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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,,,,,, ...@@ -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,,,,,, 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,,,,,, ,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,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,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,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,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,,,,,, 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 ...@@ -364,10 +364,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "开始复位：先定位气缸下降"); 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 // 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); 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));
} }
} }
...@@ -400,8 +397,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -400,8 +397,7 @@ namespace OnlineStore.DeviceLibrary
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_Fixture, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
CloseDoorAndWait(); CloseDoorAndWait();
break; break;
case StoreMoveStep.BOX_H_InOutToP1: case StoreMoveStep.BOX_H_InOutToP1:
...@@ -513,8 +509,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -513,8 +509,7 @@ namespace OnlineStore.DeviceLibrary
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_Fixture, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_4, IO_VALUE.LOW));
CloseDoorAndWait(); CloseDoorAndWait();
break; break;
...@@ -1172,9 +1167,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -1172,9 +1167,12 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
//定位气缸停止 if (Config.IsHasLocationCylinder)
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); {
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW); //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"); LogUtil.info(LOGGER, StoreName + "StopMove");
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW); KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -97,7 +97,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -97,7 +97,7 @@ namespace OnlineStore.DeviceLibrary
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime; TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
if (span.TotalMinutes > 5) 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) foreach (WaitResultInfo wait in list)
{ {
WarnMsg = WarnMsg + "\r\n" + wait.ToStr(); WarnMsg = WarnMsg + "\r\n" + wait.ToStr();
...@@ -252,7 +252,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -252,7 +252,6 @@ namespace OnlineStore.DeviceLibrary
InStoreLog(" 入库：SI_00 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_Door, IO_VALUE.HIGH)); 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 else
{ {
...@@ -262,18 +261,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -262,18 +261,15 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome); StoreMove.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
//打开门 ，门上升 //打开门 ，门上升
OpenDoorAndWait(); OpenDoorAndWait();
InOutBackToP1(param.MoveP.InOut_P1); InOutBackToP1(param.MoveP.InOut_P1);
} }
else else
{ {
InStoreLog("入库：SI_01 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);
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 ...@@ -282,6 +278,9 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(LOGGER, StoreName + " 启动【" + posId + "】入库出错，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>
/// 开始入库移动移动 /// 开始入库移动移动
/// </summary> /// </summary>
...@@ -426,13 +425,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -426,13 +425,12 @@ namespace OnlineStore.DeviceLibrary
{ {
InStoreLog("入库：SI_10 定位气缸退回 "); InStoreLog("入库：SI_10 定位气缸退回 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down); StoreMove.NextMoveStep(StoreMoveStep.SI_10_LocationCylinder_Down);
LocationDownAndWait(); LocationDownAndWait();
} }
} }
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：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) "); 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); 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);
...@@ -521,7 +519,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -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"); 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);
OpenDoorAndWait(); OpenDoorAndWait();
} }
else else
...@@ -610,7 +608,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -610,7 +608,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_07_LocationCylinder_Up); 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(); LocationUpAndWait();
} }
} }
...@@ -638,7 +636,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -638,7 +636,7 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down); StoreMove.NextMoveStep(StoreMoveStep.SO_09_LocationCylinder_Down);
OutStoreLog("出库：SO_09 定位气缸退回，定位气缸退回 "); 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 //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 ...@@ -688,20 +686,26 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void LocationUpAndWait() private void LocationUpAndWait()
{ {
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH); if (Config.IsHasLocationCylinder)
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.LOW); {
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH)); KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.LOW)); 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() private void LocationDownAndWait()
{ {
KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH); if (Config.IsHasLocationCylinder)
KNDIOMove(IO_Type.LocationCylinder_Up, IO_VALUE.LOW); {
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH)); KNDIOMove(IO_Type.LocationCylinder_Down, IO_VALUE.HIGH);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LocationCylinder_Up, IO_VALUE.LOW)); 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>();
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
...@@ -16,7 +16,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -16,7 +16,7 @@ namespace OnlineStore.LoadCSVLibrary
: base(id, cid, type, filepath) : base(id, cid, type, filepath)
{ {
} }
/// <summary> /// <summary>
/// 温湿度传感器地址 /// 温湿度传感器地址
/// </summary> /// </summary>
...@@ -47,7 +47,12 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -47,7 +47,12 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("IsHasCompress_Axis")] [ConfigProAttribute("IsHasCompress_Axis")]
public int IsHasCompress_Axis { get; set; } 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> /// <summary>
/// PRO 扫码枪IP Scanner_Ip 192.168.200.13 /// PRO 扫码枪IP Scanner_Ip 192.168.200.13
/// </summary> /// </summary>
......
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