6_2_8,32,24,13,1,362000,603950,610450,610450,603950,86000,-110000,-25000,88750,88750
1#AC2_6_2_9,31,24,13,1,362000,634050,640550,640550,634050,86000,-110000,-25000,88750,88750
1#AC2_6_2_10,30,24,13,1,362000,664150,670650,670650,664150,86000,-110000,-25000,88750,88750
1#AC2_6_2_11,29,24,13,1,362000,694250,700750,700750,694250,86000,-110000,-25000,88750,88750
1#AC2_6_2_12,28,24,13,1,362000,724350,730850,730850,724350,86000,-110000,-25000,88750,88750
1#AC2_6_2_13,27,24,13,1,362000,754450,760950,760950,754450,86000,-110000,-25000,88750,88750
1#AC2_6_3_1,26,24,13,1,362000,784500,791500,791500,784500,86000,-110000,-25000,88750,88750
1#AC2_6_3_2,25,24,13,1,362050,814750,821750,821750,814750,86000,-110000,-25000,88750,88750
1#AC2_6_3_3,24,24,13,1,362100,845000,852000,852000,845000,86000,-110000,-25000,88750,88750
1#AC2_6_3_4,23,24,13,1,362150,875250,882250,882250,875250,86000,-110000,-25000,88750,88750
1#AC2_6_3_5,22,24,13,1,362200,905500,912500,912500,905500,86000,-110000,-25000,88750,88750
1#AC2_6_3_6,21,24,13,1,362250,935750,942750,942750,935750,86000,-110000,-25000,88750,88750
1#AC2_6_3_7,20,24,13,1,362300,966000,973000,973000,966000,86000,-110000,-25000,88750,88750
1#AC2_6_3_8,19,24,13,1,362350,996250,1003250,1003250,996250,86000,-110000,-25000,88750,88750
1#AC2_6_3_9,18,24,13,1,362400,1026500,1033500,1033500,1026500,86000,-110000,-25000,88750,88750
1#AC2_6_3_10,17,24,13,1,362450,1056750,1063750,1063750,1056750,86000,-110000,-25000,88750,88750
1#AC2_6_3_11,16,24,13,1,362500,1087000,1094000,1094000,1087000,86000,-110000,-25000,88750,88750
1#AC2_6_3_12,15,24,13,1,362550,1117250,1124250,1124250,1117250,86000,-110000,-25000,88750,88750
1#AC2_6_3_13,14,24,13,1,362600,1147500,1154500,1154500,1147500,86000,-110000,-25000,88750,88750
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -179,9 +179,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = AutomaticBaiting.IsGetTrayGo;
}
else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10)
{
//if ((Config.Batch_Axis.IsSameAxis(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue())) && wait.TargetPosition.Equals(Config.BatchAxis_P1))
//{
{
if (!wait.IsEnd)
{
wait.IsEnd = AutomaticBaiting.BatchAxisIsEnd(wait);
......@@ -403,7 +401,7 @@ namespace OnlineStore.DeviceLibrary
InStoreLog("入库：SI_06 压紧轴压紧，压紧轴到P2，升降轴稍微下降【" + Config.UpDownAxis_DownValue + "】，目标位置【" + targetPosition + "】 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_CompressWork);
ComMoveToPosition(moveP.ComPress_P2, true);
ACAxisMove(Config.UpDown_Axis, targetPosition, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, targetPosition, Config.UpDownAxis_P4_Speed);
}
else
{
......@@ -832,10 +830,15 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.TimeOutSeconds = 120;
//ACAxisMove(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_P1));
BatchAxisController.StartCheck();
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_P1, IO_Type.TrayCheck_LoadMaterial));
BatchAxisController.StartCheck(IO_Type.TrayCheck_LoadMaterial);
Config.Batch_Axis.TargetPosition = Config.BatchAxis_P1;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_P1, Config.BatchAxis_P1_Speed);
int speed = Config.BatchAxis_P1_Speed;
if (AutomaticBaiting.BatchOutStoreHeight > 0)
{
speed = Config.BatchAxis_P1_Speed / 2;
}
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_P1, speed);
OutStoreLog("出库：SO_02 批量上下料轴到P1点【"+Config.BatchAxis_P1+"】 ");
}
}
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
......@@ -67,7 +67,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
//OutStoreProcess();
OutStoreProcess();
}
}
}catch(Exception ex)
......@@ -245,13 +245,15 @@ namespace OnlineStore.DeviceLibrary
default: break;
}
}
#region 入库流程
private static void IsNeedInstore()
{
if (IsNeedStartInout)
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
LogUtil.info(Name + "复位中：需要检测是否有料盘，批量轴匀速上升速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed,IO_Type.TrayCheck_LoadMaterial);
}
else
{
......@@ -304,7 +306,7 @@ namespace OnlineStore.DeviceLibrary
else
{
LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_MoveToUp))
......@@ -327,10 +329,10 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升" );
LogUtil.info(Name + "入料: 吸盘上升");
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, false);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Down, IO_VALUE.LOW));
}
else if (SuckingDisc_WorkCount < 3)
{
......@@ -339,7 +341,7 @@ namespace OnlineStore.DeviceLibrary
else
{
//TODO 报警
WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError,"吸盘吸料失败");
WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnMsg, StoreMoveType.InStore);
LogUtil.error(WarnMsg, 103);
}
......@@ -350,7 +352,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
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 );
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
if (StoreManager.Config.Default_TrayWidth.Equals(7))
{
......@@ -371,7 +373,7 @@ namespace OnlineStore.DeviceLibrary
{
WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnMsg, StoreMoveType.InStore);
LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败",105);
LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_BatchAxisUp))
......@@ -481,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
addHeight = StoreManager.Config.LastTrayAddHeight;
}
LastHeight += addHeight;
LogUtil.info(Name + "入料: 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【"+addHeight+"】计算后高度【" + LastHeight + "】");
LogUtil.info(Name + "入料: 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【" + addHeight + "】计算后高度【" + LastHeight + "】");
if (LastHeight < 0)
{
LastHeight = StoreManager.Config.GetDefaultHeight();
......@@ -509,10 +511,10 @@ namespace OnlineStore.DeviceLibrary
{
LastHeight = (int)Math.Ceiling(1F * LastHeight / 4) * 4;
}
}
}
return LastHeight;
}
private static List<AutoStorePosition> AllPosList = null;
private static List<AutoStorePosition> AllPosList = null;
private static void SendTrayOut()
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
......@@ -546,7 +548,7 @@ namespace OnlineStore.DeviceLibrary
}
private static void ClearTimeOut()
{
{
if (WarnMsg.Contains(TimeOut))
{
WarnMsg = "";
......@@ -587,7 +589,115 @@ namespace OnlineStore.DeviceLibrary
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
}
#endregion
#region 出库流程
public static string StartOut()
{
if ((!StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing)) ||
(!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出料流程失败，料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType);
return "料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType;
}
if (AutoBaitingStatus == StoreRunStatus.Runing && StoreMove.MoveType.Equals(StoreMoveType.None))
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O00_Wait);
LogUtil.info(Name + "启动出料");
return "";
}
else
{
LogUtil.error(Name + " 启动出料失败， Status=" + AutoBaitingStatus + "，MoveType=" + StoreMove.MoveType);
return "启动出料失败， Status = " + AutoBaitingStatus + "，MoveType = " + StoreMove.MoveType;
}
}
private static void OutStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O00_Wait))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_WaitDoorOpen);
LogUtil.info(Name + "出料: 等待门锁打开 ");
BatchDoorOpen(true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_WaitDoorOpen))
{
if (KND.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitOutSingleLow);
LogUtil.info(Name + " 出料 ，等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove);
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.OutCheck);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitOutSingleLow))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove);
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.OutCheck);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O03_SpeedMove))
{
//先判断极限是否亮
int value = ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis);
if (value.Equals(1))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O05_BackToP2);
LogUtil.info(Name + "出料：上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
else
{
//等待出料信号亮
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitOutSingleLow);
LogUtil.info(Name + " 出料 ，等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O05_BackToP2))
{
//TODO
LogUtil.info(Name + "出料：回到待机点完成，出料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
else
{
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
}
}
private static void StopOutProcess()
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
LogUtil.error(Name+"正在出料中，停止出料流程");
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis);
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
}
#endregion
public static bool DoorIsClose()
{
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
......@@ -15,14 +15,14 @@ namespace OnlineStore.DeviceLibrary
private static int StartMovePosition = 0;
private static int EndMovePosition = 0;
//public static int AutoAxisIsMove = 0;
private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis, int targetSpeed)
private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis, int targetSpeed,string targetSingle)
{
//AutoAxisIsMove = 1;
StartMovePosition = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
EndMovePosition = StartMovePosition;
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();
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(moveAxis,0, targetSingle));
BatchAxisController.StartCheck(targetSingle);
ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
}
......@@ -119,19 +119,7 @@ namespace OnlineStore.DeviceLibrary
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value);
}
//else if (wait.WaitType == (int)Wait_Type.WaitHeight_7)
//{
//}
//else if (wait.WaitType == (int)Wait_Type.AxisLimitNegativeSingle_8)
//{
// IO_VALUE value = (IO_VALUE)ACServerManager.GetLimitNegativeSingle(wait.AxisInfo);
// wait.IsEnd = wait.IoValue.Equals(value);
//}
//else if (wait.WaitType == (int)Wait_Type.AxisLimitPositiveSingle_9)
//{
// IO_VALUE value = (IO_VALUE)ACServerManager.GetLimitPositiveSingle(wait.AxisInfo);
// wait.IsEnd = wait.IoValue.Equals(value);
//}
else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10)
{
wait.IsEnd = BatchAxisIsEnd(wait);
......@@ -239,9 +227,9 @@ namespace OnlineStore.DeviceLibrary
public static bool BatchAxisIsEnd(WaitResultInfo wait)
{
bool result = false;
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
LogUtil.info(wait.ToStr() + " 检测到上料机构料盘信号，可以停止运动");
if (KND.IOValue(wait.IoType).Equals(IO_VALUE.HIGH))
{
LogUtil.info(wait.ToStr() + " 检测到【" + wait.IoType + "】信号，可以停止运动");
result = true;
}
else if (ACServerManager.GetLimitPositiveSingle(wait.AxisInfo).Equals(1))
......@@ -477,7 +465,7 @@ namespace OnlineStore.DeviceLibrary
map.Add(ParamDefine.closeLock, ParamDefine.disable);
map.Add(ParamDefine.takeOutReel, ParamDefine.disable);
map.Add(ParamDefine.confirmReelOut, ParamDefine.disable);
if (AutomaticBaiting.DoorStatus.Equals(2))
if ( DoorStatus.Equals(2))
{
map.Add(ParamDefine.doorStatus, ResourceControl.GetString(ResourceControl.doorClose, "Door lock close"));
}
......@@ -487,15 +475,15 @@ namespace OnlineStore.DeviceLibrary
}
if (AutomaticBaiting.IsWaitTragGo && (AutomaticBaiting.IsGetTrayGo.Equals(false)))
if ( IsWaitTragGo && ( IsGetTrayGo.Equals(false)))
{
map[ParamDefine.confirmReelOut] = ParamDefine.enable;
}
else if (AutomaticBaiting.CanOpenBatchDoor())
else if ( CanOpenBatchDoor())
{
if (AutomaticBaiting.DoorStatus.Equals(2))
if ( DoorStatus.Equals(2))
{
if (AutomaticBaiting.BatchOutStoreCount > 0)
if ( BatchOutStoreCount > 0)
{
map[ParamDefine.takeOutReel] = ParamDefine.enable;
}
......@@ -515,10 +503,10 @@ namespace OnlineStore.DeviceLibrary
public static string doOpenDoor()
{
if (AutomaticBaiting.CanOpenBatchDoor())
if ( CanOpenBatchDoor())
{
AutomaticBaiting.BatchDoorOpen(false);
AutomaticBaiting.IsNeedStartInout = false;
BatchDoorOpen(false);
IsNeedStartInout = false;
return "";
}
else
......@@ -528,28 +516,29 @@ namespace OnlineStore.DeviceLibrary
}
public static string doStartBatchIn()
{
if (!AutomaticBaiting.DoorIsClose())
if (! DoorIsClose())
{
return ResourceControl.GetString(ResourceControl.batchInError, "Batch storing Error: Close feeding device");
return ResourceControl.GetString(ResourceControl.batchInError, "Batch storing Error: Close feeding device");
}
if (KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
return ResourceControl.GetString(ResourceControl.batchInError2, "Batch storing Error: gripper full, check before restoring");
}
AutomaticBaiting.BatchDoorClose(false);
AutomaticBaiting.Reset(false,true);
}
StopOutProcess();
BatchDoorClose(false);
Reset(false,true);
return "";
}
public static string doTakeReel()
public static string doTakeReel()
{
if (AutomaticBaiting.CanOpenBatchDoor())
if (CanOpenBatchDoor())
{
if (AutomaticBaiting.BatchOutStoreCount > 0 && AutomaticBaiting.BatchOutStoreHeight > 0)
if (BatchOutStoreCount > 0 && BatchOutStoreHeight > 0)
{
AutomaticBaiting.BatchDoorOpen(false);
return "";
BatchDoorOpen(false);
return StartOut();
//return "";
}
else
{
......@@ -559,23 +548,27 @@ namespace OnlineStore.DeviceLibrary
else
{
return (ResourceControl.GetString(ResourceControl.GetError2, "Providing Error: BUSY, open doorlock failure"));
}
}
}
public static string doCloseDoor()
{
if (!AutomaticBaiting.DoorIsClose())
if (! DoorIsClose())
{
return (ResourceControl.GetString(ResourceControl.CloseError, "Door lock Error: Close feeding device"));
return (ResourceControl.GetString(ResourceControl.CloseError, "Door lock Error: Close feeding device"));
}
AutomaticBaiting.BatchDoorClose(false);
AutomaticBaiting.Reset(false,false);
StopOutProcess();
BatchDoorClose(false);
Reset(false,false);
return "";
}
public static bool doConfirmReelGo()
{
LogUtil.info(ResourceControl.GetString(ResourceControl.TakeTrayOut, "Take out reel manually"));
AutomaticBaiting.IsWaitTragGo = false;
AutomaticBaiting.IsGetTrayGo = true;
IsWaitTragGo = false;
IsGetTrayGo = true;
return true;
}
}
......
source/DeviceLibrary/store/StoreMoveStep.cs
......@@ -488,30 +488,29 @@ namespace OnlineStore.DeviceLibrary
#endregion
//#region 自动上下料出料功能
///// <summary>
///// 吸盘吸走料盘，同时上料轴开始上升
///// </summary>
//AUTO_O01_SuckingDisc_Work,
///// <summary>
///// 等待1秒后吸盘下降
///// </summary>
//AUTO_O02_WaitTimeDown,
#region 自动上下料出料功能
AUTO_O00_Wait=1300,
/// <summary>
/// 等待门锁打开
/// </summary>
AUTO_O01_WaitDoorOpen =1301,
/// <summary>
/// 等待出料检测信号关闭
/// </summary>
AUTO_O02_WaitOutSingleLow=1302,
/// <summary>
/// 向上运动，等待DI12亮或者极限亮停止
/// </summary>
AUTO_O03_SpeedMove=1303,
/// <summary>
/// 极限亮，返回P2点
/// </summary>
AUTO_O05_BackToP2=1304,
#endregion
///// <summary>
///// 吸盘下降
///// </summary>
//AUTO_O03_SuckingDisc_Down,
///// <summary>
///// 放下料盘
///// </summary>
//AUTO_O04_PutTrayDown,
///// <summary>
///// 吸盘上升
///// </summary>
//AUTO_O05_SuckingDisc_Up,
//#endregion
}
public enum StoreAlarmType
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
......@@ -277,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
/// 10=等待批量上下料轴运动 停止
/// </summary>
/// <returns></returns>
public static WaitResultInfo WaitBatchAxisStop(ConfigMoveAxis moveAxis,int targetPosition)
public static WaitResultInfo WaitBatchAxisStop(ConfigMoveAxis moveAxis,int targetPosition,string targetIoType)
{
WaitResultInfo wait = new WaitResultInfo();
wait.TargetPosition = targetPosition;
......@@ -286,6 +286,7 @@ namespace OnlineStore.DeviceLibrary
wait.WaitType = (int)Wait_Type.BatchAxisMove_10;
wait.IsHomeMove = true;
wait.IsEnd = false;
wait.IoType = targetIoType;
return wait;
}
/// <summary>
......@@ -434,8 +435,7 @@ namespace OnlineStore.DeviceLibrary
/// 高度
/// </summary>
public int HeightValue { get; set; }
}
public enum Wait_Type
......
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