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Commit a49e5680 由 LN
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压紧轴位置根据高度获取。

1 个父辈 c29089ae
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正在显示 8 个修改的文件 包含 130 行增加 和 66 行删除
source/ACPackingStore/FrmAxisDebug.Designer.cs
......@@ -60,6 +60,9 @@
this.btnUCopy = new System.Windows.Forms.Button();
this.btnICopy = new System.Windows.Forms.Button();
this.btnCCopy = new System.Windows.Forms.Button();
this.btnCom = new System.Windows.Forms.Button();
this.btnComStop = new System.Windows.Forms.Button();
this.btnUpdate = new System.Windows.Forms.Button();
((System.ComponentModel.ISupportInitialize)(this.trackBar1)).BeginInit();
this.SuspendLayout();
//
......@@ -92,7 +95,7 @@
//
// btnMiddleMove
//
this.btnMiddleMove.BackColor = System.Drawing.SystemColors.Control;
this.btnMiddleMove.BackColor = System.Drawing.Color.White;
this.btnMiddleMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnMiddleMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnMiddleMove.Location = new System.Drawing.Point(246, 65);
......@@ -136,7 +139,7 @@
//
// btnUpDownMove
//
this.btnUpDownMove.BackColor = System.Drawing.SystemColors.Control;
this.btnUpDownMove.BackColor = System.Drawing.Color.White;
this.btnUpDownMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnUpDownMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnUpDownMove.Location = new System.Drawing.Point(246, 122);
......@@ -150,7 +153,7 @@
//
// btnInOutMove
//
this.btnInOutMove.BackColor = System.Drawing.SystemColors.Control;
this.btnInOutMove.BackColor = System.Drawing.Color.White;
this.btnInOutMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnInOutMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnInOutMove.Location = new System.Drawing.Point(246, 180);
......@@ -164,7 +167,7 @@
//
// btnInOutMovej
//
this.btnInOutMovej.BackColor = System.Drawing.SystemColors.Control;
this.btnInOutMovej.BackColor = System.Drawing.Color.White;
this.btnInOutMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnInOutMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnInOutMovej.Location = new System.Drawing.Point(395, 180);
......@@ -178,7 +181,7 @@
//
// btnUpDownMovej
//
this.btnUpDownMovej.BackColor = System.Drawing.SystemColors.Control;
this.btnUpDownMovej.BackColor = System.Drawing.Color.White;
this.btnUpDownMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnUpDownMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnUpDownMovej.Location = new System.Drawing.Point(395, 122);
......@@ -192,7 +195,7 @@
//
// btnMiddleMovej
//
this.btnMiddleMovej.BackColor = System.Drawing.SystemColors.Control;
this.btnMiddleMovej.BackColor = System.Drawing.Color.White;
this.btnMiddleMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnMiddleMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnMiddleMovej.Location = new System.Drawing.Point(395, 65);
......@@ -207,9 +210,9 @@
// button1
//
this.button1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.button1.Location = new System.Drawing.Point(569, 347);
this.button1.Location = new System.Drawing.Point(590, 430);
this.button1.Name = "button1";
this.button1.Size = new System.Drawing.Size(126, 37);
this.button1.Size = new System.Drawing.Size(140, 45);
this.button1.TabIndex = 16;
this.button1.Text = "关闭";
this.button1.UseVisualStyleBackColor = true;
......@@ -280,7 +283,7 @@
//
// btnComMovej
//
this.btnComMovej.BackColor = System.Drawing.SystemColors.Control;
this.btnComMovej.BackColor = System.Drawing.Color.White;
this.btnComMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnComMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnComMovej.Location = new System.Drawing.Point(395, 240);
......@@ -294,7 +297,7 @@
//
// btnComMove
//
this.btnComMove.BackColor = System.Drawing.SystemColors.Control;
this.btnComMove.BackColor = System.Drawing.Color.White;
this.btnComMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnComMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnComMove.Location = new System.Drawing.Point(246, 240);
......@@ -389,11 +392,53 @@
this.btnCCopy.UseVisualStyleBackColor = true;
this.btnCCopy.Click += new System.EventHandler(this.btnCCopy_Click);
//
// btnCom
//
this.btnCom.BackColor = System.Drawing.Color.White;
this.btnCom.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnCom.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnCom.Location = new System.Drawing.Point(97, 430);
this.btnCom.Name = "btnCom";
this.btnCom.Size = new System.Drawing.Size(289, 45);
this.btnCom.TabIndex = 35;
this.btnCom.Text = "压紧轴向下压紧到信号亮";
this.btnCom.UseVisualStyleBackColor = false;
this.btnCom.Click += new System.EventHandler(this.btnCom_Click);
//
// btnComStop
//
this.btnComStop.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
this.btnComStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnComStop.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnComStop.Location = new System.Drawing.Point(410, 430);
this.btnComStop.Name = "btnComStop";
this.btnComStop.Size = new System.Drawing.Size(140, 45);
this.btnComStop.TabIndex = 36;
this.btnComStop.Text = "压紧轴停止运动";
this.btnComStop.UseVisualStyleBackColor = false;
this.btnComStop.Click += new System.EventHandler(this.btnComStop_Click);
//
// btnUpdate
//
this.btnUpdate.BackColor = System.Drawing.Color.White;
this.btnUpdate.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnUpdate.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnUpdate.Location = new System.Drawing.Point(590, 328);
this.btnUpdate.Name = "btnUpdate";
this.btnUpdate.Size = new System.Drawing.Size(140, 45);
this.btnUpdate.TabIndex = 37;
this.btnUpdate.Text = "更新位置";
this.btnUpdate.UseVisualStyleBackColor = false;
this.btnUpdate.Click += new System.EventHandler(this.btnUpdate_Click);
//
// FrmAxisDebug
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(805, 442);
this.ClientSize = new System.Drawing.Size(805, 519);
this.Controls.Add(this.btnUpdate);
this.Controls.Add(this.btnComStop);
this.Controls.Add(this.btnCom);
this.Controls.Add(this.btnCCopy);
this.Controls.Add(this.btnICopy);
this.Controls.Add(this.btnUCopy);
......@@ -468,5 +513,8 @@
private System.Windows.Forms.Button btnUCopy;
private System.Windows.Forms.Button btnICopy;
private System.Windows.Forms.Button btnCCopy;
private System.Windows.Forms.Button btnCom;
private System.Windows.Forms.Button btnComStop;
private System.Windows.Forms.Button btnUpdate;
}
}
\ No newline at end of file
source/ACPackingStore/FrmAxisDebug.cs
......@@ -35,7 +35,7 @@ namespace OnlineStore.ACPackingStore
comp = boxBean.Config.Comp_Axis;
inout = boxBean.Config.InOut_Axis;
this. boxBean = boxBean;
this.boxBean = boxBean;
InitializeComponent();
this.Text = boxBean.Name + "_轴点动调试";
......@@ -375,5 +375,27 @@ namespace OnlineStore.ACPackingStore
{
Clipboard.SetDataObject(txtComPosition.Text, true);
}
private void btnComStop_Click(object sender, EventArgs e)
{
LogUtil.info(boxBean.Name + "点击：" + btnComStop.Text);
ACServerManager.SuddenStop(comp.DeviceName, comp.GetAxisValue());
UpdateCompPosition();
}
private void btnCom_Click(object sender, EventArgs e)
{
LogUtil.info(boxBean.Name + "点击：" + btnCom.Text);
ACServerManager.AbsMove(comp.DeviceName, comp.GetAxisValue(), boxBean.Config.CompAxis_P4_Position, boxBean.Config.CompAxis_P4_Speed);
boxBean.ComAxisStartCheck(IO_Type.Compress_Check,IO_VALUE.HIGH);
}
private void btnUpdate_Click(object sender, EventArgs e)
{
UpdateMiddlePosition();
UpdateInOutPosition();
UpdateUpdownPosition();
UpdateCompPosition();
}
}
}
source/ACPackingStore/FrmBox.Designer.cs
......@@ -554,9 +554,9 @@
this.groupInout.Controls.Add(this.btnUpDownP3);
this.groupInout.Controls.Add(this.btnUpDownP4);
this.groupInout.Enabled = false;
this.groupInout.Location = new System.Drawing.Point(3, 164);
this.groupInout.Location = new System.Drawing.Point(3, 159);
this.groupInout.Name = "groupInout";
this.groupInout.Size = new System.Drawing.Size(1304, 362);
this.groupInout.Size = new System.Drawing.Size(1304, 375);
this.groupInout.TabIndex = 100;
this.groupInout.TabStop = false;
this.groupInout.Text = "料仓操作";
......
source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs
......@@ -153,13 +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);
InOutStoreLog("出库 " + MoveInfo.SLog + "： 拿起物品，升降轴至P6["+ MoveInfo.MoveParam.MoveP.UpDown_P6 + "]，压紧轴到压紧点P2 ：" + MoveInfo.MoveParam.MoveP.ComPress_P2);
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();
//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))
......@@ -189,16 +189,15 @@ 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;
SO_06_StartCompress();
MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutBack);
InOutStoreLog("出库 " + MoveInfo.SLog + "：进出轴返回P1["+ 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
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
lastPosId = posId;
lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
storeStatus = StoreStatus.OutStoreBoxEnd;
//SO_06_StartCompress();
}
}
}
......@@ -648,8 +647,8 @@ namespace OnlineStore.DeviceLibrary
foreach (string posId in posIdArray)
{
index++;
string plateW = plateWArray[index];
string plateH = plateHArray[index];
int plateW = Convert.ToInt32( plateWArray[index]);
int plateH =Convert.ToInt32( plateHArray[index]);
string shelfPosID = StoreManager.GetShelfIDByLoc(rfidLoc, ShelfPosList);
InOutParam inoutParam = new InOutParam(barcode, posId, shelfPosID, plateW, plateH, urgentReel, cutReel, smallReel, rfid, rfidLoc, taskCount, realRfid);
......@@ -756,8 +755,8 @@ namespace OnlineStore.DeviceLibrary
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId];
string plateW = data[ParamDefine.plateW];
string plateH = data[ParamDefine.plateH];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
......@@ -767,9 +766,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(Name + "收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
return false;
}
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数 ， 开始入库！");
int p3 = ComTargetPosition + Config.GetCom_P3_P2(plateW);
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, ComTargetPosition, p3);
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置["+p2+"]["+p3+"] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
return true;
}
}
......@@ -901,8 +901,8 @@ namespace OnlineStore.DeviceLibrary
//服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
//postId格式BoxId#位置
string posId = data[ParamDefine.posId];
string plateW = data[ParamDefine.plateW];
string plateH = data[ParamDefine.plateH];
int plateW = FormUtil.GetIntData(data, ParamDefine.plateW);
int plateH = FormUtil.GetIntData(data, ParamDefine.plateH);
int storeId = InOutParam.GetPosStoreId(posId);
//根据发送的posId获取位置列表
ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
......@@ -913,9 +913,10 @@ namespace OnlineStore.DeviceLibrary
codeResultType = CodeResultType.NotFoundPos;
return false;
}
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数 ， 开始入库！");
int p3 = ComTargetPosition + Config.GetCom_P3_P2(plateW);
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, ComTargetPosition, p3);
int p2 = Config.GetComP2(plateH).TargetComP2(); ;
int p3 = p2 + Config.GetCom_P3_P2(plateW);
LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数,压紧位置[" + p2 + "][" + p3 + "] ， 开始入库！");
MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, p2, p3);
codeResultType = CodeResultType.Success;
return true;
}
......
source/DeviceLibrary/ACPackingStore/StoreManager.cs
......@@ -201,13 +201,13 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(box.Name + "GetPositon[" + param.ShelfPosID + "]=null,没有库位不能执行出入库");
return false;
}
if (String.IsNullOrEmpty(param.PlateH))
if (param.PlateH<=0)
{
param.PlateH = position.BagHigh.ToString();
param.PlateH = position.BagHigh;
}
if (string.IsNullOrEmpty(param.PlateW))
if (param.PlateW<=0)
{
param.PlateW = position.BagWidth.ToString();
param.PlateW = position.BagWidth;
}
if (sp != null)
{
......@@ -232,7 +232,7 @@ namespace OnlineStore.DeviceLibrary
p.UpDown_P11 = box.Config.UpDownAxis_P11;
p.UpDown_P12 = box.Config.UpDownAxis_P12;
p.ComPress_P2 = box.Config.GetComP2(position.BagHigh).TargetComP2();
p.ComPress_P2 = box.Config.GetComP2(param.PlateH).TargetComP2();
p.ComPress_P3 = p.ComPress_P2 + box.Config.GetCom_P3_P2(param.PlateW);
p.InOut_P3 = position.InoutAxis_P3;
p.Middle_P2 = position.MiddleAxis_P2;
......@@ -657,13 +657,6 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(msg);
return ResultType.Error;
}
//else if ((!string.IsNullOrEmpty(serverResult.msg)))// || serverResult.result.Equals(0).Equals(false)
//{
// msg = deviceName + " 【" + barcode + "】结果：" + serverResult.msg;
// LogUtil.info(msg);
// // return false;
//}
else if (serverResult.result.Equals(-1))
{
IsLockInfoMatch = false;
......
source/DeviceLibrary/store/InOutParam.cs
......@@ -15,7 +15,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public class InOutParam
{
public InOutParam(string wareNo="", string posId="", string ShelfPosID="", string platew = "", string plateh = "", bool urgentReel = false, bool cutReel = false, bool smallReel = false, string rfid = "", int rfidLoc = 0,int taskCount=0,string realRfid="")
public InOutParam(string wareNo="", string posId="", string ShelfPosID="", int platew = 0, int plateh =0, bool urgentReel = false, bool cutReel = false, bool smallReel = false, string rfid = "", int rfidLoc = 0,int taskCount=0,string realRfid="")
{
this.ShelfPosID = ShelfPosID;
WareCode = wareNo;
......@@ -69,11 +69,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 料盘高度
/// </summary>
public string PlateH { get; set; }
public int PlateH = 0;
/// <summary>
/// 料盘宽度
/// </summary>
public string PlateW { get; set; }
public int PlateW = 0;
/// <summary>
/// urgentReel: true 表示紧急料,需要出到料串上
......@@ -169,7 +169,7 @@ namespace OnlineStore.DeviceLibrary
}
internal void UpdatePosId(string message, string posId, string plateW, string plateH,int comP2,int comP3)
internal void UpdatePosId(string message, string posId, int plateW, int plateH,int comP2,int comP3)
{
this.WareCode = message;
this.PosID = posId;
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -234,14 +234,14 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SO_05_GetReel,
/// <summary>
/// 料仓出库，，压紧轴开始缓慢压紧
/// </summary>
SO_06_StartCompress,
/// <summary>
/// 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>
SO_07_ComDownMove,
///// <summary>
///// 料仓出库，，压紧轴开始缓慢压紧
///// </summary>
//SO_06_StartCompress,
///// <summary>
///// 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>
//SO_07_ComDownMove,
/// <summary>
......
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