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 833f1d8e 由 LN
选项

皮带线逻辑优化

1 个父辈 938f54d5
内嵌 并排
正在显示 8 个修改的文件 包含 87 行增加 和 18 行删除
source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
......@@ -656,7 +656,7 @@
this.lblThisSta.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblThisSta.Location = new System.Drawing.Point(406, 21);
this.lblThisSta.Name = "lblThisSta";
this.lblThisSta.Size = new System.Drawing.Size(866, 330);
this.lblThisSta.Size = new System.Drawing.Size(881, 330);
this.lblThisSta.TabIndex = 246;
this.lblThisSta.Text = "等待启动";
this.lblThisSta.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
......
source/AssemblyLineClient/记录.txt
20200610
20200623
入库，料仓与服务器 通信超时改为3秒。入库验证时如果超时重新发送。
入库NG的到达NG口时再调用下取消入库任务。
20200610
BUG：托盘一直显示有料
伺服SuddenStop方法调用3次，防止停止失败。
增加四条出料皮带线滚刷功能。
......
source/DeviceLibrary/assemblyLine/DischargeLine.cs
......@@ -317,7 +317,7 @@ namespace OnlineStore.DeviceLibrary
else
{
//皮带线3出口有料,分盘定位装置无料
if (Line3TurnIsStop() && IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.LOW) && StationInfo_NG.TrayValue.Equals(IO_VALUE.HIGH)&& ScanIsEnd())
if (Line3TurnIsStop() && IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.LOW) && StationInfo_NG.TrayValue.Equals(IO_VALUE.HIGH) && ScanIsEnd())
{
StartOutStoreMove(new InOutParam());
}
......@@ -350,6 +350,11 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.DLine_RunAlarm, IO_VALUE.HIGH);
}
if (MoveInfo.MoveType.Equals(LineMoveType.None) && SeparateStopTime < DateTime.Now && IOValue(IO_Type.SeparateDevice_Run).Equals(IO_VALUE.HIGH))
{
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.LOW);
}
}
internal bool InStoreNgISBack()
{
......
source/DeviceLibrary/assemblyLine/DischargeLine_Partial.cs
......@@ -12,7 +12,7 @@ namespace OnlineStore.DeviceLibrary
partial class DischargeLine
{
private int LastWidth = 0;
private DateTime SeparateStopTime = DateTime.Now;
protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
{
if (wait.WaitType.Equals(WaitEnum.W301_DLineScanCode))
......@@ -186,9 +186,12 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.SeparateDevice_Run, IO_VALUE.HIGH);
if (IOValue(IO_Type.SeparateDevice_Check).Equals(IO_VALUE.HIGH))
{
SeparateStopTime = DateTime.Now.AddSeconds(3);
int robotIndex = GetRobotIndex();
LogUtil.info(hengyiName + MoveInfo.SLog + "送料，接驳台有料，调用arriveRobotLocation=" + robotIndex + "[" + StationInfo_Move.CodeStr + "]");
SServerManager.arriveRobotLocation(Name, robotIndex, StationInfo_Move.CodeStr);
MoveEndS();
LogUtil.info(hengyiName + MoveInfo.SLog + "送料结束 ");
}
else
{
......@@ -197,17 +200,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.TimeOutSeconds = 40;
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SeparateDevice_Check, IO_VALUE.HIGH));
}
//}
//else if (span.TotalSeconds <= 60)
//{
// int robotIndex = GetRobotIndex();
// LogUtil.info(hengyiName + MoveInfo.SLog + "送料，接驳台应有料"+FormUtil.GetSpanStr(span)+"，调用arriveRobotLocation=" + robotIndex + "[" + StationInfo_Move.CodeStr + "]");
// SServerManager.arriveRobotLocation(Name, robotIndex, StationInfo_Move.CodeStr);
//}
//else
//{
// LogUtil.info(hengyiName + MoveInfo.SLog + "送料，接驳台无料");
//}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DON_08_CRun))
{
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -668,7 +668,7 @@ namespace OnlineStore.DeviceLibrary
if (isNeed)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待一秒钟）");
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待200");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else
......@@ -705,8 +705,8 @@ namespace OnlineStore.DeviceLibrary
{
if (!LineServer.RightInPosId(DeviceID, SecondMoveInfo.MoveParam.PosId))
{
LogUtil.error(Name + " " + SecondMoveInfo.SLog + "[" + SecondMoveInfo.MoveParam.PosId + "]料仓未验证成功，等待3秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
LogUtil.error(Name + " " + SecondMoveInfo.SLog + "[" + SecondMoveInfo.MoveParam.PosId + "]料仓未验证成功，等待9秒");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(9000));
}
if (SecondMoveInfo.MoveParam.PlateH >= 30)
{
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -144,6 +144,15 @@ namespace OnlineStore.DeviceLibrary
if (trayInfo.IsFull && trayInfo.InoutPar.InStoreNg && this.Config.SidesWayNum.Equals(4))
{
outMsg = "入料NG料";
//如果分配了库位，需要调用取消
if (trayInfo.InoutPar.WareCode != "" && trayInfo.InoutPar.PosId != "")
{
Task.Factory.StartNew(delegate
{
SServerManager.cancelPutInTask(Name, trayInfo.InoutPar.WareCode);
});
}
//入料失败料
return inoup;
}
......@@ -238,11 +247,34 @@ namespace OnlineStore.DeviceLibrary
//空闲且皮带线出料已结束
if (kongxian && LineNotBusy())
{
//随机分配
Random r = new Random();
int value = r.Next(0, 100000) % 6;
if (lineNum.Equals(1))
{
if ((value.Equals(0) || value.Equals(1)))
{
outMsg = "随意放";
return inoup;
}
}
else if (lineNum.Equals(2))
{
if ((value.Equals(2) || value.Equals(3)))
{
outMsg = "随意放";
return inoup;
}
}
else
{
outMsg = "随意放";
return inoup;
}
}
}
}
//TODO 判断是否是需要移栽出料的料盘
return null;
......
source/DeviceLibrary/deviceLibrary/PanasonicServo/ACCMDManager.cs
......@@ -8,6 +8,10 @@ namespace OnlineStore.DeviceLibrary
public class ACCMDManager
{
/// <summary>
/// 0130h 选通输入(STB) 状态 ReadOnly 0： 输入 OFF 1： 输入 ON
/// </summary>
internal static string STB_State = "0130";
/// <summary>
/// 0132h 原点接近传感器输入 (HOME) 状态 ReadOnly 0： 输入 OFF 1： 输入 ON
/// </summary>
public static string Home_Single = "0132";
......
source/DeviceLibrary/deviceLibrary/PanasonicServo/ACServerManager_Partial.cs
......@@ -303,6 +303,24 @@ namespace OnlineStore.DeviceLibrary
public static void OpenAndCloseSTB(string portName, int slvAddr)
{
if (GetBusyStatus(portName, slvAddr).Equals(1))
{
LogUtil.error("伺服【" + portName + "_" + slvAddr + "】OpenSTB时发现 busy=1，直接返回");
return;
}
System.Threading.Thread.Sleep(SleepMSendons);
if (GetSTBState(portName, slvAddr).Equals(1))
{
LogUtil.error("伺服【" + portName + "_" + slvAddr + "】OpenSTB时发现 STB=ON，先关闭STB");
CloseSTB(portName, slvAddr);
System.Threading.Thread.Sleep(SleepMSendons);
if (GetSTBState(portName, slvAddr).Equals(1))
{
LogUtil.error("伺服【" + portName + "_" + slvAddr + "】OpenSTB时发现 STB=ON，先关闭STB 后发现STB仍为ON，直接返回");
return;
}
}
OnlyOpenSTB(portName, slvAddr);
System.Threading.Thread.Sleep(200);
CloseSTB(portName, slvAddr);
......@@ -494,6 +512,19 @@ namespace OnlineStore.DeviceLibrary
return GetCoilData(portName, reviceData, ACCMDManager.Home_Single);
}
/// <summary>
/// 获取STB信号值，1=On,0=OFF
/// </summary>
/// <param name="portName"></param>
/// <param name="slvAddr"></param>
/// <returns></returns>
public static int GetSTBState(string portName, int slvAddr)
{
PreReadCoilAddr = ACCMDManager.STB_State;
byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, ACCMDManager.STB_State, "0000", 1);
byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
return GetCoilData(portName, reviceData, ACCMDManager.STB_State);
}
/// <summary>
/// 负极限
/// </summary>
public static int GetLimitNegativeSingle(string portName, int slvAddr)
......
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!