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Commit d998b76f 由 几米阳光
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出入库取料后，需要检测叉子料盘有料信号，否则报信号超时

1 个父辈 13676e4d
内嵌 并排
正在显示 3 个修改的文件 包含 36 行增加 和 14 行删除
source/ACSingleStore/记录.txt
......@@ -40,6 +40,9 @@
20190114
改为伺服串联兼容模式
20190227
出入库取料后，需要检测叉子料盘有料信号，否则报信号超时
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -341,11 +341,11 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
LocationDownAndWait();
LocationDownAndWait();
}
}
if (StoreMove.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
{
SI_02_Move(moveP);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
......@@ -388,7 +388,7 @@ namespace OnlineStore.DeviceLibrary
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,true);
ComMoveToPosition(moveP.ComPress_P2, true);
//if (IsHasCompress_Axis)
//{
// ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
......@@ -407,6 +407,12 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
{
InStoreLog("入库：SI_071_CheckTraySignal 等待叉子料盘有料信号");
StoreMove.NextMoveStep(StoreMoveStep.SI_071_CheckTraySignal);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_071_CheckTraySignal)
{
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
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) ");
......@@ -421,7 +427,7 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_08 定位气缸伸出 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_08_LocationCylinder_Up);
LocationUpAndWait();
LocationUpAndWait();
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
......@@ -432,7 +438,7 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
//关闭舱门
KNDIOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
......@@ -469,14 +475,14 @@ namespace OnlineStore.DeviceLibrary
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
ComMoveToPosition(moveP.ComPress_P3,true);
ComMoveToPosition(moveP.ComPress_P3, true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
InStoreLog("入库：SI_13 叉子从库位中返回，进出轴动作至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
InOutBackToP1(moveP.InOut_P1);
}
......@@ -608,7 +614,7 @@ namespace OnlineStore.DeviceLibrary
// ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P2);
// StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, moveP.ComPress_P2, false));
//}
ComMoveToPosition(moveP.ComPress_P2,true);
ComMoveToPosition(moveP.ComPress_P2, true);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
......@@ -626,6 +632,12 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_061_WaitTraySignal);
OutStoreLog("出库：SO_061_WaitTraySignal 等待叉子的料盘有料信号");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_061_WaitTraySignal)
{
if (KNDIOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
......@@ -664,7 +676,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
{
if (IsHasCompress_Axis|| Config.IsHasLocationCylinder.Equals(0))
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{
//SO_10_DeviceToDoorPro();
StoreMove.NextMoveStep(StoreMoveStep.SO_091_WaitNoTray);
......@@ -677,7 +689,7 @@ namespace OnlineStore.DeviceLibrary
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down);
OutStoreLog("出库：SO_09 定位气缸退回，定位气缸退回 ");
LocationDownAndWait();
LocationDownAndWait();
}
}
//此处需要等待移栽没有工作，才能把盘放入出料口
......@@ -699,7 +711,7 @@ 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,true);
ComMoveToPosition(moveP.ComPress_P1, true);
//if (IsHasCompress_Axis)
//{
// ShuoKeControls.AbsMove(Config.CompressAxis_Slv, moveP.ComPress_P1);
......@@ -729,7 +741,7 @@ namespace OnlineStore.DeviceLibrary
}
int ms = OutStoreWaitSeconds * 1000;
StoreMove.NextMoveStep(StoreMoveStep.SO_14_WaitTake);
OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待"+OutStoreWaitSeconds+"秒");
OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待" + OutStoreWaitSeconds + "秒");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(ms));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -203,7 +203,10 @@ namespace OnlineStore.DeviceLibrary
///料仓出库，，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点）
/// </summary>
SO_06_BagDeviceBack = 106,
/// <summary>
/// 料仓出库：等待料仓有料盘检测信号
/// </summary>
SO_061_WaitTraySignal=116,
/// <summary>
/// 料仓出库，定位气缸伸出（有压紧轴的不需要此步骤），，定位气缸伸出 Y103-1/PCI5O1-83) Y103-2/PCI5O1-90) Y103-3/PCI5O1-95) 伸出到位
/// </summary>
......@@ -282,6 +285,10 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SI_07_DeviceBackFromDoor = 207,
/// <summary>
/// 入库。。检测叉子是否有料
/// </summary>
SI_071_CheckTraySignal = 217,
/// <summary>
/// 入库。。，定位气缸伸出 (有压紧轴的不需要此步骤)
/// </summary>
SI_08_LocationCylinder_Up = 208,
......
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