叉子料盘检测信号修改。进出轴运动增加气缸下降验证

几米阳光
Commit 93713b36 由 几米阳光 编写于 2018-09-13 19:59:33 +0800
source/ACSingleStore/FrmAxisDebug.cs
source/ACSingleStore/FrmIOStatus.Designer.cs
source/ACSingleStore/FrmIOStatus.cs
source/ACSingleStore/FrmStoreBox.Designer.cs
source/ACSingleStore/FrmStoreBox.cs
source/ACSingleStore/记录.txt
source/DeviceLibrary/PanasonicServo/ACServerManager.cs
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs
--- a/source/ACSingleStore/FrmAxisDebug.cs
查看文件 @93713b3
+++ b/source/ACSingleStore/FrmAxisDebug.cs
查看文件 @93713b3
@@ -98,6 +98,11 @@ namespace OnlineStore.ACSingleStore
        private void btnInOutMove_MouseDown(object sender, MouseEventArgs e)
        {
+            if (ACStoreManager.store.LoacationIsDown().Equals(false))
+            {
+                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            }
            int speed = FormUtil.GetIntValue(txtInOutSpeed);
            if (speed <= 0)
            {
@@ -189,6 +194,11 @@ namespace OnlineStore.ACSingleStore
        private void btnInOutMovej_MouseDown(object sender, MouseEventArgs e)
        {
+            if (ACStoreManager.store.LoacationIsDown().Equals(false))
+            {
+                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            }
            int speed = FormUtil.GetIntValue(txtInOutSpeed);
            if (speed <= 0)
            {

--- a/source/ACSingleStore/FrmIOStatus.Designer.cs
查看文件 @93713b3
+++ b/source/ACSingleStore/FrmIOStatus.Designer.cs
查看文件 @93713b3
@@ -45,6 +45,9 @@
            this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
            this.groupBox3 = new System.Windows.Forms.GroupBox();
            this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
+            this.button1 = new System.Windows.Forms.Button();
+            this.btnCloseLed = new System.Windows.Forms.Button();
+            this.btnOpenLed = new System.Windows.Forms.Button();
            this.groupBox1.SuspendLayout();
            this.groupBox4.SuspendLayout();
            this.groupBox3.SuspendLayout();
@@ -60,6 +63,9 @@
            // 
            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
            | System.Windows.Forms.AnchorStyles.Left)));
+            this.groupBox1.Controls.Add(this.btnCloseLed);
+            this.groupBox1.Controls.Add(this.btnOpenLed);
+            this.groupBox1.Controls.Add(this.button1);
            this.groupBox1.Controls.Add(this.btnCloseAxisBreak);
            this.groupBox1.Controls.Add(this.btnOpenAxisBreak);
            this.groupBox1.Controls.Add(this.btnLocationDown);
@@ -86,7 +92,7 @@
            this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
            this.groupBox1.Location = new System.Drawing.Point(17, 7);
            this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Size = new System.Drawing.Size(301, 505);
+            this.groupBox1.Size = new System.Drawing.Size(301, 516);
            this.groupBox1.TabIndex = 105;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "DO写入";
@@ -361,7 +367,7 @@
            this.groupBox4.Controls.Add(this.tableLayoutPanel2);
            this.groupBox4.Location = new System.Drawing.Point(517, 7);
            this.groupBox4.Name = "groupBox4";
-            this.groupBox4.Size = new System.Drawing.Size(184, 505);
+            this.groupBox4.Size = new System.Drawing.Size(184, 516);
            this.groupBox4.TabIndex = 104;
            this.groupBox4.TabStop = false;
            this.groupBox4.Text = "DO列表";
@@ -378,7 +384,7 @@
            this.tableLayoutPanel2.RowCount = 2;
            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
            this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
-            this.tableLayoutPanel2.Size = new System.Drawing.Size(173, 485);
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(173, 496);
            this.tableLayoutPanel2.TabIndex = 103;
            // 
            // groupBox3
@@ -388,7 +394,7 @@
            this.groupBox3.Controls.Add(this.tableLayoutPanel1);
            this.groupBox3.Location = new System.Drawing.Point(326, 7);
            this.groupBox3.Name = "groupBox3";
-            this.groupBox3.Size = new System.Drawing.Size(184, 505);
+            this.groupBox3.Size = new System.Drawing.Size(184, 516);
            this.groupBox3.TabIndex = 103;
            this.groupBox3.TabStop = false;
            this.groupBox3.Text = "DI列表";
@@ -405,14 +411,47 @@
            this.tableLayoutPanel1.RowCount = 2;
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(173, 485);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(173, 496);
            this.tableLayoutPanel1.TabIndex = 102;
            // 
+            // button1
+            // 
+            this.button1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.button1.Location = new System.Drawing.Point(27, 463);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(126, 37);
+            this.button1.TabIndex = 254;
+            this.button1.Text = "关闭";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
+            // 
+            // btnCloseLed
+            // 
+            this.btnCloseLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnCloseLed.Location = new System.Drawing.Point(144, 386);
+            this.btnCloseLed.Name = "btnCloseLed";
+            this.btnCloseLed.Size = new System.Drawing.Size(102, 34);
+            this.btnCloseLed.TabIndex = 256;
+            this.btnCloseLed.Text = "关闭照明";
+            this.btnCloseLed.UseVisualStyleBackColor = true;
+            this.btnCloseLed.Click += new System.EventHandler(this.btnCloseLed_Click);
+            // 
+            // btnOpenLed
+            // 
+            this.btnOpenLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnOpenLed.Location = new System.Drawing.Point(27, 386);
+            this.btnOpenLed.Name = "btnOpenLed";
+            this.btnOpenLed.Size = new System.Drawing.Size(102, 34);
+            this.btnOpenLed.TabIndex = 255;
+            this.btnOpenLed.Text = "打开照明";
+            this.btnOpenLed.UseVisualStyleBackColor = true;
+            this.btnOpenLed.Click += new System.EventHandler(this.btnOpenLed_Click);
+            // 
            // FrmIOStatus
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(722, 523);
+            this.ClientSize = new System.Drawing.Size(722, 534);
            this.Controls.Add(this.groupBox1);
            this.Controls.Add(this.groupBox4);
            this.Controls.Add(this.groupBox3);
@@ -462,6 +501,9 @@
        private System.Windows.Forms.Button btnLocationUp;
        private System.Windows.Forms.Button btnCloseAxisBreak;
        private System.Windows.Forms.Button btnOpenAxisBreak;
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.Button btnCloseLed;
+        private System.Windows.Forms.Button btnOpenLed;
    }
 }
--- a/source/ACSingleStore/FrmIOStatus.cs
查看文件 @93713b3
+++ b/source/ACSingleStore/FrmIOStatus.cs
查看文件 @93713b3
@@ -272,5 +272,22 @@ namespace OnlineStore.ACSingleStore
            boxBean.KNDIOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
        }
+        private void button1_Click(object sender, EventArgs e)
+        {
+            this.Close();
+        }
+        private void btnOpenLed_Click(object sender, EventArgs e)
+        {
+            boxBean.KNDIOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
+        }
+        private void btnCloseLed_Click(object sender, EventArgs e)
+        {
+            boxBean.KNDIOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
+        }
    }
 }
--- a/source/ACSingleStore/FrmStoreBox.Designer.cs
查看文件 @93713b3
+++ b/source/ACSingleStore/FrmStoreBox.Designer.cs
查看文件 @93713b3
--- a/source/ACSingleStore/FrmStoreBox.cs
查看文件 @93713b3
+++ b/source/ACSingleStore/FrmStoreBox.cs
查看文件 @93713b3
@@ -229,6 +229,11 @@ namespace OnlineStore.ACSingleStore
                        lblWarnMsg.Text = lblWarnMsg.Text + "   右侧门未关";
                    }
                }
+                //如果不在出入库中，且叉子上有信号，需要提示检查叉子
+                if (store.storeRunStatus.Equals(StoreRunStatus.Runing) && store.KNDIOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                {
+                    lblWarnMsg.Text = lblWarnMsg.Text + "   叉子料盘检测有料，请检查";
+                }
                if (store.autoNext)
                {
                    string msg = store.autoMsg;
@@ -493,6 +498,11 @@ namespace OnlineStore.ACSingleStore
            //    MessageBox.Show("位置超出" + axisC.Explain + "上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
            //    return;
            //}
+            if (portName.Equals(store.Config.InOut_Axis.DeviceName) && (ACStoreManager.store.LoacationIsDown().Equals(false)))
+            {
+                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            } 
            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  ); 
        }
@@ -502,6 +512,11 @@ namespace OnlineStore.ACSingleStore
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            int speed = FormUtil.GetIntValue(txtASpeed);
+            if (portName.Equals(store.Config.InOut_Axis.DeviceName) && (ACStoreManager.store.LoacationIsDown().Equals(false)))
+            {
+                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                return;
+            }
            LogUtil.info("点击【匀速运动】，端口号【" + portName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
            ACServerManager.SpeedMove(portName, SlvAddr, speed); 
        }
@@ -520,6 +535,12 @@ namespace OnlineStore.ACSingleStore
            //    MessageBox.Show("位置超出"+axisC.Explain+"上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
            //    return;
            //}
+            if (portName.Equals(store.Config.InOut_Axis.DeviceName) && (ACStoreManager.store.LoacationIsDown().Equals(false)))
+            {
+                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                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);
        }
@@ -1169,7 +1190,7 @@ namespace OnlineStore.ACSingleStore
        private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
        {
-            DialogResult result = MessageBox.Show("是否确定退出？", "提示", MessageBoxButtons.YesNo);
+            DialogResult result = MessageBox.Show("是否确定退出？", "提示", MessageBoxButtons.YesNo,MessageBoxIcon.Asterisk);
            if (result.Equals(DialogResult.Yes))
            {
                ExitApp();

--- a/source/ACSingleStore/记录.txt
查看文件 @93713b3
+++ b/source/ACSingleStore/记录.txt
查看文件 @93713b3
@@ -6,5 +6,10 @@
 左右侧门增加开关
-旋转轴原点返回正方向，其他的原点返回负方向
 旋转轴进出轴正方向回原点，升降轴反方向回原点
+二维码修改：需要使用.net4.0版本才可以扫码
+料叉上的信号检测：复位时不检测此信号，等到复位完成再检测，如果料仓有信号，需要打开门让人把物料拿走
+轴三运动时要判断气缸到位
\ No newline at end of file
--- a/source/DeviceLibrary/PanasonicServo/ACServerManager.cs
查看文件 @93713b3
+++ b/source/DeviceLibrary/PanasonicServo/ACServerManager.cs
查看文件 @93713b3
@@ -301,17 +301,17 @@ namespace OnlineStore.DeviceLibrary
            if (portName.Equals(ACStoreManager.store.Config.Middle_Axis.DeviceName))
            { 
                UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove0);
-                LogUtil.info("旋转轴原点返回方向：正方向");
+                LogUtil.debug("旋转轴原点返回方向：正方向");
            } 
            else if (portName.Equals(ACStoreManager.store.Config.InOut_Axis.DeviceName))
            {
                UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove0);
-                LogUtil.info("进出轴原点返回方向：正方向");
+                LogUtil.debug("进出轴原点返回方向：正方向");
            }
            else
            {
                UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
-                LogUtil.info("升降轴原点返回方向：反方向");
+                LogUtil.debug("升降轴原点返回方向：反方向");
            }
            Thread.Sleep(SleepMSendons);
            OpenAndCloseSTB(portName, slvAddr);

--- a/source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
查看文件 @93713b3
+++ b/source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
查看文件 @93713b3
@@ -343,7 +343,7 @@ namespace OnlineStore.DeviceLibrary
            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 );
            //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)); 
        }
        public override void Reset()
        {
@@ -438,7 +438,7 @@ namespace OnlineStore.DeviceLibrary
                    AxisCountClear(Config.InOut_Axis); 
                    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_Fixture, IO_VALUE.LOW)); 
+                    //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); 
                    CloseDoorAndWait();
                    break;
                case StoreMoveStep.BOX_H_InOutToP1:
@@ -550,7 +550,7 @@ namespace OnlineStore.DeviceLibrary
                    AxisCountClear(Config.InOut_Axis); 
                    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_Fixture, IO_VALUE.LOW)); 
+                    //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); 
                    CloseDoorAndWait();
                    break;
@@ -886,7 +886,7 @@ namespace OnlineStore.DeviceLibrary
                        bool result = StartRun();
                        if (result.Equals(false))
                        {
-                            LogUtil.error("料仓启动失败，重新打卡定时器等待下次启动！");
+                            LogUtil.error("料仓启动失败，继续等待下次启动！");
                            int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
                            if (isAuto == 1)
                            {

--- a/source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
查看文件 @93713b3
+++ b/source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
查看文件 @93713b3
@@ -261,10 +261,14 @@ namespace OnlineStore.DeviceLibrary
            {
                if (!LoadParamPosition(param))
                {
-                    LogUtil.error(LOGGER, StoreName + " 启动入库出错，找不到库位信息");
+                    LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，找不到库位信息");
+                    return;
+                }
+                if (KNDIOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                {
+                    LogUtil.error(LOGGER, StoreName + " 启动入库【" + posId + "】出错，叉子料盘检测有料");
                    return;
                }
                LogUtil.info(LOGGER, StoreName + " 启动入库【" + posId + "】", storeMoveColor);
                storeRunStatus = StoreRunStatus.Busy;
                storeStatus = StoreStatus.InStoreExecute;
@@ -519,7 +523,12 @@ namespace OnlineStore.DeviceLibrary
            {
                if (!LoadParamPosition(param))
                {
-                    LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】出库出错，找不到库位信息");
+                    LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，找不到库位信息");
+                    return;
+                }
+                if (KNDIOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                {
+                    LogUtil.error(LOGGER, StoreName + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
                    return;
                }
                storeStatus = StoreStatus.OutStoreExecute;
@@ -688,8 +697,8 @@ namespace OnlineStore.DeviceLibrary
            {
                StoreMove.NextMoveStep(StoreMoveStep.SO_14_WaitTake);
                OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待10秒");
-                StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
                StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000));
+                StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
                StoreMove.OneWaitCanEndStep = true;
            }
            else if (StoreMove.MoveStep == StoreMoveStep.SO_14_WaitTake)
@@ -709,7 +718,17 @@ namespace OnlineStore.DeviceLibrary
            }
        }
+        public bool LoacationIsDown()
+        {
+            if (KNDIOValue(IO_Type.LocationCylinder_Down).Equals(IO_VALUE.HIGH)
+                || KNDIOValue(IO_Type.LocationCylinder_Up).Equals(IO_VALUE.LOW)
+                || KNDIOValue(IO_Type.LocationCylinder2_Down).Equals(IO_VALUE.HIGH)
+                || KNDIOValue(IO_Type.LocationCylinder2_Up).Equals(IO_VALUE.LOW))
+            {
+                return true;
+            }
+            return false;
+        }
        private void LocationUpAndWait()
        {
            if (Config.IsHasLocationCylinder>=1)

--- a/source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs
查看文件 @93713b3
+++ b/source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs
查看文件 @93713b3
@@ -268,15 +268,13 @@ namespace OnlineStore.LoadCSVLibrary
        /// </summary>
        public static string Fork_Return = "Fork_Return";
        /// <summary>
-        /// 进料口料盘确认1	TrayCheck_1
+        /// 料仓门口料盘检测	TrayCheck_1
        /// </summary>
        public static string TrayCheck_Door = "TrayCheck_Door";
        /// <summary>
-        /// 进料口料盘确认2	TrayCheck_2
+        /// 叉子料盘检测	TrayCheck_Fixture
        /// </summary> 
-        //public static string TrayCheck_2 = "TrayCheck_2";
        public static string TrayCheck_Fixture = "TrayCheck_Fixture"; 
-        //public static string TrayCheck_4 = "TrayCheck_4";
        /// <summary>
        /// 进出料口门上升端	Door_Up
        /// </summary>