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Commit 4b88f2d0 由 张东亮
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扫码位张开前点使用最大位置、出库张开点位置检查

1 个父辈 9aac7466
内嵌 并排
正在显示 3 个修改的文件 包含 52 行增加 和 24 行删除
source/DeviceLibrary/PackingStore/AC_BOX_Bean_InStore.cs
......@@ -253,15 +253,23 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
if(currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + $"】，由于未成功获取到实时脉冲值，走相对运动到{Config.CompAxis_Down_Position}");
ACServerManager.RelMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_Down_Position, Config.CompAxis_P1_Speed);
}
else
{
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove))
......@@ -300,9 +308,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown);
InOutStoreLog("扫码，升降轴到扫码低点P1，压紧轴到压紧前点P3");
InOutStoreLog("扫码，升降轴到扫码低点P1，压紧轴到最大压紧前点P3");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutTrayDown))
{
......
source/DeviceLibrary/PackingStore/AC_BOX_Bean_OutStore.cs
......@@ -239,16 +239,26 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(MoveInfo.MoveParam.PosID);
MoveInfo.MoveParam.MoveP.ComPress_P3 = Config.GetComP3(position.BagHigh).MaxComP;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]");
if (currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + $"】，由于未成功获取到实时脉冲值，走相对运动到{Config.CompAxis_Down_Position}");
ACServerManager.RelMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_Down_Position, Config.CompAxis_P1_Speed);
}
else
{
ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP);
MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(MoveInfo.MoveParam.PosID);
MoveInfo.MoveParam.MoveP.ComPress_P3 = Config.GetComP3(position.BagHigh).MaxComP;
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + "】，向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP +
"]记录ComP2[" + targetP + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_07_ComDownMove))
......@@ -504,9 +514,19 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
int targetP = currPosition + Config.CompAxis_Down_Position;
InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
if (currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog($"出库，由于未成功获取到实时脉冲值，走相对运动到{Config.CompAxis_Down_Position}");
ACServerManager.RelMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_Down_Position, Config.CompAxis_P1_Speed);
}
else
{
int targetP = currPosition + Config.CompAxis_Down_Position;
InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] ");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove)
{
......
source/DeviceLibrary/device/PanasonicServo/ACServerManager_Partial.cs
......@@ -390,7 +390,7 @@ namespace OnlineStore.DeviceLibrary
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9);
int result = -1;
for (int i = 1; i <= 3; i++)
for (int i = 1; i <= 5; i++)
{
result = GetRegisterData(portName, reviceData, ACCMDManager.ActualPosition);
if (!result.Equals(-1))
......
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