Skip to content

孙克 / RC1250-ACPackingStore

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 6a51b95b 由 LN
选项

1.出库压紧逻辑修改。2.点击启动键自动启动。3.httpHelper修改

1 个父辈 1cf23ae2
内嵌 并排
正在显示 9 个修改的文件 包含 140 行增加 和 122 行删除
source/ACPackingStore/FrmBox.Designer.cs
此文件的差异太大，无法显示。
source/ACPackingStore/FrmBox.cs
...@@ -1079,7 +1079,7 @@ namespace OnlineStore.ACPackingStore ...@@ -1079,7 +1079,7 @@ namespace OnlineStore.ACPackingStore
/// <param name="e"></param> /// <param name="e"></param>
private void btnClearcurState_Click(object sender, EventArgs e) private void btnClearcurState_Click(object sender, EventArgs e)
{ {
if (BoxBean.MoveInfo.MoveStep.Equals(StoreMoveStep.SO_07_CheckComSig)) if (BoxBean.MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{ {
LogUtil.info("手动忽略料叉信号，BoxBean.MoveInfo.EndStepWait(); 重置BoxBean.IsIgnoreComSig = true "); LogUtil.info("手动忽略料叉信号，BoxBean.MoveInfo.EndStepWait(); 重置BoxBean.IsIgnoreComSig = true ");
BoxBean.IsIgnoreComSig = true; BoxBean.IsIgnoreComSig = true;
......
source/Common/util/HttpHelper.cs
...@@ -17,9 +17,8 @@ using System.Net.NetworkInformation; ...@@ -17,9 +17,8 @@ using System.Net.NetworkInformation;
namespace OnlineStore.Common namespace OnlineStore.Common
{ {
public class HttpHelper public class HttpHelper
{ {
// public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public static string PostAndWait(string url, string paramData)
public static string Post(string url, string paramData)
{ {
string postRes = ""; string postRes = "";
DateTime startTime = DateTime.Now; DateTime startTime = DateTime.Now;
...@@ -57,48 +56,16 @@ namespace OnlineStore.Common ...@@ -57,48 +56,16 @@ namespace OnlineStore.Common
postTask.Wait(); postTask.Wait();
return postRes; return postRes;
} }
//public static bool PingURLIP(string url, int ms=100)
//{
// string[] urlArray = url.Split('/');
// if (urlArray.Length > 3)
// {
// string ip = urlArray[2];
// Ping pingSender = new Ping();
// PingReply reply = pingSender.Send(ip, ms);//第一个参数为ip地址，第二个参数为ping的时间
// if (reply.Status == IPStatus.Success)
// {
// //通
// return true;
// }
// else
// {
// //不通
// return false;
// }
// }
// return true;
//}
/// <summary> public static string Post(string url, string paramData)
/// {
/// </summary> bool isTimeOut = false;
/// <param name="url"></param> return Post(url, paramData, Encoding.UTF8, out isTimeOut);
/// <param name="operation"></param> }
/// <param name="simulate">是否模拟服务器返回结果</param> public static Operation Post(string url, Operation operation, bool simulate=false)
/// <returns></returns>
public static Operation Post(string url, Operation operation, bool simulate)
{ {
try try
{ {
////如果Op=0或者Op=5，先拼Ip，不通不发送
//if (operation.op < 0 || operation.op.Equals(5))
//{
// if (PingURLIP(url, 100).Equals(false))
// {
// return null;
// }
//}
if (simulate) if (simulate)
{//模拟服务器返回 {//模拟服务器返回
...@@ -125,7 +92,7 @@ namespace OnlineStore.Common ...@@ -125,7 +92,7 @@ namespace OnlineStore.Common
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error("JsonHelper.SerializeObject(operation) 出错【operation.op=" + operation.op + "】" + ex); LogUtil.error("JsonHelper.SerializeObject(operation) 出错【operation.op=" + operation.op + "】" + ex);
} }
string result = Post(url, json); string result = Post(url, json);
if (!string.IsNullOrEmpty(result)) if (!string.IsNullOrEmpty(result))
{ {
...@@ -149,11 +116,7 @@ namespace OnlineStore.Common ...@@ -149,11 +116,7 @@ namespace OnlineStore.Common
private static int isLog = ConfigAppSettings.GetIntValue(Setting_Init.Server_Log_Open); private static int isLog = ConfigAppSettings.GetIntValue(Setting_Init.Server_Log_Open);
public static string LastServerMsg = ""; public static string LastServerMsg = "";
public static string Post(string url, string paramData, Encoding encoding, out bool isTimeOut) public static string Post(string url, string paramData, Encoding encoding, out bool isTimeOut)
{ {
//if (PingURLIP(url, 100).Equals(false))
//{
// return null;
//}
isTimeOut = false; isTimeOut = false;
if (isLog == 1) if (isLog == 1)
{ {
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs
...@@ -96,7 +96,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -96,7 +96,7 @@ namespace OnlineStore.DeviceLibrary
if (isAuto == 1) if (isAuto == 1)
{ {
mainTimer.Enabled = true; mainTimer.Enabled = true;
} }
} }
private void IoCheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e) private void IoCheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
...@@ -607,30 +607,31 @@ namespace OnlineStore.DeviceLibrary ...@@ -607,30 +607,31 @@ namespace OnlineStore.DeviceLibrary
public void IoCheckProcess() public void IoCheckProcess()
{ {
DateTime time = DateTime.Now; DateTime time = DateTime.Now;
if (storeRunStatus.Equals(StoreRunStatus.Wait)) //if (storeRunStatus.Equals(StoreRunStatus.Wait))
{ //{
//取新的Io状态 // //取新的Io状态
IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN); // IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN);
if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1)) // if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
{ // {
if (autoSingle.Equals(IO_VALUE.HIGH) && lastAutoRun.Equals(IO_VALUE.LOW)) // if (autoSingle.Equals(IO_VALUE.HIGH) && lastAutoRun.Equals(IO_VALUE.LOW))
{ // {
//没有启动时收到复位按钮，相当于启动按钮 // //没有启动时收到复位按钮，相当于启动按钮
LogInfo("没有启动时收到复位按钮，相当于启动按钮，开始调用启动方法！"); // LogInfo("没有启动时收到复位按钮，相当于启动按钮，开始调用启动方法！");
bool result = StartRun(); // bool result = StartRun();
if (result.Equals(false)) // if (result.Equals(false))
{ // {
LogUtil.error(Name + "料仓启动失败，继续等待下次启动！"); // LogUtil.error(Name + "料仓启动失败，继续等待下次启动！");
mainTimer.Enabled = true; // mainTimer.Enabled = true;
} // }
} // }
lastAutoRun = autoSingle; // lastAutoRun = autoSingle;
return; // return;
} // }
lastAutoRun = autoSingle; // lastAutoRun = autoSingle;
} //}
//判断急停 ////判断急停
else if (storeRunStatus >= StoreRunStatus.HomeMoving) //else
if (storeRunStatus >= StoreRunStatus.HomeMoving)
{ {
////取新的Io状态 ////取新的Io状态
//IO_VALUE suddenBtn = IOValue(IO_Type.SuddenStop_BTN); //IO_VALUE suddenBtn = IOValue(IO_Type.SuddenStop_BTN);
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
...@@ -77,7 +77,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -77,7 +77,7 @@ namespace OnlineStore.DeviceLibrary
{ {
ConfigIO io = Config.getWaitIO(wait.IoType); ConfigIO io = Config.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时"; WarnMsg = Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
if (WarnMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_07_CheckComSig)) if (WarnMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{ {
CompressSigTimeOut = true; CompressSigTimeOut = true;
WarnMsg += "出库时料叉未检测到信号！"; WarnMsg += "出库时料叉未检测到信号！";
...@@ -190,7 +190,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -190,7 +190,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds) else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{ {
if (NotOkMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_07_CheckComSig)) if (NotOkMsg.Contains(IO_Type.Compress_Check) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_09_CheckComSig))
{ {
CompressSigTimeOut = true; CompressSigTimeOut = true;
NotOkMsg += "出库时料叉未检测到信号！"; NotOkMsg += "出库时料叉未检测到信号！";
...@@ -389,7 +389,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -389,7 +389,7 @@ namespace OnlineStore.DeviceLibrary
private void StartMoveTrayBack(string str = "料盘不属于该仓库") private void StartMoveTrayBack(string str = "料盘不属于该仓库")
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition); MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：" + str + "，走到料架位置，旋转轴至P101，升降轴至P102"); InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：" + str + "，走到料架位置，旋转轴至P101，升降轴至P102");
ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_HP102, Config.UpDownAxis_P102_Speed); ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P101, Config.MiddleAxis_P101_Speed); ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P101, Config.MiddleAxis_P101_Speed);
...@@ -757,7 +757,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -757,7 +757,7 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
#region 把料盘送回料架逻辑 #region 把料盘送回料架逻辑
else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_ToShelfPosition) else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf); MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101"); InOutStoreLog("送出料盘 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101");
...@@ -1001,13 +1001,41 @@ namespace OnlineStore.DeviceLibrary ...@@ -1001,13 +1001,41 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_05_GetReel); 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) "); 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); ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
} }
else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel) else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_GetReel)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_InoutBack); //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();
}
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.SO_06_StartCompress))
{
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 if (MoveInfo.MoveStep == StoreMoveStep.SO_07_ComDownMove)
{
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(moveP.InOut_P1); InOutBackToP1(moveP.InOut_P1);
...@@ -1018,38 +1046,38 @@ namespace OnlineStore.DeviceLibrary ...@@ -1018,38 +1046,38 @@ namespace OnlineStore.DeviceLibrary
storeStatus = StoreStatus.OutStoreBoxEnd; storeStatus = StoreStatus.OutStoreBoxEnd;
} }
else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_InoutBack) else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_InoutBack)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_07_CheckComSig); MoveInfo.NextMoveStep(StoreMoveStep.SO_09_CheckComSig);
InOutStoreLog("出库 " + MoveInfo.SLog + "：等待料叉压紧信号 "); InOutStoreLog("出库 " + MoveInfo.SLog + "：等待料叉压紧信号 ");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Compress_Check, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Compress_Check, IO_VALUE.HIGH));
} }
else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_CheckComSig) else if (MoveInfo.MoveStep == StoreMoveStep.SO_09_CheckComSig)
{ {
if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig) if (IOValue(IO_Type.Compress_Check).Equals(IO_VALUE.HIGH) || IsIgnoreComSig)
{ {
IsIgnoreComSig = false; IsIgnoreComSig = false;
CompressSigTimeOut = false; CompressSigTimeOut = false;
LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false"); LogUtil.info("出库步骤 SO_07_CheckComSig ：IsIgnoreComSig = false, CompressSigTimeOut = false");
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition); MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToShelfPosition);
InOutStoreLog("出库 " + MoveInfo.SLog + "：走到料架位置，旋转轴至P101，升降轴至P102 "); InOutStoreLog("出库 " + MoveInfo.SLog + "：走到料架位置，旋转轴至P101，升降轴至P102 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
} }
} }
else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_ToShelfPosition) else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_ToShelfPosition)
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray); // 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 ////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_09_LocationDown) //else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_LocationDown)
{ //{
MoveInfo.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray); // MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitNoTray);
} //}
else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_WaitNoTray) //else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_WaitNoTray)
{ //{
MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf); MoveInfo.NextMoveStep(StoreMoveStep.SO_11_ToShelf);
InOutStoreLog("出库 " + MoveInfo.SLog + "：叉子进出料口，进出轴至P101"); 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); ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
...@@ -184,7 +184,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -184,7 +184,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.NextMoveStep(StoreMoveStep.SO_06_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);
......
source/DeviceLibrary/ACPackingStore/HumitureBean.cs
...@@ -22,7 +22,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -22,7 +22,8 @@ namespace OnlineStore.DeviceLibrary
public HumitureParam QueryData() public HumitureParam QueryData()
{ {
HumitureParam param = HumitureController.QueryData(PortName); HumitureParam param = HumitureController.QueryData(PortName);
return param; LastData = param;
return LastData;
} }
internal void ProcessHumidityCMD(Operation resultOperation) internal void ProcessHumidityCMD(Operation resultOperation)
...@@ -71,7 +72,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -71,7 +72,7 @@ namespace OnlineStore.DeviceLibrary
{ {
try try
{ {
if ((DateTime.Now - preLogTime).TotalSeconds > 10) if ((DateTime.Now - preLogTime).TotalSeconds > (8+box.DeviceID))
{ {
preLogTime = DateTime.Now; preLogTime = DateTime.Now;
//用最大的湿度判断是否需要吹气，开始吹气的值=发过来的值-4 //用最大的湿度判断是否需要吹气，开始吹气的值=发过来的值-4
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs
...@@ -307,12 +307,37 @@ namespace OnlineStore.DeviceLibrary ...@@ -307,12 +307,37 @@ namespace OnlineStore.DeviceLibrary
return IOValue(ioType).Equals(ioValue); return IOValue(ioType).Equals(ioValue);
} }
#endregion #endregion
/// <summary>
/// 定时处理，监听信号，监听IO private IO_VALUE lastAutoRun = IO_VALUE.LOW;
/// </summary>
protected override void timersTimer_Elapsed(object sender, ElapsedEventArgs e) protected override void timersTimer_Elapsed(object sender, ElapsedEventArgs e)
{ {
BusyMoveProcess(); if (storeRunStatus.Equals(StoreRunStatus.Wait))
{
//取新的Io状态
IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN);
if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
{
if (autoSingle.Equals(IO_VALUE.HIGH) && lastAutoRun.Equals(IO_VALUE.LOW))
{
//没有启动时收到复位按钮，相当于启动按钮
LogInfo("没有启动时收到复位按钮，相当于启动按钮，开始调用启动方法！");
bool result = StartRun();
if (result.Equals(false))
{
LogUtil.error(Name + "料仓启动失败，继续等待下次启动！");
mainTimer.Enabled = true;
}
}
lastAutoRun = autoSingle;
return;
}
lastAutoRun = autoSingle;
}
//判断急停
else
{
BusyMoveProcess();
}
} }
public override void StopMove() public override void StopMove()
{ {
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -218,63 +218,63 @@ namespace OnlineStore.DeviceLibrary ...@@ -218,63 +218,63 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
///料仓出库，，顶升气缸下降，先检测料架 ///料仓出库，，顶升气缸下降，先检测料架
/// </summary> /// </summary>
SO_02_TopDown = 2001, SO_02_TopDown ,
/// <summary> /// <summary>
/// 料仓出库，，所有轴运行到库位,压紧轴到压紧前点P3 ，旋转轴到库位点P2,轴2(上下） 至P5(库位出库前点） /// 料仓出库，，所有轴运行到库位,压紧轴到压紧前点P3 ，旋转轴到库位点P2,轴2(上下） 至P5(库位出库前点）
/// </summary> /// </summary>
SO_03_ToPosition = 2003, SO_03_ToPosition,
/// <summary> /// <summary>
/// 料仓出库，，叉子进入库位中， 进出轴到库位P3 /// 料仓出库，，叉子进入库位中， 进出轴到库位P3
/// </summary> /// </summary>
SO_04_ToPos = 2004, SO_04_ToPos,
/// <summary> /// <summary>
///料仓出库，， 库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点) ///料仓出库，， 库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点)
/// </summary> /// </summary>
SO_05_GetReel = 2005, SO_05_GetReel,
/// <summary> /// <summary>
///料仓出库，，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点） /// 料仓出库，，压紧轴开始缓慢压紧
/// </summary> /// </summary>
SO_06_InoutBack = 2006, SO_06_StartCompress,
/// <summary> /// <summary>
/// 料仓出库,等待压紧信号确认 /// 料仓出库，，检测到料叉压紧确认信号，再次向下压紧指定的值
/// </summary> /// </summary>
SO_07_CheckComSig = 2007, SO_07_ComDownMove,
/// <summary> /// <summary>
/// 料仓出库，走到料架位置，旋转轴至P20，升降轴至P102, ///料仓出库，，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点）
/// </summary> /// </summary>
SO_08_ToShelfPosition = 2008, SO_08_InoutBack,
/// <summary> /// <summary>
/// 料仓出库，定位气缸退回（有压紧轴的不需要此步骤），，定位气缸退回(Y104-1/PCI5O1-84) (Y104-2/PCI5O1-91) (Y104-2/PCI5O1-96) 退回到位 /// 料仓出库,等待压紧信号确认
/// </summary> /// </summary>
SO_09_LocationDown = 2009, SO_09_CheckComSig,
/// <summary> /// <summary>
/// 等待门口无料盘 /// 料仓出库，走到料架位置，旋转轴至P20，升降轴至P102,
/// </summary> /// </summary>
SO_10_WaitNoTray = 2010, SO_10_ToShelfPosition,
/// <summary> /// <summary>
/// 料仓出库，叉子到料架，进出轴至P20 /// 料仓出库，叉子到料架，进出轴至P20
/// /// </summary> /// /// </summary>
SO_11_ToShelf = 2011, SO_11_ToShelf,
/// <summary> /// <summary>
/// 料仓出库，，把物品放下，压紧轴到P1，升降轴至P20 /// 料仓出库，，把物品放下，压紧轴到P1，升降轴至P20
/// </summary> /// </summary>
SO_12_PutReel = 2012, SO_12_PutReel,
/// <summary> /// <summary>
/// 料仓出库，，叉子从出料口返回，，进出轴到P1 /// 料仓出库，，叉子从出料口返回，，进出轴到P1
/// </summary> /// </summary>
SO_13_InoutBack = 2013, SO_13_InoutBack,
/// <summary> /// <summary>
/// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点），顶升气缸下降 /// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点），顶升气缸下降
/// </summary> /// </summary>
SO_14_GoBack = 2044, SO_14_GoBack,
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!