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Commit c2b136f3 由 ke.sun
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调试修改

1 个父辈 88520123
内嵌 并排
正在显示 13 个修改的文件 包含 700 行增加 和 614 行删除
source/ACSingleStore/FrmIOStatus.Designer.cs
...@@ -43,6 +43,8 @@ ...@@ -43,6 +43,8 @@
this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
this.groupBox3 = new System.Windows.Forms.GroupBox(); this.groupBox3 = new System.Windows.Forms.GroupBox();
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel(); this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.btnCloseAxisBreak = new System.Windows.Forms.Button();
this.btnOpenAxisBreak = new System.Windows.Forms.Button();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.groupBox4.SuspendLayout(); this.groupBox4.SuspendLayout();
this.groupBox3.SuspendLayout(); this.groupBox3.SuspendLayout();
...@@ -56,6 +58,8 @@ ...@@ -56,6 +58,8 @@
// //
// groupBox1 // groupBox1
// //
this.groupBox1.Controls.Add(this.btnCloseAxisBreak);
this.groupBox1.Controls.Add(this.btnOpenAxisBreak);
this.groupBox1.Controls.Add(this.btnLocationDown); this.groupBox1.Controls.Add(this.btnLocationDown);
this.groupBox1.Controls.Add(this.btnLocationUp); this.groupBox1.Controls.Add(this.btnLocationUp);
this.groupBox1.Controls.Add(this.btnCloseDoor); this.groupBox1.Controls.Add(this.btnCloseDoor);
...@@ -88,7 +92,7 @@ ...@@ -88,7 +92,7 @@
// btnLocationDown // btnLocationDown
// //
this.btnLocationDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnLocationDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnLocationDown.Location = new System.Drawing.Point(144, 326); this.btnLocationDown.Location = new System.Drawing.Point(144, 308);
this.btnLocationDown.Name = "btnLocationDown"; this.btnLocationDown.Name = "btnLocationDown";
this.btnLocationDown.Size = new System.Drawing.Size(102, 34); this.btnLocationDown.Size = new System.Drawing.Size(102, 34);
this.btnLocationDown.TabIndex = 251; this.btnLocationDown.TabIndex = 251;
...@@ -99,7 +103,7 @@ ...@@ -99,7 +103,7 @@
// btnLocationUp // btnLocationUp
// //
this.btnLocationUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnLocationUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnLocationUp.Location = new System.Drawing.Point(27, 326); this.btnLocationUp.Location = new System.Drawing.Point(27, 308);
this.btnLocationUp.Name = "btnLocationUp"; this.btnLocationUp.Name = "btnLocationUp";
this.btnLocationUp.Size = new System.Drawing.Size(102, 34); this.btnLocationUp.Size = new System.Drawing.Size(102, 34);
this.btnLocationUp.TabIndex = 250; this.btnLocationUp.TabIndex = 250;
...@@ -110,7 +114,7 @@ ...@@ -110,7 +114,7 @@
// btnCloseDoor // btnCloseDoor
// //
this.btnCloseDoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnCloseDoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnCloseDoor.Location = new System.Drawing.Point(144, 282); this.btnCloseDoor.Location = new System.Drawing.Point(144, 270);
this.btnCloseDoor.Name = "btnCloseDoor"; this.btnCloseDoor.Name = "btnCloseDoor";
this.btnCloseDoor.Size = new System.Drawing.Size(102, 34); this.btnCloseDoor.Size = new System.Drawing.Size(102, 34);
this.btnCloseDoor.TabIndex = 249; this.btnCloseDoor.TabIndex = 249;
...@@ -121,7 +125,7 @@ ...@@ -121,7 +125,7 @@
// btnOpenDoor // btnOpenDoor
// //
this.btnOpenDoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnOpenDoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOpenDoor.Location = new System.Drawing.Point(27, 282); this.btnOpenDoor.Location = new System.Drawing.Point(27, 270);
this.btnOpenDoor.Name = "btnOpenDoor"; this.btnOpenDoor.Name = "btnOpenDoor";
this.btnOpenDoor.Size = new System.Drawing.Size(102, 34); this.btnOpenDoor.Size = new System.Drawing.Size(102, 34);
this.btnOpenDoor.TabIndex = 248; this.btnOpenDoor.TabIndex = 248;
...@@ -166,7 +170,7 @@ ...@@ -166,7 +170,7 @@
// btnReadAllDo // btnReadAllDo
// //
this.btnReadAllDo.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnReadAllDo.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnReadAllDo.Location = new System.Drawing.Point(144, 238); this.btnReadAllDo.Location = new System.Drawing.Point(144, 232);
this.btnReadAllDo.Name = "btnReadAllDo"; this.btnReadAllDo.Name = "btnReadAllDo";
this.btnReadAllDo.Size = new System.Drawing.Size(102, 34); this.btnReadAllDo.Size = new System.Drawing.Size(102, 34);
this.btnReadAllDo.TabIndex = 245; this.btnReadAllDo.TabIndex = 245;
...@@ -188,7 +192,7 @@ ...@@ -188,7 +192,7 @@
// btnReadAllDi // btnReadAllDi
// //
this.btnReadAllDi.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnReadAllDi.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnReadAllDi.Location = new System.Drawing.Point(27, 238); this.btnReadAllDi.Location = new System.Drawing.Point(27, 232);
this.btnReadAllDi.Name = "btnReadAllDi"; this.btnReadAllDi.Name = "btnReadAllDi";
this.btnReadAllDi.Size = new System.Drawing.Size(102, 34); this.btnReadAllDi.Size = new System.Drawing.Size(102, 34);
this.btnReadAllDi.TabIndex = 244; this.btnReadAllDi.TabIndex = 244;
...@@ -376,6 +380,28 @@ ...@@ -376,6 +380,28 @@
this.tableLayoutPanel1.Size = new System.Drawing.Size(173, 386); this.tableLayoutPanel1.Size = new System.Drawing.Size(173, 386);
this.tableLayoutPanel1.TabIndex = 102; this.tableLayoutPanel1.TabIndex = 102;
// //
// btnCloseAxisBreak
//
this.btnCloseAxisBreak.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnCloseAxisBreak.Location = new System.Drawing.Point(144, 346);
this.btnCloseAxisBreak.Name = "btnCloseAxisBreak";
this.btnCloseAxisBreak.Size = new System.Drawing.Size(102, 34);
this.btnCloseAxisBreak.TabIndex = 253;
this.btnCloseAxisBreak.Text = "关闭刹车";
this.btnCloseAxisBreak.UseVisualStyleBackColor = true;
this.btnCloseAxisBreak.Click += new System.EventHandler(this.btnCloseAxisBreak_Click);
//
// btnOpenAxisBreak
//
this.btnOpenAxisBreak.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnOpenAxisBreak.Location = new System.Drawing.Point(27, 346);
this.btnOpenAxisBreak.Name = "btnOpenAxisBreak";
this.btnOpenAxisBreak.Size = new System.Drawing.Size(102, 34);
this.btnOpenAxisBreak.TabIndex = 252;
this.btnOpenAxisBreak.Text = "打开刹车";
this.btnOpenAxisBreak.UseVisualStyleBackColor = true;
this.btnOpenAxisBreak.Click += new System.EventHandler(this.btnOpenAxisBreak_Click);
//
// FrmIOStatus // FrmIOStatus
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
...@@ -428,8 +454,8 @@ ...@@ -428,8 +454,8 @@
private System.Windows.Forms.Button btnOpenDoor; private System.Windows.Forms.Button btnOpenDoor;
private System.Windows.Forms.Button btnLocationDown; private System.Windows.Forms.Button btnLocationDown;
private System.Windows.Forms.Button btnLocationUp; private System.Windows.Forms.Button btnLocationUp;
private System.Windows.Forms.Button btnCloseAxisBreak;
private System.Windows.Forms.Button btnOpenAxisBreak;
} }
} }
source/ACSingleStore/FrmIOStatus.cs
...@@ -261,5 +261,16 @@ namespace OnlineStore.ACSingleStore ...@@ -261,5 +261,16 @@ namespace OnlineStore.ACSingleStore
{ {
SetSkin(this); SetSkin(this);
} }
private void btnOpenAxisBreak_Click(object sender, EventArgs e)
{
boxBean.KNDIOMove(IO_Type.Axis_Brake, IO_VALUE.HIGH);
}
private void btnCloseAxisBreak_Click(object sender, EventArgs e)
{
boxBean.KNDIOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
}
} }
} }
source/ACSingleStore/FrmStoreBox.Designer.cs
...@@ -149,11 +149,25 @@ ...@@ -149,11 +149,25 @@
this.txtPosition3 = new System.Windows.Forms.TextBox(); this.txtPosition3 = new System.Windows.Forms.TextBox();
this.txtPosition2 = new System.Windows.Forms.TextBox(); this.txtPosition2 = new System.Windows.Forms.TextBox();
this.txtPosition1 = new System.Windows.Forms.TextBox(); this.txtPosition1 = new System.Windows.Forms.TextBox();
this.label16 = new System.Windows.Forms.Label();
this.label15 = new System.Windows.Forms.Label();
this.label14 = new System.Windows.Forms.Label();
this.label11 = new System.Windows.Forms.Label();
this.txtHomeStatus = new System.Windows.Forms.TextBox();
this.button2 = new System.Windows.Forms.Button();
this.label10 = new System.Windows.Forms.Label();
this.txtBusyStatus = new System.Windows.Forms.TextBox();
this.button1 = new System.Windows.Forms.Button();
this.label2 = new System.Windows.Forms.Label();
this.txtAlarmStatus = new System.Windows.Forms.TextBox();
this.btnGetAlarm = new System.Windows.Forms.Button();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.groupBox5.SuspendLayout(); this.groupBox5.SuspendLayout();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.groupBox2.SuspendLayout(); this.groupBox2.SuspendLayout();
this.menuStrip1.SuspendLayout(); this.menuStrip1.SuspendLayout();
this.groupBox4.SuspendLayout(); this.groupBox4.SuspendLayout();
this.groupBox3.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// timer1 // timer1
...@@ -163,18 +177,31 @@ ...@@ -163,18 +177,31 @@
// //
// lblWarnMsg // lblWarnMsg
// //
this.lblWarnMsg.AutoSize = true;
this.lblWarnMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblWarnMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblWarnMsg.ForeColor = System.Drawing.Color.Red; this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
this.lblWarnMsg.Location = new System.Drawing.Point(455, 28); this.lblWarnMsg.Location = new System.Drawing.Point(12, 44);
this.lblWarnMsg.Name = "lblWarnMsg"; this.lblWarnMsg.Name = "lblWarnMsg";
this.lblWarnMsg.Size = new System.Drawing.Size(0, 20); this.lblWarnMsg.Size = new System.Drawing.Size(620, 40);
this.lblWarnMsg.TabIndex = 224; this.lblWarnMsg.TabIndex = 224;
this.lblWarnMsg.Text = "？";
this.lblWarnMsg.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
// //
// groupBox5 // groupBox5
// //
this.groupBox5.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) this.groupBox5.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.groupBox5.Controls.Add(this.label16);
this.groupBox5.Controls.Add(this.label15);
this.groupBox5.Controls.Add(this.label14);
this.groupBox5.Controls.Add(this.label11);
this.groupBox5.Controls.Add(this.txtHomeStatus);
this.groupBox5.Controls.Add(this.button2);
this.groupBox5.Controls.Add(this.label10);
this.groupBox5.Controls.Add(this.txtBusyStatus);
this.groupBox5.Controls.Add(this.button1);
this.groupBox5.Controls.Add(this.label2);
this.groupBox5.Controls.Add(this.txtAlarmStatus);
this.groupBox5.Controls.Add(this.btnGetAlarm);
this.groupBox5.Controls.Add(this.btnReadPosition); this.groupBox5.Controls.Add(this.btnReadPosition);
this.groupBox5.Controls.Add(this.lblServerOn); this.groupBox5.Controls.Add(this.lblServerOn);
this.groupBox5.Controls.Add(this.label7); this.groupBox5.Controls.Add(this.label7);
...@@ -201,9 +228,9 @@ ...@@ -201,9 +228,9 @@
this.groupBox5.Controls.Add(this.cmbAxisList); this.groupBox5.Controls.Add(this.cmbAxisList);
this.groupBox5.Controls.Add(this.label49); this.groupBox5.Controls.Add(this.label49);
this.groupBox5.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox5.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox5.Location = new System.Drawing.Point(621, 71); this.groupBox5.Location = new System.Drawing.Point(603, 121);
this.groupBox5.Name = "groupBox5"; this.groupBox5.Name = "groupBox5";
this.groupBox5.Size = new System.Drawing.Size(643, 203); this.groupBox5.Size = new System.Drawing.Size(642, 318);
this.groupBox5.TabIndex = 216; this.groupBox5.TabIndex = 216;
this.groupBox5.TabStop = false; this.groupBox5.TabStop = false;
this.groupBox5.Text = "伺服运动"; this.groupBox5.Text = "伺服运动";
...@@ -532,7 +559,7 @@ ...@@ -532,7 +559,7 @@
this.richTextBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.richTextBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.richTextBox1.Location = new System.Drawing.Point(22, 461); this.richTextBox1.Location = new System.Drawing.Point(22, 461);
this.richTextBox1.Name = "richTextBox1"; this.richTextBox1.Name = "richTextBox1";
this.richTextBox1.Size = new System.Drawing.Size(581, 259); this.richTextBox1.Size = new System.Drawing.Size(568, 250);
this.richTextBox1.TabIndex = 256; this.richTextBox1.TabIndex = 256;
this.richTextBox1.Text = ""; this.richTextBox1.Text = "";
// //
...@@ -560,9 +587,9 @@ ...@@ -560,9 +587,9 @@
this.groupBox1.Controls.Add(this.label43); this.groupBox1.Controls.Add(this.label43);
this.groupBox1.Controls.Add(this.label42); this.groupBox1.Controls.Add(this.label42);
this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); 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(621, 279); this.groupBox1.Location = new System.Drawing.Point(603, 445);
this.groupBox1.Name = "groupBox1"; this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(404, 193); this.groupBox1.Size = new System.Drawing.Size(396, 193);
this.groupBox1.TabIndex = 217; this.groupBox1.TabIndex = 217;
this.groupBox1.TabStop = false; this.groupBox1.TabStop = false;
this.groupBox1.Text = "伺服状态"; this.groupBox1.Text = "伺服状态";
...@@ -789,7 +816,7 @@ ...@@ -789,7 +816,7 @@
this.groupBox2.Controls.Add(this.btnUpDownP4); this.groupBox2.Controls.Add(this.btnUpDownP4);
this.groupBox2.Location = new System.Drawing.Point(22, 28); this.groupBox2.Location = new System.Drawing.Point(22, 28);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(581, 423); this.groupBox2.Size = new System.Drawing.Size(568, 423);
this.groupBox2.TabIndex = 100; this.groupBox2.TabIndex = 100;
this.groupBox2.TabStop = false; this.groupBox2.TabStop = false;
this.groupBox2.Text = "料仓操作"; this.groupBox2.Text = "料仓操作";
...@@ -808,11 +835,11 @@ ...@@ -808,11 +835,11 @@
// lblMsg // lblMsg
// //
this.lblMsg.AutoSize = true; this.lblMsg.AutoSize = true;
this.lblMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblMsg.ForeColor = System.Drawing.Color.Green; this.lblMsg.ForeColor = System.Drawing.Color.Green;
this.lblMsg.Location = new System.Drawing.Point(285, 67); this.lblMsg.Location = new System.Drawing.Point(285, 67);
this.lblMsg.Name = "lblMsg"; this.lblMsg.Name = "lblMsg";
this.lblMsg.Size = new System.Drawing.Size(135, 19); this.lblMsg.Size = new System.Drawing.Size(135, 20);
this.lblMsg.TabIndex = 223; this.lblMsg.TabIndex = 223;
this.lblMsg.Text = "没有开启自动出入库"; this.lblMsg.Text = "没有开启自动出入库";
// //
...@@ -1496,7 +1523,7 @@ ...@@ -1496,7 +1523,7 @@
this.日志ToolStripMenuItem}); this.日志ToolStripMenuItem});
this.menuStrip1.Location = new System.Drawing.Point(0, 0); this.menuStrip1.Location = new System.Drawing.Point(0, 0);
this.menuStrip1.Name = "menuStrip1"; this.menuStrip1.Name = "menuStrip1";
this.menuStrip1.Size = new System.Drawing.Size(1276, 25); this.menuStrip1.Size = new System.Drawing.Size(1268, 25);
this.menuStrip1.TabIndex = 257; this.menuStrip1.TabIndex = 257;
this.menuStrip1.Text = "menuStrip1"; this.menuStrip1.Text = "menuStrip1";
// //
...@@ -1514,28 +1541,28 @@ ...@@ -1514,28 +1541,28 @@
// 启动ToolStripMenuItem // 启动ToolStripMenuItem
// //
this.启动ToolStripMenuItem.Name = "启动ToolStripMenuItem"; this.启动ToolStripMenuItem.Name = "启动ToolStripMenuItem";
this.启动ToolStripMenuItem.Size = new System.Drawing.Size(124, 22); this.启动ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.启动ToolStripMenuItem.Text = "启动"; this.启动ToolStripMenuItem.Text = "启动";
this.启动ToolStripMenuItem.Click += new System.EventHandler(this.启动ToolStripMenuItem_Click); this.启动ToolStripMenuItem.Click += new System.EventHandler(this.启动ToolStripMenuItem_Click);
// //
// 停止ToolStripMenuItem // 停止ToolStripMenuItem
// //
this.停止ToolStripMenuItem.Name = "停止ToolStripMenuItem"; this.停止ToolStripMenuItem.Name = "停止ToolStripMenuItem";
this.停止ToolStripMenuItem.Size = new System.Drawing.Size(124, 22); this.停止ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.停止ToolStripMenuItem.Text = "停止"; this.停止ToolStripMenuItem.Text = "停止";
this.停止ToolStripMenuItem.Click += new System.EventHandler(this.停止ToolStripMenuItem_Click); this.停止ToolStripMenuItem.Click += new System.EventHandler(this.停止ToolStripMenuItem_Click);
// //
// 复位ToolStripMenuItem // 复位ToolStripMenuItem
// //
this.复位ToolStripMenuItem.Name = "复位ToolStripMenuItem"; this.复位ToolStripMenuItem.Name = "复位ToolStripMenuItem";
this.复位ToolStripMenuItem.Size = new System.Drawing.Size(124, 22); this.复位ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.复位ToolStripMenuItem.Text = "复位"; this.复位ToolStripMenuItem.Text = "复位";
this.复位ToolStripMenuItem.Click += new System.EventHandler(this.复位ToolStripMenuItem_Click); this.复位ToolStripMenuItem.Click += new System.EventHandler(this.复位ToolStripMenuItem_Click);
// //
// 回待机点ToolStripMenuItem // 回待机点ToolStripMenuItem
// //
this.回待机点ToolStripMenuItem.Name = "回待机点ToolStripMenuItem"; this.回待机点ToolStripMenuItem.Name = "回待机点ToolStripMenuItem";
this.回待机点ToolStripMenuItem.Size = new System.Drawing.Size(124, 22); this.回待机点ToolStripMenuItem.Size = new System.Drawing.Size(180, 22);
this.回待机点ToolStripMenuItem.Text = "回待机点"; this.回待机点ToolStripMenuItem.Text = "回待机点";
this.回待机点ToolStripMenuItem.Click += new System.EventHandler(this.回待机点ToolStripMenuItem_Click); this.回待机点ToolStripMenuItem.Click += new System.EventHandler(this.回待机点ToolStripMenuItem_Click);
// //
...@@ -1652,8 +1679,8 @@ ...@@ -1652,8 +1679,8 @@
// //
this.lblThisSta.AutoSize = true; this.lblThisSta.AutoSize = true;
this.lblThisSta.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblThisSta.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblThisSta.ForeColor = System.Drawing.Color.Red; this.lblThisSta.ForeColor = System.Drawing.Color.Green;
this.lblThisSta.Location = new System.Drawing.Point(621, 41); this.lblThisSta.Location = new System.Drawing.Point(14, 19);
this.lblThisSta.Name = "lblThisSta"; this.lblThisSta.Name = "lblThisSta";
this.lblThisSta.Size = new System.Drawing.Size(65, 19); this.lblThisSta.Size = new System.Drawing.Size(65, 19);
this.lblThisSta.TabIndex = 216; this.lblThisSta.TabIndex = 216;
...@@ -1669,7 +1696,7 @@ ...@@ -1669,7 +1696,7 @@
this.groupBox4.Controls.Add(this.txtPosition2); this.groupBox4.Controls.Add(this.txtPosition2);
this.groupBox4.Controls.Add(this.txtPosition1); this.groupBox4.Controls.Add(this.txtPosition1);
this.groupBox4.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox4.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox4.Location = new System.Drawing.Point(1042, 279); this.groupBox4.Location = new System.Drawing.Point(1013, 445);
this.groupBox4.Name = "groupBox4"; this.groupBox4.Name = "groupBox4";
this.groupBox4.Size = new System.Drawing.Size(232, 193); this.groupBox4.Size = new System.Drawing.Size(232, 193);
this.groupBox4.TabIndex = 267; this.groupBox4.TabIndex = 267;
...@@ -1737,19 +1764,137 @@ ...@@ -1737,19 +1764,137 @@
this.txtPosition1.Size = new System.Drawing.Size(87, 23); this.txtPosition1.Size = new System.Drawing.Size(87, 23);
this.txtPosition1.TabIndex = 265; this.txtPosition1.TabIndex = 265;
// //
// label16
//
this.label16.AutoSize = true;
this.label16.Location = new System.Drawing.Point(152, 256);
this.label16.Name = "label16";
this.label16.Size = new System.Drawing.Size(112, 17);
this.label16.TabIndex = 295;
this.label16.Text = "1=完成，0=未完成";
//
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(152, 227);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(124, 17);
this.label15.TabIndex = 294;
this.label15.Text = "1=执行中，0=未执行";
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(152, 194);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(100, 17);
this.label14.TabIndex = 293;
this.label14.Text = "1=报警，0=正常";
//
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(5, 256);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(114, 17);
this.label11.TabIndex = 292;
this.label11.Text = "HOME-CMP状态：";
//
// txtHomeStatus
//
this.txtHomeStatus.Enabled = false;
this.txtHomeStatus.Location = new System.Drawing.Point(121, 253);
this.txtHomeStatus.Name = "txtHomeStatus";
this.txtHomeStatus.Size = new System.Drawing.Size(25, 23);
this.txtHomeStatus.TabIndex = 291;
//
// button2
//
this.button2.Location = new System.Drawing.Point(278, 249);
this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(105, 33);
this.button2.TabIndex = 290;
this.button2.Text = "读HOME状态";
this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.button2_Click);
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(44, 225);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(75, 17);
this.label10.TabIndex = 289;
this.label10.Text = "BUSY状态：";
//
// txtBusyStatus
//
this.txtBusyStatus.Enabled = false;
this.txtBusyStatus.Location = new System.Drawing.Point(121, 222);
this.txtBusyStatus.Name = "txtBusyStatus";
this.txtBusyStatus.Size = new System.Drawing.Size(25, 23);
this.txtBusyStatus.TabIndex = 288;
//
// button1
//
this.button1.Location = new System.Drawing.Point(278, 216);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(105, 33);
this.button1.TabIndex = 287;
this.button1.Text = "读BUSY状态";
this.button1.UseVisualStyleBackColor = true;
this.button1.Click += new System.EventHandler(this.button1_Click_1);
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(51, 194);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(68, 17);
this.label2.TabIndex = 286;
this.label2.Text = "报警状态：";
//
// txtAlarmStatus
//
this.txtAlarmStatus.Enabled = false;
this.txtAlarmStatus.Location = new System.Drawing.Point(121, 191);
this.txtAlarmStatus.Name = "txtAlarmStatus";
this.txtAlarmStatus.Size = new System.Drawing.Size(25, 23);
this.txtAlarmStatus.TabIndex = 285;
//
// btnGetAlarm
//
this.btnGetAlarm.Location = new System.Drawing.Point(278, 183);
this.btnGetAlarm.Name = "btnGetAlarm";
this.btnGetAlarm.Size = new System.Drawing.Size(105, 33);
this.btnGetAlarm.TabIndex = 284;
this.btnGetAlarm.Text = "读报警状态";
this.btnGetAlarm.UseVisualStyleBackColor = true;
this.btnGetAlarm.Click += new System.EventHandler(this.btnGetAlarm_Click);
//
// groupBox3
//
this.groupBox3.Controls.Add(this.lblWarnMsg);
this.groupBox3.Controls.Add(this.lblThisSta);
this.groupBox3.Location = new System.Drawing.Point(603, 28);
this.groupBox3.Name = "groupBox3";
this.groupBox3.Size = new System.Drawing.Size(642, 90);
this.groupBox3.TabIndex = 268;
this.groupBox3.TabStop = false;
this.groupBox3.Text = "设备状态";
//
// FrmStoreBox // FrmStoreBox
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F); this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Dpi; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Dpi;
this.ClientSize = new System.Drawing.Size(1276, 730); this.ClientSize = new System.Drawing.Size(1268, 730);
this.Controls.Add(this.groupBox3);
this.Controls.Add(this.groupBox4); this.Controls.Add(this.groupBox4);
this.Controls.Add(this.lblWarnMsg);
this.Controls.Add(this.groupBox5); this.Controls.Add(this.groupBox5);
this.Controls.Add(this.richTextBox1); this.Controls.Add(this.richTextBox1);
this.Controls.Add(this.groupBox1); this.Controls.Add(this.groupBox1);
this.Controls.Add(this.groupBox2); this.Controls.Add(this.groupBox2);
this.Controls.Add(this.menuStrip1); this.Controls.Add(this.menuStrip1);
this.Controls.Add(this.lblThisSta);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon"))); this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.MainMenuStrip = this.menuStrip1; this.MainMenuStrip = this.menuStrip1;
this.Name = "FrmStoreBox"; this.Name = "FrmStoreBox";
...@@ -1768,6 +1913,8 @@ ...@@ -1768,6 +1913,8 @@
this.menuStrip1.PerformLayout(); this.menuStrip1.PerformLayout();
this.groupBox4.ResumeLayout(false); this.groupBox4.ResumeLayout(false);
this.groupBox4.PerformLayout(); this.groupBox4.PerformLayout();
this.groupBox3.ResumeLayout(false);
this.groupBox3.PerformLayout();
this.ResumeLayout(false); this.ResumeLayout(false);
this.PerformLayout(); this.PerformLayout();
...@@ -1900,6 +2047,19 @@ ...@@ -1900,6 +2047,19 @@
private System.Windows.Forms.Button btnStart; private System.Windows.Forms.Button btnStart;
private System.Windows.Forms.Label lblServerOn; private System.Windows.Forms.Label lblServerOn;
public System.Windows.Forms.Button btnReadPosition; public System.Windows.Forms.Button btnReadPosition;
private System.Windows.Forms.Label label16;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.Label label11;
private System.Windows.Forms.TextBox txtHomeStatus;
private System.Windows.Forms.Button button2;
private System.Windows.Forms.Label label10;
private System.Windows.Forms.TextBox txtBusyStatus;
private System.Windows.Forms.Button button1;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.TextBox txtAlarmStatus;
private System.Windows.Forms.Button btnGetAlarm;
private System.Windows.Forms.GroupBox groupBox3;
} }
} }
source/ACSingleStore/FrmStoreBox.cs
...@@ -142,13 +142,17 @@ namespace OnlineStore.ACSingleStore ...@@ -142,13 +142,17 @@ namespace OnlineStore.ACSingleStore
//验证运动是否完成 //验证运动是否完成
//CheckWait(); //CheckWait();
string portName = txtAxisDeviceName.Text; string portName = GetPortName();
int SlvAddr = FormUtil.GetIntValue(txtAxisValue); int SlvAddr = GetSlaveAddr();
//判断私服是否打开、 //判断私服是否打开、
if (ACServerManager.ServerOnStatus(portName, SlvAddr) ) if (ACServerManager.ServerOnStatus(portName, SlvAddr) )
{ {
lblServerOn.Text = "伺服ON"; lblServerOn.Text = "伺服ON";
int lOutPulse = ACServerManager.GetTargetPosition(portName, SlvAddr);
lblOutPulse.Text = string.Format("{0:d}", lOutPulse);
int lCountPulse = ACServerManager.GetActualtPosition(portName, SlvAddr);
lblCountPulse.Text = string.Format("{0:d}", lCountPulse);
} }
else else
{ {
...@@ -169,8 +173,7 @@ namespace OnlineStore.ACSingleStore ...@@ -169,8 +173,7 @@ namespace OnlineStore.ACSingleStore
{ {
txtAxisRunTime.Text = store.GetAxisRunTime(store.Config.Middle_Axis.GetAxisValue()).ToString(@"dd\.hh\:mm\:ss"); txtAxisRunTime.Text = store.GetAxisRunTime(store.Config.Middle_Axis.GetAxisValue()).ToString(@"dd\.hh\:mm\:ss");
txtStoreRunTime.Text = store.GetStoreRunTime().ToString(@"dd\.hh\:mm\:ss"); txtStoreRunTime.Text = store.GetStoreRunTime().ToString(@"dd\.hh\:mm\:ss");
} }
//复位按钮状态显示 //复位按钮状态显示
if (复位ToolStripMenuItem.Enabled == false) if (复位ToolStripMenuItem.Enabled == false)
...@@ -235,6 +238,7 @@ namespace OnlineStore.ACSingleStore ...@@ -235,6 +238,7 @@ namespace OnlineStore.ACSingleStore
private void ReadPosistion() private void ReadPosistion()
{ {
string deviceName = GetPortName();
if (ACServerManager.ServerOnStatus(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue())) if (ACServerManager.ServerOnStatus(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue()))
{ {
axis_1_Alarm.IOValue = ACServerManager.GetAlarmStatus(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue()); axis_1_Alarm.IOValue = ACServerManager.GetAlarmStatus(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue());
...@@ -244,7 +248,11 @@ namespace OnlineStore.ACSingleStore ...@@ -244,7 +248,11 @@ namespace OnlineStore.ACSingleStore
int lCountPulse1 = ACServerManager.GetActualtPosition(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue()); int lCountPulse1 = ACServerManager.GetActualtPosition(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue());
lblCountPulse1.Text = string.Format("{0:d}", lCountPulse1); lblCountPulse1.Text = string.Format("{0:d}", lCountPulse1);
txtMiddleTarget.Text = store.Config.Middle_Axis.TargetPosition.ToString(); txtMiddleTarget.Text = store.Config.Middle_Axis.TargetPosition.ToString();
if (deviceName.Equals(store.Config.Middle_Axis.DeviceName))
{
lblOutPulse.Text = lblOutPulse1.Text;
lblCountPulse.Text = lblCountPulse1.Text;
}
} }
if (ACServerManager.ServerOnStatus(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue())) if (ACServerManager.ServerOnStatus(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue()))
{ {
...@@ -255,6 +263,11 @@ namespace OnlineStore.ACSingleStore ...@@ -255,6 +263,11 @@ namespace OnlineStore.ACSingleStore
int lCountPulse2 = ACServerManager.GetActualtPosition(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue()); int lCountPulse2 = ACServerManager.GetActualtPosition(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue());
lblCountPulse2.Text = string.Format("{0:d}", lCountPulse2); lblCountPulse2.Text = string.Format("{0:d}", lCountPulse2);
txtInoutTarget.Text = store.Config.InOut_Axis.TargetPosition.ToString(); txtInoutTarget.Text = store.Config.InOut_Axis.TargetPosition.ToString();
if (deviceName.Equals(store.Config.UpDown_Axis.DeviceName))
{
lblOutPulse.Text = lblOutPulse2.Text;
lblCountPulse.Text = lblCountPulse2.Text;
}
} }
if (ACServerManager.ServerOnStatus(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue())) if (ACServerManager.ServerOnStatus(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue()))
{ {
...@@ -264,6 +277,11 @@ namespace OnlineStore.ACSingleStore ...@@ -264,6 +277,11 @@ namespace OnlineStore.ACSingleStore
int lCountPulse3 = ACServerManager.GetActualtPosition(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue()); int lCountPulse3 = ACServerManager.GetActualtPosition(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue());
lblCountPulse3.Text = string.Format("{0:d}", lCountPulse3); lblCountPulse3.Text = string.Format("{0:d}", lCountPulse3);
txtUpdownTarget.Text = store.Config.UpDown_Axis.TargetPosition.ToString(); txtUpdownTarget.Text = store.Config.UpDown_Axis.TargetPosition.ToString();
if (deviceName.Equals(store.Config.InOut_Axis.DeviceName))
{
lblOutPulse.Text = lblOutPulse3.Text;
lblCountPulse.Text = lblCountPulse3.Text;
}
} }
} }
...@@ -409,18 +427,19 @@ namespace OnlineStore.ACSingleStore ...@@ -409,18 +427,19 @@ namespace OnlineStore.ACSingleStore
ConfigMoveAxis SlvAddr = store.moveAxisList[cmbAxisList.SelectedIndex]; ConfigMoveAxis SlvAddr = store.moveAxisList[cmbAxisList.SelectedIndex];
txtAxisDeviceName.Text = SlvAddr.DeviceName; txtAxisDeviceName.Text = SlvAddr.DeviceName;
txtAxisValue.Text = SlvAddr.GetAxisValue().ToString(); txtAxisValue.Text = SlvAddr.GetAxisValue().ToString();
if (SlvAddr.Equals(store.Config.InOut_Axis)) txtASpeed.Text = SlvAddr.TargetSpeed.ToString();
{ //if (SlvAddr.Equals(store.Config.InOut_Axis))
txtASpeed.Text = store.Config.InOutAxis_P1_Speed.ToString(); //{
} // txtASpeed.Text = store.Config.InOutAxis_P1_Speed.ToString();
else if (SlvAddr.Equals(store.Config.Middle_Axis)) //}
{ //else if (SlvAddr.Equals(store.Config.Middle_Axis))
txtASpeed.Text = store.Config.MiddleAxis_P1_Speed.ToString(); //{
} // txtASpeed.Text = store.Config.MiddleAxis_P1_Speed.ToString();
else if (SlvAddr.Equals(store.Config.UpDown_Axis)) //}
{ //else if (SlvAddr.Equals(store.Config.UpDown_Axis))
txtASpeed.Text = store.Config.UpDownAxis_P1_Speed.ToString(); //{
} // txtASpeed.Text = store.Config.UpDownAxis_P1_Speed.ToString();
//}
} }
} }
...@@ -884,8 +903,8 @@ namespace OnlineStore.ACSingleStore ...@@ -884,8 +903,8 @@ namespace OnlineStore.ACSingleStore
this.btnUpDownP6.ForeColor = System.Drawing.Color.Red; this.btnUpDownP6.ForeColor = System.Drawing.Color.Red;
this.btnUpDownP7.ForeColor = System.Drawing.Color.Red; this.btnUpDownP7.ForeColor = System.Drawing.Color.Red;
this.btnUpDownP8.ForeColor = System.Drawing.Color.Red; this.btnUpDownP8.ForeColor = System.Drawing.Color.Red;
this.lblWarnMsg.ForeColor = System.Drawing.Color.Red; //this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
this.lblThisSta.ForeColor = System.Drawing.Color.Red; //this.lblThisSta.ForeColor = System.Drawing.Color.Red;
this.btnComP1.ForeColor = System.Drawing.Color.Purple; this.btnComP1.ForeColor = System.Drawing.Color.Purple;
this.btnComP3.ForeColor = System.Drawing.Color.Purple; this.btnComP3.ForeColor = System.Drawing.Color.Purple;
...@@ -1024,6 +1043,15 @@ namespace OnlineStore.ACSingleStore ...@@ -1024,6 +1043,15 @@ namespace OnlineStore.ACSingleStore
} }
private int GetSlaveAddr()
{
return FormUtil.GetShortValue(txtAxisValue);
}
private string GetPortName()
{
return txtAxisDeviceName.Text;
}
private void btnAxisReturnHome_Click(object sender, EventArgs e) private void btnAxisReturnHome_Click(object sender, EventArgs e)
{ {
string portName = txtAxisDeviceName.Text; string portName = txtAxisDeviceName.Text;
...@@ -1036,6 +1064,24 @@ namespace OnlineStore.ACSingleStore ...@@ -1036,6 +1064,24 @@ namespace OnlineStore.ACSingleStore
private void btnReadPosition_Click(object sender, EventArgs e) private void btnReadPosition_Click(object sender, EventArgs e)
{ {
ReadPosistion(); ReadPosistion();
} }
private void btnGetAlarm_Click(object sender, EventArgs e)
{
int value = ACServerManager.GetAlarmStatus(GetPortName(), GetSlaveAddr());
this.txtAlarmStatus.Text = value.ToString();
}
private void button1_Click_1(object sender, EventArgs e)
{
int value = ACServerManager.GetBusyStatus(GetPortName(), GetSlaveAddr());
this.txtBusyStatus.Text = value.ToString();
}
private void button2_Click(object sender, EventArgs e)
{
int value = ACServerManager.GetHomeEndStatus(GetPortName(), GetSlaveAddr());
this.txtHomeStatus.Text = value.ToString();
}
} }
} }
source/DeviceLibrary/PanasonicServo/ACServerManager.cs
...@@ -13,7 +13,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -13,7 +13,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
public partial class ACServerManager public partial class ACServerManager
{ {
private static int SleepMSendons = 10; private static int SleepMSendons = 100;
public static bool OpenPort(string portName) public static bool OpenPort(string portName)
{ {
if (serialBeanMap.ContainsKey(portName)) if (serialBeanMap.ContainsKey(portName))
...@@ -225,30 +225,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -225,30 +225,23 @@ namespace OnlineStore.DeviceLibrary
data = ACCMDManager.GetWriteData(slvAddr, 06, ACCMDManager.BlockNo, ACCMDManager.Block_RelMove, 2); data = ACCMDManager.GetWriteData(slvAddr, 06, ACCMDManager.BlockNo, ACCMDManager.Block_RelMove, 2);
SendData(portName, data); SendData(portName, data);
//Thread.Sleep(100); Thread.Sleep(SleepMSendons);
OpenAndCloseSTB(portName, slvAddr); OpenAndCloseSTB(portName, slvAddr);
} }
public static void HomeMove(string portName, int slvAddr, int speed) public static void HomeMove(string portName, int slvAddr, int speed)
{ {
byte[] date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4637", string.Format("{0:X2}", Math.Abs(speed)), 1); //byte[] date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4637", string.Format("{0:X2}", Math.Abs(speed)), 1);
SendData(portName, date); //SendData(portName, date);
Thread.Sleep(SleepMSendons); //Thread.Sleep(SleepMSendons);
date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4638", string.Format("{0:X2}", Math.Abs(speed / 2)), 1); //date = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4638", string.Format("{0:X2}", Math.Abs(speed / 2)), 1);
SendData(portName, date); //SendData(portName, date);
Thread.Sleep(SleepMSendons); //Thread.Sleep(SleepMSendons);
//if (speed > 0)
//{ //默认负方向原点返回
//byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove0, 2);
//SendData(portName, data);
//}
//else
//{
byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove1, 2); byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove1, 2);
SendData(portName, data); SendData(portName, data);
//} Thread.Sleep(SleepMSendons);
//Thread.Sleep(100);
OpenAndCloseSTB(portName, slvAddr); OpenAndCloseSTB(portName, slvAddr);
} }
...@@ -267,7 +260,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -267,7 +260,7 @@ namespace OnlineStore.DeviceLibrary
data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_VolMove1, 2); data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_VolMove1, 2);
SendData(portName, data); SendData(portName, data);
} }
//Thread.Sleep(100); Thread.Sleep(SleepMSendons);
OpenAndCloseSTB(portName, slvAddr); OpenAndCloseSTB(portName, slvAddr);
} }
public static void AbsMove(string portName, int slvAddr, int targetPosition, int targetSpeed) public static void AbsMove(string portName, int slvAddr, int targetPosition, int targetSpeed)
...@@ -321,7 +314,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -321,7 +314,7 @@ namespace OnlineStore.DeviceLibrary
} }
data = ACCMDManager.buildCheckData(data, data.Length - 2); data = ACCMDManager.buildCheckData(data, data.Length - 2);
SendData(portName, data); SendData(portName, data);
System.Threading.Thread.Sleep(SleepMSendons); Thread.Sleep(SleepMSendons);
data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_AbsMove, 2); data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_AbsMove, 2);
SendData(portName, data); SendData(portName, data);
Thread.Sleep(SleepMSendons); Thread.Sleep(SleepMSendons);
......
source/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs
...@@ -31,15 +31,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -31,15 +31,13 @@ namespace OnlineStore.DeviceLibrary
public static void RunBlock(string portName, int slvAddr, int index) public static void RunBlock(string portName, int slvAddr, int index)
{ {
//运动 //运动
byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4414", index.ToString(), 2); byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, index.ToString(), 2);
SendData(portName, data); SendData(portName, data);
//开始 Thread.Sleep(100);
byte[] data1 = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, ACCMDManager.STB_Addr, "0000", 2); CloseSTB(portName,slvAddr);
SendData(portName, data1); Thread.Sleep(100);
System.Threading.Thread.Sleep(100); OnlyOpenSTB(portName,slvAddr);
byte[] data2 = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, ACCMDManager.STB_Addr, "ff00", 2);
SendData(portName, data2);
} }
public static void SendStrAndSleep(string portName, string str) public static void SendStrAndSleep(string portName, string str)
{ {
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -28,12 +28,12 @@ AXIS,（轴一）旋转轴,Middle_Axis,1,COM3,0,,,, ...@@ -28,12 +28,12 @@ AXIS,（轴一）旋转轴,Middle_Axis,1,COM3,0,,,,
AXIS,（轴二）升降轴轴,UpDown_Axis,1,COM4,0,,,, AXIS,（轴二）升降轴轴,UpDown_Axis,1,COM4,0,,,,
AXIS,（轴三）进出轴,InOut_Axis,1,COM5,0,,,, 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,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,-10000,,,,,, PRO,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,700000,,,,,,
PRO,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,-10000,,,,,, PRO,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,702000,,,,,,
PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,-10000,,,,,, PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,702000,,,,,,
PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,-10000,,,,,, PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,700000,,,,,,
,进出轴进料口取料点 P2,InOutAxis_DoorPosition_P2,9,,,,,, ,进出轴进料口取料点 P2,InOutAxis_DoorPosition_P2,4000,,,,,,
PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,5000,,,,,, PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,230000,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,1000,,,,,, 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,押金轴（轴4）P1待机原位点,CompressAxis_P1_Position,360,,,,,,
,,,,,,,,, ,,,,,,,,,
...@@ -46,21 +46,21 @@ PRO,预警湿度,WarnHumidity,80,,,,,, ...@@ -46,21 +46,21 @@ PRO,预警湿度,WarnHumidity,80,,,,,,
PRO,（轴一）旋转轴目标速度,MiddleAxis_TargetSpeed,100,,,,,, 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）旋转轴加速度,MiddleAxis_AddSpeed,30,,,,,,
PRO,（轴一）旋转轴减速度,MiddleAxis_DelSpeed,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）旋转轴原点低速度,MiddleAxis_HomeLowSpeed,20,,,,,,
PRO,（轴一）旋转轴原点高速,MiddleAxis_HomeHighSpeed,100,,,,,, PRO,（轴一）旋转轴原点高速,MiddleAxis_HomeHighSpeed,40,,,,,,
PRO,（轴一）旋转轴原点加速度,MiddleAxis_HomeAddSpeed,30,,,,,, PRO,（轴一）旋转轴原点加速度,MiddleAxis_HomeAddSpeed,10,,,,,
PRO,（轴二）升降轴轴目标速度,UpdownAxis_TargetSpeed,100,,,,,, 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）升降轴轴原点低速度,UpdownAxis_HomeLowSpeed,20,,,,,,
PRO,（轴二）升降轴轴原点高速,UpdownAxis_HomeHighSpeed,100,,,,,, PRO,（轴二）升降轴轴原点高速,UpdownAxis_HomeHighSpeed,40,,,,,
PRO,（轴二）升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,30,,,,,, PRO,（轴二）升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,10,,,,,
PRO,（轴三）进出轴目标速度,InoutAxis_TargetSpeed,100,,,,,, 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）进出轴加速度,InoutAxis_AddSpeed,30,,,,,,
PRO,（轴三）进出轴减速度,InoutAxis_DelSpeed,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）进出轴原点低速,InoutAxis_HomeLowSpeed,40,,,,,,
PRO,（轴三）进出轴原点高速,InoutAxis_HomeHighSpeed,100,,,,,, PRO,（轴三）进出轴原点高速,InoutAxis_HomeHighSpeed,60,,,,,,
PRO,（轴三）进出轴原点加速度,InoutAxis_HomeAddSpeed,30,,,,,, PRO,（轴三）进出轴原点加速度,InoutAxis_HomeAddSpeed,20,,,,,,
PRO,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,100,,,,,, 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）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）P3速度,UpDownAxis_P3_Speed,100,,,,,,
......
source/DeviceLibrary/StoreConfig/AC/linePositions.csv
位置,优先级,高度,宽度,料仓ID,中轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,压紧轴压紧点P2,压紧轴压紧前点P3,进出轴进料口取料点P2,升降轴进料口出料前点P2,升降轴进料口取料缓冲点P7 位置,优先级,高度,宽度,料仓ID,中轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,压紧轴压紧点P2,压紧轴压紧前点P3,进出轴进料口取料点P2,升降轴进料口出料前点P2,升降轴进料口取料缓冲点P7
1#SA1_1_2_2:1,149,65,325,1,228600,-828700,-840700,-840700,-828700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_1_2_2,149,65,325,1,165000,720000,723000,723000,720000,5000, ,0,4000,703000,703000
1#SA1_1_2_2:2,149,65,325,1,228600,-828700,-840700,-840700,-828700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_1_2_3,148,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_2:3,149,65,325,1,228600,-828700,-840700,-840700,-828700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_1_2_4,147,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_2:4,149,65,325,1,228600,-828700,-840700,-840700,-828700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_1_2_5,146,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_1_2_6,145,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_3:1,148,65,325,1,228600,-884900,-894900,-894900,-884900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_1_2_7,144,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_3:2,148,65,325,1,228600,-884900,-894900,-894900,-884900,94000,-92000,-20000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,,0,0,4000,703000,703000
1#SA1_1_2_3:3,148,65,325,1,228600,-884900,-894900,-894900,-884900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_1_2_8,143,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_3:4,148,65,325,1,228600,-884900,-894900,-894900,-884900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_1,137,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_2_1_2,138,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_4:1,147,65,325,1,228600,-939100,-949100,-949100,-939100,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_3,139,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_4:2,147,65,325,1,228600,-939100,-949100,-949100,-939100,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_4,140,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_4:3,147,65,325,1,228600,-939100,-949100,-949100,-939100,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_5,141,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_4:4,147,65,325,1,228600,-939100,-949100,-949100,-939100,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_6,142,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_2_1_7,143,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_5:1,146,65,325,1,228600,-993300,-1003300,-1003300,-993300,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_8,144,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_5:2,146,65,325,1,228600,-993300,-1003300,-1003300,-993300,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_9,145,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_5:3,146,65,325,1,228600,-993300,-1003300,-1003300,-993300,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_10,146,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_5:4,146,65,325,1,228600,-993300,-1003300,-1003300,-993300,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_11,147,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_2_1_12,148,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_6:1,145,65,325,1,228600,-1047500,-1057500,-1057500,-1047500,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_1_13,149,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_6:2,145,65,325,1,228600,-1047500,-1057500,-1057500,-1047500,94000,-92000,-20000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,,0,0,4000,703000,703000
1#SA1_1_2_6:3,145,65,325,1,228600,-1047500,-1057500,-1057500,-1047500,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_1,150,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_6:4,145,65,325,1,228600,-1047500,-1057500,-1057500,-1047500,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_2,149,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_2_2_3,148,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_7:1,144,65,325,1,228600,-1101700,-1111700,-1111700,-1101700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_4,147,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_7:2,144,65,325,1,228600,-1101700,-1111700,-1111700,-1101700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_5,146,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_7:3,144,65,325,1,228600,-1101700,-1111700,-1111700,-1101700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_6,145,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_7:4,144,65,325,1,228600,-1101700,-1111700,-1111700,-1101700,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_7,144,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_2_2_8,143,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_8:1,143,65,325,1,228600,-1155900,-1165900,-1165900,-1155900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_9,142,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_8:2,143,65,325,1,228600,-1155900,-1165900,-1165900,-1155900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_10,141,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_8:3,143,65,325,1,228600,-1155900,-1165900,-1165900,-1155900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_11,140,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_1_2_8:4,143,65,325,1,228600,-1155900,-1165900,-1165900,-1155900,94000,-92000,-20000,97000,-494500,-494500 1#AC1_2_2_12,139,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_2_2_13,138,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, ,,,,,165000,720000,723000,723000,720000,,0,0,4000,703000,703000
1#SA1_2_1_1:1,137,45,420,1,113900,-7000,-23000,-23000,-7000,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_1,137,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_2:1,138,45,420,1,113900,-52900,-68900,-68900,-52900,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_2,138,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_3:1,139,45,420,1,113900,-98700,-114700,-114700,-98700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_3,139,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_4:1,140,45,420,1,113900,-144200,-160200,-160200,-144200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_4,140,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_5:1,141,45,420,1,113900,-189700,-205700,-205700,-189700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_5,141,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_6:1,142,45,420,1,113900,-235200,-251200,-251200,-235200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_6,142,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_7:1,143,45,420,1,113900,-280700,-296700,-296700,-280700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_7,143,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_8:1,144,45,420,1,113900,-326200,-342200,-342200,-326200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_8,144,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_9:1,145,45,420,1,113900,-371700,-387700,-387700,-371700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_9,145,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_10:1,146,45,420,1,113900,-417200,-433200,-433200,-417200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_10,146,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_11:1,147,45,420,1,113900,-462700,-478700,-478700,-462700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_11,147,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_12:1,148,45,420,1,113900,-508200,-524200,-524200,-508200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_12,148,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_1_13:1,149,45,420,1,113900,-553700,-569700,-569700,-553700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_1_13,149,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, ,,,,,165000,720000,723000,723000,720000,,0,0,4000,703000,703000
1#SA1_2_2_1:1,150,45,420,1,113900,-598200,-614200,-614200,-598200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_1,150,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_2:1,149,45,420,1,113900,-643700,-659700,-659700,-643700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_2,149,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_3:1,148,45,420,1,113900,-689200,-705200,-705200,-689200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_3,148,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_4:1,147,45,420,1,113900,-734700,-750700,-750700,-734700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_4,147,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_5:1,146,45,420,1,113900,-780200,-796200,-796200,-780200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_5,146,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_6:1,145,45,420,1,113900,-825700,-841700,-841700,-825700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_6,145,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_7:1,144,45,420,1,113900,-871200,-887200,-887200,-871200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_7,144,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_8:1,143,45,420,1,113900,-916700,-932700,-932700,-916700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_8,143,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_9:1,142,45,420,1,113900,-962200,-978200,-978200,-962200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_9,142,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_10:1,141,45,420,1,113900,-1007700,-1023700,-1023700,-1007700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_10,141,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_11:1,140,45,420,1,113900,-1053200,-1069200,-1069200,-1053200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_3_2_11,140,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_12:1,139,45,420,1,113900,-1098700,-1114700,-1114700,-1098700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_1,137,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_2_2_13:1,138,45,420,1,113900,-1144200,-1160200,-1160200,-1144200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_2,138,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_4_1_3,139,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_1:1,137,45,420,1,-1320,-7000,-23000,-23000,-7000,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_4,140,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_2:1,138,45,420,1,-1320,-52900,-68900,-68900,-52900,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_5,141,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_3:1,139,45,420,1,-1320,-98700,-114700,-114700,-98700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_6,142,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_4:1,140,45,420,1,-1320,-144200,-160200,-160200,-144200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_7,143,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_5:1,141,45,420,1,-1320,-189700,-205700,-205700,-189700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_8,144,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_6:1,142,45,420,1,-1320,-235200,-251200,-251200,-235200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_9,145,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_7:1,143,45,420,1,-1320,-280700,-296700,-296700,-280700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_10,146,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_8:1,144,45,420,1,-1320,-326200,-342200,-342200,-326200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_11,147,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_9:1,145,45,420,1,-1320,-371700,-387700,-387700,-371700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_12,148,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_10:1,146,45,420,1,-1320,-417200,-433200,-433200,-417200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_1_13,149,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_11:1,147,45,420,1,-1320,-462700,-478700,-478700,-462700,90000,-175000,-100000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_12:1,148,45,420,1,-1320,-508200,-524200,-524200,-508200,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_2_1,150,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_1_13:1,149,45,420,1,-1320,-553700,-569700,-569700,-553700,90000,-175000,-100000,97000,-494500,-494500 1#AC1_4_2_2,149,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_4_2_3,148,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_1:1,150,65,325,1,-1320,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_4,147,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_1:2,150,65,325,1,-1320,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_5,146,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_1:3,150,65,325,1,-1320,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_6,145,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_1:4,150,65,325,1,-1320,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_7,144,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, ,,,,,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_2:1,149,65,325,1,-1320,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_8,143,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_2:2,149,65,325,1,-1320,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_9,142,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_2:3,149,65,325,1,-1320,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_2:4,149,65,325,1,-1320,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_4_2_10,141,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_4_2_11,140,65,325,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_3:1,148,65,325,1,-1320,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_3:2,148,65,325,1,-1320,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_3:3,148,65,325,1,-1320,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_1,137,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_3:4,148,65,325,1,-1320,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_2,138,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_5_1_3,139,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_4:1,147,65,325,1,-1320,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_4,140,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_4:2,147,65,325,1,-1320,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_5,141,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_4:3,147,65,325,1,-1320,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_6,142,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_4:4,147,65,325,1,-1320,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_7,143,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_5_1_8,144,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_5:1,146,65,325,1,-1320,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_9,145,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_5:2,146,65,325,1,-1320,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_10,146,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_5:3,146,65,325,1,-1320,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_11,147,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_5:4,146,65,325,1,-1320,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_1_12,148,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_5_1_13,149,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_6:1,145,65,325,1,-1320,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500 ,,,,,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_6:2,145,65,325,1,-1320,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_1,150,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_6:3,145,65,325,1,-1320,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_2,149,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_6:4,145,65,325,1,-1320,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_3,148,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_5_2_4,147,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_7:1,144,65,325,1,-1320,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_5,146,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_7:2,144,65,325,1,-1320,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_6,145,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_7:3,144,65,325,1,-1320,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_7,144,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_7:4,144,65,325,1,-1320,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_8,143,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,, 1#AC1_5_2_9,142,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_8:1,143,65,325,1,-1320,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_10,141,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_8:2,143,65,325,1,-1320,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_11,140,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_8:3,143,65,325,1,-1320,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_12,139,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
1#SA1_3_2_8:4,143,65,325,1,-1320,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500 1#AC1_5_2_13,138,45,420,1,165000,720000,723000,723000,720000,5000,0,0,4000,703000,703000
,,,,,,,,,,,,,,,
1#SA1_3_2_9:1,142,65,325,1,-1320,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_9:2,142,65,325,1,-1320,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_9:3,142,65,325,1,-1320,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_9:4,142,65,325,1,-1320,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_3_2_10:1,141,65,325,1,-1320,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_10:2,141,65,325,1,-1320,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_10:3,141,65,325,1,-1320,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_10:4,141,65,325,1,-1320,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_3_2_11:1,140,65,325,1,-1320,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_11:2,140,65,325,1,-1320,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_11:3,140,65,325,1,-1320,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_3_2_11:4,140,65,325,1,-1320,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,
1#SA1_4_1_1:1,137,45,420,1,459800,-7000,-23000,-23000,-7000,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_2:1,138,45,420,1,459800,-52900,-68900,-68900,-52900,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_3:1,139,45,420,1,459800,-98700,-114700,-114700,-98700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_4:1,140,45,420,1,459800,-144200,-160200,-160200,-144200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_5:1,141,45,420,1,459800,-189700,-205700,-205700,-189700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_6:1,142,45,420,1,459800,-235200,-251200,-251200,-235200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_7:1,143,45,420,1,459800,-280700,-296700,-296700,-280700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_8:1,144,45,420,1,459800,-326200,-342200,-342200,-326200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_9:1,145,45,420,1,459800,-371700,-387700,-387700,-371700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_10:1,146,45,420,1,459800,-417200,-433200,-433200,-417200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_11:1,147,45,420,1,459800,-462700,-478700,-478700,-462700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_12:1,148,45,420,1,459800,-508200,-524200,-524200,-508200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_4_1_13:1,149,45,420,1,459800,-553700,-569700,-569700,-553700,90000,-175000,-100000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_1:1,150,65,325,1,459800,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_1:2,150,65,325,1,459800,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_1:3,150,65,325,1,459800,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_1:4,150,65,325,1,459800,-611300,-621300,-621300,-611300,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_2:1,149,65,325,1,459800,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_2:2,149,65,325,1,459800,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_2:3,149,65,325,1,459800,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_2:4,149,65,325,1,459800,-666000,-676000,-676000,-666000,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_3:1,148,65,325,1,459800,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_3:2,148,65,325,1,459800,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_3:3,148,65,325,1,459800,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_3:4,148,65,325,1,459800,-719600,-729600,-729600,-719600,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_4:1,147,65,325,1,459800,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_4:2,147,65,325,1,459800,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_4:3,147,65,325,1,459800,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_4:4,147,65,325,1,459800,-773800,-783800,-783800,-773800,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_5:1,146,65,325,1,459800,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_5:2,146,65,325,1,459800,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_5:3,146,65,325,1,459800,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_5:4,146,65,325,1,459800,-828000,-838000,-838000,-828000,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_6:1,145,65,325,1,459800,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_6:2,145,65,325,1,459800,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_6:3,145,65,325,1,459800,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_6:4,145,65,325,1,459800,-882200,-892200,-892200,-882200,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_7:1,144,65,325,1,459800,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_7:2,144,65,325,1,459800,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_7:3,144,65,325,1,459800,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_7:4,144,65,325,1,459800,-936400,-946400,-946400,-936400,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_8:1,143,65,325,1,459800,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_8:2,143,65,325,1,459800,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_8:3,143,65,325,1,459800,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_8:4,143,65,325,1,459800,-990600,-1000600,-1000600,-990600,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_9:1,142,65,325,1,459800,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_9:2,142,65,325,1,459800,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_9:3,142,65,325,1,459800,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_9:4,142,65,325,1,459800,-1044800,-1054800,-1054800,-1044800,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_10:1,141,65,325,1,459800,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_10:2,141,65,325,1,459800,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_10:3,141,65,325,1,459800,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_10:4,141,65,325,1,459800,-1099000,-1109000,-1109000,-1099000,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_4_2_11:1,140,65,325,1,459800,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_11:2,140,65,325,1,459800,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_11:3,140,65,325,1,459800,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
1#SA1_4_2_11:4,140,65,325,1,459800,-1153200,-1163200,-1163200,-1153200,95000,-92000,-20000,97000,-494500,-494500
,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,
1#SA1_5_1_1:1,137,45,420,1,345000,-7000,-23000,-23000,-7000,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_2:1,138,45,420,1,345000,-52900,-68900,-68900,-52900,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_3:1,139,45,420,1,345000,-98700,-114700,-114700,-98700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_4:1,140,45,420,1,345000,-144200,-160200,-160200,-144200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_5:1,141,45,420,1,345000,-189700,-205700,-205700,-189700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_6:1,142,45,420,1,345000,-235200,-251200,-251200,-235200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_7:1,143,45,420,1,345000,-280700,-296700,-296700,-280700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_8:1,144,45,420,1,345000,-326200,-342200,-342200,-326200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_9:1,145,45,420,1,345000,-371700,-387700,-387700,-371700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_10:1,146,45,420,1,345000,-417200,-433200,-433200,-417200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_11:1,147,45,420,1,345000,-462700,-478700,-478700,-462700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_12:1,148,45,420,1,345000,-508200,-524200,-524200,-508200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_1_13:1,149,45,420,1,345000,-553700,-569700,-569700,-553700,90000,-175000,-100000,97000,-494500,-494500
,,,,,,,,,,,,,,,
1#SA1_5_2_1:1,150,45,420,1,345000,-598200,-614200,-614200,-598200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_2:1,149,45,420,1,345000,-643700,-659700,-659700,-643700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_3:1,148,45,420,1,345000,-689200,-705200,-705200,-689200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_4:1,147,45,420,1,345000,-734700,-750700,-750700,-734700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_5:1,146,45,420,1,345000,-780200,-796200,-796200,-780200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_6:1,145,45,420,1,345000,-825700,-841700,-841700,-825700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_7:1,144,45,420,1,345000,-871200,-887200,-887200,-871200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_8:1,143,45,420,1,345000,-916700,-932700,-932700,-916700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_9:1,142,45,420,1,345000,-962200,-978200,-978200,-962200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_10:1,141,45,420,1,345000,-1007700,-1023700,-1023700,-1007700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_11:1,140,45,420,1,345000,-1053200,-1069200,-1069200,-1053200,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_12:1,139,45,420,1,345000,-1098700,-1114700,-1114700,-1098700,90000,-175000,-100000,97000,-494500,-494500
1#SA1_5_2_13:1,138,45,420,1,345000,-1144200,-1160200,-1160200,-1144200,90000,-175000,-100000,97000,-494500,-494500
source/DeviceLibrary/acSingleStore/ACStoreManager.cs
...@@ -50,7 +50,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -50,7 +50,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
IsConnectServer = true; //IsConnectServer = true;
} }
CheckEnum(typeof(StoreMoveStep)); CheckEnum(typeof(StoreMoveStep));
CheckEnum(typeof(StoreStatus)); CheckEnum(typeof(StoreStatus));
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -198,9 +198,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -198,9 +198,9 @@ namespace OnlineStore.DeviceLibrary
Config.InOut_Axis.DefaultPosition = Config.InOutAxis_P1_Position; Config.InOut_Axis.DefaultPosition = Config.InOutAxis_P1_Position;
Config.UpDown_Axis.DefaultPosition = Config.UpDownAxis_DoorOPosition_P1; Config.UpDown_Axis.DefaultPosition = Config.UpDownAxis_DoorOPosition_P1;
moveAxisList = new List<ConfigMoveAxis>(); moveAxisList = new List<ConfigMoveAxis>();
moveAxisList.Add(Config.Middle_Axis);
moveAxisList.Add(Config.UpDown_Axis); moveAxisList.Add(Config.UpDown_Axis);
moveAxisList.Add(Config.InOut_Axis); moveAxisList.Add(Config.InOut_Axis);
moveAxisList.Add(Config.Middle_Axis);
this.AxisAlarmCodeMap = new Dictionary<ConfigMoveAxis, AxisAlarmInfo>(); this.AxisAlarmCodeMap = new Dictionary<ConfigMoveAxis, AxisAlarmInfo>();
this.AxisAlarmCodeMap.Add(Config.UpDown_Axis, new AxisAlarmInfo()); this.AxisAlarmCodeMap.Add(Config.UpDown_Axis, new AxisAlarmInfo());
this.AxisAlarmCodeMap.Add(Config.InOut_Axis, new AxisAlarmInfo()); this.AxisAlarmCodeMap.Add(Config.InOut_Axis, new AxisAlarmInfo());
...@@ -229,11 +229,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -229,11 +229,12 @@ namespace OnlineStore.DeviceLibrary
//急停按钮和气压检测需要一起判断 //急停按钮和气压检测需要一起判断
IO_VALUE suddenBtn = KNDIOValue(IO_Type.SuddenStop_BTN); IO_VALUE suddenBtn = KNDIOValue(IO_Type.SuddenStop_BTN);
IO_VALUE airCheck = KNDIOValue(IO_Type.Airpressure_Check); //IO_VALUE airCheck = KNDIOValue(IO_Type.Airpressure_Check);
if (suddenBtn == IO_VALUE.HIGH && airCheck == IO_VALUE.HIGH) if (suddenBtn == IO_VALUE.HIGH )
//if (suddenBtn == IO_VALUE.HIGH && airCheck == IO_VALUE.HIGH)
{ {
lastAirValue = airCheck; //lastAirValue = airCheck;
lastAirCloseTime = DateTime.Now; lastAirCloseTime = DateTime.Now;
RunAxis(); RunAxis();
...@@ -246,7 +247,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -246,7 +247,7 @@ namespace OnlineStore.DeviceLibrary
//TODO 启动时先所有轴远点返回，测试暂时关闭 //TODO 启动时先所有轴远点返回，测试暂时关闭
storeRunStatus = StoreRunStatus.HomeMoving; storeRunStatus = StoreRunStatus.HomeMoving;
//启动温湿度服务器 //启动温湿度服务器
HumitureServer.StartTemperateServer(Config.TemperateServer_Port); //HumitureServer.StartTemperateServer(Config.TemperateServer_Port);
ReturnHome(); ReturnHome();
StartTime = DateTime.Now; StartTime = DateTime.Now;
...@@ -269,7 +270,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -269,7 +270,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
#region 原点返回和重置处理 #region 原点返回和复位处理
private void ReturnHome() private void ReturnHome()
{ {
WarnMsg = ""; WarnMsg = "";
...@@ -285,7 +286,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -285,7 +286,6 @@ namespace OnlineStore.DeviceLibrary
ACAxisHomeMove(Config.InOut_Axis); ACAxisHomeMove(Config.InOut_Axis);
LogUtil.info(LOGGER, StoreName + "开始原点返回，先把进出轴回原点"); LogUtil.info(LOGGER, StoreName + "开始原点返回，先把进出轴回原点");
//设置速度 //设置速度
SetShuokeSpeed(); SetShuokeSpeed();
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
} }
...@@ -294,18 +294,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -294,18 +294,7 @@ namespace OnlineStore.DeviceLibrary
if (!IsHasCompress_Axis) if (!IsHasCompress_Axis)
{ {
return; return;
} }
//ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetAddSpeed, Config.CompressAxis_AddSpeed);
//Thread.Sleep(100);
//ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetDelSpeed, Config.CompressAxis_DelSpeed);
//Thread.Sleep(100);
//ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetEndSpeed, Config.CompressAxis_EndSpeed);
//Thread.Sleep(100);
//ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetHomeSpeed, Config.CompressAxis_HomeSpeed);
//Thread.Sleep(100);
//ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetMaxSpeed, Config.CompressAxis_MaxSpeed);
//Thread.Sleep(100);
//ShuoKeControls.SetSpeed(Config.CompressAxis_Slv, ShuoKeCMD.SetStartSpeed, Config.CompressAxis_StartSpeed);
} }
public void MoveToP1() public void MoveToP1()
{ {
...@@ -323,7 +312,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -323,7 +312,7 @@ namespace OnlineStore.DeviceLibrary
Reset(true); Reset(true);
} }
/// <summary> /// <summary>
/// 重置 /// 复位
/// </summary> /// </summary>
/// <param name="isNeedClearAuto">是否需要清理自动出入库</param> /// <param name="isNeedClearAuto">是否需要清理自动出入库</param>
public void Reset(bool isNeedClearAuto) public void Reset(bool isNeedClearAuto)
...@@ -331,12 +320,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -331,12 +320,9 @@ namespace OnlineStore.DeviceLibrary
CurrInOutCount = 0; CurrInOutCount = 0;
CurrInOutACount = 0; CurrInOutACount = 0;
KNDIOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW); KNDIOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
Thread.Sleep(100); KNDIOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
KNDIOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH); KNDIOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
Thread.Sleep(100);
KNDIOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
Thread.Sleep(100);
//复位之前先停止运行 //复位之前先停止运行
if (isNeedClearAuto) if (isNeedClearAuto)
{ {
...@@ -358,12 +344,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -358,12 +344,12 @@ namespace OnlineStore.DeviceLibrary
//打开四个轴 //打开四个轴
if (!OpenAllAxis()) if (!OpenAllAxis())
{ {
LogUtil.info(LOGGER, StoreName + "重置时打开轴失败，需要再次复位，直接报警停止复位"); 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");
} }
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
LogUtil.info(LOGGER, StoreName + "开始重置，先把进出轴回原点"); LogUtil.info(LOGGER, StoreName + "开始复位，先把进出轴回原点");
ACAxisHomeMove(Config.InOut_Axis); ACAxisHomeMove(Config.InOut_Axis);
//硕科压紧轴回原点 //硕科压紧轴回原点
...@@ -372,8 +358,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -372,8 +358,8 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.info(LOGGER, StoreName + "开始重置：先定位气缸下降"); LogUtil.info(LOGGER, StoreName + "开始复位：先定位气缸下降");
// 重置和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 // 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); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_LocationCylinderBack);
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW); KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
...@@ -383,7 +369,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -383,7 +369,7 @@ namespace OnlineStore.DeviceLibrary
} }
/// <summary> /// <summary>
/// 重置处理 /// 复位处理
/// </summary> /// </summary>
protected override void ResetProcess() protected override void ResetProcess()
{ {
...@@ -399,39 +385,31 @@ namespace OnlineStore.DeviceLibrary ...@@ -399,39 +385,31 @@ namespace OnlineStore.DeviceLibrary
{ {
case StoreMoveStep.BOX_H_LocationCylinderBack: case StoreMoveStep.BOX_H_LocationCylinderBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
LogUtil.info(LOGGER, StoreName + "原点返回中，进出轴回原点"); LogUtil.info(LOGGER, StoreName + "复位：进出轴回原点");
//重置和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 //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
ACAxisHomeMove(Config.InOut_Axis); ACAxisHomeMove(Config.InOut_Axis);
break; break;
case StoreMoveStep.BOX_H_InOutBack: case StoreMoveStep.BOX_H_InOutBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBackWait);
LogUtil.info(LOGGER, StoreName + "重置中 ,进出轴已经回原点 ，等待1000毫秒清空位置");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case StoreMoveStep.BOX_H_InOutBackWait:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutToP1);
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"); LogUtil.info(LOGGER, StoreName + "复位：进出轴走到P1，关闭舱门");
//进出轴原点返回完成，将进出轴的位置设置=0 //进出轴原点返回完成，将进出轴的位置设置=0
AxisCountClear(Config.InOut_Axis); AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed); ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
//判断叉子没有料盘 //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_3, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
//关闭舱门 CloseDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
break; break;
case StoreMoveStep.BOX_H_InOutToP1: case StoreMoveStep.BOX_H_InOutToP1:
//如果此时轴三还在报警，需要提示错误并等待 //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) if (ACServerManager.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0)
{ {
LogUtil.error(LOGGER, "进出轴报警！重置失败，请检查！"); LogUtil.error(LOGGER, "进出轴报警！复位失败，请检查！");
} }
//重置和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 //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 + "重置中： 压紧轴，旋转轴，上下轴开始 原点返回"); LogUtil.info(LOGGER, StoreName + "复位： 压紧轴，旋转轴，上下轴开始 原点返回");
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
...@@ -442,22 +420,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -442,22 +420,14 @@ 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_WaitAxisCountClear);
LogUtil.info(LOGGER, StoreName + "重置中：等待1500后清理 轴的位置！");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1500));
break;
case StoreMoveStep.BOX_H_WaitAxisCountClear:
LogUtil.info(LOGGER, StoreName + "重置中：压紧轴，旋转轴，上下轴计数器清空！");
AxisCountClear(Config.Middle_Axis);
AxisCountClear(Config.UpDown_Axis);
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1); 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！"); LogUtil.info(LOGGER, StoreName + "复位中：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); 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);
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "重置完成"); LogUtil.info(LOGGER, StoreName + "复位完成");
storeRunStatus = StoreRunStatus.Runing; storeRunStatus = StoreRunStatus.Runing;
StoreMove.EndMove(); StoreMove.EndMove();
storeStatus = StoreStatus.StoreOnline; storeStatus = StoreStatus.StoreOnline;
...@@ -471,19 +441,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -471,19 +441,14 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_CompressHome); StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_CompressHome);
LogUtil.info(LOGGER, StoreName + "到待机状态，压紧轴回原点，关闭舱门"); LogUtil.info(LOGGER, StoreName + "到待机状态，压紧轴回原点，关闭舱门");
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
//ShuoKeControls.HomeMove(Config.CompressAxis_Slv, 0);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, 0, true));
} }
//关闭舱门 //关闭舱门
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH); CloseDoorAndWait();
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
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 + "重置中：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！");
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);
break; break;
...@@ -501,6 +466,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -501,6 +466,20 @@ namespace OnlineStore.DeviceLibrary
default: break; default: break;
} }
} }
private void OpenDoorAndWait()
{
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
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));
}
private void CloseDoorAndWait()
{
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
}
/// <summary> /// <summary>
/// 原点返回处理 /// 原点返回处理
...@@ -520,16 +499,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -520,16 +499,11 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_H_LocationCylinderBack: case StoreMoveStep.BOX_H_LocationCylinderBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBack);
LogUtil.info(LOGGER, StoreName + "原点返回中，进出轴回原点"); LogUtil.info(LOGGER, StoreName + "原点返回中，进出轴回原点");
//重置和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 //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
ACAxisHomeMove(Config.InOut_Axis); ACAxisHomeMove(Config.InOut_Axis);
break; break;
case StoreMoveStep.BOX_H_InOutBack: case StoreMoveStep.BOX_H_InOutBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutBackWait);
LogUtil.info(LOGGER, StoreName + "重置中 ,进出轴已经回原点 ，等待1000毫秒清空位置");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
break;
case StoreMoveStep.BOX_H_InOutBackWait:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_InOutToP1);
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"); 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 //进出轴原点返回完成，将进出轴的位置设置=0
...@@ -538,22 +512,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -538,22 +512,17 @@ namespace OnlineStore.DeviceLibrary
//判断叉子没有料盘 //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_3, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
//关闭舱门 CloseDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
break; break;
case StoreMoveStep.BOX_H_InOutToP1: case StoreMoveStep.BOX_H_InOutToP1:
//如果此时轴三还在报警，需要提示错误并等待 //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) if (ACServerManager.GetAlarmStatus(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()) > 0)
{ {
WarnMsg = "进出轴报警！重置失败，请检查!"; WarnMsg = "进出轴报警！复位失败，请检查!";
LogUtil.error(LOGGER, "进出轴报警！重置失败，请检查！"); LogUtil.error(LOGGER, "进出轴报警！复位失败，请检查！");
} }
//重置和回原点要等轴3进出轴ORG亮了以后才能返回其他轴 //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 + "原点返回中 ：压紧轴，旋转轴，上下轴开始原点返回"); LogUtil.info(LOGGER, StoreName + "原点返回中 ：压紧轴，旋转轴，上下轴开始原点返回");
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
...@@ -566,22 +535,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -566,22 +535,14 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StoreMoveStep.BOX_H_OtherAxisBack: case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_WaitAxisCountClear);
LogUtil.info(LOGGER, StoreName + "原点返回中：等待1500后清理压紧轴，旋转轴，上下轴的位置！");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1500));
break;
case StoreMoveStep.BOX_H_WaitAxisCountClear:
LogUtil.info(LOGGER, StoreName + "原点返回中：压紧轴，旋转轴，上下轴计数器清空！");
AxisCountClear(Config.Middle_Axis);
AxisCountClear(Config.UpDown_Axis);
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1); 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！"); LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到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);
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "原点返回完成"); LogUtil.info(LOGGER, StoreName + "回原点");
storeRunStatus = StoreRunStatus.Runing; storeRunStatus = StoreRunStatus.Runing;
StoreMove.EndMove(); StoreMove.EndMove();
storeStatus = StoreStatus.StoreOnline; storeStatus = StoreStatus.StoreOnline;
...@@ -706,8 +667,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -706,8 +667,11 @@ namespace OnlineStore.DeviceLibrary
IsRun = false; IsRun = false;
KNDManager.CloseAllDO(); KNDManager.CloseAllDO();
ShuoKeControls.ClosePort(); if (IsHasCompress_Axis)
HumitureServer.StopTemperateServer(); {
ShuoKeControls.ClosePort();
}
//HumitureServer.StopTemperateServer();
LogUtil.info(LOGGER, StoreName + ",停止运行，总运行时间：" + span.ToString()); LogUtil.info(LOGGER, StoreName + ",停止运行，总运行时间：" + span.ToString());
} }
...@@ -911,39 +875,39 @@ namespace OnlineStore.DeviceLibrary ...@@ -911,39 +875,39 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
IO_VALUE airCheck = KNDIOValue(IO_Type.Airpressure_Check); //IO_VALUE airCheck = KNDIOValue(IO_Type.Airpressure_Check);
//气压检测按钮灭三秒以上才算关闭 ////气压检测按钮灭三秒以上才算关闭
if (airCheck == IO_VALUE.LOW && (!isInSuddenDown)) //if (airCheck == IO_VALUE.LOW && (!isInSuddenDown))
{ //{
int checkSenconds = Config.AirCheckSeconds; // int checkSenconds = Config.AirCheckSeconds;
LogUtil.info(LOGGER, StoreName + "未检测到气压信号，判断未检测到信号持续的时间是否" + checkSenconds + "以上！"); // LogUtil.info(LOGGER, StoreName + "未检测到气压信号，判断未检测到信号持续的时间是否" + checkSenconds + "以上！");
//判断是否持续 // //判断是否持续
if (lastAirValue == IO_VALUE.LOW) // if (lastAirValue == IO_VALUE.LOW)
{ // {
if ((!isNoAirCheck) && (DateTime.Now - lastAirCloseTime).TotalSeconds > checkSenconds) // if ((!isNoAirCheck) && (DateTime.Now - lastAirCloseTime).TotalSeconds > checkSenconds)
{ // {
isNoAirCheck = true; // isNoAirCheck = true;
//没有了气压检测信号 // //没有了气压检测信号
LogUtil.error(LOGGER, StoreName + " 未检测到气压信号！"); // LogUtil.error(LOGGER, StoreName + " 未检测到气压信号！");
WarnMsg = StoreName + " 未检测到气压信号"; // WarnMsg = StoreName + " 未检测到气压信号";
//报警时会关闭所有轴 // //报警时会关闭所有轴
Alarm(StoreAlarmType.NoAirCheck, "2", WarnMsg, StoreMoveType.None); // Alarm(StoreAlarmType.NoAirCheck, "2", WarnMsg, StoreMoveType.None);
} // }
} // }
else // else
{ // {
lastAirValue = airCheck; // lastAirValue = airCheck;
lastAirCloseTime = DateTime.Now; // lastAirCloseTime = DateTime.Now;
isNoAirCheck = false; // isNoAirCheck = false;
} // }
} //}
else //else
{ //{
lastAirValue = airCheck; // lastAirValue = airCheck;
lastAirCloseTime = DateTime.Now; // lastAirCloseTime = DateTime.Now;
isNoAirCheck = false; // isNoAirCheck = false;
} //}
//检查运动轴报警 //检查运动轴报警
if (storeRunStatus >= StoreRunStatus.Runing && (!isInSuddenDown)) if (storeRunStatus >= StoreRunStatus.Runing && (!isInSuddenDown))
{ {
...@@ -1053,7 +1017,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1053,7 +1017,7 @@ namespace OnlineStore.DeviceLibrary
} }
/// <summary> /// <summary>
/// 超过配置次数时需要重置 /// 超过配置次数时需要复位
/// </summary> /// </summary>
private void AutoResetProcess() private void AutoResetProcess()
{ {
...@@ -1063,11 +1027,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -1063,11 +1027,11 @@ namespace OnlineStore.DeviceLibrary
{ {
if (storeRunStatus < StoreRunStatus.Runing || StoreMove.MoveType == StoreMoveType.InStore || StoreMove.MoveType == StoreMoveType.OutStore) if (storeRunStatus < StoreRunStatus.Runing || StoreMove.MoveType == StoreMoveType.InStore || StoreMove.MoveType == StoreMoveType.OutStore)
{ {
LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutACount + "次，当时当前正在忙碌中暂不重置"); LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutACount + "次，当时当前正在忙碌中暂不复位");
} }
else else
{ {
LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutACount + "次，需要重置一下"); LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutACount + "次，需要复位一下");
Reset(); Reset();
} }
} }
...@@ -1075,11 +1039,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -1075,11 +1039,11 @@ namespace OnlineStore.DeviceLibrary
{ {
if (storeRunStatus < StoreRunStatus.Runing || StoreMove.MoveType == StoreMoveType.InStore || StoreMove.MoveType == StoreMoveType.OutStore) if (storeRunStatus < StoreRunStatus.Runing || StoreMove.MoveType == StoreMoveType.InStore || StoreMove.MoveType == StoreMoveType.OutStore)
{ {
LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutCount + "次，当时当前正在忙碌中暂不重置旋转轴"); LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutCount + "次，当时当前正在忙碌中暂不复位旋转轴");
} }
else else
{ {
LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutCount + "次，需要重置一下旋转轴"); LogUtil.info(LOGGER, StoreName + "已经累计出入库" + CurrInOutCount + "次，需要复位一下旋转轴");
} }
} }
else else
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -112,17 +112,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -112,17 +112,23 @@ namespace OnlineStore.DeviceLibrary
{ {
if (wait.WaitType == 1) if (wait.WaitType == 1)
{ {
string msg = "";
if (wait.IsHomeMove) if (wait.IsHomeMove)
{ {
if ((!ACHomeMoveIsEnd(wait.AxisInfo))) if ((!ACHomeMoveIsEnd(wait.AxisInfo,out msg)))
{ {
if (!msg.Equals(""))
{
WarnMsg = msg;
Alarm(StoreAlarmType.AxisMoveError, GetAlarmCodeByAxis(wait.AxisInfo).ToString(), WarnMsg, StoreMove.MoveType);
}
isOk = false; isOk = false;
break; break;
} }
} }
else else
{ {
string msg = "";
bool isEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg); bool isEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
if (!msg.Equals("")) if (!msg.Equals(""))
{ {
...@@ -139,22 +145,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -139,22 +145,22 @@ namespace OnlineStore.DeviceLibrary
} }
} }
else if (wait.WaitType == 2) else if (wait.WaitType == 2)
{ {
if (!KNDIOValue(wait.IoType).Equals(wait.IoValue)) //if (!KNDIOValue(wait.IoType).Equals(wait.IoValue))
{ //{
//一分钟还未检测到 // //一分钟还未检测到
if (span.TotalMilliseconds > Config.IOSingle_TimerOut) // if (span.TotalMilliseconds > Config.IOSingle_TimerOut)
{ // {
ConfigIO io = Config.getWaitIO(wait.IoType); // ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = StoreName + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！"; // WarnMsg = StoreName + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
//SendAlarmCode(StoreID, LineAlarm.IoNotOk, wait.IoType); // //SendAlarmCode(StoreID, LineAlarm.IoNotOk, wait.IoType);
Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType); // Alarm(StoreAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
LogUtil.error(LOGGER, StoreName + wait.IoType + "等待信号（" + io.DisplayStr + "=" + wait.IoValue + "） 超时", 14); // LogUtil.error(LOGGER, StoreName + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
} // }
isOk = false; // isOk = false;
break; // break;
} //}
} }
else if (wait.WaitType == 3) else if (wait.WaitType == 3)
{ {
...@@ -219,18 +225,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -219,18 +225,18 @@ namespace OnlineStore.DeviceLibrary
{ {
if (!LoadParamPosition(param)) if (!LoadParamPosition(param))
{ {
LogUtil.error(LOGGER, StoreName + " 启动一个 入库运动出错，找不到库位信息"); LogUtil.error(LOGGER, StoreName + " 启动入库出错，找不到库位信息");
return; return;
} }
LogUtil.info(LOGGER, StoreName + " 入库【" + posId + "】处理：启动新的入库,目标位置【" + param.PositionNum + "】", storeMoveColor); LogUtil.info(LOGGER, StoreName + " 启动入库【" + posId + "】", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy; storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute; storeStatus = StoreStatus.InStoreExecute;
StoreMove.NewMove(StoreMoveType.InStore, param); StoreMove.NewMove(StoreMoveType.InStore, param);
if (isNeedCheckIO) if (isNeedCheckIO)
{ {
//料盘检测 //料盘检测
InStoreLog(" 入库【" + posId + "】处理：(SI_00_TrayCheck 检测料盘信号"); InStoreLog(" 入库：(SI_00 检测料盘信号");
StoreMove.NextMoveStep(StoreMoveStep.SI_00_TrayCheck); StoreMove.NextMoveStep(StoreMoveStep.SI_00_TrayCheck);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_1, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.HIGH));
...@@ -239,20 +245,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -239,20 +245,16 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 进出轴（叉子）动作至P1, 打开舱门"); InStoreLog("入库：(SI_02 进出轴(叉子)动作至P1, 打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome); StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升 //打开门 ，门上升
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW); OpenDoorAndWait();
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);
InOutBackToP1(param.MoveP.InOut_P1); InOutBackToP1(param.MoveP.InOut_P1);
} }
else else
{ {
InStoreLog(" 入库处理：(SI_01_LocationCylinderDown 定位气缸下降"); InStoreLog("入库：(SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown); StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH); KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
...@@ -264,7 +266,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -264,7 +266,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.error(LOGGER, StoreName + " 启动一个 入库【" + posId + "】运动出错，当前状态，storeStatus=" + storeRunStatus); LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
} }
} }
/// <summary> /// <summary>
...@@ -289,45 +291,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -289,45 +291,34 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 进出轴（叉子）动作至P1,打开舱门"); InStoreLog("入库：(SI_02_ 进出轴(叉子)动作至P1,打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome); StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升 OpenDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
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); //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
} }
else else
{ {
InStoreLog(" 入库处理：(SI_01_LocationCylinderDown 定位气缸下降"); InStoreLog("入库：(SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown); StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); LocationDownAndWait();
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
} }
} }
if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown) if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{ {
InStoreLog(" 入库处理：(SI_02_InOutAxisHome 进出轴（叉子）动作至P1，打开舱门"); InStoreLog("入库：(SI_02 进出轴(叉子)动作至P1，打开舱门");
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome); StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed); //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
//打开门 ，门上升 //打开门 ，门上升
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW); OpenDoorAndWait();
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); //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome) else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{ {
InStoreLog(" 入库处理：(SI_03_ReturnHome 所有轴先回到待机点，轴2、轴1 动作到P1,，轴4动作至P3"); InStoreLog("入库：(SI_03 所有轴先回到待机点，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) if (IsHasCompress_Axis)
{ {
...@@ -341,27 +332,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -341,27 +332,27 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
//InStoreLog(" 入库处理：(SI_04_CompressWare 压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 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); //ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
//StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false)); //StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P3, false));
} }
else else
{ {
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"); InStoreLog("入库：(SI_05 叉子进入入料口，进出轴至P2(进料口取料点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor); StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
} }
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_04_CompressWare) 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"); InStoreLog("入库：(SI_05 叉子进入入料口，进出轴至P2(进料口取料点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor); StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor) else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{ {
InStoreLog(" 入库处理：（SI_06_DoorWarToDevice 把物品放入叉子上，轴4（ 压紧） 至P2(压紧点)）开始,等待一秒后，轴2（ 上下） 至P7（ 进料口取料缓冲点））开始"); InStoreLog("入库：(SI_06 拿起物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice); StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
...@@ -374,7 +365,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -374,7 +365,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice) 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"); InStoreLog("入库：(SI_07 叉子 从入料口抽出，进出轴至P1(待机点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor); StoreMove.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed); //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
...@@ -383,7 +374,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -383,7 +374,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
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"); InStoreLog("入库：(SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
...@@ -393,17 +384,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -393,17 +384,14 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
InStoreLog(" 入库处理：（SI_08_LocationCylinder_Up 定位气缸伸出 (有压紧轴的不需要此步骤)开始"); InStoreLog("入库：(SI_08 定位气缸伸出 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up); StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up);
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); LocationUpAndWait();
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
} }
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up) else if (StoreMove.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
{ {
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"); InStoreLog("入库：(SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点))，关闭舱门 开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
...@@ -417,32 +405,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -417,32 +405,29 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
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"); InStoreLog("入库：(SI_11 叉子进入库位中，进出轴至P3(库位取放料点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
} }
else else
{ {
InStoreLog(" 入库处理：（SI_10_LocationCylinder_Down 定位气缸退回 （有压紧轴的不需要此步骤） ）开始"); InStoreLog("入库：(SI_10 定位气缸退回 )开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down); StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down);
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); LocationDownAndWait();
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
} }
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down) else if (StoreMove.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
{ {
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); 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"); InStoreLog("入库：(SI_11 叉子进入库位中，进出轴至P3(库位取放料点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag) else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
{ {
InStoreLog(" 入库处理：（SI_12_PutWareToBag 放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点））开始！"); 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))开始！");
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag); StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
...@@ -453,8 +438,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -453,8 +438,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag) else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{ {
InStoreLog(" 入库处理：（SI_13_DeviceBackFromBag 叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）)开始！"); InStoreLog("入库：(SI_13 叉子从库位中返回，进出轴动作至P1(待机点))开始！");
// 5= 入仓位完成（料仓Box把料盘放入对应的库位中，装置还未恢复原始状态） // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
lastPosId = posId; lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd; lastPosIdStatus = StoreStatus.InStoreEnd;
...@@ -467,7 +452,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -467,7 +452,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag) else if (StoreMove.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag)
{ {
InStoreLog(" 入库处理：（SI_14_GoBack 返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)，检测门关闭，开始！"); 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，开始！");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack); StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
...@@ -476,16 +461,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -476,16 +461,12 @@ namespace OnlineStore.DeviceLibrary
} }
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);
//关闭门 CloseDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack) else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack)
{ {
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + " 入库【" + posId + "】处理： 整个入库流程结束！", storeMoveColor); LogUtil.info(LOGGER, StoreName + " 【" + posId + "】 整个入库流程结束！", storeMoveColor);
StoreMove.EndMove(); StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing; storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态 //设备连接，入库后，BOX恢复原始状态
...@@ -494,7 +475,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -494,7 +475,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.info(LOGGER, StoreName + " 入库处理，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！"); LogUtil.info(LOGGER, StoreName + " 入库，moveStatus=" + StoreMove.MoveStep + "，没有对应的处理！");
} }
} }
...@@ -514,39 +495,32 @@ namespace OnlineStore.DeviceLibrary ...@@ -514,39 +495,32 @@ namespace OnlineStore.DeviceLibrary
{ {
if (!LoadParamPosition(param)) if (!LoadParamPosition(param))
{ {
LogUtil.error(LOGGER, StoreName + " 启动一个 出库【" + posId + "】运动出错，找不到库位信息"); LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】出库出错，找不到库位信息");
return; return;
} }
storeStatus = StoreStatus.OutStoreExecute; storeStatus = StoreStatus.OutStoreExecute;
LogUtil.info(LOGGER, StoreName + " 出库处理：启动一个出库【" + posId + "】 开始处理 ", storeMoveColor); LogUtil.info(LOGGER, StoreName + "启动出库【" + posId + "】 ", storeMoveColor);
storeRunStatus = StoreRunStatus.Busy; storeRunStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore, param); StoreMove.NewMove(StoreMoveType.OutStore, param);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack); 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"); OutStoreLog("出库：(SO_02 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); //ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1); InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
//打开舱门
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH); OpenDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_01_LocationCylinderDown); StoreMove.NextMoveStep(StoreMoveStep.SO_01_LocationCylinderDown);
OutStoreLog(" 出库处理：(SO_01_LocationCylinderDown 定位气缸下降"); OutStoreLog("出库：(SO_01 定位气缸下降");
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); LocationDownAndWait();
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
//CylinderMove(StoreMove, Store_IO_Type.LocationCylinder_Up, Store_IO_Type.LocationCylinder_Down);
} }
} }
else else
{ {
LogUtil.error(LOGGER, StoreName + " 启动一个 出库运动出错，当前状态，storeStatus=" + storeRunStatus); LogUtil.error(LOGGER, StoreName + " 启动出库出错，当前状态，storeStatus=" + storeRunStatus);
} }
} }
protected override void OutStoreProcess() protected override void OutStoreProcess()
...@@ -563,13 +537,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -563,13 +537,13 @@ namespace OnlineStore.DeviceLibrary
if (StoreMove.MoveStep == StoreMoveStep.SO_01_LocationCylinderDown) if (StoreMove.MoveStep == StoreMoveStep.SO_01_LocationCylinderDown)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack); StoreMove.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
OutStoreLog(" 出库处理：(SO_02_DeviceBack 叉子先运动到P1 开始"); OutStoreLog("出库：(SO_02 叉子先运动到P1 开始");
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1); InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_02_DeviceBack) else if (StoreMove.MoveStep == StoreMoveStep.SO_02_DeviceBack)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition); StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
OutStoreLog(" 出库处理：(SO_03_ToBagPosition 所有轴运行到库位， 轴4（ 压紧） 至P3(压紧前点) ,轴1（ 转盘） 至P2（ 库位点）,轴2(上下） 至P5(库位出库前点） ) 开始"); OutStoreLog("出库：(SO_03 所有轴运行到库位， 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) ) 开始");
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
//ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3); //ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P3);
...@@ -581,12 +555,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -581,12 +555,12 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition) else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_04_DeviceToBag); 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"); OutStoreLog("出库：(SO_04 叉子进入库位中， 进出轴至P3(库位取放料点))开始");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_04_DeviceToBag) else if (StoreMove.MoveStep == StoreMoveStep.SO_04_DeviceToBag)
{ {
OutStoreLog(" 出库处理：（SO_05_BagWareToDevice库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点)）开始"); OutStoreLog("出库：(SO_05 库位的物品放入叉子上，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点))开始");
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)
...@@ -599,7 +573,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -599,7 +573,7 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice) else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack); 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"); OutStoreLog("出库：(SO_06 叉子从 库位返回，进出轴至P1(待机点))开始");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed); //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成 //把库位的物品放到取到叉子上之后是出仓完成
...@@ -614,30 +588,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -614,30 +588,23 @@ namespace OnlineStore.DeviceLibrary
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition); 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"); OutStoreLog("出库： (SO_08 所有设备运行到门，旋转轴至P1(待机点)升降轴至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); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//打开舱门 //打开舱门
KNDIOMove(IO_Type.Door_Up, IO_VALUE.HIGH); OpenDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_07_LocationCylinder_Up); StoreMove.NextMoveStep(StoreMoveStep.SO_07_LocationCylinder_Up);
OutStoreLog(" 出库处理： （SO_07_LocationCylinder_Up定位气缸伸出（有压紧轴的不需要此步骤），，定位气缸伸出 ）开始"); OutStoreLog("出库： (SO_07 定位气缸伸出(有压紧轴的不需要此步骤)，，定位气缸伸出 )开始");
//同时运动，电缸移动至入料口的上端位置 旋转电机2反转 LocationUpAndWait();
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
} }
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up) else if (StoreMove.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition); 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"); OutStoreLog("出库： (SO_08 所有设备运行到门，旋转轴至P1(待机点)升降轴至P2(进料口出料前点))开始");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//此处需要等待box门口没有盘 //此处需要等待box门口没有盘
...@@ -650,29 +617,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -650,29 +617,27 @@ namespace OnlineStore.DeviceLibrary
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor); 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"); OutStoreLog("出库：(SO_10 叉子进出料口，进出轴至P2(进料口取料点))开始");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down); StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down);
OutStoreLog(" 出库处理：（SO_09_LocationCylinder_Down定位气缸退回（有压紧轴的不需要此步骤），，定位气缸退回 ）开始"); OutStoreLog("出库：(SO_09 定位气缸退回(有压紧轴的不需要此步骤)，，定位气缸退回 )开始");
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); LocationDownAndWait();
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
} }
} }
//此处需要等待移栽没有工作，才能把盘放入出料口 //此处需要等待移栽没有工作，才能把盘放入出料口
else if (StoreMove.MoveStep == StoreMoveStep.SO_09_LocationCylinder_Down) else if (StoreMove.MoveStep == StoreMoveStep.SO_09_LocationCylinder_Down)
{ {
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"); OutStoreLog("出库：(SO_10 叉子进出料口，进出轴至P2(进料口取料点))开始");
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor); StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_DeviceToDoor) else if (StoreMove.MoveStep == StoreMoveStep.SO_10_DeviceToDoor)
{ {
OutStoreLog(" 出库处理：（SO_11_DevicePutWare把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)） 开始！"); OutStoreLog("出库：(SO_11 把物品放下，升降轴至P8(进料口出料缓冲点)压紧轴至P1(待机点)) 开始！");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare); StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
...@@ -684,25 +649,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -684,25 +649,22 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare) else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_12_DeviceOutFromDoor); StoreMove.NextMoveStep(StoreMoveStep.SO_12_DeviceOutFromDoor);
OutStoreLog(" 出库处理：（SO_12_DeviceOutFromDoor叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）)开始！"); OutStoreLog("出库：(SO_12 叉子从出料口返回，，进出轴动作至P1(待机点))开始！");
InOutBackToP1(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_DeviceOutFromDoor) else if (StoreMove.MoveStep == StoreMoveStep.SO_12_DeviceOutFromDoor)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_13_GoBack); 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！"); OutStoreLog("出库：(SO_13 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); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW); CloseDoorAndWait();
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_13_GoBack) else if (StoreMove.MoveStep == StoreMoveStep.SO_13_GoBack)
{ {
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
storeStatus = StoreStatus.OutStoreBoxEnd; storeStatus = StoreStatus.OutStoreBoxEnd;
LogUtil.info(LOGGER, StoreName + " 出库【" + posId + "】处理： 整个出库流程结束！", storeMoveColor); LogUtil.info(LOGGER, StoreName + " 【" + posId + "】 整个出库流程结束！", storeMoveColor);
StoreMove.EndMove(); StoreMove.EndMove();
storeRunStatus = StoreRunStatus.Runing; storeRunStatus = StoreRunStatus.Runing;
InOutEndProcess(StoreMoveType.OutStore); InOutEndProcess(StoreMoveType.OutStore);
...@@ -713,6 +675,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -713,6 +675,21 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void LocationUpAndWait()
{
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW));
}
private void LocationDownAndWait()
{
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW));
}
#endregion #endregion
public List<FixtureCodeInfo> waitOutStoreList = new List<FixtureCodeInfo>(); public List<FixtureCodeInfo> waitOutStoreList = new List<FixtureCodeInfo>();
public object waitOutListLock = ""; public object waitOutListLock = "";
...@@ -823,12 +800,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -823,12 +800,12 @@ namespace OnlineStore.DeviceLibrary
private void InStoreLog(string msg) private void InStoreLog(string msg)
{ {
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + "【" + posId + "】" + msg, storeMoveColor); LogUtil.info(LOGGER, "【" + posId + "】" + msg, storeMoveColor);
} }
private void OutStoreLog(string msg) private void OutStoreLog(string msg)
{ {
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.info(LOGGER, StoreName + "【" + posId + "】" + msg, storeMoveColor); LogUtil.info(LOGGER, "【" + posId + "】" + msg, storeMoveColor);
} }
} }
} }
source/DeviceLibrary/store/KTK_Store.cs
...@@ -246,9 +246,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -246,9 +246,9 @@ namespace OnlineStore.DeviceLibrary
protected void ACAxisHomeMove(ConfigMoveAxis moveAxis) protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
{ {
moveAxis.TargetPosition = 0; moveAxis.TargetPosition = 0;
LogUtil.debug(LOGGER, "DeviceName=" + moveAxis.DeviceName + ",AxisNo=" + moveAxis.GetAxisValue() + ",speed=" + moveAxis.TargetSpeed + "开始原点返回"); LogUtil.debug(LOGGER, moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
AddAxisMoveTime(moveAxis); AddAxisMoveTime(moveAxis);
ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.TargetSpeed); ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
} }
...@@ -271,51 +271,76 @@ namespace OnlineStore.DeviceLibrary ...@@ -271,51 +271,76 @@ namespace OnlineStore.DeviceLibrary
msg = ""; msg = "";
string deviceName = moveAxis.DeviceName; string deviceName = moveAxis.DeviceName;
short axisNo = moveAxis.GetAxisValue(); short axisNo = moveAxis.GetAxisValue();
bool isend =ACServerManager.IsHomeMoveEnd(deviceName, axisNo); bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition); if (isOk)
if (isend)
{ {
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
if (errorCount > moveAxis.CanErrorCountMax) if (errorCount > moveAxis.CanErrorCountMax)
{ {
//判断是否需要重新运动 //判断是否需要重新运动
if (StoreMove.CanWhileCount > 0) if (StoreMove.CanWhileCount > 0)
{ {
LogUtil.error(LOGGER, StoreName + " storeMoveStep=" + StoreMove.MoveStep + ", DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + ",targetSpeed=" + targetSpeed + ",当前outCount=" + outCount + LogUtil.error(LOGGER, StoreName + " storeMoveStep=" + StoreMove.MoveStep +moveAxis.DisplayStr+ "目标位置[" + targetPosition + "]速度[" + targetSpeed + "]当前位置[" + outCount +
",误差值大于最大误差【" + moveAxis.CanErrorCountMax + "】,但是轴已经停止运动，还有【" + StoreMove.CanWhileCount + "】次可以重复运动的次数"); "],误差值大于最大误差[" + moveAxis.CanErrorCountMax + "],但是轴已经停止运动，还有[" + StoreMove.CanWhileCount + "]次可以重复运动的次数");
LogUtil.error(LOGGER, StoreName + " storeMoveStep=" + StoreMove.MoveStep + ", DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + "开始重新运动"); LogUtil.error(LOGGER, StoreName + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]重新开始运动");
ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed); ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
StoreMove.CanWhileCount--; StoreMove.CanWhileCount--;
} }
else else
{ {
msg = StoreName + " storeMoveStep=" + StoreMove.MoveStep + ", DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + ",targetSpeed=" + targetSpeed + ",当前outCount=" + outCount + ",误差值大于最大误差【" + moveAxis.CanErrorCountMax + "】,但是轴已经停止运动，需要报警"; msg = StoreName + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
+ "]误差值大于最大误差[" + moveAxis.CanErrorCountMax + "],但是轴已经停止运动，需要报警";
LogUtil.error(LOGGER, msg); LogUtil.error(LOGGER, msg);
return false; return false;
} }
} }
else else
{ {
return true; return true;
} }
} }
else if (errorCount < moveAxis.CanErrorCountMin) //else if (errorCount < moveAxis.CanErrorCountMin)
{ //{
LogUtil.info(LOGGER, " storeMoveStep=" + StoreMove.MoveStep + ", DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + ",当前outCount=" + outCount + // LogUtil.info(LOGGER, " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + ",targetPosition=" + targetPosition + ",当前outCount=" + outCount +
",误差值小于最小误差【" + moveAxis.CanErrorCountMin + "】,默认轴已经停止运动"); // ",误差值小于最小误差【" + moveAxis.CanErrorCountMin + "】,默认轴已经停止运动");
// return true;
return true; //}
}
return false; return false;
} }
protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis) protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis,out string msg)
{ {
msg = "";
if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()) ) if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()) )
{ {
//原点完成并且位置=0
int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
int errorCount = Math.Abs(outCount );
if (errorCount > moveAxis.CanErrorCountMax)
{
//判断是否需要重新运动
if (StoreMove.CanWhileCount > 0)
{
LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "收到原点完成信号，当前位置["+outCount+"]，还有[" + StoreMove.CanWhileCount + "]次可以重复运动的次数");
LogUtil.error(LOGGER, StoreName + moveAxis.DisplayStr + "重新回原点");
ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
StoreMove.CanWhileCount--;
}
else
{
msg = StoreName + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "],误差值大于[" + moveAxis.CanErrorCountMax + "],需要报警";
LogUtil.error(LOGGER, msg);
return false;
}
}
else
{
return true;
}
return true; return true;
} }
return false; return false;
......
source/DeviceLibrary/store/StoreManager.cs
...@@ -218,7 +218,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -218,7 +218,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 料仓原点返回和重置步骤，，轴三进出轴返回原点后，需要等待500毫秒，然后再清空 /// 料仓原点返回和重置步骤，，轴三进出轴返回原点后，需要等待500毫秒，然后再清空
/// </summary> /// </summary>
BOX_H_InOutBackWait = 012, //BOX_H_InOutBackWait = 012,
/// <summary> /// <summary>
/// 料仓原点返回和重置步骤，，轴三返回P1点 /// 料仓原点返回和重置步骤，，轴三返回P1点
/// </summary> /// </summary>
...@@ -227,10 +227,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -227,10 +227,10 @@ namespace OnlineStore.DeviceLibrary
/// 料仓原点返回和重置步骤，，升降轴，旋转轴，压紧轴原点返回 /// 料仓原点返回和重置步骤，，升降轴，旋转轴，压紧轴原点返回
/// </summary> /// </summary>
BOX_H_OtherAxisBack = 014, BOX_H_OtherAxisBack = 014,
/// <summary> ///// <summary>
/// 清理轴位置 ///// 清理轴位置
/// </summary> ///// </summary>
BOX_H_WaitAxisCountClear = 015, //BOX_H_WaitAxisCountClear = 015,
/// <summary> /// <summary>
/// 旋转轴返回P1 /// 旋转轴返回P1
/// </summary> /// </summary>
......
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