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Commit a26aa0d0 由 几米阳光
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吸盘上升和轴上升分开动作

1 个父辈 ca04aead
内嵌 并排
正在显示 2 个修改的文件 包含 21 行增加 和 14 行删除
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
...@@ -155,7 +155,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -155,7 +155,7 @@ namespace OnlineStore.DeviceLibrary
if (IsNeedStartInout) if (IsNeedStartInout)
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome); StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
LogUtil.info(Name + "复位中：匀速向上运动，检测 是否有料盘"); LogUtil.info(Name + "复位中：需要批量入库，检测是否有料盘");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
} }
else else
...@@ -259,9 +259,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -259,9 +259,8 @@ namespace OnlineStore.DeviceLibrary
if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH)) if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Up); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升，同时上料轴也上升"); LogUtil.info(Name + "入料: 吸盘上升");
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true); CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
} }
else if (SuckingDisc_WorkCount < 3) else if (SuckingDisc_WorkCount < 3)
{ {
...@@ -272,8 +271,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,8 +271,13 @@ namespace OnlineStore.DeviceLibrary
//TODO 报警 //TODO 报警
WarnMsg = "吸盘已经尝试三次，仍然吸不到物料！"; WarnMsg = "吸盘已经尝试三次，仍然吸不到物料！";
} }
}else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_BatchAxisUp);
LogUtil.info(Name + "入料: 批量上下料轴上升");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_BatchAxisUp))
{ {
if (StoreManager.Store.CanStarInOut()) if (StoreManager.Store.CanStarInOut())
{ {
...@@ -286,7 +290,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -286,7 +290,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_GetPosId); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_GetPosId);
//计算高度 //计算高度
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue()); EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
LastHeight = Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue; LastHeight = Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue;
...@@ -299,13 +303,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -299,13 +303,12 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_GetPosId)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_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) || (!LastPosId.Equals(""))) if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_WaitTrayLeave); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入料【" + LastPosId + "】，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_Air, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
} }
...@@ -317,7 +320,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -317,7 +320,7 @@ namespace OnlineStore.DeviceLibrary
StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false); StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false);
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_WaitTrayLeave)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_WaitTrayLeave))
{ {
if (StoreManager.Store.StoreMove.MoveStep >= StoreMoveStep.SI_07_DeviceBackFromDoor) if (StoreManager.Store.StoreMove.MoveStep >= StoreMoveStep.SI_07_DeviceBackFromDoor)
{ {
......
source/DeviceLibrary/store/StoreMoveStep.cs
...@@ -416,19 +416,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -416,19 +416,23 @@ namespace OnlineStore.DeviceLibrary
AUTO_I03_SuckingDisc_Work, AUTO_I03_SuckingDisc_Work,
/// <summary> /// <summary>
/// 吸盘上升 ，同时上料轴也要上升 /// 吸盘上升 ，
/// </summary> /// </summary>
AUTO_I04_SuckingDisc_Up, AUTO_I04_SuckingDisc_Up,
/// <summary>
/// 批量上下料料轴上升
/// </summary>
AUTO_I05_BatchAxisUp,
/// <summary> /// <summary>
/// 从服务器获取PosID /// 从服务器获取PosID
/// </summary> /// </summary>
AUTO_I05_GetPosId, AUTO_I06_GetPosId,
/// <summary> /// <summary>
/// 等待料盘被叉子拿走 /// 等待料盘被叉子拿走
/// </summary> /// </summary>
AUTO_I06_WaitTrayLeave, AUTO_I07_WaitTrayLeave,
/// <summary> /// <summary>
/// 未扫到码：等待操作人员拿走料盘 /// 未扫到码：等待操作人员拿走料盘
/// </summary> /// </summary>
......
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