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Commit 1c9af478 由 LN
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压紧轴增加p点速度

1 个父辈 45d9167d
内嵌 并排
正在显示 8 个修改的文件 包含 48 行增加 和 92 行删除
source/ACServoDriveTest/FrmACTest.cs
......@@ -36,11 +36,7 @@ namespace ACServoDriveTest
}
formStatus(true);
//写入默认BLOCK
//ACServerManager.InitSlvAddr(GetPortName(), GetSlaveAddr());
//Thread.Sleep(100);
//ACServerManager.ServoOn(GetPortName(), GetSlaveAddr());
}
......
source/ACSingleStore/FrmAxisDebug.Designer.cs
......@@ -244,7 +244,7 @@
this.btnComMovej.Name = "btnComMovej";
this.btnComMovej.Size = new System.Drawing.Size(131, 36);
this.btnComMovej.TabIndex = 25;
this.btnComMovej.Text = "压紧轴-(向下)";
this.btnComMovej.Text = "压紧轴-(向上)";
this.btnComMovej.UseVisualStyleBackColor = false;
this.btnComMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnComMovej_MouseDown);
this.btnComMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnComMovej_MouseUp);
......@@ -256,7 +256,7 @@
this.btnComMove.Name = "btnComMove";
this.btnComMove.Size = new System.Drawing.Size(131, 36);
this.btnComMove.TabIndex = 24;
this.btnComMove.Text = "压紧轴+(向上)";
this.btnComMove.Text = "压紧轴+(向下)";
this.btnComMove.UseVisualStyleBackColor = false;
this.btnComMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnComMove_MouseDown);
this.btnComMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnComMove_MouseUp);
......
source/ACSingleStore/FrmStoreBox.cs
......@@ -855,21 +855,21 @@ namespace OnlineStore.ACSingleStore
private void btnComP2_Click(object sender, EventArgs e)
{
int value = FormUtil.GetIntValue(txtComP2);
AxisABSMove(store.Config.Comp_Axis, value, store.Config.Comp_Axis.TargetSpeed);
AxisABSMove(store.Config.Comp_Axis, value, store.Config.CompAxis_P2_Speed);
//ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
}
private void btnComP1_Click(object sender, EventArgs e)
{
int value = FormUtil.GetIntValue(txtComP1);
AxisABSMove(store.Config.Comp_Axis, value, store.Config.Comp_Axis.TargetSpeed);
AxisABSMove(store.Config.Comp_Axis, value, store.Config.CompAxis_P1_Speed);
//ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
}
private void btnComP3_Click(object sender, EventArgs e)
{
int value = FormUtil.GetIntValue(txtComP3);
AxisABSMove(store.Config.Comp_Axis, value, store.Config.Comp_Axis.TargetSpeed);
AxisABSMove(store.Config.Comp_Axis, value, store.Config.CompAxis_P3_Speed);
//ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
}
int xWidth = SystemInformation.PrimaryMonitorSize.Width;//获取显示器屏幕宽度
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
......@@ -7,14 +7,14 @@ DI,料盘检测2（料叉）,TrayCheck_Fixture,4,192.168.200.11,0,料盘检测2（料叉）,X05,
DI,气压检测,Airpressure_Check,5,192.168.200.11,0,气压检测,X06,DI-06,0,
DI,进料口门上升端,Door_Up,6,192.168.200.11,0,进料口门上升端,X07,DI-07,0,
DI,进料口门下降端,Door_Down,7,192.168.200.11,0,进料口门下降端,X08,DI-08,0,
DO,自动指示灯,AutoRun_HddLed,8,192.168.200.11,0,自动指示灯,Y01,DO-01,0,
DO,故障指示灯,Alarm_HddLed,9,192.168.200.11,0,故障指示灯,Y02,DO-02,0,
DO,待机指示灯,RunSign_HddLed,10,192.168.200.11,0,待机指示灯,Y03,DO-03,0,
DO,料仓运转ON,Run_Signal,11,192.168.200.11,0,料仓运转ON,Y04,DO-04,0,
DO,轴2刹车电源ON,Axis_Brake,12,192.168.200.11,0,轴2刹车电源ON,Y05,DO-05,0,
DO,料仓吹气SOL,StartOrStopBlow,13,192.168.200.11,0,料仓吹气SOL,Y06,DO-06,0,
DO,进料口门上升SOL,Door_Up,14,192.168.200.11,0,进料口门上升SOL,Y07,DO-07,0,
DO,进料口门下降SOL,Door_Down,15,192.168.200.11,0,进料口门下降SOL,Y08,DO-08,0,
DO,自动指示灯,AutoRun_HddLed,0,192.168.200.11,0,自动指示灯,Y01,DO-01,0,
DO,故障指示灯,Alarm_HddLed,1,192.168.200.11,0,故障指示灯,Y02,DO-02,0,
DO,待机指示灯,RunSign_HddLed,2,192.168.200.11,0,待机指示灯,Y03,DO-03,0,
DO,料仓运转ON,Run_Signal,3,192.168.200.11,0,料仓运转ON,Y04,DO-04,0,
DO,轴2刹车电源ON,Axis_Brake,4,192.168.200.11,0,轴2刹车电源ON,Y05,DO-05,0,
DO,料仓吹气SOL,StartOrStopBlow,5,192.168.200.11,0,料仓吹气SOL,Y06,DO-06,0,
DO,进料口门上升SOL,Door_Up,6,192.168.200.11,0,进料口门上升SOL,Y07,DO-07,0,
DO,进料口门下降SOL,Door_Down,7,192.168.200.11,0,进料口门下降SOL,Y08,DO-08,0,
AXIS,（轴一）旋转轴,Middle_Axis,1,COM1,0,,,,,
AXIS,（轴二）升降轴轴,UpDown_Axis,2,COM1,0,,,,,
AXIS,（轴三）进出轴,InOut_Axis,3,COM1,0,,,,,
......@@ -25,7 +25,7 @@ PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,415000,,,,,,,
PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,403000,,,,,,,
PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,268093,,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,1000,,,,,,,
PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-7500,,,,,,,
PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,10000,,,,,,,
PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,,
PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,,
PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,, ,,
......@@ -71,6 +71,9 @@ PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,120,,,,,,,
PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,100,,,,,,,
PRO,进出轴（轴3）P2速度,InOutAxis_P2_Speed,100,,,,,,,
PRO,进出轴（轴3）P3速度,InOutAxis_P3_Speed,1000,,,,,,,
PRO,压紧轴（轴4）P1速度,CompAxis_P1_Speed,100,,,,,,,
PRO,压紧轴（轴4）P2速度,CompAxis_P2_Speed,100,,,,,,,
PRO,压紧轴（轴4）P3速度,CompAxis_P3_Speed,100,,,,,,,
PRO,（轴一）旋转轴停止时可误差的脉冲数的最小值,MiddleAxis_ErrorCountMin,10,,,,,,,
PRO,（轴二）升降轴轴停止时可误差的脉冲数的最小值,UpdownAxis_ErrorCountMin,10,,,,,, ,
PRO,（轴三）进出轴停止时可误差的脉冲数的最小值,InoutAxis_ErrorCountMin,10,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -347,7 +347,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
ComMoveToPosition(Config.CompressAxis_P1_Position,Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
......@@ -376,7 +376,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
ComMoveToPosition(Config.CompressAxis_P1_Position,Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
LogUtil.info(LOGGER, StoreName + "到待机状态完成");
......@@ -393,11 +393,11 @@ namespace OnlineStore.DeviceLibrary
}
}
private void ComMoveToPosition(int targetPosition )
private void ComMoveToPosition(int targetPosition ,int targetSpeed)
{
if (IsHasCompress_Axis)
{
ACAxisMove(Config.Comp_Axis, targetPosition, Config.Comp_Axis.TargetSpeed);
ACAxisMove(Config.Comp_Axis, targetPosition, targetSpeed);
}
}
......@@ -487,7 +487,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到P1,压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
ComMoveToPosition(Config.CompressAxis_P1_Position,Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "回原点完成");
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -320,12 +320,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_03 所有轴回到待机点，轴2、轴1 动作到P1,，轴4动作至P3");
StoreMove.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
ComMoveToPosition(moveP.ComPress_P3);
//if (IsHasCompress_Axis)
//{
// ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
// StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
//}
ComMoveToPosition(moveP.ComPress_P3,Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
......@@ -335,9 +330,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_04_CompressWare 压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
ComMoveToPosition(moveP.ComPress_P3);
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
ComMoveToPosition(moveP.ComPress_P3,Config.CompAxis_P3_Speed);
}
else
{
......@@ -353,7 +346,7 @@ namespace OnlineStore.DeviceLibrary
//NeedCheckSafetyLight = 0;
InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
ComMoveToPosition(moveP.ComPress_P2);
ComMoveToPosition(moveP.ComPress_P2,Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
......@@ -429,7 +422,7 @@ namespace OnlineStore.DeviceLibrary
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
ComMoveToPosition(moveP.ComPress_P3);
ComMoveToPosition(moveP.ComPress_P3,Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
......@@ -444,7 +437,7 @@ 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))，检测门关闭");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
ComMoveToPosition(moveP.ComPress_P1);
ComMoveToPosition(moveP.ComPress_P1,Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
......@@ -539,7 +532,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
OutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
ComMoveToPosition(moveP.ComPress_P3);
ComMoveToPosition(moveP.ComPress_P3,Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, StoreMove.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
}
......@@ -554,7 +547,7 @@ namespace OnlineStore.DeviceLibrary
OutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
ComMoveToPosition(moveP.ComPress_P2);
ComMoveToPosition(moveP.ComPress_P2,Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
......@@ -639,7 +632,7 @@ namespace OnlineStore.DeviceLibrary
OutStoreLog("出库：SO_11 放下物品，升降轴至P8(进料口出料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
//NeedCheckSafetyLight = 0;
ComMoveToPosition(moveP.ComPress_P1);
ComMoveToPosition(moveP.ComPress_P1,Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
......@@ -331,12 +331,7 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("IsUse_Tray_Check")]
public int IsUse_Tray_Check { get; set; }
///// <summary>
///// 设备是否处于调试状态（1=调试，0=正常）
///// </summary>
//[ConfigProAttribute("IsInDebug")]
//public int IsInDebug { get; set; }
/// <summary>
///轴2升降轴 运动上下轴
......@@ -450,55 +445,24 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("Humiture_Port", true )]
public string Humiture_Port { get; set; }
/// <summary>
/// PRO 压紧轴（轴4）P1速度 CompAxis_P1_Speed 100
/// </summary>
[ConfigProAttribute("CompAxis_P1_Speed")]
public int CompAxis_P1_Speed { get; set; }
/// <summary>
/// PRO 压紧轴（轴4）P2速度 CompAxis_P2_Speed 100
/// </summary>
[ConfigProAttribute("CompAxis_P2_Speed")]
public int CompAxis_P2_Speed { get; set; }
/// <summary>
///PRO 压紧轴（轴4）P3速度 CompAxis_P3_Speed 100
/// </summary>
[ConfigProAttribute("CompAxis_P3_Speed")]
public int CompAxis_P3_Speed { get; set; }
///// <summary>
///// PRO 模拟量IO模块的IP地址 AIDevice_IP 192.168.200.11
///// </summary>
//[ConfigProAttribute("AIDevice_IP", true)]
//public string AIDevice_IP { get; set; }
///// <summary>
///// PRO,模拟信号1默认高度,AIDI1_DefaultPosition,1,,,,,,,
///// </summary>
//[ConfigProAttribute("AIDI1_DefaultPosition", true)]
//public double AIDI1_DefaultPosition { get; set; }
///// <summary>
///// PRO,模拟信号2默认高度,AIDI2_DefaultPosition,1,,,,,,,
///// </summary>
//[ConfigProAttribute("AIDI2_DefaultPosition", true)]
//public double AIDI2_DefaultPosition { get; set; }
///// <summary>
///// PRO,模拟信号3默认高度,AIDI3_DefaultPosition,1,,,,,,,
///// </summary>
//[ConfigProAttribute("AIDI3_DefaultPosition", false )]
//public double AIDI3_DefaultPosition { get; set; }
///// <summary>
///// PRO,模拟信号4默认高度,AIDI4_DefaultPosition,1,,,,,,,
///// </summary>
//[ConfigProAttribute("AIDI4_DefaultPosition", false )]
//public double AIDI4_DefaultPosition { get; set; }
///// <summary>
///// PRO 模拟信号1的地址 AIDI1_Addr 7
///// </summary>
//[ConfigProAttribute("AIDI1_Addr", true)]
//public int AIDI1_Addr { get; set; }
///// <summary>
///// PRO 模拟信号2的地址 AIDI2_Addr 8
///// </summary>
//[ConfigProAttribute("AIDI2_Addr", true)]
//public int AIDI2_Addr { get; set; }
///// <summary>
///// PRO 模拟信号3的地址 AIDI3_Addr 5
///// </summary>
//[ConfigProAttribute("AIDI3_Addr", false )]
//public int AIDI3_Addr { get; set; }
///// <summary>
///// PRO 模拟信号4的地址 AIDI4_Addr 6
///// </summary>
//[ConfigProAttribute("AIDI4_Addr", false )]
//public int AIDI4_Addr { get; set; }
/// <summary>
/// PRO IO模块对应的DI数量 IO_DILength 192.168.200.10#16;192.168.200.11#4
......
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