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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 42 行增加 和 31 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
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_76_NGDoorDown))
{
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);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_77_NGLineRun))
......@@ -1021,24 +1021,8 @@ namespace OnlineStore.DeviceLibrary
}
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
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();
}
SO_06_StartCompress();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress))
{
......@@ -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
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
......@@ -153,9 +153,13 @@ namespace OnlineStore.DeviceLibrary
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) ");
ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.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.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_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))
......@@ -185,15 +189,16 @@ namespace OnlineStore.DeviceLibrary
}
else
{
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) ");
//ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
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
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
//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) ");
////ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
//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
//string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
//lastPosId = posId;
//lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
//storeStatus = StoreStatus.OutStoreBoxEnd;
SO_06_StartCompress();
}
}
}
......
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