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Commit 2309664a 由 LN
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1 个父辈 7b17aae1
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内嵌 并排
正在显示 12 个修改的文件 包含 499 行增加 和 329 行删除
source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -388,20 +388,20 @@ namespace OnlineStore.AssemblyLine
}
private void btnFeedSideWay_Click(object sender, EventArgs e)
{
BtnMove(btnFeedSideWay, "SL上料横移机构上升", "SL上料横移机构下降", IO_Type.SL_FeedSideWay_Down, IO_Type.SL_FeedSideWay_Up);
BtnMove(btnFeedSideWay, "SL上料横移机构上升", "SL上料横移机构下降", IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
private void btnFeedCylinder_Click(object sender, EventArgs e)
{
BtnMove(btnFeedCylinder, "SL上料气缸放松", "SL上料气缸夹紧", IO_Type.SL_FeedCylinder_Tighten, IO_Type.SL_FeedCylinder_Slack);
BtnMove(btnFeedCylinder, "SL上料气缸放松", "SL上料气缸夹紧", IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
private void btnFeedSideWayCylinder_Click(object sender, EventArgs e)
{
BtnMove(btnFeedSideWayCylinder, "SL上料横移气缸取料", "SL上料横移气缸放料", IO_Type.SL_FeedSideWayCylinder_Emptying, IO_Type.SL_FeedSideWayCylinder_Take);
BtnMove(btnFeedSideWayCylinder, "SL上料横移气缸取料", "SL上料横移气缸放料", IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
private void btnTrayLocationCylinder_Click(object sender, EventArgs e)
{
BtnMove(btnTrayLocationCylinder, "SL升降盘定位气缸前进", "SL升降盘定位气缸后退", IO_Type.SL_TrayLocationCylinder_Before, IO_Type.SL_TrayLocationCylinder_After);
BtnMove(btnTrayLocationCylinder, "SL升降盘定位气缸前进", "SL升降盘定位气缸后退", IO_Type.SL_TrayLocation_Before, IO_Type.SL_TrayLocation_After);
}
private void btnToroid_TopCylinder_Click(object sender, EventArgs e)
{
......@@ -518,10 +518,9 @@ namespace OnlineStore.AssemblyLine
int size = 0;
try {size= Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
txtSizePosition.Text = equipBean.Config.GetUpdownPosition(size).ToString();
txtBoxP.Text = equipBean.Config.GetUpdownBoxPosition(size).ToString();
btnMoveto.Text = size + "寸移栽位置 :";
btnBoxP.Text= size + "寸料仓门口位置 :";
txtSizePosition.Text = equipBean.Config.GetUpdownPositionP2(size).ToString();
// txtBoxP.Text = equipBean.Config.GetUpdownBoxPosition(size).ToString();
btnMoveto.Text = size + "寸移栽位置 :";
// btnMoveto.Text = "尺寸" + size + "对应位置：";
}
......@@ -530,9 +529,9 @@ namespace OnlineStore.AssemblyLine
int position = FormUtil.GetIntValue(txtSizePosition);
if (position != -1)
{
int speed = equipBean.Config.UpdownAxis_DownSpeed;
LogUtil.info("点击【移栽位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(portName, SlvAddr, position, speed);
// int speed = equipBean.Config.UpdownAxis_DownSpeed;
// LogUtil.info("点击【移栽位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
// ACServerManager.AbsMove(portName, SlvAddr, position, speed);
}
}
......@@ -586,24 +585,13 @@ namespace OnlineStore.AssemblyLine
int size = 0;
try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
int sizePosition = FormUtil.GetIntValue(txtSizePosition);
int sizeBoxP = FormUtil.GetIntValue(txtBoxP);
int sizePosition = FormUtil.GetIntValue(txtSizePosition);
equipBean.Config.UpdateUpdownPositon(size, sizePosition);
equipBean.Config.UpdateUpdownBoxPositon(size, sizeBoxP);
//equipBean.Config.UpdateUpdownBoxPositon(size, sizeBoxP);
LineManager.SaveFeedingEquipConfig(equipBean.Config);
MessageBox.Show("保存成功！");
}
private void btnBoxP_Click(object sender, EventArgs e)
{
int position = FormUtil.GetIntValue(txtBoxP);
if (position != -1)
{
int speed = equipBean.Config.UpdownAxis_DownSpeed;
LogUtil.info("点击【料仓门口下降位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(portName, SlvAddr, position, speed);
}
}
private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
{
......
source/AssemblyLineClient/FrmFeedingEquip.resx
......@@ -112,18 +112,18 @@
<value>2.0</value>
</resheader>
<resheader name="reader">
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, internalKeyToken=b77a5c561934e089</value>
<value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, internalKeyToken=b77a5c561934e089</value>
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, internalKeyToken=b03f5f7f11d50a3a">
<metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
<value>17, 11</value>
</metadata>
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, internalKeyToken=b77a5c561934e089">
<metadata name="$this.TrayHeight" type="System.Int32, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>25</value>
</metadata>
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, internalKeyToken=b03f5f7f11d50a3a" />
<assembly alias="System.Drawing" name="System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a" />
<data name="$this.Icon" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
<value>
AAABAA8AMDAQAAEABABoBgAA9gAAACgoEAABAAQAyAQAAF4HAAAgIBAAAQAEAOgCAAAmDAAAGBgQAAEA
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
......@@ -5,31 +5,32 @@ PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
PRO,0,对应的横移模块,SidesWayNum,1,,,,,
PRO,0,是否是用来出料,IsCanOut,0,,,,,
,,,,,,,,,
AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴慢速上升速度,BatchAxis_SlowSpeed,200,,,,,
PRO,0,批量上料轴P1速度,BatchAxis_P1Speed,400,,,,,
AXIS,0,提升上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,提升上料轴原位待机点 P1,BatchAxisP1,1000,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,10000,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,500,,,,,
PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,提升上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,400,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,400,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,50,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,5000,,,,,
,,,,,,,,,
,,,,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownPositions,0=180000;,,,,,
PRO,0,移栽上下轴在料仓门口下降的位置,UpDownBoxPositions,0=116000;,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,1,COM1,1,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,20000,,,,,
PRO,0,移栽上下轴在移栽上下降的位置P2集合,UpDownPositionsP2,0=180000;,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,,
PRO,0,移栽上下轴P1速度,UpdownAxis_P1Speed,400,,,,,
,,,,,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,400,,,,,
,,,,,,,,,
,,,,,,,,,
DI,0,SL1急停,SL_SuddenStop_BTN,0,PRO_AOI_IP_11,0,SL1急停,X101,X101
......@@ -42,21 +43,21 @@ DI,0,SL1定位气缸下降端,SL_LocationCylinder_Down,6,PRO_AOI_IP_11,0,SL1定位气缸下
DI,0,SL1出口顶升上升端,SL_OutTopCylinder_Up,7,PRO_AOI_IP_11,0,SL1出口顶升上升端,X108,X108
DI,0,SL1出口顶升下降端,SL_OutTopCylinder_Down,8,PRO_AOI_IP_11,0,SL1出口顶升下降端,X109,X109
DI,0,SL1出口检测,SL_Out_Check,9,PRO_AOI_IP_11,0,SL1出口检测,X110,X110
DI,0,SL1托盘定位气缸1前进端,SL_TrayLocationCylinder1_Before,10,PRO_AOI_IP_11,0,SL1托盘定位气缸1前进端,X111,X111
DI,0,SL1托盘定位气缸1后退端,SL_TrayLocationCylinder1_After,11,PRO_AOI_IP_11,0,SL1托盘定位气缸1后退端,X112,X112
DI,0,SL1托盘定位气缸2前进端,SL_TrayLocationCylinder2_Before,12,PRO_AOI_IP_11,0,SL1托盘定位气缸2前进端,X113,X113
DI,0,SL1托盘定位气缸2后退端,SL_TrayLocationCylinder2_After,13,PRO_AOI_IP_11,0,SL1托盘定位气缸2后退端,X114,X114
DI,0,SL1托盘定位气缸1前进端,SL_TrayLocation1_Before,10,PRO_AOI_IP_11,0,SL1托盘定位气缸1前进端,X111,X111
DI,0,SL1托盘定位气缸1后退端,SL_TrayLocation1_After,11,PRO_AOI_IP_11,0,SL1托盘定位气缸1后退端,X112,X112
DI,0,SL1托盘定位气缸2前进端,SL_TrayLocation2_Before,12,PRO_AOI_IP_11,0,SL1托盘定位气缸2前进端,X113,X113
DI,0,SL1托盘定位气缸2后退端,SL_TrayLocation2_After,13,PRO_AOI_IP_11,0,SL1托盘定位气缸2后退端,X114,X114
DI,0,SL1料盘检测1,SL_TrayCheck1,14,PRO_AOI_IP_11,0,SL1料盘检测1,X115,X115
DI,0,SL1料盘检测2,SL_TrayCheck2,15,PRO_AOI_IP_11,0,SL1料盘检测2,X116,X116
DI,0,SL1料盘检测3,SL_TrayCheck3,0,PRO_AOI_IP_12,0,SL1料盘检测3,X121,X121
DI,0,SL1料盘检测4,SL_TrayCheck4,1,PRO_AOI_IP_12,0,SL1料盘检测4,X122,X122
DI,0,SL1伺服定位料盘检测,SL_AxisLocationCheck,2,PRO_AOI_IP_12,0,SL1伺服定位料盘检测,X123,X123
DI,0,SL1上料横移机构上升端,SL_FeedSideWay_Up,3,PRO_AOI_IP_12,0,SL1上料横移机构上升端,X124,X124
DI,0,SL1上料横移机构下降端,SL_FeedSideWay_Down,4,PRO_AOI_IP_12,0,SL1上料横移机构下降端,X125,X125
DI,0,SL1上料横移气缸取料端,SL_FeedSideWayCylinder_Take,5,PRO_AOI_IP_12,0,SL1上料横移气缸取料端,X126,X126
DI,0,SL1上料横移气缸放料端,SL_FeedSideWayCylinder_Emptying,6,PRO_AOI_IP_12,0,SL1上料横移气缸放料端,X127,X127
DI,0,SL1上料气缸放松端,SL_FeedCylinder_Slack,7,PRO_AOI_IP_12,0,SL1上料气缸放松端,X128,X128
DI,0,SL1上料气缸夹紧端,SL_FeedCylinder_Tighten,8,PRO_AOI_IP_12,0,SL1上料气缸夹紧端,X129,X129
DI,0,SL1上料横移机构上升端,SL_MoveCylinder_Up,3,PRO_AOI_IP_12,0,SL1上料横移机构上升端,X124,X124
DI,0,SL1上料横移机构下降端,SL_MoveCylinder_Down,4,PRO_AOI_IP_12,0,SL1上料横移机构下降端,X125,X125
DI,0,SL1上料横移气缸取料端,SL_MoveCylinder_Take,5,PRO_AOI_IP_12,0,SL1上料横移气缸取料端,X126,X126
DI,0,SL1上料横移气缸放料端,SL_MoveCylinder_Give,6,PRO_AOI_IP_12,0,SL1上料横移气缸放料端,X127,X127
DI,0,SL1上料气缸放松端,SL_MoveCylinder_Slack,7,PRO_AOI_IP_12,0,SL1上料气缸放松端,X128,X128
DI,0,SL1上料气缸夹紧端,SL_MoveCylinder_Tighten,8,PRO_AOI_IP_12,0,SL1上料气缸夹紧端,X129,X129
DI,1000,环形线横移1托盘检测,SW1_TrayCheck,9,PRO_AOI_IP_12,0,环形线横移1托盘检测,X130,X130
DI,1000,环形线横移1料盘检测1,SW1_ReelCheck,10,PRO_AOI_IP_12,0,环形线横移1料盘检测1,X131,X131
DI,1000,环形线横移1顶升上升端,SW1_TopCylinder_Up,11,PRO_AOI_IP_12,0,环形线横移1顶升上升端,X132,X132
......@@ -77,14 +78,14 @@ DO,0,SL1定位气缸上升SOL,SL_LocationCylinder_Up,8,PRO_AOI_IP_11,0,SL1定位气缸上升
DO,0,SL1定位气缸下降SOL,SL_LocationCylinder_Down,9,PRO_AOI_IP_11,0,SL1定位气缸下降SOL,Y110,Y110
DO,0,SL1出口顶升上升SOL,SL_OutTopCylinder_Up,10,PRO_AOI_IP_11,0,SL1出口顶升上升SOL,Y111,Y111
DO,0,SL1出口顶升下降SOL,SL_OutTopCylinder_Down,11,PRO_AOI_IP_11,0,SL1出口顶升下降SOL,Y112,Y112
DO,0,SL1上料横移机构上升SOL,SL_FeedSideWay_Up,12,PRO_AOI_IP_11,0,SL1上料横移机构上升SOL,Y113,Y113
DO,0,SL1上料横移机构下降SOL,SL_FeedSideWay_Down,13,PRO_AOI_IP_11,0,SL1上料横移机构下降SOL,Y114,Y114
DO,0,SL1上料横移气缸取料SOL,SL_FeedSideWayCylinder_Take,14,PRO_AOI_IP_11,0,SL1上料横移气缸取料SOL,Y115,Y115
DO,0,SL1上料横移气缸放料SOL,SL_FeedSideWayCylinder_Emptying,15,PRO_AOI_IP_11,0,SL1上料横移气缸放料SOL,Y116,Y116
DO,0,SL1上料气缸放松SOL,SL_FeedCylinder_Slack,0,PRO_AOI_IP_12,0,SL1上料气缸放松SOL,Y121,Y121
DO,0,SL1上料气缸夹紧SOL,SL_FeedCylinder_Tighten,1,PRO_AOI_IP_12,0,SL1上料气缸夹紧SOL,Y122,Y122
DO,0,SL1升降盘定位气缸1前进SOL,SL_TrayLocationCylinder_Before,2,PRO_AOI_IP_12,0,SL1升降盘定位气缸1前进SOL,Y123,Y123
DO,0,SL1升降盘定位气缸1后退SOL,SL_TrayLocationCylinder_After,3,PRO_AOI_IP_12,0,SL1升降盘定位气缸1后退SOL,Y124,Y124
DO,0,SL1上料横移机构上升SOL,SL_MoveCylinder_Up,12,PRO_AOI_IP_11,0,SL1上料横移机构上升SOL,Y113,Y113
DO,0,SL1上料横移机构下降SOL,SL_MoveCylinder_Down,13,PRO_AOI_IP_11,0,SL1上料横移机构下降SOL,Y114,Y114
DO,0,SL1上料横移气缸取料SOL,SL_MoveCylinder_Take,14,PRO_AOI_IP_11,0,SL1上料横移气缸取料SOL,Y115,Y115
DO,0,SL1上料横移气缸放料SOL,SL_MoveCylinder_Give,15,PRO_AOI_IP_11,0,SL1上料横移气缸放料SOL,Y116,Y116
DO,0,SL1上料气缸放松SOL,SL_MoveCylinder_Slack,0,PRO_AOI_IP_12,0,SL1上料气缸放松SOL,Y121,Y121
DO,0,SL1上料气缸夹紧SOL,SL_MoveCylinder_Tighten,1,PRO_AOI_IP_12,0,SL1上料气缸夹紧SOL,Y122,Y122
DO,0,SL1升降盘定位气缸1前进SOL,SL_TrayLocation_Before,2,PRO_AOI_IP_12,0,SL1升降盘定位气缸1前进SOL,Y123,Y123
DO,0,SL1升降盘定位气缸1后退SOL,SL_TrayLocation_After,3,PRO_AOI_IP_12,0,SL1升降盘定位气缸1后退SOL,Y124,Y124
DO,1000,环形线横移1顶升上升SOL,SW1_TopCylinder_Up,4,PRO_AOI_IP_12,0,环形线横移1顶升上升SOL,Y125,Y125
DO,1000,环形线横移1顶升下降SOL,SW1_TopCylinder_Down,5,PRO_AOI_IP_12,0,环形线横移1顶升下降SOL,Y126,Y126
DO,1000,环形线横移1定位上升SOL,SW1_LocationCylinder_Up,6,PRO_AOI_IP_12,0,环形线横移1定位上升SOL,Y127,Y127
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
......@@ -5,30 +5,32 @@ PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
PRO,0,对应的横移模块,SidesWayNum,0,,,,,
PRO,0,是否是用来出料,IsCanOut,0,,,,,
,,,,,,,,,
AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴慢速上升速度,BatchAxis_SlowSpeed,200,,,,,
PRO,0,批量上料轴P1速度,BatchAxis_P1Speed,400,,,,,
AXIS,0,提升上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,提升上料轴原位待机点 P1,BatchAxisP1,1000,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,10000,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,500,,,,,
PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,提升上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,400,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,400,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,50,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,5000,,,,,
,,,,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownPositions,0=180000;,,,,,
PRO,0,移栽上下轴在料仓门口下降的位置,UpDownBoxPositions,0=116000;,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,1,COM1,1,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,20000,,,,,
PRO,0,移栽上下轴在移栽上下降的位置P2集合,UpDownPositionsP2,0=180000;,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,,
PRO,0,移栽上下轴走到待机点速度,UpdownAxis_P1Speed,400,,,,,
,,,,,,,,,
PRO,0,移栽上下轴P1速度,UpdownAxis_P1Speed,400,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,400,,,,,
,,,,,,,,,
,,,,,,,,,
DI,0,SL2急停,SL_SuddenStop_BTN,0,PRO_AOI_IP_13,0,SL2急停,X141,X141
......@@ -41,21 +43,21 @@ DI,0,SL2定位气缸下降端,SL_LocationCylinder_Down,6,PRO_AOI_IP_13,0,SL2定位气缸下
DI,0,SL2出口顶升上升端,SL_OutTopCylinder_Up,7,PRO_AOI_IP_13,0,SL2出口顶升上升端,X148,X148
DI,0,SL2出口顶升下降端,SL_OutTopCylinder_Down,8,PRO_AOI_IP_13,0,SL2出口顶升下降端,X149,X149
DI,0,SL2出口检测,SL_Out_Check,9,PRO_AOI_IP_13,0,SL2出口检测,X150,X150
DI,0,SL2托盘定位气缸1前进端,SL_TrayLocationCylinder1_Before,10,PRO_AOI_IP_13,0,SL2托盘定位气缸1前进端,X151,X151
DI,0,SL2托盘定位气缸1后退端,SL_TrayLocationCylinder1_After,11,PRO_AOI_IP_13,0,SL2托盘定位气缸1后退端,X152,X152
DI,0,SL2托盘定位气缸2前进端,SL_TrayLocationCylinder2_Before,12,PRO_AOI_IP_13,0,SL2托盘定位气缸2前进端,X153,X153
DI,0,SL2托盘定位气缸2后退端,SL_TrayLocationCylinder2_After,13,PRO_AOI_IP_13,0,SL2托盘定位气缸2后退端,X154,X154
DI,0,SL2托盘定位气缸1前进端,SL_TrayLocation1_Before,10,PRO_AOI_IP_13,0,SL2托盘定位气缸1前进端,X151,X151
DI,0,SL2托盘定位气缸1后退端,SL_TrayLocation1_After,11,PRO_AOI_IP_13,0,SL2托盘定位气缸1后退端,X152,X152
DI,0,SL2托盘定位气缸2前进端,SL_TrayLocation2_Before,12,PRO_AOI_IP_13,0,SL2托盘定位气缸2前进端,X153,X153
DI,0,SL2托盘定位气缸2后退端,SL_TrayLocation2_After,13,PRO_AOI_IP_13,0,SL2托盘定位气缸2后退端,X154,X154
DI,0,SL2料盘检测1,SL_TrayCheck1,14,PRO_AOI_IP_13,0,SL2料盘检测1,X155,X155
DI,0,SL2料盘检测2,SL_TrayCheck2,15,PRO_AOI_IP_13,0,SL2料盘检测2,X156,X156
DI,0,SL2料盘检测3,SL_TrayCheck3,0,PRO_AOI_IP_14,0,SL2料盘检测3,X161,X161
DI,0,SL2料盘检测4,SL_TrayCheck4,1,PRO_AOI_IP_14,0,SL2料盘检测4,X162,X162
DI,0,SL2伺服定位料盘检测,SL_AxisLocationCheck,2,PRO_AOI_IP_14,0,SL2伺服定位料盘检测,X163,X163
DI,0,SL2上料横移机构上升端,SL_FeedSideWay_Up,3,PRO_AOI_IP_14,0,SL2上料横移机构上升端,X164,X164
DI,0,SL2上料横移机构下降端,SL_FeedSideWay_Down,4,PRO_AOI_IP_14,0,SL2上料横移机构下降端,X165,X165
DI,0,SL2上料横移气缸取料端,SL_FeedSideWayCylinder_Take,5,PRO_AOI_IP_14,0,SL2上料横移气缸取料端,X166,X166
DI,0,SL2上料横移气缸放料端,SL_FeedSideWayCylinder_Emptying,6,PRO_AOI_IP_14,0,SL2上料横移气缸放料端,X167,X167
DI,0,SL2上料气缸放松端,SL_FeedCylinder_Slack,7,PRO_AOI_IP_14,0,SL2上料气缸放松端,X168,X168
DI,0,SL2上料气缸夹紧端,SL_FeedCylinder_Tighten,8,PRO_AOI_IP_14,0,SL2上料气缸夹紧端,X169,X169
DI,0,SL2上料横移机构上升端,SL_MoveCylinder_Up,3,PRO_AOI_IP_14,0,SL2上料横移机构上升端,X164,X164
DI,0,SL2上料横移机构下降端,SL_MoveCylinder_Down,4,PRO_AOI_IP_14,0,SL2上料横移机构下降端,X165,X165
DI,0,SL2上料横移气缸取料端,SL_MoveCylinder_Take,5,PRO_AOI_IP_14,0,SL2上料横移气缸取料端,X166,X166
DI,0,SL2上料横移气缸放料端,SL_MoveCylinder_Give,6,PRO_AOI_IP_14,0,SL2上料横移气缸放料端,X167,X167
DI,0,SL2上料气缸放松端,SL_MoveCylinder_Slack,7,PRO_AOI_IP_14,0,SL2上料气缸放松端,X168,X168
DI,0,SL2上料气缸夹紧端,SL_MoveCylinder_Tighten,8,PRO_AOI_IP_14,0,SL2上料气缸夹紧端,X169,X169
DI,0,FL1阻挡检测,FL_StopCheck,9,PRO_AOI_IP_14,0,FL1阻挡检测,X170,X170
DI,0,FL1托盘检测,FL_TrayCheck,10,PRO_AOI_IP_14,0,FL1托盘检测,X171,X171
DI,0,FL1料盘检测1,FL_ReelCheck,11,PRO_AOI_IP_14,0,FL1料盘检测1,X172,X172
......@@ -76,14 +78,14 @@ DO,0,SL2定位气缸上升SOL,SL_LocationCylinder_Up,8,PRO_AOI_IP_13,0,SL2定位气缸上升
DO,0,SL2定位气缸下降SOL,SL_LocationCylinder_Down,9,PRO_AOI_IP_13,0,SL2定位气缸下降SOL,Y150,Y150
DO,0,SL2出口顶升上升SOL,SL_OutTopCylinder_Up,10,PRO_AOI_IP_13,0,SL2出口顶升上升SOL,Y151,Y151
DO,0,SL2出口顶升下降SOL,SL_OutTopCylinder_Down,11,PRO_AOI_IP_13,0,SL2出口顶升下降SOL,Y152,Y152
DO,0,SL2上料横移机构上升SOL,SL_FeedSideWay_Up,12,PRO_AOI_IP_13,0,SL2上料横移机构上升SOL,Y153,Y153
DO,0,SL2上料横移机构下降SOL,SL_FeedSideWay_Down,13,PRO_AOI_IP_13,0,SL2上料横移机构下降SOL,Y154,Y154
DO,0,SL2上料横移气缸取料SOL,SL_FeedSideWayCylinder_Take,14,PRO_AOI_IP_13,0,SL2上料横移气缸取料SOL,Y155,Y155
DO,0,SL2上料横移气缸放料SOL,SL_FeedSideWayCylinder_Emptying,15,PRO_AOI_IP_13,0,SL2上料横移气缸放料SOL,Y156,Y156
DO,0,SL2上料气缸放松SOL,SL_FeedCylinder_Slack,0,PRO_AOI_IP_14,0,SL2上料气缸放松SOL,Y161,Y161
DO,0,SL2上料气缸夹紧SOL,SL_FeedCylinder_Tighten,1,PRO_AOI_IP_14,0,SL2上料气缸夹紧SOL,Y162,Y162
DO,0,SL2托盘定位气缸1前进SOL,SL_TrayLocationCylinder_Before,2,PRO_AOI_IP_14,0,SL2托盘定位气缸1前进SOL,Y163,Y163
DO,0,SL2托盘定位气缸1后退SOL,SL_TrayLocationCylinder_After,3,PRO_AOI_IP_14,0,SL2托盘定位气缸1后退SOL,Y164,Y164
DO,0,SL2上料横移机构上升SOL,SL_MoveCylinder_Up,12,PRO_AOI_IP_13,0,SL2上料横移机构上升SOL,Y153,Y153
DO,0,SL2上料横移机构下降SOL,SL_MoveCylinder_Down,13,PRO_AOI_IP_13,0,SL2上料横移机构下降SOL,Y154,Y154
DO,0,SL2上料横移气缸取料SOL,SL_MoveCylinder_Take,14,PRO_AOI_IP_13,0,SL2上料横移气缸取料SOL,Y155,Y155
DO,0,SL2上料横移气缸放料SOL,SL_MoveCylinder_Give,15,PRO_AOI_IP_13,0,SL2上料横移气缸放料SOL,Y156,Y156
DO,0,SL2上料气缸放松SOL,SL_MoveCylinder_Slack,0,PRO_AOI_IP_14,0,SL2上料气缸放松SOL,Y161,Y161
DO,0,SL2上料气缸夹紧SOL,SL_MoveCylinder_Tighten,1,PRO_AOI_IP_14,0,SL2上料气缸夹紧SOL,Y162,Y162
DO,0,SL2托盘定位气缸1前进SOL,SL_TrayLocation_Before,2,PRO_AOI_IP_14,0,SL2托盘定位气缸1前进SOL,Y163,Y163
DO,0,SL2托盘定位气缸1后退SOL,SL_TrayLocation_After,3,PRO_AOI_IP_14,0,SL2托盘定位气缸1后退SOL,Y164,Y164
DO,0,FL1阻挡1下降SOL,FL_StopCylinder_Down1,4,PRO_AOI_IP_14,0,FL1阻挡1下降SOL,Y165,Y165
DO,0,FL1阻挡2下降SOL,FL_StopCylinder_Down2,5,PRO_AOI_IP_14,0,FL1阻挡2下降SOL,Y166,Y166
DO,0,FL1顶升上升SOL,FL_TopCylinder_Up,6,PRO_AOI_IP_14,0,FL1顶升上升SOL,Y167,Y167
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
......@@ -5,30 +5,32 @@ PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
PRO,0,对应的横移模块,SidesWayNum,2,,,,,
PRO,0,是否是用来出料,IsCanOut,0,,,,,
,,,,,,,,,
AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴慢速上升速度,BatchAxis_SlowSpeed,200,,,,,
PRO,0,批量上料轴P1速度,BatchAxis_P1Speed,400,,,,,
AXIS,0,提升上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,提升上料轴原位待机点 P1,BatchAxisP1,1000,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,10000,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,500,,,,,
PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,提升上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,400,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,400,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,50,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,5000,,,,,
,,,,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownPositions,0=180000;,,,,,
PRO,0,移栽上下轴在料仓门口下降的位置,UpDownBoxPositions,0=116000;,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,1,COM1,1,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,20000,,,,,
PRO,0,移栽上下轴在移栽上下降的位置P2集合,UpDownPositionsP2,0=180000;,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,,
PRO,0,移栽上下轴走到待机点速度,UpdownAxis_P1Speed,400,,,,,
,,,,,,,,,
PRO,0,移栽上下轴P1速度,UpdownAxis_P1Speed,400,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,400,,,,,
,,,,,,,,,
,,,,,,,,,
DI,0,SL3急停,SL_SuddenStop_BTN,0,PRO_AOI_IP_15,0,SL3急停,X181,X181
......@@ -41,21 +43,21 @@ DI,0,SL3定位气缸下降端,SL_LocationCylinder_Down,6,PRO_AOI_IP_15,0,SL3定位气缸下
DI,0,SL3出口顶升上升端,SL_OutTopCylinder_Up,7,PRO_AOI_IP_15,0,SL3出口顶升上升端,X188,X188
DI,0,SL3出口顶升下降端,SL_OutTopCylinder_Down,8,PRO_AOI_IP_15,0,SL3出口顶升下降端,X189,X189
DI,0,SL3出口检测,SL_Out_Check,9,PRO_AOI_IP_15,0,SL3出口检测,X190,X190
DI,0,SL3托盘定位气缸1前进端,SL_TrayLocationCylinder1_Before,10,PRO_AOI_IP_15,0,SL3托盘定位气缸1前进端,X191,X191
DI,0,SL3托盘定位气缸1后退端,SL_TrayLocationCylinder1_After,11,PRO_AOI_IP_15,0,SL3托盘定位气缸1后退端,X192,X192
DI,0,SL3托盘定位气缸2前进端,SL_TrayLocationCylinder2_Before,12,PRO_AOI_IP_15,0,SL3托盘定位气缸2前进端,X193,X193
DI,0,SL3托盘定位气缸2后退端,SL_TrayLocationCylinder2_After,13,PRO_AOI_IP_15,0,SL3托盘定位气缸2后退端,X194,X194
DI,0,SL3托盘定位气缸1前进端,SL_TrayLocation1_Before,10,PRO_AOI_IP_15,0,SL3托盘定位气缸1前进端,X191,X191
DI,0,SL3托盘定位气缸1后退端,SL_TrayLocation1_After,11,PRO_AOI_IP_15,0,SL3托盘定位气缸1后退端,X192,X192
DI,0,SL3托盘定位气缸2前进端,SL_TrayLocation2_Before,12,PRO_AOI_IP_15,0,SL3托盘定位气缸2前进端,X193,X193
DI,0,SL3托盘定位气缸2后退端,SL_TrayLocation2_After,13,PRO_AOI_IP_15,0,SL3托盘定位气缸2后退端,X194,X194
DI,0,SL3料盘检测1,SL_TrayCheck1,14,PRO_AOI_IP_15,0,SL3料盘检测1,X195,X195
DI,0,SL3料盘检测2,SL_TrayCheck2,15,PRO_AOI_IP_15,0,SL3料盘检测2,X196,X196
DI,0,SL3料盘检测3,SL_TrayCheck3,0,PRO_AOI_IP_16,0,SL3料盘检测3,X201,X201
DI,0,SL3料盘检测4,SL_TrayCheck4,1,PRO_AOI_IP_16,0,SL3料盘检测4,X202,X202
DI,0,SL3伺服定位料盘检测,SL_AxisLocationCheck,2,PRO_AOI_IP_16,0,SL3伺服定位料盘检测,X203,X203
DI,0,SL3上料横移机构上升端,SL_FeedSideWay_Up,3,PRO_AOI_IP_16,0,SL3上料横移机构上升端,X204,X204
DI,0,SL3上料横移机构下降端,SL_FeedSideWay_Down,4,PRO_AOI_IP_16,0,SL3上料横移机构下降端,X205,X205
DI,0,SL3上料横移气缸取料端,SL_FeedSideWayCylinder_Take,5,PRO_AOI_IP_16,0,SL3上料横移气缸取料端,X206,X206
DI,0,SL3上料横移气缸放料端,SL_FeedSideWayCylinder_Emptying,6,PRO_AOI_IP_16,0,SL3上料横移气缸放料端,X207,X207
DI,0,SL3上料气缸放松端,SL_FeedCylinder_Slack,7,PRO_AOI_IP_16,0,SL3上料气缸放松端,X208,X208
DI,0,SL3上料气缸夹紧端,SL_FeedCylinder_Tighten,8,PRO_AOI_IP_16,0,SL3上料气缸夹紧端,X209,X209
DI,0,SL3上料横移机构上升端,SL_MoveCylinder_Up,3,PRO_AOI_IP_16,0,SL3上料横移机构上升端,X204,X204
DI,0,SL3上料横移机构下降端,SL_MoveCylinder_Down,4,PRO_AOI_IP_16,0,SL3上料横移机构下降端,X205,X205
DI,0,SL3上料横移气缸取料端,SL_MoveCylinder_Take,5,PRO_AOI_IP_16,0,SL3上料横移气缸取料端,X206,X206
DI,0,SL3上料横移气缸放料端,SL_MoveCylinder_Give,6,PRO_AOI_IP_16,0,SL3上料横移气缸放料端,X207,X207
DI,0,SL3上料气缸放松端,SL_MoveCylinder_Slack,7,PRO_AOI_IP_16,0,SL3上料气缸放松端,X208,X208
DI,0,SL3上料气缸夹紧端,SL_MoveCylinder_Tighten,8,PRO_AOI_IP_16,0,SL3上料气缸夹紧端,X209,X209
DI,1000,环形线横移2托盘检测,SW2_TrayCheck,9,PRO_AOI_IP_16,0,环形线横移2托盘检测,X210,X210
DI,1000,环形线横移2料盘检测1,SW2_ReelCheck,10,PRO_AOI_IP_16,0,环形线横移2料盘检测1,X211,X211
DI,1000,环形线横移2顶升上升端,SW2_TopCylinder_Up,11,PRO_AOI_IP_16,0,环形线横移2顶升上升端,X212,X212
......@@ -76,14 +78,14 @@ DO,0,SL3定位气缸上升SOL,SL_LocationCylinder_Up,8,PRO_AOI_IP_15,0,SL3定位气缸上升
DO,0,SL3定位气缸下降SOL,SL_LocationCylinder_Down,9,PRO_AOI_IP_15,0,SL3定位气缸下降SOL,Y190,Y190
DO,0,SL3出口顶升上升SOL,SL_OutTopCylinder_Up,10,PRO_AOI_IP_15,0,SL3出口顶升上升SOL,Y191,Y191
DO,0,SL3出口顶升下降SOL,SL_OutTopCylinder_Down,11,PRO_AOI_IP_15,0,SL3出口顶升下降SOL,Y192,Y192
DO,0,SL3上料横移机构上升SOL,SL_FeedSideWay_Up,12,PRO_AOI_IP_15,0,SL3上料横移机构上升SOL,Y193,Y193
DO,0,SL3上料横移机构下降SOL,SL_FeedSideWay_Down,13,PRO_AOI_IP_15,0,SL3上料横移机构下降SOL,Y194,Y194
DO,0,SL3上料横移气缸取料SOL,SL_FeedSideWayCylinder_Take,14,PRO_AOI_IP_15,0,SL3上料横移气缸取料SOL,Y195,Y195
DO,0,SL3上料横移气缸放料SOL,SL_FeedSideWayCylinder_Emptying,15,PRO_AOI_IP_15,0,SL3上料横移气缸放料SOL,Y196,Y196
DO,0,SL3上料气缸放松SOL,SL_FeedCylinder_Slack,0,PRO_AOI_IP_16,0,SL3上料气缸放松SOL,Y201,Y201
DO,0,SL3上料气缸夹紧SOL,SL_FeedCylinder_Tighten,1,PRO_AOI_IP_16,0,SL3上料气缸夹紧SOL,Y202,Y202
DO,0,SL3升降盘定位气缸1前进SOL,SL_TrayLocationCylinder_Before,2,PRO_AOI_IP_16,0,SL3升降盘定位气缸1前进SOL,Y203,Y203
DO,0,SL3升降盘定位气缸1后退SOL,SL_TrayLocationCylinder_After,3,PRO_AOI_IP_16,0,SL3升降盘定位气缸1后退SOL,Y204,Y204
DO,0,SL3上料横移机构上升SOL,SL_MoveCylinder_Up,12,PRO_AOI_IP_15,0,SL3上料横移机构上升SOL,Y193,Y193
DO,0,SL3上料横移机构下降SOL,SL_MoveCylinder_Down,13,PRO_AOI_IP_15,0,SL3上料横移机构下降SOL,Y194,Y194
DO,0,SL3上料横移气缸取料SOL,SL_MoveCylinder_Take,14,PRO_AOI_IP_15,0,SL3上料横移气缸取料SOL,Y195,Y195
DO,0,SL3上料横移气缸放料SOL,SL_MoveCylinder_Give,15,PRO_AOI_IP_15,0,SL3上料横移气缸放料SOL,Y196,Y196
DO,0,SL3上料气缸放松SOL,SL_MoveCylinder_Slack,0,PRO_AOI_IP_16,0,SL3上料气缸放松SOL,Y201,Y201
DO,0,SL3上料气缸夹紧SOL,SL_MoveCylinder_Tighten,1,PRO_AOI_IP_16,0,SL3上料气缸夹紧SOL,Y202,Y202
DO,0,SL3升降盘定位气缸1前进SOL,SL_TrayLocation_Before,2,PRO_AOI_IP_16,0,SL3升降盘定位气缸1前进SOL,Y203,Y203
DO,0,SL3升降盘定位气缸1后退SOL,SL_TrayLocation_After,3,PRO_AOI_IP_16,0,SL3升降盘定位气缸1后退SOL,Y204,Y204
DO,1000,环形线横移2顶升上升SOL,SW2_TopCylinder_Up,4,PRO_AOI_IP_16,0,环形线横移2顶升上升SOL,Y205,Y205
DO,1000,环形线横移2顶升下降SOL,SW2_TopCylinder_Down,5,PRO_AOI_IP_16,0,环形线横移2顶升下降SOL,Y206,Y206
DO,1000,环形线横移2定位上升SOL,SW2_LocationCylinder_Up,6,PRO_AOI_IP_16,0,环形线横移2定位上升SOL,Y207,Y207
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
......@@ -5,30 +5,32 @@ PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
PRO,0,对应的横移模块,SidesWayNum,3,,,,,
PRO,0,是否是用来出料,IsCanOut,1,,,,,
,,,,,,,,,
AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴慢速上升速度,BatchAxis_SlowSpeed,200,,,,,
PRO,0,批量上料轴P1速度,BatchAxis_P1Speed,400,,,,,
AXIS,0,提升上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,提升上料轴原位待机点 P1,BatchAxisP1,1000,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,10000,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,500,,,,,
PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
PRO,0,提升上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,400,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,400,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,50,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,5000,,,,,
,,,,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownPositions,0=180000;,,,,,
PRO,0,移栽上下轴在料仓门口下降的位置,UpDownBoxPositions,0=116000;,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,1,COM1,1,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,20000,,,,,
PRO,0,移栽上下轴在移栽上下降的位置P2集合,UpDownPositionsP2,0=180000;,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,,
PRO,0,移栽上下轴走到待机点速度,UpdownAxis_P1Speed,400,,,,,
,,,,,,,,,
PRO,0,移栽上下轴P1速度,UpdownAxis_P1Speed,400,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,400,,,,,
,,,,,,,,,
,,,,,,,,,
DI,0,SL4急停,SL_SuddenStop_BTN,0,PRO_AOI_IP_17,0,SL4急停,X221,X221
......@@ -41,21 +43,21 @@ DI,0,SL4定位气缸下降端,SL_LocationCylinder_Down,6,PRO_AOI_IP_17,0,SL4定位气缸下
DI,0,SL4出口顶升上升端,SL_OutTopCylinder_Up,7,PRO_AOI_IP_17,0,SL4出口顶升上升端,X228,X228
DI,0,SL4出口顶升下降端,SL_OutTopCylinder_Down,8,PRO_AOI_IP_17,0,SL4出口顶升下降端,X229,X229
DI,0,SL4出口检测,SL_Out_Check,9,PRO_AOI_IP_17,0,SL4出口检测,X230,X230
DI,0,SL4托盘定位气缸1前进端,SL_TrayLocationCylinder1_Before,10,PRO_AOI_IP_17,0,SL4托盘定位气缸1前进端,X231,X231
DI,0,SL4托盘定位气缸1后退端,SL_TrayLocationCylinder1_After,11,PRO_AOI_IP_17,0,SL4托盘定位气缸1后退端,X232,X232
DI,0,SL4托盘定位气缸2前进端,SL_TrayLocationCylinder2_Before,12,PRO_AOI_IP_17,0,SL4托盘定位气缸2前进端,X233,X233
DI,0,SL4托盘定位气缸2后退端,SL_TrayLocationCylinder2_After,13,PRO_AOI_IP_17,0,SL4托盘定位气缸2后退端,X234,X234
DI,0,SL4托盘定位气缸1前进端,SL_TrayLocation1_Before,10,PRO_AOI_IP_17,0,SL4托盘定位气缸1前进端,X231,X231
DI,0,SL4托盘定位气缸1后退端,SL_TrayLocation1_After,11,PRO_AOI_IP_17,0,SL4托盘定位气缸1后退端,X232,X232
DI,0,SL4托盘定位气缸2前进端,SL_TrayLocation2_Before,12,PRO_AOI_IP_17,0,SL4托盘定位气缸2前进端,X233,X233
DI,0,SL4托盘定位气缸2后退端,SL_TrayLocation2_After,13,PRO_AOI_IP_17,0,SL4托盘定位气缸2后退端,X234,X234
DI,0,SL4料盘检测1,SL_TrayCheck1,14,PRO_AOI_IP_17,0,SL4料盘检测1,X235,X235
DI,0,SL4料盘检测2,SL_TrayCheck2,15,PRO_AOI_IP_17,0,SL4料盘检测2,X236,X236
DI,0,SL4料盘检测3,SL_TrayCheck3,0,PRO_AOI_IP_18,0,SL4料盘检测3,X241,X241
DI,0,SL4料盘检测4,SL_TrayCheck4,1,PRO_AOI_IP_18,0,SL4料盘检测4,X242,X242
DI,0,SL4伺服定位料盘检测,SL_AxisLocationCheck,2,PRO_AOI_IP_18,0,SL4伺服定位料盘检测,X243,X243
DI,0,SL4上料横移机构上升端,SL_FeedSideWay_Up,3,PRO_AOI_IP_18,0,SL4上料横移机构上升端,X244,X244
DI,0,SL4上料横移机构下降端,SL_FeedSideWay_Down,4,PRO_AOI_IP_18,0,SL4上料横移机构下降端,X245,X245
DI,0,SL4上料横移气缸取料端,SL_FeedSideWayCylinder_Take,5,PRO_AOI_IP_18,0,SL4上料横移气缸取料端,X246,X246
DI,0,SL4上料横移气缸放料端,SL_FeedSideWayCylinder_Emptying,6,PRO_AOI_IP_18,0,SL4上料横移气缸放料端,X247,X247
DI,0,SL4上料气缸放松端,SL_FeedCylinder_Slack,7,PRO_AOI_IP_18,0,SL4上料气缸放松端,X248,X248
DI,0,SL4上料气缸夹紧端,SL_FeedCylinder_Tighten,8,PRO_AOI_IP_18,0,SL4上料气缸夹紧端,X249,X249
DI,0,SL4上料横移机构上升端,SL_MoveCylinder_Up,3,PRO_AOI_IP_18,0,SL4上料横移机构上升端,X244,X244
DI,0,SL4上料横移机构下降端,SL_MoveCylinder_Down,4,PRO_AOI_IP_18,0,SL4上料横移机构下降端,X245,X245
DI,0,SL4上料横移气缸取料端,SL_MoveCylinder_Take,5,PRO_AOI_IP_18,0,SL4上料横移气缸取料端,X246,X246
DI,0,SL4上料横移气缸放料端,SL_MoveCylinder_Give,6,PRO_AOI_IP_18,0,SL4上料横移气缸放料端,X247,X247
DI,0,SL4上料气缸放松端,SL_MoveCylinder_Slack,7,PRO_AOI_IP_18,0,SL4上料气缸放松端,X248,X248
DI,0,SL4上料气缸夹紧端,SL_MoveCylinder_Tighten,8,PRO_AOI_IP_18,0,SL4上料气缸夹紧端,X249,X249
DI,1000,环形线横移3托盘检测,SW3_TrayCheck,9,PRO_AOI_IP_18,0,环形线横移3托盘检测,X250,X250
DI,1000,环形线横移3料盘检测1,SW3_ReelCheck,10,PRO_AOI_IP_18,0,环形线横移3料盘检测1,X251,X251
DI,1000,环形线横移3顶升上升端,SW3_TopCylinder_Up,11,PRO_AOI_IP_18,0,环形线横移3顶升上升端,X252,X252
......@@ -76,14 +78,14 @@ DO,0,SL4定位气缸上升SOL,SL_LocationCylinder_Up,8,PRO_AOI_IP_17,0,SL4定位气缸上升
DO,0,SL4定位气缸下降SOL,SL_LocationCylinder_Down,9,PRO_AOI_IP_17,0,SL4定位气缸下降SOL,Y230,Y230
DO,0,SL4出口顶升上升SOL,SL_OutTopCylinder_Up,10,PRO_AOI_IP_17,0,SL4出口顶升上升SOL,Y231,Y231
DO,0,SL4出口顶升下降SOL,SL_OutTopCylinder_Down,11,PRO_AOI_IP_17,0,SL4出口顶升下降SOL,Y232,Y232
DO,0,SL4上料横移机构上升SOL,SL_FeedSideWay_Up,12,PRO_AOI_IP_17,0,SL4上料横移机构上升SOL,Y233,Y233
DO,0,SL4上料横移机构下降SOL,SL_FeedSideWay_Down,13,PRO_AOI_IP_17,0,SL4上料横移机构下降SOL,Y234,Y234
DO,0,SL4上料横移气缸取料SOL,SL_FeedSideWayCylinder_Take,14,PRO_AOI_IP_17,0,SL4上料横移气缸取料SOL,Y235,Y235
DO,0,SL4上料横移气缸放料SOL,SL_FeedSideWayCylinder_Emptying,15,PRO_AOI_IP_17,0,SL4上料横移气缸放料SOL,Y236,Y236
DO,0,SL4上料气缸放松SOL,SL_FeedCylinder_Slack,0,PRO_AOI_IP_18,0,SL4上料气缸放松SOL,Y241,Y241
DO,0,SL4上料气缸夹紧SOL,SL_FeedCylinder_Tighten,1,PRO_AOI_IP_18,0,SL4上料气缸夹紧SOL,Y242,Y242
DO,0,SL4升降盘定位气缸1前进SOL,SL_TrayLocationCylinder_Before,2,PRO_AOI_IP_18,0,SL4升降盘定位气缸1前进SOL,Y243,Y243
DO,0,SL4升降盘定位气缸1后退SOL,SL_TrayLocationCylinder_After,3,PRO_AOI_IP_18,0,SL4升降盘定位气缸1后退SOL,Y244,Y244
DO,0,SL4上料横移机构上升SOL,SL_MoveCylinder_Up,12,PRO_AOI_IP_17,0,SL4上料横移机构上升SOL,Y233,Y233
DO,0,SL4上料横移机构下降SOL,SL_MoveCylinder_Down,13,PRO_AOI_IP_17,0,SL4上料横移机构下降SOL,Y234,Y234
DO,0,SL4上料横移气缸取料SOL,SL_MoveCylinder_Take,14,PRO_AOI_IP_17,0,SL4上料横移气缸取料SOL,Y235,Y235
DO,0,SL4上料横移气缸放料SOL,SL_MoveCylinder_Give,15,PRO_AOI_IP_17,0,SL4上料横移气缸放料SOL,Y236,Y236
DO,0,SL4上料气缸放松SOL,SL_MoveCylinder_Slack,0,PRO_AOI_IP_18,0,SL4上料气缸放松SOL,Y241,Y241
DO,0,SL4上料气缸夹紧SOL,SL_MoveCylinder_Tighten,1,PRO_AOI_IP_18,0,SL4上料气缸夹紧SOL,Y242,Y242
DO,0,SL4升降盘定位气缸1前进SOL,SL_TrayLocation_Before,2,PRO_AOI_IP_18,0,SL4升降盘定位气缸1前进SOL,Y243,Y243
DO,0,SL4升降盘定位气缸1后退SOL,SL_TrayLocation_After,3,PRO_AOI_IP_18,0,SL4升降盘定位气缸1后退SOL,Y244,Y244
DO,1000,环形线横移3顶升上升SOL,SW3_TopCylinder_Up,4,PRO_AOI_IP_18,0,环形线横移3顶升上升SOL,Y245,Y245
DO,1000,环形线横移3顶升下降SOL,SW3_TopCylinder_Down,5,PRO_AOI_IP_18,0,环形线横移3顶升下降SOL,Y246,Y246
DO,1000,环形线横移3定位上升SOL,SW3_LocationCylinder_Up,6,PRO_AOI_IP_18,0,环形线横移3定位上升SOL,Y247,Y247
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -131,8 +131,7 @@ namespace OnlineStore.DeviceLibrary
public bool ReturnHome()
{
mainTimer.Stop();
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
StopMove();
if (!RunAxis(true,Config.Batch_Axis))
{
return false;
......@@ -154,8 +153,8 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public override bool Reset()
{
WarnMsg = "";
MoveInfo.EndMove();
WarnMsg = "";
StopMove();
if (!RunAxis(true, Config.Batch_Axis))
{
return false;
......@@ -173,10 +172,16 @@ namespace OnlineStore.DeviceLibrary
}
private void StartReset()
{
LogInfo(MoveInfo.MoveType + "：FR_01_StopCylinderMove：放料阻挡气缸上升,顶升气缸下降");
IOMove(IO_Type.SL_HddLed, IO_VALUE.HIGH);
MoveInfo.NextMoveStep(LineMoveStep.FR_01_StopCylinderMove);
ACAxisHomeMove(Config.UpDown_Axis);
ACAxisHomeMove(Config.Batch_Axis);
if (Config.SidesWayNum <= 0)
{
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
isInPro = false;
}
/// <summary>
......@@ -196,38 +201,84 @@ namespace OnlineStore.DeviceLibrary
CheckWait(MoveInfo);
}
if (!MoveInfo.IsInWait)
{
//流水线各装置复原位，夹料气缸状态不变
//阻挡气缸全部=0
//上下气缸上升，、
//上升到位，顶升气缸下降，前后气缸回退
//复位时夹紧气缸需要发送，不然后面出入库会有问题
{
switch (MoveInfo.MoveStep)
{
case LineMoveStep.Wait:
LogInfo(MoveInfo.MoveType + "：FR_01_StopCylinderMove：放料阻挡气缸上升,顶升气缸下降");
MoveInfo.NextMoveStep(LineMoveStep.FR_01_StopCylinderMove);
if (Config.SidesWayNum <= 0)
{
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
//顶升气缸下降
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
break;
case LineMoveStep.FR_01_StopCylinderMove:
LogInfo(MoveInfo.MoveType + "：FR_03_TrayLocation_After：升降轴托盘气缸后退");
MoveInfo.NextMoveStep(LineMoveStep.FR_03_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
break;
case LineMoveStep.FR_03_TrayLocation_After:
LogInfo(MoveInfo.MoveType + "：FR_04_LocationCylinder_Down：定位气缸下降");
MoveInfo.NextMoveStep(LineMoveStep.FR_04_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
break;
LogInfo(MoveInfo.MoveType + ":开始气缸下降");
case LineMoveStep.FR_04_LocationCylinder_Down:
LogInfo(MoveInfo.MoveType + "：FR_05_AxisHomeMove：伺服原点返回");
MoveInfo.NextMoveStep(LineMoveStep.FR_05_AxisHomeMove);
ACAxisHomeMove(Config.Batch_Axis);
ACAxisHomeMove(Config.UpDown_Axis);
break;
case LineMoveStep.FR_02_LocationCylinderDown:
case LineMoveStep.FR_05_AxisHomeMove:
LogInfo(MoveInfo.MoveType + "：FR_06_AxisToP1：伺服到P1点");
MoveInfo.NextMoveStep(LineMoveStep.FR_06_AxisToP1);
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break;
case LineMoveStep.FR_03_AxisHomeMove:
case LineMoveStep.FR_06_AxisToP1:
LogInfo(MoveInfo.MoveType + "：FR_07_MoveCylinder_Up：上料横移机构上升SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_07_MoveCylinder_Up);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
break;
case LineMoveStep.FR_04_AxisToP1:
case LineMoveStep.FR_07_MoveCylinder_Up:
LogInfo(MoveInfo.MoveType + "：FR_08_MoveCylinder_Slack：上料气缸放松SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_08_MoveCylinder_Slack);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
break;
case LineMoveStep.FR_08_MoveCylinder_Slack:
LogInfo(MoveInfo.MoveType + "：FR_09_MoveCylinder_Take： 上料横移气缸取料端SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_09_MoveCylinder_Take);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
break;
case LineMoveStep.FR_09_MoveCylinder_Take:
LogInfo(MoveInfo.MoveType + "：FR_10_OutTopCylinder_Down： 出口顶升下降SOL");
MoveInfo.NextMoveStep(LineMoveStep.FR_10_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
break;
case LineMoveStep.FR_10_OutTopCylinder_Down:
LogInfo("重置完成！");
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
break;
//TODO 需要继续之前的的出入库处理
//ContinueInOutStore();
default: break;
}
}
}
public override void StopMove()
{
{
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
}
......@@ -283,29 +334,34 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.FL_TopCylinder_Down, IO_VALUE.LOW);
}
}
/// <summary>
/// 升降轴定位气缸前进
/// </summary>
public void TrayLCylinderBefore(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocationCylinder_After, IO_VALUE.LOW);
IOMove(IO_Type.SL_TrayLocationCylinder_Before, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.LOW);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.HIGH);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder1_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder1_Before, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder2_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder2_Before, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.HIGH));
}
}
/// <summary>
/// 升降轴定位气缸后退
/// </summary>
public void TrayLCylinderAfter(LineMoveInfo moveinfo = null)
{
IOMove(IO_Type.SL_TrayLocationCylinder_After, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocationCylinder_Before, IO_VALUE.LOW);
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.LOW);
if (moveinfo != null)
{
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder1_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder1_Before, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder2_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocationCylinder2_Before, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation1_Before, IO_VALUE.LOW));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_After, IO_VALUE.HIGH));
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.LOW));
}
}
}
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -425,54 +425,206 @@ namespace OnlineStore.DeviceLibrary
#region 入料装置原点返回，10000开始
/// <summary>
/// 阻挡气缸复位
/// 放料阻挡气缸上升,顶升气缸下降
/// </summary>
FR_01_StopCylinderMove=10001,
FR_01_StopCylinderMove = 10001,
/// <summary>
/// 升降轴托盘气缸后退
/// </summary>
FR_03_TrayLocation_After=10003,
/// <summary>
/// 定位气缸下降
/// </summary>
FR_02_LocationCylinderDown=10002,
FR_04_LocationCylinder_Down = 10004,
/// <summary>
/// 伺服原点返回
/// </summary>
FR_03_AxisHomeMove=10003,
FR_05_AxisHomeMove =10005,
/// <summary>
/// 伺服到P1点
/// </summary>
FR_06_AxisToP1=10006,
/// <summary>
///上料装置：上料横移机构上升SOL
/// </summary>
FR_07_MoveCylinder_Up = 10007,
/// <summary>
///上料装置：上料气缸放松SOL
/// </summary>
FR_08_MoveCylinder_Slack = 10008,
/// <summary>
/// 伺服回待机点
///上料装置：上料横移气缸取料端SOL
/// </summary>
FR_04_AxisToP1=10004,
FR_09_MoveCylinder_Take = 10009,
/// <summary>
///上料装置：出口顶升下降SOL
/// </summary>
FR_10_OutTopCylinder_Down = 10010,
#endregion
#region 入料装置入料处理，11000开始
////SL1定位工位检测有信号，阻挡气缸不能下降。
//SL1定位工位检测无信号，阻挡气缸下降，然后料架到工位
//待机位：上料横移机构后退端，上升端，放松端
//移栽伺服原点在上方，只有移栽到流水线时才需要用到，其他时候都在上方待机点
//提升伺服原点在上方，需要配置待机点P1=500？，下降点P5=10000?，回原点负方向
//
//提升伺服先上升到待机点，SL1升降盘定位气缸1后退，定位气缸下降，料架才能进入上料工位
//料架进入上料工位后，定位气缸先上升
//提升伺服下降到P2
////升降盘定位气缸前进
//提升伺服缓慢上升，绝对位置=P1，若上升到P1么有X105,那么没有料盘
// 检测到X105信号，提升伺服停止
// 上料横移机构取料
// 上料横移机构下降
// 上料横移机构夹紧
// 上料横移机构上升
// 提升伺服开始缓慢上升到位
// 计算高度，宽度并记录
// 上料横移机构到放料端
//等待拦截到托盘，并顶升上升，定位上升
// 上料横移机构下降
// 移栽伺服下降到对应盘高位置
//上料气缸放松
// 移栽伺服上升，
// 上料横移机构上升
/// <summary>
/// 入料流程：升降盘定位气缸后退
/// </summary>
FI_01_TrayLocation_After = 11001,
/// <summary>
/// 入料流程：定位气缸下降
/// </summary>
FI_02_LocationCylinder_Down = 11002,
/// <summary>
/// 入口流水线转动，等待入料检测信号消失
/// </summary>
FI_01_InLineStart=11001,
FI_03_InLineStart = 11003,
/// <summary>
/// 入口流水线转动，等待阻挡气缸信号到位
/// </summary>
FI_02_InLineRun=11002,
FI_04_InLineRun= 11004,
/// <summary>
/// 入口流水线转动，等待入料阻挡信号消失
/// </summary>
FI_03_InLineStart = 11003,
FI_05_InLineStart = 11005,
/// <summary>
/// 入口流水线转动，等待定位工位检测到位
/// </summary>
FI_04_InLineRun = 11004,
FI_06_InLineRun = 11006,
/// <summary>
/// 已有工位检测信号，定位气缸上升
/// </summary>
FI_05_LocationUp=11005,
FI_07_LocationCylinder_Up = 11007,
/// <summary>
/// 提升轴下降到位P2
/// </summary>
FI_08_BatchAxisToP2 = 11008,
/// <summary>
/// 托盘定位气缸上升
/// 升降盘定位气缸前进
/// </summary>
FI_06_TrayLocationUp=11006,
FI_09_TrayLocation_Before = 11009,
/// <summary>
/// 上料轴开始慢速上升到P3点，等待加测到料盘
/// </summary>
FI_10_AxisUpMove= 11010,
/// <summary>
/// 判断是否有料盘，若无料盘，提升伺服下降
/// 有料盘：上料横移机构取料
/// </summary>
FI_11_MoveCylinder_Take = 11011,
/// <summary>
/// 上料横移机构下降
/// </summary>
FI_12_MoveCylinder_Down = 11012,
/// <summary>
/// 上料横移机构夹紧
/// </summary>
FI_13_MoveCylinder_Tighten = 11013,
/// <summary>
/// 上料横移机构上升，同时伺服运动到P3
/// </summary>
FI_14_MoveCylinder_Up = 11014,
/// <summary>
/// 记录高度尺寸
/// </summary>
FI_15_SaveSize= 11015,
/// <summary>
/// 上料横移气缸放料SOL
/// </summary>
FI_16_MoveCylinder_Emptying = 11016,
/// <summary>
/// 等待空托盘到达，并顶升上升，定位上升
/// </summary>
FI_17_WaitTray= 11017,
/// <summary>
/// 上料机构下降
/// </summary>
FI_18_MoveCylinder_Down = 11018,
/// <summary>
/// 移栽伺服下降到指定位置
/// </summary>
FI_19_UpdownAxisToP2= 11019,
/// <summary>
/// 上料气缸放松
/// </summary>
FI_20_MoveCylinder_Slack = 11020,
/// <summary>
/// 升降伺服到P1点
/// </summary>
FI_21_UpDownAxisToP1= 11021,
/// <summary>
/// 上料横移机构上升
/// </summary>
FI_22_MoveCylinder_Up = 11022,
/// <summary>
/// 上料横移机构到取料端
/// </summary>
FI_23_MoveCylinder_Take = 11023,
/// <summary>
/// 上料完成，未检测到料盘，提升伺服到P2点
/// </summary>
FI_31_BatchAxisToP2 = 11031,
/// <summary>
/// 上料完成，升降盘定位气缸后退
/// </summary>
FI_32_TrayLocationCylinder_After = 11032,
/// <summary>
/// 上料完成，提升伺服到P1点
/// </summary>
FI_33_BatchAxisToP1 = 11033,
/// <summary>
/// 上料完成，定位气缸下降，开始空料架移出
/// </summary>
FI_34_LocationCylinder_Down = 11034,
#endregion
#region 入料装置出料处理，12000开始
/// <summary>
......@@ -480,6 +632,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FO_01_OutLineStart = 11001,
#endregion
#region 出料装置移栽出料，20000开始
/// <summary>
/// 上下气缸下降
......
source/LoadCVSLibrary/storeConfig/config/FeedingEquip_Config.cs
......@@ -46,69 +46,88 @@ namespace OnlineStore.LoadCSVLibrary
public int UpDownUseAxis { get; set; }
/// <summary>
/// AXIS 0 批量上料轴 UpDown_Axis 2
/// AXIS 0 提升上料轴 UpDown_Axis 2
/// </summary>
[ConfigProAttribute("Batch_Axis", true)]
public ConfigMoveAxis Batch_Axis { get; set; }
/// <summary>
/// PRO 0 批量上料轴待机点 P1 BatchAxisP1 403000
/// PRO 0 提升上料轴原位待机点 P1 BatchAxisP1 1000
/// </summary>
[ConfigProAttribute("BatchAxisP1", true)]
public int BatchAxisP1 { get; set; }
/// <summary>
/// PRO 0 批量上料轴目标速度 BatchAxis_TargetSpeed 150
/// PRO 0 提升上料轴下降位置P2 BatchAxisP2 10000
/// </summary>
[ConfigProAttribute("BatchAxisP2", true)]
public int BatchAxisP2 { get; set; }
/// <summary>
/// PRO 0 提升上料缓慢上升目标位置P3 BatchAxisP3 500
/// </summary>
[ConfigProAttribute("BatchAxisP3", true)]
public int BatchAxisP3 { get; set; }
/// <summary>
/// PRO 0 提升上料轴目标速度 BatchAxis_TargetSpeed 150
/// </summary>
[ConfigProAttribute("BatchAxis_TargetSpeed", true)]
public int BatchAxis_TargetSpeed { get; set; }
/// <summary>
/// PRO 0 批量上料轴加速度 BatchAxis_AddSpeed 400
/// PRO 0 提升上料轴加速度 BatchAxis_AddSpeed 400
/// </summary>
[ConfigProAttribute("BatchAxis_AddSpeed", true)]
public short BatchAxis_AddSpeed { get; set; }
/// <summary>
/// PRO 0 批量上料轴减速度 BatchAxis_DelSpeed 400
/// PRO 0 提升上料轴减速度 BatchAxis_DelSpeed 400
/// </summary>
[ConfigProAttribute("BatchAxis_DelSpeed", true)]
public short BatchAxis_DelSpeed { get; set; }
/// <summary>
/// PRO 0 批量上料轴原点低速度 BatchAxis_HomeLowSpeed 100
/// PRO 0 提升上料轴原点低速度 BatchAxis_HomeLowSpeed 100
/// </summary>
[ConfigProAttribute("BatchAxis_HomeLowSpeed", true)]
public int BatchAxis_HomeLowSpeed { get; set; }
/// <summary>
/// PRO 0 批量上料轴原点高速 BatchAxis_HomeHighSpeed 200
/// PRO 0 提升上料轴原点高速 BatchAxis_HomeHighSpeed 200
/// </summary>
[ConfigProAttribute("BatchAxis_HomeHighSpeed", true)]
public int BatchAxis_HomeHighSpeed { get; set; }
/// <summary>
/// PRO 0 批量上料轴原点加速度 BatchAxis_HomeAddSpeed 200
/// PRO 0 提升上料轴原点加速度 BatchAxis_HomeAddSpeed 200
/// </summary>
[ConfigProAttribute("BatchAxis_HomeAddSpeed", true)]
public int BatchAxis_HomeAddSpeed { get; set; }
/// <summary>
/// PRO 0 移栽上下轴慢速上升速度 BatchAxis_SlowSpeed 200
/// </summary>
[ConfigProAttribute("BatchAxis_SlowSpeed", true)]
public int BatchAxis_SlowSpeed { get; set; }
/// <summary>
///PRO 0 批量上料轴P1速度 BatchAxis_P1Speed 400
///PRO 0 提升上料轴P1速度 BatchAxis_P1Speed 400
/// </summary>
[ConfigProAttribute("BatchAxis_P1Speed", true)]
public int BatchAxis_P1Speed { get; set; }
/// <summary>
/// PRO 0 批量上料轴在移栽上下降的位置 UpDownPositions 0=180000
///PRO 0 提升上料轴P2速度 BatchAxis_P2Speed 400
/// </summary>
[ConfigProAttribute("BatchAxis_P2Speed", true)]
public int BatchAxis_P2Speed { get; set; }
/// <summary>
///PRO 0 提升上料轴P3速度 BatchAxis_P3Speed 50
/// </summary>
[ConfigProAttribute("BatchAxis_P3Speed", true)]
public int BatchAxis_P3Speed { 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("UpDownPositions", true)]
public string UpDownPositions { get; set; }
[ConfigProAttribute("Height_ChangeValue", true)]
public int Height_ChangeValue { get; set; }
/// <summary>
/// PRO 0 批量上料轴在料仓门口下降的位置 UpDownBoxPositions 0=116000
/// PRO 0 提升上料轴在移栽上下降的位置 UpDownPositionsP2 0=180000
/// </summary>
[ConfigProAttribute("UpDownBoxPositions", true)]
public string UpDownBoxPositions { get; set; }
[ConfigProAttribute("UpDownPositionsP2", true)]
public string UpDownPositionsP2 { get; set; }
/// <summary>
/// AXIS 0 移栽上下轴 UpDown_Axis 2
......@@ -158,10 +177,10 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("UpdownAxis_P1Speed", true)]
public int UpdownAxis_P1Speed { get; set; }
/// <summary>
/// PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,,
/// PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,500,,,,,
/// </summary>
[ConfigProAttribute("UpdownAxis_DownSpeed", true)]
public int UpdownAxis_DownSpeed { get; set; }
[ConfigProAttribute("UpdownAxis_P2Speed", true)]
public int UpdownAxis_P2Speed { get; set; }
/// <summary>
/// PRO,0,是否是用来出料,IsCanOut,1,,,,,
......@@ -190,15 +209,15 @@ namespace OnlineStore.LoadCSVLibrary
return CameraList;
}
private Dictionary<int, int> UpDownPositionMap = null;
public int GetUpdownPosition(int trayHeight)
private Dictionary<int, int> UpDownPositionP2Map = null;
public int GetUpdownPositionP2(int trayHeight)
{
try
{
if (UpDownPositionMap == null)
if (UpDownPositionP2Map == null)
{
UpDownPositionMap = new Dictionary<int, int>();
string[] arrayList = UpDownPositions.Split(';');
UpDownPositionP2Map = new Dictionary<int, int>();
string[] arrayList = UpDownPositionsP2.Split(';');
foreach (string str in arrayList)
{
string[] arrStr = str.Split('=');
......@@ -206,7 +225,7 @@ namespace OnlineStore.LoadCSVLibrary
{
int height = Convert.ToInt32(arrStr[0].Trim());
int length = Convert.ToInt32(arrStr[1].Trim());
UpDownPositionMap.Add(height, length);
UpDownPositionP2Map.Add(height, length);
}
}
}
......@@ -215,12 +234,12 @@ namespace OnlineStore.LoadCSVLibrary
{
}
if (UpDownPositionMap.ContainsKey(trayHeight))
if (UpDownPositionP2Map.ContainsKey(trayHeight))
{
return UpDownPositionMap[trayHeight];
}else if (UpDownPositionMap.ContainsKey(0))
return UpDownPositionP2Map[trayHeight];
}else if (UpDownPositionP2Map.ContainsKey(0))
{
return UpDownPositionMap[0];
return UpDownPositionP2Map[0];
}
return -1;
}
......@@ -228,77 +247,24 @@ namespace OnlineStore.LoadCSVLibrary
public void UpdateUpdownPositon(int size, int sizePosition)
{
string newPositionStr = "";
if (UpDownPositionMap.ContainsKey(size))
if (UpDownPositionP2Map.ContainsKey(size))
{
UpDownPositionMap[size] = sizePosition;
UpDownPositionP2Map[size] = sizePosition;
}
else
{
UpDownPositionMap.Add(size, sizePosition);
UpDownPositionP2Map.Add(size, sizePosition);
}
foreach(int key in UpDownPositionMap.Keys)
foreach(int key in UpDownPositionP2Map.Keys)
{
newPositionStr += key + "=" + UpDownPositionMap[key] + ";";
newPositionStr += key + "=" + UpDownPositionP2Map[key] + ";";
}
newPositionStr = newPositionStr.Substring(0, newPositionStr.Length - 1);
UpDownPositions = newPositionStr;
}
private Dictionary<int, int> UpDownBoxPositionMap = null;
public int GetUpdownBoxPosition(int trayHeight)
{
try
{
if (UpDownBoxPositionMap == null)
{
UpDownBoxPositionMap = new Dictionary<int, int>();
string[] arrayList = UpDownBoxPositions.Split(';');
foreach (string str in arrayList)
{
string[] arrStr = str.Split('=');
if (arrStr.Length == 2)
{
int height = Convert.ToInt32(arrStr[0].Trim());
int length = Convert.ToInt32(arrStr[1].Trim());
UpDownBoxPositionMap.Add(height, length);
}
}
}
}
catch (Exception ex)
{
}
if (UpDownBoxPositionMap.ContainsKey(trayHeight))
{
return UpDownBoxPositionMap[trayHeight];
}else if (UpDownBoxPositionMap.ContainsKey(0))
{
return UpDownBoxPositionMap[0];
}
return -1;
UpDownPositionsP2 = newPositionStr;
}
public void UpdateUpdownBoxPositon(int size, int sizePosition)
{
string newPositionStr = "";
if (UpDownBoxPositionMap.ContainsKey(size))
{
UpDownBoxPositionMap[size] = sizePosition;
}
else
{
UpDownBoxPositionMap.Add(size, sizePosition);
}
foreach (int key in UpDownPositionMap.Keys)
{
newPositionStr += key + "=" + UpDownBoxPositionMap[key] + ";";
}
newPositionStr = newPositionStr.Substring(0, newPositionStr.Length - 1);
UpDownBoxPositions = newPositionStr;
}
public void SetAxisParam()
{
this.Batch_Axis.TargetSpeed = this.BatchAxis_TargetSpeed;
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
......@@ -480,21 +480,21 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
public static string SL_Out_Check = "SL_Out_Check";
/// <summary>
/// DI SL1托盘定位气缸1前进端 SL_TrayLocationCylinder1_Before X111
/// DI SL1托盘定位气缸1前进端 SL_TrayLocation1_Before X111
/// </summary>
public static string SL_TrayLocationCylinder1_Before = "SL_TrayLocationCylinder1_Before";
public static string SL_TrayLocation1_Before = "SL_TrayLocation1_Before";
/// <summary>
/// DI SL1托盘定位气缸1后退端 SL_TrayLocationCylinder1_After X112
/// DI SL1托盘定位气缸1后退端 SL_TrayLocation1_After X112
/// </summary>
public static string SL_TrayLocationCylinder1_After = "SL_TrayLocationCylinder1_After";
public static string SL_TrayLocation1_After = "SL_TrayLocation1_After";
/// <summary>
/// DI SL1托盘定位气缸2前进端 SL_TrayLocationCylinder2_Before X113
/// DI SL1托盘定位气缸2前进端 SL_TrayLocation2_Before X113
/// </summary>
public static string SL_TrayLocationCylinder2_Before = "SL_TrayLocationCylinder2_Before";
public static string SL_TrayLocation2_Before = "SL_TrayLocation2_Before";
/// <summary>
/// DI SL1托盘定位气缸2后退端 SL_TrayLocationCylinder2_After X114
/// DI SL1托盘定位气缸2后退端 SL_TrayLocation2_After X114
/// </summary>
public static string SL_TrayLocationCylinder2_After = "SL_TrayLocationCylinder2_After";
public static string SL_TrayLocation2_After = "SL_TrayLocation2_After";
/// <summary>
/// DI SL1料盘检测1 SL_TrayCheck1 X115
/// </summary>
......@@ -516,30 +516,30 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
public static string SL_AxisLocationCheck = "SL_AxisLocationCheck";
/// <summary>
/// DI /DO SL1上料横移机构上升端 SL_FeedSideWay_Up X124
/// DI /DO SL1上料横移机构上升端 SL_MoveCylinder_Up X124
/// </summary>
public static string SL_FeedSideWay_Up = "SL_FeedSideWay_Up";
public static string SL_MoveCylinder_Up = "SL_MoveCylinder_Up";
/// <summary>
/// DI /DO SL1上料横移机构下降端 SL_FeedSideWay_Down X125
/// DI /DO SL1上料横移机构下降端 SL_MoveCylinder_Down X125
/// </summary>
public static string SL_FeedSideWay_Down = "SL_FeedSideWay_Down";
public static string SL_MoveCylinder_Down = "SL_MoveCylinder_Down";
/// <summary>
/// DI /DO SL1上料横移气缸取料端 SL_FeedSideWayCylinder_Take X126
/// DI /DO SL1上料横移气缸取料端 SL_MoveCylinder_Take X126
/// </summary>
public static string SL_FeedSideWayCylinder_Take = "SL_FeedSideWayCylinder_Take";
public static string SL_MoveCylinder_Take = "SL_MoveCylinder_Take";
/// <summary>
/// DI /DO SL1上料横移气缸放料端 SL_FeedSideWayCylinder_Emptying X127
/// DI /DO SL1上料横移气缸放料端 SL_MoveCylinder_Give X127
/// </summary>
public static string SL_FeedSideWayCylinder_Emptying = "SL_FeedSideWayCylinder_Emptying";
public static string SL_MoveCylinder_Give = "SL_MoveCylinder_Give";
/// <summary>
/// DI /DO SL1上料气缸放松端 SL_FeedCylinder_Slack X128
/// DI /DO SL1上料气缸放松端 SL_MoveCylinder_Slack X128
/// </summary>
public static string SL_FeedCylinder_Slack = "SL_FeedCylinder_Slack";
public static string SL_MoveCylinder_Slack = "SL_MoveCylinder_Slack";
/// <summary>
/// DI /DO SL1上料气缸夹紧端 SL_FeedCylinder_Tighten X129
/// DI /DO SL1上料气缸夹紧端 SL_MoveCylinder_Tighten X129
/// </summary>
public static string SL_FeedCylinder_Tighten = "SL_FeedCylinder_Tighten";
public static string SL_MoveCylinder_Tighten = "SL_MoveCylinder_Tighten";
/// <summary>
/// DI SL1线体出口横移检测 SL_SideWay_OutCheck X136
......@@ -577,13 +577,13 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
public static string SL_Out_StopDown = "SL_Out_StopDown";
/// <summary>
/// DO SL1升降盘定位气缸1前进SOL SL_TrayLocationCylinder_Before Y123
/// DO SL1升降盘定位气缸1前进SOL SL_TrayLocation_Before Y123
/// </summary>
public static string SL_TrayLocationCylinder_Before = "SL_TrayLocationCylinder_Before";
public static string SL_TrayLocation_Before = "SL_TrayLocation_Before";
/// <summary>
/// DO SL1升降盘定位气缸1后退SOL SL_TrayLocationCylinder_After Y124
/// DO SL1升降盘定位气缸1后退SOL SL_TrayLocation_After Y124
/// </summary>
public static string SL_TrayLocationCylinder_After = "SL_TrayLocationCylinder_After";
public static string SL_TrayLocation_After = "SL_TrayLocation_After";
/// <summary>
/// DO SL1提升伺服刹车ON SL_UpAxis_BreakOn Y129
/// </summary>
......
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