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Commit 74e65d3d 由 几米阳光
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增加单盘入库部分代码

1 个父辈 ba7860dd
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内嵌 并排
正在显示 10 个修改的文件 包含 214 行增加 和 59 行删除
source/ACSingleStore/App.config
......@@ -45,6 +45,7 @@
<add key ="UseAIOBOX" value ="1"/>
<add key ="DIMS" value ="40"/>
<add key="DOMS" value="200"/>
<add key="SinglePosId" value="1#AC2_2_1_1" />
</appSettings>
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......
source/ACSingleStore/FrmStoreBox.cs
......@@ -532,16 +532,7 @@ namespace OnlineStore.AutoInOutStore
MessageBox.Show(ResourceCulture.GetString(ResourceCulture.CanotSingleInStore,"此设备不支持单个入库"),
ResourceCulture.GetString(ResourceCulture.MsgTitle,ResourceCulture.GetString(ResourceCulture.MsgTitle,"提示")), MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
{
string selectPositionNum = cmbPosition.Text;
LineMoveP ktk = LoadPostion();
store.StartInStoreMove(new InOutStoreParam("", selectPositionNum, ktk), false);
}
else
{
MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PleaseStartStore, "请先启动料仓！"));
}
}
private LineMoveP LoadPostion()
......@@ -1742,20 +1733,6 @@ namespace OnlineStore.AutoInOutStore
store.autoNext = true;
LogUtil.info(LOGGER, store.StoreName + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "");
btnStart.Text = StopAuto;
//string msg = AutomaticBaiting.doStartBatchIn();
//if (msg.Equals(""))
//{
// store.autoNext = true;
// btnStart.Text = StopAuto;
// LogUtil.info(LOGGER, store.StoreName + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
//}
//else
//{
// MessageBox.Show(msg);
// store.autoNext = false;
// btnStart.Text = StartAuto;
// LogUtil.info(LOGGER, store.StoreName + "自动出入库失败【"+msg+"】，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
//}
DebugStatus(false);
}
}
......@@ -1774,5 +1751,22 @@ namespace OnlineStore.AutoInOutStore
groupInout.Enabled = checkBox1.Checked;
}
}
private void btnTrayIn_Click(object sender, EventArgs e)
{
string defaultPosId = ConfigAppSettings.GetValue(Setting_Init.SinglePosId).Trim();
if (store.PositionNumList.Contains(defaultPosId))
{
bool result = store.StartInStoreMove(new InOutStoreParam("", defaultPosId), false, true);
if (!result)
{
MessageBox.Show("启动单盘出库失败：" + store.CodeOrInoutMsg);
}
}
else
{
MessageBox.Show("请先正确配置 " + Setting_Init.SinglePosId);
}
}
}
}
source/ACSingleStore/记录.txt
......@@ -177,7 +177,17 @@ IO模块读取时间改为可配置。
20190522
1.需要增加单盘入库功能
appconfig增加配置：
<add key="SinglePosId" value="1#AC2_2_1_1" />
StoreConfig.csv增加配置：
PRO,(轴二)升降轴单盘入库抬升料盘的高度,UpdownAxis_UpPosition,3000,,,,,,,
修改入库流程。
界面上增加按钮。
2.需要修改：出库时不使用极限信号，增加一个最高点配置。
PRO,(轴五)上料轴出库上升最大高度,BatchAxis_OutMaxValue,1600000,,,,,,,
......
source/Common/Setting_Init.cs
......@@ -89,5 +89,9 @@ namespace OnlineStore.Common
public static string Default_Language = "Default_Language";
public static string UseAIOBOX = "UseAIOBOX";
/// <summary>
/// 单盘入库默认PosID
/// </summary>
public static string SinglePosId = "SinglePosId";
}
}
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
......@@ -152,6 +152,8 @@ PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,10000
PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,250,,,,,,,
PRO,最后一盘料需要补充的高度,LastTrayAddHeight,4,,,,,,,
,,,,,,,,,,
PRO,(轴二)升降轴单盘入库抬升料盘的高度,UpdownAxis_UpPosition,3000,,,,,,,
PRO,(轴五)上料轴出库上升最大高度,BatchAxis_OutMaxValue,1600000,,,,,,,
,,,,,,,,,,
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/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -288,10 +288,7 @@ namespace OnlineStore.DeviceLibrary
#region 入库
private Stopwatch InOutWatch = new Stopwatch();
public bool StartInStoreMove(InOutStoreParam param, bool IsBatchWork)
{
return StartInStoreMove(param, IsBatchWork, true);
}
/// <summary>
/// 开始入库移动移动
/// </summary>
......@@ -299,7 +296,7 @@ namespace OnlineStore.DeviceLibrary
/// <param name="IsBatchWork">是否批量出库</param>
/// <param name="isNeedInStore">是否需要入库，不需要入库时直接等待拿走料盘</param>
/// <returns></returns>
public bool StartInStoreMove(InOutStoreParam param, bool IsBatchWork, bool isNeedInStore)
public bool StartInStoreMove(InOutStoreParam param, bool IsBatchWork=true, bool isNeedInStore=true)
{
InOutWatch.Restart();
string posId = param != null ? param.PositionNum : "";
......@@ -307,7 +304,6 @@ namespace OnlineStore.DeviceLibrary
if (!AutomaticBaiting.DoorCloseOK())
{
UpdateInOutMsg(logMsg + "失败，门锁未关闭");
//LogUtil.error(LOGGER, StoreName + logMsg + " 出错，门锁未关闭");
return false;
}
if (storeRunStatus == StoreRunStatus.Runing)
......@@ -315,13 +311,11 @@ namespace OnlineStore.DeviceLibrary
if (!LoadParamPosition(param, false))
{
UpdateInOutMsg(logMsg + "失败，找不到库位信息");
//LogUtil.error(LOGGER, StoreName + logMsg + " 出错，找不到库位信息");
return false;
}
if (IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
UpdateInOutMsg(logMsg + "失败，叉子料盘检测有料");
//LogUtil.error(LOGGER, StoreName + logMsg + " 出错，叉子料盘检测有料");
return false;
}
LogUtil.info(LOGGER, StoreName + logMsg);
......@@ -333,7 +327,6 @@ namespace OnlineStore.DeviceLibrary
StoreMove.IsNeedInStore = isNeedInStore;
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
//SI_02_Move(param.MoveP);
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
}
else
......@@ -347,7 +340,6 @@ namespace OnlineStore.DeviceLibrary
else
{
UpdateInOutMsg(logMsg + "失败，当前状态：" + storeRunStatus);
//LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】入库出错，当前 storeStatus=" + storeRunStatus);
return false;
}
}
......@@ -384,7 +376,7 @@ namespace OnlineStore.DeviceLibrary
InStoreLog("入库：SI_02_ 进出轴至P1");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
bool result = InOutBackToP1(moveP.InOut_P1);
if (!result)
if (!result && StoreMove.IsBatchInOutStore.Equals(true))
{
SI_03_AxisToP1(moveP);
}
......@@ -406,14 +398,26 @@ namespace OnlineStore.DeviceLibrary
return;
}
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
if (StoreMove.MoveStep >= StoreMoveStep.SIS_31_ToDoor)
{
SingleInStoreProcess();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
SI_02_Move(moveP);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{
if (StoreMove.IsBatchInOutStore)
{
SI_03_AxisToP1(moveP);
}else
{
InStoreLog("入库：SIS_31 单盘入库：旋转轴待机点P1，升降轴走到仓门位置P7 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_31_ToDoor);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_03_ReturnHome)
{
......@@ -454,13 +458,7 @@ namespace OnlineStore.DeviceLibrary
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_CompressWork)
//{
// int targetPosition = moveP.UpDown_P1 - Config.UpDownAxis_DownValue;
// InStoreLog("入库：SI_061 升降轴稍微下降【"+Config.UpDownAxis_DownValue+"】，目标位置【"+targetPosition+"】 ");
// StoreMove.NextMoveStep(StoreMoveStep.SI_061_UpdownAxisDown);
// ACAxisMove(Config.UpDown_Axis, targetPosition, Config.UpDownAxis_P1_Speed);
//}
//else if (StoreMove.MoveStep == StoreMoveStep.SI_061_UpdownAxisDown)
{
InStoreLog("入库：SI_07 叉子返回，进出轴至P1 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
......@@ -604,6 +602,102 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + " 入库，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
}
}
protected void SingleInStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_31_ToDoor))
{
InStoreLog("入库：SIS_32 单盘入库：叉子走到门口位置P4， 打开仓门 ,压紧轴到P3");
StoreMove.NextMoveStep(StoreMoveStep.SIS_32_InoutToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P2_Speed);
ComMoveToPosition(moveP.ComPress_P3);
OpenDoorAndWait();
}else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_32_InoutToDoor))
{
InStoreLog("入库：SIS_33 等待操作人员放入料盘 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_33_WaitTray);
StoreMove.TimeOutSeconds = 120;
AutomaticBaiting.IsGetTrayGo = false;
AutomaticBaiting.IsWaitTragGo = true;
StoreMove.WaitList.Add(WaitResultInfo.WaitTakeTray());
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_33_WaitTray))
{
InStoreLog("入库：SIS_34 确认放入料盘，关闭仓门，升降轴稍微上升，压紧轴压紧 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_34_GetTray);
CloseDoorAndWait();
int updownPosition = moveP.UpDown_Door_P7 + Config.UpdownAxis_UpPosition;
ACAxisMove(Config.UpDown_Axis, updownPosition, Config.UpDownAxis_P4_Speed);
ComMoveToPosition(moveP.ComPress_P2);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_34_GetTray))
{
InStoreLog("入库：SIS_35 确认放入料盘，关闭仓门，进出轴后退到P1 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_35_InoutBack);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_35_InoutBack))
{
InStoreLog("入库：SIS_36 升降轴下降到扫码位置P2 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_36_UpdownDown);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_OutHigh_P2, Config.UpDownAxis_P2_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_36_UpdownDown))
{
InStoreLog("入库：SIS_37 轴3（ 叉子） 至P2（ 进料口取料点） ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_37_InoutToP2);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_37_InoutToP2))
{
InStoreLog("入库：SIS_38 扫码,最多等待6000 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_38_ScanCode);
StoreMove.OneWaitCanEndStep = true;
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(6000));
GetCameraCode();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_38_ScanCode))
{
InStoreLog("入库：SIS_39 获取入库库位号 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_39_GetPosId);
SingleInStorePosId = GetAutoPosid();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_39_GetPosId))
{
InStoreLog("入库：SIS_40 启动新的入库 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_40_StartInStore);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_40_StartInStore))
{
InStoreLog("入库：SIS_32 开始送出料盘 ,叉子后退 ");
StoreMove.NextMoveStep(StoreMoveStep.SIS_41_StartSendTrayOut);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Position);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.SIS_41_StartSendTrayOut))
{
StoreMove.IsNeedInStore = false;
InStoreLog("送出料盘：SI_21 ，升降轴到门口位置P7 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
}
}
private void GetCameraCode()
{
IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
Thread.Sleep(1000);
IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
}
private string GetAutoPosid()
{
return ConfigAppSettings.GetValue(Setting_Init.SinglePosId);
}
string SingleInStorePosId = "";
#endregion
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
......@@ -657,7 +657,7 @@ namespace OnlineStore.DeviceLibrary
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 + "】");
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】,最大上升高度【"+StoreManager.Config.BatchAxis_OutMaxValue + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.OutCheck);
}
}
......
source/DeviceLibrary/store/StoreMoveStep.cs
......@@ -334,10 +334,7 @@ namespace OnlineStore.DeviceLibrary
/// 入库。。所有轴先回到待机点，轴2、轴1 动作到P1,，轴4动作至P3
/// </summary>
SI_03_ReturnHome = 203,
///// <summary>
///// 入库。。压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P3(压紧前点)
///// </summary>
//SI_04_CompressWare = 204,
/// <summary>
/// 入库。。叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）
/// </summary>
......@@ -408,15 +405,58 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SI_24_WaitTrayGo = 224,
///// <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,
/// <summary>
/// 单盘入库：旋转轴待机点P1，升降轴走到仓门位置P7
/// </summary>
SIS_31_ToDoor = 301,
/// <summary>
/// 单盘入库：叉子走到门口位置P4， 打开仓门
/// </summary>
SIS_32_InoutToDoor = 302,
/// <summary>
/// 单盘入库：等待操作人员放入料盘
/// </summary>
SIS_33_WaitTray= 303,
/// <summary>
/// 单盘入库：确认放入料盘，关闭仓门，升降轴稍微上升，压紧轴压紧
/// </summary>
SIS_34_GetTray= 304,
/// <summary>
/// 单盘入库：确认放入料盘，关闭仓门，进出轴后退到P1
/// </summary>
SIS_35_InoutBack = 305,
/// <summary>
/// 单盘入库：升降轴下降到扫码位置P2
/// </summary>
SIS_36_UpdownDown = 306,
/// <summary>
/// 单盘入库：轴3（ 叉子） 至P2（ 进料口取料点）
/// </summary>
SIS_37_InoutToP2 = 307,
/// <summary>
/// 单盘入库：扫码
/// </summary>
SIS_38_ScanCode =308,
/// <summary>
/// 单盘入库：获取入库库位号
/// </summary>
SIS_39_GetPosId = 309,
/// <summary>
/// 单盘入库：启动新的入库
/// </summary>
SIS_40_StartInStore= 340,
/// <summary>
/// 单盘入库：开始送出料盘
/// </summary>
SIS_41_StartSendTrayOut= 341,
#endregion
......@@ -425,7 +465,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 开始复位
/// </summary>
AUTO_R00_Start=1100,
AUTO_R00_Start =1100,
/// <summary>
/// 关闭门锁
/// </summary>
......
source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs
......@@ -17,8 +17,18 @@ namespace OnlineStore.LoadCSVLibrary
: base(id, cid, type, filepath)
{
}
/// <summary>
/// PRO,(轴五) 上料轴出库上升最大高度, BatchAxis_OutMaxValue,1600000,,,,,,,
/// </summary>
[ConfigProAttribute("BatchAxis_OutMaxValue")]
public int BatchAxis_OutMaxValue { get; set; }
/// <summary>
/// PRO,(轴二) 升降轴单盘入库抬升料盘的高度, UpdownAxis_UpPosition,3000
/// </summary>
[ConfigProAttribute("UpdownAxis_UpPosition")]
public int UpdownAxis_UpPosition { get; set; }
/// <summary>
/// 预警温度
/// </summary>
[ConfigProAttribute("WarnTemperate")]
......
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