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Commit fee72540 由 ke.sun
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增加配置：是否使用定位气缸

1 个父辈 f2c3c057
内嵌 并排
正在显示 4 个修改的文件 包含 43 行增加 和 36 行删除
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
......@@ -36,9 +36,9 @@ PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,705000,,,,,,
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_P2,6000,,,,,,
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,2000,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,-3500,,,,,,
PRO,押金轴（轴4）P1待机原位点,CompressAxis_P1_Position,360,,,,,,
,,,,,,,,,
PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,
PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,0,,,,, ,
PRO,设备是否处于调试状态（1=调试，0=正常）,IsInDebug,0,,,,,,
PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -364,10 +364,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "开始复位：先定位气缸下降");
// 复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_LocationCylinderBack);
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));
LocationDownAndWait();
}
}
......@@ -400,8 +397,7 @@ namespace OnlineStore.DeviceLibrary
AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
//判断叉子没有料盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
CloseDoorAndWait();
break;
case StoreMoveStep.BOX_H_InOutToP1:
......@@ -513,8 +509,7 @@ namespace OnlineStore.DeviceLibrary
AxisCountClear(Config.InOut_Axis);
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
//判断叉子没有料盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
CloseDoorAndWait();
break;
......@@ -1172,9 +1167,12 @@ namespace OnlineStore.DeviceLibrary
}
else
{
//定位气缸停止
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
if (Config.IsHasLocationCylinder)
{
//定位气缸停止
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW);
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW);
}
}
LogUtil.info(LOGGER, StoreName + "StopMove");
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -97,7 +97,7 @@ namespace OnlineStore.DeviceLibrary
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
if (span.TotalMinutes > 5)
{
WarnMsg = StoreName + "等待超时【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】已等待【" +Math.Round( span.TotalMinutes )+ "】分钟，";
WarnMsg = StoreName + "等待超时【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】已等待【" + Math.Round(span.TotalMinutes) + "】分钟，";
foreach (WaitResultInfo wait in list)
{
WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
......@@ -252,7 +252,6 @@ namespace OnlineStore.DeviceLibrary
InStoreLog(" 入库：SI_00 检测料盘信号");
StoreMove.NextMoveStep(StoreMoveStep.SI_00_TrayCheck);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.HIGH));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.HIGH));
}
else
{
......@@ -262,18 +261,15 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升
OpenDoorAndWait();
OpenDoorAndWait();
InOutBackToP1(param.MoveP.InOut_P1);
}
else
{
InStoreLog("入库：SI_01 定位气缸下降");
StoreMove.NextMoveStep(StoreMoveStep.SI_01_LocationCylinderDown);
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));
}
}
}
......@@ -282,6 +278,9 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
}
}
/// <summary>
/// 开始入库移动移动
/// </summary>
......@@ -426,13 +425,12 @@ namespace OnlineStore.DeviceLibrary
{
InStoreLog("入库：SI_10 定位气缸退回 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down);
LocationDownAndWait();
}
}
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：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
......@@ -521,7 +519,7 @@ namespace OnlineStore.DeviceLibrary
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);
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
OpenDoorAndWait();
}
else
......@@ -610,7 +608,7 @@ namespace OnlineStore.DeviceLibrary
else
{
StoreMove.NextMoveStep(StoreMoveStep.SO_07_LocationCylinder_Up);
OutStoreLog("出库：SO_07 定位气缸伸出 ");
OutStoreLog("出库：SO_07 定位气缸伸出 ");
LocationUpAndWait();
}
}
......@@ -638,7 +636,7 @@ 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();
}
}
//此处需要等待移栽没有工作，才能把盘放入出料口
......@@ -688,20 +686,26 @@ 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));
if (Config.IsHasLocationCylinder)
{
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));
if (Config.IsHasLocationCylinder)
{
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
public List<FixtureCodeInfo> waitOutStoreList = new List<FixtureCodeInfo>();
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
......@@ -16,7 +16,7 @@ namespace OnlineStore.LoadCSVLibrary
: base(id, cid, type, filepath)
{
}
/// <summary>
/// 温湿度传感器地址
/// </summary>
......@@ -47,7 +47,12 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("IsHasCompress_Axis")]
public int IsHasCompress_Axis { get; set; }
/// <summary>
/// PRO 是否使用定位气缸 IsHasLocationCylinder 0
/// </summary>
[ConfigProAttribute("IsHasLocationCylinder")]
public bool IsHasLocationCylinder { get; set; }
/// <summary>
/// PRO 扫码枪IP Scanner_Ip 192.168.200.13
/// </summary>
......
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