Skip to content

孙克 / RC1250-AssemblyLine

转到一个项目
切换导航栏
切换导航栏固定状态
Commit 1db45a77 由 LN
选项

模块名称修改。上料提升轴加了P4速度配置：料盘拿走后提升轴下降速度

1 个父辈 90a717bb
内嵌 并排
正在显示 10 个修改的文件 包含 54 行增加 和 28 行删除
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
......@@ -20,6 +20,7 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,3000,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,1500,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,500,,,,,
PRO,0,提升上料轴P4速度/料盘拿走后提升轴下降速度,BatchAxis_P4Speed,1000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,11000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,2,COM1,0,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
......@@ -20,6 +20,7 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,3000,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,1500,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,500,,,,
PRO,0,提升上料轴P4速度/料盘拿走后提升轴下降速度,BatchAxis_P4Speed,1000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,11000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,4,COM2,0,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
......@@ -20,6 +20,7 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,3000,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,1500,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,500,,,,,
PRO,0,提升上料轴P4速度/料盘拿走后提升轴下降速度,BatchAxis_P4Speed,1000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,11000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,6,COM4,0,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
......@@ -20,6 +20,7 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,4000,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,4000,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,1000,,,,,
PRO,0,提升上料轴P4速度/料盘拿走后提升轴下降速度,BatchAxis_P4Speed,2000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,11000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,8,COM5,0,,,
......
source/DeviceLibrary/assemblyLine/DischargeLine.cs
......@@ -37,7 +37,7 @@ namespace OnlineStore.DeviceLibrary
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
baseConfig = config;
Name = (" " + "_皮带线_" + (DeviceID.Equals(301) ? "123" : "456") + " ").ToUpper();
Name = (" " + "皮带线_" + (DeviceID.Equals(301) ? "123" : "456") + " ").ToUpper();
Init();
UseAxis = false;
int id = DeviceID % 100;
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -28,7 +28,7 @@ namespace OnlineStore.DeviceLibrary
baseConfig = config;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
Name = (" " + "_入料_" + DeviceID % 100 + " ").ToUpper();
Name = (" " + "入料_" + DeviceID % 100 + " ").ToUpper();
Init();
UseAxis = true;
Config.SetAxisParam();
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -923,6 +923,12 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(LineMoveStep.FI_25_WaitTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
if ((!LastPosParam.PlateH.Equals(LastHeight)) || (!LastPosParam.PlateW.Equals(LastWidth)))
{
InLog(" " + MoveInfo.SLog + " 原有料盘尺寸：【" + LastWidth + "X" + LastHeight + "】更改为服务器返回尺寸【" + LastPosParam.PlateW + "X" + LastPosParam.PlateH + "】 ");
LastWidth = LastPosParam.PlateW;
LastHeight = LastPosParam.PlateH;
}
InLog(" " + MoveInfo.SLog + " 开始拦截空托盘 " + LastPosParam.ToStr() + "");
ClearTimeoutAlarm("获取库位号超时");
......@@ -1216,8 +1222,8 @@ namespace OnlineStore.DeviceLibrary
{
targetPosition = maxtPosition;
}
InLog("料盘移栽" + MoveInfo.SLog + "：提升轴下降到料盘不溢出(" + (currPositon - Config.Height_ChangeValue * 30) + ")：" + targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
InLog("料盘移栽" + MoveInfo.SLog + "：提升轴下降到料盘不溢出(" + (currPositon - Config.Height_ChangeValue * 30) + ")：" + targetPosition+",速度："+Config.BatchAxis_P4Speed);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P4Speed);
}
private void YuScanCode()
......
source/DeviceLibrary/assemblyLine/ProvidingEquip.cs
......@@ -25,7 +25,7 @@ namespace OnlineStore.DeviceLibrary
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
baseConfig = config;
Name = (" " + "_出料_" + DeviceID % 100 + " ").ToUpper();
Name = (" " + "出料_" + DeviceID % 100 + " ").ToUpper();
Init();
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name.Trim() + "-SMove]");
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -531,6 +531,32 @@ namespace OnlineStore.DeviceLibrary
OutLog(" 顶升气缸上升 ");
}
}
private void PO_03_CylinderOpen()
{
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP))
{
int lineId = DeviceID % 100;
MoveInfo.NextMoveStep(LineMoveStep.PO_03_CylinderOpen);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
if (MoveInfo.MoveParam.InStoreNg)
{
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 夹料气缸夹紧，入料NG料，不更新料盘位置");
}
else
{
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 夹料气缸夹紧，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【INBELT】【" + lineId + "】");
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INBELT, lineId.ToString());
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.PO_02_TopUP);
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 顶升气缸上升");
CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
......@@ -548,26 +574,11 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_01_CylinderDown))
{
// MoveInfo.NextMoveStep(LineMoveStep.PO_02_DownWait);
// OutLog("出料 " + MoveInfo.SLog + " : 等待200后夹紧");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
//}
////只有当BOX可以进行出出料时，移栽物品，防止卡住
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_02_DownWait))
//{
int lineId = DeviceID % 100;
MoveInfo.NextMoveStep(LineMoveStep.PO_03_CylinderOpen);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
if (MoveInfo.MoveParam.InStoreNg)
{
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 夹料气缸夹紧，入料NG料，不更新料盘位置");
}
else
{
LogInfo("出料 【" + posId + "】" + MoveInfo.SLog + " : 夹料气缸夹紧，更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【INBELT】【" + lineId + "】");
//更新料盘位置
SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INBELT, lineId.ToString());
}
PO_03_CylinderOpen();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_02_TopUP))
{
PO_03_CylinderOpen();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_03_CylinderOpen))
{
......
source/LoadCVSLibrary/storeConfig/config/FeedingEquip_Config.cs
......@@ -129,14 +129,19 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("BatchAxis_P3Speed", true)]
public int BatchAxis_P3Speed { get; set; }
/// <summary>
///PRO,0,提升上料轴P4速度/料盘拿走后提升轴下降速度,BatchAxis_P4Speed,2000,,,,,
/// </summary>
[ConfigProAttribute("BatchAxis_P4Speed", true)]
public int BatchAxis_P4Speed { get; set; }
/// <summary>
///PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,5000,,,,,
/// </summary>
[ConfigProAttribute("Height_ChangeValue", true)]
public int Height_ChangeValue { get; set; }
/// <summary>
/// AXIS 0 移栽上下轴 UpDown_Axis 2
......
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!