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Commit 4164548e 由 几米阳光
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原点返回时若原点亮，先反向走2000

1 个父辈 8c49230a
内嵌 并排
正在显示 2 个修改的文件 包含 49 行增加 和 17 行删除
source/DeviceLibrary/PanasonicServo/ACServerManager.cs
...@@ -295,22 +295,41 @@ namespace OnlineStore.DeviceLibrary ...@@ -295,22 +295,41 @@ namespace OnlineStore.DeviceLibrary
public static void HomeMove(string portName, int slvAddr, int speed) public static void HomeMove(string portName, int slvAddr, int speed)
{ {
//默认负方向原点返回 try
//byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove1, 2); {
//SendData(portName, data); //先判断是否在原点，如果已经在原点，先向正方向走2000
//旋转轴回正方向，其他轴回负方向 int homeSingle = GetHomeSingle(portName, slvAddr);
//if (portName.Equals(ACStoreManager.store.Config.Middle_Axis.DeviceName)) if (homeSingle.Equals(1))
//{ {
// UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove0); int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
// LogUtil.info("旋转轴原点返回方向：正方向"); if (isHomeEnd.Equals(1))
//} {
//else if (portName.Equals(ACStoreManager.store.Config.InOut_Axis.DeviceName)) int value = 2000;
//{ LogUtil.info("轴【" + portName + "】原点返回时发现原点已亮且回过原点，需要先相对走" + value);
// UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove0); RelMove(portName, slvAddr, value);
// LogUtil.info("进出轴原点返回方向：正方向"); bool isStop = false;
//} for (int i = 0; i <= 10; i++)
//else {
//{ Thread.Sleep(200);
if (GetBusyStatus(portName, slvAddr).Equals(0))
{
isStop = true;
LogUtil.info("轴【" + portName + "】 相对走" + value + "已结束");
break;
}
}
if (!isStop)
{
LogUtil.info("轴【" + portName + "】 相对走" + value + "已等待2分钟，直接停止");
SuddenStop(portName, slvAddr);
}
}
}
}
catch (Exception ex)
{
LogUtil.error("轴【" + portName + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
}
UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1); UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
LogUtil.debug("回原点：反方向"); LogUtil.debug("回原点：反方向");
//} //}
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -257,6 +257,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -257,6 +257,7 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_InOutToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_InOutToP1);
LogUtil.info(LOGGER, StoreName + "到待机状态，进出轴到P1，判断叉子没有料盘"); LogUtil.info(LOGGER, StoreName + "到待机状态，进出轴到P1，判断叉子没有料盘");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed ); ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed );
ComBeforeHomeMove();
//判断叉子没有料盘 //判断叉子没有料盘
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
} }
...@@ -375,6 +376,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -375,6 +376,7 @@ namespace OnlineStore.DeviceLibrary
//进出轴原点返回完成，将进出轴的位置设置=0 //进出轴原点返回完成，将进出轴的位置设置=0
AxisCountClear(Config.InOut_Axis); AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed); ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ComBeforeHomeMove();
//判断叉子没有料盘 //判断叉子没有料盘
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
CloseDoorAndWait(); CloseDoorAndWait();
...@@ -447,7 +449,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -447,7 +449,17 @@ namespace OnlineStore.DeviceLibrary
default: break; default: break;
} }
} }
private void ComBeforeHomeMove()
{
if (IsHasCompress_Axis)
{
int relValue = -2000;
LogUtil.debug("压紧轴相对位置：" + relValue);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, relValue, false));
ShuoKeControls.RelativeMove(Config.CompressAxis_Slv, relValue);
Thread.Sleep(100);
}
}
private void ComMoveToPosition(int targetPosition) private void ComMoveToPosition(int targetPosition)
{ {
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
...@@ -503,6 +515,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -503,6 +515,7 @@ namespace OnlineStore.DeviceLibrary
//进出轴原点返回完成，将进出轴的位置设置=0 //进出轴原点返回完成，将进出轴的位置设置=0
AxisCountClear(Config.InOut_Axis); AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed); ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ComBeforeHomeMove();
//判断叉子没有料盘 //判断叉子没有料盘
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
CloseDoorAndWait(); CloseDoorAndWait();
......
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