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Commit 05fd6ac8 由 LN
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上料机构bug修改

1 个父辈 7bd8fb8f
内嵌 并排
正在显示 1 个修改的文件 包含 30 行增加 和 7 行删除
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -747,8 +747,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -747,8 +747,9 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_09_TrayLocation_Before)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_09_TrayLocation_Before))
{ {
LoopCount = 0;
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove); MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
InLog("料架入库" + MoveInfo.SLog + "：上料轴开始慢速上升到P3点，等待检测到料盘"); InLog("料架入库" + MoveInfo.SLog + "：上料轴开始慢速上升到P3点，等待检测到料盘，设置LoopCount = 0");
MoveInfo.ShelfNoTray = false; MoveInfo.ShelfNoTray = false;
BatchAxisToP3(); BatchAxisToP3();
} }
...@@ -1067,7 +1068,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -1067,7 +1068,8 @@ namespace OnlineStore.DeviceLibrary
//如果批量轴还在运动中，停止运动 //如果批量轴还在运动中，停止运动
ACServerManager.SuddenStop(BatchAxis.Config); ACServerManager.SuddenStop(BatchAxis.Config);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位 "); LoopCount = 0;
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位，设置LoopCount = 0 ");
CheckHasTray(); CheckHasTray();
} }
else else
...@@ -1430,6 +1432,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1430,6 +1432,7 @@ namespace OnlineStore.DeviceLibrary
FI_12_MoveCylinder_Give(); FI_12_MoveCylinder_Give();
} }
} }
private int LoopCount = 0;
private void CheckHasTray() private void CheckHasTray()
{ {
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) && MoveInfo.ShelfNoTray.Equals(false)) if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) && MoveInfo.ShelfNoTray.Equals(false))
...@@ -1445,18 +1448,38 @@ namespace OnlineStore.DeviceLibrary ...@@ -1445,18 +1448,38 @@ namespace OnlineStore.DeviceLibrary
int chaz = Math.Abs(currP - Config.BatchAxisP3); int chaz = Math.Abs(currP - Config.BatchAxisP3);
if (chaz > BatchAxis.Config.CanErrorCountMax) if (chaz > BatchAxis.Config.CanErrorCountMax)
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove); if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_10_AxisUpMove))
InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘"); {
MoveInfo.ShelfNoTray = false; //如果是循环运动，记录次数，超过次数时报警
BatchAxisToP3(false ); LoopCount++;
}
else
{
LoopCount = 0;
}
if (LoopCount < 10)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘，LoopCount="+LoopCount);
MoveInfo.ShelfNoTray = false;
BatchAxisToP3(false);
}
else
{
WarnMsg = Name + "提升轴运动报警。上升到P3点已重复" + LoopCount + "次，仍未检测到料盘信号";
LogUtil.error(WarnMsg);
Alarm(LineAlarmType.AxisMoveError);
}
return; return;
} }
} }
//无料盘 //无料盘
MoveInfo.ShelfNoTray = true; MoveInfo.ShelfNoTray = true;
LoopCount = 0;
MoveInfo.NextMoveStep(LineMoveStep.FI_51_BatchAxisToP2); MoveInfo.NextMoveStep(LineMoveStep.FI_51_BatchAxisToP2);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
InLog("料盘移栽" + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点"); InLog("料盘移栽" + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点，设置 LoopCount = 0");
BatchAxis.SuddenStop(); BatchAxis.SuddenStop();
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
} }
......
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