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Commit eead9dd0 由 LN
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入库时未检测到物料的报警自动清除。 

大盘位置校准时，需要放下，拿起，再放下拿起2次。
入库放料后需要检测料叉无信号，否则等待信号超时。
1 个父辈 8feba3d1
内嵌 并排
正在显示 4 个修改的文件 包含 79 行增加 和 22 行删除
source/ACSingleStore/记录.txt
...@@ -34,3 +34,10 @@ ...@@ -34,3 +34,10 @@
入库时仓门口必须有料。 入库时仓门口必须有料。
20200616 20200616
盘点 盘点
20200826
入库时未检测到物料的报警自动清除。
大盘位置校准时，需要放下，拿起，再放下拿起2次。
入库放料后需要检测料叉无信号，否则等待信号超时。
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -1020,10 +1020,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -1020,10 +1020,10 @@ namespace OnlineStore.DeviceLibrary
{ {
return; return;
} }
if (WarnMsg.Contains("等待料仓门口检测到料盘")) //if (WarnMsg.Contains("等待料仓门口检测到料盘"))
{ //{
return; // return;
} //}
//若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过 //若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过
if (StoreMove.IsInWait == false) if (StoreMove.IsInWait == false)
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -376,11 +376,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -376,11 +376,11 @@ namespace OnlineStore.DeviceLibrary
if (StoreMove.MoveStep.Equals(StoreMoveStep.SI_00_TrayCheck)) if (StoreMove.MoveStep.Equals(StoreMoveStep.SI_00_TrayCheck))
{ {
//判断是否有料盘信号 //判断是否有料盘信号
if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH)&&StoreManager.checkWatch(doorCheckWatch,1000,false)) if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.HIGH) && StoreManager.checkWatch(doorCheckWatch, 1000, false))
{ {
SI_02_Move(moveP); SI_02_Move(moveP);
} }
else if(StoreMove.IsTimeOut(10)) else if (StoreMove.IsTimeOut(10))
{ {
WarnMsg = StoreName + "入库 等待料仓门口检测到料盘 [" + StoreMove.MoveParam.PosInfo.barcode + "] [" + StoreMove.MoveParam.PosInfo.PosId + "] 超时 [" + Math.Round(StoreMove.StepSpan().TotalSeconds, 1) + "]秒 "; WarnMsg = StoreName + "入库 等待料仓门口检测到料盘 [" + StoreMove.MoveParam.PosInfo.barcode + "] [" + StoreMove.MoveParam.PosInfo.PosId + "] 超时 [" + Math.Round(StoreMove.StepSpan().TotalSeconds, 1) + "]秒 ";
LogUtil.error(LOGGER, WarnMsg, 100); LogUtil.error(LOGGER, WarnMsg, 100);
...@@ -402,7 +402,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -402,7 +402,7 @@ namespace OnlineStore.DeviceLibrary
//storeStatus = StoreStatus.StoreOnline; //storeStatus = StoreStatus.StoreOnline;
//InOutEndProcess(StoreMoveType.InStore); //InOutEndProcess(StoreMoveType.InStore);
} }
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome) else if (StoreMove.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{ {
if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW)) if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
...@@ -529,20 +529,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -529,20 +529,24 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag) 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) "); 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_InoutBack);
StoreMove.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
InOutBackToP1(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag) else if (StoreMove.MoveStep == StoreMoveStep.SI_13_InoutBack)
{ {
InStoreLog("入库：SI_14 返回待机点，轴2/轴1/轴4动作至P1(待机点))，检测门关闭"); InStoreLog("入库：SI_14_ 等待料叉无信号 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_14_GoBack); StoreMove.NextMoveStep(StoreMoveStep.SI_14_WaitNoReel);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_WaitNoReel) {
InStoreLog("入库：SI_15 返回待机点，轴2/轴1/轴4动作至P1(待机点))，检测门关闭");
StoreMove.NextMoveStep(StoreMoveStep.SI_15_GoBack);
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed); ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
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);
CloseDoor(); CloseDoor();
} }
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_GoBack) else if (StoreMove.MoveStep == StoreMoveStep.SI_15_GoBack)
{ {
TimeSpan span = DateTime.Now - startInStoreTime; TimeSpan span = DateTime.Now - startInStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
...@@ -696,18 +700,43 @@ namespace OnlineStore.DeviceLibrary ...@@ -696,18 +700,43 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SOL_14_UpdownToP4) else if (StoreMove.MoveStep == StoreMoveStep.SOL_14_UpdownToP4)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SOL_15_GetWare); StoreMove.NextMoveStep(StoreMoveStep.SOL_15_WaitTime);
OutStoreLog("出库定位：放下物品后等待200 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (StoreMove.MoveStep == StoreMoveStep.SOL_15_WaitTime)
{
StoreMove.NextMoveStep(StoreMoveStep.SOL_16_GetWare);
OutStoreLog("出库定位：拿物品，升降轴到P6（ 库位出料缓冲点），压紧轴到P2(压紧点) "); OutStoreLog("出库定位：拿物品，升降轴到P6（ 库位出料缓冲点），压紧轴到P2(压紧点) ");
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.LocationPos.UpDownAxis_OHPosition_P6, Config.UpDownAxis_P6_Speed); ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.LocationPos.UpDownAxis_OHPosition_P6, Config.UpDownAxis_P6_Speed);
ACAxisMove(Config.Comp_Axis, StoreMove.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed); ACAxisMove(Config.Comp_Axis, StoreMove.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SOL_15_GetWare) else if (StoreMove.MoveStep == StoreMoveStep.SOL_16_GetWare)
{
StoreMove.NextMoveStep(StoreMoveStep.SOL_17_UpdownToP42);
OutStoreLog("出库定位2：放下物品，升降轴到P4（ 库位入料缓冲点） ");
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.LocationPos.UpDownAxis_ILPosition_P4, Config.UpDownAxis_P4_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SOL_17_UpdownToP42)
{
StoreMove.NextMoveStep(StoreMoveStep.SOL_18_WaitTime2 );
OutStoreLog("出库定位2：放下物品后等待200 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (StoreMove.MoveStep == StoreMoveStep.SOL_18_WaitTime2)
{
StoreMove.NextMoveStep(StoreMoveStep.SOL_19_GetWare2);
OutStoreLog("出库定位2：拿物品，升降轴到P6（ 库位出料缓冲点），压紧轴到P2(压紧点) ");
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.LocationPos.UpDownAxis_OHPosition_P6, Config.UpDownAxis_P6_Speed);
ACAxisMove(Config.Comp_Axis, StoreMove.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SOL_19_GetWare2)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SOL_16_InoutToP1); StoreMove.NextMoveStep(StoreMoveStep.SOL_20_InoutToP1);
OutStoreLog("出库定位： 进出轴到P1（ 待机点） "); OutStoreLog("出库定位： 进出轴到P1（ 待机点） ");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed); ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
} }
else if (StoreMove.MoveStep == StoreMoveStep.SOL_16_InoutToP1) else if (StoreMove.MoveStep == StoreMoveStep.SOL_20_InoutToP1)
{ {
SO_21_ToDoorP(); SO_21_ToDoorP();
} }
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -227,13 +227,30 @@ namespace OnlineStore.DeviceLibrary ...@@ -227,13 +227,30 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
SOL_14_UpdownToP4, SOL_14_UpdownToP4,
/// <summary> /// <summary>
/// 出库定位：放下物品后等待200
/// </summary>
SOL_15_WaitTime,
/// <summary>
/// 出库定位：拿物品，升降轴到P6（ 库位出料缓冲点），压紧轴到P2(压紧点) /// 出库定位：拿物品，升降轴到P6（ 库位出料缓冲点），压紧轴到P2(压紧点)
/// </summary> /// </summary>
SOL_15_GetWare, SOL_16_GetWare,
/// <summary>
/// 出库定位2：放下物品，升降轴到P4（ 库位入料缓冲点）
/// </summary>
SOL_17_UpdownToP42,
/// <summary>
/// 出库定位2：放下物品后等待200
/// </summary>
SOL_18_WaitTime2,
/// <summary>
/// 出库定位2：拿物品，升降轴到P6（ 库位出料缓冲点），压紧轴到P2(压紧点)
/// </summary>
SOL_19_GetWare2,
/// <summary> /// <summary>
/// 出库定位：叉子从 库位返回，进出轴到P1（ 待机点） /// 出库定位：叉子从 库位返回，进出轴到P1（ 待机点）
/// </summary> /// </summary>
SOL_16_InoutToP1, SOL_20_InoutToP1,
#endregion #endregion
...@@ -331,11 +348,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -331,11 +348,15 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点） /// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
/// </summary> /// </summary>
SI_13_DeviceBackFromBag = 213, SI_13_InoutBack,
/// <summary>
/// 入库。等待叉子无信号
/// </summary>
SI_14_WaitNoReel,
/// <summary> /// <summary>
/// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始 /// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
/// </summary> /// </summary>
SI_14_GoBack = 214, SI_15_GoBack ,
#endregion #endregion
......
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