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Commit 9be2ce71 由 LN
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上料横移优化

1 个父辈 1e6f294f
内嵌 并排
正在显示 3 个修改的文件 包含 138 行增加 和 85 行删除
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -204,7 +204,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -204,7 +204,7 @@ namespace OnlineStore.DeviceLibrary
if (Config.SidesWayNum <= 0) if (Config.SidesWayNum <= 0)
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down); SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡1上升，等待FL_TrayCheck=1 "); CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡1上升，等待FL_TrayCheck=1 ");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.HIGH)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.HIGH));
} }
else else
...@@ -212,7 +212,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -212,7 +212,7 @@ namespace OnlineStore.DeviceLibrary
TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime; TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime;
//去掉延迟 //去掉延迟
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down); SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
LogUtil.debug(Name + "托盘阻挡：" + SecondMoveInfo.SLog + "阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待SW_TrayCheck=1）"); LogUtil.debug(Name + "托盘阻挡：" + SecondMoveInfo.SLog + "阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待SW_TrayCheck=1）");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
} }
} }
...@@ -230,7 +230,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -230,7 +230,7 @@ namespace OnlineStore.DeviceLibrary
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH)); // SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
//} //}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down)) else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
{ {
UpdateTrayNum(); UpdateTrayNum();
//出料中，需要拦盘 //出料中，需要拦盘
if (CurrTrayIsNeed(currTrayNum, true)) if (CurrTrayIsNeed(currTrayNum, true))
...@@ -343,32 +343,28 @@ namespace OnlineStore.DeviceLibrary ...@@ -343,32 +343,28 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown); if (CylinderIsOk(IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down))
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ，环形线顶升气缸下降）"); {
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down); MO_15_WaitCanGo();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ，环形线顶升气缸下降）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
}
} }
} }
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopDown)) else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopDown))
{ {
MO_15_WaitCanGo(); MO_15_WaitCanGo();
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
//if (Config.SidesWayNum > 0)
//{
// CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开");
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.LOW));
//}
//else
//{
// CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待 NextStopCheck=0");
// // SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.NextStopCheck, IO_VALUE.LOW));
//}
} }
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo)) else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo))
{ {
if (Config.SidesWayNum > 0) if (Config.SidesWayNum > 0)
{ {
if (Config.SidesWayNum.Equals(3) || Config.SidesWayNum.Equals(1)) if (Config.SidesWayNum.Equals(3) || Config.SidesWayNum.Equals(1))
{ {
CylinderMove(null, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up); CylinderMove(null, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
} }
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束）横移顶升先上升 "); CheckLog("托盘放行 SecondStoreMove：(托盘放行结束）横移顶升先上升 ");
...@@ -377,10 +373,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -377,10 +373,10 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down); SecondMoveInfo.NextMoveStep(LineMoveStep.MO_16_Stop2Down);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡气缸1-2下降，等待" ); CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，阻挡气缸1-2下降，等待");
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH); IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down2, IO_VALUE.HIGH));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime)); // SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
} }
// SecondMoveInfo.EndStepWait(); // SecondMoveInfo.EndStepWait();
} }
...@@ -398,7 +394,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -398,7 +394,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
} }
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_WaitTime)) else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_WaitTime))
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_19_StopCylinder_Back); SecondMoveInfo.NextMoveStep(LineMoveStep.MO_19_StopCylinder_Back);
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开 ）"); CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开 ）");
IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW); IOMove(IO_Type.FL_StopCylinder_Down2, IO_VALUE.LOW);
...@@ -451,14 +447,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -451,14 +447,20 @@ namespace OnlineStore.DeviceLibrary
{ {
//preTrayNum = currTrayNum; //preTrayNum = currTrayNum;
CheckLog("托盘放行： 此处为环形线横移2，顶升气缸不需要下降， (托盘放行结束） "); CheckLog("托盘放行： 此处为环形线横移2，顶升气缸不需要下降， (托盘放行结束） ");
SMoveEnd(); SMoveEnd();
} }
else else
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown); if (CylinderIsOk(IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down))
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ，环形线顶升气缸下降）"); {
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down); MO_15_WaitCanGo();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ，环形线顶升气缸下降）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
}
} }
} }
else else
...@@ -922,23 +924,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -922,23 +924,23 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_26_CylinderRelax)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_26_CylinderRelax))
{ {
if (Config.SidesWayNum.Equals(1)) //if (Config.SidesWayNum.Equals(1))
{ //{
FI_28_CylinderUp(); // FI_28_CylinderUp();
} //}
else //else
{ //{
MoveInfo.NextMoveStep(LineMoveStep.FI_27_WaitCylinderUp); MoveInfo.NextMoveStep(LineMoveStep.FI_27_WaitCylinderUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_MoveCylinder_Down, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_MoveCylinder_Down, IO_VALUE.LOW));
CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up); CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
} //}
TrayPreMove(); TrayPreMove();
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_27_WaitCylinderUp)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_27_WaitCylinderUp))
{ {
FI_28_CylinderUp();
TrayMoveOk(); TrayMoveOk();
FI_28_CylinderUp();
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_28_CylinderUp)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_28_CylinderUp))
{ {
......
source/DeviceLibrary/assemblyLine/LineBean.cs
...@@ -30,6 +30,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -30,6 +30,8 @@ namespace OnlineStore.DeviceLibrary
/// </summary> /// </summary>
private System.Timers.Timer IoCheckTimer = null; private System.Timers.Timer IoCheckTimer = null;
private System.Timers.Timer serverConTimer = null;
/// <summary> /// <summary>
/// 流水线下所有的移载装置 /// 流水线下所有的移载装置
/// </summary> /// </summary>
...@@ -207,8 +209,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -207,8 +209,15 @@ namespace OnlineStore.DeviceLibrary
IoCheckTimer.Elapsed += IoCheckTimerProcess; IoCheckTimer.Elapsed += IoCheckTimerProcess;
IoCheckTimer.AutoReset = true; IoCheckTimer.AutoReset = true;
IoCheckTimer.Enabled = false; IoCheckTimer.Enabled = false;
serverConTimer = new System.Timers.Timer();
serverConTimer.Interval = 2000;
serverConTimer.AutoReset = true;
serverConTimer.Elapsed += ServerConTimer_Elapsed;
serverConTimer.Enabled = false;
} }
#endregion #endregion
public string CanStart() public string CanStart()
...@@ -290,6 +299,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -290,6 +299,7 @@ namespace OnlineStore.DeviceLibrary
// WriteDrivetMotorRun(IO_VALUE.LOW); // WriteDrivetMotorRun(IO_VALUE.LOW);
IoCheckTimer.Enabled = true; IoCheckTimer.Enabled = true;
mainTimer.Enabled = true; mainTimer.Enabled = true;
serverConTimer.Enabled = true;
return true; return true;
} }
} }
...@@ -312,7 +322,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -312,7 +322,7 @@ namespace OnlineStore.DeviceLibrary
// TrayManager.SidesWayStateMap = new System.Collections.Concurrent.ConcurrentDictionary<int, int>() ; // TrayManager.SidesWayStateMap = new System.Collections.Concurrent.ConcurrentDictionary<int, int>() ;
alarmType = LineAlarmType.None; alarmType = LineAlarmType.None;
mainTimer.Enabled = false; mainTimer.Enabled = false;
IoCheckTimer.Enabled = false; IoCheckTimer.Enabled = false;
isInSuddenDown = false; isInSuddenDown = false;
isNoAirCheck = false; isNoAirCheck = false;
TrayManager.TrayErrorMsg = ""; TrayManager.TrayErrorMsg = "";
...@@ -353,8 +363,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -353,8 +363,9 @@ namespace OnlineStore.DeviceLibrary
public override bool Reset() public override bool Reset()
{ {
mainTimer.Enabled = false; mainTimer.Enabled = false;
IoCheckTimer.Enabled = false; IoCheckTimer.Enabled = false;
bool isNeedAllReset = false; bool isNeedAllReset = false;
if (isInSuddenDown || isNoAirCheck) if (isInSuddenDown || isNoAirCheck)
{ {
//TrayManager.LineNeedEmptyTrayNum = 0; //TrayManager.LineNeedEmptyTrayNum = 0;
...@@ -390,6 +401,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -390,6 +401,7 @@ namespace OnlineStore.DeviceLibrary
{ return false; } { return false; }
IoCheckTimer.Enabled = true; IoCheckTimer.Enabled = true;
mainTimer.Enabled = true; mainTimer.Enabled = true;
serverConTimer.Enabled = true;
return true; return true;
} }
private void EquipReset(EquipBase equip, bool isNeedAllReset) private void EquipReset(EquipBase equip, bool isNeedAllReset)
...@@ -420,6 +432,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -420,6 +432,7 @@ namespace OnlineStore.DeviceLibrary
{ {
IoCheckTimer.Enabled = false; IoCheckTimer.Enabled = false;
mainTimer.Enabled = false; mainTimer.Enabled = false;
serverConTimer.Enabled = false ;
AgvClient.SetCancelState(true); AgvClient.SetCancelState(true);
RFIDManager.Close(); RFIDManager.Close();
//停止运行时，把阻挡气缸上升 //停止运行时，把阻挡气缸上升
...@@ -995,5 +1008,28 @@ namespace OnlineStore.DeviceLibrary ...@@ -995,5 +1008,28 @@ namespace OnlineStore.DeviceLibrary
msg += "SW23： " + SW23_MoveInfo.MoveType + " " + SW23_MoveInfo.MoveStep + "\n"; msg += "SW23： " + SW23_MoveInfo.MoveType + " " + SW23_MoveInfo.MoveStep + "\n";
return msg; return msg;
} }
private void ServerConTimer_Elapsed(object sender, ElapsedEventArgs e)
{
//14.异常看板
// > 地址:
//>>/ rest / api / qisda / device / updateDeviceAlarmMsg
// >
// > 参数:
//>> deviceAlarmList : 异常列表Json字符串 `[{"name":"移栽5", "msgKey":"line.move5.timeOut", "msgValue":"运动超时"},{"name":"移栽4", "msgKey":"line.move4.timeOut", "msgValue":"误差过大"}]`
//>>>name : 异常位置名称
//>>>msgKey : 异常信息唯一标识
//>>>msgValue : 异常信息
//>
//> 返回:
//>>` {"code":0,"msg":"ok","data":""}`
//>>
//>> - code: 0为正常,其他为异常,
// >> - msg:消息,
// >> - data:
}
} }
} }
\ No newline at end of file \ No newline at end of file
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
...@@ -257,9 +257,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -257,9 +257,6 @@ namespace OnlineStore.DeviceLibrary
SW23_MoveInfo.NewMove(LineMoveType.InStore); SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW03_WaitTime); SW23_MoveInfo.NextMoveStep(LineMoveStep.SW03_WaitTime);
SW23WaitTrayNum = -1; SW23WaitTrayNum = -1;
//SWLog("横移轨道23：检测到SW2_TrayCheck，等待SW3_TrayCheck=0， 托盘号 [" + Sw23TrayNum + "] ,清空 SW23WaitTrayNum=" + SW23WaitTrayNum);
//SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
//SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW));
SW23_SW04_WaitCanUp(); SW23_SW04_WaitCanUp();
} }
else else
...@@ -276,9 +273,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -276,9 +273,6 @@ namespace OnlineStore.DeviceLibrary
SW41_MoveInfo.NewMove(LineMoveType.InStore); SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW03_WaitTime); SW41_MoveInfo.NextMoveStep(LineMoveStep.SW03_WaitTime);
SW41WaitTrayNum = -1; SW41WaitTrayNum = -1;
//SWLog("横移轨道41：检测到SW4_TrayCheck，等待SW1_TrayCheck=0，托盘号 [" + Sw41TrayNum + "] ,清空 SW41WaitTrayNum=" + SW41WaitTrayNum);
//SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
//SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW));
SW41_SW04_WaitCanUp(); SW41_SW04_WaitCanUp();
} }
else else
...@@ -610,9 +604,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -610,9 +604,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH))
{ {
SW41_SW04_WaitCanUp(); SW41_SW04_WaitCanUp();
// SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
} }
else else
{ {
...@@ -625,18 +617,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -625,18 +617,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_WaitCanUp)) else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_WaitCanUp))
{ {
if (CylinderIsOk(IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down) && SW41_SW05_LocationDown();
CylinderIsOk(IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down))
{
SW41_SW06_TopCylinderUp();
}
else
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW05_LocationDown);
SWLog("横移轨道41：定位气缸下降 ");
CylinderMove(SW41_MoveInfo, IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down);
}
} }
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_LocationDown)) else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_LocationDown))
{ {
...@@ -775,14 +756,38 @@ namespace OnlineStore.DeviceLibrary ...@@ -775,14 +756,38 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up); CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
} }
} }
private void SW41_SW05_LocationDown()
{
if (CylinderIsOk(IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down) &&
CylinderIsOk(IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down))
{
SW41_SW06_TopCylinderUp();
}
else
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW05_LocationDown);
SWLog("横移轨道41：定位气缸下降 ");
CylinderMove(SW41_MoveInfo, IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down);
}
}
private void SW41_SW04_WaitCanUp() private void SW41_SW04_WaitCanUp()
{ {
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW04_WaitCanUp); if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) && SwCanUpMove(1))
SWLog("横移轨道41： 等待横移4托盘检测信号 ,SW4_StopDown上升 ,等待横移1（上料1）无托盘处理 "); {
CheckAndMove(IO_Type.SW4_StopDown, IO_VALUE.LOW); SW41_SW05_LocationDown();
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH)); }
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW)); else
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitSWCanTopUp(1)); {
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW04_WaitCanUp);
SWLog("横移轨道41： 等待横移4托盘检测信号 ,SW4_StopDown上升 ,等待横移1（上料1）无托盘处理 ");
CheckAndMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitSWCanTopUp(1));
}
} }
private bool CheckTrayIsNeed(int deviceId, int trayNum) private bool CheckTrayIsNeed(int deviceId, int trayNum)
...@@ -853,18 +858,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -853,18 +858,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_WaitCanUp)) else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_WaitCanUp))
{ {
if (CylinderIsOk(IO_Type.SW2_LocationCylinder_Up, IO_Type.SW2_LocationCylinder_Down) && SW23_SW05_LocationDown();
CylinderIsOk(IO_Type.SW3_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down))
{
SW23_SW06_TopCylinderUp();
}
else
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW05_LocationDown);
SWLog("横移轨道23：定位气缸下降 ");
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW2_LocationCylinder_Down);
CylinderMove(SW23_MoveInfo, IO_Type.SW3_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
}
} }
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_LocationDown)) else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_LocationDown))
{ {
...@@ -1000,16 +994,37 @@ namespace OnlineStore.DeviceLibrary ...@@ -1000,16 +994,37 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up); CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
} }
} }
private void SW23_SW05_LocationDown()
{
if (CylinderIsOk(IO_Type.SW2_LocationCylinder_Up, IO_Type.SW2_LocationCylinder_Down) &&
CylinderIsOk(IO_Type.SW3_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down))
{
SW23_SW06_TopCylinderUp();
}
else
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW05_LocationDown);
SWLog("横移轨道23：定位气缸下降 ");
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW2_LocationCylinder_Down);
CylinderMove(SW23_MoveInfo, IO_Type.SW3_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
}
}
private void SW23_SW04_WaitCanUp() private void SW23_SW04_WaitCanUp()
{ {
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW04_WaitCanUp); if (IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) && SwCanUpMove(3))
SWLog("横移轨道23： 等待横移4托盘检测信号 ,SW2_StopDown上升 ,等待横移3（上料4）处无托盘 "); {
CheckAndMove(IO_Type.SW2_StopDown, IO_VALUE.LOW); SW23_SW05_LocationDown();
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH)); }
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW)); else
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW04_WaitCanUp);
SWLog("横移轨道23： 等待横移4托盘检测信号 ,SW2_StopDown上升 ,等待横移3（上料4）处无托盘 ");
CheckAndMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitSWCanTopUp(3)); SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitSWCanTopUp(3));
}
} }
private void SWLog(string msg) private void SWLog(string msg)
{ {
......
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