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Commit 87602c66 由 LN
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上料模块修改：升降盘后退根据待机点判断。放料时先伺服到P2,再升降下降。

1 个父辈 34b7b469
内嵌 并排
正在显示 14 个修改的文件 包含 145 行增加 和 124 行删除
source/AssemblyLineClient/FrmFeedingEquip.cs
......@@ -395,10 +395,12 @@ namespace OnlineStore.AssemblyLine
private void btnTrayLocationCylinder_Click(object sender, EventArgs e)
{
//判断伺服位置是否正确
int currP = equipBean.BatchAxis.GetAclPosition();
if (!(Math.Abs(currP) < equipBean.Config.Height_ChangeValue))
//int currP = equipBean.BatchAxis.GetAclPosition();
//int chaz = equipBean.Config.BatchAxisP1 - currP;
//if (!(Math.Abs(chaz) < equipBean.Config.Height_ChangeValue*3))
if(!equipBean.TrayLCylinderCanAfter())
{
DialogResult result = MessageBox.Show("轴二提升轴当前位置【"+ currP + "】，是否确定"+ btnTrayLocationCylinder.Text+"?","确认操作 ",MessageBoxButtons.YesNo);
DialogResult result = MessageBox.Show("提升轴当前不在待机点P2，是否确定" + btnTrayLocationCylinder.Text+"?","确认操作 ",MessageBoxButtons.YesNo);
if (!result.Equals(DialogResult.Yes))
{
return;
......
source/AssemblyLineClient/记录.txt
......@@ -66,4 +66,8 @@ D2(上料模块出口)
判断出口处是否有料（转一工位=3），有料，等待皮带线3入口无料，且停止时转动到出口定位到位
无料，结束
\ No newline at end of file
入料模块先伺服动作，在气缸下降
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
......@@ -20,7 +20,7 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,2800,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,2800,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,1000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,38000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,19000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,2,COM5,0,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
......@@ -8,9 +8,9 @@ PRO,0,上料流水线入口AGV小车站号名称,AgvInName,D3,,,,,
PRO,0,上料流水线出口AGV小车站号名称,AgvOutName,D4,,,,,
,,,,,,,,,
AXIS,0,轴二提升上料轴,Batch_Axis,3,COM5,0,,,
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,23175588,,,,,
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,12460000,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,0,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,20720919,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,11420750,,,,,
PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,1500,,,,,
PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
......@@ -20,12 +20,12 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,2800,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,2800,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,1000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,38000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,19000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,4,COM5,0,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=90000,,,,,
PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,200000,,,,,
PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=40000;8=0,,,,,
PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,258600,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,GigE:MV-CE200-10GC (00D77519112),,,,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
PRO,0,对应的横移模块,SidesWayNum,2,,,,,
......@@ -8,9 +8,9 @@ PRO,0,上料流水线入口AGV小车站号名称,AgvInName,D1,,,,,
PRO,0,上料流水线出口AGV小车站号名称,AgvOutName,D2,,,,,
,,,,,,,,,
AXIS,0,轴二提升上料轴,Batch_Axis,5,COM5,0,,,
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,23400000,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,0,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,20930000,,,,,
PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,6488350,,,,,
PRO,0,提升上料轴下降位置P2,BatchAxisP2,-34000,,,,,
PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,5893500,,,,,
PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,1500,,,,,
PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
......@@ -20,12 +20,12 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,2800,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,2800,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,1500,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,38000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,19000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,6,COM5,0,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=90000,,,,,
PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,277000,,,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,126100,,,,,
PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=138340;8=138340,,,,,
PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,300000,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
......@@ -96,7 +96,7 @@ DO,0,SL3升降盘定位气缸1后退SOL,SL_TrayLocation_After,3,PRO_AOI_IP_16,0,SL3升降盘
,,,,,,,,,
DO,1000,环形线横移2阻挡下降SOL,SW2_StopDown,4,PRO_AOI_IP_28,0,环形线横移2阻挡下降SOL,Y405,Y405
,,,,,,,,,
,,,,,,,,,
DO,1000,环形线横移2顶升上升SOL,SW2_TopCylinder_Up,4,PRO_AOI_IP_16,0,环形线横移2顶升上升SOL,Y205,Y205
DO,1000,环形线横移2顶升下降SOL,SW2_TopCylinder_Down,5,PRO_AOI_IP_16,0,环形线横移2顶升下降SOL,Y206,Y206
DO,1000,环形线横移2定位上升SOL,SW2_LocationCylinder_Up,6,PRO_AOI_IP_16,0,环形线横移2定位上升SOL,Y207,Y207
......
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
PRO,0,对应的横移模块,SidesWayNum,3,,,,,
......@@ -20,7 +20,7 @@ PRO,0,提升上料轴原点加速度,BatchAxis_HomeAddSpeed,500,,,,,
PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,2800,,,,,
PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,2800,,,,,
PRO,0,提升上料轴P3速度,BatchAxis_P3Speed,2000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,38000,,,,,
PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,19000,,,,,
,,,,,,,,,
AXIS,0,轴一移栽上下轴,UpDown_Axis,8,COM5,0,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
......
source/DeviceLibrary/LineConfig/Config_Line.csv
类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
,,,,,,,,,
PRO,0,流水线总电器箱,PRO_AOI_IP_1,192.168.209.21,,,,,
PRO,0,出料皮带线1,PRO_AOI_IP_2,192.168.209.22,,,,,
PRO,0,出料皮带线2,PRO_AOI_IP_3,192.168.209.23,,,,,
PRO,0,流水线总电器箱,PRO_AOI_IP_1,192.168.101.21,,,,,
PRO,0,出料皮带线1,PRO_AOI_IP_2,192.168.101.22,,,,,
PRO,0,出料皮带线2,PRO_AOI_IP_3,192.168.101.23,,,,,
,,,,,,,,,
PRO,0,上料流水线SL1-模块1,PRO_AOI_IP_11,192.168.209.24,,,,,
PRO,0,上料流水线SL1-模块2,PRO_AOI_IP_12,192.168.209.25,,,,,
PRO,0,上料流水线SL2-模块1,PRO_AOI_IP_13,192.168.209.26,,,,,
PRO,0,上料流水线SL2-模块2,PRO_AOI_IP_14,192.168.209.27,,,,,
PRO,0,上料流水线SL3-模块1,PRO_AOI_IP_15,192.168.209.28,,,,,
PRO,0,上料流水线SL3-模块2,PRO_AOI_IP_16,192.168.209.29,,,,,
PRO,0,下料流水线SL4-模块1,PRO_AOI_IP_17,192.168.209.30,,,,,
PRO,0,下料流水线SL4-模块2,PRO_AOI_IP_18,192.168.209.31,,,,,
PRO,0,上料流水线SL1-模块1,PRO_AOI_IP_11,192.168.101.24,,,,,
PRO,0,上料流水线SL1-模块2,PRO_AOI_IP_12,192.168.101.25,,,,,
PRO,0,上料流水线SL2-模块1,PRO_AOI_IP_13,192.168.101.26,,,,,
PRO,0,上料流水线SL2-模块2,PRO_AOI_IP_14,192.168.101.27,,,,,
PRO,0,上料流水线SL3-模块1,PRO_AOI_IP_15,192.168.101.28,,,,,
PRO,0,上料流水线SL3-模块2,PRO_AOI_IP_16,192.168.101.29,,,,,
PRO,0,下料流水线SL4-模块1,PRO_AOI_IP_17,192.168.101.30,,,,,
PRO,0,下料流水线SL4-模块2,PRO_AOI_IP_18,192.168.101.31,,,,,
,,,,,,,,,
PRO,0,移载装置(上下为伺服）01、02-模块1,PRO_AOI_IP_19,192.168.209.32,,,,,
PRO,0,移载装置(上下为伺服）01、02-模块2,PRO_AOI_IP_20,192.168.209.33,,,,,
PRO,0,移载装置(上下为伺服）03、04-模块1,PRO_AOI_IP_21,192.168.209.34,,,,,
PRO,0,移载装置(上下为伺服）03、04-模块2,PRO_AOI_IP_22,192.168.209.35,,,,,
PRO,0,移载装置(上下为伺服）05、06-模块1,PRO_AOI_IP_23,192.168.209.36,,,,,
PRO,0,移载装置(上下为伺服）05、06-模块2,PRO_AOI_IP_24,192.168.209.37,,,,,
PRO,0,移载装置(上下为伺服）07、08-模块1,PRO_AOI_IP_25,192.168.209.38,,,,,
PRO,0,移载装置(上下为伺服）07、08-模块2,PRO_AOI_IP_26,192.168.209.39,,,,,
PRO,0,移载装置(上下为伺服）09、10-模块1,PRO_AOI_IP_27,192.168.209.40,,,,,
PRO,0,移载装置(上下为伺服）09、10-模块2,PRO_AOI_IP_28,192.168.209.41,,,,,
PRO,0,移载装置(上下为气缸）11、12-模块1,PRO_AOI_IP_29,192.168.209.42,,,,,
PRO,0,移载装置(上下为气缸）11、12-模块2,PRO_AOI_IP_30,192.168.209.43,,,,,
PRO,0,移载装置(上下为气缸）13、14-模块1,PRO_AOI_IP_31,192.168.209.44,,,,,
PRO,0,移载装置(上下为气缸）13、14-模块2,PRO_AOI_IP_32,192.168.209.45,,,,,
PRO,0,移载装置(上下为气缸）15、16-模块1,PRO_AOI_IP_33,192.168.209.46,,,,,
PRO,0,移载装置(上下为气缸）15、16-模块2,PRO_AOI_IP_34,192.168.209.47,,,,,
PRO,0,移载装置(上下为气缸）17、18-模块1,PRO_AOI_IP_35,192.168.209.48,,,,,
PRO,0,移载装置(上下为气缸）17、18-模块2,PRO_AOI_IP_36,192.168.209.49,,,,,
PRO,0,移载装置(上下为伺服）01、02-模块1,PRO_AOI_IP_19,192.168.101.32,,,,,
PRO,0,移载装置(上下为伺服）01、02-模块2,PRO_AOI_IP_20,192.168.101.33,,,,,
PRO,0,移载装置(上下为伺服）03、04-模块1,PRO_AOI_IP_21,192.168.101.34,,,,,
PRO,0,移载装置(上下为伺服）03、04-模块2,PRO_AOI_IP_22,192.168.101.35,,,,,
PRO,0,移载装置(上下为伺服）05、06-模块1,PRO_AOI_IP_23,192.168.101.36,,,,,
PRO,0,移载装置(上下为伺服）05、06-模块2,PRO_AOI_IP_24,192.168.101.37,,,,,
PRO,0,移载装置(上下为伺服）07、08-模块1,PRO_AOI_IP_25,192.168.101.38,,,,,
PRO,0,移载装置(上下为伺服）07、08-模块2,PRO_AOI_IP_26,192.168.101.39,,,,,
PRO,0,移载装置(上下为伺服）09、10-模块1,PRO_AOI_IP_27,192.168.101.40,,,,,
PRO,0,移载装置(上下为伺服）09、10-模块2,PRO_AOI_IP_28,192.168.101.41,,,,,
PRO,0,移载装置(上下为气缸）11、12-模块1,PRO_AOI_IP_29,192.168.101.42,,,,,
PRO,0,移载装置(上下为气缸）11、12-模块2,PRO_AOI_IP_30,192.168.101.43,,,,,
PRO,0,移载装置(上下为气缸）13、14-模块1,PRO_AOI_IP_31,192.168.101.44,,,,,
PRO,0,移载装置(上下为气缸）13、14-模块2,PRO_AOI_IP_32,192.168.101.45,,,,,
PRO,0,移载装置(上下为气缸）15、16-模块1,PRO_AOI_IP_33,192.168.101.46,,,,,
PRO,0,移载装置(上下为气缸）15、16-模块2,PRO_AOI_IP_34,192.168.101.47,,,,,
PRO,0,移载装置(上下为气缸）17、18-模块1,PRO_AOI_IP_35,192.168.101.48,,,,,
PRO,0,移载装置(上下为气缸）17、18-模块2,PRO_AOI_IP_36,192.168.101.49,,,,,
,,,,,,,,,
PRO,0,移栽装置1-托盘-RFID-IP,PRO_RFIP_001,192.168.210.103,,,,,
PRO,0,移栽装置2-托盘-RFID-IP,PRO_RFIP_002,192.168.210.104,,,,,
......@@ -67,8 +67,8 @@ PRO,0,入料流水线3-上料模块-RFID-IP,PRO_RFIP_103-1,192.168.210.115,,,,,
PRO,0,当多久没操作时流水线休眠（秒）,Sleep_MSeconds,600,,,,,
PRO,0,气压检测信号关闭需要持续的时间,AirCheckSeconds,600,,,,,
PRO,0,IO信号超时时间（毫秒）,IOSingle_TimerOut,15000,,,,,
PRO,0,IO模块对应的DI数量,IO_DILength,192.168.209.33#8;192.168.209.35#8;192.168.209.37#8;192.168.209.39#8;192.168.209.41#8;,,,,,
PRO,0,模块对应的DO数量,IO_DOLength,192.168.209.33#8;192.168.209.35#8;192.168.209.37#8;192.168.209.39#8;192.168.209.41#8;,,,,,
PRO,0,IO模块对应的DI数量,IO_DILength,192.168.101.33#8;192.168.101.35#8;192.168.101.37#8;192.168.101.39#8;192.168.101.41#8;,,,,,
PRO,0,模块对应的DO数量,IO_DOLength,192.168.101.33#8;192.168.101.35#8;192.168.101.37#8;192.168.101.39#8;192.168.101.41#8;,,,,,
,,,,,,,,,
,,,,,,,,,
DI,0,急停,SuddenStop_BTN,0,PRO_AOI_IP_1,0,急停,X001,X001
......
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
......@@ -6,8 +6,8 @@ PRO,0,设备对应的出料流水线的第几条流水线,DLineLineNum,1,,,,,
,,,,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,15,COM5,0,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=80000;,,,,,,
PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=90000;,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=120000,,,,,,
PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=150000,,,,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
......@@ -17,4 +17,4 @@ PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,400,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,300,,,,,
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,,,,
\ No newline at end of file
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,,,,
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
......@@ -6,8 +6,8 @@ PRO,0,设备对应的出料流水线的第几条流水线,DLineLineNum,2,,,,,
,,,,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,16,COM5,0,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=80000;,,,,,,
PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=90000;,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=120000,,,,,,
PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=150000,,,,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
......@@ -17,4 +17,4 @@ PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,400,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,300,,,,,
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,,,,
\ No newline at end of file
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,,,,
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
......@@ -6,8 +6,8 @@ PRO,0,设备对应的出料流水线的第几条流水线,DLineLineNum,1,,,,,
,,,,,
PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
AXIS,0,移栽上下轴,UpDown_Axis,9,COM5,0,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=80000;,,,,,,
PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=90000;,,,,,,
PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=120000,,,,,,
PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=150000,,,,,,
PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
......@@ -17,4 +17,4 @@ PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,400,,,,,
PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,300,,,,,
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,,,,
\ No newline at end of file
PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,300,,,,,
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -425,16 +425,18 @@ namespace OnlineStore.DeviceLibrary
/// 升降盘定位气缸后退
/// </summary>
public void TrayLCylinderAfter(LineMoveInfo moveinfo = null)
{
int currP = BatchAxis.GetAclPosition();
if (Math.Abs(currP) < Config.Height_ChangeValue)
{
if (TrayLCylinderCanAfter())
{
IOMove(IO_Type.SL_TrayLocation_After, IO_VALUE.HIGH);
IOMove(IO_Type.SL_TrayLocation_Before, IO_VALUE.LOW);
}
else
{
LogUtil.error(Name + "TrayLCylinderAfter：提升轴当前位置【" + currP + "】，不在待机点，不后退定位气缸");
WarnMsg = Name + "TrayLCylinderAfter：提升轴当前不在待机点P2，不后退定位气缸";
Alarm(LineAlarmType.IoSingleTimeOut);
LogUtil.error(Name + "TrayLCylinderAfter：提升轴当前不在待机点P2，不后退定位气缸");
}
if (moveinfo != null)
{
......@@ -444,6 +446,17 @@ namespace OnlineStore.DeviceLibrary
moveinfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_TrayLocation2_Before, IO_VALUE.LOW));
}
}
public bool TrayLCylinderCanAfter()
{
int currP = BatchAxis.GetAclPosition();
int chaz = Config.BatchAxisP2 - currP;
if ((Math.Abs(chaz) < Config.Height_ChangeValue * 2))
{
return true ;
}
return false ;
}
/// <summary>
/// 升降盘是否在后退端
/// </summary>
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -695,9 +695,10 @@ namespace OnlineStore.DeviceLibrary
{
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_MoveCylinder_Down);
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，托盘号【"+currTrayNum+"】，获取库位号，更新托盘信息");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
MoveInfo.NextMoveStep(LineMoveStep.FI_21_UpdownAxisToP2);
int targetPositon = Config.GetUpdownPositionP2(LastHeight);
InLog("料盘移栽" + MoveInfo.SLog + "：移栽伺服下降到P2:" + targetPositon+ ",托盘号【" + currTrayNum + "】，获取库位号，更新托盘信息");
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
Task.Factory.StartNew(delegate
{
......@@ -728,14 +729,14 @@ namespace OnlineStore.DeviceLibrary
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_MoveCylinder_Down))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_UpdownAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_22_UpdownAxisToP2);
int targetPositon = Config.GetUpdownPositionP2(LastHeight);
InLog("料盘移栽" + MoveInfo.SLog + "：移栽伺服下降到指定位置:" + targetPositon);
UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
MoveInfo.NextMoveStep(LineMoveStep.FI_22_MoveCylinder_Down);
InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_UpdownAxisToP2))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_22_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_23_MoveCylinder_Slack);
InLog("料盘移栽" + MoveInfo.SLog + "：上料气缸放松");
......@@ -743,18 +744,19 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_23_MoveCylinder_Slack))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_24_UpDownAxisToP1);
InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_24_UpDownAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_25_MoveCylinder_Up);
MoveInfo.NextMoveStep(LineMoveStep.FI_24_MoveCylinder_Up);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升 ");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_24_MoveCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_25_UpDownAxisToP1);
InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_MoveCylinder_Up))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_UpDownAxisToP1))
{
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位，托盘开始放行 ");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -8,7 +8,7 @@ using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class FeedingEquip
partial class FeedingEquip
{
#region 出料流程
private int OutStoreHeight = -1;
......@@ -18,7 +18,7 @@ namespace OnlineStore.DeviceLibrary
currTrayNum = trayNum;
if (CurrTrayIsNeed(currTrayNum, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopCylinderUp);
CheckLog("检测到SW_TrayCheck：" + SecondMoveInfo.SLog + "横移顶升气缸上升 ）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
......@@ -77,13 +77,13 @@ namespace OnlineStore.DeviceLibrary
{
//线体出口检测到料架，需要通知AGV小车
AgvClient.ReadyEmpty(Config.AgvOutName);
}
}
public override bool StartOutStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
......@@ -102,7 +102,7 @@ namespace OnlineStore.DeviceLibrary
OutLog("准备出库料架， " + MoveInfo.SLog + " ：升降盘定位气缸后退");
}
else
{
{
MoveInfo.NextMoveStep(LineMoveStep.FO_00_BatchAxisToP2);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
OutLog("准备出库料架，升降盘不在后退端 " + MoveInfo.SLog + " ：提升伺服先回到P2");
......@@ -267,7 +267,7 @@ namespace OnlineStore.DeviceLibrary
BatchAxisStartCheck(IO_Type.SL_AxisLocationCheck, IO_VALUE.LOW);
}
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_TrayLocationCylinder_After);
......@@ -362,18 +362,18 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_212_MoveCylinder_Take))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_213_MoveCylinder_Down);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_213_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_214_UpdownAxisToP2);
MoveInfo.NextMoveStep(LineMoveStep.FO_213_UpdownAxisToP2);
int targetP = Config.GetUpdownPositionP2(MoveInfo.MoveParam.PlateH);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：升降伺服下降到P2：" + targetP);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_214_UpdownAxisToP2))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_213_UpdownAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_214_MoveCylinder_Down);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_214_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_215_MoveCylinder_Tighten);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料气缸夹紧");
......@@ -381,22 +381,22 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_215_MoveCylinder_Tighten))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_216_UpdownAxisToP1);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
MoveInfo.NextMoveStep(LineMoveStep.FO_216_MoveCylinder_Up);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_216_UpdownAxisToP1))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_216_MoveCylinder_Up))
{
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
MoveInfo.NextMoveStep(LineMoveStep.FO_217_MoveCylinder_Up);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构上升，更新【" + trayNum + "】为空托盘");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
MoveInfo.NextMoveStep(LineMoveStep.FO_217_UpdownAxisToP1);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(trayNum, false);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_217_MoveCylinder_Up))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_217_UpdownAxisToP1))
{
if (MoveCylineCanTakeOrGive())
{
......@@ -406,7 +406,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_217_MoveCylinder_Up);
MoveInfo.NextMoveStep(LineMoveStep.FO_217_UpdownAxisToP1);
OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构到放料端前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
......@@ -433,7 +433,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_221_UpdownAxisToP1))
{
//出库结束 TODO
// bool isNeedSendShelf = false;
// bool isNeedSendShelf = false;
if (OutEndSendShelfOut)
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_BatchAxisToP2);
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -654,26 +654,26 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_20_WaitTray ,
/// <summary>
/// 料盘移栽： 上料机构下降
/// 料盘移栽：移栽伺服下降到P2
/// </summary>
FI_21_MoveCylinder_Down ,
FI_21_UpdownAxisToP2,
/// <summary>
/// 料盘移栽： 移栽伺服下降到指定位置
/// 料盘移栽： 上料机构下降
/// </summary>
FI_22_UpdownAxisToP2 ,
FI_22_MoveCylinder_Down,
/// <summary>
/// 料盘移栽： 上料气缸放松
/// </summary>
FI_23_MoveCylinder_Slack ,
/// <summary>
/// 料盘移栽：升降伺服到P1点
/// 料盘移栽：上料横移机构上升
/// </summary>
FI_24_UpDownAxisToP1 ,
FI_24_MoveCylinder_Up,
/// <summary>
/// 料盘移栽：上料横移机构上升
/// 料盘移栽：升降伺服到P1点
/// </summary>
FI_25_MoveCylinder_Up ,
FI_25_UpDownAxisToP1,
///// <summary>
///// 料盘移栽：上料横移机构到取料端
///// </summary>
......@@ -788,25 +788,25 @@ namespace OnlineStore.DeviceLibrary
/// /// </summary>
FO_212_MoveCylinder_Take = 12212,
/// <summary>
/// 紧急出料移栽：上料横移机构下降
/// 紧急出料移栽：升降伺服下降到P2
/// /// </summary>
FO_213_MoveCylinder_Down = 12213,
FO_213_UpdownAxisToP2 = 12213,
/// <summary>
/// 紧急出料移栽：升降伺服下降到指定位置
/// 紧急出料移栽：上料横移机构下降
/// /// </summary>
FO_214_UpdownAxisToP2 = 12214,
FO_214_MoveCylinder_Down = 12214,
/// <summary>
/// 紧急出料移栽：上料气缸夹紧
/// /// </summary>
FO_215_MoveCylinder_Tighten = 12215,
/// <summary>
/// 紧急出料移栽：升降伺服到P1
/// 紧急出料移栽：上料横移机构上升
/// /// </summary>
FO_216_UpdownAxisToP1 = 12216,
FO_216_MoveCylinder_Up = 12216,
/// <summary>
/// 紧急出料移栽：上料横移机构上升
/// 紧急出料移栽：升降伺服到P1
/// /// </summary>
FO_217_MoveCylinder_Up = 12217,
FO_217_UpdownAxisToP1 = 12217,
/// <summary>
/// 紧急出料移栽：上料横移机构到放料端
/// /// </summary>
......
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