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Commit 87d0f922 由 几米阳光
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修改伺服的配置

1 个父辈 804cc3ce
内嵌 并排
正在显示 11 个修改的文件 包含 281 行增加 和 297 行删除
source/ACSingleStore/ACSingleStore.csproj
......@@ -64,12 +64,6 @@
<Compile Include="FrmAxisDebug.Designer.cs">
<DependentUpon>FrmAxisDebug.cs</DependentUpon>
</Compile>
<Compile Include="FrmAxisMoveConfig.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmAxisMoveConfig.Designer.cs">
<DependentUpon>FrmAxisMoveConfig.cs</DependentUpon>
</Compile>
<Compile Include="FrmBase.cs">
<SubType>Form</SubType>
</Compile>
......@@ -99,9 +93,6 @@
<EmbeddedResource Include="FrmAxisDebug.resx">
<DependentUpon>FrmAxisDebug.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmAxisMoveConfig.resx">
<DependentUpon>FrmAxisMoveConfig.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmBase.resx">
<DependentUpon>FrmBase.cs</DependentUpon>
</EmbeddedResource>
......
source/ACSingleStore/FormManager.cs
......@@ -69,40 +69,30 @@ namespace OnlineStore.ACSingleStore
public static FrmAxisMoveConfig FrmAxisConfig = null;
public static void ShowAxisConfig(AC_SA_BoxBean boxBean)
{
if (FormManager.FrmAxisConfig == null)
{
FormManager.FrmAxisConfig = new FrmAxisMoveConfig(boxBean);
FormManager.FrmAxisConfig.Show();
}
else
{
//FormManager.FrmAxisConfig.ShowDialog();
if (FormManager.FrmAxisConfig.IsDisposed)
{
FormManager.FrmAxisConfig = new FrmAxisMoveConfig(boxBean);
FormManager.FrmAxisConfig.Show();
}
else
{
FormManager.FrmAxisConfig.Activate();
}
}
}
//public static FrmAxisMoveConfig FrmAxisConfig = null;
//public static void ShowAxisConfig(AC_SA_BoxBean boxBean)
//{
// if (FormManager.FrmAxisConfig == null)
// {
// FormManager.FrmAxisConfig = new FrmAxisMoveConfig(boxBean);
// FormManager.FrmAxisConfig.Show();
// }
// else
// {
// //FormManager.FrmAxisConfig.ShowDialog();
// if (FormManager.FrmAxisConfig.IsDisposed)
// {
// FormManager.FrmAxisConfig = new FrmAxisMoveConfig(boxBean);
// FormManager.FrmAxisConfig.Show();
// }
// else
// {
// FormManager.FrmAxisConfig.Activate();
// }
// }
//}
private static FrmAxisDebug debug = null;
public static void ShowAxisDebug(AC_SA_BoxBean store)
......
source/ACSingleStore/FrmAxisMoveConfig.cs
......@@ -37,23 +37,21 @@ namespace OnlineStore.ACSingleStore
txtMiddleP1S.Text = boxBean.Config.MiddleAxis_P1_Speed.ToString();
txtMiddleP2S.Text = boxBean.Config.MiddleAxis_P2_Speed.ToString();
txtMiddleSpeed.Text = boxBean.Config.MiddleAxis_StartSpeed.ToString();
txtInOutSpeed.Text = boxBean.Config.InoutAxis_StartSpeed.ToString();
txtUpDownSpeed.Text = boxBean.Config.UpdownAxis_StartSpeed.ToString();
//txtMiddleSpeed.Text = boxBean.Config.MiddleAxis_StartSpeed.ToString();
//txtInOutSpeed.Text = boxBean.Config.InoutAxis_StartSpeed.ToString();
//txtUpDownSpeed.Text = boxBean.Config.UpdownAxis_StartSpeed.ToString();
this.txtMSpeed.Text = boxBean.Config.MiddleAxis_TargetSpeed.ToString();
this.txtISpeed.Text = boxBean.Config.InoutAxis_TargetSpeed.ToString();
this.txtUSpeed.Text = boxBean.Config.UpdownAxis_TargetSpeed.ToString();
this.txtMAtime.Text = boxBean.Config.MiddleAxis_AccelTime.ToString();
this.txtIAtime.Text = boxBean.Config.InoutAxis_AccelTime.ToString();
this.txtUAtime.Text = boxBean.Config.UpdownAxis_AccelTime.ToString();
this.txtMAtime.Text = boxBean.Config.MiddleAxis_AddSpeed.ToString();
this.txtIAtime.Text = boxBean.Config.InoutAxis_DelSpeed.ToString();
this.txtUAtime.Text = boxBean.Config.UpdownAxis_AddSpeed.ToString();
this.txtMDtime.Text = boxBean.Config.MiddleAxis_DecelTime.ToString();
this.txtIDtime.Text = boxBean.Config.InoutAxis_DecelTime.ToString();
this.txtUDtime.Text = boxBean.Config.UpdownAxis_DecelTime.ToString();
this.txtMDtime.Text = boxBean.Config.MiddleAxis_DelSpeed.ToString();
this.txtIDtime.Text = boxBean.Config.InoutAxis_DelSpeed.ToString();
this.txtUDtime.Text = boxBean.Config.UpdownAxis_DelSpeed.ToString();
txtMiddleMax.Text = boxBean.Config.MiddleAxis_ErrorCountMax.ToString();
txtUpdownMax.Text = boxBean.Config.UpdownAxis_ErrorCountMax.ToString();
......@@ -106,22 +104,22 @@ namespace OnlineStore.ACSingleStore
//boxBean.Config.CompressAxis_P3_Speed = FormUtil.GetIntValue(txtComPressP3S);
boxBean.Config.MiddleAxis_StartSpeed = FormUtil.GetIntValue(txtMiddleSpeed);
boxBean.Config.InoutAxis_StartSpeed = FormUtil.GetIntValue(txtInOutSpeed);
boxBean.Config.UpdownAxis_StartSpeed = FormUtil.GetIntValue(txtUpDownSpeed);
//boxBean.Config.MiddleAxis_StartSpeed = FormUtil.GetIntValue(txtMiddleSpeed);
//boxBean.Config.InoutAxis_StartSpeed = FormUtil.GetIntValue(txtInOutSpeed);
//boxBean.Config.UpdownAxis_StartSpeed = FormUtil.GetIntValue(txtUpDownSpeed);
//boxBean.Config.CompressAxis_StartSpeed = FormUtil.GetIntValue(txtComSpeed);
boxBean.Config.MiddleAxis_TargetSpeed = FormUtil.GetIntValue(txtMSpeed);
boxBean.Config.InoutAxis_TargetSpeed = FormUtil.GetIntValue(txtISpeed);
boxBean.Config.UpdownAxis_TargetSpeed = FormUtil.GetIntValue(txtUSpeed);
boxBean.Config.MiddleAxis_AccelTime = FormUtil.GetShortValue(txtMAtime);
boxBean.Config.InoutAxis_AccelTime = FormUtil.GetShortValue(txtIAtime);
boxBean.Config.UpdownAxis_AccelTime = FormUtil.GetShortValue(txtUAtime);
boxBean.Config.MiddleAxis_AddSpeed = FormUtil.GetShortValue(txtMAtime);
boxBean.Config.InoutAxis_AddSpeed = FormUtil.GetShortValue(txtIAtime);
boxBean.Config.UpdownAxis_AddSpeed = FormUtil.GetShortValue(txtUAtime);
boxBean.Config.MiddleAxis_DecelTime = FormUtil.GetShortValue(txtMDtime);
boxBean.Config.InoutAxis_DecelTime = FormUtil.GetShortValue(txtIDtime);
boxBean.Config.UpdownAxis_DecelTime = FormUtil.GetShortValue(txtUDtime);
boxBean.Config.MiddleAxis_DelSpeed = FormUtil.GetShortValue(txtMDtime);
boxBean.Config.InoutAxis_DelSpeed = FormUtil.GetShortValue(txtIDtime);
boxBean.Config.UpdownAxis_DelSpeed = FormUtil.GetShortValue(txtUDtime);
boxBean.Config.MiddleAxis_ErrorCountMax = FormUtil.GetShortValue(txtMiddleMax);
boxBean.Config.UpdownAxis_ErrorCountMax = FormUtil.GetShortValue(txtUpdownMax);
......
source/ACSingleStore/FrmStoreBox.Designer.cs
......@@ -214,10 +214,10 @@
this.btnReadPosition.Cursor = System.Windows.Forms.Cursors.Default;
this.btnReadPosition.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnReadPosition.ForeColor = System.Drawing.SystemColors.ControlText;
this.btnReadPosition.Location = new System.Drawing.Point(458, 162);
this.btnReadPosition.Location = new System.Drawing.Point(458, 161);
this.btnReadPosition.Name = "btnReadPosition";
this.btnReadPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnReadPosition.Size = new System.Drawing.Size(105, 30);
this.btnReadPosition.Size = new System.Drawing.Size(105, 33);
this.btnReadPosition.TabIndex = 278;
this.btnReadPosition.Text = "读取位置";
this.btnReadPosition.UseVisualStyleBackColor = true;
......@@ -228,7 +228,7 @@
this.lblServerOn.AutoSize = true;
this.lblServerOn.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblServerOn.ForeColor = System.Drawing.Color.Red;
this.lblServerOn.Location = new System.Drawing.Point(231, 162);
this.lblServerOn.Location = new System.Drawing.Point(48, 167);
this.lblServerOn.Name = "lblServerOn";
this.lblServerOn.Size = new System.Drawing.Size(0, 19);
this.lblServerOn.TabIndex = 268;
......@@ -262,7 +262,7 @@
this.btnOpenAxis.Location = new System.Drawing.Point(458, 15);
this.btnOpenAxis.Name = "btnOpenAxis";
this.btnOpenAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnOpenAxis.Size = new System.Drawing.Size(105, 30);
this.btnOpenAxis.Size = new System.Drawing.Size(105, 33);
this.btnOpenAxis.TabIndex = 253;
this.btnOpenAxis.Text = "打开伺服";
this.btnOpenAxis.UseVisualStyleBackColor = true;
......@@ -277,7 +277,7 @@
this.btnCloseAxis.Location = new System.Drawing.Point(458, 48);
this.btnCloseAxis.Name = "btnCloseAxis";
this.btnCloseAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnCloseAxis.Size = new System.Drawing.Size(105, 30);
this.btnCloseAxis.Size = new System.Drawing.Size(105, 33);
this.btnCloseAxis.TabIndex = 252;
this.btnCloseAxis.Text = "关闭伺服";
this.btnCloseAxis.UseVisualStyleBackColor = true;
......@@ -336,7 +336,7 @@
this.btnAxisVMove.Location = new System.Drawing.Point(347, 48);
this.btnAxisVMove.Name = "btnAxisVMove";
this.btnAxisVMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnAxisVMove.Size = new System.Drawing.Size(105, 30);
this.btnAxisVMove.Size = new System.Drawing.Size(105, 33);
this.btnAxisVMove.TabIndex = 249;
this.btnAxisVMove.Text = "匀速运动";
this.btnAxisVMove.UseVisualStyleBackColor = true;
......@@ -351,7 +351,7 @@
this.btnAxisRMove.Location = new System.Drawing.Point(347, 81);
this.btnAxisRMove.Name = "btnAxisRMove";
this.btnAxisRMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnAxisRMove.Size = new System.Drawing.Size(105, 30);
this.btnAxisRMove.Size = new System.Drawing.Size(105, 33);
this.btnAxisRMove.TabIndex = 248;
this.btnAxisRMove.Text = "相对运动";
this.btnAxisRMove.UseVisualStyleBackColor = true;
......@@ -366,7 +366,7 @@
this.btnAxisReturnHome.Location = new System.Drawing.Point(458, 114);
this.btnAxisReturnHome.Name = "btnAxisReturnHome";
this.btnAxisReturnHome.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnAxisReturnHome.Size = new System.Drawing.Size(105, 30);
this.btnAxisReturnHome.Size = new System.Drawing.Size(105, 33);
this.btnAxisReturnHome.TabIndex = 247;
this.btnAxisReturnHome.Text = "原点返回";
this.btnAxisReturnHome.UseVisualStyleBackColor = true;
......@@ -381,7 +381,7 @@
this.btnAxisAMove.Location = new System.Drawing.Point(347, 15);
this.btnAxisAMove.Name = "btnAxisAMove";
this.btnAxisAMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnAxisAMove.Size = new System.Drawing.Size(105, 30);
this.btnAxisAMove.Size = new System.Drawing.Size(105, 33);
this.btnAxisAMove.TabIndex = 245;
this.btnAxisAMove.Text = "绝对运动";
this.btnAxisAMove.UseVisualStyleBackColor = true;
......@@ -396,7 +396,7 @@
this.Bt_ClearCounter.Location = new System.Drawing.Point(347, 114);
this.Bt_ClearCounter.Name = "Bt_ClearCounter";
this.Bt_ClearCounter.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.Bt_ClearCounter.Size = new System.Drawing.Size(105, 30);
this.Bt_ClearCounter.Size = new System.Drawing.Size(105, 33);
this.Bt_ClearCounter.TabIndex = 170;
this.Bt_ClearCounter.Text = "重置位置";
this.Bt_ClearCounter.UseVisualStyleBackColor = true;
......@@ -406,7 +406,7 @@
//
this.btnComAlarmClear.Location = new System.Drawing.Point(225, 114);
this.btnComAlarmClear.Name = "btnComAlarmClear";
this.btnComAlarmClear.Size = new System.Drawing.Size(105, 30);
this.btnComAlarmClear.Size = new System.Drawing.Size(105, 33);
this.btnComAlarmClear.TabIndex = 50;
this.btnComAlarmClear.Text = "清除报警";
this.btnComAlarmClear.UseVisualStyleBackColor = true;
......@@ -448,7 +448,7 @@
this.btnAxisStop.Location = new System.Drawing.Point(458, 81);
this.btnAxisStop.Name = "btnAxisStop";
this.btnAxisStop.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnAxisStop.Size = new System.Drawing.Size(105, 30);
this.btnAxisStop.Size = new System.Drawing.Size(105, 33);
this.btnAxisStop.TabIndex = 246;
this.btnAxisStop.Text = " 停止运动";
this.btnAxisStop.UseVisualStyleBackColor = true;
......@@ -1142,9 +1142,9 @@
// btnInStore
//
this.btnInStore.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnInStore.Location = new System.Drawing.Point(315, 22);
this.btnInStore.Location = new System.Drawing.Point(315, 19);
this.btnInStore.Name = "btnInStore";
this.btnInStore.Size = new System.Drawing.Size(105, 30);
this.btnInStore.Size = new System.Drawing.Size(105, 33);
this.btnInStore.TabIndex = 102;
this.btnInStore.Text = "入库测试";
this.btnInStore.UseVisualStyleBackColor = true;
......@@ -1153,9 +1153,9 @@
// btnOutStore
//
this.btnOutStore.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOutStore.Location = new System.Drawing.Point(423, 22);
this.btnOutStore.Location = new System.Drawing.Point(423, 19);
this.btnOutStore.Name = "btnOutStore";
this.btnOutStore.Size = new System.Drawing.Size(105, 30);
this.btnOutStore.Size = new System.Drawing.Size(105, 33);
this.btnOutStore.TabIndex = 101;
this.btnOutStore.Text = "出库测试";
this.btnOutStore.UseVisualStyleBackColor = true;
......@@ -1554,35 +1554,35 @@
// 查看IOToolStripMenuItem
//
this.查看IOToolStripMenuItem.Name = "查看IOToolStripMenuItem";
this.查看IOToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.查看IOToolStripMenuItem.Size = new System.Drawing.Size(146, 22);
this.查看IOToolStripMenuItem.Text = "查看IO";
this.查看IOToolStripMenuItem.Click += new System.EventHandler(this.查看IOToolStripMenuItem_Click);
//
// 料仓运转ONToolStripMenuItem
//
this.料仓运转ONToolStripMenuItem.Name = "料仓运转ONToolStripMenuItem";
this.料仓运转ONToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.料仓运转ONToolStripMenuItem.Size = new System.Drawing.Size(146, 22);
this.料仓运转ONToolStripMenuItem.Text = "料仓运转ON";
this.料仓运转ONToolStripMenuItem.Click += new System.EventHandler(this.料仓运转ONToolStripMenuItem_Click);
//
// 料仓运转OFFToolStripMenuItem
//
this.料仓运转OFFToolStripMenuItem.Name = "料仓运转OFFToolStripMenuItem";
this.料仓运转OFFToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.料仓运转OFFToolStripMenuItem.Size = new System.Drawing.Size(146, 22);
this.料仓运转OFFToolStripMenuItem.Text = "料仓运转OFF";
this.料仓运转OFFToolStripMenuItem.Click += new System.EventHandler(this.料仓运转OFFToolStripMenuItem_Click);
//
// 打开舱门ToolStripMenuItem
//
this.打开舱门ToolStripMenuItem.Name = "打开舱门ToolStripMenuItem";
this.打开舱门ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.打开舱门ToolStripMenuItem.Size = new System.Drawing.Size(146, 22);
this.打开舱门ToolStripMenuItem.Text = "打开仓门";
this.打开舱门ToolStripMenuItem.Click += new System.EventHandler(this.打开舱门ToolStripMenuItem_Click);
//
// 关闭仓门ToolStripMenuItem
//
this.关闭仓门ToolStripMenuItem.Name = "关闭仓门ToolStripMenuItem";
this.关闭仓门ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.关闭仓门ToolStripMenuItem.Size = new System.Drawing.Size(146, 22);
this.关闭仓门ToolStripMenuItem.Text = "关闭仓门";
this.关闭仓门ToolStripMenuItem.Click += new System.EventHandler(this.关闭仓门ToolStripMenuItem_Click);
//
......
source/ACSingleStore/FrmStoreBox.cs
......@@ -370,7 +370,9 @@ namespace OnlineStore.ACSingleStore
{
string portName = txtAxisDeviceName.Text;
short slvAddr = FormUtil.GetShortValue(txtAxisValue);
LogUtil.info("点击【清理报警】，端口号【" + portName + "】地址【" + slvAddr + "】 ");
ACServerManager.AlarmClear(portName, slvAddr);
Thread.Sleep(100);
ACServerManager.ServoOn(portName, slvAddr);
}
......@@ -434,7 +436,8 @@ namespace OnlineStore.ACSingleStore
// MessageBox.Show("位置超出" + axisC.Explain + "上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
// return;
//}
ACServerManager.AbsMove(portName, SlvAddr, position, speed / 10);
LogUtil.info("点击【绝对运动】，端口号【"+ portName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(portName, SlvAddr, position, speed );
}
private void btnAxisVMove_Click(object sender, EventArgs e)
{
......@@ -442,6 +445,7 @@ namespace OnlineStore.ACSingleStore
string portName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【匀速运动】，端口号【" + portName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.SpeedMove(portName, SlvAddr, speed);
}
......@@ -459,6 +463,7 @@ namespace OnlineStore.ACSingleStore
// MessageBox.Show("位置超出"+axisC.Explain+"上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
// return;
//}
LogUtil.info("点击【相对运动】，端口号【" + portName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
ACServerManager.RelMove(portName, SlvAddr, position, speed);
}
......@@ -468,6 +473,7 @@ namespace OnlineStore.ACSingleStore
{
string portName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
LogUtil.info("点击【停止运动】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
ACServerManager.SuddenStop(portName, SlvAddr);
}
......@@ -584,6 +590,7 @@ namespace OnlineStore.ACSingleStore
{
string portName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
LogUtil.info("点击【打开伺服】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
ACServerManager.OpenPort(portName);
//ACServerManager.InitSlvAddr(portName, SlvAddr);
//Thread.Sleep(100);
......@@ -596,6 +603,7 @@ namespace OnlineStore.ACSingleStore
{
string portName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
LogUtil.info("点击【关闭伺服】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
ACServerManager.ServoOff(portName, SlvAddr);
}
private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
......@@ -742,10 +750,10 @@ namespace OnlineStore.ACSingleStore
MessageBox.Show("请先启动料仓！");
}
}
private void btnAxisConfig_Click(object sender, EventArgs e)
{
FormManager.ShowAxisConfig(store);
}
//private void btnAxisConfig_Click(object sender, EventArgs e)
//{
// FormManager.ShowAxisConfig(store);
//}
private void 轴卡点动ToolStripMenuItem_Click(object sender, EventArgs e)
......@@ -755,7 +763,7 @@ namespace OnlineStore.ACSingleStore
private void 轴运动配置ToolStripMenuItem_Click(object sender, EventArgs e)
{
FormManager.ShowAxisConfig(store);
//FormManager.ShowAxisConfig(store);
}
private void 启动ToolStripMenuItem_Click(object sender, EventArgs e)
......@@ -1021,6 +1029,7 @@ namespace OnlineStore.ACSingleStore
string portName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
int speed = FormUtil.GetIntValue(txtASpeed);
LogUtil.info("点击【原点返回】，端口号【" + portName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
ACServerManager.HomeMove(portName, SlvAddr, speed);
}
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
......@@ -28,13 +28,13 @@ AXIS,（轴一）旋转轴,Middle_Axis,1,COM3,0,,,,
AXIS,（轴二）升降轴轴,UpDown_Axis,1,COM4,0,,,,
AXIS,（轴三）进出轴,InOut_Axis,1,COM5,0,,,,
PRO,温湿度传感器地址,Temperate_ServerAddress,192.168.200.14,,,,,,
PRO,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,-886,,,,,,
PRO,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,-900,,,,,,
PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,-900,,,,,,
PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,-886,,,,,,
PRO,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,-10000,,,,,,
PRO,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,-10000,,,,,,
PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,-10000,,,,,,
PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,-10000,,,,,,
,进出轴进料口取料点 P2,InOutAxis_DoorPosition_P2,9,,,,,,
PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,219,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,0,,,,,,
PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,5000,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,1000,,,,,,
PRO,押金轴（轴4）P1待机原位点,CompressAxis_P1_Position,360,,,,,,
,,,,,,,,,
PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,0,,,,, ,
......@@ -43,31 +43,37 @@ PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,
PRO,温湿度传感器地址,TemperateServer_Port,9001,,,,,,
PRO,预警温度,WarnTemperate,80,,,,,,
PRO,预警湿度,WarnHumidity,80,,,,,,
PRO,（轴一）旋转轴原点目标速度,MiddleAxis_TargetSpeed,30,,,,,,
PRO,（轴一）旋转轴原点开始速度,MiddleAxis_StartSpeed,30,,,,,,
PRO,（轴一）旋转轴加速时间,MiddleAxis_AccelTime,10,,,,,,
PRO,（轴一）旋转轴减速时间,MiddleAxis_DecelTime,10,,,,,,
PRO,（轴二）升降轴轴原点目标速度,UpdownAxis_TargetSpeed,50,,,,,,
PRO,（轴二）升降轴轴原点开始速度,UpdownAxis_StartSpeed,50,,,,,,
PRO,（轴二）升降轴轴加速时间,UpdownAxis_AccelTime,10,,,,,,
PRO,（轴二）升降轴轴减速时间,UpdownAxis_DecelTime,10,,,,,,
PRO,（轴三）进出轴原点目标速度,InoutAxis_TargetSpeed,50,,,,,,
PRO,（轴三）进出轴原点开始速度,InoutAxis_StartSpeed,50,,,,,,
PRO,（轴三）进出轴加速时间,InoutAxis_AccelTime,10,,,,,,
PRO,（轴三）进出轴减速时间,InoutAxis_DecelTime,10,,,,,,
PRO,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,130,,,,,,
PRO,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,130,,,,,,
PRO,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,130,,,,,,
PRO,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,20,,,,,,
PRO,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,130,,,,,,
PRO,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,20,,,,,,
PRO,升降轴（轴2）P7速度,UpDownAxis_P7_Speed,20,,,,,,
PRO,升降轴（轴2）P8速度,UpDownAxis_P8_Speed,20,,,,,,
PRO,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,100,,,,,,
PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,100,,,,,,
PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,20,,,,,,
PRO,进出轴（轴3）P2速度,InOutAxis_P2_Speed,20,,,,,,
PRO,进出轴（轴3）P3速度,InOutAxis_P3_Speed,20,,,,,,
PRO,（轴一）旋转轴目标速度,MiddleAxis_TargetSpeed,100,,,,,,
PRO,（轴一）旋转轴加速度,MiddleAxis_AddSpeed,30,,,,,,
PRO,（轴一）旋转轴减速度,MiddleAxis_DelSpeed,30,,,,,,
PRO,（轴一）旋转轴原点低速度,MiddleAxis_HomeLowSpeed,50,,,,,,
PRO,（轴一）旋转轴原点高速,MiddleAxis_HomeHighSpeed,100,,,,,,
PRO,（轴一）旋转轴原点加速度,MiddleAxis_HomeAddSpeed,30,,,,,,
PRO,（轴二）升降轴轴目标速度,UpdownAxis_TargetSpeed,100,,,,,,
PRO,（轴二）升降轴轴加速度,UpdownAxis_AddSpeed,30,,,,,,
PRO,（轴二）升降轴轴减速度,UpdownAxis_DelSpeed,30,,,,,,
PRO,（轴二）升降轴轴原点低速度,UpdownAxis_HomeLowSpeed,50,,,,,,
PRO,（轴二）升降轴轴原点高速,UpdownAxis_HomeHighSpeed,100,,,,,,
PRO,（轴二）升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,30,,,,,,
PRO,（轴三）进出轴目标速度,InoutAxis_TargetSpeed,100,,,,,,
PRO,（轴三）进出轴加速度,InoutAxis_AddSpeed,30,,,,,,
PRO,（轴三）进出轴减速度,InoutAxis_DelSpeed,30,,,,,,
PRO,（轴三）进出轴原点低速,InoutAxis_HomeLowSpeed,50,,,,,,
PRO,（轴三）进出轴原点高速,InoutAxis_HomeHighSpeed,100,,,,,,
PRO,（轴三）进出轴原点加速度,InoutAxis_HomeAddSpeed,30,,,,,,
PRO,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,100,,,,,,
PRO,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,100,,,,,,
PRO,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,100,,,,,,
PRO,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,40,,,,,,
PRO,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,100,,,,,,
PRO,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,40,,,,,,
PRO,升降轴（轴2）P7速度,UpDownAxis_P7_Speed,40,,,,,,
PRO,升降轴（轴2）P8速度,UpDownAxis_P8_Speed,40,,,,,,
PRO,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,80,,,,,,
PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,80,,,,,,
PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,40,,,,,,
PRO,进出轴（轴3）P2速度,InOutAxis_P2_Speed,40,,,,,,
PRO,进出轴（轴3）P3速度,InOutAxis_P3_Speed,40,,,,,,
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,,,,,,
......@@ -76,9 +82,6 @@ PRO,（轴二）升降轴轴停止时可误差的脉冲数的最大值,UpdownAxis_ErrorCountMax,1000,,
PRO,（轴三）进出轴停止时可误差的脉冲数的最大值,InoutAxis_ErrorCountMax,1000,,,,,,
PRO,出入库多少次，会自动重置旋转轴,Box_ResetMCount,1000,,,,,,
PRO,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,,,
PRO,（轴一）旋转轴速度倍率,MiddleAxis_ResolveSpeed,10,,,,,,
PRO,（轴二）升降轴速度倍率,UpdownAxis_ResolveSpeed,20,,,,,,
PRO,（轴三）进出轴速度倍率,InoutAxis_ResolveSpeed,10,,,,,,
PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,
PRO,是否使用料盘检测信号,IsUse_Tray_Check,0,,,,,,
,,,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -154,20 +154,26 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public void MoveAxisConfig()
{
Config.Middle_Axis.StartSpeed = Config.MiddleAxis_StartSpeed;
Config.Middle_Axis.TargetSpeed = Config.MiddleAxis_TargetSpeed;
Config.Middle_Axis.AccelTime = Config.MiddleAxis_AccelTime;
Config.Middle_Axis.DecelTime = Config.MiddleAxis_DecelTime;
Config.Middle_Axis.AddSpeed = Config.MiddleAxis_AddSpeed;
Config.Middle_Axis.DelSpeed = Config.MiddleAxis_DelSpeed;
Config.Middle_Axis.HomeAddSpeed = Config.MiddleAxis_HomeAddSpeed;
Config.Middle_Axis.HomeHighSpeed = Config.MiddleAxis_HomeHighSpeed;
Config.Middle_Axis.HomeLowSpeed = Config.MiddleAxis_HomeLowSpeed;
Config.InOut_Axis.StartSpeed = Config.InoutAxis_StartSpeed;
Config.InOut_Axis.TargetSpeed = Config.InoutAxis_TargetSpeed;
Config.InOut_Axis.DecelTime = Config.InoutAxis_DecelTime;
Config.InOut_Axis.AccelTime = Config.InoutAxis_AccelTime;
Config.InOut_Axis.DelSpeed = Config.InoutAxis_AddSpeed;
Config.InOut_Axis.AddSpeed = Config.InoutAxis_DelSpeed;
Config.InOut_Axis.HomeAddSpeed = Config.InoutAxis_HomeAddSpeed;
Config.InOut_Axis.HomeHighSpeed = Config.InoutAxis_HomeHighSpeed;
Config.InOut_Axis.HomeLowSpeed = Config.InoutAxis_HomeLowSpeed;
Config.UpDown_Axis.StartSpeed = Config.UpdownAxis_StartSpeed;
Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
Config.UpDown_Axis.AccelTime = Config.UpdownAxis_AccelTime;
Config.UpDown_Axis.DecelTime = Config.UpdownAxis_DecelTime;
Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;
Config.Middle_Axis.CanErrorCountMin = Config.MiddleAxis_ErrorCountMin;
Config.InOut_Axis.CanErrorCountMin = Config.MiddleAxis_ErrorCountMin;
......@@ -184,9 +190,9 @@ namespace OnlineStore.DeviceLibrary
Config.UpDown_Axis.PositionMax = Config.UpdownAxis_PositionMax;
Config.InOut_Axis.ResolveSpeed = Config.InoutAxis_ResolveSpeed;
Config.UpDown_Axis.ResolveSpeed = Config.UpdownAxis_ResolveSpeed;
Config.Middle_Axis.ResolveSpeed = Config.MiddleAxis_ResolveSpeed;
//Config.InOut_Axis.ResolveSpeed = Config.InoutAxis_ResolveSpeed;
//Config.UpDown_Axis.ResolveSpeed = Config.UpdownAxis_ResolveSpeed;
//Config.Middle_Axis.ResolveSpeed = Config.MiddleAxis_ResolveSpeed;
Config.Middle_Axis.DefaultPosition = Config.MiddleAxis_P1_Position;
Config.InOut_Axis.DefaultPosition = Config.InOutAxis_P1_Position;
......@@ -307,7 +313,7 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NewMove(StoreMoveType.StoreReset);
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");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed );
//判断叉子没有料盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_3, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
......@@ -407,7 +413,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "重置中 ,进出轴已经回原点 ， 并且进出轴退回P1点，关闭舱门，判断叉子没料盘");
//进出轴原点返回完成，将进出轴的位置设置=0
AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
//判断叉子没有料盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_3, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
......@@ -447,8 +453,8 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(LOGGER, StoreName + "重置中：旋转轴运动到P1，上下轴走到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "重置完成");
......@@ -478,8 +484,8 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_M_H_TOP1_CompressHome:
StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1);
LogUtil.info(LOGGER, StoreName + "重置中：旋转轴运动到P1，上下轴走到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
LogUtil.info(LOGGER, StoreName + "到待机状态完成");
......@@ -528,7 +534,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "原点返回中，进出轴已经回原点， 进出轴退回P1点，关闭仓门，检测叉子没有料盘");
//进出轴原点返回完成，将进出轴的位置设置=0
AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
//判断叉子没有料盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_3, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
......@@ -571,8 +577,8 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(LOGGER, StoreName + "原点返回中：旋转轴运动到P1,上下轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "原点返回完成");
......@@ -598,7 +604,9 @@ namespace OnlineStore.DeviceLibrary
ACServerManager.OpenPort(portName);
Thread.Sleep(100);
//初始化串口
ACServerManager.InitSlvAddr(portName, slvAddr);
//ACServerManager.InitSlvAddr(portName, slvAddr);
ACServerManager.InitSlvAddr(portName, slvAddr, moveAxis.TargetSpeed, moveAxis.AddSpeed, moveAxis.DelSpeed,
moveAxis.HomeHighSpeed,moveAxis.HomeLowSpeed,moveAxis.HomeAddSpeed);
Thread.Sleep(100);
//打开伺服
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -86,7 +86,7 @@ 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, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
......@@ -103,7 +103,7 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
}
LogUtil.error(LOGGER, WarnMsg, 12);
Alarm(StoreAlarmType.IoSingleTimeOut,"",WarnMsg,StoreMove.MoveType);
Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, StoreMove.MoveType);
}
if (list.Count > 0)
{
......@@ -247,7 +247,7 @@ namespace OnlineStore.DeviceLibrary
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
//ACAxisMove(Config.InOut_Axis, param.MoveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, param.MoveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(param.MoveP.InOut_P1);
}
else
......@@ -297,7 +297,7 @@ namespace OnlineStore.DeviceLibrary
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
}
else
......@@ -315,7 +315,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 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, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
//打开门 ，门上升
......@@ -323,7 +323,7 @@ namespace OnlineStore.DeviceLibrary
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{
......@@ -334,8 +334,8 @@ namespace OnlineStore.DeviceLibrary
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_03_ReturnHome)
{
......@@ -350,14 +350,14 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog(" 入库处理：(SI_05_DeviceToDoor 叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_04_CompressWare)
{
InStoreLog(" 入库处理：(SI_05_DeviceToDoor 叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{
......@@ -369,14 +369,14 @@ namespace OnlineStore.DeviceLibrary
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false));
System.Threading.Thread.Sleep(600);
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
{
InStoreLog(" 入库处理：（SI_07_DeviceBackFromDoor 叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
......@@ -385,8 +385,8 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog(" 入库处理：（SI_09_MoveToBag 移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）)开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
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);
......@@ -405,8 +405,8 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog(" 入库处理：（SI_09_MoveToBag 移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）)，关闭舱门 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
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);
......@@ -419,7 +419,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog(" 入库处理：（SI_11_DeviceToBag 叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else
{
......@@ -437,7 +437,7 @@ namespace OnlineStore.DeviceLibrary
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
InStoreLog(" 入库处理：（SI_11_DeviceToBag 叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
......@@ -449,7 +449,7 @@ namespace OnlineStore.DeviceLibrary
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
......@@ -474,8 +474,8 @@ namespace OnlineStore.DeviceLibrary
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P1, false));
}
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
//关闭门
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
......@@ -525,7 +525,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog(" 出库处理：(SO_02_DeviceBack 叉子先运动到P1 ，打开舱门 开始");
//ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
//打开舱门
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
......@@ -575,14 +575,14 @@ namespace OnlineStore.DeviceLibrary
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
}
ACAxisMove(Config.Middle_Axis, StoreMove.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed, Config.UpDown_Axis.StartSpeed);
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);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_04_DeviceToBag);
OutStoreLog(" 出库处理：(SO_04_DeviceToBag叉子进入库位中， 轴3（ 叉子） 至P3(库位取放料点））开始");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_04_DeviceToBag)
{
......@@ -594,13 +594,13 @@ namespace OnlineStore.DeviceLibrary
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false));
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack);
OutStoreLog(" 出库处理：（SO_06_BagDeviceBack，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点））开始");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed, Config.InOut_Axis.StartSpeed);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
......@@ -615,8 +615,8 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog(" 出库处理： （SO_08_ToDoorPosition所有设备运行到门，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P2（ 进料口出料前点））,打开舱门 开始");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//打开舱门
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
......@@ -638,8 +638,8 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog(" 出库处理： （SO_08_ToDoorPosition所有设备运行到门，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P2（ 进料口出料前点））开始");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed, Config.Middle_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//此处需要等待box门口没有盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_1, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.LOW));
......@@ -651,7 +651,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
OutStoreLog(" 出库处理：（SO_10_DeviceToDoor叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点））开始");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else
{
......@@ -668,7 +668,7 @@ namespace OnlineStore.DeviceLibrary
{
OutStoreLog(" 出库处理：（SO_10_DeviceToDoor叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点））开始");
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed, Config.InOut_Axis.StartSpeed);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_DeviceToDoor)
{
......@@ -679,7 +679,7 @@ namespace OnlineStore.DeviceLibrary
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P1, false));
}
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
{
......@@ -691,7 +691,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_13_GoBack);
OutStoreLog(" 出库处理：（SO_13_GoBack升降轴返回，， 轴2至P1（ 待机点）)开始，关闭舱门！");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed, Config.UpDown_Axis.StartSpeed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
......
source/DeviceLibrary/store/KTK_Store.cs
......@@ -255,7 +255,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 松下伺服电机运动
/// </summary>
protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, int startSpeed)
protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
{
moveAxis.TargetPosition = targetPosition;
AddAxisMoveTime(moveAxis);
......
source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs
......@@ -88,21 +88,21 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
//[CSVAttribute("目标速度")]
public int TargetSpeed { get; set; }
/// <summary>
/// 开始速度
/// </summary>
//[CSVAttribute("开始速度")]
public int StartSpeed { get; set; }
/// <summary>
/// 加速时间
/// 加速度
/// </summary>
//[CSVAttribute("加速时间")]
public short AccelTime { get; set; }
public short AddSpeed { get; set; }
/// <summary>
/// 减速时间
/// 减速度
/// </summary>
//[CSVAttribute("减速时间")]
public short DecelTime { get; set; }
public short DelSpeed { get; set; }
public int HomeLowSpeed { get; set; }
public int HomeHighSpeed { get; set; }
public int HomeAddSpeed { get; set; }
/// <summary>
/// 可以误差的脉冲范围的最小值
/// </summary>
......@@ -116,10 +116,10 @@ namespace OnlineStore.LoadCSVLibrary
/// 出入库目标值（只有出入库过程中才会有效）
/// </summary>
public int TargetPosition { get; set; }
/// <summary>
/// 速度倍率
/// </summary>
public int ResolveSpeed { get; set; }
///// <summary>
///// 速度倍率
///// </summary>
//public int ResolveSpeed { get; set; }
/// <summary>
/// 最小位置
/// </summary>
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
......@@ -47,123 +47,108 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("IsHasCompress_Axis")]
public int IsHasCompress_Axis { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制端口号 CompressAxis_PortName COM4
///// </summary>
//[ConfigProAttribute("CompressAxis_PortName")]
//public string CompressAxis_PortName { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制波特率 CompressAxis_PortBaudrate 9600
///// </summary>
//[ConfigProAttribute("CompressAxis_PortBaudrate")]
//public int CompressAxis_PortBaudrate { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制奇偶校验 CompressAxis_PortParity 2
///// </summary>
//[ConfigProAttribute("CompressAxis_PortParity")]
//public int CompressAxis_PortParity { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制停止位 CompressAxis_StopBits 1
///// </summary>
//[ConfigProAttribute("CompressAxis_StopBits")]
//public int CompressAxis_StopBits { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制初速度 CompressAxis_StartSpeed 100
///// </summary>
//[ConfigProAttribute("CompressAxis_StartSpeed")]
//public int CompressAxis_StartSpeed { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制最大速度 CompressAxis_MaxSpeed 10000
///// </summary>
//[ConfigProAttribute("CompressAxis_MaxSpeed")]
//public int CompressAxis_MaxSpeed { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制末速度 CompressAxis_EndSpeed 10000
///// </summary>
//[ConfigProAttribute("CompressAxis_EndSpeed")]
//public int CompressAxis_EndSpeed { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制加速度 CompressAxis_AddSpeed 5000
///// </summary>
//[ConfigProAttribute("CompressAxis_AddSpeed")]
//public int CompressAxis_AddSpeed { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制减速度 CompressAxis_DelSpeed 1000
///// </summary>
//[ConfigProAttribute("CompressAxis_DelSpeed")]
//public int CompressAxis_DelSpeed { get; set; }
///// <summary>
///// PRO 硕科步进电机（压紧轴）控制归零速度（原点返回速度） CompressAxis_HomeSpeed 10000
///// </summary>
//[ConfigProAttribute("CompressAxis_HomeSpeed")]
//public int CompressAxis_HomeSpeed { get; set; }
///// <summary>
///// PRO,硕科步进电机轴地址（压紧轴),CompressAxis_Slv,1,,,,,,
///// </summary>
//[ConfigProAttribute("CompressAxis_Slv")]
//public int CompressAxis_Slv { get; set; }
/// <summary>
/// PRO （轴一）旋转轴原点目标速度 MiddleAxis_TargetSpeed 30000
/// </summary>
[ConfigProAttribute("MiddleAxis_TargetSpeed")]
public int MiddleAxis_TargetSpeed { get; set; }
/// <summary>
/// PRO （轴一）旋转轴原点开始速度 MiddleAxis_StartSpeed 1000
/// </summary>
[ConfigProAttribute("MiddleAxis_StartSpeed")]
public int MiddleAxis_StartSpeed { get; set; }
/// <summary>
/// PRO （轴一）旋转轴加速时间 MiddleAxis_AccelTime 500
/// PRO （轴一）旋转轴加速度 MiddleAxis_AddSpeed 500
/// </summary>
[ConfigProAttribute("MiddleAxis_AccelTime")]
public short MiddleAxis_AccelTime { get; set; }
[ConfigProAttribute("MiddleAxis_AddSpeed")]
public short MiddleAxis_AddSpeed { get; set; }
/// <summary>
/// PRO （轴一）旋转轴减速时间 MiddleAxis_DecelTime 500
/// PRO （轴一）旋转轴减速度 MiddleAxis_DelSpeed 500
/// </summary>
[ConfigProAttribute("MiddleAxis_DecelTime")]
public short MiddleAxis_DecelTime { get; set; }
[ConfigProAttribute("MiddleAxis_DelSpeed")]
public short MiddleAxis_DelSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴原点目标速度 UpdownAxis_TargetSpeed 120000
/// </summary>
[ConfigProAttribute("UpdownAxis_TargetSpeed")]
public int UpdownAxis_TargetSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴原点开始速度 UpdownAxis_StartSpeed 15000
/// </summary>
[ConfigProAttribute("UpdownAxis_StartSpeed")]
public int UpdownAxis_StartSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴加速时间 UpdownAxis_AccelTime 200
/// PRO （轴二）升降轴轴加速度 UpdownAxis_AddSpeed 200
/// </summary>
[ConfigProAttribute("UpdownAxis_AccelTime")]
public short UpdownAxis_AccelTime { get; set; }
[ConfigProAttribute("UpdownAxis_AddSpeed")]
public short UpdownAxis_AddSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴减速时间 UpdownAxis_DecelTime 200
/// PRO （轴二）升降轴轴减速度 UpdownAxis_DelSpeed 200
/// </summary>
[ConfigProAttribute("UpdownAxis_DecelTime")]
public short UpdownAxis_DecelTime { get; set; }
[ConfigProAttribute("UpdownAxis_DelSpeed")]
public short UpdownAxis_DelSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴原点目标速度 InoutAxis_TargetSpeed 12000
/// </summary>
[ConfigProAttribute("InoutAxis_TargetSpeed")]
public int InoutAxis_TargetSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴加速度 InoutAxis_AddSpeed 200
/// </summary>
[ConfigProAttribute("InoutAxis_AddSpeed")]
public short InoutAxis_AddSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴减速度 InoutAxis_DelSpeed 200
/// </summary>
[ConfigProAttribute("InoutAxis_DelSpeed")]
public short InoutAxis_DelSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴原点开始速度 InoutAxis_StartSpeed 4000
/// PRO （轴一）旋转轴原点低速度 MiddleAxis_HomeLowSpeed 50
/// </summary>
[ConfigProAttribute("InoutAxis_StartSpeed")]
public int InoutAxis_StartSpeed { get; set; }
[ConfigProAttribute("MiddleAxis_HomeLowSpeed")]
public short MiddleAxis_HomeLowSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴加速时间 InoutAxis_AccelTime 200
/// PRO （轴一）旋转轴原点高速 MiddleAxis_HomeHighSpeed 100
/// </summary>
[ConfigProAttribute("InoutAxis_AccelTime")]
public short InoutAxis_AccelTime { get; set; }
[ConfigProAttribute("MiddleAxis_HomeHighSpeed")]
public short MiddleAxis_HomeHighSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴减速时间 InoutAxis_DecelTime 200
/// PRO （轴一）旋转轴原点加速度 MiddleAxis_HomeAddSpeed 30
/// </summary>
[ConfigProAttribute("InoutAxis_DecelTime")]
public short InoutAxis_DecelTime { get; set; }
[ConfigProAttribute("MiddleAxis_HomeAddSpeed")]
public short MiddleAxis_HomeAddSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴原点低速度 UpdownAxis_HomeLowSpeed 50
/// </summary>
[ConfigProAttribute("UpdownAxis_HomeLowSpeed")]
public short UpdownAxis_HomeLowSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴原点高速 UpdownAxis_HomeHighSpeed 100
/// </summary>
[ConfigProAttribute("UpdownAxis_HomeHighSpeed")]
public short UpdownAxis_HomeHighSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴轴原点加速度 UpdownAxis_HomeAddSpeed 30
/// </summary>
[ConfigProAttribute("UpdownAxis_HomeAddSpeed")]
public short UpdownAxis_HomeAddSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴原点低速 InoutAxis_HomeLowSpeed 50
/// </summary>
[ConfigProAttribute("InoutAxis_HomeLowSpeed")]
public short InoutAxis_HomeLowSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴原点高速 InoutAxis_HomeHighSpeed 100
/// </summary>
[ConfigProAttribute("InoutAxis_HomeHighSpeed")]
public short InoutAxis_HomeHighSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴原点加速度 InoutAxis_HomeAddSpeed 30
/// </summary>
[ConfigProAttribute("InoutAxis_HomeAddSpeed")]
public short InoutAxis_HomeAddSpeed { get; set; }
/// <summary>
......@@ -285,21 +270,21 @@ namespace OnlineStore.LoadCSVLibrary
public int Box_ResetACount { get; set; }
/// <summary>
/// PRO （轴一）旋转轴速度倍率 MiddleAxis_ResolveSpeed 10
/// </summary>
[ConfigProAttribute("MiddleAxis_ResolveSpeed")]
public int MiddleAxis_ResolveSpeed { get; set; }
/// <summary>
/// PRO （轴二）升降轴速度倍率 UpdownAxis_ResolveSpeed 20
/// </summary>
[ConfigProAttribute("UpdownAxis_ResolveSpeed")]
public int UpdownAxis_ResolveSpeed { get; set; }
/// <summary>
/// PRO （轴三）进出轴速度倍率 InoutAxis_ResolveSpeed 10
/// </summary>
[ConfigProAttribute("InoutAxis_ResolveSpeed")]
public int InoutAxis_ResolveSpeed { get; set; }
///// <summary>
///// PRO （轴一）旋转轴速度倍率 MiddleAxis_ResolveSpeed 10
///// </summary>
//[ConfigProAttribute("MiddleAxis_ResolveSpeed")]
//public int MiddleAxis_ResolveSpeed { get; set; }
///// <summary>
///// PRO （轴二）升降轴速度倍率 UpdownAxis_ResolveSpeed 20
///// </summary>
//[ConfigProAttribute("UpdownAxis_ResolveSpeed")]
//public int UpdownAxis_ResolveSpeed { get; set; }
///// <summary>
///// PRO （轴三）进出轴速度倍率 InoutAxis_ResolveSpeed 10
///// </summary>
//[ConfigProAttribute("InoutAxis_ResolveSpeed")]
//public int InoutAxis_ResolveSpeed { get; set; }
/// <summary>
......
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