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Commit 4f98455d 由 LN
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入料口线体处理修改

1 个父辈 47821f09
内嵌 并排
正在显示 8 个修改的文件 包含 82 行增加 和 43 行删除
source/AssemblyLineClient/App.config
......@@ -111,4 +111,7 @@
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
</startup>
<runtime>
<gcConcurrent enabled="false"/>
</runtime>
</configuration>
\ No newline at end of file
source/AssemblyLineClient/记录.txt
20200417

20200429:
入料口定位工位检测料架后延迟3秒
停止运行时需要给agv发none
needEnter和needLeave都延迟3秒再发。
入料缓冲阻挡修改。
20200428:
出大料时，横移气缸还未后退，叉子出料与横移气缸相撞
料仓出料到门口后，最好验证门口有料盘信号，否则报警。
20200417
进料阻挡只下降500ms。
入库未收到服务器反馈时，调用下取消入库任务。
放托盘放在前面.
......
source/DeviceLibrary/agvClient/AgvClient.cs
......@@ -86,10 +86,10 @@ namespace OnlineStore.DeviceLibrary
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] ");
}
private static void AgvClient_Ready(string id, string rfid)
private static void AgvClient_Ready(string id, string rfid)
{
UpdateAction(id, ClientAction.Ready);
// RFIDData data = new RFIDData(content);
// RFIDData data = new RFIDData(content);
LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "] ");
FeedingEquip equip = getFeedEquip(id);
......
source/DeviceLibrary/assemblyLine/EquipBase.cs
......@@ -421,7 +421,12 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd)
{
{
if (wait.IoType.Equals(IO_Type.SL_Line_Run))
{
IOMove(wait.IoType, wait.IoValue);
LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
}
TimeSpan rwSpan = DateTime.Now - preRWTime;
//一分钟还未检测到
if (span.TotalSeconds > LineManager.Config.IOSingle_TimerOut && alarmType <= LineAlarmType.IoSingleTimeOut)
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -4,6 +4,7 @@ using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
......@@ -298,8 +299,8 @@ namespace OnlineStore.DeviceLibrary
internal override void StopMove()
{
//StopMove时设置状态为none
AgvClient.SetStatus(Config.AgvInName);
AgvClient.SetStatus(Config.AgvOutName);
AgvClient.SetStatus(Config.AgvInName,"",ClientAction.None,ClientLevel.Low,true);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
//MoveInfo.EndMove();
//SecondMoveInfo.EndMove();
BatchAxisStopCheck();
......@@ -337,7 +338,9 @@ namespace OnlineStore.DeviceLibrary
}
StopMove();
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
SecondMoveInfo.EndMove();
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.Low, true);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.Low, true);
}
......@@ -416,45 +419,54 @@ namespace OnlineStore.DeviceLibrary
{
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
ClientLevel level = ClientLevel.Low;
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || (!MoveInfo.MoveType.Equals(LineMoveType.None)))
if (TrayManager.checkWatch(needLeaveWatch, 3000))
{
level = ClientLevel.Middle;
if (Config.IsCanOut.Equals(1))
ClientLevel level = ClientLevel.Low;
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || (!MoveInfo.MoveType.Equals(LineMoveType.None)))
{
level = ClientLevel.High;
level = ClientLevel.Middle;
if (Config.IsCanOut.Equals(1))
{
level = ClientLevel.High;
}
}
//线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
// SendShelfToAGV();
}
//线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId, level);
// SendShelfToAGV();
}
else
{
needLeaveWatch.Stop();
AgvClient.SetToNone(Config.AgvOutName);
}
//入口无料架，mayEnter
if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
{
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
if (TrayManager.checkWatch(needEnterWatch, 3000))
{
//如果是出料模块且当前无料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveType.Equals(LineMoveType.None))
ClientLevel level = ClientLevel.Low;
if (Config.IsCanOut.Equals(1))
{
level = ClientLevel.High;
//如果是出料模块且当前无料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveType.Equals(LineMoveType.None))
{
level = ClientLevel.High;
}
}
AgvClient.NeedEnter(Config.AgvInName, "", level);
}
AgvClient.NeedEnter(Config.AgvInName, "", level);
}
else
{
needEnterWatch.Stop();
AgvClient.SetToNone(Config.AgvInName);
}
}
}
private Stopwatch needEnterWatch = new Stopwatch();
private Stopwatch needLeaveWatch = new Stopwatch();
/// <summary>
/// 下降所有阻挡气缸
/// </summary>
......@@ -749,7 +761,7 @@ namespace OnlineStore.DeviceLibrary
AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.FinishLeave,ClientLevel.High,true);
Task.Factory.StartNew(delegate
{
Thread.Sleep(10000);
Thread.Sleep(1000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
});
ProcessShelfOut = false;
......@@ -812,24 +824,24 @@ namespace OnlineStore.DeviceLibrary
}
else
{
LogUtil.info(logName + "已收到 SL_Stop_Check=High ，等待3000后停止转动，发送 FinishEnter");
LogUtil.info(logName + "已收到 SL_Stop_Check=High ，等待5000后停止转动，发送 FinishEnter");
}
//等待200毫秒后停止转动
Thread.Sleep(3000);
Thread.Sleep(5000);
if (MoveInfo.MoveType.Equals(LineMoveStep.FI_03_LineStart))
{
LogUtil.info(logName + " 等待3000后, MoveInfo.MoveType= FI_03_LineStart 不需要停止链条转动");
LogUtil.info(logName + " 等待5000后, MoveInfo.MoveType= FI_03_LineStart 不需要停止链条转动");
}
else
{
LogUtil.info(logName + "等待3000后，停止链条转动");
LogUtil.info(logName + "等待5000后，停止链条转动");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
//料架可离开
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
Task.Factory.StartNew(delegate
{
Thread.Sleep(10000);
Thread.Sleep(1000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
});
ProcessShelfEnter = false;
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -576,10 +576,11 @@ namespace OnlineStore.DeviceLibrary
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FI_04_WaitTime);
InLog("定位工位检测到料架： " + MoveInfo.SLog + "，进料阻挡上升，缓冲阻挡上升， 等待1秒再次检测");
InLog("定位工位检测到料架： " + MoveInfo.SLog + "，进料阻挡上升，缓冲阻挡上升， 等待3秒再次检测");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
private void LineInStoreProcess()
......@@ -595,9 +596,10 @@ namespace OnlineStore.DeviceLibrary
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InLog("入料检测： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡下降1000，流水线转动 1000");
InLog("入料检测： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡下降500，缓冲阻挡前进1000，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH, 500);//进料阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH, 1000);//缓冲阻挡前进1000
// IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
......@@ -606,9 +608,9 @@ namespace OnlineStore.DeviceLibrary
} else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InLog("入料检测： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡上升，缓冲阻挡上升，流水线转动 1000");
InLog("入料检测： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡上升，缓冲阻挡前进1000，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH);//缓冲阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH, 1000);//缓冲阻挡前进1000
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
......@@ -672,7 +674,7 @@ namespace OnlineStore.DeviceLibrary
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 定位气缸上升，读取料架号");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
// IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
}
}
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -201,11 +201,12 @@ namespace OnlineStore.DeviceLibrary
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FO_04_WaitTime);
OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架：进料阻挡上升， 等待1秒再次检测");
OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架：进料阻挡上升， 等待3秒再次检测");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
}
......@@ -222,24 +223,26 @@ namespace OnlineStore.DeviceLibrary
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡下降500ms，缓冲阻挡下降，流水线转动 5000");
OutLog("准备出库料架： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡下降500ms，缓冲阻挡前进1000，流水线转动 5000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH,500);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH, 1000);//缓冲阻挡前进1000
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
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));
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡上升，缓冲阻挡上升，流水线转动 1000");
OutLog("准备出库料架： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡上升，缓冲阻挡前进1000，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH);//缓冲阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH, 1000);//缓冲阻挡前进1000
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Line_Run, IO_VALUE.HIGH));
}
else
{
......@@ -314,7 +317,7 @@ namespace OnlineStore.DeviceLibrary
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_05_LocationUp);
OutLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡下降， 定位气缸上升，读取料架号");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
//IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
}
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -1051,7 +1051,8 @@ namespace OnlineStore.DeviceLibrary
{
return true;
}
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false))
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
&&move.CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
return true;
}
......
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