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Commit a8c0887a 由 LN
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复位修改。

1 个父辈 5838f53a
内嵌 并排
正在显示 2 个修改的文件 包含 36 行增加 和 41 行删除
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -223,7 +223,7 @@ namespace OnlineStore.DeviceLibrary
else
{
if (suddenBtn.Equals(IO_VALUE.LOW))
{
{
LogUtil.error(LOGGER, " (" + StoreName + ")启动出现错误：急停没开 ！启动失败！");
}
else
......@@ -255,8 +255,6 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
ACAxisHomeMove(Config.InOut_Axis);
LogUtil.info(LOGGER, StoreName + "开始原点返回，先把进出轴回原点");
//设置速度
//SetShuokeSpeed();
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
public void MoveToP1()
......@@ -282,22 +280,18 @@ namespace OnlineStore.DeviceLibrary
{
CurrInOutCount = 0;
CurrInOutACount = 0;
ClearInoutFail();
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
//复位之前先停止运行
if (isNeedClearAuto)
{
autoNext = false;
}
ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.Middle_Axis);
ACServerManager.SuddenStop(Config.UpDown_Axis);
ACServerManager.SuddenStop(Config.InOut_Axis);
IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
IOManager.IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
isInSuddenDown = false;
isNoAirCheck = false;
alarmType = StoreAlarmType.None;
......@@ -305,27 +299,33 @@ namespace OnlineStore.DeviceLibrary
storeStatus = StoreStatus.ResetMove;
StoreMove.NewMove(StoreMoveType.StoreReset);
SetWarnMsg();
if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
LogUtil.info(LOGGER, StoreName + "复位失败，急停未开");
return;
}
if (IOManager.IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
{
LogUtil.info(LOGGER, StoreName + "复位失败，没有气压信号");
return;
}
if (!RunAxis(true))
////打开四个轴
//if (!OpenAllAxis())
{
LogUtil.info(LOGGER, StoreName + "复位时打开轴失败，需要再次复位，直接报警停止复位");
return;
}
mainTimer.Enabled = false;
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_LocationCylinderBack);
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
InoutStartReset();
//硕科压紧轴回原点
//SetShuokeSpeed();
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else
{
LogUtil.info(LOGGER, StoreName + "开始复位：先定位气缸下降");
// 复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_LocationCylinderBack);
LocationDownAndWait();
}
mainTimer.Enabled = true;
isInPro = false;
}
private void InoutStartReset()
......@@ -334,9 +334,9 @@ namespace OnlineStore.DeviceLibrary
int slvAddr = Config.InOut_Axis.GetAxisValue();
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
LogUtil.info(LOGGER, StoreName + "复位中，进出轴开始原点返回");
ACAxisHomeMove(Config.InOut_Axis);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
/// <summary>
/// 复位处理
......@@ -354,39 +354,32 @@ namespace OnlineStore.DeviceLibrary
switch (StoreMove.MoveStep)
{
case StoreMoveStep.BOX_H_LocationCylinderBack:
//StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
//ACAxisHomeMove(Config.InOut_Axis);
//LogUtil.info(LOGGER, StoreName + "复位中：进出轴回原点。。");
//StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
InoutStartReset();
break;
case StoreMoveStep.BOX_H_InOutMove:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
ACAxisHomeMove(Config.InOut_Axis);
LogUtil.info(LOGGER, StoreName + "复位中：进出轴开始原点返回");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
break;
//case StoreMoveStep.BOX_H_InOutMove:
// InoutStartReset();
// break;
case StoreMoveStep.BOX_H_InOutBack:
Thread.Sleep(200);
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutToP1);
LogUtil.info(LOGGER, StoreName + "复位中：进出轴到待机点P1，关闭舱门");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
//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);
// ComBeforeHomeMove();
//判断叉子没有料盘
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
CloseDoorAndWait();
break;
case StoreMoveStep.BOX_H_InOutToP1:
//如果此时轴三还在报警，需要提示错误并等待
if (ACServerManager.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0)
{
LogUtil.error(LOGGER, "进出轴报警！复位失败，请检查！");
LogUtil.error(LOGGER,StoreName+ "复位[" + StoreMove.MoveStep+"]过程中，进出轴报警！复位失败，请检查！");
return;
}
//复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
LogUtil.info(LOGGER, StoreName + "复位中： 压紧轴，旋转轴，上下轴开始 原点返回");
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (IsHasCompress_Axis)
{
ACAxisHomeMove(Config.Comp_Axis);
......@@ -397,6 +390,7 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
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.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
......@@ -426,6 +420,7 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_M_H_TOP1_CompressHome:
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，压紧轴到P1！");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position,Config.CompAxis_P1_Speed);
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -125,10 +125,10 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
BOX_H_LocationCylinderBack=010,
/// <summary>
/// 料仓原点返回和重置步骤，轴三先相对走3000
/// </summary>
BOX_H_InOutMove=011,
///// <summary>
///// 料仓原点返回和重置步骤，等待开始原点返回
///// </summary>
//BOX_H_InOutMove=011,
/// <summary>
/// 料仓原点返回和重置步骤，，轴三进出轴先返回原点
/// </summary>
......
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