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Commit 10a4dfe6 由 张东亮
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回原优化，agv交互测试ok

1 个父辈 a718ffd1
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内嵌 并排
正在显示 10 个修改的文件 包含 92 行增加 和 51 行删除
AutoScanAndLabel/IOControl.cs
...@@ -26,7 +26,7 @@ namespace AutoScanAndLabel ...@@ -26,7 +26,7 @@ namespace AutoScanAndLabel
GC.KeepAlive(t1); GC.KeepAlive(t1);
RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent; RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
} }
private void RobotManage_LoadFinishEvent(bool state, string msg) private void RobotManage_LoadFinishEvent(bool state, string msg)
...@@ -55,7 +55,7 @@ namespace AutoScanAndLabel ...@@ -55,7 +55,7 @@ namespace AutoScanAndLabel
DIControlList.Clear(); DIControlList.Clear();
DOControlList.Clear(); DOControlList.Clear();
int roleindex = 0; int roleindex = 0;
this.tableLayoutPanel1.Controls.Clear(); this.tableLayoutPanel1.Controls.Clear();
this.tableLayoutPanel1.RowStyles.Clear(); this.tableLayoutPanel1.RowStyles.Clear();
this.tableLayoutPanel1.RowCount = RobotManage.Config.DIList.Count; this.tableLayoutPanel1.RowCount = RobotManage.Config.DIList.Count;
foreach (ConfigIO ioValue in RobotManage.Config.DIList.Values) foreach (ConfigIO ioValue in RobotManage.Config.DIList.Values)
...@@ -237,8 +237,8 @@ namespace AutoScanAndLabel ...@@ -237,8 +237,8 @@ namespace AutoScanAndLabel
private void btn左侧电滚筒退出_Click(object sender, EventArgs e) private void btn左侧电滚筒退出_Click(object sender, EventArgs e)
{ {
IOManager.IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH);
} }
private void btn左侧电滚筒停止_Click(object sender, EventArgs e) private void btn左侧电滚筒停止_Click(object sender, EventArgs e)
{ {
...@@ -247,14 +247,14 @@ namespace AutoScanAndLabel ...@@ -247,14 +247,14 @@ namespace AutoScanAndLabel
} }
private void btn右侧电滚筒进入_Click(object sender, EventArgs e) private void btn右侧电滚筒进入_Click(object sender, EventArgs e)
{ {
IOManager.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH);
} }
private void btn右侧电滚筒退出_Click(object sender, EventArgs e) private void btn右侧电滚筒退出_Click(object sender, EventArgs e)
{ {
IOManager.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW); IOManager.IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH); IOManager.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
} }
private void btn右侧电滚筒停止_Click(object sender, EventArgs e) private void btn右侧电滚筒停止_Click(object sender, EventArgs e)
......
AutoScanAndLabel/UC/AgvControl.cs
...@@ -9,6 +9,7 @@ using System.Data; ...@@ -9,6 +9,7 @@ using System.Data;
using System.Drawing; using System.Drawing;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
using System.Threading.Tasks; using System.Threading.Tasks;
using System.Windows.Forms; using System.Windows.Forms;
...@@ -83,7 +84,8 @@ namespace AutoScanAndLabel.UC ...@@ -83,7 +84,8 @@ namespace AutoScanAndLabel.UC
//等待agv到位 //等待agv到位
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); // Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入 RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R40_InShelf);//等待agv到位后执行,启动进入
ShelfOutAgv(); ShelfOutAgv();
...@@ -93,7 +95,8 @@ namespace AutoScanAndLabel.UC ...@@ -93,7 +95,8 @@ namespace AutoScanAndLabel.UC
} }
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
ToStandby(); ToStandby();
//通知agv上料结束, 也可以把上料结束的代码放到 R40_InShelf的结束步骤里去 //通知agv上料结束, 也可以把上料结束的代码放到 R40_InShelf的结束步骤里去
...@@ -127,18 +130,21 @@ namespace AutoScanAndLabel.UC ...@@ -127,18 +130,21 @@ namespace AutoScanAndLabel.UC
//等待agv到位 //等待agv到位
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开 RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R30_OutShelf);//等待agv到位后执行,启动料串离开
ShelfEnterAgv(); ShelfEnterAgv();
while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf) while (RobotManage.mainMachine.RightMoveInfo.MoveStep >= MoveStep.R30_OutShelf)
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
//通知agv上料结束, 也可以把上料结束的代码放到R30_OutShelf的结束步骤里去 //通知agv上料结束, 也可以把上料结束的代码放到R30_OutShelf的结束步骤里去
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
ToStandby(); ToStandby();
InCalling = false; InCalling = false;
...@@ -178,7 +184,7 @@ namespace AutoScanAndLabel.UC ...@@ -178,7 +184,7 @@ namespace AutoScanAndLabel.UC
} }
private bool WaitMissionOk() private bool WaitMissionOk()
{ {
return curState != null && curState.MissionResult.Equals(MissionResult.任务执行成功); return WaitMissionOk((uint)AGVManager.CurMissionId);
} }
private void button_Leftleavefull_Click(object sender, EventArgs e) private void button_Leftleavefull_Click(object sender, EventArgs e)
{ {
...@@ -202,19 +208,22 @@ namespace AutoScanAndLabel.UC ...@@ -202,19 +208,22 @@ namespace AutoScanAndLabel.UC
//等待agv到位 //等待agv到位
while(!WaitMissionOk()) while(!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开 RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开
ShelfEnterAgv(); ShelfEnterAgv();
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf) while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L50_OutShelf)
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
//通知agv上料结束, 也可以把上料结束的代码放到L50_OutShelf的结束步骤里去 //通知agv上料结束, 也可以把上料结束的代码放到L50_OutShelf的结束步骤里去
//等待agv到位 //等待agv到位
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
ToStandby(); ToStandby();
InCalling = false; InCalling = false;
...@@ -246,18 +255,21 @@ namespace AutoScanAndLabel.UC ...@@ -246,18 +255,21 @@ namespace AutoScanAndLabel.UC
//等待agv到位 //等待agv到位
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入 RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
ShelfOutAgv(); ShelfOutAgv();
while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf) while (RobotManage.mainMachine.LeftMoveInfo.MoveStep >= MoveStep.L60_InShelf)
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
//通知agv上料结束, 也可以把上料结束的代码放到 L60_InShelf的结束步骤里去 //通知agv上料结束, 也可以把上料结束的代码放到 L60_InShelf的结束步骤里去
while (!WaitMissionOk()) while (!WaitMissionOk())
{ {
Task.Delay(1000).Wait(); //Task.Delay(1000).Wait();
Thread.Sleep(1000);
} }
ToStandby(); ToStandby();
InCalling = false; InCalling = false;
......
DL.StandardRobots/Robots/StandardRobot.cs
...@@ -57,9 +57,9 @@ namespace DL.StandardRobot ...@@ -57,9 +57,9 @@ namespace DL.StandardRobot
{ {
if (data.Length >= 240) if (data.Length >= 240)
{ {
preState.RunMissionId = GetUInt32(new byte[] { data[195], data[194], data[193], data[192] }); preState.RunMissionId = GetUInt32(new byte[] { data[192], data[193], data[194], data[195] });
preState.MissionRunState = (MissionRunState)GetUInt16(data[197], data[196]); preState.MissionRunState = (MissionRunState)GetUInt16(data[196], data[197]);
preState.MissionResult = (MissionResult)GetUInt16(data[199], data[198]); preState.MissionResult = (MissionResult)GetUInt16(data[198], data[199]);
if (!missionState.Equals(preState)) if (!missionState.Equals(preState))
{ {
missionState.RunMissionId = preState.RunMissionId; missionState.RunMissionId = preState.RunMissionId;
......
DL.StandardRobots/TCP/ModbusTCPMaster.cs
...@@ -68,14 +68,13 @@ namespace DL.Com.TCP ...@@ -68,14 +68,13 @@ namespace DL.Com.TCP
{ {
try try
{ {
Online = tcpClient.IsConnected();
if (!Online) if (!Online)
{ {
if (IsAutoReconnect) if (IsAutoReconnect)
{ {
bool rtn = tcpClient.Connect(IP, Port, ReceiveMessage); online = tcpClient.Connect(IP, Port, ReceiveMessage);
Thread.Sleep(1000); Thread.Sleep(1000);
if(rtn) if (online)
{ {
RequestInfo requestInfo = GetPeek(); RequestInfo requestInfo = GetPeek();
if (requestInfo != null && requestInfo.Requested) if (requestInfo != null && requestInfo.Requested)
...@@ -371,12 +370,19 @@ namespace DL.Com.TCP ...@@ -371,12 +370,19 @@ namespace DL.Com.TCP
RequestInfo requestInfo = GetPeek(); RequestInfo requestInfo = GetPeek();
if (requestInfo != null && (!requestInfo.Requested || requestInfo.RequestTimeOut)) if (requestInfo != null && (!requestInfo.Requested || requestInfo.RequestTimeOut))
{ {
bool rtn = tcpClient.Send(GetRequestBytes(requestInfo.FunCode, requestInfo.StartAddr, requestInfo.CountOrValue, requestInfo.EquipAddr, requestInfo.Values)); try
requestInfo.SetRequestState(rtn); {
if (!GetFunction(requestInfo.FunCode).Equals(RegisterFunction.Read)) bool rtn = tcpClient.Send(GetRequestBytes(requestInfo.FunCode, requestInfo.StartAddr, requestInfo.CountOrValue, requestInfo.EquipAddr, requestInfo.Values));
LogUtil.Info($"Request {requestInfo}"); requestInfo.SetRequestState(rtn);
else if (!GetFunction(requestInfo.FunCode).Equals(RegisterFunction.Read))
LogUtil.Debug($"Request {requestInfo}"); LogUtil.Info($"Request {requestInfo}");
else
LogUtil.Debug($"Request {requestInfo}");
}
catch {
online = false;
}
} }
} }
} }
......
DeviceLibrary/AGVManager.cs
...@@ -32,8 +32,10 @@ namespace DeviceLibrary ...@@ -32,8 +32,10 @@ namespace DeviceLibrary
{ {
robot.MissionSateChanged -= changedEventHandler; robot.MissionSateChanged -= changedEventHandler;
} }
public static int CurMissionId=0;
public static void AddMission(int id) public static void AddMission(int id)
{ {
CurMissionId = id;
robot.AddMission(id); robot.AddMission(id);
} }
public static bool IsConnected() public static bool IsConnected()
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LabelProcess.cs
...@@ -14,7 +14,7 @@ namespace DeviceLibrary ...@@ -14,7 +14,7 @@ namespace DeviceLibrary
{ {
partial class MainMachine partial class MainMachine
{ {
Point Label_p3;
void LabelProcess() void LabelProcess()
{ {
if (CheckWait(LabelMoveInfo)) if (CheckWait(LabelMoveInfo))
...@@ -23,12 +23,21 @@ namespace DeviceLibrary ...@@ -23,12 +23,21 @@ namespace DeviceLibrary
switch (LabelMoveInfo.MoveStep) switch (LabelMoveInfo.MoveStep)
{ {
case MoveStep.Lbl01: case MoveStep.Lbl01:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_X到待机点,Label_Y到贴标前点");
break;
case MoveStep.Lbl02:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl02_1);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_YR转到取标点");
break;
case MoveStep.Lbl02_1:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrint); LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrint);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed); Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed); LabelMoveInfo.log("Label_X转到取标点,等待标签打印完毕");
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);
LabelMoveInfo.log("Label_XYZ转到取标点,等待标签打印完毕");
break; break;
case MoveStep.Lbl_WaitPrint: case MoveStep.Lbl_WaitPrint:
if (LastPrintStatus == Asa.PrintLabel.PrinterStatus.Idle) { if (LastPrintStatus == Asa.PrintLabel.PrinterStatus.Idle) {
...@@ -89,19 +98,27 @@ namespace DeviceLibrary ...@@ -89,19 +98,27 @@ namespace DeviceLibrary
//计算贴标角度的脉冲值 //计算贴标角度的脉冲值
int labelAxisPos = Config.Label_R_360 / 350 * labelAngle; int labelAxisPos = Config.Label_R_360 / 350 * labelAngle;
//计算像素点位与中心点的差 //计算像素点位与中心点的差
Point Label_p3 = new Point(p.X - Right_Batch_Point.X , p.Y - Right_Batch_Point.Y); Label_p3 = new Point(p.X - Right_Batch_Point.X , p.Y - Right_Batch_Point.Y);
//计算像素*脉冲像素比得到脉冲值+中心点基准脉冲 //计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
Label_p3.X = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio) + Config.Label_X_P3; Label_p3.X = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio) + Config.Label_X_P3;
Label_p3.Y = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio) + Config.Label_Y_P3; Label_p3.Y = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio) + Config.Label_Y_P3;
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW}"); LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW}");
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_1);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("Label_X到待机点,Z转到贴标点.");
break;
case MoveStep.Lbl10_1:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_2);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed);
LabelMoveInfo.log("Label_Y到贴标点.");
break;
case MoveStep.Lbl10_2:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl11); LabelMoveInfo.NextMoveStep(MoveStep.Lbl11);
Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P3_speed); Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P3_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed); LabelMoveInfo.log("Label_X到贴标点.");
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("Label_XYZ转到贴标点.");
break; break;
case MoveStep.Lbl11: case MoveStep.Lbl11:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl12); LabelMoveInfo.NextMoveStep(MoveStep.Lbl12);
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LeftProcess.cs
...@@ -127,8 +127,8 @@ namespace DeviceLibrary ...@@ -127,8 +127,8 @@ namespace DeviceLibrary
break; break;
case MoveStep.L52: case MoveStep.L52:
LeftMoveInfo.NextMoveStep(MoveStep.L53); LeftMoveInfo.NextMoveStep(MoveStep.L53);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH); IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH, false);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.LOW)); MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.LOW));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LeftMoveInfo.log($"电滚筒向外滚动"); LeftMoveInfo.log($"电滚筒向外滚动");
...@@ -142,7 +142,7 @@ namespace DeviceLibrary ...@@ -142,7 +142,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.L54: case MoveStep.L54:
LeftMoveInfo.NextMoveStep(MoveStep.REND); LeftMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH, false, 500); IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500);
LeftMoveInfo.log($"电滚停止"); LeftMoveInfo.log($"电滚停止");
break; break;
//} //}
...@@ -162,9 +162,9 @@ namespace DeviceLibrary ...@@ -162,9 +162,9 @@ namespace DeviceLibrary
case MoveStep.L62: case MoveStep.L62:
LeftMoveInfo.NextMoveStep(MoveStep.L63); LeftMoveInfo.NextMoveStep(MoveStep.L63);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW); IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH, false); IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.HIGH)); MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.HIGH));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000)); LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
LeftMoveInfo.OneWaitCanEndStep = true; LeftMoveInfo.OneWaitCanEndStep = true;
LeftMoveInfo.log($"等待料串到位"); LeftMoveInfo.log($"等待料串到位");
break; break;
......
DeviceLibrary/AutoScanAndLabel/MainMachine _RightProcess.cs
...@@ -155,8 +155,8 @@ namespace DeviceLibrary ...@@ -155,8 +155,8 @@ namespace DeviceLibrary
break; break;
case MoveStep.R32: case MoveStep.R32:
RightMoveInfo.NextMoveStep(MoveStep.R33); RightMoveInfo.NextMoveStep(MoveStep.R33);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW); IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false); IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.LOW)); MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.LOW));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
RightMoveInfo.log($"电滚筒向外滚动"); RightMoveInfo.log($"电滚筒向外滚动");
...@@ -170,7 +170,7 @@ namespace DeviceLibrary ...@@ -170,7 +170,7 @@ namespace DeviceLibrary
break; break;
case MoveStep.R34: case MoveStep.R34:
RightMoveInfo.NextMoveStep(MoveStep.REND); RightMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false, 500); IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500);
RightMoveInfo.log($"电滚停止"); RightMoveInfo.log($"电滚停止");
break; break;
//} //}
...@@ -189,10 +189,10 @@ namespace DeviceLibrary ...@@ -189,10 +189,10 @@ namespace DeviceLibrary
break; break;
case MoveStep.R42: case MoveStep.R42:
RightMoveInfo.NextMoveStep(MoveStep.R43); RightMoveInfo.NextMoveStep(MoveStep.R43);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH); IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false); IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH);
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.HIGH)); RightMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.HIGH));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000)); RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
RightMoveInfo.OneWaitCanEndStep = true; RightMoveInfo.OneWaitCanEndStep = true;
RightMoveInfo.log($"等待料串到位"); RightMoveInfo.log($"等待料串到位");
break; break;
......
DeviceLibrary/AutoScanAndLabel/MoveStep.cs
...@@ -18,6 +18,7 @@ namespace DeviceLibrary ...@@ -18,6 +18,7 @@ namespace DeviceLibrary
H05_HomeReset, H05_HomeReset,
H06_HomeReset, H06_HomeReset,
H07_HomeReset, H07_HomeReset,
H08_HomeReset,
HEND_HomeReset, HEND_HomeReset,
//右侧常规扫码流程 //右侧常规扫码流程
...@@ -101,10 +102,13 @@ namespace DeviceLibrary ...@@ -101,10 +102,13 @@ namespace DeviceLibrary
Lbl_Printted, Lbl_Printted,
Lbl01, Lbl01,
Lbl02, Lbl02,
Lbl02_1,
Lbl03, Lbl03,
Lbl04, Lbl04,
Lbl05, Lbl05,
Lbl10, Lbl10,
Lbl10_1,
Lbl10_2,
Lbl11, Lbl11,
Lbl12, Lbl12,
Lbl13, Lbl13,
......
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