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Commit b794741c 由 几米阳光
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1.入库从吸盘下方拿到盘后先下降一点再后退. 

2.批量轴上料完成后，直接回P2点。
1 个父辈 67efe982
内嵌 并排
正在显示 6 个修改的文件 包含 38 行增加 和 22 行删除
source/ACSingleStore/记录.txt
......@@ -116,18 +116,13 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,,
3.批量上料轴上升过程中，新建一个线程用来验证是否需要停止。
20190226需要修改
20190226需要修改
批量上下料轴增加待机点，复位后移动到待机点
1768450
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20190309自动上下料修改：入库从吸盘下方拿到盘后先下降一点再后退
StoreConfig 文件增加下降高度的配置。
批量轴上料完成后，直接回P2点。
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
......@@ -48,6 +48,7 @@ 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,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,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -392,8 +392,8 @@ namespace OnlineStore.DeviceLibrary
if (!StoreMove.IsNeedInStore)
{
InStoreLog("送出料盘：SI_21 ，需要操作人员拿走料盘，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);
StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
}
else
{
......@@ -401,7 +401,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_06 压紧轴压紧，压紧轴到P2 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_CompressWork);
ComMoveToPosition(moveP.ComPress_P2,true);
ComMoveToPosition(moveP.ComPress_P2, true);
}
else
{
......@@ -413,6 +413,13 @@ 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(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
InOutBackToP1(moveP.InOut_P1);
......@@ -475,13 +482,13 @@ namespace OnlineStore.DeviceLibrary
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
ComMoveToPosition(moveP.ComPress_P3,true);
ComMoveToPosition(moveP.ComPress_P3, true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
InStoreLog("入库：SI_13 叉子从库位中返回，进出轴至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_13_InoutBack);
InOutBackToP1(moveP.InOut_P1);
}
......@@ -490,14 +497,14 @@ namespace OnlineStore.DeviceLibrary
InStoreLog("入库：SI_14 返回待机点，轴2/轴1/轴4动作至P1(待机点))");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
ComMoveToPosition(moveP.ComPress_P1);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack)
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, " 【" + posId + "】 入库结束，耗时【" + FormUtil.GetSpanStr(InOutWatch.Elapsed) + "】！");
LogUtil.info(LOGGER, " 【" + posId + "】 入库结束，耗时【" + FormUtil.GetSpanStr(InOutWatch.Elapsed) + "】！");
StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
......@@ -508,7 +515,7 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SI_21_DeviceToDoor)
{
InStoreLog("送出料盘：SI_21 ，需要操作人员拿走料盘，进出轴（叉子）到仓门出料点P4 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_22_InoutToDoor);
StoreMove.NextMoveStep(StoreMoveStep.SI_22_InoutToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P4, Config.InOutAxis_P2_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SafetyLightCurtains, IO_VALUE.HIGH));
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
......@@ -200,7 +200,7 @@ namespace OnlineStore.DeviceLibrary
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R05_ToP2);
LogUtil.info(Name + "复位中：上料轴移动到p1点【" + StoreManager.Config.BatchAxis_P2 + "】");
LogUtil.info(Name + "复位中：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);
}
break;
......@@ -565,9 +565,11 @@ namespace OnlineStore.DeviceLibrary
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
LogUtil.info(Name + "入料：已经没有料盘，批量上下轴回原点");
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
LogUtil.info(Name + "入料：已经没有料盘，直接回待机点P2【" + StoreManager.Config.BatchAxis_P2 + "】");
//StoreMove.TimeOutSeconds = 120;
//ACAxisHomeMove(StoreManager.Config.Batch_Axis);
//LogUtil.info(Name + "复位中：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);
}
}
......
source/DeviceLibrary/store/StoreMoveStep.cs
......@@ -332,6 +332,10 @@ namespace OnlineStore.DeviceLibrary
/// 压紧轴压紧
/// </summary>
SI_06_CompressWork = 206,
/// <summary>
/// 压紧轴压紧后，升降轴稍微下降之后叉子再后退
/// </summary>
SI_061_UpdownAxisDown=215,
/// <summary>
/// 入库。。叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点）
......
source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs
......@@ -620,6 +620,13 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("BatchAxis_P2_Speed")]
public int BatchAxis_P2_Speed { get; set; }
/// <summary>
/// PRO,升降轴从吸盘下方接料后下降的高度,UpDownAxis_DownValue,10000,,,,,,,
/// </summary>
[ConfigProAttribute("UpDownAxis_DownValue")]
public int UpDownAxis_DownValue { get; set; }
private Dictionary<string, ushort> DILengthMap = null;
private Dictionary<string, ushort> DOLengthMap = null;
......
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