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Commit cb283aa7 由 刘韬
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增加一些调试输出, 优化误取盘等

1 个父辈 5509dcbf
内嵌 并排
正在显示 9 个修改的文件 包含 50 行增加 和 21 行删除
DeviceLibrary/AutoScan/LabelMachine.claclabel.cs
......@@ -143,7 +143,7 @@ namespace DeviceLibrary
Point qrcenter = Label_Pix_Point;
//string file = @"D:\853string\Image_20210604173619489.bmp";
//图像剪切范围矩形
var orgCrop = Rectangle.Inflate(new Rectangle(qrcenter, new Size(1, 1)), 560, 560);
var orgCrop = Rectangle.Inflate(new Rectangle(qrcenter, new Size(1, 1)), ConfigHelper.Config.Get("LabelCutSize",560), ConfigHelper.Config.Get("LabelCutSize", 560));
//计算剪切后的二维码中心坐标点
qrcenter.X = qrcenter.X - orgCrop.X;
qrcenter.Y = qrcenter.Y - orgCrop.Y;
......
DeviceLibrary/AutoScan/LabelMachine.cs
......@@ -206,19 +206,20 @@ namespace DeviceLibrary
case MoveStep.H05_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
ResetMoveInfo.log("正在回原 等待2秒钟");
Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
Label_R_Axis.AbsMove(ResetMoveInfo, Config.Label_R_P2, Config.Label_R_P2_speed);
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
case MoveStep.H06_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
ResetMoveInfo.log("正在回原 xyzr轴到待机点");
Label_Z_Axis.AbsMove(ResetMoveInfo, Config.Label_Z_P1, Config.Label_Z_P1_speed);
Label_Y_Axis.AbsMove(ResetMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
break;
case MoveStep.H07_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("正在回原 线体停止,阻挡下降");
Label_X_Axis.AbsMove(ResetMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
IOMove(IO_Label_Type.Line1_Run, IO_VALUE.LOW);
IOMove(IO_Label_Type.Line2_Run, IO_VALUE.LOW);
CylinderMove(ResetMoveInfo, IO_Label_Type.TrayStop_Up, IO_Label_Type.TrayStop_Down);
......
DeviceLibrary/AutoScan/LabelMachine.partial.cs
......@@ -179,6 +179,7 @@ namespace DeviceLibrary
printTask = DoPrint(MoveInfo.ReelParam, false);
}
//开始吸标
VacuumMoveInfo.ReelParam = MoveInfo.ReelParam;
VacuumMoveInfo.NewMove(MoveStep.LblVacuum_01);
}
break;
......@@ -202,7 +203,7 @@ namespace DeviceLibrary
break;
case MoveStep.Lbl_04_LineStop:
MoveInfo.NextMoveStep(MoveStep.Lbl_05_ScanCode);
MoveInfo.log($"线体1,2停止运行,阻挡上升,并拍照 Label_TaryStop_Check:{IOValue(IO_Label_Type.Label_TaryStop_Check)}");
MoveInfo.log($"线体1,2停止运行,并拍照 Label_TaryStop_Check:{IOValue(IO_Label_Type.Label_TaryStop_Check)}");
RobotManage.Line1.LineStop("label", "Lbl_04_LineStop");
RobotManage.Line2.LineStop("label", "Lbl_04_LineStop");
CylinderMove(MoveInfo, IO_Label_Type.TrayStop_Down, IO_Label_Type.TrayStop_Up, IO_VALUE.LOW);
......@@ -212,9 +213,20 @@ namespace DeviceLibrary
MoveInfo.NextMoveStep(MoveStep.Lbl05);
WaitCheckLabeltype = WaitCheckLabeltypeE.None;
ScanTask2 = ScanCode2();
Task.Delay(1000).Wait();
CylinderMove(MoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up, IO_VALUE.HIGH);
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
//Task.Delay(1000).Wait();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case MoveStep.Lbl_05_Wait:
if (SendOutMoveInfo.MoveStep == MoveStep.Wait)
{
CylinderMove(MoveInfo, IO_Label_Type.Label_Stop_Down, IO_Label_Type.Label_Stop_Up, IO_VALUE.HIGH);
MoveInfo.log("贴标阻挡上升");
}
else
{
Msg.add(crc.GetString("wait_goto_xx", "等待料盘到达{0}", RobotManage.filterMachine.DeviceName), MsgLevel.warning);
MoveInfo.log("贴标阻挡上升,等待到达分盘线");
}
break;
case MoveStep.Lbl05:
if (VacuumMoveInfo.MoveStep == MoveStep.LblVacuum_end)
......@@ -258,10 +270,10 @@ namespace DeviceLibrary
case MoveStep.Lbl11:
MoveInfo.NextMoveStep(MoveStep.Lbl13);
var p5 = Config.Label_Z_P5;
p5 = p5 - (MoveInfo.ReelParam.PlateRawH - 8) * Config.Label_Z_Axis_ChangeValue;
p5 = p5 - (MoveInfo.ReelParam.PlateRawH - 10) * Config.Label_Z_Axis_ChangeValue;
Label_Z_Axis.AbsMove(MoveInfo, p5, Config.Label_Z_P5_speed);
IOMove(IO_Label_Type.LabelCylinder_Work, IO_VALUE.LOW);
MoveInfo.log($"取标气缸下降p5:{p5}.关闭吸气.");
MoveInfo.log($"取标气缸下降p5:{p5}={Config.Label_Z_P5}-({MoveInfo.ReelParam.PlateRawH}-10)*{Config.Label_Z_Axis_ChangeValue}.关闭吸气.");
break;
case MoveStep.Lbl12:
MoveInfo.NextMoveStep(MoveStep.Lbl13);
......@@ -390,7 +402,7 @@ namespace DeviceLibrary
{
VacuumMoveInfo.NextMoveStep(MoveStep.LblVacuum_02);
Label_Z_Axis.AbsMove(VacuumMoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
IOMove(IO_Label_Type.LabelCylinder_Work, IO_VALUE.HIGH);
//IOMove(IO_Label_Type.LabelCylinder_Work, IO_VALUE.HIGH);
VacuumMoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
}
else if (VacuumMoveInfo.IsTimeOut(25))
......@@ -410,6 +422,7 @@ namespace DeviceLibrary
break;
case MoveStep.LblVacuum_02:
VacuumMoveInfo.NextMoveStep(MoveStep.LblVacuum_03);
IOMove(IO_Label_Type.LabelCylinder_Work, IO_VALUE.HIGH);
int waittime = ConfigHelper.Config.Get("Vacuum_WaitTime", 500);
VacuumMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(waittime));
VacuumMoveInfo.log($"标签吸取,等待{waittime}秒.");
......
DeviceLibrary/AutoScan/LabelMachine.print.cs
......@@ -122,8 +122,8 @@ namespace DeviceLibrary
List<CodeInfo> LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName }, out bitmap);
if (LastCodeList.Count <= 0)
{
//Task.Delay(500).Wait();
//LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName });
Task.Delay(1000).Wait();
LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName }, out bitmap);
}
if (LastCodeList.Count == 0)
......
DeviceLibrary/AutoScan/MoveStep.cs
......@@ -35,6 +35,7 @@ namespace DeviceLibrary
Lbl_04_LineStopWait,
Lbl_04_LineStop,
Lbl_05_ScanCode,
Lbl_05_Wait,
Lbl_06_Get_Reelinfo,
//Lbl_01_StartPrint,
Lbl_WaitCheckLabel,
......
DeviceLibrary/AutoScan/XRayMachine.Feeding.cs
......@@ -44,6 +44,13 @@ namespace DeviceLibrary
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_04_Wait_Xray_Free);
//78.10222.20L-016651|-20200826|900|W78016651352000A6|SAMSUNG
var x = ScanTask.Result;
if (x == null)
{
FeedingMoveinfo.log($"未识别到有效二维码,等待人工取走, Count={x.Count}");
FeedingMoveinfo.ReelParam.IsNg = true;
return;
}
//x.Add(new CodeInfo("test", 1000, 1000));
if (x.Count != 1)
{
......@@ -113,6 +120,13 @@ namespace DeviceLibrary
}
break;
case MoveStep.Feeding_06_Goto_Xray:
if (IOValue(IO_XRay_Type.Tray_Check).Equals(IO_VALUE.LOW))
{
FeedingMoveinfo.log($"进入前没有检测到料盘,取消进入");
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_10_Wait_Reset);
CylinderMove(FeedingMoveinfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up, IO_VALUE.HIGH);
return;
}
FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_10_Wait_Reset);
MoveInfo.NewMove(MoveStep.XRay_01_LocationDown);
MoveInfo.ReelParam = FeedingMoveinfo.ReelParam;
......
DeviceLibrary/AutoScan/XRayMachine.XRay.cs
......@@ -61,12 +61,12 @@ namespace DeviceLibrary
case MoveStep.XRay_05_GetImage:
if (GrabImage())
{
MoveInfo.NextMoveStep(MoveStep.XRay_09_SentToLabelStop);
MoveInfo.NextMoveStep(MoveStep.XRay_08_OpenOutDoor);
MoveInfo.log($"获取图像,开始点料 IsRayOpen:{RobotManage.XRay.IsRayOpen}");
GetResultTask = Task.Run(()=> { GetCountResult(); });
}
else {
MoveInfo.NextMoveStep(MoveStep.XRay_09_SentToLabelStop);
MoveInfo.NextMoveStep(MoveStep.XRay_08_OpenOutDoor);
//Msg.add("图像平板获取图像失败",MsgLevel.warning);
MoveInfo.ReelParam.IsNg = true;
MoveInfo.ReelParam.NgMsg = "获取图像失败";
......@@ -75,19 +75,19 @@ namespace DeviceLibrary
MoveInfo.log($"关闭X光");
RobotManage.XRay.Stop();
IOMove(IO_XRay_Type.Xray_Lock, IO_VALUE.LOW);
MoveInfo.StopwatchLog(false, "准备送出");
MoveInfo.StopwatchLog(false, "准备送出");
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
break;
case MoveStep.XRay_08_OpenOutDoor:
MoveInfo.NextMoveStep(MoveStep.XRay_09_SentToLabelStop);
MoveInfo.NextMoveStep(MoveStep.XRay_09_SentToLabelStop);
CylinderMove(MoveInfo, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open, IO_VALUE.HIGH);
MoveInfo.log($"打开出口门");
break;
case MoveStep.XRay_09_SentToLabelStop:
if (RobotManage.labelMachine.TrayCanIN())
{
MoveInfo.NextMoveStep(MoveStep.XRay_10_CloseOutDoor);
MoveInfo.log($"打开出口门,送出到贴标机构");
CylinderMove(null, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open, IO_VALUE.HIGH);
MoveInfo.log($"打开出口门,送出到贴标机构");
Line_In_Axis.SpeedMove(Config.Line_In_Relative_speed*2);
RobotManage.Line1.LineRun("xray", 999, "XRay_09_SentToLabelStop");
MoveInfo.StopwatchLog(false, "开始送出");
......
DeviceLibrary/DeviceLibrary/HC/HCAxisManager.cs
......@@ -80,7 +80,7 @@ namespace DeviceLibrary
}
public bool IsHomeMoveEnd(string portName, short slvAddr)
{
return HCBoardManager.HomeingIsEnd(slvAddr);
return HCBoardManager.HomeingIsEnd(slvAddr);
}
public bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount, bool isLog = false)
......
SO853-AutoCountMachine/SettingControl.cs
......@@ -174,7 +174,7 @@ namespace AutoCountMachine
private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
{
ConfigHelper.AdvanceConfigForm.ShowEditDialog();
ConfigHelper.AdvanceConfigForm.ShowEditDialog(this);
}
}
}
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