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 4a70e617 由 LN
选项

1.入料逻辑修改。

1 个父辈 f9e97528
内嵌 并排
正在显示 5 个修改的文件 包含 58 行增加 和 36 行删除
source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -386,7 +386,7 @@ namespace OnlineStore.AssemblyLine
}
private void btnFeedSideWayCylinder_Click(object sender, EventArgs e)
{
if (equipBean.MoveCylineCanTakeOrGive())
if (equipBean.MoveCylineIsUp())
{
BtnMove(btnFeedSideWayCylinder, "上料横移气缸取料端", "上料横移气缸放料端", IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -205,7 +205,7 @@ namespace OnlineStore.DeviceLibrary
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break;
case LineMoveStep.FR_05_UpdownAxis_P1:
if (MoveCylineCanTakeOrGive())
if (MoveCylineIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FR_06_CylinderGive);
......@@ -539,9 +539,10 @@ namespace OnlineStore.DeviceLibrary
/// 判断上料横移机构是否可以横移运动
/// </summary>
/// <returns></returns>
public bool MoveCylineCanTakeOrGive()
public bool MoveCylineIsUp()
{
if (IOValue(IO_Type.SL_MoveCylinder_Down).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_MoveCylinder_Up).Equals(IO_VALUE.HIGH))
if(CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
// if (IOValue(IO_Type.SL_MoveCylinder_Down).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SL_MoveCylinder_Up).Equals(IO_VALUE.HIGH))
{
return true;
}
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -733,13 +733,8 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_WaitNoLocationCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_19_BatchAxisToP3);
LastWidth = GetWidth();
InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，盘宽【"+LastWidth+"】，横移气缸上升 或到放料端");
if (CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
{
CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，盘宽【" + LastWidth + "】，横移气缸上升 ");
if (!CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
{
CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
......@@ -747,20 +742,21 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3))
{
// MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
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);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
//if (MoveCylineCanTakeOrGive())
//{
// MoveInfo.NextMoveStep(LineMoveStep.FI_22_CylinderGive);
// 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);
//}
//else
//{
// MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
// InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
// CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
//}
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
LastWidth = GetWidth();
LastHeight = GetHeight();
if (LastWidth.Equals(7) && LastHeight > 16)
{
......@@ -774,6 +770,8 @@ namespace OnlineStore.DeviceLibrary
int chaz = Math.Abs(currP - Config.BatchAxisP3);
if (chaz < BatchAxis.Config.CanErrorCountMax)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_BatchAxisDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
InLog("料盘移栽" + MoveInfo.SLog + "：记录 高度【" + LastHeight + "】宽度【" + LastWidth + "】,已经没有料盘，且已达到P3：" + Config.BatchAxisP3 + "，提升轴开始回下降待机点P2");
MoveInfo.ShelfNoTray = true;
BatchAxis.AbsMove(null, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
......@@ -791,22 +789,41 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_SaveSize))
{
if (MoveCylineCanTakeOrGive())
MoveInfo.NextMoveStep(LineMoveStep.FI_21_BatchAxisDown);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
int maxtPosition = Config.BatchAxisP3 - Config.Height_ChangeValue * 30; //在上料位置基础上下降30mm
int currPositon = BatchAxis.GetAclPosition();
int targetPosition = currPositon - Config.Height_ChangeValue * 30;
if (targetPosition <= Config.BatchAxisP2)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
targetPosition = Config.BatchAxisP2;
}
else if (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 * 40) + ")：" + targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_BatchAxisDown))
{
if (MoveCylineIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_22_CylinderGive);
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);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
MoveInfo.NextMoveStep(LineMoveStep.FI_21_BatchAxisDown);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_CylinderGive))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_CylinderGive))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_22_WaitTray);
MoveInfo.NextMoveStep(LineMoveStep.FI_23_WaitTray);
int targetPositon = Config.GetUpdownP2Detial(LastHeight, LastWidth);
string log = "：移栽伺服下降到P2:" + targetPositon;
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
......@@ -842,7 +859,7 @@ namespace OnlineStore.DeviceLibrary
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_WaitTray))//TODO
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_WaitTray))//TODO
{
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))
{
......@@ -1020,7 +1037,7 @@ namespace OnlineStore.DeviceLibrary
private void FI_12_MoveCylinder_Give()
{
if (MoveCylineCanTakeOrGive())
if (MoveCylineIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_12_CylinderGive);
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构检测到料盘，横移机构到放料端");
......@@ -1257,7 +1274,7 @@ namespace OnlineStore.DeviceLibrary
if (trayCanUse && runStatus.Equals(LineRunStatus.Busy) && MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
//入料执行中， 且需要空托盘
if (MoveInfo.MoveStep .Equals(LineMoveStep.FI_22_WaitTray)&&MoveInfo.IsInWait.Equals(false))
if (MoveInfo.MoveStep .Equals(LineMoveStep.FI_23_WaitTray)&&MoveInfo.IsInWait.Equals(false))
//if (MoveInfo.MoveStep >= LineMoveStep.FI_11_CylinderUp && MoveInfo.MoveStep <= LineMoveStep.FI_20_WaitTray)
{
if (NeedSaveParam)
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -357,7 +357,7 @@ namespace OnlineStore.DeviceLibrary
//判断伺服检测信号是否亮
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) || BatchAxis.IsInPosition(Config.BatchAxisP2))
{
if (MoveCylineCanTakeOrGive())
if (MoveCylineIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_212_CylinderTake);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构取料端");
......@@ -428,7 +428,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_217_UpdownAxisToP1))
{
if (MoveCylineCanTakeOrGive())
if (MoveCylineIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_218_CylinderGive);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构到放料端");
......@@ -475,7 +475,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_221_UpdownAxisToP1))
{
if (MoveCylineCanTakeOrGive())
if (MoveCylineIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_222_CylinderTake);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构回到取料端");
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -660,15 +660,19 @@ namespace OnlineStore.DeviceLibrary
/// 料盘移栽：记录高度尺寸
/// </summary>
FI_20_SaveSize ,
/// <summary>
/// 提升轴下降到料盘不溢出的位置
/// </summary>
FI_21_BatchAxisDown,
/// <summary>
/// 料盘移栽： 上料横移气缸放料SOL
/// </summary>
FI_21_CylinderGive ,
FI_22_CylinderGive ,
/// <summary>
/// 料盘移栽：等待空托盘到达，移栽伺服下降到P2，并预扫码
/// </summary>
FI_22_WaitTray,
FI_23_WaitTray,
///// <summary>
///// 料盘移栽：移栽伺服下降到P2
///// </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!