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Commit 14e6fd97 由 几米阳光
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出入库步骤优化

1 个父辈 fe2dd3b3
内嵌 并排
正在显示 5 个修改的文件 包含 44 行增加 和 48 行删除
source/ACSingleStore/FrmStoreBox.cs
......@@ -988,7 +988,7 @@ namespace OnlineStore.ACSingleStore
return true;
}
}
else if (errorCount < moveAxis.CanErrorCountMin)
else if (errorCount <= moveAxis.CanErrorCountMin)
{
LogUtil.info(LOGGER, " DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + ",当前outCount=" + outCount +
",误差值小于最小误差【" + moveAxis.CanErrorCountMin + "】,默认轴已经停止运动");
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -383,7 +383,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "复位时打开轴失败，需要再次复位，直接报警停止复位");
return;
}
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
LogUtil.info(LOGGER, StoreName + "开始复位，先把进出轴回原点");
......@@ -977,11 +977,11 @@ namespace OnlineStore.DeviceLibrary
if (isWaitScan)
{
TimeSpan span = DateTime.Now - StartWaitScanTime;
if (span.TotalSeconds > 1.5)
if (span.TotalSeconds > 0.5)
{
isWaitScan = false;
IsScanCode = true;
LogUtil.info(StoreName + "检测到料盘信号且等待1.5秒，开始扫码");
LogUtil.info(StoreName + "检测到料盘信号且等待0.5秒，开始扫码");
//BeginScannering();
GetCameraCode();
}
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -86,7 +86,17 @@ namespace OnlineStore.DeviceLibrary
#region 出入库结果验证
private void InOutBackToP1(int InOut_P1)
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
//判断是否在P1，如果是，不需要运行
int outCount = ACServerManager.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
int errorCount = Math.Abs(outCount - InOut_P1);
if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
{
LogUtil.info("进出轴当前位置：" + outCount + "，已经在P1，不需要再回P1");
}
else
{
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
......@@ -268,21 +278,15 @@ namespace OnlineStore.DeviceLibrary
}
else
{
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_02 进出轴(叉子)动作至P1, 打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升
OpenDoorAndWait();
InOutBackToP1(param.MoveP.InOut_P1);
SI_02_Move(param.MoveP);
}
else
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
LocationDownAndWait();
LocationDownAndWait();
}
}
}
......@@ -301,6 +305,13 @@ namespace OnlineStore.DeviceLibrary
{
StartInStoreMove(param, false);
}
private void SI_02_Move(LineMoveP moveP)
{
InStoreLog("入库：SI_02_ 进出轴(叉子)动作至P1,打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
OpenDoorAndWait();
InOutBackToP1(moveP.InOut_P1);
}
protected override void InStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
......@@ -314,32 +325,20 @@ namespace OnlineStore.DeviceLibrary
}
if (StoreMove.MoveStep == StoreMoveStep.SI_00_TrayCheck)
{
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_02_ 进出轴(叉子)动作至P1,打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
OpenDoorAndWait();
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
SI_02_Move(moveP);
}
else
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
LocationDownAndWait();
LocationDownAndWait();
}
}
if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
InStoreLog("入库：SI_02 进出轴(叉子)动作至P1，打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
//打开门 ，门上升
OpenDoorAndWait();
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
{
SI_02_Move(moveP);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{
......@@ -397,7 +396,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
{
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
......@@ -411,7 +410,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_08 定位气缸伸出 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up);
LocationUpAndWait();
LocationUpAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
......@@ -422,13 +421,11 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//关闭舱门
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Down, IO_VALUE.HIGH));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(Store_IO_Type.Door_Up, IO_VALUE.LOW));
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
......@@ -529,7 +526,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "启动出库【" + posId + "】 ", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore, param);
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog("出库：SO_02 叉子先运动到P1 ，打开舱门 开始");
......@@ -612,7 +609,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{
if (IsHasCompress_Axis)
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog("出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点),打开舱门 ");
......@@ -643,7 +640,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
{
if (IsHasCompress_Axis)
if (IsHasCompress_Axis|| Config.IsHasLocationCylinder.Equals(0))
{
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
OutStoreLog("出库：SO_10 叉子进出料口，进出轴至P2(进料口取料点) ");
......@@ -653,8 +650,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down);
OutStoreLog("出库：SO_09 定位气缸退回，定位气缸退回 ");
LocationDownAndWait();
LocationDownAndWait();
}
}
//此处需要等待移栽没有工作，才能把盘放入出料口
......@@ -713,7 +709,7 @@ namespace OnlineStore.DeviceLibrary
}
}
private void LocationUpAndWait()
{
if (Config.IsHasLocationCylinder>=1)
......
source/DeviceLibrary/halcon/HDevelopCodeLearn.cs
......@@ -38,10 +38,10 @@ namespace OnlineStore.DeviceLibrary
{
try
{ //[1] HD USB Camera
//HOperatorSet.OpenFramegrabber("GigEVision", 0, 0, 0, 0, 0, 0, "default", -1,
// "default", -1, "false", "default", cameraName, 0, -1, out hv_AcqHandle);
HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",
-1, "false", "default", "[1] HD USB Camera", 0, -1, out hv_AcqHandle);
HOperatorSet.OpenFramegrabber("GigEVision", 0, 0, 0, 0, 0, 0, "default", -1,
"default", -1, "false", "default", cameraName, 0, -1, out hv_AcqHandle);
//HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "rgb",
// -1, "false", "default", "[1] HD USB Camera", 0, -1, out hv_AcqHandle);
return true;
}
catch (Exception ex)
......
source/DeviceLibrary/store/KTK_Store.cs
......@@ -307,7 +307,7 @@ namespace OnlineStore.DeviceLibrary
return true;
}
}
else if (errorCount < moveAxis.CanErrorCountMin)
else if (errorCount <= moveAxis.CanErrorCountMin)
{
LogUtil.info(LOGGER, " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + ",targetPosition=" + targetPosition + ",当前outCount=" + outCount +
",误差值小于最小误差【" + moveAxis.CanErrorCountMin + "】,默认轴已经停止运动");
......
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