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Commit 810fa969 由 LN
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agv命令修改

1 个父辈 ccb39bb3
内嵌 并排
正在显示 10 个修改的文件 包含 83 行增加 和 96 行删除
dll/Client.dll
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source/ACPackingStore/FrmRFIPEdit.cs
...@@ -87,7 +87,7 @@ namespace OnlineStore.ACPackingStore ...@@ -87,7 +87,7 @@ namespace OnlineStore.ACPackingStore
{ {
if (StoreManager.Store.storeRunStatus <= StoreRunStatus.Wait) if (StoreManager.Store.storeRunStatus <= StoreRunStatus.Wait)
{ {
RFIDManager.Close(); // RFIDManager.Close();
} }
} }
} }
......
source/ACPackingStore/FrmStore.cs
...@@ -321,6 +321,8 @@ namespace OnlineStore.ACPackingStore ...@@ -321,6 +321,8 @@ namespace OnlineStore.ACPackingStore
{ {
停止所有料仓TToolStripMenuItem_Click(null, null); 停止所有料仓TToolStripMenuItem_Click(null, null);
} }
RFIDManager.Close();
} }
private void btnClearLog_Click(object sender, EventArgs e) private void btnClearLog_Click(object sender, EventArgs e)
{ {
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs
...@@ -680,21 +680,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -680,21 +680,20 @@ namespace OnlineStore.DeviceLibrary
ShowTimeLog("IOTimeOutProcess"); ShowTimeLog("IOTimeOutProcess");
//如果入口有料架需要入库 //如果入口有料架需要入库
if (StoreManager.Store.AutoShelfInstore&& if (StoreManager.Store.AutoShelfInstore &&
MoveInfo.MoveType.Equals(StoreMoveType.None) && MoveInfo.MoveType.Equals(StoreMoveType.None) &&
(IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH))) (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.HIGH)))
{ {
StartShelfInStore(); StartShelfInStore();
} }
//判断是否要更新状态为None //判断是否要更新状态为None
ClientAction action = AgvClient.GetAction(Config.AgvNodeName); if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
if (action.Equals(ClientAction.FinishEnter) || action.Equals(ClientAction.FinishLeave))
{ {
AgvClient.SetStatus(Config.AgvNodeName); AgvClient.NeedEnter(Config.AgvNodeName);
} }
else if(IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)&&IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW)) else
{ {
AgvClient.NeedEnter(Config.AgvNodeName); AgvClient.SetToNone(Config.AgvNodeName);
} }
} }
} }
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs
...@@ -282,13 +282,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -282,13 +282,8 @@ namespace OnlineStore.DeviceLibrary
{ {
//读取RFID //读取RFID
RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true); RFIDData data = RFIDManager.ReadRFID(Config.RFID_IP, true);
LogUtil.info(Name + "更新当前料架号【" + data.NumStr() + "】"); LogUtil.info(Name + "更新当前料架号【" + data.NumStr() + "】");
//TODO 判断料架是否正确 CurrShelfID = data.NumStr();
// if (data.RFType.Equals('A'))
{
CurrShelfID = data.NumStr();
AgvClient.SetStatus(Config.AgvNodeName,"", CurrShelfID,ClientAction.FinishEnter);
}
} }
private void StartMoveToBag() private void StartMoveToBag()
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
...@@ -45,7 +45,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -45,7 +45,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
// MoveInfo.ShelfPositionList = new List<string>(ShelfPosList); // MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
InOutStoreLog(moveName + MoveInfo.SLog + "调用AgvClient.MayEnter，agv已到达，打开入料口移门"); InOutStoreLog(moveName + MoveInfo.SLog + " agv已到达，打开入料口移门");
MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen); MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
DoorBean.StartOpen(MoveInfo); DoorBean.StartOpen(MoveInfo);
} }
...@@ -95,9 +95,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -95,9 +95,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_LineStop))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose); MoveInfo.NextMoveStep(StoreMoveStep.BI_06_DoorClose);
InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭 ,发送 FinishEnter"); InOutStoreLog(moveName + MoveInfo.SLog + "入料口移门关闭 ");
AgvClient.SetStatus(Config.AgvNodeName, "", "", ClientAction.FinishEnter, ClientLevel.High);
// CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
DoorBean.StartClose(MoveInfo); DoorBean.StartClose(MoveInfo);
if (!instoreShelf) if (!instoreShelf)
{ {
...@@ -118,7 +116,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -118,7 +116,8 @@ namespace OnlineStore.DeviceLibrary
{ {
LineStop(); LineStop();
MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp); MoveInfo.NextMoveStep(StoreMoveStep.BI_08_LocationUp);
InOutStoreLog(moveName + MoveInfo.SLog + "线体停止转动，定位装置上升，读取料架编号"); InOutStoreLog(moveName + MoveInfo.SLog + "线体停止转动，定位装置上升，读取料架编号，设置状态为None");
AgvClient.SetStatus(Config.AgvNodeName);
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up); // CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
UpdateShelfId(); UpdateShelfId();
if (!instoreShelf) if (!instoreShelf)
...@@ -167,22 +166,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -167,22 +166,23 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown); MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopDown);
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore)) if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{ {
InOutStoreLog("送出出库料架：顶升气缸下降，清空料架clearPutInRfid[" + CurrShelfID + "]"); InOutStoreLog("送出出库料架：顶升气缸下降,调用 NeedLeave[" + CurrShelfID + "]，清空料架clearPutInRfid[" + CurrShelfID + "]");
} }
else else
{ {
InOutStoreLog("送出空料架：顶升气缸下降，清空料架clearPutInRfid[" + CurrShelfID + "]"); InOutStoreLog("送出空料架：顶升气缸下降,调用 NeedLeave[" + CurrShelfID + "]，清空料架clearPutInRfid[" + CurrShelfID + "]");
} }
CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down); CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
StoreManager.clearPutInRfid(Name, CurrShelfID); StoreManager.clearPutInRfid(Name, CurrShelfID);
AgvClient.NeedLeave(Config.AgvNodeName, CurrShelfID);
} }
private void ShelfOutProcess() private void ShelfOutProcess()
{ {
string moveName = "送出空料架"; string moveName = "送出空料架";
bool instoreShelf = true; //bool instoreShelf = true;
if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore)) if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
{ {
instoreShelf = false; // instoreShelf = false;
moveName = "送出出库料架"; moveName = "送出出库料架";
} }
...@@ -193,50 +193,49 @@ namespace OnlineStore.DeviceLibrary ...@@ -193,50 +193,49 @@ namespace OnlineStore.DeviceLibrary
// CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down); // CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_03_DoorOpen); MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitArrive);
InOutStoreLog(moveName + MoveInfo.SLog + "：打开入料口移门");
DoorBean.StartOpen(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_ReadyEmpty);
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(180000));
InOutStoreLog(moveName + MoveInfo.SLog + "：调用AgvClient.ReadyEmpty，等待Agv到达 ,最多等待60000"); InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave["+CurrShelfID+"]，等待Agv到达 ,最多等待180000");
AgvClient.NeedLeave(Config.AgvNodeName, CurrShelfID); AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.NeedLeave, ClientLevel.Low);
//等待agv到达 //等待agv到达
MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive)); MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Arrive));
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_ReadyEmpty)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_LineBackRun);
//agv到达 //agv到达
if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive)) if (AgvClient.GetAction(Config.AgvNodeName).Equals(ClientAction.Arrive))
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
if (instoreShelf) InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达,打开入料口移门");
{ DoorBean.StartOpen(MoveInfo);
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达，调用AgvClient.SendRFID【" + CurrShelfID + "】,调用AgvClient.MayOut，线体开始反转");
//TODO AGV到达，发送料架信息，是否需要重新读取? //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave); //InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达，rfid【" + CurrShelfID + "】,调用AgvClient.MayOut，线体开始反转");
} ////TODO AGV到达，发送料架信息，是否需要重新读取?
else //AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave, ClientLevel.High);
{ //LineBackRun();
InOutStoreLog(moveName + MoveInfo.SLog + "：agv到达， 调用AgvClient.MayOut，线体开始反转");
}
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID,ClientAction.MayLeave,ClientLevel.High);
LineBackRun();
} }
else else
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_LineBackRun);
//如果agv未到达，直接结束 //如果agv未到达，直接结束
MoveEndToRuningStatus(); MoveEndToRuningStatus();
EmprtShelfList = new ConcurrentQueue<string>(); EmprtShelfList = new ConcurrentQueue<string>();
InOutStoreLog(moveName + MoveInfo.SLog + "：等待agv超时，直接结束"); InOutStoreLog(moveName + MoveInfo.SLog + "：等待agv超时，直接结束");
} }
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_DoorOpen))
{
MoveInfo.NextMoveStep(StoreMoveStep.BS_05_LineBackRun);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InOutStoreLog(moveName + MoveInfo.SLog + "：移门已打开，调用MayLeave[" + CurrShelfID + "] ，线体开始反转");
//TODO AGV到达，发送料架信息，是否需要重新读取?
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave, ClientLevel.High);
LineBackRun();
}
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_LineBackRun)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_LineBackRun))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitInLineSingle); MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitInLineSingle);
...@@ -247,9 +246,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -247,9 +246,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitInLineSingle)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitInLineSingle))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_07_WaitTime); MoveInfo.NextMoveStep(StoreMoveStep.BS_07_WaitTime);
InOutStoreLog(moveName + MoveInfo.SLog + "：再转动3000时间，同时等待收到FinishOut，等待入料口无信号"); InOutStoreLog(moveName + MoveInfo.SLog + "：再转动3000时间， 等待入料口无信号");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
//等到agv离开 //等到agv离开
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.FinishOut)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(AGVAction.FinishOut));
...@@ -257,7 +255,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -257,7 +255,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitTime)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_WaitTime))
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitAGVLeave); MoveInfo.NextMoveStep(StoreMoveStep.BS_08_WaitAGVLeave);
InOutStoreLog(moveName + MoveInfo.SLog + "： ，同时等待 AGV离开,最多等待5000 "); InOutStoreLog(moveName + MoveInfo.SLog + "：同时等待 AGV离开,最多等待5000 ");
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
//MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction(action.FinishOut));
...@@ -267,10 +265,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -267,10 +265,10 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor); MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor);
InOutStoreLog(moveName + MoveInfo.SLog + "：停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000"); InOutStoreLog(moveName + MoveInfo.SLog + "：停止线体转动，关闭仓门 ，发送FinishLeave ,等待最少5000");
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.FinishLeave, ClientLevel.High);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
LineStop(); LineStop();
DoorBean.StartClose(MoveInfo); DoorBean.StartClose(MoveInfo);
AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.FinishLeave, ClientLevel.High);
} }
else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor)) else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor))
{ {
......
source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs
...@@ -205,7 +205,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -205,7 +205,7 @@ namespace OnlineStore.DeviceLibrary
equip.StopRun(); equip.StopRun();
} }
storeRunStatus = StoreRunStatus.Wait; storeRunStatus = StoreRunStatus.Wait;
RFIDManager.Close(); // RFIDManager.Close();
TimeSpan span = DateTime.Now - StartTime; TimeSpan span = DateTime.Now - StartTime;
LogUtil.info( Name + ",停止运行，关闭rfid，总运行时间：" + span.ToString()); LogUtil.info( Name + ",停止运行，关闭rfid，总运行时间：" + span.ToString());
} }
......
source/DeviceLibrary/agvClient/AgvClient.cs
...@@ -111,29 +111,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -111,29 +111,13 @@ namespace OnlineStore.DeviceLibrary
public static bool NeedLeave(string id, string shelfId = "") public static bool NeedLeave(string id, string shelfId = "")
{ {
ClientAction currA = GetAction(id); ClientAction currA = GetAction(id);
if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter)) if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter) || currA.Equals(ClientAction.FinishEnter)||currA.Equals(ClientAction.FinishLeave))
{ {
SetStatus(id, shelfId, shelfId, ClientAction.NeedLeave); SetStatus(id, shelfId, shelfId, ClientAction.NeedLeave);
return true; return true;
} }
return false; return false;
} }
//internal static void MayEnter(string NodeName, string shelfId = "")
//{
// SetStatus(NodeName, shelfId, shelfId, ClientAction.MayEnter);
// //agvClient.MayEnter(NodeName);
//}
//internal static void FinishEnter(string NodeName, string shelfId = "")
//{
// SetStatus(NodeName, shelfId, shelfId, ClientAction.FinishEnter);
// // agvClient.FinishEnter(NodeName);
//}
//internal static void MayLeave(string NodeName, string shelfId = "")
//{
// SetStatus(NodeName, shelfId, shelfId, ClientAction.MayLeave);
// // agvClient.MayLeave(NodeName);
//}
private static void AgvClient_Log(string s) private static void AgvClient_Log(string s)
{ {
try try
......
source/DeviceLibrary/device/RFID/RFIDManager.cs
...@@ -12,12 +12,19 @@ using System.Windows.Forms; ...@@ -12,12 +12,19 @@ using System.Windows.Forms;
namespace OnlineStore.DeviceLibrary namespace OnlineStore.DeviceLibrary
{ {
public class RFIDManager public class RFIDManager
{ {
private static bool IsOpen = false;
public static void Open(string[] iparray) public static void Open(string[] iparray)
{ {
if (IsOpen)
{
LogUtil.info("RFIDManager.Open , IsOpen = true , return ");
return;
}
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
LogUtil.info( "RFIDManager.Open"); LogUtil.info("RFIDManager.Open , set IsOpen = true");
IsOpen = true;
try try
{ {
RFIDAutoReader.Open(null, iparray); RFIDAutoReader.Open(null, iparray);
...@@ -66,7 +73,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -66,7 +73,8 @@ namespace OnlineStore.DeviceLibrary
{ {
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
LogUtil.info("RFIDManager.Close"); IsOpen = false;
LogUtil.info("RFIDManager.Close ,set IsOpen= false");
try try
{ {
RFIDAutoReader.CloseAll(); RFIDAutoReader.CloseAll();
......
source/DeviceLibrary/store/StoreStep.cs
...@@ -144,7 +144,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -144,7 +144,7 @@ namespace OnlineStore.DeviceLibrary
///BOX复位： 旋转轴返回P1 ///BOX复位： 旋转轴返回P1
/// </summary> /// </summary>
BOX_H06_MiddleAxisToP1 = 016, BOX_H06_MiddleAxisToP1 = 016,
/// <summary> /// <summary>
/// BOX回待机点：叉子走到P1 /// BOX回待机点：叉子走到P1
/// </summary> /// </summary>
...@@ -161,12 +161,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -161,12 +161,12 @@ namespace OnlineStore.DeviceLibrary
#region 料架进入料仓步骤 1000开始 #region 料架进入料仓步骤 1000开始
/// <summary> /// <summary>
/// 通知agv准备带料架agv /// 通知agv准备带料架agv
/// </summary> /// </summary>
BI_01_ReadyShelf=1001, BI_01_ReadyShelf = 1001,
/// <summary> /// <summary>
/// 料架入库：入料口移门打开 /// 料架入库：入料口移门打开
/// </summary> /// </summary>
...@@ -179,7 +179,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -179,7 +179,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 等待取料位检测到信号 /// 等待取料位检测到信号
/// </summary> /// </summary>
BI_04_WaitTakeSingle=1004, BI_04_WaitTakeSingle = 1004,
/// <summary> /// <summary>
/// 料架入库：取料位检测到信号，停止线体正转 /// 料架入库：取料位检测到信号，停止线体正转
/// </summary> /// </summary>
...@@ -191,7 +191,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -191,7 +191,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 线体再正转1秒 /// 线体再正转1秒
/// </summary> /// </summary>
BI_07_LineRun=1007, BI_07_LineRun = 1007,
/// <summary> /// <summary>
/// 料架入库：定位装置上升 /// 料架入库：定位装置上升
/// </summary> /// </summary>
...@@ -272,10 +272,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,10 +272,10 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
SO_14_GoBack = 2044, SO_14_GoBack = 2044,
#endregion #endregion
#region 料架入库步骤，3000开始 #region 料架入库步骤，3000开始
/// <summary> /// <summary>
/// 料架入库：开始循环从第一个空位逐个取料盘，扫码入库 /// 料架入库：开始循环从第一个空位逐个取料盘，扫码入库
...@@ -359,11 +359,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -359,11 +359,11 @@ namespace OnlineStore.DeviceLibrary
/// 料架取料: 获取库位号完成，设置位置参数， 准备入库 /// 料架取料: 获取库位号完成，设置位置参数， 准备入库
/// </summary> /// </summary>
BI_30_SetInstoreParam = 3030, BI_30_SetInstoreParam = 3030,
/// <summary> /// <summary>
/// 入库。。移动到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点） /// 入库。。移动到库位点，旋转轴至P2（ 库位点）轴2(上下） 至P3(库位入库前点）
/// </summary> /// </summary>
BI_51_MoveToBag = 3051, BI_51_MoveToBag = 3051,
/// <summary> /// <summary>
/// 入库。。叉子进入库位中，进出轴到库位P3 /// 入库。。叉子进入库位中，进出轴到库位P3
/// </summary> /// </summary>
...@@ -384,7 +384,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -384,7 +384,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 送出料盘：扫码或获取库位失败，升降轴移动到NG料门口上端，旋转轴移动到NG料门口 /// 送出料盘：扫码或获取库位失败，升降轴移动到NG料门口上端，旋转轴移动到NG料门口
/// </summary> /// </summary>
BI_71_ToNGDoor=3071, BI_71_ToNGDoor = 3071,
/// <summary> /// <summary>
/// 送出料盘：NG料口升降门上升 /// 送出料盘：NG料口升降门上升
/// </summary> /// </summary>
...@@ -396,7 +396,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -396,7 +396,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 送出料盘：升降轴缓慢下降，放下料盘 /// 送出料盘：升降轴缓慢下降，放下料盘
/// </summary> /// </summary>
BI_74_UpdownDown= 3074, BI_74_UpdownDown = 3074,
/// <summary> /// <summary>
/// 送出料盘：叉子后退到P1 /// 送出料盘：叉子后退到P1
/// </summary> /// </summary>
...@@ -408,7 +408,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -408,7 +408,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// NG流水线转动指定的时间3000 /// NG流水线转动指定的时间3000
/// </summary> /// </summary>
BI_77_NGLineRun=3078, BI_77_NGLineRun = 3078,
#endregion #endregion
#region 把料架送出步骤 4000开始 #region 把料架送出步骤 4000开始
...@@ -416,23 +416,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -416,23 +416,24 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 送出空料架：顶升气缸下降 /// 送出空料架：顶升气缸下降
/// </summary> /// </summary>
BS_01_TopDown=4001, BS_01_TopDown = 4001,
/// <summary> /// <summary>
/// 送出空料架：定位气缸下降 /// 送出空料架：定位气缸下降
/// </summary> /// </summary>
BS_02_LocatinDown = 4002, BS_02_LocatinDown = 4002,
/// <summary> /// <summary>
/// 送出空料架：打开仓门 /// 通知AGV准备空车
/// </summary> /// </summary>
BS_03_DoorOpen = 4003, BS_03_WaitArrive = 4003,
/// <summary> /// <summary>
/// 通知AGV准备空车 /// 送出空料架：打开仓门
/// </summary> /// </summary>
BS_04_ReadyEmpty=4004, BS_04_DoorOpen = 4004,
/// <summary> /// <summary>
/// 送出空料架：线体反转 /// 送出空料架：线体反转
/// </summary> /// </summary>
BS_05_LineBackRun= 4005, BS_05_LineBackRun = 4005,
/// <summary> /// <summary>
/// 送出空料架：等待取料工位无信号，入料口有信号 /// 送出空料架：等待取料工位无信号，入料口有信号
/// </summary> /// </summary>
......
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