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Commit 5a9e518e 由 LN
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出库第一盘料夹紧修改

1 个父辈 584d49b2
内嵌 并排
正在显示 3 个修改的文件 包含 43 行增加 和 32 行删除
dll/CodeLibrary.dll
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source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
...@@ -754,9 +754,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -754,9 +754,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_76_NGDoorDown)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_76_NGDoorDown))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_77_NGLineRun); MoveInfo.NextMoveStep(StoreMoveStep.BI_77_NGLineRun);
InOutStoreLog("料架入库 " + MoveInfo.SLog + "：NG流水线转动3000"); InOutStoreLog("料架入库 " + MoveInfo.SLog + "：NG流水线转动5000");
IOMove(IO_Type.NGLine_Run, IO_VALUE.HIGH); IOMove(IO_Type.NGLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
...@@ -1021,24 +1021,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -1021,24 +1021,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel) else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel)
{ {
//如果检测信号亮或者当前位置大于P4，直接走相对位置 SO_06_StartCompress();
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || (moveP.ComPress_P2 >= Config.CompAxis_P4_Position))
{
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);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_StartCompress);
InOutStoreLog("出库 " + 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));
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();
}
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress))
{ {
...@@ -1221,6 +1205,28 @@ namespace OnlineStore.DeviceLibrary ...@@ -1221,6 +1205,28 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void SO_06_StartCompress()
{
//如果检测信号亮或者当前位置大于P4，直接走相对位置
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || (MoveInfo.MoveParam.MoveP.ComPress_P2 >= Config.CompAxis_P4_Position))
{
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);
}
else
{
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_StartCompress);
InOutStoreLog("出库 " + 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));
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();
}
}
#endregion #endregion
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
...@@ -153,9 +153,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -153,9 +153,13 @@ namespace OnlineStore.DeviceLibrary
if (!instoreShelf) if (!instoreShelf)
{ {
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) "); 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.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed); //ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
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);
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();
} }
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_09_TopCylinderUp)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_09_TopCylinderUp))
...@@ -185,15 +189,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -185,15 +189,16 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack); //MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子从库位返回，进出轴至P1(待机点) "); //InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子从库位返回，进出轴至P1(待机点) ");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed); ////ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1); //InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
//把库位的物品放到取到叉子上之后是出仓完成 ////把库位的物品放到取到叉子上之后是出仓完成
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : ""; //string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId; //lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd; //lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd; //storeStatus = StoreStatus.OutStoreBoxEnd;
SO_06_StartCompress();
} }
} }
} }
......
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