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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
内嵌 并排
正在显示 10 个修改的文件 包含 165 行增加 和 99 行删除
AutoScanAndLabel/IOControl.cs
......@@ -26,7 +26,7 @@ namespace AutoScanAndLabel
GC.KeepAlive(t1);
RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
}
private void RobotManage_LoadFinishEvent(bool state, string msg)
......@@ -55,7 +55,7 @@ namespace AutoScanAndLabel
DIControlList.Clear();
DOControlList.Clear();
int roleindex = 0;
this.tableLayoutPanel1.Controls.Clear();
this.tableLayoutPanel1.Controls.Clear();
this.tableLayoutPanel1.RowStyles.Clear();
this.tableLayoutPanel1.RowCount = RobotManage.Config.DIList.Count;
foreach (ConfigIO ioValue in RobotManage.Config.DIList.Values)
......@@ -237,8 +237,8 @@ namespace AutoScanAndLabel
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_Run, IO_VALUE.HIGH);
}
private void btn左侧电滚筒停止_Click(object sender, EventArgs e)
{
......@@ -247,14 +247,14 @@ namespace AutoScanAndLabel
}
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);
}
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.HIGH);
IOManager.IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
}
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;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
......@@ -83,7 +84,8 @@ namespace AutoScanAndLabel.UC
//等待agv到位
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
ShelfOutAgv();
......@@ -93,7 +95,8 @@ namespace AutoScanAndLabel.UC
}
while (!WaitMissionOk())
{
Task.Delay(1000).Wait();
//Task.Delay(1000).Wait();
Thread.Sleep(1000);
}
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
......@@ -127,18 +130,21 @@ namespace AutoScanAndLabel.UC
//等待agv到位
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
ShelfEnterAgv();
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
while (!WaitMissionOk())
{
Task.Delay(1000).Wait();
//Task.Delay(1000).Wait();
Thread.Sleep(1000);
}
ToStandby();
InCalling = false;
......@@ -178,7 +184,7 @@ namespace AutoScanAndLabel.UC
}
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)
{
......@@ -202,19 +208,22 @@ namespace AutoScanAndLabel.UC
//等待agv到位
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
ShelfEnterAgv();
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
//等待agv到位
while (!WaitMissionOk())
{
Task.Delay(1000).Wait();
//Task.Delay(1000).Wait();
Thread.Sleep(1000);
}
ToStandby();
InCalling = false;
......@@ -246,18 +255,21 @@ namespace AutoScanAndLabel.UC
//等待agv到位
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
ShelfOutAgv();
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
while (!WaitMissionOk())
{
Task.Delay(1000).Wait();
//Task.Delay(1000).Wait();
Thread.Sleep(1000);
}
ToStandby();
InCalling = false;
......
DL.StandardRobots/Robots/StandardRobot.cs
......@@ -57,9 +57,9 @@ namespace DL.StandardRobot
{
if (data.Length >= 240)
{
preState.RunMissionId = GetUInt32(new byte[] { data[195], data[194], data[193], data[192] });
preState.MissionRunState = (MissionRunState)GetUInt16(data[197], data[196]);
preState.MissionResult = (MissionResult)GetUInt16(data[199], data[198]);
preState.RunMissionId = GetUInt32(new byte[] { data[192], data[193], data[194], data[195] });
preState.MissionRunState = (MissionRunState)GetUInt16(data[196], data[197]);
preState.MissionResult = (MissionResult)GetUInt16(data[198], data[199]);
if (!missionState.Equals(preState))
{
missionState.RunMissionId = preState.RunMissionId;
......
DL.StandardRobots/TCP/ModbusTCPMaster.cs
......@@ -68,14 +68,13 @@ namespace DL.Com.TCP
{
try
{
Online = tcpClient.IsConnected();
if (!Online)
{
if (IsAutoReconnect)
{
bool rtn = tcpClient.Connect(IP, Port, ReceiveMessage);
online = tcpClient.Connect(IP, Port, ReceiveMessage);
Thread.Sleep(1000);
if(rtn)
if (online)
{
RequestInfo requestInfo = GetPeek();
if (requestInfo != null && requestInfo.Requested)
......@@ -371,12 +370,19 @@ namespace DL.Com.TCP
RequestInfo requestInfo = GetPeek();
if (requestInfo != null && (!requestInfo.Requested || requestInfo.RequestTimeOut))
{
bool rtn = tcpClient.Send(GetRequestBytes(requestInfo.FunCode, requestInfo.StartAddr, requestInfo.CountOrValue, requestInfo.EquipAddr, requestInfo.Values));
requestInfo.SetRequestState(rtn);
if (!GetFunction(requestInfo.FunCode).Equals(RegisterFunction.Read))
LogUtil.Info($"Request {requestInfo}");
else
LogUtil.Debug($"Request {requestInfo}");
try
{
bool rtn = tcpClient.Send(GetRequestBytes(requestInfo.FunCode, requestInfo.StartAddr, requestInfo.CountOrValue, requestInfo.EquipAddr, requestInfo.Values));
requestInfo.SetRequestState(rtn);
if (!GetFunction(requestInfo.FunCode).Equals(RegisterFunction.Read))
LogUtil.Info($"Request {requestInfo}");
else
LogUtil.Debug($"Request {requestInfo}");
}
catch {
online = false;
}
}
}
}
......
DeviceLibrary/AGVManager.cs
......@@ -32,8 +32,10 @@ namespace DeviceLibrary
{
robot.MissionSateChanged -= changedEventHandler;
}
public static int CurMissionId=0;
public static void AddMission(int id)
{
CurMissionId = id;
robot.AddMission(id);
}
public static bool IsConnected()
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LabelProcess.cs
......@@ -14,7 +14,7 @@ namespace DeviceLibrary
{
partial class MainMachine
{
Point Label_p3;
void LabelProcess()
{
if (CheckWait(LabelMoveInfo))
......@@ -23,12 +23,21 @@ namespace DeviceLibrary
switch (LabelMoveInfo.MoveStep)
{
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);
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);
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");
LabelMoveInfo.log("Label_X转到取标点,等待标签打印完毕");
break;
case MoveStep.Lbl_WaitPrint:
if (LastPrintStatus == Asa.PrintLabel.PrinterStatus.Idle) {
......@@ -89,19 +98,27 @@ namespace DeviceLibrary
//计算贴标角度的脉冲值
int labelAxisPos = Config.Label_R_360 / 350 * labelAngle;
//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
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;
LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW}");
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_1);
Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P1, Config.Label_X_P1_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("Label_X到待机点,Z转到贴标点.");
break;
case MoveStep.Lbl10_1:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl10_2);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed);
LabelMoveInfo.log("Label_Y到贴标点.");
break;
case MoveStep.Lbl10_2:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl11);
Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P3_speed);
Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed);
Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
LabelMoveInfo.log("Label_XYZ转到贴标点.");
LabelMoveInfo.log("Label_X到贴标点.");
break;
case MoveStep.Lbl11:
LabelMoveInfo.NextMoveStep(MoveStep.Lbl12);
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LeftProcess.cs
......@@ -127,8 +127,8 @@ namespace DeviceLibrary
break;
case MoveStep.L52:
LeftMoveInfo.NextMoveStep(MoveStep.L53);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH, false);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.LOW));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LeftMoveInfo.log($"电滚筒向外滚动");
......@@ -142,7 +142,7 @@ namespace DeviceLibrary
break;
case MoveStep.L54:
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($"电滚停止");
break;
//}
......@@ -162,9 +162,9 @@ namespace DeviceLibrary
case MoveStep.L62:
LeftMoveInfo.NextMoveStep(MoveStep.L63);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH, false);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftEnd_Check, IO_VALUE.HIGH));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
LeftMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
LeftMoveInfo.OneWaitCanEndStep = true;
LeftMoveInfo.log($"等待料串到位");
break;
......
DeviceLibrary/AutoScanAndLabel/MainMachine _RightProcess.cs
......@@ -155,8 +155,8 @@ namespace DeviceLibrary
break;
case MoveStep.R32:
RightMoveInfo.NextMoveStep(MoveStep.R33);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
MiddleMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightEnd_Check, IO_VALUE.LOW));
RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
RightMoveInfo.log($"电滚筒向外滚动");
......@@ -170,7 +170,7 @@ namespace DeviceLibrary
break;
case MoveStep.R34:
RightMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false, 500);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500);
RightMoveInfo.log($"电滚停止");
break;
//}
......@@ -189,10 +189,10 @@ namespace DeviceLibrary
break;
case MoveStep.R42:
RightMoveInfo.NextMoveStep(MoveStep.R43);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH, false);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, 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.log($"等待料串到位");
break;
......
DeviceLibrary/AutoScanAndLabel/MainMachine.cs
......@@ -13,14 +13,15 @@ namespace DeviceLibrary
{
public partial class MainMachine : IRobot
{
public string Name { get; set; } = crc.GetString("Res0036","移载");
private bool _canRunning=true;
public string Name { get; set; } = crc.GetString("Res0036", "移载");
private bool _canRunning = true;
public bool canRunning
{
get { return _canRunning; }
set
{
if (_canRunning != value) {
if (_canRunning != value)
{
Msg.setlogones();
}
_canRunning = value;
......@@ -69,20 +70,21 @@ namespace DeviceLibrary
public MainMachine(Robot_Config _config) {
public MainMachine(Robot_Config _config)
{
Config = _config;
RightMoveInfo = new MoveInfo(crc.GetString("Res0039","右侧取料"));
RightMoveInfo = new MoveInfo(crc.GetString("Res0039", "右侧取料"));
RightMoveInfo.SetStateDelegate(RightState);
MiddleMoveInfo = new MoveInfo(crc.GetString("Res0042","移栽"));
MiddleMoveInfo = new MoveInfo(crc.GetString("Res0042", "移栽"));
MiddleMoveInfo.SetStateDelegate(MiddleState);
LeftMoveInfo = new MoveInfo(crc.GetString("Res0051","左侧放料"));
LeftMoveInfo = new MoveInfo(crc.GetString("Res0051", "左侧放料"));
LeftMoveInfo.SetStateDelegate(LeftState);
LabelMoveInfo = new MoveInfo(crc.GetString("Res0052","贴标"));
LabelMoveInfo = new MoveInfo(crc.GetString("Res0052", "贴标"));
LabelMoveInfo.SetStateDelegate(LabelState);
ResetMoveInfo = new MoveInfo(crc.GetString("Res0053","重置"));
ResetMoveInfo = new MoveInfo(crc.GetString("Res0053", "重置"));
#region 初始化led灯
AlarmLed = new Led(Config.DOList[IO_Type.Alarm_HddLed].GetIOAddr());
......@@ -106,36 +108,37 @@ namespace DeviceLibrary
Take_Middle_Axis.interference += Take_Middle_Axis_interference;
electricClamp = RobotManage.electricGripper;
AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
AlarmBuzzer.SetOnOffAction(() => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
InitPrint();
LedProcessInit();
}
private (bool,string) Take_Middle_Axis_interference(int from, int to)
private (bool, string) Take_Middle_Axis_interference(int from, int to)
{
if (to > from)
{
if (Label_Y_Axis.GetAclPosition() > Config.Label_Y_P2 + Label_Y_Axis.Config.CanErrorCountMax)
{
return (true,crc.GetString("Res0054","可能与贴标Y轴干涉"));
return (true, crc.GetString("Res0054", "可能与贴标Y轴干涉"));
}
}
return (false,"");
return (false, "");
}
private (bool, string) Label_Y_Axis_interference(int from, int to)
{
if (to > from)
{
if (Take_Middle_Axis.GetAclPosition() > Math.Max(Config.Take_Middle_P1, Config.Take_Middle_P2) + Take_Middle_Axis.Config.CanErrorCountMax) {
return (true, crc.GetString("Res0055","可能与旋转轴干涉")); ;
if (Take_Middle_Axis.GetAclPosition() > Math.Max(Config.Take_Middle_P1, Config.Take_Middle_P2) + Take_Middle_Axis.Config.CanErrorCountMax)
{
return (true, crc.GetString("Res0055", "可能与旋转轴干涉")); ;
}
}
var Label_Z_Pos = Label_Z_Axis.GetAclPosition();
if (Label_Z_Pos>Math.Max(Config.Label_Z_P2,Config.Label_Z_P4)+ Label_Z_Axis.Config.CanErrorCountMax)
return (true, crc.GetString("Res0056","可能与贴标Z轴干涉")); ;
if (Label_Z_Pos > Math.Max(Config.Label_Z_P2, Config.Label_Z_P4) + Label_Z_Axis.Config.CanErrorCountMax)
return (true, crc.GetString("Res0056", "可能与贴标Z轴干涉")); ;
return (false, "");
}
......@@ -143,10 +146,12 @@ namespace DeviceLibrary
/// <summary>
/// 整机启动变量,设置为false后将退出线程,只在停止时调用
/// </summary>
bool mstart=true;
public void Run() {
bool mstart = true;
public void Run()
{
mstart = true;
while (mstart) {
while (mstart)
{
try
{
canRunning = DeviceCheck();
......@@ -176,7 +181,8 @@ namespace DeviceLibrary
Msg.add(ex.ToString(), MsgLevel.warning);
Msg.setlogones();
}
finally {
finally
{
ProcessMsgEvent?.Invoke(Msg.get());
//ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
Msg.clear();
......@@ -184,7 +190,8 @@ namespace DeviceLibrary
}
LogUtil.info("主线程已退出.");
}
public void Stop() {
public void Stop()
{
mstart = false;
Thread.Sleep(300);
Alarm(AlarmType.None);
......@@ -193,7 +200,8 @@ namespace DeviceLibrary
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.LOW);
}
public void BeginHomeReset(bool firstRun=false) {
public void BeginHomeReset(bool firstRun = false)
{
if (!firstRun)
{
StopMove();
......@@ -223,7 +231,7 @@ namespace DeviceLibrary
Right_Batch_Axis.HomeMove(ResetMoveInfo);
electricClamp.HomeReset();
break;
case MoveStep.H02_HomeReset :
case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
Label_R_Axis.HomeMove(ResetMoveInfo);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
......@@ -233,7 +241,7 @@ namespace DeviceLibrary
ResetMoveInfo.log("正在回原");
Label_X_Axis.HomeMove(ResetMoveInfo);
Label_Y_Axis.HomeMove(ResetMoveInfo);
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
break;
case MoveStep.H04_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
......@@ -251,16 +259,27 @@ namespace DeviceLibrary
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("正在回原");
ResetMoveInfo.log("正在回原");
Take_UpDown_Axis.AbsMove(ResetMoveInfo, Config.Take_UpDown_P1, Config.Take_UpDown_P1_speed);
Right_Batch_Axis.AbsMove(ResetMoveInfo, Config.Right_Batch_P1, Config.Right_Batch_P1_speed);
Left_Batch_Axis.AbsMove(ResetMoveInfo, Config.Left_Batch_P1, Config.Left_Batch_P1_speed);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.H07_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
Take_Middle_Axis.AbsMove(ResetMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
ResetMoveInfo.log("正在回原 进出料口滚筒正转10秒");
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.LOW);
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.HIGH);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.HIGH);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
break;
case MoveStep.H08_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("正在回原 阻挡气缸判断");
IOMove(IO_Type.LeftMoto_Run, IO_VALUE.LOW);
IOMove(IO_Type.RightMoto_Run, IO_VALUE.LOW);
if (IOManager.IOValue(IO_Type.LeftEnd_Check) == IO_VALUE.LOW)
{
CylinderMove(ResetMoveInfo, IO_Type.LeftStopUP, IO_Type.LeftStopDown);
......@@ -283,18 +302,20 @@ namespace DeviceLibrary
break;
}
}
public bool IgnoreSafecheck=false;
public bool IgnoreSafecheck = false;
public bool IgnoreGratingSignal = false;
bool lastSafeCheckStatus = true;
bool SafeCheck() {
bool SafeCheck()
{
bool ok = true;
if (UserPause)
{
Msg.add(crc.GetString("Res0057","用户暂停"), MsgLevel.warning);
Msg.add(crc.GetString("Res0057", "用户暂停"), MsgLevel.warning);
DeviceSuddenStop();
ok = false;
}else if (IOValue(IO_Type.GratingSignal_Check).Equals(IO_VALUE.LOW))
}
else if (IOValue(IO_Type.GratingSignal_Check).Equals(IO_VALUE.LOW))
{
if (!IgnoreSafecheck && !IgnoreGratingSignal
&& IOValue(IO_Type.RightCar_Check).Equals(IO_VALUE.LOW)
......@@ -303,17 +324,17 @@ namespace DeviceLibrary
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0058","安全光栅被遮挡") + (ok ? crc.GetString("Res0061","[已忽略]") : ""), MsgLevel.warning);
Msg.add(crc.GetString("Res0058", "安全光栅被遮挡") + (ok ? crc.GetString("Res0061", "[已忽略]") : ""), MsgLevel.warning);
}
if (IOValue(IO_Type.HasNgBox).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0062","没有检测到NG料箱"), MsgLevel.warning);
Msg.add(crc.GetString("Res0062", "没有检测到NG料箱"), MsgLevel.warning);
ok = false;
}
if (IOValue(IO_Type.HasPrinter).Equals(IO_VALUE.LOW))
{
Msg.add(crc.GetString("Res0063","没有检测打印机"), MsgLevel.warning);
Msg.add(crc.GetString("Res0063", "没有检测打印机"), MsgLevel.warning);
ok = false;
}
if (IOValue(IO_Type.LeftBackDoor_Check).Equals(IO_VALUE.LOW))
......@@ -323,7 +344,7 @@ namespace DeviceLibrary
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0064","左后门没有关闭") + (ok ? crc.GetString("Res0061","[已忽略]") : ""), MsgLevel.warning);
Msg.add(crc.GetString("Res0064", "左后门没有关闭") + (ok ? crc.GetString("Res0061", "[已忽略]") : ""), MsgLevel.warning);
}
if (IOValue(IO_Type.RightBackDoor_Check).Equals(IO_VALUE.LOW))
{
......@@ -332,13 +353,14 @@ namespace DeviceLibrary
ok = false;
DeviceSuddenStop();
}
Msg.add(crc.GetString("Res0065","右后门没有关闭") + (ok ? crc.GetString("Res0061","[已忽略]") : ""), MsgLevel.warning);
Msg.add(crc.GetString("Res0065", "右后门没有关闭") + (ok ? crc.GetString("Res0061", "[已忽略]") : ""), MsgLevel.warning);
}
lastSafeCheckStatus = ok;
return ok;
}
void DeviceSuddenStop() {
void DeviceSuddenStop()
{
if (lastSafeCheckStatus)
{
//lastSafeCheckStatus = false;
......@@ -359,22 +381,24 @@ namespace DeviceLibrary
DateTime lastAirCloseTime = DateTime.MinValue;
internal DateTime checkAlarmTime = DateTime.Now;
public bool DeviceCheck() {
public bool DeviceCheck()
{
bool ok = true;
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
Alarm(AlarmType.SuddenStop);
Msg.add(crc.GetString("Res0066","急停中"), MsgLevel.warning);
Msg.add(crc.GetString("Res0066", "急停中"), MsgLevel.warning);
ok = false;
}
else if (alarmType == AlarmType.SuddenStop) {
}
else if (alarmType == AlarmType.SuddenStop)
{
//if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
//{
// Alarm(AlarmType.None);
//}
//else
{
Msg.add(crc.GetString("Res0067","系统需要重置"), MsgLevel.warning);
Msg.add(crc.GetString("Res0067", "系统需要重置"), MsgLevel.warning);
ok = false;
}
}
......@@ -387,13 +411,14 @@ namespace DeviceLibrary
if (span.TotalSeconds > RobotManage.Config.AirCheckSeconds)
{
ok = false;
Msg.add(crc.GetString("Res0068","气压不足"), MsgLevel.warning);
Msg.add(crc.GetString("Res0068", "气压不足"), MsgLevel.warning);
}
}
else {
else
{
lastAirCloseTime = DateTime.MinValue;
}
if (alarmType!=AlarmType.SuddenStop)
if (alarmType != AlarmType.SuddenStop)
{
TimeSpan span = DateTime.Now - checkAlarmTime;
//在回原点，复位，出入库时，检测报警间隔减小
......
DeviceLibrary/AutoScanAndLabel/MoveStep.cs
......@@ -18,6 +18,7 @@ namespace DeviceLibrary
H05_HomeReset,
H06_HomeReset,
H07_HomeReset,
H08_HomeReset,
HEND_HomeReset,
//右侧常规扫码流程
......@@ -101,10 +102,13 @@ namespace DeviceLibrary
Lbl_Printted,
Lbl01,
Lbl02,
Lbl02_1,
Lbl03,
Lbl04,
Lbl05,
Lbl10,
Lbl10_1,
Lbl10_2,
Lbl11,
Lbl12,
Lbl13,
......
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