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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 32 行增加 和 4 行删除
source/DeviceLibrary/PackingStore/AC_BOX_Bean_InStore.cs
...@@ -253,6 +253,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -253,6 +253,14 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove); MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis); int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
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; ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position; int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP); LastHeight = Config.GetComP2PlateH(targetP);
...@@ -260,8 +268,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -260,8 +268,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value; 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 + 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 + "]"); "]记录ComP2[" + targetP + "]ComP3[" + MoveInfo.MoveParam.MoveP.ComPress_P3 + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed); ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComDownMove))
...@@ -300,9 +308,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -300,9 +308,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown); 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.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)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutTrayDown))
{ {
......
source/DeviceLibrary/PackingStore/AC_BOX_Bean_OutStore.cs
...@@ -239,6 +239,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -239,6 +239,14 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_07_ComDownMove); MoveInfo.NextMoveStep(StoreMoveStep.SO_PreCheck_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis); int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
if (currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog("料架取料，检测到Compress_Check，盘高【" + LastHeight + $"】，由于未成功获取到实时脉冲值，走相对运动到{Config.CompAxis_Down_Position}");
ACServerManager.RelMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_Down_Position, Config.CompAxis_P1_Speed);
}
else
{
ComTargetPosition = currPosition; ComTargetPosition = currPosition;
int targetP = currPosition + Config.CompAxis_Down_Position; int targetP = currPosition + Config.CompAxis_Down_Position;
LastHeight = Config.GetComP2PlateH(targetP); LastHeight = Config.GetComP2PlateH(targetP);
...@@ -249,6 +257,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -249,6 +257,8 @@ namespace OnlineStore.DeviceLibrary
"]记录ComP2[" + targetP + "]"); "]记录ComP2[" + targetP + "]");
ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed); ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
}
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_07_ComDownMove)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_PreCheck_07_ComDownMove))
...@@ -504,10 +514,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -504,10 +514,20 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove); MoveInfo.NextMoveStep(StoreMoveStep.SO_07_ComDownMove);
int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis); int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
if (currPosition == -1)
{
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InOutStoreLog($"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; int targetP = currPosition + Config.CompAxis_Down_Position;
InOutStoreLog("出库 " + MoveInfo.SLog + "： 再向下压紧 [" + Config.CompAxis_Down_Position + "] 目标 [" + targetP + "] "); 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); ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
} }
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove) else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack); MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
......
source/DeviceLibrary/device/PanasonicServo/ACServerManager_Partial.cs
...@@ -390,7 +390,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -390,7 +390,7 @@ namespace OnlineStore.DeviceLibrary
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9); byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 9);
int result = -1; int result = -1;
for (int i = 1; i <= 3; i++) for (int i = 1; i <= 5; i++)
{ {
result = GetRegisterData(portName, reviceData, ACCMDManager.ActualPosition); result = GetRegisterData(portName, reviceData, ACCMDManager.ActualPosition);
if (!result.Equals(-1)) if (!result.Equals(-1))
......
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