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Commit 6e3c379e 由 LN
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皮带线456信号修改

1 个父辈 5550ee11
内嵌 并排
正在显示 8 个修改的文件 包含 83 行增加 和 46 行删除
source/AssemblyLineClient/记录.txt
...@@ -144,7 +144,9 @@ agvclien增加cancelState的参数设置. ...@@ -144,7 +144,9 @@ agvclien增加cancelState的参数设置.
20200221 20200221
agv客户端启动时需要设置状态为none agv客户端启动时需要设置状态为none
20200223
1.急停信号增加500ms延迟
2.皮带线456信号修改。
......
source/DeviceLibrary/agvClient/AgvClient.cs
...@@ -63,18 +63,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -63,18 +63,20 @@ namespace OnlineStore.DeviceLibrary
{ {
agvClient.CancelState = isCancel; agvClient.CancelState = isCancel;
} }
public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low) public static void SetStatus(string id, string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low,bool isMust=false)
{ {
// ClientAction currA = GetAction(id); // ClientAction currA = GetAction(id);
if (actionMap.ContainsKey(id)) if (!isMust)
{ {
ClientAction currA = actionMap[id]; //相同状态就设置一次 if (actionMap.ContainsKey(id))
if (currA.Equals(action))
{ {
return; ClientAction currA = actionMap[id]; //相同状态就设置一次
if (currA.Equals(action))
{
return;
}
} }
} }
agvClient.SetStatus(id, "", shelfId, action, level); agvClient.SetStatus(id, "", shelfId, action, level);
UpdateAction(id, action); UpdateAction(id, action);
} }
......
source/DeviceLibrary/assemblyLine/DischargeLine.cs
...@@ -30,17 +30,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -30,17 +30,25 @@ namespace OnlineStore.DeviceLibrary
this.Config = config; this.Config = config;
IsDebug = config.IsDebug.Equals(1); IsDebug = config.IsDebug.Equals(1);
baseConfig = config; baseConfig = config;
Name = (" " + "_出料皮带线_" +( DeviceID.Equals(301)?"123":"456") + " ").ToUpper(); Name = (" " + "_出料皮带线_" + (DeviceID.Equals(301) ? "123" : "456") + " ").ToUpper();
Init(); Init();
UseAxis = false; UseAxis = false;
MoveInfo = new LineMoveInfo(DeviceID, "[" + Name + "-Move]"); MoveInfo = new LineMoveInfo(DeviceID, "[" + Name + "-Move]");
SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name + "-SMove]"); SecondMoveInfo = new LineMoveInfo(DeviceID, "[" + Name + "-SMove]");
int id = DeviceID % 100; int id = DeviceID % 100;
hengyiName = "横移皮带线-"+ ((id - 1) * 3 + 3)+" "; hengyiName = "横移皮带线-" + ((id - 1) * 3 + 3) + " ";
TrayLine1 = new OutTrayLineBean("移栽皮带线" + "-" +( (id - 1) * 3 + 1)+" ", IO_Type.EntryLocation_Check1, IO_Type.ExitLocation_Check1, IO_Type.ExitTray_Check1, IO_Type.DLine_Run1, IO_Type.EntryTray_Check3, this.DeviceID); if (id.Equals(1))
TrayLine2 = new OutTrayLineBean("移栽皮带线" + "-" +( (id - 1) * 3 + 2)+" ", IO_Type.EntryLocation_Check2, IO_Type.ExitLocation_Check2, IO_Type.ExitTray_Check2, IO_Type.DLine_Run2, IO_Type.MiddleTray_Check3, this.DeviceID); {
TrayLine1 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 1) + " ", IO_Type.EntryLocation_Check1, IO_Type.ExitLocation_Check1, IO_Type.ExitTray_Check1, IO_Type.DLine_Run1, IO_Type.EntryTray_Check3, this.DeviceID);
TrayLine2 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 2) + " ", IO_Type.EntryLocation_Check2, IO_Type.ExitLocation_Check2, IO_Type.ExitTray_Check2, IO_Type.DLine_Run2, IO_Type.MiddleTray_Check3, this.DeviceID);
}
else
{
TrayLine1 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 1) + " ", IO_Type.EntryLocation_Check1, IO_Type.ExitLocation_Check1, IO_Type.ExitTray_Check1, IO_Type.DLine_Run1, IO_Type.MiddleTray_Check3, this.DeviceID);
TrayLine2 = new OutTrayLineBean("移栽皮带线" + "-" + ((id - 1) * 3 + 2) + " ", IO_Type.EntryLocation_Check2, IO_Type.ExitLocation_Check2, IO_Type.ExitTray_Check2, IO_Type.DLine_Run2, IO_Type.EntryTray_Check3, this.DeviceID);
}
Line3Turn = new LineTurnBean(DeviceID); Line3Turn = new LineTurnBean(DeviceID);
if((DeviceID%100).Equals(1)) if ((DeviceID % 100).Equals(1))
{ {
Line3MaxPosition = 13; Line3MaxPosition = 13;
} }
...@@ -195,10 +203,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -195,10 +203,14 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IOValue(IO_Type.DLine_SuddenStop).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.DLine_SuddenStop).Equals(IO_VALUE.LOW))
{ {
SetWarnMsg(Name + "收到急停信号"); LogUtil.error(Name + "收到急停信号，等待500后再次验证急停");
Thread.Sleep(500);
Alarm(LineAlarmType.SuddenStop); if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
return; {
SetWarnMsg(Name + "收到急停信号");
Alarm(LineAlarmType.SuddenStop);
return;
}
} }
if (IOValue(IO_Type.DLine_Reset).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.DLine_Reset).Equals(IO_VALUE.HIGH))
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
...@@ -19,6 +19,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -19,6 +19,7 @@ namespace OnlineStore.DeviceLibrary
public FeedingEquip_Config Config; public FeedingEquip_Config Config;
public bool OutEndSendShelfOut = false; public bool OutEndSendShelfOut = false;
public string CurrShelfId = "";//当前的料架ID public string CurrShelfId = "";//当前的料架ID
public string LastOutShelfId = "";//最后一个出口
public AxisBean BatchAxis = null; public AxisBean BatchAxis = null;
public FeedingEquip(string cid, FeedingEquip_Config config) public FeedingEquip(string cid, FeedingEquip_Config config)
{ {
...@@ -270,7 +271,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -270,7 +271,7 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{ {
LogInfo("重置完成，出口检测到有料架，调用 " + Config.AgvOutName + " AgvClient.NeedLeave"); LogInfo("重置完成，出口检测到有料架，调用 " + Config.AgvOutName + " AgvClient.NeedLeave");
AgvClient.NeedLeave(Config.AgvOutName); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId);
} }
MoveEndS(); MoveEndS();
break; break;
...@@ -325,12 +326,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -325,12 +326,17 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.SL_SuddenStop_BTN).Equals(IO_VALUE.LOW))
{ {
if (isInSuddenDown.Equals(false)) LogUtil.error(Name + "收到急停信号，等待500后再次验证急停");
Thread.Sleep(500);
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{ {
SetWarnMsg(Name + "收到急停信号"); SetWarnMsg(Name + "收到急停信号");
Alarm(LineAlarmType.SuddenStop); if (isInSuddenDown.Equals(false))
{
Alarm(LineAlarmType.SuddenStop);
}
return;
} }
return;
} }
if (IOValue(IO_Type.SL_Reset_BTN).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Reset_BTN).Equals(IO_VALUE.HIGH))
...@@ -386,7 +392,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -386,7 +392,7 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{ {
//线体出口检测到料架，需要通知AGV小车 //线体出口检测到料架，需要通知AGV小车
AgvClient.NeedLeave(Config.AgvOutName); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId);
// SendShelfToAGV(); // SendShelfToAGV();
} }
else else
...@@ -696,11 +702,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -696,11 +702,11 @@ namespace OnlineStore.DeviceLibrary
//停止转动 ,阻挡上升 //停止转动 ,阻挡上升
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW); IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW); IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.FinishLeave); AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.FinishLeave,ClientLevel.High,true);
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
Thread.Sleep(10000); Thread.Sleep(10000);
AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High); AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None, ClientLevel.High, true);
}); });
ProcessShelfOut = false; ProcessShelfOut = false;
LogUtil.info(logName + " 结束"); LogUtil.info(logName + " 结束");
...@@ -754,11 +760,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -754,11 +760,11 @@ namespace OnlineStore.DeviceLibrary
Thread.Sleep(3000); Thread.Sleep(3000);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW); IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//料架可离开 //料架可离开
AgvClient.SetStatus(Config.AgvInName,"",ClientAction.FinishEnter,ClientLevel.High); AgvClient.SetStatus(Config.AgvInName,"",ClientAction.FinishEnter, ClientLevel.High, true);
Task.Factory.StartNew(delegate Task.Factory.StartNew(delegate
{ {
Thread.Sleep(10000); Thread.Sleep(10000);
AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High); AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);
}); });
ProcessShelfEnter = false; ProcessShelfEnter = false;
LogUtil.info(logName + " 结束"); LogUtil.info(logName + " 结束");
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -840,8 +840,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -840,8 +840,9 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveEndS(); MoveEndS();
// MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun); // MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun);
InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束"); LastOutShelfId = CurrShelfId;
AgvClient.NeedLeave(Config.AgvOutName,CurrShelfId); InLog("上料完成，料架到达出口处, 通知AGV取空料架, 入料流程结束，更新LastOutShelfId=" + LastOutShelfId);
AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId);
} }
#endregion #endregion
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
...@@ -338,7 +338,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -338,7 +338,7 @@ namespace OnlineStore.DeviceLibrary
MoveEndS(); MoveEndS();
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun); // MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("送出料串： " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, 出料结束"); OutLog("送出料串： " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, 出料结束");
AgvClient.NeedLeave(Config.AgvOutName,CurrShelfId); AgvClient.NeedLeave(Config.AgvOutName, LastOutShelfId);
} }
else if (MoveInfo.MoveStep >= LineMoveStep.FO_211_AxisDownMove && MoveInfo.MoveStep < LineMoveStep.FO_30_BatchAxisToP2) else if (MoveInfo.MoveStep >= LineMoveStep.FO_211_AxisDownMove && MoveInfo.MoveStep < LineMoveStep.FO_30_BatchAxisToP2)
{ {
...@@ -515,8 +515,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -515,8 +515,27 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(LineMoveStep.FO_30_BatchAxisToP2); MoveInfo.NextMoveStep(LineMoveStep.FO_30_BatchAxisToP2);
OutStoreHeight = -1; OutStoreHeight = -1;
OutLog("紧急出料完成， " + MoveInfo.SLog + "："+msg+ "，送出料串，提升伺服到P2点，重置OutStoreHeight=-1");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
//包装料会发往分盘区, 紧急料区, 包装线区
// urgentReel 这个为true是紧急料 出到紧急料区
// cutReel 为true是分盘料,AGV会拉到到分盘区
//料串会发到分盘区和紧急料区
//两个都为false 包装料默认拉到包装线体, 料串默认拉到紧急料区
if (MoveInfo.MoveParam.urgentReel)
{
//紧急料，需要到紧急料区
LastOutShelfId = CurrShelfId + ",urgent";
}
else if (MoveInfo.MoveParam.cutReel)
{
//cutReel 为true是分盘料,AGV会拉到到分盘区
LastOutShelfId = CurrShelfId + ",cut";
}
else
{
LastOutShelfId = CurrShelfId + ",urgent";
}
OutLog("紧急出料完成， " + MoveInfo.SLog + "：" + msg + "，送出料串，提升伺服到P2点，重置OutStoreHeight=-1，更新LastOutShelfId=" + LastOutShelfId);
} }
#endregion #endregion
} }
......
source/DeviceLibrary/assemblyLine/LineBean.cs
...@@ -260,20 +260,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -260,20 +260,10 @@ namespace OnlineStore.DeviceLibrary
runStatus = LineRunStatus.HomeMoving; runStatus = LineRunStatus.HomeMoving;
StartTime = DateTime.Now; StartTime = DateTime.Now;
LogUtil.info(Name + "开始启动，启动时间：" + StartTime.ToString()); LogUtil.info(Name + "开始启动，启动时间：" + StartTime.ToString());
// rfidList = new List<string>(); RFIDManager.Open();
Thread.Sleep(5);
RFIDManager.Open(); AgvClient.SetCancelState(false);
Thread.Sleep(5);
////连接AGV调度
//if (!AgvClient.ISConnected())
//{
//}
AgvClient.SetCancelState(false);
LineServer.StartServer(ConfigAppSettings.GetIntValue(Setting_Init.TCPServerPort)); LineServer.StartServer(ConfigAppSettings.GetIntValue(Setting_Init.TCPServerPort));
RHomeOp(); RHomeOp();
...@@ -581,8 +571,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -581,8 +571,13 @@ namespace OnlineStore.DeviceLibrary
//急停按钮和气压检测按钮需要一起使用 //急停按钮和气压检测按钮需要一起使用
if (suddenBtn.Equals(IO_VALUE.LOW)) if (suddenBtn.Equals(IO_VALUE.LOW))
{ {
SetWarnMsg("收到急停信号，报警急停"); LogUtil.error(Name + "收到急停信号，等待500后再次验证急停");
Alarm(LineAlarmType.SuddenStop); Thread.Sleep(500);
if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
{
SetWarnMsg("收到急停信号，报警急停");
Alarm(LineAlarmType.SuddenStop);
}
} }
if (fuweiValue.Equals(IO_VALUE.HIGH) && (!fuweiValue.Equals(lastFuwei))) if (fuweiValue.Equals(IO_VALUE.HIGH) && (!fuweiValue.Equals(lastFuwei)))
{ {
......
source/DeviceLibrary/assemblyLine/OutTrayLineBean.cs
...@@ -313,7 +313,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -313,7 +313,7 @@ namespace OnlineStore.DeviceLibrary
if (equipBean.Line3TurnIsStop() && equipBean.IOValue(Line3_TrayCheck).Equals(IO_VALUE.LOW)) if (equipBean.Line3TurnIsStop() && equipBean.IOValue(Line3_TrayCheck).Equals(IO_VALUE.LOW))
{ {
Line3CanRun = false; Line3CanRun = false;
LogUtil.info(Name+ "出口有料盘，转动一个工位，["+LineRun_Do+"] ["+ExitLocation_Check+"]"); LogUtil.info(Name+ "出口有料盘，且"+ Line3_TrayCheck + "=LOW，转动一个工位，["+LineRun_Do+"] ["+ExitLocation_Check+"]");
lineRun.StartLineRun(LineRun_Do, ExitLocation_Check, LineEndProcess); lineRun.StartLineRun(LineRun_Do, ExitLocation_Check, LineEndProcess);
} }
} }
......
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