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Commit 404f41fe 由 刘韬
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添加压紧轴列表, 回原加速度调到6倍, 扫码完后取盘时检测不到盘则取消任务

1 个父辈 de14ca3c
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内嵌 并排
正在显示 28 个修改的文件 包含 297 行增加 和 64 行删除
source/ACSingleStore/ACSingleStore.csproj
...@@ -218,7 +218,7 @@ ...@@ -218,7 +218,7 @@
</EmbeddedResource> </EmbeddedResource>
<None Include="app.manifest" /> <None Include="app.manifest" />
<None Include="packages.config" /> <None Include="packages.config" />
<None Include="resource\language.resource"> <None Include="resources\language.resource">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None> </None>
<None Include="Properties\Settings.settings"> <None Include="Properties\Settings.settings">
...@@ -230,7 +230,7 @@ ...@@ -230,7 +230,7 @@
<DependentUpon>Settings.settings</DependentUpon> <DependentUpon>Settings.settings</DependentUpon>
<DesignTimeSharedInput>True</DesignTimeSharedInput> <DesignTimeSharedInput>True</DesignTimeSharedInput>
</Compile> </Compile>
<None Include="resource\ResourceMap.csv"> <None Include="resources\ResourceMap.csv">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory> <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None> </None>
</ItemGroup> </ItemGroup>
......
source/ACSingleStore/App.config
...@@ -72,7 +72,7 @@ ...@@ -72,7 +72,7 @@
<level value="Info" /> <level value="Info" />
<appender-ref ref="RollingLogFileAppender" /> <appender-ref ref="RollingLogFileAppender" />
</logger> </logger>
<logger name="ResourcesLog" additivity="false"> <logger name="LngResource" additivity="false">
<level value="All" /> <level value="All" />
<appender-ref ref="ResourcesLog" /> <appender-ref ref="ResourcesLog" />
</logger> </logger>
......
source/ACSingleStore/FrmIOStatus.Designer.cs
...@@ -254,7 +254,7 @@ ...@@ -254,7 +254,7 @@
this.chbAutoRead.Checked = true; this.chbAutoRead.Checked = true;
this.chbAutoRead.CheckState = System.Windows.Forms.CheckState.Checked; this.chbAutoRead.CheckState = System.Windows.Forms.CheckState.Checked;
this.chbAutoRead.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.chbAutoRead.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbAutoRead.Location = new System.Drawing.Point(588, 613); this.chbAutoRead.Location = new System.Drawing.Point(592, 613);
this.chbAutoRead.Name = "chbAutoRead"; this.chbAutoRead.Name = "chbAutoRead";
this.chbAutoRead.Size = new System.Drawing.Size(75, 21); this.chbAutoRead.Size = new System.Drawing.Size(75, 21);
this.chbAutoRead.TabIndex = 244; this.chbAutoRead.TabIndex = 244;
...@@ -538,7 +538,7 @@ ...@@ -538,7 +538,7 @@
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(882, 657); this.ClientSize = new System.Drawing.Size(886, 657);
this.Controls.Add(this.button1); this.Controls.Add(this.button1);
this.Controls.Add(this.groupBoxHighState); this.Controls.Add(this.groupBoxHighState);
this.Controls.Add(this.groupBoxDowrite); this.Controls.Add(this.groupBoxDowrite);
......
source/ACSingleStore/FrmLanguare.Designer.cs
...@@ -91,10 +91,10 @@ ...@@ -91,10 +91,10 @@
this.rbtnJapanese.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.rbtnJapanese.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.rbtnJapanese.Location = new System.Drawing.Point(198, 130); this.rbtnJapanese.Location = new System.Drawing.Point(198, 130);
this.rbtnJapanese.Name = "rbtnJapanese"; this.rbtnJapanese.Name = "rbtnJapanese";
this.rbtnJapanese.Size = new System.Drawing.Size(60, 25); this.rbtnJapanese.Size = new System.Drawing.Size(76, 25);
this.rbtnJapanese.TabIndex = 281; this.rbtnJapanese.TabIndex = 281;
this.rbtnJapanese.TabStop = true; this.rbtnJapanese.TabStop = true;
this.rbtnJapanese.Text = "日语"; this.rbtnJapanese.Text = "日本語";
this.rbtnJapanese.UseVisualStyleBackColor = true; this.rbtnJapanese.UseVisualStyleBackColor = true;
// //
// FrmLanguare // FrmLanguare
......
source/ACSingleStore/FrmStoreBox.cs
...@@ -168,11 +168,12 @@ namespace OnlineStore.ACSingleStore ...@@ -168,11 +168,12 @@ namespace OnlineStore.ACSingleStore
this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title); this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
notifyIcon1.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title); notifyIcon1.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
axisMoveControl1.LoadData(store);
LoadOk = true;
this.chbBuzzer.Checked = store.UseBuzzer; this.chbBuzzer.Checked = store.UseBuzzer;
this.chbTH.Checked = store.UseAirBlow; this.chbTH.Checked = store.UseAirBlow;
axisMoveControl1.LoadData(store);
chbIsDebug.Checked = store.IsDebug; chbIsDebug.Checked = store.IsDebug;
LoadOk = true;
HideForm(); HideForm();
LogUtil.info("启动完成"); LogUtil.info("启动完成");
...@@ -193,7 +194,7 @@ namespace OnlineStore.ACSingleStore ...@@ -193,7 +194,7 @@ namespace OnlineStore.ACSingleStore
iodbgfrm.TopLevel = false; iodbgfrm.TopLevel = false;
tabPage9.Controls.Add(iodbgfrm); tabPage9.Controls.Add(iodbgfrm);
iodbgfrm.Dock = DockStyle.Fill; iodbgfrm.Dock = DockStyle.Fill;
iodbgfrm.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left))); //iodbgfrm.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
iodbgfrm.Show(); iodbgfrm.Show();
...@@ -444,7 +445,10 @@ namespace OnlineStore.ACSingleStore ...@@ -444,7 +445,10 @@ namespace OnlineStore.ACSingleStore
private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed) private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{ {
moveAxis.TargetPosition = targetPosition; moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed*4, targetSpeed*4); //var moveAxis = getAxis(SlvAddr);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : targetSpeed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : targetSpeed * 4;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, addSpeed, delSpeed);
} }
private void btnUpDownP1_Click(object sender, EventArgs e) private void btnUpDownP1_Click(object sender, EventArgs e)
{ {
...@@ -598,7 +602,12 @@ namespace OnlineStore.ACSingleStore ...@@ -598,7 +602,12 @@ namespace OnlineStore.ACSingleStore
{ {
Camera._cam.CloseAll(); Camera._cam.CloseAll();
} }
//CodeResourceControl.OpenResourceLog = true;
CodeResourceControl.GetLanguageEvent += () => { return ResourceCulture.CurrLanguage; };
CodeResourceControl.CurrLanguage= ResourceCulture.CurrLanguage;
CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode(); CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
frm.CurrLanguage = ResourceCulture.CurrLanguage;
frm.LanguageProcess();
frm.chbZxing.Checked = false; frm.chbZxing.Checked = false;
frm.chbZxing.Visible = false; frm.chbZxing.Visible = false;
frm.ShowDialog(); frm.ShowDialog();
...@@ -933,9 +942,9 @@ namespace OnlineStore.ACSingleStore ...@@ -933,9 +942,9 @@ namespace OnlineStore.ACSingleStore
short slvAddr = store.Config.UpDown_Axis.GetAxisValue(); short slvAddr = store.Config.UpDown_Axis.GetAxisValue();
int ioIndex = 0; int ioIndex = 0;
// if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal)) // if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal))
if (store.Config.StoreDIList.ContainsKey(IO_Type.TrayCheck_Fixture)) if (store.Config.StoreDIList.ContainsKey(IO_Type.Laser_detection))
{ {
ioIndex = store.Config.StoreDIList[IO_Type.TrayCheck_Fixture].GetIOAddr(); ioIndex = store.Config.StoreDIList[IO_Type.Laser_detection].GetIOAddr();
} }
FrmPositionTool frm = new FrmPositionTool(PortName, slvAddr, ioIndex, store.Config.UpDown_Axis.HomeHighSpeed, store.Config.UpDown_Axis.HomeLowSpeed, store.Config.UpDown_Axis.HomeAddSpeed); FrmPositionTool frm = new FrmPositionTool(PortName, slvAddr, ioIndex, store.Config.UpDown_Axis.HomeHighSpeed, store.Config.UpDown_Axis.HomeLowSpeed, store.Config.UpDown_Axis.HomeAddSpeed);
frm.ShowDialog(); frm.ShowDialog();
......
source/ACSingleStore/Properties/AssemblyInfo.cs
...@@ -9,7 +9,7 @@ using System.Runtime.InteropServices; ...@@ -9,7 +9,7 @@ using System.Runtime.InteropServices;
[assembly: AssemblyDescription("")] [assembly: AssemblyDescription("")]
[assembly: AssemblyConfiguration("")] [assembly: AssemblyConfiguration("")]
[assembly: AssemblyCompany("")] [assembly: AssemblyCompany("")]
[assembly: AssemblyProduct("SO951-HC-ACSingleStore 82710d360fb1b40b2637f7671e0085adf4f5926c")] [assembly: AssemblyProduct("SO951-HC-ACSingleStore de14ca3c0b9efddc8beead183e4c06c73936ef8b")]
[assembly: AssemblyCopyright("Copyright ? 2017")] [assembly: AssemblyCopyright("Copyright ? 2017")]
[assembly: AssemblyTrademark("")] [assembly: AssemblyTrademark("")]
[assembly: AssemblyCulture("")] [assembly: AssemblyCulture("")]
......
source/ACSingleStore/ResourceCulture.cs
...@@ -58,7 +58,7 @@ namespace OnlineStore ...@@ -58,7 +58,7 @@ namespace OnlineStore
//string chinaPath = Application.StartupPath + @"\resource\zh-CN.resource"; //string chinaPath = Application.StartupPath + @"\resource\zh-CN.resource";
//Dictionary<string, string> ChinaMap = LoadDataMap(chinaPath); //Dictionary<string, string> ChinaMap = LoadDataMap(chinaPath);
//Dictionary<string, string> EnglishMap = LoadDataMap(englishPath); //Dictionary<string, string> EnglishMap = LoadDataMap(englishPath);
string rPath= Application.StartupPath + @"\resource\language.resource"; string rPath= Application.StartupPath + @"\resources\language.resource";
ResourceMap = new Dictionary<string, Dictionary<string, string>>(); ResourceMap = new Dictionary<string, Dictionary<string, string>>();
Dictionary<string, string> ChinaMap = new Dictionary<string, string>(); Dictionary<string, string> ChinaMap = new Dictionary<string, string>();
Dictionary<string, string> EnglishMap = new Dictionary<string, string>(); Dictionary<string, string> EnglishMap = new Dictionary<string, string>();
...@@ -186,7 +186,7 @@ namespace OnlineStore ...@@ -186,7 +186,7 @@ namespace OnlineStore
private static Dictionary<string,string> LoadRMap() private static Dictionary<string,string> LoadRMap()
{ {
string path = Application.StartupPath + @"\resource\ResourceMap.csv"; string path = Application.StartupPath + @"\resources\ResourceMap.csv";
Dictionary<string, string> map = new Dictionary<string, string>(); Dictionary<string, string> map = new Dictionary<string, string>();
try try
{ {
......
source/ACSingleStore/positionTool/FrmPositionTool.cs
...@@ -150,12 +150,18 @@ namespace OnlineStore.ACSingleStore ...@@ -150,12 +150,18 @@ namespace OnlineStore.ACSingleStore
{ {
int position = Convert.ToInt32(txtPosition.Text); int position = Convert.ToInt32(txtPosition.Text);
int speed = Convert.ToInt32(txtSpeed.Text); int speed = Convert.ToInt32(txtSpeed.Text);
ACServerManager.RelMove(PortName, SlvAddr, position, speed, speed*4, speed * 4); var moveAxis = getAxis(SlvAddr);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
ACServerManager.RelMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
} }
private void btnHomeMove_Click(object sender, EventArgs e) private void btnHomeMove_Click(object sender, EventArgs e)
{ {
int speed = Convert.ToInt32(txtSpeed.Text); int speed = Convert.ToInt32(txtSpeed.Text);
ACServerManager.HomeMove(PortName, SlvAddr, ptpAcc, ptpDec,homespeed); var moveAxis = getAxis(SlvAddr);
var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
ACServerManager.HomeMove(PortName, SlvAddr, moveAxis.HomeHighSpeed, HomeAddSpeed, HomeLowSpeed);
} }
private void btnSpeedMove_Click(object sender, EventArgs e) private void btnSpeedMove_Click(object sender, EventArgs e)
{ {
...@@ -213,7 +219,10 @@ namespace OnlineStore.ACSingleStore ...@@ -213,7 +219,10 @@ namespace OnlineStore.ACSingleStore
PositionList = new List<int>(); PositionList = new List<int>();
LogUtil.info(LogName + "伺服开始运动，速度【" + speed + "】位置【" + position + "】启动定时器 "); LogUtil.info(LogName + "伺服开始运动，速度【" + speed + "】位置【" + position + "】启动定时器 ");
formMoveStatus(false); formMoveStatus(false);
ACServerManager.AbsMove(PortName, SlvAddr, position, speed, speed * 4, speed * 4); var moveAxis = getAxis(SlvAddr);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
ACServerManager.AbsMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
toolTimer.Start(); toolTimer.Start();
} }
private int P3Offset = 0; private int P3Offset = 0;
...@@ -235,6 +244,7 @@ namespace OnlineStore.ACSingleStore ...@@ -235,6 +244,7 @@ namespace OnlineStore.ACSingleStore
{ {
toolTimer.Stop(); toolTimer.Stop();
ACServerManager.SuddenStop(PortName, SlvAddr); ACServerManager.SuddenStop(PortName, SlvAddr);
formMoveStatus(true);
} }
private IO_VALUE GetSingleValue() private IO_VALUE GetSingleValue()
...@@ -370,6 +380,19 @@ namespace OnlineStore.ACSingleStore ...@@ -370,6 +380,19 @@ namespace OnlineStore.ACSingleStore
{ {
this.Close(); this.Close();
} }
ConfigMoveAxis getAxis(short SlvAddr)
{
foreach (ConfigMoveAxis a in StoreManager.Store.moveAxisList)
{
if (a.IsSameAxis(PortName, SlvAddr))
{
return a;
}
}
return null;
}
} }
} }
source/ACSingleStore/useControl/AxisMoveControl.cs
...@@ -111,7 +111,10 @@ namespace OnlineStore.DUOStore ...@@ -111,7 +111,10 @@ namespace OnlineStore.DUOStore
int position = FormUtil.GetIntValue(txtAPosition); int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed); int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info(boxBean.Name+"点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】"); LogUtil.info(boxBean.Name+"点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
AxisManager.AbsMove(PortName, SlvAddr, position, speed, speed*4, speed * 4); var moveAxis = getAxis(SlvAddr);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
AxisManager.AbsMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
} }
private void btnAxisRMove_Click(object sender, EventArgs e) private void btnAxisRMove_Click(object sender, EventArgs e)
...@@ -123,7 +126,10 @@ namespace OnlineStore.DUOStore ...@@ -123,7 +126,10 @@ namespace OnlineStore.DUOStore
int position = FormUtil.GetIntValue(txtAPosition); int position = FormUtil.GetIntValue(txtAPosition);
int speed = FormUtil.GetIntValue(txtASpeed); int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info(boxBean.Name+"点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】"); LogUtil.info(boxBean.Name+"点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
AxisManager.RelMove(PortName, SlvAddr, position, speed, speed*4, speed*4); var moveAxis = getAxis(SlvAddr);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
AxisManager.RelMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
} }
private void btnAxisVMove_Click(object sender, EventArgs e) private void btnAxisVMove_Click(object sender, EventArgs e)
...@@ -173,8 +179,10 @@ namespace OnlineStore.DUOStore ...@@ -173,8 +179,10 @@ namespace OnlineStore.DUOStore
if (a.IsSameAxis(PortName, SlvAddr)) if (a.IsSameAxis(PortName, SlvAddr))
{ {
LogUtil.info(boxBean.Name+"点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + a.HomeHighSpeed + "】"); LogUtil.info(boxBean.Name+"点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + a.HomeHighSpeed + "】");
var moveAxis = a;
AxisManager.HomeMove(PortName, SlvAddr, a.HomeHighSpeed,a.HomeLowSpeed,a.HomeAddSpeed); var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
AxisManager.HomeMove(PortName, SlvAddr, a.HomeHighSpeed,HomeLowSpeed,HomeAddSpeed);
} }
} }
} }
...@@ -333,7 +341,7 @@ namespace OnlineStore.DUOStore ...@@ -333,7 +341,7 @@ namespace OnlineStore.DUOStore
} }
private void ReadAxisStatus() private void ReadAxisStatus()
{ {
groupBox2.Text = cmbAxis.Text + "-状态监控"; groupBox2.Text = cmbAxis.Text;
//【1】更新轴号 //【1】更新轴号
short axisNo = SlvAddr; short axisNo = SlvAddr;
if (axisNo < 0) if (axisNo < 0)
...@@ -421,5 +429,17 @@ namespace OnlineStore.DUOStore ...@@ -421,5 +429,17 @@ namespace OnlineStore.DUOStore
{ {
this.timer1.Stop(); this.timer1.Stop();
} }
ConfigMoveAxis getAxis(short SlvAddr) {
foreach (ConfigMoveAxis a in axisList)
{
if (a.IsSameAxis(PortName, SlvAddr))
{
return a;
}
}
return null;
}
} }
} }
source/ACSingleStore/useControl/uc_boxdebug.cs
...@@ -115,8 +115,15 @@ namespace OnlineStore.ACSingleStore.useControl ...@@ -115,8 +115,15 @@ namespace OnlineStore.ACSingleStore.useControl
pa[1] += "A"; pa[1] += "A";
if (int.TryParse(pb[1], out _)) if (int.TryParse(pb[1], out _))
pb[1] += "A"; pb[1] += "A";
var isa = Regex.Replace(pa[1], @"[^\d]*", "") + (pa[1][1].Equals('A') ? "1" : "2") + pa[2][0] + pa[3].PadLeft(2, '0');
var isb = Regex.Replace(pb[1], @"[^\d]*", "") + (pb[1][1].Equals('A') ? "1" : "2") + pb[2][0] + pb[3].PadLeft(2, '0'); var pa1 = pa[1][0]+(pa[1][1].Equals('A') ? "1" : "2");
var pb1 = pb[1][0] + (pb[1][1].Equals('A') ? "1" : "2");
var pa2 = pa[2].Length==2? (pa[2][1].Equals('A') ? "1" : "2")+ pa[2][0] : pa[2];
var pb2 = pb[2].Length == 2 ? (pb[2][1].Equals('A') ? "1" : "2")+ pb[2][0] : pb[2];
var isa = Regex.Replace(pa[1], @"[^\d]*", "") + pa1 + pa2 + pa[3].PadLeft(2, '0');
var isb = Regex.Replace(pb[1], @"[^\d]*", "") + pb1 + pb2 + pb[3].PadLeft(2, '0');
if (int.Parse(isa) == int.Parse(isb)) if (int.Parse(isa) == int.Parse(isb))
return 0; return 0;
...@@ -359,7 +366,10 @@ namespace OnlineStore.ACSingleStore.useControl ...@@ -359,7 +366,10 @@ namespace OnlineStore.ACSingleStore.useControl
private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed) private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{ {
moveAxis.TargetPosition = targetPosition; moveAxis.TargetPosition = targetPosition;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : targetSpeed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : targetSpeed * 4;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, addSpeed, delSpeed);
} }
/// <summary> /// <summary>
/// 判断进出轴是否在P1点 /// 判断进出轴是否在P1点
......
source/Common/Common.csproj
...@@ -62,6 +62,7 @@ ...@@ -62,6 +62,7 @@
<Reference Include="System.Runtime.CompilerServices.Unsafe, Version=4.0.4.1, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL"> <Reference Include="System.Runtime.CompilerServices.Unsafe, Version=4.0.4.1, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL">
<HintPath>..\..\packages\System.Runtime.CompilerServices.Unsafe.4.5.2\lib\netstandard2.0\System.Runtime.CompilerServices.Unsafe.dll</HintPath> <HintPath>..\..\packages\System.Runtime.CompilerServices.Unsafe.4.5.2\lib\netstandard2.0\System.Runtime.CompilerServices.Unsafe.dll</HintPath>
</Reference> </Reference>
<Reference Include="System.Web" />
<Reference Include="System.Windows.Forms" /> <Reference Include="System.Windows.Forms" />
<Reference Include="System.Xml.Linq" /> <Reference Include="System.Xml.Linq" />
<Reference Include="System.Data.DataSetExtensions" /> <Reference Include="System.Data.DataSetExtensions" />
......
source/Common/util/HttpHelper.cs
...@@ -121,5 +121,65 @@ namespace OnlineStore.Common ...@@ -121,5 +121,65 @@ namespace OnlineStore.Common
} }
return ""; return "";
} }
private static string Addr_cancelPutInTask = "/service/store/cancelPutInTask";
public static string cancelPutInTask(string deviceName, string barcode)
{
string msg = "";
try
{
Dictionary<string, string> paramMap = new Dictionary<string, string>();
paramMap.Add("barcode", barcode);
string server = GetAddr(Addr_cancelPutInTask, paramMap);
DateTime startTime = DateTime.Now;
string resultStr = HttpHelper.Post(server, "");
LogUtil.info(deviceName + "cancelPutInTask " + FormUtil.GetSpanStr(DateTime.Now - startTime) + " 【" + server + "】【" + resultStr + "】");
RfidData data = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);
if (data == null)
{
return msg = deviceName + " cancelPutInTask【 " + barcode + "】 没有收到服务器反馈";
}
else if (data.code.Equals(0).Equals(false))
{
return msg = deviceName + " cancelPutInTask【 " + barcode + "】 ：" + data.msg;
}
return "";
}
catch (Exception ex)
{
LogUtil.error(deviceName + " " + ex.ToString());
}
return msg;
}
private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
{
string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
if (server.EndsWith("/"))
{
server = server.Substring(0, server.Length - 1);
}
string path = server + addr.Trim() + "?";
foreach (string paramName in paramsMap.Keys)
{
string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
path += paramName + "=" + par + "&";
}
path = path.Substring(0, path.Length - 1);
return path;
}
public class RfidData
{
//{"code":0,"msg":"ok","data":"7"}
public int code { get; set; }
public string msg { get; set; }
public Dictionary<string, string> data { get; set; }
}
} }
} }
\ No newline at end of file \ No newline at end of file
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -36,8 +36,9 @@ ...@@ -36,8 +36,9 @@
<Prefer32Bit>false</Prefer32Bit> <Prefer32Bit>false</Prefer32Bit>
</PropertyGroup> </PropertyGroup>
<ItemGroup> <ItemGroup>
<Reference Include="Asa.Camera.VisionLib"> <Reference Include="Asa.Camera.VisionLib, Version=1.3.7927.28975, Culture=neutral, processorArchitecture=MSIL">
<HintPath>..\..\..\camera\Asa.Camera.VisionLib.dll</HintPath> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\Camera\CameraVisionLib\bin\Debug\Asa.Camera.VisionLib.dll</HintPath>
</Reference> </Reference>
<Reference Include="Asa.IOModule.AIOBOX"> <Reference Include="Asa.IOModule.AIOBOX">
<HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath> <HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -36,6 +36,7 @@ PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,700000,,,,,, ...@@ -36,6 +36,7 @@ PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,700000,,,,,,
PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,151500,,,,,, PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,151500,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,0,,,,,, PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,0,,,,,,
PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,2000,,,,,, PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,2000,,,,,,
PRO,L4_压紧轴_P2压紧点范围对应值,_CompAxis_P2_List,8=49928;12=45455;16=42495;,,,,,,
PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,, PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,
PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,, PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,
PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,,, PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -123,7 +123,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -123,7 +123,8 @@ namespace OnlineStore.DeviceLibrary
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW); IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW); IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW); IOManager.IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
//IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
LogUtil.info(StoreName + " 初始化完成，OutStoreWaitSeconds=" + OutStoreWaitSeconds); LogUtil.info(StoreName + " 初始化完成，OutStoreWaitSeconds=" + OutStoreWaitSeconds);
} }
...@@ -388,13 +389,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -388,13 +389,10 @@ namespace OnlineStore.DeviceLibrary
return; return;
} }
//复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 //复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
LogUtil.info(LOGGER, StoreName + "复位中： 压紧轴，旋转轴，上下轴开始 原点返回"); LogUtil.info(LOGGER, StoreName + "复位中： 旋转轴，上下轴开始 原点返回");
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack_wait); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack_wait);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (IsHasCompress_Axis)
{
ACAxisHomeMove(Config.Comp_Axis);
}
ACAxisHomeMove(Config.Middle_Axis); ACAxisHomeMove(Config.Middle_Axis);
ACAxisHomeMove(Config.UpDown_Axis); ACAxisHomeMove(Config.UpDown_Axis);
break; break;
...@@ -403,15 +401,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -403,15 +401,22 @@ namespace OnlineStore.DeviceLibrary
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
break; break;
case StoreMoveStep.BOX_H_OtherAxisBack: case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack_wait2);
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
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！"); LogUtil.info(LOGGER, StoreName + "复位中：压紧轴，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.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position,Config.CompAxis_P1_Speed); if (IsHasCompress_Axis)
{
ACAxisHomeMove(Config.Comp_Axis);
}
break;
case StoreMoveStep.BOX_H_OtherAxisBack_wait2:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
ComMoveToPosition(Config.CompressAxis_P1_Position, Config.CompAxis_P1_Speed);
HuichuanLibrary.HCBoardManager.SetAxBacklash(Config.Middle_Axis.GetAxisValue(), Config.MiddleAxis_Reverse_Offset, Config.Middle_Axis.HomeLowSpeed, -1); HuichuanLibrary.HCBoardManager.SetAxBacklash(Config.Middle_Axis.GetAxisValue(), Config.MiddleAxis_Reverse_Offset, Config.Middle_Axis.HomeLowSpeed, -1);
LogUtil.info(LOGGER, StoreName + "复位完成,设置旋转轴反向间隙:"+ Config.MiddleAxis_Reverse_Offset); LogUtil.info(LOGGER, StoreName + "复位完成,设置旋转轴反向间隙:"+ Config.MiddleAxis_Reverse_Offset);
storeRunStatus = StoreRunStatus.Runing; storeRunStatus = StoreRunStatus.Runing;
...@@ -1730,6 +1735,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1730,6 +1735,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
result = (int)Math.Floor(1F * (Value) / 4) * 4; result = (int)Math.Floor(1F * (Value) / 4) * 4;
result = (int)Math.Floor(1F * (Value));
if (result <= 8) if (result <= 8)
{ {
result = 8; result = 8;
...@@ -1753,12 +1759,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -1753,12 +1759,20 @@ namespace OnlineStore.DeviceLibrary
} }
else if (result >= 16) else if (result >= 16)
{ {
result = 24; result = 16;
} }
else if (result >= 13) else if (result >= 13)
{ {
result = 12; result = 12;
} }
else if (result >= 5)
{
result = 8;
}
else
{
result = 0;
}
return result; return result;
} }
...@@ -2190,10 +2204,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -2190,10 +2204,16 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (StoreMove.MoveType == StoreMoveType.OutStore && StoreMove.MoveParam.PositionNum == posId)
{
LogUtil.error(LOGGER, "执行出库【" + posId + "】失败，当前库位正在出库");
continue;
}
FixtureCodeInfo currInOutFixture = new FixtureCodeInfo(0, "", posId, plateW, plateH); FixtureCodeInfo currInOutFixture = new FixtureCodeInfo(0, "", posId, plateW, plateH);
if (CanStarInOut()) if (CanStarInOut())
{ {
bool result = StartOutStoreMove(new InOutStoreParam("", posId, position)); bool result = StartOutStoreMove(new InOutStoreParam("", posId, plateH, plateW));
if (!result) if (!result)
{ {
LogUtil.info(LOGGER, StoreName + " 执行出库【" + currInOutFixture.ToStr() + "】失败，加入等待队列"); LogUtil.info(LOGGER, StoreName + " 执行出库【" + currInOutFixture.ToStr() + "】失败，加入等待队列");
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -73,6 +73,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -73,6 +73,12 @@ namespace OnlineStore.DeviceLibrary
p.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7; p.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7;
p.ComPress_P2 = position.CompressAxis_Position_P2; p.ComPress_P2 = position.CompressAxis_Position_P2;
if (int.TryParse(param.PlateH, out int plateh))
{
var h = Config.GetComP2(plateh);
if (h>0)
p.ComPress_P2 = h;
}
p.ComPress_P3 = position.CompressAxis_CPosition_P3; p.ComPress_P3 = position.CompressAxis_CPosition_P3;
p.InOut_P3 = position.InOutAxis_Position_P3; p.InOut_P3 = position.InOutAxis_Position_P3;
p.Middle_P2 = position.MiddleAxis_Position_P2; p.Middle_P2 = position.MiddleAxis_Position_P2;
...@@ -386,10 +392,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -386,10 +392,21 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor) else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{ {
NeedCheckSafetyLight = 0; NeedCheckSafetyLight = 0;
if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
{
InStoreLog("入库：SI_06 未检测到料盘,任务取消 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_CheckTray);
HttpHelper.cancelPutInTask(Name, StoreMove.MoveParam.WareNumber);
}
else
{
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) "); 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); StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed); ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice) else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
...@@ -866,6 +883,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -866,6 +883,8 @@ namespace OnlineStore.DeviceLibrary
{ {
lock (waitOutListLock) lock (waitOutListLock)
{ {
var x = waitOutStoreList.FindAll((fx) => { return fx.PosId == code.PosId; });
if (x.Count==0)
waitOutStoreList.Add(code); waitOutStoreList.Add(code);
} }
} }
......
source/DeviceLibrary/halcon/CodeManager.cs
...@@ -154,8 +154,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -154,8 +154,9 @@ namespace OnlineStore.DeviceLibrary
HalconDotNet.HObject ho_Image = null; HalconDotNet.HObject ho_Image = null;
try try
{ {
ho_Image = Camera._cam.CaptureOnImage(cameraName,out Bitmap bitmap); bool nohalcon = false;
if (ho_Image == null) ho_Image = Camera._cam.CaptureOnImage(cameraName,out Bitmap bitmap, nohalcon);
if (ho_Image == null && !nohalcon)
{ {
LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机"); LogUtil.error(" 【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
CloseCamera(cameraName); CloseCamera(cameraName);
...@@ -165,17 +166,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -165,17 +166,15 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码"); LogUtil.info(" 【" + cameraName + "】取图片完成，开始扫码");
List<CodeInfo> cc = new List<CodeInfo>(); List<CodeInfo> cc = new List<CodeInfo>();
string r = ""; string r = "";
foreach (string codeType in codeTypeList)
{ RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
//判断是否是一维码 {
if (codeType.ToLower().Equals("barcode")) codeTypeList = codeTypeList.ToArray(),
{ codeCount = codeCount,
cc = HDCodeHelper.DecodeBarCode(ho_Image); timeout = 4000
} };
else cc = RemoteDecodeHelper.DecodeRequest(bitmap, remoteDecodeParam);
{ if (cc != null) {
cc = HDCodeHelper.DecodeCode(ho_Image, codeType, GetCodeParamFilePath(codeType), codeCount, 4000);
}
foreach (CodeInfo c in cc) foreach (CodeInfo c in cc)
{ {
string str = CodeManager.ReplaceCode(c.CodeStr); string str = CodeManager.ReplaceCode(c.CodeStr);
...@@ -186,6 +185,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -186,6 +185,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
if (String.IsNullOrEmpty(r)) if (String.IsNullOrEmpty(r))
{ {
// SaveImageToFile(deviceName, cameraName, bit); // SaveImageToFile(deviceName, cameraName, bit);
......
source/DeviceLibrary/store/Camera.cs
...@@ -40,7 +40,7 @@ namespace OnlineStore ...@@ -40,7 +40,7 @@ namespace OnlineStore
} }
var m = Regex.Match(configtxt, "name\".*?\"(.+)\"", RegexOptions.IgnoreCase); var m = Regex.Match(configtxt, "name\".*?\"(.+)\"", RegexOptions.IgnoreCase);
DeviceName = m.Groups[1].Value; DeviceName = m.Groups[1].Value;
camera = new VisionLib(path, "HIK.IPCamera"); camera = new VisionLib(path,true, "HIK.IPCamera");
} }
catch (Exception e){ catch (Exception e){
LogUtil.error(Name + "加载监控相机配置文件失败:"+ e.ToString()); LogUtil.error(Name + "加载监控相机配置文件失败:"+ e.ToString());
......
source/DeviceLibrary/store/InOrOutStoreParam.cs
...@@ -73,7 +73,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -73,7 +73,16 @@ namespace OnlineStore.DeviceLibrary
MoveP = null; MoveP = null;
IsSolderPaste = false; IsSolderPaste = false;
} }
public InOutStoreParam(string wareNo, string posId, string plateH, string plateW, ACStorePosition movep)
{
ACStoreP = movep;
WareNumber = wareNo;
PositionNum = posId;
MoveP = null;
IsSolderPaste = false;
this.PlagtW = plateW;
this.PlateH = plateH;
}
private ACStorePosition ACStoreP = null; private ACStorePosition ACStoreP = null;
public ACStorePosition GetACPosition() public ACStorePosition GetACPosition()
......
source/DeviceLibrary/store/KTK_Store.cs
...@@ -228,7 +228,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -228,7 +228,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回"); LogUtil.info(LOGGER, moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
AddAxisMoveTime(moveAxis); AddAxisMoveTime(moveAxis);
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed); var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
} }
/// <summary> /// <summary>
...@@ -239,7 +242,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -239,7 +242,10 @@ namespace OnlineStore.DeviceLibrary
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed)); StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
moveAxis.TargetPosition = targetPosition; moveAxis.TargetPosition = targetPosition;
AddAxisMoveTime(moveAxis); AddAxisMoveTime(moveAxis);
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed, targetSpeed*4, targetSpeed * 4); var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed:targetSpeed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed:targetSpeed * 4;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed, addSpeed, delSpeed);
} }
/// <summary> /// <summary>
...@@ -275,7 +281,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -275,7 +281,10 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(LOGGER, moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount + LogUtil.error(LOGGER, moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，重新开始运动，剩余[" + StoreMove.CanWhileCount + "]次"); "]，误差过大，重新开始运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);
var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : targetSpeed * 4;
var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : targetSpeed * 4;
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, addSpeed, delSpeed);
StoreMove.CanWhileCount--; StoreMove.CanWhileCount--;
} }
else else
...@@ -306,7 +315,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -306,7 +315,10 @@ namespace OnlineStore.DeviceLibrary
{ {
LogUtil.error(LOGGER, moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次"); LogUtil.error(LOGGER, moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
//LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "重新回原点"); //LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed);
var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
StoreMove.CanWhileCount--; StoreMove.CanWhileCount--;
} }
else else
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -142,6 +142,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,6 +142,7 @@ namespace OnlineStore.DeviceLibrary
/// 料仓原点返回和重置步骤，，升降轴，旋转轴，压紧轴原点返回 /// 料仓原点返回和重置步骤，，升降轴，旋转轴，压紧轴原点返回
/// </summary> /// </summary>
BOX_H_OtherAxisBack = 014, BOX_H_OtherAxisBack = 014,
BOX_H_OtherAxisBack_wait2 = 015,
///// <summary> ///// <summary>
///// 清理轴位置 ///// 清理轴位置
///// </summary> ///// </summary>
...@@ -149,7 +150,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -149,7 +150,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 旋转轴返回P1 /// 旋转轴返回P1
/// </summary> /// </summary>
BOX_H_MiddleAxisToP1=016, BOX_H_MiddleAxisToP1 =016,
/// <summary> /// <summary>
/// 叉子先退回P1 /// 叉子先退回P1
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
using System; using OnlineStore.Common;
using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
...@@ -340,7 +341,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -340,7 +341,11 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("CompressAxis_P1_Position")] [ConfigProAttribute("CompressAxis_P1_Position")]
public int CompressAxis_P1_Position { get; set; } public int CompressAxis_P1_Position { get; set; }
/// <summary>
/// PRO,,L4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=385001;12=383001;16=379001;
/// </summary>
[ConfigProAttribute("CompAxis_P2_List",false)]
public string CompAxis_P2_List { get; set; }
/// <summary> /// <summary>
/// PRO 是否使用料盘检测信号 IsUse_Tray_Check /// PRO 是否使用料盘检测信号 IsUse_Tray_Check
/// </summary> /// </summary>
...@@ -681,7 +686,49 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -681,7 +686,49 @@ namespace OnlineStore.LoadCSVLibrary
Config.Comp_Axis.PositionMin = 0; Config.Comp_Axis.PositionMin = 0;
Config.Comp_Axis.PositionMax = 0; Config.Comp_Axis.PositionMax = 0;
} }
private Dictionary<int, int> ComP2Map = null;
public int GetComP2(int plateh)
{
//查找指定的高度
analysisComP2();
if (ComP2Map.ContainsKey(plateh))
{
return ComP2Map[plateh];
}
else
return 0;
//return new List<int>(ComP2Map.Values).First<int>();
}
private void analysisComP2()
{
if (ComP2Map == null)
{
try
{
// 8=385001;424000#12=383001;385000#16=379001;
ComP2Map = new Dictionary<int, int>();
string[] arrayList = CompAxis_P2_List.Split(';');
foreach (string str in arrayList)
{
if (str.Equals(""))
{
continue;
}
string[] com2A = str.Split('=');
if (com2A.Length.Equals(2))
{
int plateH = Convert.ToInt32(com2A[0]);
int p2 = Convert.ToInt32(com2A[1]);
ComP2Map.Add(plateH, p2);
}
}
}
catch (Exception ex)
{
LogUtil.error("解析CompAxis_P2_List【" + CompAxis_P2_List + "】出错：" + ex.ToString());
}
}
}
} }
} }
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