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Commit 67dc99ba 由 LN
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复位时上下轴先到P2，前后轴再回原点

1 个父辈 007a0c22
内嵌 并排
正在显示 2 个修改的文件 包含 37 行增加 和 16 行删除
source/DeviceLibrary/acSquareStore/Square_BoxBean.cs
...@@ -351,20 +351,26 @@ namespace OnlineStore.DeviceLibrary ...@@ -351,20 +351,26 @@ namespace OnlineStore.DeviceLibrary
ShelfForward(2); ShelfForward(2);
break; break;
case StoreMoveStep.SH_14_UpdownBack: case StoreMoveStep.SH_14_UpdownBack:
StoreMove.NextMoveStep(StoreMoveStep.SH_15_MiddleBack); StoreMove.NextMoveStep(StoreMoveStep.SH_15_UpdownToP1);
LogUtil.info(LOGGER, StoreName + logName + " 升降轴走到P1");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
break;
case StoreMoveStep.SH_15_UpdownToP1:
StoreMove.NextMoveStep(StoreMoveStep.SH_16_MiddleBack);
LogUtil.info(LOGGER, StoreName + logName + " 前后轴原点返回");
StoreMove.TimeOutSeconds = 100; StoreMove.TimeOutSeconds = 100;
ACAxisHomeMove(Config.Middle_Axis); ACAxisHomeMove(Config.Middle_Axis);
break; break;
case StoreMoveStep.SH_15_MiddleBack: case StoreMoveStep.SH_16_MiddleBack:
StoreMove.NextMoveStep(StoreMoveStep.SH_16_OtherAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.SH_17_MiddleToP1);
LogUtil.info(LOGGER, StoreName + logName + " 前后轴运动到P1，升降轴走到P1，托架前进到位"); LogUtil.info(LOGGER, StoreName + logName + " 前后轴运动到P1，托架前进到位");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed); //ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
ShelfForward(1, StoreMove); ShelfForward(1, StoreMove);
ShelfForward(2, StoreMove); ShelfForward(2, StoreMove);
break; break;
case StoreMoveStep.SH_16_OtherAxisToP1: case StoreMoveStep.SH_17_MiddleToP1:
LogUtil.info(LOGGER, StoreName + "复位完成"); LogUtil.info(LOGGER, StoreName + "复位完成");
storeRunStatus = StoreRunStatus.Runing; storeRunStatus = StoreRunStatus.Runing;
StoreMove.EndMove(); StoreMove.EndMove();
...@@ -382,19 +388,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -382,19 +388,25 @@ namespace OnlineStore.DeviceLibrary
CloseDoor(2, StoreMove); CloseDoor(2, StoreMove);
break; break;
case StoreMoveStep.SP1_02_CloseDoor: case StoreMoveStep.SP1_02_CloseDoor:
StoreMove.NextMoveStep(StoreMoveStep.SP1_03_OtherAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.SP1_03_UpdownToP1);
LogUtil.info(LOGGER, StoreName + "到待机状态：升降轴走到P1，前后轴到P1"); LogUtil.info(LOGGER, StoreName + "到待机状态：升降轴走到P1");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
//ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
break;
case StoreMoveStep.SP1_03_UpdownToP1:
StoreMove.NextMoveStep(StoreMoveStep.SP1_04_MiddleToP1);
LogUtil.info(LOGGER, StoreName + "到待机状态：前后轴到P1");
//ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
break; break;
case StoreMoveStep.SP1_03_OtherAxisToP1: case StoreMoveStep.SP1_04_MiddleToP1:
StoreMove.NextMoveStep(StoreMoveStep.SP1_04_ShelfForward); StoreMove.NextMoveStep(StoreMoveStep.SP1_05_ShelfForward);
LogUtil.info(LOGGER, StoreName + "到待机状态：托架前进"); LogUtil.info(LOGGER, StoreName + "到待机状态：托架前进");
ShelfForward(1, StoreMove); ShelfForward(1, StoreMove);
ShelfForward(2, StoreMove); ShelfForward(2, StoreMove);
break; break;
case StoreMoveStep.SP1_04_ShelfForward: case StoreMoveStep.SP1_05_ShelfForward:
LogUtil.info(LOGGER, StoreName + "到待机状态完成"); LogUtil.info(LOGGER, StoreName + "到待机状态完成");
StoreMove.EndMove(); StoreMove.EndMove();
storeStatus = StoreStatus.StoreOnline; storeStatus = StoreStatus.StoreOnline;
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -126,13 +126,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -126,13 +126,18 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
SH_14_UpdownBack = 014, SH_14_UpdownBack = 014,
/// <summary> /// <summary>
/// 复位：升降轴到待机点P1
/// </summary>
SH_15_UpdownToP1,
/// <summary>
/// 复位，前后轴原点返回 /// 复位，前后轴原点返回
/// </summary> /// </summary>
SH_15_MiddleBack = 015, SH_16_MiddleBack,
/// <summary> /// <summary>
/// 复位：前后轴返回P1 /// 复位：前后轴返回P1
/// </summary> /// </summary>
SH_16_OtherAxisToP1 = 016, SH_17_MiddleToP1,
/// <summary> /// <summary>
...@@ -142,15 +147,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,15 +147,19 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 复位：关闭门 /// 复位：关闭门
/// </summary> /// </summary>
SP1_02_CloseDoor = 032, SP1_02_CloseDoor,
/// <summary>
/// 复位：升降轴到P1
/// </summary>
SP1_03_UpdownToP1,
/// <summary> /// <summary>
/// 复位：升降轴到P1 /// 复位：升降轴到P1
/// </summary> /// </summary>
SP1_03_OtherAxisToP1 = 033, SP1_04_MiddleToP1 ,
/// <summary> /// <summary>
/// 复位：前后轴到P1 /// 复位：前后轴到P1
/// </summary> /// </summary>
SP1_04_ShelfForward = 034, SP1_05_ShelfForward,
#endregion #endregion
......
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