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Commit a3002d6c 由 几米阳光
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调试修改

1 个父辈 0eb61213
内嵌 并排
正在显示 8 个修改的文件 包含 156 行增加 和 123 行删除
source/ACSingleStore/FrmAxisDebug.cs
...@@ -54,14 +54,17 @@ namespace OnlineStore.ACSingleStore ...@@ -54,14 +54,17 @@ namespace OnlineStore.ACSingleStore
private void btnMiddleMove_MouseDown(object sender, MouseEventArgs e) private void btnMiddleMove_MouseDown(object sender, MouseEventArgs e)
{ {
int speed = FormUtil.GetIntValue(txtMiddleSpeed); if (btnMiddleMove.BackColor.Equals(System.Drawing.SystemColors.Control))
if (speed <= 0)
{ {
MessageBox.Show("提示", "请先输入正确的速度"); int speed = FormUtil.GetIntValue(txtMiddleSpeed);
return; if (speed <= 0)
{
MessageBox.Show("提示", "请先输入正确的速度");
return;
}
btnMiddleMove.BackColor = Color.Green;
AxisMove(middle, speed);
} }
btnMiddleMove.BackColor = Color.Green;
AxisMove(middle, speed);
} }
private void btnMiddleMove_MouseUp(object sender, MouseEventArgs e) private void btnMiddleMove_MouseUp(object sender, MouseEventArgs e)
...@@ -76,14 +79,17 @@ namespace OnlineStore.ACSingleStore ...@@ -76,14 +79,17 @@ namespace OnlineStore.ACSingleStore
private void btnUpDownMove_MouseDown(object sender, MouseEventArgs e) private void btnUpDownMove_MouseDown(object sender, MouseEventArgs e)
{ {
int speed = FormUtil.GetIntValue(txtUpDownSpeed); if (btnUpDownMove.BackColor.Equals(System.Drawing.SystemColors.Control))
if (speed <= 0)
{ {
MessageBox.Show("提示", "请先输入正确的速度"); int speed = FormUtil.GetIntValue(txtUpDownSpeed);
return; if (speed <= 0)
{
MessageBox.Show("提示", "请先输入正确的速度");
return;
}
btnUpDownMove.BackColor = Color.Green;
AxisMove(updown, speed);
} }
btnUpDownMove.BackColor = Color.Green;
AxisMove(updown, speed);
} }
private void btnUpDownMove_MouseUp(object sender, MouseEventArgs e) private void btnUpDownMove_MouseUp(object sender, MouseEventArgs e)
...@@ -98,19 +104,22 @@ namespace OnlineStore.ACSingleStore ...@@ -98,19 +104,22 @@ namespace OnlineStore.ACSingleStore
private void btnInOutMove_MouseDown(object sender, MouseEventArgs e) private void btnInOutMove_MouseDown(object sender, MouseEventArgs e)
{ {
if ( ACStoreManager.store.InOutAxisCanMove().Equals(false)) if (this.btnInOutMove.BackColor .Equals(System.Drawing.SystemColors.Control))
{
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)
{ {
MessageBox.Show("提示", "请先输入正确的速度"); if (ACStoreManager.store.InOutAxisCanMove().Equals(false))
return; {
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)
{
MessageBox.Show("提示", "请先输入正确的速度");
return;
}
this.btnInOutMove.BackColor = Color.Green;
AxisMove(inout, speed);
} }
this.btnInOutMove.BackColor = Color.Green;
AxisMove(inout, speed);
} }
private void btnInOutMove_MouseUp(object sender, MouseEventArgs e) private void btnInOutMove_MouseUp(object sender, MouseEventArgs e)
...@@ -121,20 +130,20 @@ namespace OnlineStore.ACSingleStore ...@@ -121,20 +130,20 @@ namespace OnlineStore.ACSingleStore
ACServerManager.SuddenStop(inout.DeviceName, inout.GetAxisValue()); ACServerManager.SuddenStop(inout.DeviceName, inout.GetAxisValue());
UpdateInOutPosition(); UpdateInOutPosition();
} }
} }
private void btnMiddleMovej_MouseDown(object sender, MouseEventArgs e) private void btnMiddleMovej_MouseDown(object sender, MouseEventArgs e)
{ {
int speed = FormUtil.GetIntValue(txtMiddleSpeed); if (btnMiddleMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
if (speed <= 0)
{ {
MessageBox.Show("提示", "请先输入正确的速度"); int speed = FormUtil.GetIntValue(txtMiddleSpeed);
return; if (speed <= 0)
{
MessageBox.Show("提示", "请先输入正确的速度");
return;
}
this.btnMiddleMovej.BackColor = Color.Green;
AxisMove(middle, -speed);
} }
this.btnMiddleMovej.BackColor = Color.Green;
AxisMove(middle, -speed);
} }
private void btnMiddleMovej_MouseUp(object sender, MouseEventArgs e) private void btnMiddleMovej_MouseUp(object sender, MouseEventArgs e)
...@@ -149,14 +158,17 @@ namespace OnlineStore.ACSingleStore ...@@ -149,14 +158,17 @@ namespace OnlineStore.ACSingleStore
private void btnUpDownMovej_MouseDown(object sender, MouseEventArgs e) private void btnUpDownMovej_MouseDown(object sender, MouseEventArgs e)
{ {
int speed = FormUtil.GetIntValue(txtUpDownSpeed); if (btnUpDownMovej.BackColor .Equals( System.Drawing.SystemColors.Control))
if (speed <= 0)
{ {
MessageBox.Show("提示", "请先输入正确的速度"); int speed = FormUtil.GetIntValue(txtUpDownSpeed);
return; if (speed <= 0)
{
MessageBox.Show("提示", "请先输入正确的速度");
return;
}
btnUpDownMovej.BackColor = Color.Green;
AxisMove(updown, -speed);
} }
btnUpDownMovej.BackColor = Color.Green;
AxisMove(updown, -speed);
} }
private void btnUpDownMovej_MouseUp(object sender, MouseEventArgs e) private void btnUpDownMovej_MouseUp(object sender, MouseEventArgs e)
...@@ -171,19 +183,22 @@ namespace OnlineStore.ACSingleStore ...@@ -171,19 +183,22 @@ namespace OnlineStore.ACSingleStore
private void btnInOutMovej_MouseDown(object sender, MouseEventArgs e) private void btnInOutMovej_MouseDown(object sender, MouseEventArgs e)
{ {
if (ACStoreManager.store.InOutAxisCanMove().Equals(false)) if (btnInOutMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
{ {
MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning); if (ACStoreManager.store.InOutAxisCanMove().Equals(false))
return; {
} MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
int speed = FormUtil.GetIntValue(txtInOutSpeed); return;
if (speed <= 0) }
{ int speed = FormUtil.GetIntValue(txtInOutSpeed);
MessageBox.Show("提示", "请先输入正确的速度"); if (speed <= 0)
return; {
MessageBox.Show("提示", "请先输入正确的速度");
return;
}
this.btnInOutMovej.BackColor = Color.Green;
AxisMove(inout, -speed);
} }
this.btnInOutMovej.BackColor = Color.Green;
AxisMove(inout, -speed);
} }
private void btnInOutMovej_MouseUp(object sender, MouseEventArgs e) private void btnInOutMovej_MouseUp(object sender, MouseEventArgs e)
......
source/ACSingleStore/FrmStoreBox.Designer.cs
...@@ -1461,7 +1461,7 @@ ...@@ -1461,7 +1461,7 @@
this.btnUpDownP7.RightToLeft = System.Windows.Forms.RightToLeft.No; this.btnUpDownP7.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnUpDownP7.Size = new System.Drawing.Size(140, 27); this.btnUpDownP7.Size = new System.Drawing.Size(140, 27);
this.btnUpDownP7.TabIndex = 203; this.btnUpDownP7.TabIndex = 203;
this.btnUpDownP7.Text = "升降轴取料缓冲点P7："; this.btnUpDownP7.Text = "升降轴入料缓冲点P7：";
this.btnUpDownP7.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; this.btnUpDownP7.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.btnUpDownP7.UseVisualStyleBackColor = true; this.btnUpDownP7.UseVisualStyleBackColor = true;
this.btnUpDownP7.Click += new System.EventHandler(this.btnUpDownP7_Click); this.btnUpDownP7.Click += new System.EventHandler(this.btnUpDownP7_Click);
...@@ -1497,7 +1497,7 @@ ...@@ -1497,7 +1497,7 @@
this.btnUpDownP1.RightToLeft = System.Windows.Forms.RightToLeft.No; this.btnUpDownP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnUpDownP1.Size = new System.Drawing.Size(140, 27); this.btnUpDownP1.Size = new System.Drawing.Size(140, 27);
this.btnUpDownP1.TabIndex = 199; this.btnUpDownP1.TabIndex = 199;
this.btnUpDownP1.Text = "升降轴取料点P1："; this.btnUpDownP1.Text = "升降轴入料点P1：";
this.btnUpDownP1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft; this.btnUpDownP1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.btnUpDownP1.UseVisualStyleBackColor = true; this.btnUpDownP1.UseVisualStyleBackColor = true;
this.btnUpDownP1.Click += new System.EventHandler(this.btnUpDownP1_Click); this.btnUpDownP1.Click += new System.EventHandler(this.btnUpDownP1_Click);
......
source/ACSingleStore/FrmStoreBox.cs
...@@ -153,6 +153,7 @@ namespace OnlineStore.ACSingleStore ...@@ -153,6 +153,7 @@ namespace OnlineStore.ACSingleStore
this.ShowInTaskbar = true; this.ShowInTaskbar = true;
this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title); this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
LoadOk = true; LoadOk = true;
cmbHomeType.SelectedIndex = 1;
HideForm(); HideForm();
} }
private DateTime preReadModblsTime = DateTime.Now; private DateTime preReadModblsTime = DateTime.Now;
......
source/DeviceLibrary/KangNaiDe/KNDAIManager.cs
...@@ -142,8 +142,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,8 +142,8 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
ConnectionIP(io);
LogUtil.error(LOGGER, "AI模块" + io + "当前没有连上，重连" + io); LogUtil.error(LOGGER, "AI模块" + io + "当前没有连上，重连" + io);
ConnectionIP(io);
} }
PreCheckTime = DateTime.Now; PreCheckTime = DateTime.Now;
} }
......
source/DeviceLibrary/ShuoKe/ShuoKeControls.cs
...@@ -5,7 +5,7 @@ using System.Collections.Generic; ...@@ -5,7 +5,7 @@ using System.Collections.Generic;
using System.IO.Ports; using System.IO.Ports;
using System.Linq; using System.Linq;
using System.Text; using System.Text;
using System.Threading;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
...@@ -232,7 +232,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -232,7 +232,10 @@ namespace OnlineStore.DeviceLibrary
/// <param name="homeType">0=反方向，1=正方向</param> /// <param name="homeType">0=反方向，1=正方向</param>
public static void HomeMove(int slvAddr, byte homeType) public static void HomeMove(int slvAddr, byte homeType)
{ {
byte[] sendData = WriteData(slvAddr, ShuoKeCMD.HomeMove, 0x01, homeType); string fangx = homeType.Equals(0) ? "反方向" : "正方向";
LogUtil.info("压紧轴原点返回：" + fangx);
byte[] sendData = WriteData(slvAddr, ShuoKeCMD.HomeMove, 0x01, homeType);
Thread.Sleep(100);
} }
public static void VolMove(int slvAddr, int speed) public static void VolMove(int slvAddr, int speed)
{ {
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -398,9 +398,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -398,9 +398,10 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_H_OtherAxisBack: case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1！"); LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "复位完成"); LogUtil.info(LOGGER, StoreName + "复位完成");
...@@ -426,9 +427,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -426,9 +427,10 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StoreMoveStep.BOX_M_H_TOP1_CompressHome: case StoreMoveStep.BOX_M_H_TOP1_CompressHome:
StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1);
LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1！"); LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
break; break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1: case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
LogUtil.info(LOGGER, StoreName + "到待机状态完成"); LogUtil.info(LOGGER, StoreName + "到待机状态完成");
...@@ -444,6 +446,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -444,6 +446,18 @@ namespace OnlineStore.DeviceLibrary
default: break; default: break;
} }
} }
private void ComMoveToPosition(int targetPosition)
{
if (IsHasCompress_Axis)
{
LogUtil.info("压紧轴绝对运动目标位置："+targetPosition);
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, targetPosition);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, targetPosition, false));
Thread.Sleep(100);
}
}
private void OpenDoorAndWait() private void OpenDoorAndWait()
{ {
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW); KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
...@@ -512,12 +526,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -512,12 +526,12 @@ namespace OnlineStore.DeviceLibrary
ACAxisHomeMove(Config.UpDown_Axis); ACAxisHomeMove(Config.UpDown_Axis);
break; break;
case StoreMoveStep.BOX_H_OtherAxisBack: case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到P1！"); LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到P1,压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "回原点完成"); LogUtil.info(LOGGER, StoreName + "回原点完成");
...@@ -949,11 +963,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -949,11 +963,11 @@ namespace OnlineStore.DeviceLibrary
if (isWaitScan) if (isWaitScan)
{ {
TimeSpan span = DateTime.Now - StartWaitScanTime; TimeSpan span = DateTime.Now - StartWaitScanTime;
if (span.TotalSeconds > 0.5) if (span.TotalSeconds > 1)
{ {
isWaitScan = false; isWaitScan = false;
IsScanCode = true; IsScanCode = true;
LogUtil.info(StoreName + "检测到料盘信号且等待0.5秒，开始扫码"); LogUtil.info(StoreName + "检测到料盘信号且等待1秒，开始扫码");
//BeginScannering(); //BeginScannering();
GetCameraCode(); GetCameraCode();
} }
...@@ -1329,16 +1343,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -1329,16 +1343,15 @@ namespace OnlineStore.DeviceLibrary
foreach (string str in codeList) foreach (string str in codeList)
{ {
string code = HDevelopExport.SubStrCode(str); string code = HDevelopExport.SubStrCode(str);
code = "=7X" + height + " =" + code; code = "=1+0x0-7x" + height + " =" + code;
message = message + code + spiltStr; message = message + code + spiltStr;
} }
if (!outMsg.Equals("")) if (!outMsg.Equals(""))
{ {
LogUtil.error("盘尺寸错误，清理二维码【"+message+"】"); LogUtil.error("盘尺寸错误，清理二维码【" + message + "】");
message = ""; message = "";
} }
KNDIOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW); KNDIOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
onCodeReceived(message); onCodeReceived(message);
} }
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -307,11 +307,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -307,11 +307,12 @@ namespace OnlineStore.DeviceLibrary
{ {
InStoreLog("入库：SI_03 所有轴回到待机点，轴2、轴1 动作到P1,，轴4动作至P3"); InStoreLog("入库：SI_03 所有轴回到待机点，轴2、轴1 动作到P1,，轴4动作至P3");
StoreMove.NextMoveStep(StoreMoveStep.SI_03_ReturnHome); StoreMove.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
if (IsHasCompress_Axis) ComMoveToPosition(moveP.ComPress_P3);
{ //if (IsHasCompress_Axis)
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3); //{
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false)); // 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); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
} }
...@@ -321,8 +322,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -321,8 +322,9 @@ namespace OnlineStore.DeviceLibrary
{ {
InStoreLog("入库：SI_04_CompressWare 压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始"); InStoreLog("入库：SI_04_CompressWare 压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_04_CompressWare); StoreMove.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3); ComMoveToPosition(moveP.ComPress_P3);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false)); //ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
} }
else else
{ {
...@@ -341,12 +343,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -341,12 +343,13 @@ namespace OnlineStore.DeviceLibrary
{ {
InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) "); InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice); StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
if (IsHasCompress_Axis) ComMoveToPosition(moveP.ComPress_P2);
{ //if (IsHasCompress_Axis)
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2); //{
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false)); // ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
System.Threading.Thread.Sleep(600); // 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); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
} }
...@@ -413,11 +416,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -413,11 +416,12 @@ namespace OnlineStore.DeviceLibrary
{ {
InStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) "); InStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
if (IsHasCompress_Axis) ComMoveToPosition(moveP.ComPress_P3);
{ //if (IsHasCompress_Axis)
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3); //{
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false)); // 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); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag) else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
...@@ -438,11 +442,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -438,11 +442,12 @@ namespace OnlineStore.DeviceLibrary
{ {
InStoreLog("入库：SI_14 返回待机点，轴2/轴1/轴4动作至P1(待机点))，检测门关闭"); InStoreLog("入库：SI_14 返回待机点，轴2/轴1/轴4动作至P1(待机点))，检测门关闭");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack); StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
if (IsHasCompress_Axis) ComMoveToPosition(moveP.ComPress_P1);
{ //if (IsHasCompress_Axis)
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1); //{
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P1, false)); // 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); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoorAndWait(); CloseDoorAndWait();
...@@ -536,11 +541,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -536,11 +541,12 @@ namespace OnlineStore.DeviceLibrary
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition); StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
OutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)"); OutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
if (IsHasCompress_Axis) ComMoveToPosition(moveP.ComPress_P3);
{ //if (IsHasCompress_Axis)
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3); //{
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false)); // 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); 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); ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
} }
...@@ -555,11 +561,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -555,11 +561,12 @@ namespace OnlineStore.DeviceLibrary
OutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) "); OutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice); StoreMove.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
//电缸微动至对应料盘的上端位置 //电缸微动至对应料盘的上端位置
if (IsHasCompress_Axis) //if (IsHasCompress_Axis)
{ //{
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2); // ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false)); // StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false));
} //}
ComMoveToPosition(moveP.ComPress_P2);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice) else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
...@@ -632,11 +639,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -632,11 +639,13 @@ namespace OnlineStore.DeviceLibrary
{ {
OutStoreLog("出库：SO_11 放下物品，升降轴至P8(进料口出料缓冲点) "); OutStoreLog("出库：SO_11 放下物品，升降轴至P8(进料口出料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare); StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
if (IsHasCompress_Axis)
{ ComMoveToPosition(moveP.ComPress_P1);
ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1); //if (IsHasCompress_Axis)
StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P1, false)); //{
} // 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); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare) else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
......
source/DeviceLibrary/halcon/HDevelopExport.cs
...@@ -73,24 +73,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -73,24 +73,16 @@ namespace OnlineStore.DeviceLibrary
{ {
HObject ho_Image = HDevelopExport.GrabImage(cameraName); HObject ho_Image = HDevelopExport.GrabImage(cameraName);
List<string> codeList = HDevelopExport.GetCode(ho_Image); List<string> codeList = HDevelopExport.GetCode(ho_Image);
if (codeList.Count > 0) //if (codeList.Count > 0)
{ //{
Bitmap bitmap = HObject2Bpp24(ho_Image); // Bitmap bitmap = HObject2Bpp24(ho_Image);
//DateTime time = DateTime.Now; // if (Exist(bitmap))
//try // {
//{ // msg = "盘尺寸错误";
// string name = time.Hour.ToString() + time.Minute.ToString() + time.Second.ToString() + time.Millisecond.ToString() + ".jpg"; // LogUtil.error("盘尺寸错误！");
// bitmap.Save(name); // }
//} // bitmap = null;
//catch(Exception ex) //}
//{
//}
if (Exist(bitmap))
{
msg = "盘尺寸错误";
LogUtil.error("盘尺寸错误！");
}
}
allCodeList.AddRange(codeList); allCodeList.AddRange(codeList);
} }
} }
......
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