入料模块修改：定位机构不在后退端时不能处理料架。

LN
Commit 278b446e 由 LN 编写于 2020-04-17 09:15:14 +0800
source/AssemblyLineClient/Program.cs
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
--- a/source/AssemblyLineClient/Program.cs
查看文件 @278b446
+++ b/source/AssemblyLineClient/Program.cs
查看文件 @278b446
@@ -125,6 +125,8 @@ namespace OnlineStore.AssemblyLine
            //这里可以进一步地写日志
            LOGGER.Error("【" + type + "】" + exceptionobj);
            MessageBox.Show(exceptionobj, type);
+            LogUtil.error("【" + type + "】" + exceptionobj);
        }
    }
 }
--- a/source/DeviceLibrary/assemblyLine/FeedingEquip.cs
查看文件 @278b446
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip.cs
查看文件 @278b446
@@ -84,9 +84,13 @@ namespace OnlineStore.DeviceLibrary
        public override bool Reset()
        { 
+            runStatus = LineRunStatus.Reset; 
            StopMove(); 
+            MoveInfo.NewMove(LineMoveType.Reset);
+            SecondMoveInfo.EndMove();
            if (RunAxis(true, BatchAxis) && RunAxis(true, UpdownAxis))
            {
                alarmType = LineAlarmType.None;
                LogInfo("开始重置： ");
                runStatus = LineRunStatus.Reset;
@@ -289,8 +293,8 @@ namespace OnlineStore.DeviceLibrary
        internal override void StopMove()
        {
-            MoveInfo.EndMove();
+            //MoveInfo.EndMove();
-            SecondMoveInfo.EndMove();
+            //SecondMoveInfo.EndMove();
            BatchAxisStopCheck();
            BatchAxis.SuddenStop();
            UpdownAxis.SuddenStop();
@@ -325,7 +329,8 @@ namespace OnlineStore.DeviceLibrary
                mainTimer.Enabled = false;
            }
            StopMove();
+            MoveInfo.EndMove();
+            SecondMoveInfo.EndMove();
        }
@@ -613,7 +618,7 @@ namespace OnlineStore.DeviceLibrary
                lastOkTime = DateTime.Now;
                if (IOValue(TargetIoType).Equals(TargetIoValue))
                {
-                    LogUtil.debug(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
+                    LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
                    BatchAxis.SuddenStop();
                    BatchAxisStopCheck();
                }

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
查看文件 @278b446
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
查看文件 @278b446
@@ -524,8 +524,12 @@ namespace OnlineStore.DeviceLibrary
            //若定位工位，阻挡工位，有 料架，需要进行处理
            if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
            { 
+                //升降盘需要在后退端
+                if (IsTrayLCylinderAfter())
+                { 
                    StartInStoreMove(null);
                }
+            }
            else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
            {
                //小车到达，开始处理 
@@ -553,9 +557,17 @@ namespace OnlineStore.DeviceLibrary
            }
            else
            {
+                if (IsTrayLCylinderAfter())
+                {
                    MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
                    InLog("检测到料架， " + MoveInfo.MoveStep + "  ：升降盘定位气缸下降");
                    TrayLCylinderAfter(MoveInfo);
+                }else
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_00_BatchAxisToP2);
+                    OutLog("检测到料架，升降盘不在后退端 " + MoveInfo.SLog + "  ：提升伺服先回到P2");
+                    BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
+                }
            }
            return true;
        }
@@ -621,11 +633,11 @@ namespace OnlineStore.DeviceLibrary
                return;
            }
            #region 入料：料架进入并开始检测托盘
-            if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
+            if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_00_BatchAxisToP2))
            {
-                //MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
+                MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
-                //InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸下降");
+                InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸下降");
-                //TrayLCylinderAfter(MoveInfo);
+                TrayLCylinderAfter(MoveInfo);
            }
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_01_TrayLocation_After))
            {
@@ -1189,26 +1201,28 @@ namespace OnlineStore.DeviceLibrary
        private void BatchAxisToP3(bool isFirstMove = true)
        {
            int targetP3 = Config.BatchAxisP3;
+            int targetSpeed = Config.BatchAxis_P3Speed;
            if (!isFirstMove)
            {
                int currPosition = BatchAxis.GetAclPosition();
                if (currPosition != -1)
                {
-                    targetP3 = currPosition + Config.Height_ChangeValue * 100;
+                    targetP3 = currPosition + Config.Height_ChangeValue * 80;
                    if (targetP3 > Config.BatchAxisP3)
                    {
                        targetP3 = Config.BatchAxisP3;
                    }
                    LogUtil.info(Name + " BatchAxisToP3 目标P3: " + targetP3 + "(" + currPosition + ")");
                }
+                targetSpeed = Config.BatchAxis_P3Speed / 2;
            }
            MoveInfo.TimeOutSeconds = 200;
            MoveInfo.CanWhileCount = 0;
            //  需要增加定时器，获取验证信号并停止伺服
            StartMovePosition = BatchAxis.GetAclPosition();
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, Config.BatchAxis_P3Speed));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, targetSpeed));
            Config.Batch_Axis.TargetPosition = targetP3;
-            BatchAxis.AbsMove(null, targetP3, Config.BatchAxis_P3Speed);
+            BatchAxis.AbsMove(null, targetP3, targetSpeed);
            //开始检测信号
            BatchAxisStartCheck();
        }

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @278b446
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @278b446
@@ -175,7 +175,7 @@ namespace OnlineStore.DeviceLibrary
            MoveInfo.NewMove(LineMoveType.OutStore);
            MoveInfo.MoveParam = new InOutParam();
            taskData = null;
-            if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
+            if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)&& IsTrayLCylinderAfter())
            {
                FO_04_WaitTime();
            }