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Commit 5bf70668 由 LN
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入料模块回原点流程修改

1 个父辈 c69fef58
内嵌 并排
正在显示 3 个修改的文件 包含 93 行增加 和 74 行删除
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
...@@ -179,37 +179,69 @@ namespace OnlineStore.DeviceLibrary ...@@ -179,37 +179,69 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(MoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down); CylinderMove(MoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
} }
break; break;
case LineMoveStep.FR_01_MoveCylinder_Up: case LineMoveStep.FR_01_MoveCylinder_Up:
MoveInfo.NextMoveStep(LineMoveStep.FR_02_BatchAxisHome); MoveInfo.NextMoveStep(LineMoveStep.FR_02_UpdownAxisHome);
MoveInfo.TimeOutSeconds = 120; LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 升降伺服回原点");
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服回原点，升降伺服回原点，所有阻挡气缸上升");
BatchAxis.HomeMove(MoveInfo);
UpdownAxis.HomeMove(MoveInfo); UpdownAxis.HomeMove(MoveInfo);
break; break;
case LineMoveStep.FR_02_BatchAxisHome:
MoveInfo.NextMoveStep(LineMoveStep.FR_03_BatchAxisToP2); case LineMoveStep.FR_02_UpdownAxisHome:
MoveInfo.NextMoveStep(LineMoveStep.FR_03_UpdownAxis_P1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break;
case LineMoveStep.FR_03_UpdownAxis_P1:
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FR_04_MoveCylinder_Give);
if (Config.IsCanOut.Equals(1))
{
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 上料横移气缸取料端SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 上料横移气缸放料端SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FR_03_UpdownAxis_P1);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：上料横移机构上升SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
break;
case LineMoveStep.FR_04_MoveCylinder_Give:
MoveInfo.NextMoveStep(LineMoveStep.FR_11_BatchAxisHome);
MoveInfo.TimeOutSeconds = 120;
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服回原点");
BatchAxis.HomeMove(MoveInfo);
break;
case LineMoveStep.FR_11_BatchAxisHome:
MoveInfo.NextMoveStep(LineMoveStep.FR_12_BatchAxisToP2);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服下降到P2点，"); LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：提升伺服下降到P2点，");
MoveInfo.TimeOutSeconds = 120; MoveInfo.TimeOutSeconds = 120;
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
break; break;
case LineMoveStep.FR_03_BatchAxisToP2: case LineMoveStep.FR_12_BatchAxisToP2:
MoveInfo.NextMoveStep(LineMoveStep.FR_04_LocationCylinder_Down); MoveInfo.NextMoveStep(LineMoveStep.FR_13_LocationCylinder_Down);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 放开定位气缸，升降伺服到P1"); LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 放开定位气缸，升降伺服到P1");
TrayLCylinderAfter(MoveInfo); TrayLCylinderAfter(MoveInfo);
Thread.Sleep(50); Thread.Sleep(50);
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed); UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
break; break;
case LineMoveStep.FR_04_LocationCylinder_Down: case LineMoveStep.FR_13_LocationCylinder_Down:
MoveInfo.NextMoveStep(LineMoveStep.FR_14_TopCylinderDown);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：SL1定位气缸下降SOL，出口顶升气缸下降"); LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：SL1定位气缸下降SOL，出口顶升气缸下降");
MoveInfo.NextMoveStep(LineMoveStep.FR_05_TopCylinderDown); CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down); CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
break; break;
case LineMoveStep.FR_05_TopCylinderDown: case LineMoveStep.FR_14_TopCylinderDown:
MoveInfo.NextMoveStep(LineMoveStep.FR_06_BatchAxisToP1); MoveInfo.NextMoveStep(LineMoveStep.FR_15_BatchAxisToP1);
//判断定位工位是否有料架 //判断定位工位是否有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -221,40 +253,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -221,40 +253,7 @@ namespace OnlineStore.DeviceLibrary
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
} }
break; break;
case LineMoveStep.FR_06_BatchAxisToP1: case LineMoveStep.FR_15_BatchAxisToP1:
MoveInfo.NextMoveStep(LineMoveStep.FR_08_MoveCylinder_Slack);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：上料气缸放松SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
break;
case LineMoveStep.FR_07_MoveCylinder_Up:
MoveInfo.NextMoveStep(LineMoveStep.FR_08_MoveCylinder_Slack);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：上料气缸放松SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
break;
case LineMoveStep.FR_08_MoveCylinder_Slack:
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FR_09_MoveCylinder_Give);
if (Config.IsCanOut.Equals(1))
{
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 上料横移气缸取料端SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "： 上料横移气缸放料端SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FR_07_MoveCylinder_Up);
LogInfo(MoveInfo.MoveType + "：" + MoveInfo.SLog + "：上料横移机构上升SOL");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
break;
case LineMoveStep.FR_09_MoveCylinder_Give:
LogInfo("重置完成！"); LogInfo("重置完成！");
runStatus = LineRunStatus.Runing; runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline; lineStatus = LineStatus.StoreOnline;
......
source/DeviceLibrary/assemblyLine/LineBean.cs
...@@ -917,6 +917,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -917,6 +917,10 @@ namespace OnlineStore.DeviceLibrary
{ {
if (moveEquip.NoAlarm()) if (moveEquip.NoAlarm())
{ {
if (moveEquip.baseConfig.DType.Equals(DeviceType.FeedingEquip) && moveEquip.MoveInfo.MoveStep >= LineMoveStep.FR_11_BatchAxisHome)
{
continue;
}
isOk = false; isOk = false;
break; break;
} }
...@@ -936,7 +940,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -936,7 +940,7 @@ namespace OnlineStore.DeviceLibrary
runStatus = LineRunStatus.Runing; runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline; lineStatus = LineStatus.StoreOnline;
MoveInfo.EndMove(); MoveInfo.EndMove();
LogUtil.info(Name + "所有设备重置完成，打开流水线，开始运转！"); LogUtil.info(Name + "所有移栽模块复位完成，打开流水线，开始运转！");
} }
} }
} }
......
source/DeviceLibrary/model/StoreStep.cs
...@@ -459,47 +459,63 @@ namespace OnlineStore.DeviceLibrary ...@@ -459,47 +459,63 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
FR_00_LineRun=10000, FR_00_LineRun=10000,
/// <summary> /// <summary>
/// 横移装置上升 /// 横移装置上升，
/// </summary> /// </summary>
FR_01_MoveCylinder_Up=10001, FR_01_MoveCylinder_Up = 10001,
/// <summary>
/// 提升伺服回原点，升降伺服回原点
/// </summary>
FR_02_BatchAxisHome = 10002,
/// <summary> /// <summary>
/// 然后提升伺服下降到P2点，升降伺服上升到待机点 /// 升降伺服回原点
/// </summary> /// </summary>
FR_03_BatchAxisToP2 = 10003, FR_02_UpdownAxisHome = 10002,
/// <summary> /// <summary>
/// 放开定位气缸 ///上料装置：上料气缸放松SOL，升降机构到待机点
/// </summary> /// </summary>
FR_04_LocationCylinder_Down = 10004, FR_03_UpdownAxis_P1 = 10003,
/// <summary> /// <summary>
/// 顶升气缸下降 ///上料装置：上料横移气缸取料端SOL
/// </summary> /// </summary>
FR_05_TopCylinderDown = 10005, FR_04_MoveCylinder_Give = 10004,
/// <summary> /// <summary>
/// 提升伺服在上升到P1点 /// 提升伺服回原点，夹紧装置放松
/// </summary> /// </summary>
FR_06_BatchAxisToP1 = 10006, FR_11_BatchAxisHome = 10011,
/// <summary> /// <summary>
///上料装置：上料横移机构上升SOL /// 然后提升伺服下降到P2点
/// </summary> /// </summary>
FR_07_MoveCylinder_Up = 10007, FR_12_BatchAxisToP2,
/// <summary> /// <summary>
///上料装置：上料气缸放松SOL /// 放开定位气缸
/// </summary> /// </summary>
FR_08_MoveCylinder_Slack = 10008, FR_13_LocationCylinder_Down,
/// <summary> /// <summary>
///上料装置：上料横移气缸取料端SOL /// 顶升气缸下降
/// </summary> /// </summary>
FR_09_MoveCylinder_Give = 10009, FR_14_TopCylinderDown,
/// <summary> /// <summary>
///上料装置：出口顶升下降SOL /// 提升伺服在上升到P1点
/// </summary> /// </summary>
FR_10_OutTopCylinder_Down = 10010, FR_15_BatchAxisToP1,
///// <summary>
/////上料装置：上料横移机构上升SOL
///// </summary>
//FR_07_MoveCylinder_Up = 10007,
///// <summary>
/////上料装置：上料气缸放松SOL
///// </summary>
//FR_08_MoveCylinder_Slack = 10008,
///// <summary>
/////上料装置：上料横移气缸取料端SOL
///// </summary>
//FR_09_MoveCylinder_Give = 10009,
///// <summary>
/////上料装置：出口顶升下降SOL
///// </summary>
//FR_10_OutTopCylinder_Down = 10010,
#endregion #endregion
...@@ -518,7 +534,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -518,7 +534,7 @@ namespace OnlineStore.DeviceLibrary
////升降盘定位气缸前进 ////升降盘定位气缸前进
//提升伺服缓慢上升，绝对位置=P1，若上升到P1么有X105,那么没有料盘 //提升伺服缓慢上升，绝对位置=P1，若上升到P1么有X105,那么没有料盘
// 检测到X105信号，提升伺服停止 // 检测到X105信号，提升伺服停止
// 上料横移机构取料 // 上料横移机构取料
// 上料横移机构下降 // 上料横移机构下降
// 上料横移机构夹紧 // 上料横移机构夹紧
...@@ -535,7 +551,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -535,7 +551,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 提升轴先返回P2 /// 提升轴先返回P2
/// </summary> /// </summary>
FI_00_BatchAxisToP2=11000, FI_00_BatchAxisToP2 =11000,
/// <summary> /// <summary>
/// 入料流程：升降盘定位气缸后退 /// 入料流程：升降盘定位气缸后退
/// </summary> /// </summary>
......
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