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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
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正在显示 11 个修改的文件 包含 147 行增加 和 148 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
......@@ -67,42 +67,32 @@ namespace OnlineStore.ACSingleStore
return returnList;
}
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
......@@ -36,24 +36,22 @@ namespace OnlineStore.ACSingleStore
txtInOutP3S.Text = boxBean.Config.InOutAxis_P3_Speed.ToString();
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.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);
}
......@@ -459,7 +463,8 @@ namespace OnlineStore.ACSingleStore
// MessageBox.Show("位置超出"+axisC.Explain+"上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
// return;
//}
ACServerManager.RelMove(portName, SlvAddr, position, speed);
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);
}
......@@ -467,7 +472,8 @@ namespace OnlineStore.ACSingleStore
private void btnAxisStop_Click(object sender, EventArgs e)
{
string portName = txtAxisDeviceName.Text;
short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
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,,,,, ,
......@@ -43,42 +43,45 @@ 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,,,,,,
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,,,,,,
PRO,（轴一）旋转轴停止时可误差的脉冲数的最大值,MiddleAxis_ErrorCountMax,1000,,,,,,
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
......@@ -153,21 +153,27 @@ namespace OnlineStore.DeviceLibrary
/// 配置速度，加减速时间
/// </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/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>
......
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