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Commit 584d49b2 由 LN
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入库逻辑优化

1 个父辈 6a51b95b
内嵌 并排
正在显示 4 个修改的文件 包含 26 行增加 和 19 行删除
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
......@@ -451,7 +451,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：升降轴到P101低点，旋转轴到P101点，压紧轴到压紧前点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
ACAxisMove(Config.Comp_Axis, Config.CompAxis_Max_P3, Config.CompAxis_P3_Speed);
}
......@@ -465,7 +465,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToP102);
InOutStoreLog("料架取料 " + MoveInfo.SLog + "：升降轴上升到P102点");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P101_Speed);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
{
......@@ -682,12 +682,23 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_54_DeviceBackFromBag))
{
if (MoveInfo.SingleInstore)
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_55_GoBack);
InOutStoreLog("入库 " + MoveInfo.SLog + "：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
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);
}
else
{
TimeSpan span = DateTime.Now - startInStoreTime;
storeStatus = StoreStatus.InStoreExecute;
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) + "】，旋转轴返回待机点，继续循环料架取料盘");
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_55_GoBack))
{
TimeSpan span = DateTime.Now - startInStoreTime;
......@@ -782,7 +793,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_10_StartGetTray);
InOutStoreLog("送出料盘结束 " + MoveInfo.SLog + "： 升降轴返回，升降轴到P1，顶升下降,继续循环料架取料盘");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
}
#endregion
......@@ -1000,9 +1011,13 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_ToPos)
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetReel);
InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴开始缓慢压紧到P4 ：" + Config.CompAxis_P4_Position);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_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;
ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
ComAxisStartCheck();
// ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel)
{
......@@ -1068,16 +1083,6 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitNoTray);
//}
////此处需要等待移栽没有工作，才能把盘放入出料口
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_LocationDown)
//{
// MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitNoTray);
//}
//else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_WaitNoTray)
//{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
......@@ -70,8 +70,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_WaitTakeSingle))
{
MoveInfo.NextMoveStep(StoreMoveStep.BI_05_LineStop);
InOutStoreLog(moveName + MoveInfo.SLog + "调用Agv " + Config.AgvNodeName + " FinishEnter，取料位检测到信号，停止线体正转");
LineStop();
InOutStoreLog(moveName + MoveInfo.SLog + "调用Agv " + Config.AgvNodeName + " FinishEnter，取料位检测到信号，继续转动");
LineRun();
AgvClient.SetStatus(Config.AgvNodeName, mark, "", ClientAction.FinishEnter, ClientLevel.High, true);
if (!instoreShelf)
......@@ -211,6 +212,7 @@ namespace OnlineStore.DeviceLibrary
InOutStoreLog("送出空料架[" + CurrShelfID + "]：顶升下降,调用 NeedLeave[0][" + CurrShelfID + "]，clearPutInRfid[" + CurrShelfID + "]");
AgvClient.NeedLeave(Config.AgvNodeName, "0", CurrShelfID);
StoreManager.clearPutInRfid(Name, CurrShelfID);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
}
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
}
......
source/LoadCVSLibrary/storeConfig/config/AC_Box_Config.cs
......@@ -382,12 +382,12 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("CompAxis_P4_Position")]
public int CompAxis_P4_Position { get; set; }
/// <summary>
/// PRO,升降轴（轴2）P101速度,UpDownAxis_P101_Speed,100,,,,,, ,
/// PRO,升降轴（轴2）P101速度,UpDownAxis_P101_Speed,100,,低速,,,, ,
/// </summary>
[ConfigProAttribute("UpDownAxis_P101_Speed")]
public int UpDownAxis_P101_Speed { get; set; }
/// <summary>
/// PRO,升降轴（轴2）P102速度,UpDownAxis_P102_Speed,100,,,,,,,
/// PRO,升降轴（轴2）P102速度,UpDownAxis_P102_Speed,100，高速,,,,,,,
/// </summary>
[ConfigProAttribute("UpDownAxis_P102_Speed")]
public int UpDownAxis_P102_Speed { get; set; }
......
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