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。

LN
Commit 87602c66 由 LN 编写于 2019-12-21 11:35:58 +0800
source/AssemblyLineClient/FrmFeedingEquip.cs
source/AssemblyLineClient/记录.txt
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
source/DeviceLibrary/LineConfig/Config_Line.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
source/DeviceLibrary/model/StoreStep.cs
--- a/source/AssemblyLineClient/FrmFeedingEquip.cs
查看文件 @87602c6
+++ b/source/AssemblyLineClient/FrmFeedingEquip.cs
查看文件 @87602c6
@@ -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();
+            //int currP = equipBean.BatchAxis.GetAclPosition();
-            if (!(Math.Abs(currP) < equipBean.Config.Height_ChangeValue))
+            //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;

--- a/source/AssemblyLineClient/记录.txt
查看文件 @87602c6
+++ b/source/AssemblyLineClient/记录.txt
查看文件 @87602c6
@@ -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
--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
查看文件 @87602c6
@@ -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,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
查看文件 @87602c6
@@ -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,UpDownAxisP3,200000,,,,,
+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,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
查看文件 @87602c6
 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,提升上料轴上升待机点 P1,BatchAxisP1,6488350,,,,,
-PRO,0,提升上料轴下降位置P2,BatchAxisP2,0,,,,,
+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,BatchAxisP3,20930000,,,,,
+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,移栽上下轴待机点 P1,UpDownAxisP1,126100,,,,,
-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,UpDownAxisP3,277000,,,,,
+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

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
查看文件 @87602c6
 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,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_Line.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_Line.csv
查看文件 @87602c6
 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,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_2,192.168.209.22,,,,,
+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_3,192.168.209.23,,,,,
+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_12,192.168.209.25,,,,,
+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_13,192.168.209.26,,,,,
+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_14,192.168.209.27,,,,,
+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_15,192.168.209.28,,,,,
+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_16,192.168.209.29,,,,,
+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_17,192.168.209.30,,,,,
+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_18,192.168.209.31,,,,,
+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_20,192.168.209.33,,,,,
+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_21,192.168.209.34,,,,,
+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_22,192.168.209.35,,,,,
+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_23,192.168.209.36,,,,,
+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_24,192.168.209.37,,,,,
+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_25,192.168.209.38,,,,,
+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_26,192.168.209.39,,,,,
+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_27,192.168.209.40,,,,,
+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_28,192.168.209.41,,,,,
+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_29,192.168.209.42,,,,,
+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_30,192.168.209.43,,,,,
+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_31,192.168.209.44,,,,,
+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_32,192.168.209.45,,,,,
+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_33,192.168.209.46,,,,,
+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_34,192.168.209.47,,,,,
+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_35,192.168.209.48,,,,,
+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_36,192.168.209.49,,,,,
+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,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,192.168.209.33#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,192.168.101.33#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

--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
查看文件 @87602c6
@@ -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=90000;,,,,,,
+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,,,,, 
--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
查看文件 @87602c6
@@ -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=90000;,,,,,,
+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,,,,, 
--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
查看文件 @87602c6
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
查看文件 @87602c6
@@ -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=90000;,,,,,,
+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,,,,, 
--- a/source/DeviceLibrary/assemblyLine/FeedingEquip.cs
查看文件 @87602c6
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip.cs
查看文件 @87602c6
@@ -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 (TrayLCylinderCanAfter())
-            if (Math.Abs(currP) < Config.Height_ChangeValue)
            {
                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>

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
查看文件 @87602c6
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
查看文件 @87602c6
@@ -695,9 +695,10 @@ namespace OnlineStore.DeviceLibrary
            {
                if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))
                {
-                    MoveInfo.NextMoveStep(LineMoveStep.FI_21_MoveCylinder_Down);
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_21_UpdownAxisToP2);
-                    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");
+                    int targetPositon = Config.GetUpdownPositionP2(LastHeight);
-                    CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
+                    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);
+                MoveInfo.NextMoveStep(LineMoveStep.FI_22_MoveCylinder_Down);
-                int targetPositon = Config.GetUpdownPositionP2(LastHeight);
+                InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，");
-                InLog("料盘移栽" + MoveInfo.SLog + "：移栽伺服下降到指定位置:" + targetPositon);
+                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
-                UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
            }
-            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);
+                MoveInfo.NextMoveStep(LineMoveStep.FI_24_MoveCylinder_Up);
-                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);
                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);

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @87602c6
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @87602c6
@@ -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);
+                MoveInfo.NextMoveStep(LineMoveStep.FO_213_UpdownAxisToP2);
-                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);
                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);
+                MoveInfo.NextMoveStep(LineMoveStep.FO_216_MoveCylinder_Up);
-                OutLog("紧急出料移栽" + MoveInfo.SLog + "：升降伺服到P1");
+                OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构上升");
-                UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
+                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_UpdownAxisToP1);
-                MoveInfo.NextMoveStep(LineMoveStep.FO_217_MoveCylinder_Up);
+                OutLog("紧急出料移栽" + MoveInfo.SLog + "：升降伺服到P1");
-                OutLog("紧急出料移栽" + MoveInfo.SLog + "：上料横移机构上升，更新【" + trayNum + "】为空托盘");
+                UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
-                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+                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);

--- a/source/DeviceLibrary/model/StoreStep.cs
查看文件 @87602c6
+++ b/source/DeviceLibrary/model/StoreStep.cs
查看文件 @87602c6
@@ -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>