代码优化

source/AssemblyLineClient/记录.txt

-20200817
+20200825
+入料模块获取库位号时不等待料串上升到位。
+当是首盘料时，如果到达出料口4且空闲中，抓料到皮带线。
+
+
+
+
+20200817
 紧急出料从入料NG口出
 紧急出料从入料NG口出
 分盘料从入料4出
 分盘料从入料4出
 
 

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -947,6 +947,12 @@ namespace OnlineStore.DeviceLibrary
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，  托盘号【" + currTrayNum + "】，更新托盘信息 ：" + LastPosParam.ToShortStr());
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，  托盘号【" + currTrayNum + "】，更新托盘信息 ：" + LastPosParam.ToShortStr());
                     TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, LastPosParam, LastPosParam.NgMsg);
                     TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, LastPosParam, LastPosParam.NgMsg);
                     SServerManager.SendPosToStoreCheck(Name, LastPosParam);
                     SServerManager.SendPosToStoreCheck(Name, LastPosParam);
+
+                    if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
+                    {
+                        InLog("获取库位" + MoveInfo.SLog + "： 上料轴开始慢速上升到P3点，不等待结果");
+                        BatchAxisToP3(false,false);
+                    }
                 }
                 }
                 else if (MoveInfo.IsTimeOut(180))
                 else if (MoveInfo.IsTimeOut(180))
                 {
                 {
@@ -994,6 +1000,14 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 if (getPosTask == null || getPosTask.IsCompleted)
                 if (getPosTask == null || getPosTask.IsCompleted)
                 {
                 {
+                    if (axisCheckTimer != null && axisCheckTimer.Enabled)
+                    {
+                        InLog("料盘移栽" + MoveInfo.SLog + "：批量轴还未停止运动，停止批量轴运动  ");
+                    }
+                    BatchAxisStopCheck();
+                    //如果批量轴还在运动中，停止运动
+                    ACServerManager.SuddenStop(BatchAxis.Config);
+
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位  ");
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位  ");
                     CheckHasTray();
                     CheckHasTray();
                 }
                 }
@@ -1135,11 +1149,11 @@ namespace OnlineStore.DeviceLibrary
 
 
             });
             });
             
             
-            if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
-            {
-                InLog("获取库位" + MoveInfo.SLog + "： 上料轴开始慢速上升到P3点"  );
-                BatchAxisToP3(false);
-            }
+            //if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
+            //{
+            //    InLog("获取库位" + MoveInfo.SLog + "： 上料轴开始慢速上升到P3点"  );
+            //    BatchAxisToP3(false);
+            //}
         }
         }
 
 
         private void FI_29_CylinderUp()
         private void FI_29_CylinderUp()
@@ -1356,7 +1370,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
         }
         }
 
 
-        private void BatchAxisToP3(bool isFirstMove = true)
+        private void BatchAxisToP3(bool isFirstMove = true, bool isWait = true)
         {
         {
             int targetP3 = Config.BatchAxisP3;
             int targetP3 = Config.BatchAxisP3;
             int targetSpeed = Config.BatchAxis_P3Speed;
             int targetSpeed = Config.BatchAxis_P3Speed;
@@ -1374,11 +1388,14 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 //targetSpeed = Config.BatchAxis_P3Speed / 2;
                 //targetSpeed = Config.BatchAxis_P3Speed / 2;
             }
             }
-            MoveInfo.TimeOutSeconds = 200;
-            MoveInfo.CanWhileCount = 0;
             //  需要增加定时器，获取验证信号并停止伺服
             //  需要增加定时器，获取验证信号并停止伺服
             StartMovePosition = BatchAxis.GetAclPosition();
             StartMovePosition = BatchAxis.GetAclPosition();
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, targetSpeed));
+            if (isWait)
+            {
+                MoveInfo.TimeOutSeconds = 200;
+                MoveInfo.CanWhileCount = 0;
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, targetSpeed));
+            }
             Config.Batch_Axis.TargetPosition = targetP3;
             Config.Batch_Axis.TargetPosition = targetP3;
             BatchAxis.AbsMove(null, targetP3, targetSpeed);
             BatchAxis.AbsMove(null, targetP3, targetSpeed);
             //开始检测信号
             //开始检测信号

source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs

@@ -226,6 +226,11 @@ namespace OnlineStore.DeviceLibrary
                         outMsg = "优先线且空闲";
                         outMsg = "优先线且空闲";
                         return inoup;
                         return inoup;
                     }
                     }
+                    else if (lineNum.Equals(4) && kongxian)
+                    {
+                        outMsg = "出料4空闲";
+                        return inoup;
+                    }
                     else if (LineManager.Line.ProvidingCanUse(firstLine).Equals(false) && kongxian && LineNotBusy())
                     else if (LineManager.Line.ProvidingCanUse(firstLine).Equals(false) && kongxian && LineNotBusy())
                     {
                     {
                         outMsg = "优先线不可用";
                         outMsg = "优先线不可用";

source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs

@@ -188,6 +188,7 @@ namespace OnlineStore.DeviceLibrary
                         if (ho_Image != null)
                         if (ho_Image != null)
                         {
                         {
                             ho_Image.Dispose();
                             ho_Image.Dispose();
+                            ho_Image = null;
                         }
                         }
                     }
                     }
                 } 
                 }