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Commit 22a5f8c7 由 LN
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还原托盘逻辑优化：自动结束托盘检测处理。

1 个父辈 b964cbbc
内嵌 并排
正在显示 4 个修改的文件 包含 62 行增加 和 62 行删除
dll/Asa.AgvClient.dll deleted 100644 → 0
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source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -207,8 +207,8 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡1上升，等待FL_TrayCheck=1 ,最多等待30秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
SecondMoveInfo.OneWaitCanEndStep = true;
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//SecondMoveInfo.OneWaitCanEndStep = true;
}
else
{
......@@ -217,8 +217,8 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
LogUtil.debug(Name + "托盘阻挡：" + SecondMoveInfo.SLog + "阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待SW_TrayCheck=1），最多等待30秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
SecondMoveInfo.OneWaitCanEndStep = true;
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//SecondMoveInfo.OneWaitCanEndStep = true;
}
}
......@@ -237,24 +237,24 @@ namespace OnlineStore.DeviceLibrary
//}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
{
if (Config.SidesWayNum <= 0)
{
if (IOValue(IO_Type.FL_TrayCheck).Equals(IO_VALUE.LOW))
{
CheckLog("托盘检测： " + SecondMoveInfo.SLog + " 未等到信号 FL_TrayCheck=HIGH，结束处理");
SecondMoveInfo.EndMove();
return;
}
}
else
{
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.LOW))
{
CheckLog("托盘检测： " + SecondMoveInfo.SLog + " 未等到信号 SW_TrayCheck=HIGH，结束处理");
SecondMoveInfo.EndMove();
return;
}
}
//if (Config.SidesWayNum <= 0)
//{
// if (IOValue(IO_Type.FL_TrayCheck).Equals(IO_VALUE.LOW))
// {
// CheckLog("托盘检测： " + SecondMoveInfo.SLog + " 未等到信号 FL_TrayCheck=HIGH，结束处理");
// SecondMoveInfo.EndMove();
// return;
// }
//}
//else
//{
// if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.LOW))
// {
// CheckLog("托盘检测： " + SecondMoveInfo.SLog + " 未等到信号 SW_TrayCheck=HIGH，结束处理");
// SecondMoveInfo.EndMove();
// return;
// }
//}
UpdateTrayNum();
//出料中，需要拦盘
if (CurrTrayIsNeed(currTrayNum, true))
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -862,7 +862,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
}
else
......@@ -912,9 +912,9 @@ namespace OnlineStore.DeviceLibrary
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopDownWait);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 前阻挡检测消失后再等待300ms上升阻挡,最多等待5秒");
SecondMoveInfo.OneWaitCanEndStep = true;
//SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_StopDownWait))
......@@ -923,19 +923,19 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_FixtureCheck))
{
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
//if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
//{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待托盘信号");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCylinder_Check2=HIGH，结束处理 ");
SecondMoveInfo.EndMove();
}
//}
//else
//{
// //未检测到信号或阻挡下降失败，结束处理
// LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCylinder_Check2=HIGH，结束处理 ");
// SecondMoveInfo.EndMove();
//}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
{
......@@ -1157,8 +1157,8 @@ namespace OnlineStore.DeviceLibrary
}
private void MIO_02_FixtureCheck()
{
if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW) || IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
{
//if (IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW) || IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH))
//{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_FixtureCheck);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
......@@ -1166,19 +1166,19 @@ namespace OnlineStore.DeviceLibrary
{
SecondMoveInfo.TimeOutSeconds = 20;
}
SecondMoveInfo.OneWaitCanEndStep = true;
//SecondMoveInfo.OneWaitCanEndStep = true;
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
//最多等待30秒
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
else
{
//未检测到信号或阻挡下降失败，结束处理
LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCylinder_Check1=LOW，或 StopCylinder_Check2=HIGH，结束处理 ");
SecondMoveInfo.EndMove();
}
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//}
//else
//{
// //未检测到信号或阻挡下降失败，结束处理
// LogInfo(SecondMoveInfo.SLog + "未等到信号 StopCylinder_Check1=LOW，或 StopCylinder_Check2=HIGH，结束处理 ");
// SecondMoveInfo.EndMove();
//}
}
private void MO_16_Stop2Down()
{
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -81,7 +81,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.OneWaitCanEndStep = true;
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
}
}
else
......@@ -311,37 +311,37 @@ namespace OnlineStore.DeviceLibrary
#region 托盘检测
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_00_Stop1Down))
{
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW))
{
//if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.StopCylinder_Check1).Equals(IO_VALUE.LOW))
//{
TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
LogUtil.debug(Name + "托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待 阻挡2托盘检测=1），最多等待30秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
SecondMoveInfo.OneWaitCanEndStep = true;
}
else
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待StopCylinder_Check=HIGH 或 StopCylinder_Check1=LOW失败，结束处理");
SecondMoveInfo.EndMove();
}
//}
//else
//{
// CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待StopCylinder_Check=HIGH 或 StopCylinder_Check1=LOW失败，结束处理");
// SecondMoveInfo.EndMove();
//}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1，最多等待30秒");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
SecondMoveInfo.OneWaitCanEndStep = true;
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
//SecondMoveInfo.OneWaitCanEndStep = true;
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.LOW))
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待 StopCylinder_Check=HIGH 失败，结束处理");
SecondMoveInfo.EndMove();
return;
}
//if (IOValue(IO_Type.StopCylinder_Check2).Equals(IO_VALUE.LOW))
//{
// CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待 StopCylinder_Check=HIGH 失败，结束处理");
// SecondMoveInfo.EndMove();
// return;
//}
UpdateTrayNum();
if (Config.SidesWayNum.Equals(4))
{
......
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