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Commit 2a3343e8 由 张东亮
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入库空抓料盘时取消入库任务

1 个父辈 9e9d9777
内嵌 并排
正在显示 2 个修改的文件 包含 63 行增加 和 19 行删除
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
...@@ -108,6 +108,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -108,6 +108,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LogInfo("复位前，清理出库高度：" + OutStoreHeight); LogInfo("复位前，清理出库高度：" + OutStoreHeight);
} }
lastcode = "";
//复位时设置状态为none //复位时设置状态为none
AgvClient.SetStatus(Config.AgvInName); AgvClient.SetStatus(Config.AgvInName);
AgvClient.SetStatus(Config.AgvOutName); AgvClient.SetStatus(Config.AgvOutName);
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -347,7 +347,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -347,7 +347,7 @@ namespace OnlineStore.DeviceLibrary
{ {
TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum); TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
bool isfull = tray.IsFull; bool isfull = tray.IsFull;
if (tray!=null&& tray.InoutPar.Corrected) if (tray != null && tray.InoutPar.Corrected)
{ {
LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " 入库中，需拦截空托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号"); LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " 入库中，需拦截空托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号");
} }
...@@ -365,7 +365,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -365,7 +365,7 @@ namespace OnlineStore.DeviceLibrary
LogInfo("当前托盘上的料盘检测信号[" + io.ConfigStr + "]的值：" + IOValue(IO_Type.ReelCheck)); LogInfo("当前托盘上的料盘检测信号[" + io.ConfigStr + "]的值：" + IOValue(IO_Type.ReelCheck));
} }
LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " 入库中，需拦截空托盘【 " + currTrayNum + "】，空托盘料盘检测信号亮，禁用托盘，暂时放托盘离开"); LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " 入库中，需拦截空托盘【 " + currTrayNum + "】，空托盘料盘检测信号亮，禁用托盘，暂时放托盘离开");
TrayDisableManager.AddDisable(currTrayNum, Name, "空托盘料盘检测信号亮", 2,DeviceID); TrayDisableManager.AddDisable(currTrayNum, Name, "空托盘料盘检测信号亮", 2, DeviceID);
TrayMoveOk(); TrayMoveOk();
return; return;
} }
...@@ -559,7 +559,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -559,7 +559,7 @@ namespace OnlineStore.DeviceLibrary
return; return;
} }
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk); SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
InLog("料盘移栽" + MoveInfo.SLog + "，"+SecondMoveInfo.SLog+"：托盘开始放行"); InLog("料盘移栽" + MoveInfo.SLog + "，" + SecondMoveInfo.SLog + "：托盘开始放行");
if (Config.SidesWayNum > 0) if (Config.SidesWayNum > 0)
{ {
if (CylinderIsOk(IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down)) if (CylinderIsOk(IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down))
...@@ -680,7 +680,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -680,7 +680,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After); MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
InLog("检测到料架， " + MoveInfo.MoveStep + " ：升降盘定位气缸下降"); InLog("检测到料架， " + MoveInfo.MoveStep + " ：升降盘定位气缸下降");
TrayLCylinderAfter(MoveInfo); TrayLCylinderAfter(MoveInfo);
}else }
else
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_00_BatchAxisToP2); 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"); OutLog("检测到料架，升降盘不在后退端 " + MoveInfo.SLog + " ：提升伺服先回到P2");
...@@ -724,7 +725,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -724,7 +725,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.HIGH)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.HIGH));
} else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH)) }
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart); MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InLog("入料检测： " + MoveInfo.SLog + " 进料口有新料架，进料阻挡上升，缓冲阻挡前进1000，流水线转动 1000"); InLog("入料检测： " + MoveInfo.SLog + " 进料口有新料架，进料阻挡上升，缓冲阻挡前进1000，流水线转动 1000");
...@@ -793,10 +795,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -793,10 +795,10 @@ namespace OnlineStore.DeviceLibrary
string ip = RFIDManager.GetRFIP(DeviceID, 1); string ip = RFIDManager.GetRFIP(DeviceID, 1);
InLog("料架号【" + CurrShelfId + "】无效，ResetRFID[" + ip + "], 等待30秒后重新读取"); InLog("料架号【" + CurrShelfId + "】无效，ResetRFID[" + ip + "], 等待30秒后重新读取");
string msg = ""; string msg = "";
bool result=RFIDManager.ResetRFID(ip, out msg); bool result = RFIDManager.ResetRFID(ip, out msg);
if (!result) if (!result)
{ {
LogUtil.error(Name+ "料架号【" + CurrShelfId + "】无效，ResetRFID[" + ip + "], 失败："+msg); LogUtil.error(Name + "料架号【" + CurrShelfId + "】无效，ResetRFID[" + ip + "], 失败：" + msg);
} }
//MoveInfo.NextMoveStep(LineMoveStep.FI_53_BatchAxisToP1); //MoveInfo.NextMoveStep(LineMoveStep.FI_53_BatchAxisToP1);
...@@ -1342,7 +1344,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1342,7 +1344,7 @@ namespace OnlineStore.DeviceLibrary
private void FI_25_WaitTray() private void FI_25_WaitTray()
{ {
if ((getPosTask==null|| getPosTask.IsCompleted) && LastPosParam != null) if ((getPosTask == null || getPosTask.IsCompleted) && LastPosParam != null)
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_25_WaitTray); MoveInfo.NextMoveStep(LineMoveStep.FI_25_WaitTray);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
...@@ -1381,6 +1383,46 @@ namespace OnlineStore.DeviceLibrary ...@@ -1381,6 +1383,46 @@ namespace OnlineStore.DeviceLibrary
//MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200)); //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
LastPosParam = null; LastPosParam = null;
string code = CodeManager.ProcessCode(LastCodeList); string code = CodeManager.ProcessCode(LastCodeList);
if (!string.IsNullOrEmpty(lastcode) && !string.IsNullOrEmpty(code))
{
if (lastcode.Equals(code))
{
InLog($"【{code}】与上一盘的条码相同【{lastcode}】，认为空抓，取消该入库任务，直接NG不需要获取库位号");
getPosTask = null;
LastPosParam = new InOutParam(0, lastcode, "", LastHeight, LastWidth, true);
LastPosParam.NgMsg = $"入库：与上一盘的条码相同,认为空抓";
LastPosParam.InStoreNg = true;
LastPosParam.rfid = CurrShelfId;
LastPosParam.WareCode = lastcode;
LastPosParam.ManualJudgeNG = true;
//如果没有宽度，默认最宽料盘
if (LastWidth <= 0)
{
LastWidth = 15;
LastHeight = 56;
LastPosParam.PlateH = LastHeight;
LastPosParam.PlateW = LastWidth;
InLog($"【{code}】宽度为0，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true");
}
else
{
if (LastWidth.Equals(7))
{
LastHeight = 16;
}
else
{
LastHeight = 56;
}
LastPosParam.PlateH = LastHeight;
InLog($"【{code}】宽度为{LastWidth}，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true");
}
SServerManager.cancelPutInTask(Name, LastPosParam.WareCode, false);
return;
}
}
lastcode = code; lastcode = code;
//如果尺寸或者高度为0，不需要获取库位号 //如果尺寸或者高度为0，不需要获取库位号
if (LastWidth <= 0 || LastHeight <= 0) if (LastWidth <= 0 || LastHeight <= 0)
...@@ -1388,8 +1430,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -1388,8 +1430,8 @@ namespace OnlineStore.DeviceLibrary
InLog($"【" + code + "】清空LastPosResult，料盘尺寸 {LastWidth}X{LastHeight} 尺寸不完整，直接NG不需要获取库位号"); InLog($"【" + code + "】清空LastPosResult，料盘尺寸 {LastWidth}X{LastHeight} 尺寸不完整，直接NG不需要获取库位号");
getPosTask = null; getPosTask = null;
LastPosParam = new InOutParam(0,lastcode,"",LastHeight,LastWidth,true) ; LastPosParam = new InOutParam(0, lastcode, "", LastHeight, LastWidth, true);
LastPosParam.NgMsg =$"入库：{LastWidth}X{LastHeight} 尺寸不完整"; LastPosParam.NgMsg = $"入库：{LastWidth}X{LastHeight} 尺寸不完整";
LastPosParam.InStoreNg = true; LastPosParam.InStoreNg = true;
LastPosParam.rfid = CurrShelfId; LastPosParam.rfid = CurrShelfId;
LastPosParam.WareCode = lastcode; LastPosParam.WareCode = lastcode;
...@@ -1401,7 +1443,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1401,7 +1443,7 @@ namespace OnlineStore.DeviceLibrary
LastHeight = 56; LastHeight = 56;
LastPosParam.PlateH = LastHeight; LastPosParam.PlateH = LastHeight;
LastPosParam.PlateW = LastWidth; LastPosParam.PlateW = LastWidth;
InLog($"【{ code }】宽度为0，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true"); InLog($"【{code}】宽度为0，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true");
} }
else else
{ {
...@@ -1414,7 +1456,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1414,7 +1456,7 @@ namespace OnlineStore.DeviceLibrary
LastHeight = 56; LastHeight = 56;
} }
LastPosParam.PlateH = LastHeight; LastPosParam.PlateH = LastHeight;
InLog($"【{ code }】宽度为{LastWidth}，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true"); InLog($"【{code}】宽度为{LastWidth}，默认最大料盘尺寸 {LastPosParam.PlateW}X{LastPosParam.PlateH} ，标记 ManualJudgeNG=true");
} }
return; return;
} }
...@@ -1526,7 +1568,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1526,7 +1568,7 @@ namespace OnlineStore.DeviceLibrary
{ {
targetPosition = maxtPosition; 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+",速度："+Config.BatchAxis_P4Speed); 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); BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P4Speed);
} }
...@@ -1547,7 +1589,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1547,7 +1589,7 @@ namespace OnlineStore.DeviceLibrary
YuScanTask = Task.Factory.StartNew(delegate YuScanTask = Task.Factory.StartNew(delegate
{ {
Thread.Sleep(100); Thread.Sleep(100);
NextCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name.Trim()+"预扫码"); NextCodeList = CodeManager.CameraScan(Config.GetCameraList(), Name.Trim() + "预扫码");
bool isCanUse = true; bool isCanUse = true;
//判断是否可用 //判断是否可用
foreach (string nC in NextCodeList) foreach (string nC in NextCodeList)
...@@ -1708,7 +1750,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1708,7 +1750,7 @@ namespace OnlineStore.DeviceLibrary
if (LoopCount < 10) if (LoopCount < 10)
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove); MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘，LoopCount="+LoopCount); InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘，LoopCount=" + LoopCount);
MoveInfo.ShelfNoTray = false; MoveInfo.ShelfNoTray = false;
BatchAxisToP3(false); BatchAxisToP3(false);
} }
...@@ -1772,7 +1814,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1772,7 +1814,7 @@ namespace OnlineStore.DeviceLibrary
private List<string> LastCodeList = new List<string>(); private List<string> LastCodeList = new List<string>();
private List<string> NextCodeList = new List<string>(); private List<string> NextCodeList = new List<string>();
private int TrayLCylinderMoveCount=0;//升降盘气缸已运动次数 private int TrayLCylinderMoveCount = 0;//升降盘气缸已运动次数
private int GetHeight() private int GetHeight()
{ {
LastHeight = 0; LastHeight = 0;
...@@ -1821,7 +1863,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1821,7 +1863,7 @@ namespace OnlineStore.DeviceLibrary
} }
if (LastHeight <= 8) { LastHeight = 8; } if (LastHeight <= 8) { LastHeight = 8; }
string code = CodeManager.ProcessCode(LastCodeList); string code = CodeManager.ProcessCode(LastCodeList);
string msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后"+buchongStr+"[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【"+code+"】"; string msg = Name + " 计算盘高：上升前 [" + StartMovePosition + "]实时[ " + EndMovePosition + "]差值[" + (EndMovePosition - StartMovePosition) + "]系数[" + AxisChangeValue + "] 计算后" + buchongStr + "[" + height + "]" + ",归类为【" + LastHeight + "mm】条码【" + code + "】";
LogUtil.info(msg); LogUtil.info(msg);
return LastHeight; return LastHeight;
} }
...@@ -1843,7 +1885,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -1843,7 +1885,8 @@ namespace OnlineStore.DeviceLibrary
else if (IOValue(IO_Type.SL_TrayCheck1).Equals(IO_VALUE.HIGH)) else if (IOValue(IO_Type.SL_TrayCheck1).Equals(IO_VALUE.HIGH))
{ {
width = 7; width = 7;
}else }
else
{ {
LogUtil.error(Name + "GetWidth ：1234都未检测到，默认为7寸盘"); LogUtil.error(Name + "GetWidth ：1234都未检测到，默认为7寸盘");
width = 7; width = 7;
...@@ -1958,7 +2001,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1958,7 +2001,7 @@ namespace OnlineStore.DeviceLibrary
{ {
//入料执行中， 且需要空托盘 //入料执行中， 且需要空托盘
if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_WaitTray) || if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_WaitTray) ||
MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_BatchAxisDown)|| MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_BatchAxisDown) ||
MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_CylinderGive)) MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_CylinderGive))
//if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_WaitTray) && MoveInfo.IsInWait.Equals(false)) //if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_WaitTray) && MoveInfo.IsInWait.Equals(false))
{ {
......
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