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Commit 9fea21ae 由 LN
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托盘横移修改：托盘检测信号需要持续500。阻挡气缸单独下降。

1 个父辈 e095c294
内嵌 并排
正在显示 10 个修改的文件 包含 236 行增加 和 144 行删除
source/DeviceLibrary/assemblyLine/EquipBase.cs
......@@ -34,7 +34,8 @@ namespace OnlineStore.DeviceLibrary
/// 升降轴
/// </summary>
public AxisBean UpdownAxis = null;
public delegate void TrayProcessEnd(int swNum, int trayNum);
protected virtual void StopMoveProcess()
{
}
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -43,6 +43,7 @@ namespace OnlineStore.DeviceLibrary
return false;
}
public event TrayProcessEnd TrayPEndEvent;
#region 托盘检测
private InOutParam CheckParam = new InOutParam();
private void StartCheckFixture()
......@@ -53,11 +54,9 @@ namespace OnlineStore.DeviceLibrary
}
if (Config.SidesWayNum > 0)
{
bool isTestNeed = (LineManager.Line.runStatus <= LineRunStatus.Wait);
bool isNeedTray = (LineManager.Line.SwNoProcess(Config.SidesWayNum));
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && (isTestNeed || isNeedTray))
{
bool canProcess = (LineManager.Line.SwNoProcess(Config.SidesWayNum));
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && canProcess)
{
UpdateTrayNum();
// preTrayNum = currTrayNum;
......@@ -78,14 +77,13 @@ namespace OnlineStore.DeviceLibrary
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
}
}
else if (Config.SidesWayNum.Equals(2) && IOValue(IO_Type.SW_StopCheck).Equals(IO_VALUE.HIGH) && (isTestNeed || isNeedTray))
else if (Config.SidesWayNum.Equals(2) && IOValue(IO_Type.SW_StopCheck).Equals(IO_VALUE.HIGH) && canProcess)
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
TrayManager.UpdateSWState(Config.SidesWayNum, 2);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
CheckLog("检测到SW_StopCheck：" + SecondMoveInfo.SLog + "阻挡气缸下降 ，等待"+TrayManager.StopDownWaitTime);
IOMove(IO_Type.SW_StopDown, IO_VALUE.HIGH);
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_StopDown, IO_VALUE.LOW));
IOMove(IO_Type.SW_StopDown, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
}
......@@ -107,7 +105,7 @@ namespace OnlineStore.DeviceLibrary
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
CheckLog(" 检测到FL_StopCheck：" + SecondMoveInfo.SLog + " FL阻挡1下降 ，最多等待1秒）");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH));
......@@ -133,11 +131,11 @@ namespace OnlineStore.DeviceLibrary
}
#region 托盘检测
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_StopCylinder1Down))
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_00_StopCylinder1Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
if (Config.SidesWayNum <= 0)
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡1上升，等待FL_TrayCheck=1）");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
......@@ -145,11 +143,38 @@ namespace OnlineStore.DeviceLibrary
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_FixtureCheck);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸上升，等待SW_TrayCheck=1）");
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_FixtureCheck))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_WaitFixture);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "再次等待SW_TrayCheck=1并需要持续：" + TrayManager.SwTrayWaitTime);
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_WaitFixture))
{
if (IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸上升，等待SW_TrayCheck=1）");
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_StopDown, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_WaitFixture);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "再次等待SW_TrayCheck=1并需要持续：" + TrayManager.SwTrayWaitTime);
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_StopCylinder2Down))
{
......@@ -191,8 +216,7 @@ namespace OnlineStore.DeviceLibrary
else
{
CheckLog("托盘检测：不需要次托盘，结束处理 ）");
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
SecondMoveInfo.EndMove();
SMoveEnd();
}
}
}
......@@ -249,11 +273,10 @@ namespace OnlineStore.DeviceLibrary
{
if (Config.SidesWayNum.Equals(2))
{
//更新横移托盘已处理完成
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
//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） ");
SecondMoveInfo.EndMove();
SMoveEnd();
}
else
{
......@@ -275,11 +298,8 @@ namespace OnlineStore.DeviceLibrary
{
if (Config.SidesWayNum > 0)
{
//更新横移托盘已处理完成
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
//preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
SecondMoveInfo.EndMove();
SMoveEnd();
}
else
{
......@@ -308,8 +328,7 @@ namespace OnlineStore.DeviceLibrary
{
//preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
SMoveEnd();
}
#endregion
......@@ -318,7 +337,7 @@ namespace OnlineStore.DeviceLibrary
{
if (MoveInfo.MoveType.Equals(LineMoveType.None) && StartTrayOut(SecondMoveInfo.MoveParam))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_WaitOutEnd);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_WaitOutEnd);
}
else
{
......@@ -333,6 +352,13 @@ namespace OnlineStore.DeviceLibrary
}
}
private void SMoveEnd()
{
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
SecondMoveInfo.EndMove();
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
#endregion
#region 入料流程
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -12,9 +12,10 @@ namespace OnlineStore.DeviceLibrary
{
#region 出料流程
private int OutStoreHeight = -1;
internal bool CanStartCheckOut()
internal bool CanStartCheckOut(int trayNum)
{
UpdateTrayNum();
preTrayNum = currTrayNum;
currTrayNum = trayNum;
if (CurrTrayIsNeed(currTrayNum, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -88,6 +88,7 @@ namespace OnlineStore.DeviceLibrary
AddDeviceName(ioList, config.IOIPList);
FeedingEquipMap.Add(config.Id, equip);
AllEquipMap.Add(config.Id, equip);
equip.TrayPEndEvent += Equip_TrayPEndEvent;
}
foreach (MoveEquip_Config config in configList.Values)
{
......@@ -104,6 +105,7 @@ namespace OnlineStore.DeviceLibrary
AddDeviceName(ioList, config.IOIPList);
ProvidingEquipMap.Add(config.Id, equip);
AllEquipMap.Add(config.Id, equip);
equip.TrayPEndEvent += Equip_TrayPEndEvent;
}
foreach (DischargeLine_Config config in disLineMap.Values)
{
......@@ -203,7 +205,7 @@ namespace OnlineStore.DeviceLibrary
});
}
private void AddDeviceName(List<string> targetList, List<string> list)
{
foreach (string str in list)
......@@ -316,7 +318,7 @@ namespace OnlineStore.DeviceLibrary
private void RHomeOp()
{
TrayManager.SidesWayStateMap = new System.Collections.Concurrent.ConcurrentDictionary<int, int>() ;
// TrayManager.SidesWayStateMap = new System.Collections.Concurrent.ConcurrentDictionary<int, int>() ;
alarmType = LineAlarmType.None;
mainTimer.Enabled = false;
IoCheckTimer.Enabled = false;
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -353,32 +353,76 @@ namespace OnlineStore.DeviceLibrary
#region 横移处理-
/// <summary>
/// 横移无处理
/// </summary>
/// <param name="sidesWayNum"></param>
/// <returns></returns>
internal bool SwNoProcess(int sidesWayNum)
internal int Sw41TrayNum = 0;
internal int Sw23TrayNum = 0;
private void Equip_TrayPEndEvent(int swNum, int trayNum)
{
if (sidesWayNum.Equals(2) && TrayManager.GetSwStatus(sidesWayNum).Equals(1))
if (swNum <= 0 || this.runStatus <= (LineRunStatus.Wait))
{
return false;
return;
}
if (sidesWayNum.Equals(1) || sidesWayNum.Equals(4))
if (swNum.Equals(2))
{
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
Sw23TrayNum = trayNum;
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道23：检测到SW2_TrayCheck，定位气缸下降，等待横移2托盘检测信号，托盘号 [" + Sw23TrayNum + "] ");
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
}
else
{
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW23_MoveInfo 忙碌中");
}
}
else if (sidesWayNum.Equals(2) || sidesWayNum.Equals(3))
else if (swNum.Equals(4))
{
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
Sw41TrayNum = trayNum;
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
SWLog("横移轨道41：检测到SW4_TrayCheck，定位气缸下降， 等待横移4托盘检测信号，更新托盘号 [" + Sw41TrayNum + "] ");
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
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
{
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW41_MoveInfo 忙碌中");
}
}
else
}
/// <summary>
/// 横移无处理
/// </summary>
internal bool SwNoProcess(int sidesWayNum)
{
if (LineManager.Line.runStatus <= LineRunStatus.Wait)
{
return true;
}
if (sidesWayNum.Equals(2))
{
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None) && FeedingEquipMap[104].SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{ return true; }
}
else if (sidesWayNum.Equals(3) && runStatus <= LineRunStatus.Wait)
{
return true;
}
if (sidesWayNum.Equals(4))
{
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None) && FeedingEquipMap[101].SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{ return true; }
}
else if (sidesWayNum.Equals(3) && runStatus <= LineRunStatus.Wait)
{
return true;
}
......@@ -408,14 +452,13 @@ namespace OnlineStore.DeviceLibrary
private DateTime SideWay41Ntime = DateTime.Now;
private bool SideWay41IsWait = false;
private DateTime SideWay23Ntime = DateTime.Now;
private bool SideWay23IsWait = false;
internal int Sw41TrayNum = 0;
internal int Sw23TrayNum = 0;
private bool SideWay23IsWait = false;
private bool sdIsInprocess = false;
private DateTime sdlastProTime = DateTime.Now;
private int TraySingleWaitTime = 500;
private DateTime lastSw2StopDownTime = DateTime.Now;
private DateTime lastSw4StopDownTime = DateTime.Now;
private void SideWayTimerProcess()
{
TimeSpan span = DateTime.Now - sdlastProTime;
......@@ -434,18 +477,19 @@ namespace OnlineStore.DeviceLibrary
sdIsInprocess = false;
return;
}
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
{
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None) && ProvidingEquipMap[204].runStatus <= LineRunStatus.Wait)
{
if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.CanMoveSidesWay(4) && TrayManager.CanMoveSidesWay(1))
TrayManager.LineCanMoveSW(4) && TrayManager.LineCanMoveSW(1))
{
TimeSpan span41 = DateTime.Now - SideWay41Ntime;
if (SideWay41IsWait && span41.TotalMilliseconds > TraySingleWaitTime)
{
if (SideWay41IsWait && span41.TotalMilliseconds > TrayManager.SwTrayWaitTime)
{
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
UpateSw41TrayNum();
SWLog("横移轨道41：检测到SW4_TrayCheck，定位气缸下降， 等待横移4托盘检测信号，更新托盘号 [" + Sw41TrayNum+"] ");
SWLog("横移轨道41：检测到SW4_TrayCheck，定位气缸下降， 等待横移4托盘检测信号，更新托盘号 [" + Sw41TrayNum + "] ");
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
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);
......@@ -457,19 +501,25 @@ namespace OnlineStore.DeviceLibrary
}
}
else if (IOValue(IO_Type.SW4_StopCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SW4_StopDown).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.CanMoveSidesWay(4) && TrayManager.CanMoveSidesWay(1))
(DateTime.Now- lastSw4StopDownTime).TotalSeconds>4 &&
TrayManager.LineCanMoveSW(4) && TrayManager.LineCanMoveSW(1))
{
TimeSpan span41 = DateTime.Now - SideWay41Ntime;
if (SideWay41IsWait && span41.TotalMilliseconds > TraySingleWaitTime)
if (SideWay41IsWait && span41.TotalMilliseconds>TrayManager.SwTrayWaitTime)
{
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
UpateSw41TrayNum();
SWLog("横移轨道41：检测到SW4_StopCheck， 定位气缸下降 ，更新托盘号 [" + Sw41TrayNum + "] ");
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);
//SW41_MoveInfo.NewMove(LineMoveType.InStore);
//SW41_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
//UpateSw41TrayNum();
//SWLog("横移轨道41：检测到SW4_StopCheck， 定位气缸下降 ，更新托盘号 [" + Sw41TrayNum + "] ");
//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);
//阻挡气缸下降500毫秒然后上升
lastSw4StopDownTime = DateTime.Now;
IOMove(IO_Type.SW4_StopDown, IO_VALUE.HIGH, TrayManager.StopDownWaitTime);
SideWay41IsWait = false;
}
else if (!SideWay41IsWait)
{
......@@ -480,7 +530,7 @@ namespace OnlineStore.DeviceLibrary
else if (!SideWay41IsWait)
{
SideWay41IsWait = true;
SideWay41Ntime = DateTime.Now;
SideWay41Ntime = DateTime.Now;
}
else
{
......@@ -491,17 +541,17 @@ namespace OnlineStore.DeviceLibrary
{
SideWay41IsWait = false;
SideWay41BusyProcess();
}
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
{
}
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None) && FeedingEquipMap[104].runStatus <= LineRunStatus.Wait)
{
//检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
//顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡4下降，盘通过
if (IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.CanMoveSidesWay(2) && TrayManager.CanMoveSidesWay(3))
TrayManager.LineCanMoveSW(2) && TrayManager.LineCanMoveSW(3))
{
TimeSpan span34 = DateTime.Now - SideWay23Ntime;
if (SideWay23IsWait && span34.TotalMilliseconds > TraySingleWaitTime)
{
if (SideWay23IsWait && span34.TotalMilliseconds > TrayManager.SwTrayWaitTime)
{
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
UpateSw23TrayNum();
......@@ -517,19 +567,25 @@ namespace OnlineStore.DeviceLibrary
}
}
else if (IOValue(IO_Type.SW2_StopCheck).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.SW2_StopDown).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.LOW) &&
IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.CanMoveSidesWay(2) && TrayManager.CanMoveSidesWay(3))
(DateTime.Now - lastSw2StopDownTime).TotalSeconds > 4 &&
TrayManager.LineCanMoveSW(2) && TrayManager.LineCanMoveSW(3))
{
TimeSpan span34 = DateTime.Now - SideWay23Ntime;
if (SideWay23IsWait && span34.TotalMilliseconds > TraySingleWaitTime)
{
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
UpateSw23TrayNum();
SWLog("横移轨道23：检测到SW2_StopCheck， 定位气缸下降 ，更新托盘号 [" + Sw23TrayNum + "] ");
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);
if (SideWay23IsWait && span34.TotalMilliseconds > TrayManager.SwTrayWaitTime)
{
//SW23_MoveInfo.NewMove(LineMoveType.InStore);
//SW23_MoveInfo.NextMoveStep(LineMoveStep.SW00_Wait);
//UpateSw23TrayNum();
//SWLog("横移轨道23：检测到SW2_StopCheck， 定位气缸下降 ，更新托盘号 [" + Sw23TrayNum + "] ");
//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);
//阻挡气缸下降500毫秒然后上升
lastSw2StopDownTime = DateTime.Now;
IOMove(IO_Type.SW2_StopDown, IO_VALUE.HIGH, TrayManager.StopDownWaitTime);
SideWay23IsWait = false;
}
else if (!SideWay23IsWait)
{
......@@ -601,7 +657,7 @@ namespace OnlineStore.DeviceLibrary
if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW00_Wait))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopDown);
SWLog("横移轨道41： 阻挡气缸下降 等待 "+TrayManager.StopDownWaitTime);
SWLog("横移轨道41： 阻挡气缸下降 等待 " + TrayManager.StopDownWaitTime);
IOMove(IO_Type.SW4_StopDown, IO_VALUE.HIGH);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
......@@ -658,8 +714,11 @@ namespace OnlineStore.DeviceLibrary
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_TopCylinderDown))
{
if (CheckTrayIsNeed(101, Sw41TrayNum))
//开始入库
bool result = FeedingEquipMap[101].CanStartCheckOut(Sw41TrayNum);
if (result)
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，不需要等待 托盘离开");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
......@@ -686,6 +745,7 @@ namespace OnlineStore.DeviceLibrary
{
TrayManager.UpdateSWState(4, 0);
TrayManager.UpdateSWState(1, 0);
lastSw4StopDownTime = DateTime.Now;
SW41_MoveInfo.EndMove();
SWLog("横移轨道41：横移结束 ");
}
......@@ -775,8 +835,9 @@ namespace OnlineStore.DeviceLibrary
}
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_TopCylinderDown))
{ //开始入库
bool result = FeedingEquipMap[104].CanStartCheckOut();
{
//开始入库
bool result = FeedingEquipMap[104].CanStartCheckOut(Sw23TrayNum);
if (result)
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
......@@ -805,6 +866,7 @@ namespace OnlineStore.DeviceLibrary
{
TrayManager.UpdateSWState(2, 0);
TrayManager.UpdateSWState(3, 0);
lastSw2StopDownTime = DateTime.Now;
SW23_MoveInfo.EndMove();
SWLog("横移轨道23：横移结束 ");
}
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -418,7 +418,7 @@ namespace OnlineStore.DeviceLibrary
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
CheckLog(" 托盘检测：料盘检测StopCylinder_Check1 " + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ，最多等待1秒）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH));
......@@ -442,7 +442,7 @@ namespace OnlineStore.DeviceLibrary
}
#region 托盘检测
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_StopCylinder1Down))
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_00_StopCylinder1Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
......@@ -450,7 +450,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_FixtureCheck))
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_FixtureCheck))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升）");
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -10,6 +10,7 @@ namespace OnlineStore.DeviceLibrary
{
partial class ProvidingEquip
{
public event TrayProcessEnd TrayPEndEvent;
#region 托盘检测
protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
......@@ -49,7 +50,7 @@ namespace OnlineStore.DeviceLibrary
{
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_StopCylinder1Down);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_StopCylinder1Down);
TrayManager.UpdateSWState(Config.SidesWayNum, 2);
CheckLog(" 托盘检测：" + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ，最多等待1秒）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
......@@ -78,7 +79,7 @@ namespace OnlineStore.DeviceLibrary
}
#region 托盘检测
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_StopCylinder1Down))
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_00_StopCylinder1Down))
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升，等待 阻挡2托盘检测=1）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
......@@ -86,7 +87,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_02_FixtureCheck))
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_01_FixtureCheck))
{
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 阻挡气缸1-1上升）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_StopCylinder2Down);
......@@ -129,7 +130,7 @@ namespace OnlineStore.DeviceLibrary
{
bool isFull = TrayManager.TrayIsFull(currTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入料任务，放盘通过~");
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入料任务，放盘通过~");
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
}
}
......@@ -139,7 +140,7 @@ namespace OnlineStore.DeviceLibrary
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
}
}
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_05_WaitTime))
{
......@@ -201,9 +202,10 @@ namespace OnlineStore.DeviceLibrary
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
//preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondMove：(托盘放行结束） ");
CheckLog("托盘放行 SecondMove：(托盘放行结束），出发 TrayPEndEvent ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
this.TrayPEndEvent?.Invoke(Config.SidesWayNum, currTrayNum);
}
#endregion
}
......
source/DeviceLibrary/assemblymanager/TrayManager.cs
......@@ -12,6 +12,7 @@ namespace OnlineStore.DeviceLibrary
{
public class TrayManager
{
public static int SwTrayWaitTime = 500;
public static int StopDownWaitTime = 500;
public static RFID RfidReader = new RFID();
/// <summary>
......@@ -249,38 +250,32 @@ namespace OnlineStore.DeviceLibrary
#region 横移状态缓存
internal static ConcurrentDictionary<int, int> SidesWayStateMap = new ConcurrentDictionary<int, int>();
// internal static ConcurrentDictionary<int, int> SidesWayStateMap = new ConcurrentDictionary<int, int>();
internal static int GetSwStatus(int swNum)
{
if (SidesWayStateMap.ContainsKey(swNum))
{
return SidesWayStateMap[swNum];
}
//if (SidesWayStateMap.ContainsKey(swNum))
//{
// return SidesWayStateMap[swNum];
//}
return 0;
}
internal static bool CanMoveSidesWay(int swNum)
internal static bool LineCanMoveSW(int swNum)
{
int status = GetSwStatus(swNum);
//若此横移对应的设备未启动，直接可处理
foreach (FeedingEquip equip in LineManager.Line.FeedingEquipMap.Values)
{
if (equip.Config.SidesWayNum.Equals(swNum))
{
if (equip.IsDebug || equip.runStatus <= LineRunStatus.Wait)
if (equip.runStatus <= LineRunStatus.Wait || equip.isInSuddenDown || equip.isNoAirCheck)
{
return true;
}
//上料3如果报警，可以直接处理移栽
if (status.Equals(0) && swNum.Equals(2) && (equip.isInSuddenDown || equip.isNoAirCheck))
if (equip.SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
}
if (equip.SecondMoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
{
return false ;
}
break;
}
}
......@@ -288,31 +283,17 @@ namespace OnlineStore.DeviceLibrary
{
if (equip.Config.SidesWayNum.Equals(swNum))
{
if (equip.IsDebug || equip.runStatus <= LineRunStatus.Wait)
if (equip.runStatus <= LineRunStatus.Wait || equip.isInSuddenDown || equip.isNoAirCheck)
{
return true;
}
if (equip.SecondMoveInfo.MoveType.Equals(LineMoveType.None).Equals(false))
if (equip.SecondMoveInfo.MoveType.Equals(LineMoveType.None))
{
return false ;
return true;
}
break;
}
}
if (status.Equals(1) )
{
return true;
}
else if (swNum.Equals(1) || swNum.Equals(3))
{
if (status.Equals(0) )
{
return true;
}
}
return false;
}
......@@ -323,19 +304,19 @@ namespace OnlineStore.DeviceLibrary
/// <param name="value">0=未处理等待中，1=托盘处理完成，可处理横移，2=托盘检测处理中</param>
internal static void UpdateSWState(int swNum, int value)
{
if (swNum <= 0)
{
return;
}
if (SidesWayStateMap.ContainsKey(swNum))
{
SidesWayStateMap[swNum] = value;
}
else
{
SidesWayStateMap.TryAdd(swNum, value);
}
//if (swNum <= 0)
//{
// return;
//}
//if (SidesWayStateMap.ContainsKey(swNum))
//{
// SidesWayStateMap[swNum] = value;
//}
//else
//{
// SidesWayStateMap.TryAdd(swNum, value);
//}
}
......
source/DeviceLibrary/model/KTK_Store.cs
......@@ -7,7 +7,7 @@ using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
......@@ -386,9 +386,22 @@ namespace OnlineStore.DeviceLibrary
IOMove(IoType, value);
}
}
public void IOMove(string IoType, IO_VALUE value)
public void IOMove(string IoType, IO_VALUE value, int msTime = 0)
{
IOManager.IOMove(IoType, value, baseConfig.Id);
if (msTime <= 0)
{
IOManager.IOMove(IoType, value, baseConfig.Id);
}
else
{
Task.Factory.StartNew(delegate
{
IOManager.IOMove(IoType, value, baseConfig.Id);
Thread.Sleep(msTime);
IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
IOManager.IOMove(IoType, tValue, baseConfig.Id);
});
}
}
public IO_VALUE IOValue(string IoType)
{
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -265,11 +265,15 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
///移载（流水线）装置出入库处理，阻挡气缸1-1下降
/// </summary>
MIO_01_StopCylinder1Down = 3081,
MIO_00_StopCylinder1Down = 3080,
/// <summary>
///移载（流水线）装置出入库处理，夹具检测1-4=1
/// </summary>
MIO_02_FixtureCheck = 3082,
MIO_01_FixtureCheck = 3081,
/// <summary>
/// 移载（流水线）装置出入库处理，等待夹具持续500毫秒
/// </summary>
MIO_02_WaitFixture = 3082,
/// <summary>
///移载（流水线）装置出入库处理，阻挡气缸1-1上升
/// </summary>
......
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