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Commit c2ca5243 由 几米阳光
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光栅修改

1 个父辈 9100311f
内嵌 并排
正在显示 4 个修改的文件 包含 83 行增加 和 49 行删除
source/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs
......@@ -210,7 +210,7 @@ namespace OnlineStore.DeviceLibrary
return;
}
byte[] returnData = SendCommand(portName, data, 50, 8);
if (returnData!=null)
if (returnData != null)
{
string strSend = "";
for (int i = 0; i < returnData.Length; i++)
......@@ -231,6 +231,10 @@ namespace OnlineStore.DeviceLibrary
/// <returns>返回值的长度</returns>
public static byte[] SendCommand(string portName, byte[] data, int outTime, int reviceLength)
{
if (outTime > 80)
{
outTime = 80;
}
byte[] returnData = null;
try
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -3,6 +3,7 @@ using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
......@@ -725,27 +726,29 @@ namespace OnlineStore.DeviceLibrary
//}
}
private bool InProcess = false;
private DateTime preProcessTime = DateTime.Now;
//private DateTime preProcessTime = DateTime.Now;
private bool IsChongfu = false;
private Stopwatch stopwatch = new Stopwatch();
protected override void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (InProcess)
{
TimeSpan span = DateTime.Now - preProcessTime;
if (span.TotalMinutes < 1)
//TimeSpan span = DateTime.Now - preProcessTime;
if (stopwatch.Elapsed.TotalMinutes < 1)
{
return;
}
else
{
LogUtil.error("主定时器：InProcess已等待" + span.ToString() + "重新处理");
LogUtil.error("主定时器：InProcess已等待" + stopwatch.Elapsed.ToString() + "重新处理");
IsChongfu = true;
}
}
try
{
InProcess = true;
preProcessTime = DateTime.Now;
//preProcessTime = DateTime.Now;
stopwatch.Restart();
IoCheckProcess();
ShowTimeLog("IoCheckProcess");
TimerProcess();
......@@ -769,7 +772,7 @@ namespace OnlineStore.DeviceLibrary
{
if (IsChongfu)
{
LogUtil.info("【" + info + "】 处理完成，耗时：" + (DateTime.Now - preProcessTime).ToString());
LogUtil.info("【" + info + "】 处理完成，耗时：" + stopwatch.Elapsed.ToString());
}
}
//private void LedProcess()
......@@ -1002,32 +1005,59 @@ namespace OnlineStore.DeviceLibrary
//}
}
private int NeedCheckSafetyLight = 0;
private object safetyInProcess="";
/// <summary>
/// 光栅处理
/// </summary>
private void SafetyLightProcess()
{
if (Monitor.TryEnter(safetyInProcess))
{
try
{
//遮挡光栅信号
if (KNDIOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore)&&StoreMove.MoveStep.Equals(StoreMoveStep.SO_10_DeviceToDoor))
{
if (NeedCheckSafetyLight.Equals(1))
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SO_10_DeviceToDoor))
{
NeedCheckSafetyLight = 2;
LOGGER.Info("出库SO_10_DeviceToDoor运动中，光栅被遮挡，停止进出轴运动");
ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
}
else if (StoreMove.MoveType.Equals(StoreMoveType.InStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SI_05_DeviceToDoor))
{
NeedCheckSafetyLight = 2;
LOGGER.Info("入库SI_05_DeviceToDoor运动中，光栅被遮挡，停止进出轴运动");
ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
}
}
}
else
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SO_10_DeviceToDoor))
{
if (NeedCheckSafetyLight.Equals(2))
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SO_10_DeviceToDoor))
{
LOGGER.Info("出库SO_10_DeviceToDoor运动中，光栅已恢复，继续进出轴运动");
SO_10_DeviceToDoorPro();
}
else if (StoreMove.MoveType.Equals(StoreMoveType.InStore) && StoreMove.MoveStep.Equals(StoreMoveStep.SI_05_DeviceToDoor))
{
LOGGER.Info("入库SI_05_DeviceToDoor运动中，光栅已恢复，继续进出轴运动");
SI_05_DeviceToDoor();
}
}
}
}
catch (Exception ex)
{
LogUtil.error("光栅处理出错：" + ex.ToString());
}
finally
{
Monitor.Exit(safetyInProcess);
}
}
}
......@@ -1221,7 +1251,7 @@ namespace OnlineStore.DeviceLibrary
//在回原点，复位，出入库时，检测报警间隔减小
if (storeRunStatus.Equals(StoreRunStatus.Busy) || storeRunStatus.Equals(StoreRunStatus.HomeMoving) || storeRunStatus.Equals(StoreRunStatus.Reset))
{
if (span.TotalSeconds < 0.5)
if (span.TotalSeconds < 1)
{
return false;
}
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -297,6 +297,13 @@ namespace OnlineStore.DeviceLibrary
OpenDoorAndWait();
InOutBackToP1(moveP.InOut_P1);
}
private void SI_05_DeviceToDoor()
{
InStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
NeedCheckSafetyLight = 1;
}
protected override void InStoreProcess()
{
LineMoveP moveP = StoreMove.MoveParam.MoveP;
......@@ -350,19 +357,19 @@ namespace OnlineStore.DeviceLibrary
}
else
{
InStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
SI_05_DeviceToDoor();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_04_CompressWare)
{
InStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
//InStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
//StoreMove.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
SI_05_DeviceToDoor();
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{
NeedCheckSafetyLight = 0;
InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
ComMoveToPosition(moveP.ComPress_P2);
......@@ -661,7 +668,7 @@ namespace OnlineStore.DeviceLibrary
{
OutStoreLog("出库：SO_11 放下物品，升降轴至P8(进料口出料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
NeedCheckSafetyLight = 0;
ComMoveToPosition(moveP.ComPress_P1);
//if (IsHasCompress_Axis)
//{
......
source/DeviceLibrary/store/KTK_Store.cs
......@@ -44,6 +44,8 @@ namespace OnlineStore.DeviceLibrary
/// 是否没有检测到气压
/// </summary>
public bool isNoAirCheck = false;
protected int NeedCheckSafetyLight = 0;
/// <summary>
/// 是否再报警中
/// </summary>
......@@ -93,33 +95,6 @@ namespace OnlineStore.DeviceLibrary
return new TimeSpan(0);
}
}
///// <summary>
///// 获取轴已运行时间
///// </summary>
///// <returns></returns>
//public TimeSpan GetAxisRunTime(int axisNo)
//{
// TimeSpan span = new TimeSpan(0);
// try
// {
// if (AxisRunTimeMap.ContainsKey(axisNo))
// {
// Dictionary<DateTime, DateTime> moveMap = AxisRunTimeMap[axisNo];
// if (moveMap != null && moveMap.Count > 0)
// {
// foreach (DateTime key in moveMap.Keys)
// {
// span += moveMap[key] - key;
// }
// }
// }
// }
// catch (Exception ex)
// {
// LogUtil.error(LOGGER, ex.ToString());
// }
// return span;
//}
protected void AddAxisMoveTime(ConfigMoveAxis axis)
{
......@@ -276,18 +251,36 @@ namespace OnlineStore.DeviceLibrary
string deviceName = moveAxis.DeviceName;
short axisNo = moveAxis.GetAxisValue();
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
//如果是进出轴，并且光栅被遮挡，直接返回false
if (NeedCheckSafetyLight.Equals(2))
{
if (StoreMove.MoveStep.Equals(StoreMoveStep.SO_10_DeviceToDoor) ||
StoreMove.MoveStep.Equals(StoreMoveStep.SI_05_DeviceToDoor))
{
return false;
}
}
bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
int errorCount = Math.Abs(outCount - targetPosition);
if (isOk)
{
if (errorCount > moveAxis.CanErrorCountMax)
{
if (NeedCheckSafetyLight.Equals(2))
{
if (StoreMove.MoveStep.Equals(StoreMoveStep.SO_10_DeviceToDoor) ||
StoreMove.MoveStep.Equals(StoreMoveStep.SI_05_DeviceToDoor))
{
return false;
}
}
//判断是否需要重新运动
if (StoreMove.CanWhileCount > 0)
{
LogUtil.error(LOGGER, moveAxis.DisplayStr+ "目标位置[" + targetPosition + "]当前位置[" + outCount +
LogUtil.error(LOGGER, moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，重新开始运动，剩余[" + StoreMove.CanWhileCount + "]次");
//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);
......
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