Skip to content

孙克 / RC1250-ACPackingStore

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 150c5755 由 LN
选项

出库逻辑修改

1 个父辈 b76e97b6
内嵌 并排
正在显示 7 个修改的文件 包含 275 行增加 和 148 行删除
source/Common/bean/Bean.cs
...@@ -199,6 +199,30 @@ namespace OnlineStore.Common ...@@ -199,6 +199,30 @@ namespace OnlineStore.Common
/// <summary> /// <summary>
/// 温度报警值 /// 温度报警值
/// </summary> /// </summary>
public static string maxTemperature = "temp"; public static string maxTemperature = "temp";
/// <summary>
/// urgentReel: true 表示紧急料,需要出到料串上
/// </summary>
public static string urgentReel = "urgentReel";
/// <summary>
/// cutReel: true 表示分盘料,需要出到料串上
/// </summary>
public static string cutReel = "cutReel";
/// <summary>
/// smallReel: true 小料(7x8),放置到小料架上
/// </summary>
public static string smallReel = "smallReel";
/// <summary>
/// rfid: 分配的料架RFID
/// </summary>
public static string rfid = "rfid";
/// <summary>
/// rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线, 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线,
/// 70,71,72时只能分配到3 / 4号皮带线; 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3 / 4号皮带线
/// </summary>
public static string rfidLoc = "rfidLoc";
public static string barcode = "barcode";
} }
} }
source/Common/util/FormUtil.cs
...@@ -91,5 +91,36 @@ namespace OnlineStore.Common ...@@ -91,5 +91,36 @@ namespace OnlineStore.Common
} }
return span.Hours.ToString().PadLeft(2, '0') + ":" + span.Minutes.ToString().PadLeft(2, '0') + ":" + seconds; return span.Hours.ToString().PadLeft(2, '0') + ":" + span.Minutes.ToString().PadLeft(2, '0') + ":" + seconds;
} }
public static bool GetBoolData(Dictionary<string, string> data, string key, bool defaultValue = false)
{
if (data.ContainsKey(key))
{
try
{
return Convert.ToBoolean(data[key]);
}
catch (Exception ex)
{
}
}
return defaultValue;
}
public static int GetIntData(Dictionary<string, string> data, string key, int defaultValue = 0)
{
if (data.ContainsKey(key))
{
try
{
return Convert.ToInt32(data[key]);
}
catch (Exception ex)
{
}
}
return defaultValue;
}
} }
} }
source/Common/util/HumitureController.cs
...@@ -43,6 +43,7 @@ namespace OnlineStore.Common ...@@ -43,6 +43,7 @@ namespace OnlineStore.Common
{ {
if (sb.openPort()) if (sb.openPort())
{ {
serialBeanMap.Add(port, sb);
return true; return true;
} }
else else
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs
...@@ -26,7 +26,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -26,7 +26,13 @@ namespace OnlineStore.DeviceLibrary
public string lastPosId = ""; public string lastPosId = "";
public StoreStatus lastPosIdStatus = StoreStatus.StoreOnline; public StoreStatus lastPosIdStatus = StoreStatus.StoreOnline;
public List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>(); public List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>();
/// <summary>
/// 所有料仓库位列表
/// </summary>
public List<string> PositionNumList = new List<string>(); public List<string> PositionNumList = new List<string>();
/// <summary>
/// 所有料架库位列表
/// </summary>
public List<string> ShelfPosList = new List<string>(); public List<string> ShelfPosList = new List<string>();
/// <summary> /// <summary>
/// 料架未放料盘的位置列表 /// 料架未放料盘的位置列表
...@@ -55,8 +61,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -55,8 +61,8 @@ namespace OnlineStore.DeviceLibrary
//添加调试 //添加调试
IsDebug = config.IsInDebug.Equals(1); IsDebug = config.IsInDebug.Equals(1);
Name = ("料仓BOX_" + config.DeviceID + " ").ToUpper(); Name = ("料仓BOX_" + config.DeviceID + " ").ToUpper();
this.DeviceID = config.DeviceID; this.DeviceID = config.DeviceID;;
this.Config = config; this.Config = config;
DoorBean = new EnteryDoorBean(DeviceID); DoorBean = new EnteryDoorBean(DeviceID);
//温湿度 //温湿度
humBean = new HumitureBean(config.Humiture_Port, Name); humBean = new HumitureBean(config.Humiture_Port, Name);
...@@ -884,15 +890,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -884,15 +890,7 @@ namespace OnlineStore.DeviceLibrary
{ {
boxStatus.msg = CodeMsg; boxStatus.msg = CodeMsg;
lineOperation.msg = CodeMsg; lineOperation.msg = CodeMsg;
} }
//if (CodeMsg.Equals(""))
//{
// if (storeRunStatus.Equals(StoreRunStatus.Runing) && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
// {
// boxStatus.msg = "叉子料盘检测有料，请检查";
// lineOperation.msg = "叉子料盘检测有料，请检查";
// }
//}
CodeMsg = ""; CodeMsg = "";
//WarnMsg = ""; //WarnMsg = "";
//状态 //状态
...@@ -976,22 +974,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -976,22 +974,34 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void ReviceOutStoreProcess(Operation resultOperation) private void ReviceOutStoreProcess(Operation resultOperation)
{ {
DateTime time = DateTime.Now; DateTime time = DateTime.Now;
Dictionary<string, string> data = resultOperation.data; Dictionary<string, string> data = resultOperation.data;
if (data != null && data.ContainsKey(ParamDefine.posId) if (data != null && data.ContainsKey(ParamDefine.posId)
&& data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW)) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
{ {
string posIdStr = data[ParamDefine.posId];
string plateWStr = data[ParamDefine.plateW];
string plateHStr = data[ParamDefine.plateH];
LogUtil.info("收到服务器出库消息：poaIs=" + posIdStr + ",platew=" + plateWStr + ",plateh=" + plateHStr);
char splitChar = '|'; char splitChar = '|';
string[] posIdArray = posIdStr.Split(splitChar); string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
string[] plateWArray = plateWStr.Split(splitChar); string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
string[] plateHArray = plateHStr.Split(splitChar); string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);
bool cutReel = FormUtil.GetBoolData(data, ParamDefine.cutReel);
bool smallReel = FormUtil.GetBoolData(data, ParamDefine.smallReel);
string rfid = data.ContainsKey(ParamDefine.rfid) ? data[ParamDefine.rfid] : "";
int rfidLoc = FormUtil.GetIntData(data, ParamDefine.rfidLoc);
string barcode = data.ContainsKey(ParamDefine.barcode) ? data[ParamDefine.barcode] : "";
//urgentReel: true 表示紧急料,需要出到料串上
//cutReel: true 表示分盘料,需要出到料串上
//smallReel: true 小料(7x8),放置到小料架上
//rfid: 分配的料架RFID
//rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线, 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线, 70,71,72时只能分配到3 / 4号皮带线; 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3 / 4号皮带线
string dataStr = JsonHelper.SerializeObject(data);
LogUtil.info("收到服务器出库消息：【" + dataStr + "】");
int index = -1; int index = -1;
foreach (string posId in posIdArray) foreach (string posId in posIdArray)
{ {
...@@ -999,52 +1009,55 @@ namespace OnlineStore.DeviceLibrary ...@@ -999,52 +1009,55 @@ namespace OnlineStore.DeviceLibrary
string plateW = plateWArray[index]; string plateW = plateWArray[index];
string plateH = plateHArray[index]; string plateH = plateHArray[index];
string[] posArray = posId.Split('#'); string[] posArray = posId.Split('#');
if (posArray.Length != 2) //if (posArray.Length != 2)
{ //{
WarnMsg = Name + "出库格式错误：库位号【" + posId + "】"; // WarnMsg = Name + "出库格式错误：库位号【" + posId + "】";
LogUtil.error(Name + "收到服务器出库命令：库位号【" + posId + "】格式错误"); // LogUtil.error(Name + "收到服务器出库命令：库位号【" + posId + "】格式错误");
continue; // continue;
} //}
int storeId = int.Parse(posArray[0]); InOutParam inoutParam = new InOutParam(barcode, posId, "", plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc);
//根据发送的posId获取位置列表 //根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId); ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
if (position == null) if (position == null)
{ {
//出入库没有找到服务器发送的库位，需要打印日志方便查询原因 //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
WarnMsg = Name + "出库未找库位：【" + posId + "】"; WarnMsg = Name + "未找到库位：【" + inoutParam.ToStr() + "】";
LogUtil.error(Name + "收到服务器出库命令：未找到【" + posId + "】的库位信息"); LogUtil.error(WarnMsg);
continue; continue;
} }
else try
{ {
InOutParam inoutParam = new InOutParam("", posId, plateW, plateH, ""); //判断是否接收过此库位的出库信息
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId))
try
{ {
//判断是否接收过此库位的出库信息 LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，正在【" + posId + "】出库中");
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId)) continue;
{
LogInfo(" 收到出库【" + inoutParam.ToStr() + "】重复，当前已在【" + posId + "】出库中");
continue;
}
else
{
//判断排队列表中是否已存在
List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
if (reviceList.Count > 0)
{
LogInfo(" 收到出库【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
continue;
}
}
} }
catch (Exception ex)
//判断排队列表中是否已存在
List<InOutParam> reviceList = new List<InOutParam>(waitOutStoreList);
reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
if (reviceList.Count > 0)
{ {
LogUtil.error("验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString()); LogUtil.error(Name + " 出库命令【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
continue;
} }
string shelfPosID = "";
}
catch (Exception ex)
{
LogUtil.error(Name + "验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString());
}
string shelfPosID = "";
if (inoutParam.rfidLoc > 0 && ShelfPosList.Count >= inoutParam.rfidLoc)
{
shelfPosID = ShelfPosList[inoutParam.rfidLoc - 1];
inoutParam.NeedEnterShelf = false;
inoutParam.NeedOutShelf = false;
inoutParam.ShelfPosID = shelfPosID;
}
else
{
bool hasShelf = EmprtShelfList.TryDequeue(out shelfPosID); bool hasShelf = EmprtShelfList.TryDequeue(out shelfPosID);
if (hasShelf) if (hasShelf)
{ {
...@@ -1056,15 +1069,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -1056,15 +1069,16 @@ namespace OnlineStore.DeviceLibrary
{ {
inoutParam.NeedEnterShelf = true; inoutParam.NeedEnterShelf = true;
inoutParam.NeedOutShelf = false; inoutParam.NeedOutShelf = false;
LogUtil.error(Name + "执行出库【" + inoutParam.ToStr() + "】,么有空料架，需要使用新料架"); LogInfo(Name + "执行出库【" + inoutParam.ToStr() + "】,没有空料架，需要使用新料架");
} }
StartExecuctOut(inoutParam);
} }
StartExecuctOut(inoutParam);
} }
TimeSpan span = DateTime.Now - time; TimeSpan span = DateTime.Now - time;
if (span.TotalMilliseconds > 10) if (span.TotalMilliseconds > 10)
{ {
LogUtil.info(Name + "执行TimerProcess 共处理了【" + span.TotalMilliseconds + "】毫秒"); LogInfo(Name + "执行 ReviceOutStoreProcess 共处理了【" + span.TotalMilliseconds + "】毫秒");
} }
} }
} }
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
...@@ -79,13 +79,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -79,13 +79,13 @@ namespace OnlineStore.DeviceLibrary
{ {
} }
else if (wait.WaitType.Equals(WaitEnum.W008_Compress)) else if (wait.WaitType.Equals(WaitEnum.W008_Compress))
{ {
//等待信号亮或者走到绝对位置才停止 //等待信号亮或者走到绝对位置才停止
if (IOValue(TargetIoType).Equals(TargetIoValue)) if (IOValue(TargetIoType).Equals(TargetIoValue))
{ {
LogUtil.info("CheckWait 检测到" + TargetIoType + "=" + TargetIoValue + ",停止压紧轴运行"); LogUtil.info("CheckWait 检测到" + TargetIoType + "=" + TargetIoValue + ",停止压紧轴运行");
wait.IsEnd = true; wait.IsEnd = true;
ComAxisStopCheck(); ComAxisStopCheck();
} }
else else
{ {
...@@ -93,7 +93,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -93,7 +93,7 @@ namespace OnlineStore.DeviceLibrary
if (moveOk) if (moveOk)
{ {
//TODO 判断是否达到高度，如果未达到，继续上升 //TODO 判断是否达到高度，如果未达到，继续上升
wait.IsEnd = true; wait.IsEnd = true;
ComAxisStopCheck(); ComAxisStopCheck();
} }
} }
...@@ -104,8 +104,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -104,8 +104,34 @@ namespace OnlineStore.DeviceLibrary
} }
else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus)) else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
{ {
int agvA = (int)AgvClient.GetAction(Config.AgvNodeName); int agvA = (int)AgvClient.GetAction(Config.AgvNodeName);
wait.IsEnd = agvA.Equals(wait.TargetPosition); wait.IsEnd = agvA.Equals(wait.TargetPosition);
if (!wait.IsEnd && span.TotalSeconds > 10)
{
//如果是等待AGV到达，等待有料架信号也算结束
if (wait.TargetPosition.Equals((int)Asa.Actions.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
LogInfo("BI_01_ReadyShelf 等待小车到达Arrive，检测到 LineTake_Check 信号，结束等待");
wait.IsEnd = true;
}
else if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
{
LogInfo("BI_01_ReadyShelf 等待小车到达Arrive，检测到 LineIn_Check 信号，结束等待");
wait.IsEnd = true;
}
}
else if (wait.TargetPosition.Equals((int)Asa.Actions.FinishOut))
{
if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
{
LogInfo("等待小车离开FinishOut，检测到 LineTake_Check和LineIn_Check都没有信号，结束等待");
wait.IsEnd = true;
}
}
}
} }
if (wait.IsEnd) if (wait.IsEnd)
{ {
...@@ -138,8 +164,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -138,8 +164,7 @@ namespace OnlineStore.DeviceLibrary
} }
private static DateTime lastComRHomeTime = DateTime.Now; private static DateTime lastComRHomeTime = DateTime.Now;
private void InOutBackToP1(int InOut_P1) private void InOutBackToP1(int InOut_P1)
{ {
//判断是否在P1，如果是，不需要运行 //判断是否在P1，如果是，不需要运行
if (ACServerManager.isInPosition(Config.InOut_Axis, InOut_P1)) if (ACServerManager.isInPosition(Config.InOut_Axis, InOut_P1))
{ {
...@@ -241,7 +266,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -241,7 +266,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam()); MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP(Config); MoveInfo.MoveParam.MoveP = new LineMoveP(Config);
MoveInfo.ShelfPositionList = new List<string>(ShelfPosList); MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_DoorClose); MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 " + MoveInfo.SLog + ""); LogInfo(" 空闲中，检测到入料口有料架，启动料架入库 " + MoveInfo.SLog + "");
} }
else else
...@@ -304,7 +329,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -304,7 +329,7 @@ namespace OnlineStore.DeviceLibrary
#region 料架取料盘扫码获取POSID #region 料架取料盘扫码获取POSID
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_StartGetTray)) if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_10_StartGetTray))
{ {
if (MoveInfo.NextShelfPos()) if (MoveInfo.NextShelfPos())
{ {
...@@ -344,7 +369,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -344,7 +369,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress); MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4"); InOutStoreLog("料架取料 " + MoveInfo.SLog + "：压紧轴开始缓慢压紧到P4 ："+ Config.CompAxis_P4_Position);
MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed)); MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position; Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed); ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
...@@ -533,7 +558,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -533,7 +558,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray); MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】判断是否有下个料盘，扫码入库"); InOutStoreLog("料架入库 " + MoveInfo.SLog + "：上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】判断是否有下个料盘，扫码入库");
} }
} }
...@@ -583,13 +608,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -583,13 +608,13 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
{ {
IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW); IOMove(IO_Type.NGLine_Run, IO_VALUE.LOW);
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray); MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：停止NG线体转动，开始循环逐个取料盘，扫码入库"); InOutStoreLog("料架入库 " + MoveInfo.SLog + "：停止NG线体转动，开始循环逐个取料盘，扫码入库");
} }
#endregion #endregion
//料架进入逻辑 //料架进入逻辑
else if (MoveInfo.MoveStep < StoreMoveStep.BI_08_StartGetTray) else if (MoveInfo.MoveStep < StoreMoveStep.BI_10_StartGetTray)
{ {
ShelfEnterProcess(); ShelfEnterProcess();
} }
...@@ -655,7 +680,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -655,7 +680,7 @@ namespace OnlineStore.DeviceLibrary
//发送扫码内容到服务器进行入库操作 //发送扫码内容到服务器进行入库操作
Operation operation = getLineBoxStatus(); Operation operation = getLineBoxStatus();
operation.op = 1; operation.op = 1;
operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", DeviceID.ToString() } }; operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", 1.ToString() } };
string server = ConfigAppSettings.GetValue(Setting_Init.http_server); string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
Operation resultOperation = HttpHelper.Post(StoreManager.GetPostApi(server), operation, false); Operation resultOperation = HttpHelper.Post(StoreManager.GetPostApi(server), operation, false);
if (resultOperation == null) if (resultOperation == null)
...@@ -729,7 +754,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -729,7 +754,14 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 料架进出料仓处理：出入库模块共用 #region 料架进出料仓处理：出入库模块共用
private void BI_04_WaitTakeSingle(string moveName)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_WaitTakeSingle);
InOutStoreLog(moveName + MoveInfo.SLog + " 线体正转，等待LineIn_Check=Low, 信号LineTake_Check=High");
LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
}
private void ShelfEnterProcess() private void ShelfEnterProcess()
{ {
string moveName = "料架入库"; string moveName = "料架入库";
...@@ -741,25 +773,37 @@ namespace OnlineStore.DeviceLibrary ...@@ -741,25 +773,37 @@ namespace OnlineStore.DeviceLibrary
} }
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf)) if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
{ {
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList); if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH))
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，小车已到达，打开入料口移门"); {
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen); BI_04_WaitTakeSingle(moveName);
}
DoorBean.StartOpen(MoveInfo); else if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))
{
BI_04_WaitTakeSingle(moveName);
}
else
{
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，小车已到达，打开入料口移门");
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
DoorBean.StartOpen(MoveInfo);
}
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_02_DoorOpen)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_02_DoorOpen))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun); MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待取料位检测到信号"); InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，线体正转，等待LineIn_Check信号");
AgvClient.MayEnter(Config.AgvNodeName); AgvClient.MayEnter(Config.AgvNodeName);
LineRun(); LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_04_LineStop); BI_04_WaitTakeSingle(moveName);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转"); InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转");
LineStop(); LineStop();
AgvClient.FinishEnter(Config.AgvNodeName); AgvClient.FinishEnter(Config.AgvNodeName);
...@@ -787,9 +831,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -787,9 +831,9 @@ namespace OnlineStore.DeviceLibrary
} }
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_LineStop)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_DoorClose); MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭"); InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭");
// CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close); // CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
DoorBean.StartClose(MoveInfo); DoorBean.StartClose(MoveInfo);
...@@ -801,29 +845,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -801,29 +845,29 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed); ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
} }
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_DoorClose)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_DoorClose))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_LineRun); MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LineRun);
InOutStoreLog(moveName + MoveInfo.SLog + "继续转动1500"); InOutStoreLog(moveName + MoveInfo.SLog + "继续转动1500");
LineRun(); LineRun();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_LineRun)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LineRun))
{ {
LineStop(); LineStop();
MoveInfo.NextMoveStep(StoreMoveStep.BI_07_LocationUp); MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp);
InOutStoreLog(moveName + MoveInfo.SLog + "线体停止转动，定位装置上升"); InOutStoreLog(moveName + MoveInfo.SLog + "线体停止转动，定位装置上升");
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up); // CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
if (!instoreShelf) if (!instoreShelf)
{ {
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进入库位中， 进出轴至P3(库位取放料点) "); InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进入库位中， 进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P3, Config.InOutAxis_P3_Speed); ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P3, Config.InOutAxis_P3_Speed);
} }
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_LocationUp)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_LocationUp))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray); MoveInfo.NextMoveStep(StoreMoveStep.BI_09_TopCylinderUp);
InOutStoreLog(moveName + MoveInfo.SLog + "顶升装置上升"); InOutStoreLog(moveName + MoveInfo.SLog + "顶升装置上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up); CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
...@@ -834,11 +878,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -834,11 +878,11 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P6, Config.UpDownAxis_P6_Speed); ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
} }
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_StartGetTray)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_09_TopCylinderUp))
{ {
if (instoreShelf) if (instoreShelf)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray); MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog(moveName + MoveInfo.SLog + "开始循环从第一个空位逐个取料盘，扫码入库"); InOutStoreLog(moveName + MoveInfo.SLog + "开始循环从第一个空位逐个取料盘，扫码入库");
} }
else else
...@@ -852,7 +896,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -852,7 +896,7 @@ namespace OnlineStore.DeviceLibrary
lastPosId = posId; lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd; lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd; storeStatus = StoreStatus.OutStoreBoxEnd;
} }
} }
} }
...@@ -883,7 +927,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -883,7 +927,7 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down); MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down);
InOutStoreLog(moveName + MoveInfo.SLog + " ：定位气缸下降"); InOutStoreLog(moveName + MoveInfo.SLog + " ：定位气缸下降");
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down); // CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down))
{ {
...@@ -936,8 +980,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -936,8 +980,7 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog(moveName + MoveInfo.SLog + "：停止转动，料架入料结束"); InOutStoreLog(moveName + MoveInfo.SLog + "：停止转动，料架入料结束");
LineStop(); LineStop();
} }
} }
#endregion #endregion
...@@ -995,6 +1038,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -995,6 +1038,7 @@ namespace OnlineStore.DeviceLibrary
private void StartExecuctOut(InOutParam param) private void StartExecuctOut(InOutParam param)
{ {
bool result = StartOutStoreMove(param); bool result = StartOutStoreMove(param);
if (!result) if (!result)
{ {
...@@ -1014,29 +1058,26 @@ namespace OnlineStore.DeviceLibrary ...@@ -1014,29 +1058,26 @@ namespace OnlineStore.DeviceLibrary
(!storeRunStatus.Equals(StoreRunStatus.Runing)) (!storeRunStatus.Equals(StoreRunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(StoreMoveType.None))) || (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
{ {
LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck); LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + storeRunStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirCheck);
return false; return false;
} }
if (!StoreManager.LoadInoutParam(param, false, this)) if (!StoreManager.LoadInoutParam(param, false, this))
{ {
LogUtil.error(Name + " 启动出库【" + posId + "】出错，找不到库位信息"); LogUtil.error(Name + " 启动出库【" + param.ToStr() + "】出错，找不到库位信息");
return false; return false;
} }
//if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
//{
// LogUtil.error(Name + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
// return false;
//}
storeStatus = StoreStatus.OutStoreExecute; storeStatus = StoreStatus.OutStoreExecute;
storeRunStatus = StoreRunStatus.Busy; storeRunStatus = StoreRunStatus.Busy;
MoveInfo.NewMove(StoreMoveType.OutStore, param); MoveInfo.NewMove(StoreMoveType.OutStore, param);
LogInfo("启动出库【" + posId + "】 NeedEnterShelf【" + MoveInfo.MoveParam.NeedEnterShelf + "】NeedOutShelf【" + MoveInfo.MoveParam.NeedOutShelf + "】 "); LogInfo("启动出库【" + param.ToStr() + "】 ");
//当前无料架，或料架位置为空 //当前无料架，或料架位置为空
if ((IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveParam.NeedEnterShelf) || MoveInfo.MoveParam.ShelfPosID.Equals("")) if ((IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveParam.NeedEnterShelf) || MoveInfo.MoveParam.ShelfPosID.Equals(""))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_ReadyShelf); MoveInfo.NextMoveStep(StoreMoveStep.BI_01_ReadyShelf);
InOutStoreLog("出库 " + MoveInfo.SLog + "：ReadyShelf：通知agv调度准备带料架的小车，等待小车到达，进出轴到P1"); InOutStoreLog("出库 " + MoveInfo.SLog + "：ReadyShelf：通知agv调度准备带料架的小车，等待小车到达或检测到料架信号，进出轴到P1");
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1); InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//需要先叫小车到达 //需要先叫小车到达
AgvClient.ReadyShelf(Config.AgvNodeName); AgvClient.ReadyShelf(Config.AgvNodeName);
...@@ -1107,14 +1148,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1107,14 +1148,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_BagDeviceBack) else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{ {
//if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
//{
// string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
// CodeMsg = "出库[" + posId + "]叉子从库位退出后，未检测到料盘有料";
// LogUtil.error(CodeMsg);
//}
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition); MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition);
InOutStoreLog("出库 " + MoveInfo.SLog + "：走到料架位置，旋转轴至P101，升降轴至P102, "); InOutStoreLog("出库 " + MoveInfo.SLog + "：走到料架位置，旋转轴至P101，升降轴至P102, ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
......
source/DeviceLibrary/store/InOutParam.cs
...@@ -20,39 +20,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -20,39 +20,34 @@ namespace OnlineStore.DeviceLibrary
{ {
this.WareCode = ""; this.WareCode = "";
MoveP = null; MoveP = null;
} }
/// <summary> public InOutParam(string wareNo, string posId, string ShelfPosID, string platew = "", string plateh = "", bool urgentReel = false, bool cutReel = false, bool smallReel = false, string rfid = "", int rfidLoc = 0)
/// 新建一个对象
/// </summary>
/// <param name="wareNo">物品二维码</param>
/// <param name="position">仓位号</param>
public InOutParam(string wareNo, string posId,string ShelfPosID)
{
this.ShelfPosID = ShelfPosID;
WareCode = wareNo;
PosID = posId;
MoveP = null;
IsSolderPaste = false;
}
public InOutParam(string wareNo, string posId,string plateH,string plateW, string ShelfPosID )
{ {
this.ShelfPosID = ShelfPosID; this.ShelfPosID = ShelfPosID;
WareCode = wareNo; WareCode = wareNo;
PosID = posId; PosID = posId;
MoveP = null; MoveP = null;
this.PlateW = plateW; this.PlateW = platew;
this.PlateH = plateH; this.PlateH = plateh;
IsSolderPaste = false; this.urgentReel = urgentReel;
this.cutReel = cutReel;
this.smallReel = smallReel;
this.rfid = rfid;
this.rfidLoc = rfidLoc;
} }
public InOutParam(string wareNo, string posId, string ShelfPosID,LineMoveP linePosition ) public InOutParam(string wareNo, string posId, string ShelfPosID,LineMoveP linePosition )
{ {
WareCode = wareNo; WareCode = wareNo;
this.ShelfPosID = ShelfPosID; this.ShelfPosID = ShelfPosID;
PosID = posId; PosID = posId;
MoveP = linePosition; MoveP = linePosition;
IsSolderPaste = false;
NeedEnterShelf = false; NeedEnterShelf = false;
NeedOutShelf = false; NeedOutShelf = false;
this.urgentReel = false ;
this.cutReel = false ;
this.smallReel = false ;
this.rfid = "";
this.rfidLoc = 0;
} }
/// <summary> /// <summary>
/// 物品二维码信息 /// 物品二维码信息
...@@ -75,10 +70,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -75,10 +70,7 @@ namespace OnlineStore.DeviceLibrary
/// 料盘宽度 /// 料盘宽度
/// </summary> /// </summary>
public string PlateW { get; set; } public string PlateW { get; set; }
/// <summary>
/// 是否是放入锡膏（在线料仓才需要此字段）
/// </summary>
public bool IsSolderPaste { get; set; }
/// <summary> /// <summary>
/// 出入库时需要进入新料架 /// 出入库时需要进入新料架
...@@ -88,6 +80,31 @@ namespace OnlineStore.DeviceLibrary ...@@ -88,6 +80,31 @@ namespace OnlineStore.DeviceLibrary
/// 出入库结束后需要将料架送出 /// 出入库结束后需要将料架送出
/// </summary> /// </summary>
public bool NeedOutShelf = true; public bool NeedOutShelf = true;
/// <summary>
/// urgentReel: true 表示紧急料,需要出到料串上
/// </summary>
public bool urgentReel { get; set; }
/// <summary>
/// cutReel: true 表示分盘料,需要出到料串上
/// </summary>
public bool cutReel { get; set; }
/// <summary>
/// smallReel: true 小料(7x8),放置到小料架上
/// </summary>
public bool smallReel { get; set; }
/// <summary>
/// rfid: 分配的料架RFID
/// </summary>
public string rfid { get; set; }
/// <summary>
/// rfidLoc: 料架的架位,值为 - 1时,可以自由分配皮带线,
/// 小料时,架位为1 - 46优先走1 / 2号皮带线,47 - 92优先走3 / 4号皮带线,
/// 70,71,72时只能分配到3 / 4号皮带线;
/// 大料时,架位1 - 6优先走1 / 2号皮带线, 7 - 12优先走3/ 4号皮带线
/// </summary>
public int rfidLoc { get; set; }
/// <summary> /// <summary>
/// 根据PosId获取对应的料仓ID，若PosId=="",返回-1 /// 根据PosId获取对应的料仓ID，若PosId=="",返回-1
...@@ -114,7 +131,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -114,7 +131,9 @@ namespace OnlineStore.DeviceLibrary
} }
public string ToStr() public string ToStr()
{ {
return " ShelfPosID=["+ ShelfPosID + "],WareCode=【" + WareCode + "】,PosID=【" + PosID + "】,PlateW=【" + PlateW + "】,PlateH=【" + PlateH + "】"; return " ShelfPosID=[" + ShelfPosID + "],WareCode [" + WareCode + "],PosID [" + PosID + "],PlateW [" + PlateW + "],PlateH [" + PlateH + "]" +
"NeedEnterShelf【" + NeedEnterShelf + "】NeedOutShelf【" + NeedOutShelf + "】"+
"urgentReel [" + urgentReel + "],cutReel [" + cutReel + "],smallReel [" + smallReel + "],rfid [" + rfid + "],rfidLoc [" + rfidLoc + "]";
} }
internal void UpdateShelfPosId(string pId) internal void UpdateShelfPosId(string pId)
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -170,36 +170,40 @@ namespace OnlineStore.DeviceLibrary ...@@ -170,36 +170,40 @@ namespace OnlineStore.DeviceLibrary
BI_02_DoorOpen = 1002, BI_02_DoorOpen = 1002,
/// <summary> /// <summary>
/// 料架入库：线体正转 /// 料架入库：线体正转，等待入料口检测到信号
/// </summary> /// </summary>
BI_03_LineRun = 1003, BI_03_LineRun = 1003,
/// <summary> /// <summary>
/// 等待取料位检测到信号
/// </summary>
BI_04_WaitTakeSingle=1004,
/// <summary>
/// 料架入库：取料位检测到信号，停止线体正转 /// 料架入库：取料位检测到信号，停止线体正转
/// </summary> /// </summary>
BI_04_LineStop = 1004, BI_05_LineStop = 1005,
/// <summary> /// <summary>
/// 料架入库：入料口移门关闭，等待1000 /// 料架入库：入料口移门关闭，等待1000
/// </summary> /// </summary>
BI_05_DoorClose = 1005, BI_06_DoorClose = 1006,
/// <summary> /// <summary>
/// 线体再正转1秒 /// 线体再正转1秒
/// </summary> /// </summary>
BI_06_LineRun=1006, BI_07_LineRun=1007,
/// <summary> /// <summary>
/// 料架入库：定位装置上升 /// 料架入库：定位装置上升
/// </summary> /// </summary>
BI_07_LocationUp = 1007, BI_08_LocationUp = 1008,
/// <summary> /// <summary>
/// 料架入库：顶升装置上升 /// 料架入库：顶升装置上升
/// </summary> /// </summary>
BI_08_TopCylinderUp = 1008, BI_09_TopCylinderUp = 1009,
#endregion #endregion
#region 出库步骤 2000开始 #region 出库步骤 2000开始
/// <summary> /// <summary>
///料仓出库，，定位气缸下降 ///料仓出库，，定位气缸下降
/// </summary> /// </summary>
...@@ -273,7 +277,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -273,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 料架入库：开始循环从第一个空位逐个取料盘，扫码入库 /// 料架入库：开始循环从第一个空位逐个取料盘，扫码入库
/// </summary> /// </summary>
BI_08_StartGetTray = 20008, BI_10_StartGetTray = 3010,
/// <summary> /// <summary>
/// 料架取料：叉子后退到待机点P1 /// 料架取料：叉子后退到待机点P1
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!