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 27663f30 由 LN
选项

皮带线优化。上料逻辑优化。

1 个父辈 c8629e31
内嵌 并排
正在显示 5 个修改的文件 包含 79 行增加 和 217 行删除
dll/Asa.IOModule.AIOBOX.xml
...@@ -50,9 +50,14 @@ ...@@ -50,9 +50,14 @@
是否连接 是否连接
</summary> </summary>
</member> </member>
<member name="P:Asa.IOModule.AIOBOX.ErrInfo"> <member name="P:Asa.IOModule.AIOBOX.MonitorDI">
<summary> <summary>
错误信息 监控DI输入，索引数组
</summary>
</member>
<member name="P:Asa.IOModule.AIOBOX.MonitorDO">
<summary>
监控DO输出，索引数组
</summary> </summary>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.Connect"> <member name="M:Asa.IOModule.AIOBOX.Connect">
......
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -36,9 +36,6 @@ ...@@ -36,9 +36,6 @@
<Prefer32Bit>false</Prefer32Bit> <Prefer32Bit>false</Prefer32Bit>
</PropertyGroup> </PropertyGroup>
<ItemGroup> <ItemGroup>
<Reference Include="Asa.IOModule.AIOBOX">
<HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
</Reference>
<Reference Include="Client, Version=1.0.0.1, Culture=neutral, processorArchitecture=MSIL"> <Reference Include="Client, Version=1.0.0.1, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion> <SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\Client.dll</HintPath> <HintPath>..\..\dll\Client.dll</HintPath>
...@@ -84,6 +81,7 @@ ...@@ -84,6 +81,7 @@
<Compile Include="baan\AxisBean.cs" /> <Compile Include="baan\AxisBean.cs" />
<Compile Include="baan\WaitUtil.cs" /> <Compile Include="baan\WaitUtil.cs" />
<Compile Include="deviceLibrary\halcon\CodeManager.cs" /> <Compile Include="deviceLibrary\halcon\CodeManager.cs" />
<Compile Include="deviceLibrary\IO\AIOBOX\AIOBOX.cs" />
<Compile Include="deviceLibrary\IO\AIOBOX\AIOBOXManager.cs" /> <Compile Include="deviceLibrary\IO\AIOBOX\AIOBOXManager.cs" />
<Compile Include="deviceLibrary\IO\IOManager.cs" /> <Compile Include="deviceLibrary\IO\IOManager.cs" />
<Compile Include="assemblyLine\LineBean.cs" /> <Compile Include="assemblyLine\LineBean.cs" />
......
source/DeviceLibrary/assemblyLine/DischargeLine_Partial.cs
...@@ -94,187 +94,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -94,187 +94,7 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
protected override void OutStoreProcess() private void DON_03_GetTraySize()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 原有方式的横移料盘处理
//if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_01_WaitTime))
//{
// ScanCode();
//}
//if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_02_ScanCode))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_03_GetTraySize);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// LastWidth = 0;
// int robotIndex = GetRobotIndex();
// string result = SServerManager.GetTraySize(Name, robotIndex, StationInfo_Move.CodeStr, out LastWidth);
// LogUtil.info(hengyiName + "出口有料，二维码[" + StationInfo_Move.CodeStr + "] 获取料盘尺寸【" + LastWidth + "】【" + result + "】");
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_03_GetTraySize))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_04_SUpDownMove);
// if (LastWidth.Equals(7))
// {
// LogUtil.info(hengyiName + "出口有料，料盘尺寸【" + LastWidth + "】上升分盘定位气缸");
// CylinderMove(MoveInfo, IO_Type.SeparateDevice_Down, IO_Type.SeparateDevice_Up);
// }
// else if (LastWidth > 0)
// {
// LogUtil.info(hengyiName + "出口有料，料盘尺寸【" + LastWidth + "】下降分盘定位气缸");
// CylinderMove(MoveInfo, IO_Type.SeparateDevice_Up, IO_Type.SeparateDevice_Down);
// }
// else
// {
// MoveInfo.NextMoveStep(LineMoveStep.DO_10_StopSeparateLine);
// LogUtil.info(hengyiName + "扫码NG料， 先转动NG料到扫码后一个工位，需要停止接驳台皮带线");
// SeparateStopRun(MoveInfo);
// }
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_10_StopSeparateLine))
//{
// if (TrayProcessCanStartLine())
// {
// MoveInfo.NextMoveStep(LineMoveStep.DO_11_NGToNextStation);
// LogUtil.info(hengyiName + "扫码NG料， 先转动NG料到扫码后一个工位");
// Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
// Task.Factory.StartNew(delegate
// {
// Thread.Sleep(1000);
// SeparateBackRun(null);
// });
// }
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_04_SUpDownMove))
//{
// if (TrayProcessCanStartLine())
// {
// MoveInfo.NextMoveStep(LineMoveStep.DO_05_LineRun1);
// LogUtil.info(hengyiName + "出口有料，转动皮带线到扫码后一个工位，同时转动分盘装置");
// IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
// Line3Turn.StartLineRun(IO_Type.DLine_Run3, IO_Type.Location_Check3, Line3EndProcess);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Location_Check3, IO_VALUE.HIGH));
// }
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_05_LineRun1))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_07_SeparateCheck);
// // Line3LastTrayP++;
// LogUtil.info(hengyiName + "出口有料，等待料盘到达分盘装置位置，最多等待60000");
// MoveInfo.TimeOutSeconds = 40;
// MoveInfo.OneWaitCanEndStep = true;
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SeparateDevice_Check, IO_VALUE.HIGH));
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_07_SeparateCheck))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_08_CRun);
// if (IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.HIGH))
// {
// int robotIndex = GetRobotIndex();
// LogUtil.info(hengyiName + "出口有料，转动接驳台皮带线2000 , 收到SeparateDevice_Check信号，调用arriveRobotLocation=" + robotIndex);
// SServerManager.arriveRobotLocation(Name, robotIndex, StationInfo_Move.CodeStr);
// }
// else
// {
// LogUtil.info(hengyiName + "出口有料，转动接驳台皮带线2000 ,未收到SeparateDevice_Check信号");
// }
// IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_08_CRun))
//{
// MoveEndS();
// // IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
// LogUtil.info(hengyiName + "出口有料，送料结束 ");
//}
#endregion
#region NG料处理
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_11_NGToNextStation))
//{
// //如果是301，接驳台皮带倒转
// if (DeviceID.Equals(301))
// {
// MoveInfo.NextMoveStep(LineMoveStep.DO_15_SeparateBackRun);
// LogUtil.info(hengyiName + "扫码NG料，接驳台开始倒转");
// SeparateBackRun(MoveInfo);
// }
// //如果是302，NG气缸前进
// else
// {
// MoveInfo.NextMoveStep(LineMoveStep.DO_12_NGCylinderForward);
// LogUtil.info(hengyiName + "扫码NG料，NG气缸前进");
// ScanNgForward(MoveInfo);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// }
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_12_NGCylinderForward))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_13_NGCylinderWait);
// LogUtil.info(hengyiName + "扫码NG料，NG气缸等待1500后后退");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_13_NGCylinderWait))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_14_NGCylinderBack);
// LogUtil.info(hengyiName + "扫码NG料，NG气缸后退");
// ScanNgBack(MoveInfo);
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_14_NGCylinderBack))
//{
// MoveEndS();
// LogUtil.info(hengyiName + "扫码NG料结束，NG气缸已后退 ");
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_15_SeparateBackRun))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_16_SeparateBackRunWait);
// LogUtil.info(hengyiName + "扫码NG料，接驳台反转等待3000");
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_16_SeparateBackRunWait))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_17_SeparateStopRun);
// LogUtil.info(hengyiName + "扫码NG料，接驳台停止反转");
// SeparateStopRun(MoveInfo);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_17_SeparateStopRun))
//{
// MoveInfo.NextMoveStep(LineMoveStep.DO_18_SeparateRun);
// LogUtil.info(hengyiName + "扫码NG料，接驳台恢复正转");
// SeparateLineRun(MoveInfo);
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.DO_18_SeparateRun))
//{
// MoveEndS();
// LogUtil.info(hengyiName + "扫码NG料结束，皮带线已正转 ");
//}
#endregion
#region 新方式的横移料盘处理，扫码工位与NG工位分开处理
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_01_WaitTime))
{ {
MoveInfo.NextMoveStep(LineMoveStep.DON_03_GetTraySize); MoveInfo.NextMoveStep(LineMoveStep.DON_03_GetTraySize);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
...@@ -284,10 +104,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -284,10 +104,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(hengyiName + MoveInfo.SLog + "送料： [" + StationInfo_Move.CodeStr + "] 获取尺寸【" + LastWidth + "】【" + result + "】"); LogUtil.info(hengyiName + MoveInfo.SLog + "送料： [" + StationInfo_Move.CodeStr + "] 获取尺寸【" + LastWidth + "】【" + result + "】");
if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_03_GetTraySize)) if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_03_GetTraySize))
{ {
MoveInfo.EndStepWait(); DON_04_SUpDownMove();
} }
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_03_GetTraySize)) private void DON_04_SUpDownMove()
{ {
MoveInfo.NextMoveStep(LineMoveStep.DON_04_SUpDownMove); MoveInfo.NextMoveStep(LineMoveStep.DON_04_SUpDownMove);
if (LastWidth.Equals(7)) if (LastWidth.Equals(7))
...@@ -309,6 +129,30 @@ namespace OnlineStore.DeviceLibrary ...@@ -309,6 +129,30 @@ namespace OnlineStore.DeviceLibrary
ScanNgForward(MoveInfo); ScanNgForward(MoveInfo);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
} }
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
#region 新方式的横移料盘处理，扫码工位与NG工位分开处理
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_01_WaitTime))
{
DON_03_GetTraySize();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_03_GetTraySize))
{
DON_04_SUpDownMove();
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_04_SUpDownMove)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_04_SUpDownMove))
...@@ -401,12 +245,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -401,12 +245,17 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NewMove(LineMoveType.OutStore); MoveInfo.NewMove(LineMoveType.OutStore);
LogUtil.info(hengyiName + "NG工位有料，NG气缸后退，等待100后获取尺寸，清理NG工位"); LogUtil.info(hengyiName + "NG工位有料，NG气缸后退，等待100后获取尺寸，清理NG工位");
StationInfo_NG = new StationTrayInfo(); StationInfo_NG = new StationTrayInfo();
LastWidth = 0;
MoveInfo.NextMoveStep(LineMoveStep.DON_01_WaitTime); MoveInfo.NextMoveStep(LineMoveStep.DON_01_WaitTime);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
if (ScanNgIsBack())
{
DON_03_GetTraySize();
}
else
{
ScanNgBack(MoveInfo); ScanNgBack(MoveInfo);
// LastCodeList = new List<string>(); }
LastWidth = 0;
// scanCodeCount = 0;
return true; return true;
} }
else else
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -815,7 +815,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -815,7 +815,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize); MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
if (MoveCylineIsUp()) if (MoveCylineIsUp())
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_22_CylinderGive); MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL"); InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give); CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
} }
...@@ -858,20 +858,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -858,20 +858,22 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
InLog("料盘移栽" + MoveInfo.SLog + "：记录 高度【" + LastHeight + "】宽度【" + LastWidth + "】,此时未检测到料盘，上料轴位置【" + currP + "】不在P3：" + Config.BatchAxisP3 + ""); InLog("料盘移栽" + MoveInfo.SLog + "：记录 高度【" + LastHeight + "】宽度【" + LastWidth + "】,此时未检测到料盘，上料轴位置【" + currP + "】不在P3：" + Config.BatchAxisP3 + "，预扫码");
YuScanCode();
} }
} }
else else
{ {
InLog("料盘移栽" + MoveInfo.SLog + "：记录 高度【" + LastHeight + "】宽度【" + LastWidth + "】"); InLog("料盘移栽" + MoveInfo.SLog + "：记录 高度【" + LastHeight + "】宽度【" + LastWidth + "】，预扫码");
YuScanCode();
} }
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_SaveSize)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_SaveSize))
{ {
if (MoveCylineIsUp()) if (MoveCylineIsUp())
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_22_CylinderGive); MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL"); InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give); CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
} }
...@@ -882,17 +884,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -882,17 +884,25 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up); CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
} }
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_CylinderGive)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_CylinderGive))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_22_BatchAxisDown);
if (!MoveInfo.ShelfNoTray)
{
FI_BatchAxisDown();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_BatchAxisDown))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_23_WaitTray); MoveInfo.NextMoveStep(LineMoveStep.FI_23_WaitTray);
int targetPositon = Config.GetUpdownP2Detial(LastHeight, LastWidth); int targetPositon = Config.GetUpdownP2Detial(LastHeight, LastWidth);
string log = "：移栽伺服下降到P2:" + targetPositon; string log = "：移栽伺服下降到P2:" + targetPositon;
InLog("料盘移栽" + MoveInfo.SLog + "：等待空托盘到达 " + log + ""); InLog("料盘移栽" + MoveInfo.SLog + "：等待空托盘到达 " + log + "");
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed); UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
if (!MoveInfo.ShelfNoTray) //if (!MoveInfo.ShelfNoTray)
{ //{
YuScanCode(); // YuScanCode();
} //}
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_WaitTray))//TODO else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_WaitTray))//TODO
{ {
...@@ -900,15 +910,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -900,15 +910,15 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_24_CylinderDown); MoveInfo.NextMoveStep(LineMoveStep.FI_24_CylinderDown);
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down); CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
if (!MoveInfo.ShelfNoTray) //if (!MoveInfo.ShelfNoTray)
{ //{
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降， 托盘号【" + currTrayNum + "】，更新托盘为有料，获取库位号 , 提升轴下降指定位置"); // InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降， 托盘号【" + currTrayNum + "】，更新托盘为有料，获取库位号 , 提升轴下降指定位置");
FI_21_BatchAxisDown(); // FI_21_BatchAxisDown();
} //}
else //else
{ //{
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降， 托盘号【" + currTrayNum + "】，更新托盘为有料，获取库位号 ,"); InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降， 托盘号【" + currTrayNum + "】，更新托盘为有料，获取库位号 ,");
} //}
string code = CodeManager.ProcessCode(LastCodeList); string code = CodeManager.ProcessCode(LastCodeList);
lastcode = code; lastcode = code;
TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, new InOutParam(currTrayNum, code, "", LastHeight, LastWidth, false), ""); TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, new InOutParam(currTrayNum, code, "", LastHeight, LastWidth, false), "");
...@@ -935,7 +945,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -935,7 +945,7 @@ namespace OnlineStore.DeviceLibrary
} }
catch (Exception ex) catch (Exception ex)
{ {
LogUtil.error(Name + "托盘【" + currTrayNum + "】【"+code+"】获取库位号报错：" + ex.ToString()); LogUtil.error(Name + "托盘【" + currTrayNum + "】【" + code + "】获取库位号报错：" + ex.ToString());
} }
}); });
...@@ -997,7 +1007,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -997,7 +1007,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.error(Name + "["+MoveInfo.MoveType+"][" + MoveInfo.SLog + "] 获取库位号还未完成，状态：" + getPosTask.Status); LogUtil.error(Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.SLog + "] 获取库位号还未完成，状态：" + getPosTask.Status);
} }
} }
#endregion #endregion
...@@ -1119,7 +1129,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1119,7 +1129,7 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down); CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
} }
} }
private void FI_21_BatchAxisDown() private void FI_BatchAxisDown()
{ {
// MoveInfo.NextMoveStep(LineMoveStep.FI_21_BatchAxisDown); // MoveInfo.NextMoveStep(LineMoveStep.FI_21_BatchAxisDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
......
source/DeviceLibrary/model/StoreStep.cs
...@@ -656,15 +656,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -656,15 +656,15 @@ namespace OnlineStore.DeviceLibrary
/// 料盘移栽：记录高度尺寸 /// 料盘移栽：记录高度尺寸
/// </summary> /// </summary>
FI_20_SaveSize , FI_20_SaveSize ,
///// <summary>
///// 提升轴下降到料盘不溢出的位置
///// </summary>
//FI_21_BatchAxisDown,
/// <summary> /// <summary>
/// 料盘移栽： 上料横移气缸放料SOL /// 料盘移栽： 上料横移气缸放料SOL
/// </summary> /// </summary>
FI_22_CylinderGive , FI_21_CylinderGive,
/// <summary>
/// 提升轴下降到料盘不溢出的位置
/// </summary>
FI_22_BatchAxisDown,
/// <summary> /// <summary>
/// 料盘移栽：等待空托盘到达，移栽伺服下降到P2，并预扫码 /// 料盘移栽：等待空托盘到达，移栽伺服下降到P2，并预扫码
/// </summary> /// </summary>
......
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!