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 5df80339 由 LN
选项

1

1 个父辈 fd03e0ff
全部展开
内嵌 并排
正在显示 13 个修改的文件 包含 155 行增加 和 73 行删除
source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -176,12 +176,12 @@ namespace OnlineStore.AssemblyLine
chbDebug.Checked = feedEquip.IsDebug;
if (feedEquip.UpdownUseAxis)
{
portName = feedEquip.Config.UpDown_Axis.DeviceName;
SlvAddr = feedEquip.Config.UpDown_Axis.GetAxisValue();
portName = feedEquip.Config.Batch_Axis.DeviceName;
SlvAddr = feedEquip.Config.Batch_Axis.GetAxisValue();
txtAxisDeviceName.Text = portName;
txtSlaveId.Text = SlvAddr.ToString();
comboBox1.Items.Clear();
comboBox1.Items.Add(feedEquip.Config.UpDown_Axis.Explain);
comboBox1.Items.Add(feedEquip.Config.Batch_Axis.Explain);
comboBox1.SelectedIndex = 0;
txtAxisValue.Text = SlvAddr.ToString();
......@@ -200,7 +200,7 @@ namespace OnlineStore.AssemblyLine
cmbSizeList.SelectedIndex = 0;
lblStoreStatus.Text = KTK_Store.GetRunStr(feedEquip.lineStatus, feedEquip.runStatus);
lblThisSta.Text = feedEquip.WarnMsg;
txtP1.Text = feedEquip.Config.UpDownAxisP1.ToString();
txtP1.Text = feedEquip.Config.BatchAxisP1.ToString();
IsLoad = true;
}
......@@ -584,7 +584,7 @@ namespace OnlineStore.AssemblyLine
int position = FormUtil.GetIntValue(txtSizePosition);
if (position != -1)
{
int speed = feedEquip.Config.UpdownAxis_DownSpeed;
int speed = feedEquip.Config.BatchAxis_DownSpeed;
LogUtil.info("点击【移栽位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(portName, SlvAddr, position, speed);
}
......@@ -614,7 +614,7 @@ namespace OnlineStore.AssemblyLine
int position = FormUtil.GetIntValue(txtP1);
if (position != -1)
{
int speed =feedEquip.Config.UpdownAxis_P1Speed;
int speed =feedEquip.Config.BatchAxis_P1Speed;
LogUtil.info("点击【P1点测试】， 位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(portName, SlvAddr, position, speed);
}
......@@ -623,7 +623,7 @@ namespace OnlineStore.AssemblyLine
private void btnSave_Click(object sender, EventArgs e)
{
int p1Position = FormUtil.GetIntValue(txtP1);
feedEquip.Config.UpDownAxisP1 = p1Position;
feedEquip.Config.BatchAxisP1 = p1Position;
int size = 0;
try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
......@@ -640,7 +640,7 @@ namespace OnlineStore.AssemblyLine
int position = FormUtil.GetIntValue(txtBoxP);
if (position != -1)
{
int speed = feedEquip.Config.UpdownAxis_DownSpeed;
int speed = feedEquip.Config.BatchAxis_DownSpeed;
LogUtil.info("点击【料仓门口下降位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
ACServerManager.AbsMove(portName, SlvAddr, position, speed);
}
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
......@@ -3,7 +3,7 @@ PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
,,,,,,,,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
AXIS,0,批量上料轴,UpDown_Axis,2,COM1,0,,,
AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -47,15 +47,15 @@ namespace OnlineStore.DeviceLibrary
UpdownUseAxis = config.UpDownUseAxis.Equals(1);
if (UpdownUseAxis)
{
Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;
Config.Batch_Axis.TargetSpeed = Config.BatchAxis_TargetSpeed;
Config.Batch_Axis.AddSpeed = Config.BatchAxis_AddSpeed;
Config.Batch_Axis.DelSpeed = Config.BatchAxis_DelSpeed;
Config.Batch_Axis.HomeAddSpeed = Config.BatchAxis_HomeAddSpeed;
Config.Batch_Axis.HomeHighSpeed = Config.BatchAxis_HomeHighSpeed;
Config.Batch_Axis.HomeLowSpeed = Config.BatchAxis_HomeLowSpeed;
portName = Config.UpDown_Axis.DeviceName;
slvAddr = config.UpDown_Axis.GetAxisValue();
portName = Config.Batch_Axis.DeviceName;
slvAddr = config.Batch_Axis.GetAxisValue();
}
}
......@@ -424,7 +424,7 @@ namespace OnlineStore.DeviceLibrary
if (UpdownUseAxis)
{
LogInfo("停止运动：停止伺服");
ACServerManager.SuddenStop(Config.UpDown_Axis);
ACServerManager.SuddenStop(Config.Batch_Axis);
}
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
......@@ -522,7 +522,7 @@ namespace OnlineStore.DeviceLibrary
{
return true;
}
IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.HIGH);
IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.HIGH);
Thread.Sleep(1000);
//打开所有轴
ACServerManager.OpenPort(portName);
......@@ -530,7 +530,7 @@ namespace OnlineStore.DeviceLibrary
//初始化
if (!IsIntSlvBlock)
{
ACServerManager.InitSlvAddr(portName, slvAddr, Config.UpDown_Axis.TargetSpeed, Config.UpDown_Axis.AddSpeed, Config.UpDown_Axis.DelSpeed);
ACServerManager.InitSlvAddr(portName, slvAddr, Config.Batch_Axis.TargetSpeed, Config.Batch_Axis.AddSpeed, Config.Batch_Axis.DelSpeed);
Thread.Sleep(100);
}
ACServerManager.AlarmClear(portName, slvAddr);
......@@ -547,9 +547,15 @@ namespace OnlineStore.DeviceLibrary
}
}
IsIntSlvBlock = true;
IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.HIGH);
IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.HIGH);
return true;
}
private void IOMove(object batchAxis_ServoOn, IO_VALUE hIGH)
{
throw new NotImplementedException();
}
/// <summary>
/// 打开所有轴
/// </summary>
......@@ -560,24 +566,24 @@ namespace OnlineStore.DeviceLibrary
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info( Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
LogUtil.info( Name + "成功打开轴：" + Config.Batch_Axis.Explain);
}
else
{
//清理报警，再重新打开一次
LogUtil.info( Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
LogUtil.info( Name + "第一次打开轴" + Config.Batch_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
ACServerManager.AlarmClear(portName, slvAddr);
System.Threading.Thread.Sleep(1200);
ACServerManager.ServoOn(portName, slvAddr);
System.Threading.Thread.Sleep(100);
if (ACServerManager.ServerOnStatus(portName, slvAddr))
{
LogUtil.info( Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
LogUtil.info( Name + "清理报警后重新打卡轴成功：" + Config.Batch_Axis.Explain);
}
else
{
ACServerManager.ServoOff(portName, slvAddr);
WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
WarnMsg = Name + "打开轴" + Config.Batch_Axis.Explain + "失败 ";
LogUtil.info( Name + WarnMsg);
Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
return false;
......@@ -591,14 +597,14 @@ namespace OnlineStore.DeviceLibrary
public void CloseAxis()
{
LogUtil.info(Name + "关闭刹车，关闭伺服");
IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.LOW);
IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.LOW);
ACServerManager.ServoOff(portName, slvAddr);
//关闭串口，等下次重新打开
ACServerManager.ColsePort(portName);
Thread.Sleep(100);
IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.LOW);
}
......@@ -690,7 +696,7 @@ namespace OnlineStore.DeviceLibrary
{
if (UpdownUseAxis)
{
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else
{
......@@ -703,7 +709,7 @@ namespace OnlineStore.DeviceLibrary
if (UpdownUseAxis)
{
int position = Config.GetUpdownPosition(trayHeight);
ACAxisMove(Config.UpDown_Axis, position, Config.UpdownAxis_DownSpeed);
ACAxisMove(Config.Batch_Axis, position, Config.BatchAxis_DownSpeed);
}
else
{
......@@ -715,7 +721,7 @@ namespace OnlineStore.DeviceLibrary
if (UpdownUseAxis)
{
int position = Config.GetUpdownBoxPosition(trayHeight);
ACAxisMove(Config.UpDown_Axis, position,Config.UpdownAxis_DownSpeed);
ACAxisMove(Config.Batch_Axis, position,Config.BatchAxis_DownSpeed);
}
else
{
......@@ -727,7 +733,7 @@ namespace OnlineStore.DeviceLibrary
if (UpdownUseAxis)
{
MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHomeMove);
ACAxisHomeMove(Config.UpDown_Axis);
ACAxisHomeMove(Config.Batch_Axis);
}
else
{
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -596,22 +596,22 @@ namespace OnlineStore.DeviceLibrary
// FeederProcess();
//如果驱动电机正转过程中，驱动电机INV1状态 驱动电机INV2状态 有信号，需要报警
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.DriveMotor_INV1).Equals(IO_VALUE.LOW))
{
WarnMsg = "驱动电机INV1状态异常";
LogUtil.error("驱动电机正转过程中，DriveMotor_INV1信号LOW，需要报警", 300);
Alarm(LineAlarmType.SuddenStop, "1", WarnMsg, LineMoveType.None);
}
else if (IOValue(IO_Type.DriveMotor_INV2).Equals(IO_VALUE.LOW))
{
WarnMsg = "驱动电机INV2状态异常";
LogUtil.error("驱动电机正转过程中，DriveMotor_INV2信号LOW，需要报警", 301);
Alarm(LineAlarmType.SuddenStop, "1", WarnMsg, LineMoveType.None);
}
}
//if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH))
//{
// if (IOValue(IO_Type.DriveMotor_INV1).Equals(IO_VALUE.LOW))
// {
// WarnMsg = "驱动电机INV1状态异常";
// LogUtil.error("驱动电机正转过程中，DriveMotor_INV1 信号LOW，需要报警", 300);
// //Alarm(LineAlarmType.SuddenStop, "1", WarnMsg, LineMoveType.None);
// }
// else if (IOValue(IO_Type.DriveMotor_INV2).Equals(IO_VALUE.LOW))
// {
// WarnMsg = "驱动电机INV2状态异常";
// LogUtil.error("驱动电机正转过程中，DriveMotor_INV2 信号LOW，需要报警", 301);
// // Alarm(LineAlarmType.SuddenStop, "1", WarnMsg, LineMoveType.None);
// }
//}
}
}
catch (Exception ex)
......@@ -620,6 +620,21 @@ namespace OnlineStore.DeviceLibrary
}
Thread.Sleep(1);
}
public string GetINVMsg()
{
if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.DriveMotor_INV1).Equals(IO_VALUE.LOW))
{
return " 驱动电机INV1状态异常";
}
else if (IOValue(IO_Type.DriveMotor_INV2).Equals(IO_VALUE.LOW))
{
return " 驱动电机INV2状态异常";
}
}
return "";
}
/// <summary>
/// 定时处理，监听信号，监听IO
/// </summary>
......@@ -882,15 +897,12 @@ namespace OnlineStore.DeviceLibrary
return;
}
lock (moveEquip.waitInListLock)
{
// InOutParam param = new InOutParam(trayCode,wareNum, posId, plateH, plateW );
StartInStoreMove(param);
//如果当前正在出入库中，需要记录下来，等待空闲时执行
LogUtil.info( moveEquip.Name + " 收到服务器入库命令： " + param.ToStr() + " ，写入排队列表中等待！");
moveEquip.waitInStoreList.Add(param);
}
LineServer.CheckInStorePos(storeId, param);
StartInStoreMove(param);
}
}
}
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
......@@ -489,13 +489,13 @@ namespace OnlineStore.DeviceLibrary
}
case LineMoveStep.MH_OtherCylinder_Back:
{
LogInfo("停止运行完成，停止伺服！");
CloseAxis();
LogInfo("停止运行完成！");
if (UpdownUseAxis)
{
LogInfo("停止运动：停止伺服");
ACServerManager.SuddenStop(Config.UpDown_Axis);
CloseAxis();
}
runStatus = LineRunStatus.Runing;
MoveInfo.EndMove();
......@@ -660,14 +660,14 @@ namespace OnlineStore.DeviceLibrary
}
public void CloseAxis()
public void CloseAxis()
{
LogUtil.info(Name + "关闭刹车，关闭伺服");
IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.LOW);
ACServerManager.ServoOff(portName, slvAddr);
//关闭串口，等下次重新打开
ACServerManager.ColsePort(portName);
// ACServerManager.ColsePort(portName);
Thread.Sleep(100);
IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
......
source/DeviceLibrary/model/StoreMoveInfo.cs
......@@ -90,6 +90,7 @@ namespace OnlineStore.DeviceLibrary
LastSetpTime = DateTime.Now;
IsInWait = true;
WaitList = new List<WaitResultInfo>();
WriteIoList = new List<WriteIOInfo>();
OneWaitCanEndStep = false;
CanWhileCount = 5;
}
......@@ -100,6 +101,7 @@ namespace OnlineStore.DeviceLibrary
{
IsInWait = false;
WaitList = new List<WaitResultInfo>();
WriteIoList = new List<WriteIOInfo>();
}
public void NewMove(LineMoveType type )
{
......@@ -107,6 +109,7 @@ namespace OnlineStore.DeviceLibrary
this.moveType = type;
LastSetpTime = DateTime.Now;
WaitList = new List<WaitResultInfo>();
WriteIoList = new List<WriteIOInfo>();
MoveNum++;
}
public void NewMove(LineMoveType type, InOutParam param)
......@@ -116,6 +119,7 @@ namespace OnlineStore.DeviceLibrary
this.MoveParam = param;
LastSetpTime = DateTime.Now;
WaitList = new List<WaitResultInfo>();
WriteIoList = new List<WriteIOInfo>();
}
public void EndMove()
{
......@@ -125,6 +129,7 @@ namespace OnlineStore.DeviceLibrary
LastSetpTime = DateTime.Now;
IsInWait = false;
WaitList = new List<WaitResultInfo>();
WriteIoList = new List<WriteIOInfo>();
CanWhileCount = 0;
}
public LineMoveInfo clone()
......@@ -133,6 +138,7 @@ namespace OnlineStore.DeviceLibrary
}
public List<WaitResultInfo> WaitList = new List<WaitResultInfo>();
public List<WriteIOInfo> WriteIoList = new List<WriteIOInfo>();
/// <summary>
/// 重置之后继续出入库时，退回上一个步骤执行
/// </summary>
......@@ -142,7 +148,18 @@ namespace OnlineStore.DeviceLibrary
IsInWait = false;
}
}
public class WriteIOInfo
{
public static WriteIOInfo NInfo(string type,IO_VALUE value)
{
WriteIOInfo i = new WriteIOInfo();
i.IoType = type;
i.IoValue = value;
return i;
}
public string IoType = "";
public IO_VALUE IoValue = IO_VALUE.HIGH;
}
public class WaitResultInfo
{
private WaitResultInfo()
......@@ -256,6 +273,12 @@ namespace OnlineStore.DeviceLibrary
wait.WaitType = 9;
return wait;
}
public static WaitResultInfo WaitSideWay()
{
WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = 10;
return wait;
}
public string ToStr()
{
if (WaitType == 1)
......@@ -298,6 +321,9 @@ namespace OnlineStore.DeviceLibrary
else if (WaitType == 9)
{
return "BOX可以开始入库";
}else if (WaitType == 10)
{
return "等待横移34无托盘";
}
else
{
......@@ -354,7 +380,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public int HeightValue { get; set; }
}
public enum LineMoveType
{
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -238,7 +238,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 移载（流水线）装置出库处理 ，顶升气缸1下降
/// </summary>
MO_09_TopCylinder_Down = 3109,
MO_06_TopCylinder_Down = 3106,
/// <summary>
/// 如果是移栽2需要等待托盘是否可以走
/// </summary>
MO_07_WaitCanGo=3107,
/// <summary>
/// 移载（流水线）装置出库处理， 阻挡气缸1-2下降
/// </summary>
......@@ -374,6 +378,7 @@ namespace OnlineStore.DeviceLibrary
#region 横移轨道处理
SW00_Wait=5000,
/// <summary>
/// 阻挡气缸下降
/// </summary>
......@@ -398,18 +403,22 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SW05_WaitOutFixtureCheck=5005,
/// <summary>
/// 等待出口信号持续一段时间
/// </summary>
SW06_WatOutFixture2=5006,
/// <summary>
/// 停止横移轨道转动，横移轨道顶升气缸下降
/// </summary>
SW06_TopCylinderDown=5006,
SW07_TopCylinderDown=5007,
/// <summary>
/// 阻挡2下降，等待托盘流出
/// </summary>
SW07_StopDrive=5007,
SW08_StopDrive=5008,
/// <summary>
/// 等待托盘流出，上升阻挡气缸
/// </summary>
SW08_WaitTrayGo=5008,
SW09_WaitTrayGo=5009,
#endregion
......
source/DeviceLibrary/server/LineServer.cs
......@@ -113,6 +113,27 @@ namespace OnlineStore.DeviceLibrary
}
return false;
}
public static bool IsInStorePro(int id)
{
BoxInfo box = GetBoxInfo(id);
TimeSpan span = DateTime.Now - box.LastMsgTime;
if (box != null && span.TotalSeconds < ClientKeepSecond)
{
LineStatus status = (LineStatus)box.SStatus;
LineRunStatus runs = (LineRunStatus)box.SRunStatus;
if (runs.Equals(LineRunStatus.Busy))
{
if (status.Equals(LineStatus.InStoreEnd) || status.Equals(LineStatus.InStoreExecute))
{
return true;
}
}
}
return false;
}
/// <summary>
/// 获取所有在线的CID
/// </summary>
......
source/LoadCVSLibrary/storeConfig/config/FeedingEquip_Config.cs
......@@ -51,8 +51,8 @@ namespace OnlineStore.LoadCSVLibrary
/// <summary>
/// AXIS 0 批量上料轴 UpDown_Axis 2
/// </summary>
[ConfigProAttribute("UpDown_Axis", false)]
public ConfigMoveAxis UpDown_Axis { get; set; }
[ConfigProAttribute("Batch_Axis", false)]
public ConfigMoveAxis Batch_Axis { get; set; }
/// <summary>
/// PRO 0 批量上料轴待机点 P1 BatchAxisP1 403000
/// </summary>
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
......@@ -287,11 +287,10 @@ namespace OnlineStore.LoadCSVLibrary
/// DO 0 移载4升降轴伺服ON UpDownAxis_ServoOn 31 移载4升降轴伺服ON Y08 DO-08
/// </summary>
public static string UpDownAxis_ServoOn = "UpDownAxis_ServoOn";
///// <summary>
/////
///// </summary>
//public static string Right_Door_LimitSingle = "Right_Door_LimitSingle";
public static string BatchAxis_BreakOn = "BatchAxis_BreakOn";
public static string BatchAxis_ServoOn = "BatchAxis_ServoOn";
}
public enum IO_VALUE
{
......
source/LoadCVSLibrary/storeConfig/config/StoreConfig.cs
......@@ -289,6 +289,15 @@ namespace OnlineStore.LoadCSVLibrary
return DOList[ioType];
}
return null;
}
}
public string GetDisplayName(string ioType)
{
ConfigIO io = getWaitIO(ioType);
if (io == null)
{
return ioType;
}
return io.DisplayStr;
}
}
}
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!