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Commit 1c633ffd 由 LN
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1 个父辈 b5cb8691
内嵌 并排
正在显示 13 个修改的文件 包含 357 行增加 和 359 行删除
source/ACPackingStore/FrmBox.cs
......@@ -588,29 +588,24 @@ namespace OnlineStore.ACPackingStore
{
if (BoxBean.AutoInout.autoNext)
{
BoxBean.AutoInout.autoNext = false;
BoxBean.AutoInout.StopAuto();
btnStartAuTo.Text = "开始自动出入库";
}
else
{
DialogResult res = MessageBox.Show("确定开始自动出入库？", "提示", MessageBoxButtons.YesNo);
if (res.Equals(DialogResult.Yes))
if (res.Equals(DialogResult.Yes) && cmbPosition.SelectedIndex >= 0)
{
BoxBean.AutoInout.autoNext = true;
int jiange = FormUtil.GetIntValue(txtJiange);
BoxBean.AutoInout.Jiange = jiange;
if (cmbPosition.SelectedIndex >= 0)
{
int currIndex = cmbPosition.SelectedIndex;
BoxBean.AutoInout.positionIndex = currIndex;
BoxBean.AutoInout.startIndex = currIndex;
BoxBean.AutoInout.shelfPosId = cmbShelfPosition.Text;
BoxBean.AutoInout.StartAuto(jiange, currIndex, cmbShelfPosition.Text);
string poText = cmbPosition.Text;
BoxBean.AutoInout.autoMsg = "自动出库：" + poText;
LogUtil.info(LOGGER, BoxBean.Name + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
//BoxBean.StartOutStoreMove(new InOutStoreParam("", poText));
BoxBean.StartInStoreMove(new InOutParam("", poText, BoxBean.AutoInout.shelfPosId));
}
BoxBean.StartInStoreMove(new InOutParam("", poText, cmbShelfPosition.Text));
btnStartAuTo.Text = "停止自动出入库";
}
}
......
source/ACPackingStore/FrmStore.Designer.cs
......@@ -121,6 +121,7 @@
this.chkDebug.TabIndex = 194;
this.chkDebug.Text = "开启DEBUG日志";
this.chkDebug.UseVisualStyleBackColor = true;
this.chkDebug.CheckedChanged += new System.EventHandler(this.chkDebug_CheckedChanged);
//
// chbAutoRun
//
......
source/ACPackingStore/FrmStore.cs
......@@ -408,5 +408,11 @@ namespace OnlineStore.ACPackingStore
LogUtil.info("去掉：启用蜂鸣器");
}
}
private void chkDebug_CheckedChanged(object sender, EventArgs e)
{
LogUtil.debug_opened = chkDebug.Checked;
LogUtil.info("debug_opened：" + chkDebug.Checked);
}
}
}
source/ACPackingStore/positionTool/FrmPositionTool.cs
......@@ -34,7 +34,7 @@ namespace OnlineStore.ACPackingStore
this.SlvAddr = slvAddr;
this.IoIp = ioIp;
this.IoIndex = ioIndex;
boxName = boxName.Trim().Replace("料仓", "");
boxName = text.Trim().Replace("料仓", "");
this.Text = boxName + "_升降轴位置调试";
LogName = boxName + "_升降轴调试：";
toolTimer.Enabled = false;
......
source/ACPackingStore/记录.txt
......@@ -7,6 +7,4 @@
//温湿度超限报警中超过30分钟 亮 闪 闪
//机器未启动 灭 灭 灭
//机器设备故障(非温湿度)报警 亮 灭 闪
在RC1246-ACPackingStore 项目基础上，
新建分支RC1250-ACPackingStore，作为佳世达流水线单台料仓软件
新建分支RC1250-ACPackingStore，作为佳世达流水线单台包装料料仓软件
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs
......@@ -27,7 +27,7 @@ namespace OnlineStore.DeviceLibrary
public string lastPosId = "";
public StoreStatus lastPosIdStatus = StoreStatus.StoreOnline;
public List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>();
private Dictionary<string, AxisAlarmInfo> AxisAlarmCodeMap = new Dictionary<string, AxisAlarmInfo>();
// private Dictionary<string, AxisAlarmInfo> AxisAlarmCodeMap = new Dictionary<string, AxisAlarmInfo>();
public List<string> PositionNumList = new List<string>();
public List<string> ShelfPosList = new List<string>();
/// <summary>
......@@ -121,14 +121,14 @@ namespace OnlineStore.DeviceLibrary
moveAxisList.Add(Config.Middle_Axis);
moveAxisList.Add(Config.UpDown_Axis);
moveAxisList.Add(Config.InOut_Axis);
moveAxisList.Add(Config.Comp_Axis);
this.AxisAlarmCodeMap = new Dictionary<string, AxisAlarmInfo>();
this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.GetNameStr(), new AxisAlarmInfo());
this.AxisAlarmCodeMap.Add(Config.InOut_Axis.GetNameStr(), new AxisAlarmInfo());
this.AxisAlarmCodeMap.Add(this.Config.Middle_Axis.GetNameStr(), new AxisAlarmInfo());
//this.AxisAlarmCodeMap = new Dictionary<string, AxisAlarmInfo>();
//this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.GetNameStr(), new AxisAlarmInfo());
//this.AxisAlarmCodeMap.Add(Config.InOut_Axis.GetNameStr(), new AxisAlarmInfo());
//this.AxisAlarmCodeMap.Add(this.Config.Middle_Axis.GetNameStr(), new AxisAlarmInfo());
moveAxisList.Add(Config.Comp_Axis);
this.AxisAlarmCodeMap.Add(this.Config.Comp_Axis.GetNameStr(), new AxisAlarmInfo());
//this.AxisAlarmCodeMap.Add(this.Config.Comp_Axis.GetNameStr(), new AxisAlarmInfo());
}
/// <summary>
......@@ -138,7 +138,7 @@ namespace OnlineStore.DeviceLibrary
{
LogInfo("开始启动，启动时间：" + StartTime.ToString());
AutoInout.autoNext = false;
AutoInout.StopAuto();
mainTimer.Enabled = false;
alarmType = StoreAlarmType.None;
......@@ -206,9 +206,6 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_InOutToP1);
LogInfo("到待机状态，进出轴到P1，判断叉子没有料盘");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
//ComBeforeHomeMove();
//判断叉子没有料盘
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
public override void Reset(bool isNeedClearAuto = true)
......@@ -220,13 +217,13 @@ namespace OnlineStore.DeviceLibrary
//复位之前先停止运行
if (isNeedClearAuto)
{
AutoInout.autoNext = false;
AutoInout.StopAuto();
}
ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
//ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
//ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
//ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
//ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
isInSuddenDown = false;
isNoAirCheck = false;
alarmType = StoreAlarmType.None;
......@@ -284,7 +281,6 @@ namespace OnlineStore.DeviceLibrary
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));
CloseDoor();
break;
case StoreMoveStep.BOX_H_InOutToP1:
//如果此时轴三还在报警，需要提示错误并等待
......@@ -305,7 +301,7 @@ namespace OnlineStore.DeviceLibrary
LogInfo(MoveInfo.MoveType + ": 旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Comp_Axis,Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
......@@ -323,15 +319,13 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_CompressHome);
LogInfo("到待机状态，压紧轴回原点，关闭舱门");
ACAxisHomeMove(Config.Comp_Axis);
//关闭舱门
CloseDoor();
break;
case StoreMoveStep.BOX_M_H_TOP1_CompressHome:
MoveInfo.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1);
LogInfo(MoveInfo.MoveType + ": 旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
ComMoveToPosition(Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Comp_Axis,Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
LogInfo("到待机状态完成");
......@@ -348,17 +342,6 @@ namespace OnlineStore.DeviceLibrary
}
}
private void ComMoveToPosition(int targetPosition, int targetSpeed)
{
ACAxisMove(Config.Comp_Axis, targetPosition, targetSpeed);
}
public void OpenDoor(bool IsWait = true)
{
}
public void CloseDoor(bool IsWait = true)
{
}
/// <summary>
/// 原点返回处理
/// </summary>
......@@ -449,8 +432,6 @@ namespace OnlineStore.DeviceLibrary
foreach (ConfigMoveAxis axis in moveAxisList)
{
ACServerManager.ServoOff(axis.DeviceName, axis.GetAxisValue());
//关闭串口，等下次重新打开
// ACServerManager.ColsePort(axis.DeviceName);
}
Thread.Sleep(100);
IOMove(IO_Type.Run_Signal, IO_VALUE.LOW);
......@@ -463,7 +444,7 @@ namespace OnlineStore.DeviceLibrary
public override void StopRun()
{
WarnMsg = "";
AutoInout.autoNext = false;
AutoInout.StopAuto();
IoCheckTimer.Enabled = false;
serverConnectTimer.Enabled = false;
StopMove();
......@@ -474,7 +455,7 @@ namespace OnlineStore.DeviceLibrary
IsRun = false;
//LineConnect.StopConnect();
IOManager.instance.CloseAllDO();
// IOManager.instance.CloseAllDO();
LogInfo(",停止运行，总运行时间：" + span.ToString());
}
......@@ -482,7 +463,7 @@ namespace OnlineStore.DeviceLibrary
public override void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, StoreMoveType storeMoveType)
{
SaveAlarmInfo(alarmType, alarmDetial, alarmMsg, storeMoveType);
AutoInout.autoNext = false;
AutoInout.StopAuto();
if (this.alarmType.Equals(alarmType) && alarmType != StoreAlarmType.SuddenStop && alarmType != StoreAlarmType.NoAirCheck)
{
......@@ -493,25 +474,21 @@ namespace OnlineStore.DeviceLibrary
this.alarmType = alarmType;
if (alarmType.Equals(StoreAlarmType.AxisAlarm) | alarmType.Equals(StoreAlarmType.AxisMoveError))
{
LogUtil.error(Name + "轴报警，关闭刹车，停止运动，关闭轴，打开报警灯");
IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
LogUtil.error(Name + "轴报警， 停止运动， 打开报警灯");
StopMove();
}
else if (alarmType == StoreAlarmType.SuddenStop)
{
isInSuddenDown = true;
LogUtil.error(Name + "收到急停信号，关闭刹车，停止运动，关闭轴，打开报警灯 ");
IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
MoveInfo.EndMove();
LogUtil.error(Name + "收到急停信号，停止运动， 打开报警灯 ");
StopMove();
storeStatus = StoreStatus.SuddenStop;
}
else if (alarmType.Equals(StoreAlarmType.NoAirCheck))
{
isNoAirCheck = true;
LogUtil.error(Name + " 未检测到气压信号 ,打开刹车，停止运动，关闭轴，打开报警灯 ");
IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
MoveInfo.EndMove();
LogUtil.error(Name + " 未检测到气压信号 ,停止运动， 打开报警灯 ");
StopMove();
storeStatus = StoreStatus.SuddenStop;
}
......@@ -713,11 +690,7 @@ namespace OnlineStore.DeviceLibrary
{
return;
}
if (storeRunStatus < StoreRunStatus.Runing)
{
return;
}
if (isInSuddenDown || isNoAirCheck)
if (storeRunStatus < StoreRunStatus.Runing|| isInSuddenDown || isNoAirCheck)
{
return;
}
......@@ -812,50 +785,25 @@ namespace OnlineStore.DeviceLibrary
}
TimeSpan span = DateTime.Now - checkAlarmTime;
//在回原点，复位，出入库时，检测报警间隔减小
if (storeRunStatus.Equals(StoreRunStatus.Busy) || storeRunStatus.Equals(StoreRunStatus.HomeMoving) || storeRunStatus.Equals(StoreRunStatus.Reset))
{
if (span.TotalSeconds < 1)
if ((storeRunStatus.Equals(StoreRunStatus.Runing) && span.TotalSeconds < 3) || span.TotalSeconds < 1)
{
return false;
}
}
else
{
if (span.TotalSeconds < 3)
{
return false;
}
}
checkAlarmTime = DateTime.Now;
bool isInAlarm = false;
//Task.Factory.StartNew(delegate
// {
foreach (ConfigMoveAxis axisInfo in moveAxisList)
{
short axis = axisInfo.GetAxisValue();
string deviceName = axisInfo.GetNameStr();
AxisAlarmInfo info = AxisAlarmCodeMap[deviceName];
int alarmIo = ACServerManager.GetAlarmStatus(deviceName, axis);
if (alarmIo == 1)
if (ACServerManager.GetAlarmStatus(deviceName, axis) == 1)
{
WarnMsg = Name + " 运动轴" + axisInfo.Explain + "报警";
info.AlarmIoValue = alarmIo;
Alarm(StoreAlarmType.AxisAlarm, GetAlarmCodeByAxis(axisInfo).ToString(), WarnMsg, StoreMoveType.None);
isInAlarm = true;
}
else
{
if (!info.AlarmIoValue.Equals(alarmIo))
{
LogUtil.error(Name + " 运动轴 " + axisInfo.Explain + "，报警已解除！");
info.AlarmIoValue = alarmIo;
}
}
AxisAlarmCodeMap[deviceName] = info;
}
//});
//判断报警状态
return isInAlarm;
}
......@@ -864,7 +812,8 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public override void StopMove()
{
IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
MoveInfo.EndMove();
IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
//运动版停止
ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
......@@ -906,8 +855,9 @@ namespace OnlineStore.DeviceLibrary
return;
}
isInProcess = true;
try
{
//HumitureController.QueryData();
humBean.HumidityProcess(this);
if (StoreManager.IsConnectServer)
{
try
......@@ -916,16 +866,8 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(Name + "定时给服务器发送消息出错：" + ex.ToString());
}
}
//HumitureController.QueryData();
humBean.HumidityProcess(this);
LogUtil.error(Name + "定时SendLineStatus出错：" + ex.ToString());
}
catch (Exception ex)
{
LogUtil.error(Name + "server_connect_timer_Tick出错：" + ex.ToString());
}
isInProcess = false;
}
......@@ -1042,7 +984,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (resultOperation.op.Equals(5))
{
humBean. ProcessHumidityCMD(resultOperation);
humBean.ProcessHumidityCMD(resultOperation);
}
else
{
......@@ -1160,7 +1102,5 @@ namespace OnlineStore.DeviceLibrary
}
#endregion
}
}
\ No newline at end of file
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
......@@ -142,12 +142,11 @@ namespace OnlineStore.DeviceLibrary
private static DateTime lastComRHomeTime = DateTime.Now;
private void InOutBackToP1(int InOut_P1)
{
//判断是否在P1，如果是，不需要运行
int outCount = ACServerManager.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
int errorCount = Math.Abs(outCount - InOut_P1);
if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
if (ACServerManager.isInPosition(Config.InOut_Axis, InOut_P1))
{
LogInfo("进出轴当前位置：" + outCount + "，已经在P1，不需要再回P1");
LogInfo("进出轴当前已经在P1，不需要再回P1");
}
else
{
......@@ -155,14 +154,24 @@ namespace OnlineStore.DeviceLibrary
}
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
}
#endregion
#region 入库
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
ShelfInStoreProcess();
}
private DateTime startInStoreTime = DateTime.Now;
/// <summary>
/// 开始入库移动移动
......@@ -188,7 +197,12 @@ namespace OnlineStore.DeviceLibrary
storeStatus = StoreStatus.InStoreExecute;
MoveInfo.NewMove(StoreMoveType.InStore, param);
SI_02_Move(param.MoveP);
//新的料架库位
MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
MoveInfo.SingleInstore = true ;
InOutStoreLog("料架取料：叉子后退到待机点P1, 重置盘信息");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ClearLastTrayInfo();
}
else
......@@ -196,147 +210,147 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(Name + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
}
}
private void SI_02_Move(LineMoveP moveP)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
InOutStoreLog("入库：SI_02_ 进出轴(叉子)动作至P1,打开舱门");
OpenDoor();
InOutBackToP1(moveP.InOut_P1);
}
private void SI_05_DeviceToDoor()
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
InOutStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
//NeedCheckSafetyLight = 1;
}
protected override void InStoreProcess()
{
LineMoveP moveP = MoveInfo.MoveParam.MoveP;
if (MoveInfo.IsInWait)
{
CheckWait();
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep == StoreMoveStep.SI_00_TrayCheck)
{
SI_02_Move(moveP);
}
if (MoveInfo.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
{
SI_02_Move(moveP);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
InOutStoreLog("入库：SI_03 所有轴回到待机点，轴2、轴1 动作到P1,，轴4动作至P3");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_03_ReturnHome)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
InOutStoreLog("入库：SI_04_CompressWare 压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_04_CompressWare)
{
SI_05_DeviceToDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
{
//NeedCheckSafetyLight = 0;
MoveInfo.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
InOutStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
InOutStoreLog("入库：SI_07 叉子 从入料口抽出，进出轴至P1(待机点) ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
InOutStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
CloseDoor(false);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
InOutStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点))，关闭舱门 ");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
CloseDoor(false);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
InOutStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
InOutStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
{
// 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.InStoreEnd;
storeStatus = StoreStatus.InStoreEnd;
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
MoveInfo.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
InOutStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
//private void SI_02_Move(LineMoveP moveP)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
// InOutStoreLog("入库：SI_02_ 进出轴(叉子)动作至P1,打开舱门");
// OpenDoor();
// InOutBackToP1(moveP.InOut_P1);
//}
//private void SI_05_DeviceToDoor()
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
// InOutStoreLog("入库：SI_05 叉子进入入料口，进出轴至P2(进料口取料点) ");
// ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
// //NeedCheckSafetyLight = 1;
//}
//protected override void InStoreProcess()
//{
// LineMoveP moveP = MoveInfo.MoveParam.MoveP;
// if (MoveInfo.IsInWait)
// {
// CheckWait();
// }
// if (MoveInfo.IsInWait)
// {
// return;
// }
//if (MoveInfo.MoveStep == StoreMoveStep.SI_00_TrayCheck)
//{
// SI_02_Move(moveP);
//}
//if (MoveInfo.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
//{
// SI_02_Move(moveP);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
// InOutStoreLog("入库：SI_03 所有轴回到待机点，轴2、轴1 动作到P1,，轴4动作至P3");
// ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_03_ReturnHome)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
// InOutStoreLog("入库：SI_04_CompressWare 压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始");
// ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_04_CompressWare)
//{
// SI_05_DeviceToDoor();
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
//{
// //NeedCheckSafetyLight = 0;
// MoveInfo.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
// InOutStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
// ACAxisMove(Config.Comp_Axis,moveP.ComPress_P2, Config.CompAxis_P2_Speed);
// // ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
// InOutStoreLog("入库：SI_07 叉子 从入料口抽出，进出轴至P1(待机点) ");
// InOutBackToP1(moveP.InOut_P1);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
// InOutStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
// CloseDoor(false);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
// InOutStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点))，关闭舱门 ");
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
// CloseDoor(false);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_09_MoveToBag)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
// InOutStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
// InOutStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
// ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
//{
// // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)
// string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
// lastPosId = posId;
// lastPosIdStatus = StoreStatus.InStoreEnd;
// storeStatus = StoreStatus.InStoreEnd;
// //手动发给服务器状态，防止没有手动
// //SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
InOutStoreLog("入库：SI_13 叉子从库位中返回，进出轴动作至P1(待机点) ");
InOutBackToP1(moveP.InOut_P1);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag)
{
MoveInfo.NextMoveStep(StoreMoveStep.SI_14_GoBack);
InOutStoreLog("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");
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
CloseDoor();
}
else if (MoveInfo.MoveStep == StoreMoveStep.SI_14_GoBack)
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
LogInfo(" 【" + posId + "】 整个入库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
MoveInfo.EndMove();
storeRunStatus = StoreRunStatus.Runing;
//设备连接，入库后，BOX恢复原始状态
storeStatus = StoreStatus.StoreOnline;
AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
}
else
{
ShelfInStoreProcess();
}
}
// MoveInfo.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
// InOutStoreLog("入库：SI_12 放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
// ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
// InOutStoreLog("入库：SI_13 叉子从库位中返回，进出轴动作至P1(待机点) ");
// InOutBackToP1(moveP.InOut_P1);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SI_14_GoBack);
// InOutStoreLog("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");
// ACAxisMove(Config.Comp_Axis,moveP.ComPress_P1, Config.CompAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// CloseDoor();
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SI_14_GoBack)
//{
// TimeSpan span = DateTime.Now - startInStoreTime;
// string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
// LogInfo(" 【" + posId + "】 整个入库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
// MoveInfo.EndMove();
// storeRunStatus = StoreRunStatus.Runing;
// //设备连接，入库后，BOX恢复原始状态
// storeStatus = StoreStatus.StoreOnline;
// AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
//}
//else
// {
// ShelfInStoreProcess();
// }
//}
#endregion
......@@ -401,7 +415,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
InOutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
}
......@@ -416,7 +430,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
InOutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis,moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
......@@ -476,7 +490,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
InOutStoreLog("出库：SO_11 放下物品，压紧轴到P1，升降轴至P101 ");
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Comp_Axis,moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
......@@ -40,6 +40,12 @@ namespace OnlineStore.DeviceLibrary
storeRunStatus = StoreRunStatus.Busy;
storeStatus = StoreStatus.InStoreExecute;
EmprtShelfList = new Queue<string>();
//读取RFID
RFIDData data = RFIDManager.ReadData(Config.RFID_IP);
//TODO 判断料架是否正确
MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
MoveInfo.MoveParam.MoveP = new LineMoveP();
......@@ -129,7 +135,8 @@ namespace OnlineStore.DeviceLibrary
}
else
{
//所有料盘已取料完成
//所有料盘已取料完成，送出料架
StartSendShelfOut();
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
......@@ -180,17 +187,6 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_18_ScanCode);
InOutStoreLog("料架取料：记录宽度，开始扫码");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan();
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
if (IOValue(IO_Type.TrayCheck_3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_4).Equals(IO_VALUE.HIGH))
{
LastWidth = 13;
......@@ -203,6 +199,26 @@ namespace OnlineStore.DeviceLibrary
{
LogUtil.info("未检测到识别区料盘检测信号， 默认高度为7");
}
if (MoveInfo.SingleInstore)
{
//单盘入库，不需要扫码
StartMoveToBag();
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_18_ScanCode);
InOutStoreLog("料架取料：记录宽度，开始扫码");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
Task.Factory.StartNew(delegate
{
IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
LastScanCodes = CodeManager.CameraScan();
IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
});
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_18_ScanCode))
{
......@@ -238,10 +254,7 @@ namespace OnlineStore.DeviceLibrary
#region 入库逻辑
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_20_SetInstoreParam))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_MoveToBag);
InOutStoreLog("入库：移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
StartMoveToBag();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_MoveToBag))
{
......@@ -262,7 +275,7 @@ namespace OnlineStore.DeviceLibrary
//手动发给服务器状态，防止没有手动
//SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutWareToBag))
......@@ -275,7 +288,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_25_GoBack);
InOutStoreLog("入库：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
ComMoveToPosition(moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
......@@ -326,12 +339,26 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
}
#endregion
//料架送出逻辑
else if(MoveInfo.MoveStep>= StoreMoveStep.BS_01_TopCylinder_Down&&MoveInfo.MoveStep >= StoreMoveStep. BS_09_CloseDoor)
{
SendShelfProcess();
}
else
{
LogInfo(" 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
}
}
private void StartMoveToBag()
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_21_MoveToBag);
InOutStoreLog("入库：移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
private void StartSendTray( string str="扫码失败")
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_31_ToNGDoor);
......@@ -353,44 +380,56 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down);
InOutStoreLog("送出料架：定位气缸下降");
CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_DoorOpen);
InOutStoreLog("送出料架：打开仓门");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_LineBack);
InOutStoreLog("送出料架：线体反转");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.Line_BackRun, IO_VALUE.HIGH);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_LineBack))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitInLineSingle);
InOutStoreLog("送出料架：等待取料工位无信号，入料口有信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitInLineSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitTime);
InOutStoreLog("送出料架：再转动300时间");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitTime))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_LineStop);
InOutStoreLog("送出料架：停止转动");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_LineStop))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_CallAGV);
InOutStoreLog("送出料架：通知调度系统拿走");
//TODO
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_CallAGV))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor);
InOutStoreLog("送出料架：关闭仓门");
CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor))
{
}
}
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs
......@@ -52,6 +52,8 @@ namespace OnlineStore.DeviceLibrary
List<string> ioList = new List<string>();
AddDeviceName(ioList, Config.DIODeviceNameList);
List<string> rfidList = new List<string>();
foreach (AC_BOX_Config config in configList.Values)
{
AC_BOX_Bean equip = new AC_BOX_Bean(config);
......@@ -59,6 +61,8 @@ namespace OnlineStore.DeviceLibrary
AddDeviceName(ioList, config.DIODeviceNameList);
BoxMap.Add(config.DeviceID, equip);
BoxConfigMap.Add(config.DeviceID, config);
rfidList.Add(config.RFID_IP);
}
IOManager.Init();
......@@ -69,6 +73,7 @@ namespace OnlineStore.DeviceLibrary
Task.Factory.StartNew(delegate
{
RFIDManager.ConnectRFIOList(rfidList);
IOManager.instance.ConnectionIOList(ioList);
addLastDI(IO_Type.Airpressure_Check, IOValue(IO_Type.Airpressure_Check));
addLastDI(IO_Type.SuddenStop_BTN, IOValue(IO_Type.SuddenStop_BTN));
......
source/DeviceLibrary/StoreConfig/BoxConfig_2.csv
......@@ -44,8 +44,6 @@ AXIS,（轴三）进出轴,InOut_Axis,3,COM1,0,,,,,
AXIS,（轴四）压紧轴,Comp_Axis,4,COM1,0,,,,,
PRO,升降轴 进料口取料点 P1,UpDownAxis_P1,403000,,,,,,,
PRO,升降轴 进料口出料前点 P2,UpDownAxis_P2,415000,,,,,,,
PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,415000,,,,,,,
PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,403000,,,,,,,
PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1,268093,,,,,,,
PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,1000,,,,,,,
PRO,压紧轴（轴4）P1待机原位点,CompAxis_P1_Position,10000,,,,,,,
......@@ -111,7 +109,6 @@ PRO,（轴三）进出轴停止时可误差的脉冲数的最大值,InoutAxis_ErrorCountMax,1000,,,,,
PRO,出入库多少次，会自动重置旋转轴,Box_ResetMCount,1000,,,,,,,
PRO,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,,,,
PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,
PRO,是否使用料盘检测信号,IsUse_Tray_Check,0,,,,,, ,
PRO,（轴一）旋转轴最小限位,MiddleAxis_PositionMin,0,,,,,,,
PRO,（轴二）升降轴最小限位,UpdownAxis_PositionMin,0,,,,,,,
PRO,（轴三）进出轴最小限位,InoutAxis_PositionMin,0,,,,,,,
......
source/DeviceLibrary/store/AutoInoutInfo.cs
......@@ -16,11 +16,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 自动出入库间隔
/// </summary>
public int Jiange = 3;
public int positionIndex = 0;
private int Jiange = 3;
private int positionIndex = 0;
public string autoMsg = "";
public int startIndex = -1;
public string shelfPosId = "";
private int startIndex = -1;
private string shelfPosId = "";
#region 出入库参数
/// <summary>
/// 当前出入库的次数，超过配置的数量时，需要自动重置一下，再进行出入库
......@@ -29,6 +29,21 @@ namespace OnlineStore.DeviceLibrary
internal int CurrInOutACount = 0;
#endregion
public void StartAuto(int jiange, int currIndex, string shelfPosId)
{
autoNext = true;
Jiange = jiange;
positionIndex = currIndex;
startIndex = currIndex;
this.shelfPosId = shelfPosId;
}
public void StopAuto()
{
autoNext = false;
}
internal void InOutEndProcess(AC_BOX_Bean boxBean, StoreMoveType storeMoveType)
{
try
......@@ -70,13 +85,6 @@ namespace OnlineStore.DeviceLibrary
autoMsg = "自动出库：" + posid;
boxBean.AddWaitOutInfo(new InOutParam("", posid, shelfPosId));
}
else if (CurrInOutCount >= boxBean.Config.Box_ResetMCount)
{
boxBean.LogInfo("自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX旋转轴，先把出库信息存入排队列表中");
//ResetMiddleAxis(false);
autoMsg = "自动出库：" + posid;
boxBean.AddWaitOutInfo(new InOutParam("", posid, shelfPosId));
}
else
{
boxBean.LogInfo("自动进入下一个出库：posid=" + posid);
......@@ -113,13 +121,6 @@ namespace OnlineStore.DeviceLibrary
autoMsg = "自动入库：" + posid;
boxBean.AddWaitOutInfo(new InOutParam("AAAA", posid, shelfPosId));
}
else if (CurrInOutCount >= boxBean.Config.Box_ResetMCount)
{
boxBean.LogInfo("自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutCount + "次，需要重置BOX旋转轴，先把出库信息存入排队列表中");
//ResetMiddleAxis(false);
autoMsg = "自动入库：" + posid;
boxBean.AddWaitOutInfo(new InOutParam("AAAA", posid, shelfPosId));
}
else
{
boxBean.LogInfo("自动进入下一个入库：posid=" + posid);
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -248,67 +248,67 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 料仓内部入库步骤 20500
/// <summary>
/// 入库检测
/// </summary>
SI_00_TrayCheck = 20500,
/// <summary>
/// 入库，。定位气缸下降
/// </summary>
SI_01_LocationCylinderDown =20501,
/// <summary>
/// 入库。。进出轴（叉子）先返回P1
/// </summary>
SI_02_InOutAxisHome =20502,
/// <summary>
/// 入库。。所有轴先回到待机点，轴2、轴1 动作到P1,，轴4动作至P3
/// </summary>
SI_03_ReturnHome =20503,
/// <summary>
/// 入库。。压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P3(压紧前点)
/// </summary>
SI_04_CompressWare =20504,
/// <summary>
/// 入库。。叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）
/// </summary>
SI_05_DeviceToDoor =20505,
/// <summary>
/// 入库。。把物品放入叉子上，轴2（ 上下） 至P7（ 进料口取料缓冲点）,压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P2(压紧点)
/// </summary>
SI_06_DoorWarToDevice =20506,
///// <summary>
///// 入库检测
///// </summary>
//SI_00_TrayCheck = 20500,
///// <summary>
///// 入库，。定位气缸下降
///// </summary>
//SI_01_LocationCylinderDown =20501,
///// <summary>
///// 入库。。进出轴（叉子）先返回P1
///// </summary>
//SI_02_InOutAxisHome =20502,
///// <summary>
///// 入库。。所有轴先回到待机点，轴2、轴1 动作到P1,，轴4动作至P3
///// </summary>
//SI_03_ReturnHome =20503,
///// <summary>
///// 入库。。压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P3(压紧前点)
///// </summary>
//SI_04_CompressWare =20504,
///// <summary>
///// 入库。。叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）
///// </summary>
//SI_05_DeviceToDoor =20505,
///// <summary>
///// 入库。。把物品放入叉子上，轴2（ 上下） 至P7（ 进料口取料缓冲点）,压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P2(压紧点)
///// </summary>
//SI_06_DoorWarToDevice =20506,
/// <summary>
/// 入库。。叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点）
/// </summary>
SI_07_DeviceBackFromDoor =20507,
/// <summary>
/// 入库。。，定位气缸伸出 (有压紧轴的不需要此步骤)
/// </summary>
SI_08_LocationCylinder_Up =20508,
/// <summary>
/// 入库。。移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）
/// </summary>
SI_09_MoveToBag =20509,
/// <summary>
/// 入库。。定位气缸退回 （有压紧轴的不需要此步骤）
/// </summary>
SI_10_LocationCylinder_Down =20510,
/// <summary>
/// 入库。。叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）
/// </summary>
SI_11_DeviceToBag =20511,
/// <summary>
/// 入库。。放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）
/// </summary>
SI_12_PutWareToBag =20512,
/// <summary>
/// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
/// </summary>
SI_13_DeviceBackFromBag =20513,
/// <summary>
/// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
/// </summary>
SI_14_GoBack =20514,
///// <summary>
///// 入库。。叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点）
///// </summary>
//SI_07_DeviceBackFromDoor =20507,
///// <summary>
///// 入库。。，定位气缸伸出 (有压紧轴的不需要此步骤)
///// </summary>
//SI_08_LocationCylinder_Up =20508,
///// <summary>
///// 入库。。移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）
///// </summary>
//SI_09_MoveToBag =20509,
///// <summary>
///// 入库。。定位气缸退回 （有压紧轴的不需要此步骤）
///// </summary>
//SI_10_LocationCylinder_Down =20510,
///// <summary>
///// 入库。。叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）
///// </summary>
//SI_11_DeviceToBag =20511,
///// <summary>
///// 入库。。放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）
///// </summary>
//SI_12_PutWareToBag =20512,
///// <summary>
///// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
///// </summary>
//SI_13_DeviceBackFromBag =20513,
///// <summary>
///// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
///// </summary>
//SI_14_GoBack =20514,
#endregion
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
......@@ -77,6 +77,8 @@ namespace OnlineStore.DeviceLibrary
get { return moveStep; }
}
public bool SingleInstore = false;
public void NextMoveStep(StoreMoveStep step)
{
// PreMoveStep = moveStep;
......@@ -132,8 +134,8 @@ namespace OnlineStore.DeviceLibrary
/// 入库时，需要循环料架的料盘取出
/// </summary>
public List<string> ShelfPositionList = new List<string>();
public string currShelfPosId = "";
public int currShelfIndex = -1;
private string currShelfPosId = "";
private int currShelfIndex = -1;
public bool NextShelfPos()
{
......
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