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Commit 97c22ba4 由 LN
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增加夹爪检测信号兼容逻辑

1 个父辈 1db45a77
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内嵌 并排
正在显示 5 个修改的文件 包含 72 行增加 和 52 行删除
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
...@@ -1166,7 +1166,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1166,7 +1166,7 @@ namespace OnlineStore.DeviceLibrary
{ {
return true; return true;
} }
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false) else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_57_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
&&move.CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After)) &&move.CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{ {
return true; return true;
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
...@@ -17,13 +17,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -17,13 +17,14 @@ namespace OnlineStore.DeviceLibrary
{ {
public MoveEquip_Config Config; public MoveEquip_Config Config;
private bool ClampNeedCheck=false;
public MoveEquip(string cid, MoveEquip_Config config) public MoveEquip(string cid, MoveEquip_Config config)
{ {
this.DeviceID = config.Id; this.DeviceID = config.Id;
this.Config = config; this.Config = config;
baseConfig = config; baseConfig = config;
IsDebug = config.IsDebug.Equals(1); IsDebug = config.IsDebug.Equals(1);
Name = (" " + "_进仓_" + DeviceID.ToString().PadLeft(2, '0') + " ").ToUpper(); Name = (" " + "进仓_" + DeviceID.ToString().PadLeft(2, '0') + " ").ToUpper();
Init(); Init();
...@@ -44,6 +45,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -44,6 +45,8 @@ namespace OnlineStore.DeviceLibrary
Config.UpDown_Axis.ServerOnDO = IO_Type.UpDownAxis_ServoOn; Config.UpDown_Axis.ServerOnDO = IO_Type.UpDownAxis_ServoOn;
Config.UpDown_Axis.BreakOnDO = IO_Type.UpDownAxis_BreakOn; Config.UpDown_Axis.BreakOnDO = IO_Type.UpDownAxis_BreakOn;
} }
ClampNeedCheck = config.DIList.ContainsKey(IO_Type.ClampCylinder_Check);
UpdownAxis = new AxisBean(config.UpDown_Axis, Name); UpdownAxis = new AxisBean(config.UpDown_Axis, Name);
} }
...@@ -96,7 +99,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -96,7 +99,6 @@ namespace OnlineStore.DeviceLibrary
lineStatus = LineStatus.ResetMove; lineStatus = LineStatus.ResetMove;
//移载装置原点状态：顶升气缸下降端，前后气缸后退端，上下气缸上升端，夹料气缸放松端，阻挡气缸输入=0 //移载装置原点状态：顶升气缸下降端，前后气缸后退端，上下气缸上升端，夹料气缸放松端，阻挡气缸输入=0
UpdownHomeMove(); UpdownHomeMove();
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
if (IsDebug) if (IsDebug)
{ {
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH); IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
...@@ -122,11 +124,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -122,11 +124,6 @@ namespace OnlineStore.DeviceLibrary
} }
if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait) if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
{ {
//流水线各装置复原位，夹料气缸状态不变
//阻挡气缸全部=0
//上下气缸上升，、
//上升到位，顶升气缸下降，前后气缸回退
//复位时夹紧气缸需要发送，不然后面出入库会有问题
switch (MoveInfo.MoveStep) switch (MoveInfo.MoveStep)
{ {
case LineMoveStep.MH_UpDownHome: case LineMoveStep.MH_UpDownHome:
...@@ -145,7 +142,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -145,7 +142,27 @@ namespace OnlineStore.DeviceLibrary
break; break;
case LineMoveStep.MH_OtherCylinderBack: case LineMoveStep.MH_OtherCylinderBack:
if (ClampNeedCheck && IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.MH_ClampCheck);
LogInfo(MoveInfo.MoveType + " : 等待夹爪无料");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.LOW));
}
else
{
ResetEnd();
}
break;
case LineMoveStep.MH_ClampCheck:
ResetEnd();
break;
default: break;
}
}
}
private void ResetEnd()
{
LogInfo(MoveInfo.MoveType + " 完成！"); LogInfo(MoveInfo.MoveType + " 完成！");
runStatus = LineRunStatus.Runing; runStatus = LineRunStatus.Runing;
MoveInfo.EndMove(); MoveInfo.EndMove();
...@@ -158,12 +175,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -158,12 +175,7 @@ namespace OnlineStore.DeviceLibrary
{ {
lineStatus = LineStatus.StoreOnline; lineStatus = LineStatus.StoreOnline;
} }
break;
default: break;
}
} }
}
/// <summary> /// <summary>
/// 停止运动 /// 停止运动
/// </summary> /// </summary>
......
source/DeviceLibrary/model/StoreStep.cs
...@@ -187,41 +187,54 @@ namespace OnlineStore.DeviceLibrary ...@@ -187,41 +187,54 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
MH_OtherCylinderBack = 2002, MH_OtherCylinderBack = 2002,
/// <summary>
/// 料仓移载装置，等待夹爪无料
/// </summary>
MH_ClampCheck = 2003,
#endregion #endregion
#region 移载装置入库处理 3000-3050 #region 移载装置入库处理 3000-3050
/// <summary> /// <summary>
///移载装置入库处理，横移气缸到流水线上方 ///移载装置入库处理，升降气缸上升
/// </summary> /// </summary>
MI_05_ToLineUp = 3005, MI_01_UpdownUp = 3001,
/// <summary>
///移载装置入库处理，横移气缸后退
/// </summary>
MI_02_ToLineUp ,
/// <summary> /// <summary>
///移载装置入库处理，编码与仓位一致，上下气缸1下降 ///移载装置入库处理，编码与仓位一致，上下气缸1下降
/// </summary> /// </summary>
MI_06_CylinderDown = 3006, MI_03_CylinderDown,
/// <summary> /// <summary>
///移载装置入库处理，编码与仓位一致，上下气缸1下降后，等待0.3秒，防止没有 下降到位就夹紧 ///移载装置入库处理，编码与仓位一致，上下气缸1下降后，等待0.3秒，防止没有 下降到位就夹紧
/// </summary> /// </summary>
MI_07_DownWait = 3007, MI_04_DownWait,
/// <summary> /// <summary>
///移载装置入库处理，夹料气缸1夹紧 ///移载装置入库处理，夹料气缸1夹紧
/// </summary> /// </summary>
MI_08_CylinderOpen = 3008, MI_05_CylinderOpen,
/// <summary> /// <summary>
///移载装置入库处理，上下气缸1上升 ///移载装置入库处理，上下气缸1上升
/// </summary> /// </summary>
MI_09_CylinderUp = 3009, MI_06_CylinderUp,
/// <summary> /// <summary>
///移载装置入库处理，,前后气缸1前进 ///移载装置入库处理，等待夹爪有料
/// </summary> /// </summary>
MI_10_CylinderBefore = 3010, MI_07_ClampCheck,
/// <summary> /// <summary>
/// 移载装置入库处理，等待box等待状态才能继续操作 /// 移载装置入库处理，等待box等待状态才能继续操作
/// </summary> /// </summary>
MI_10_WaitBox = 3030, MI_08_WaitBox,
/// <summary>
///移载装置入库处理，,前后气缸1前进
/// </summary>
MI_09_CylinderBefore,
/// <summary> /// <summary>
///移载装置入库处理，上下气缸1下降 ///移载装置入库处理，上下气缸1下降
/// </summary> /// </summary>
...@@ -246,22 +259,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -246,22 +259,7 @@ namespace OnlineStore.DeviceLibrary
///移载装置入库处理，检测到X102-1=1送料流程完成 ///移载装置入库处理，检测到X102-1=1送料流程完成
/// </summary> /// </summary>
MI_16_SendEnd = 3016, MI_16_SendEnd = 3016,
/// <summary>
///移载装置入库处理，编码不一致，顶升气缸1下降
/// </summary>
MI_20_TopDown = 3020,
/// <summary>
///移载装置入库处理，阻挡气缸1-2下降
/// </summary>
MI_21_StopDown = 3021,
/// <summary>
///移载装置入库处理，检测Check4=0,
/// </summary>
MI_22_FixtureCheck_Low = 3022,
/// <summary>
///移载装置入库处理，,,阻挡气缸1-2 上升,等待200毫秒
/// </summary>
MI_23_StopCylinderReset = 3023,
#endregion #endregion
...@@ -354,48 +352,53 @@ namespace OnlineStore.DeviceLibrary ...@@ -354,48 +352,53 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 移栽装置出库处理。。前后气缸1前进 /// 移栽装置出库处理。。前后气缸1前进
/// </summary> /// </summary>
MO_51_CylinderBefore = 3151, MO_51_CylinderBefore,
/// <summary> /// <summary>
/// 移栽装置出库处理。上下气缸1下降 /// 移栽装置出库处理。上下气缸1下降
/// </summary> /// </summary>
MO_52_CylinderDown = 3152, MO_52_CylinderDown,
/// <summary> /// <summary>
/// 移栽装置出库处理。上下气缸1下降后，等待0.3秒再夹紧，防止没有下降到位就夹紧操作 /// 移栽装置出库处理。上下气缸1下降后，等待0.3秒再夹紧，防止没有下降到位就夹紧操作
/// </summary> /// </summary>
MO_53_DownWait = 3153, MO_53_DownWait,
/// <summary> /// <summary>
/// 移栽装置出库处理。 夹料气缸1夹紧 /// 移栽装置出库处理。 夹料气缸1夹紧
/// </summary> /// </summary>
MO_54_CylinderOpen = 3154, MO_54_CylinderOpen,
/// <summary> /// <summary>
/// 移栽装置出库处理。 上下气缸1上升 /// 移栽装置出库处理。 上下气缸1上升
/// </summary> /// </summary>
MO_55_CylinderUp = 3155, MO_55_CylinderUp,
/// <summary>
/// 移栽装置出库处理。 检测夹爪有料
/// </summary>
MO_56_ClarmpCheck,
/// <summary> /// <summary>
/// 移栽装置出库处理。 前后气缸1后退 /// 移栽装置出库处理。 前后气缸1后退
/// </summary> /// </summary>
MO_56_CylinderAfter = 3156, MO_57_CylinderAfter,
/// <summary> /// <summary>
/// 移载（流水线）装置出库处理，上下气缸1下降 /// 移载（流水线）装置出库处理，上下气缸1下降
/// </summary> /// </summary>
MO_58_CylinderDown = 3158, MO_58_CylinderDown,
/// <summary> /// <summary>
/// 移载（流水线）装置出库处理，夹料气缸1放松 /// 移载（流水线）装置出库处理，夹料气缸1放松
/// </summary> /// </summary>
MO_59_CylinderRelax = 3159, MO_59_CylinderRelax,
/// <summary> /// <summary>
/// 移载（流水线）装置出库处理，上下气缸1上升 /// 移载（流水线）装置出库处理，上下气缸1上升
/// </summary> /// </summary>
MO_60_CylinderUp = 3160, MO_60_CylinderUp ,
#region 入料模块，紧急出料移栽处理 #region 入料模块，紧急出料移栽处理
/// <summary> /// <summary>
/// 等待当前的出入库结束 /// 等待当前的出入库结束
/// </summary> /// </summary>
MO_200_WaitInoutParam=3200, MO_200_WaitInoutParam =3200,
/// <summary> /// <summary>
/// 等待紧急出料结束 /// 等待紧急出料结束
/// </summary> /// </summary>
...@@ -981,9 +984,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -981,9 +984,9 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
PO_01_CylinderDown = 20001, PO_01_CylinderDown = 20001,
/// <summary> /// <summary>
/// 等待0.3秒后再夹紧 /// 顶升气缸上升
/// </summary> /// </summary>
PO_02_DownWait = 20002, PO_02_TopUP = 20002,
/// <summary> /// <summary>
/// 夹料气缸夹紧 /// 夹料气缸夹紧
/// </summary> /// </summary>
......
source/LoadCVSLibrary/storeConfig/config/IO_Type.cs
...@@ -690,6 +690,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -690,6 +690,11 @@ namespace OnlineStore.LoadCSVLibrary
public static string DLine_Brush2 = "DLine_Brush2"; public static string DLine_Brush2 = "DLine_Brush2";
/// <summary>
/// DI,19,进仓19夹料夹紧料盘检测,ClampCylinder_Check,6,PRO_AOI_IP_37,0,进仓19夹料夹紧料盘检测,X577,X577
/// </summary>
public static string ClampCylinder_Check = "ClampCylinder_Check";
#region 20200715 新增分流横移装置 #region 20200715 新增分流横移装置
/// <summary> /// <summary>
......
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