Skip to content

孙克 / RC1250-AssemblyLine

转到一个项目
切换导航栏
切换导航栏固定状态
Commit aaefa1eb 由 LN
选项

从托盘上抓料伺服运动不到位时自动回次原点。

1 个父辈 f1c775ee
内嵌 并排
正在显示 5 个修改的文件 包含 62 行增加 和 39 行删除
source/AssemblyLineClient/FrmLineStore.cs
...@@ -552,50 +552,53 @@ namespace OnlineStore.AssemblyLine ...@@ -552,50 +552,53 @@ namespace OnlineStore.AssemblyLine
try try
{ {
LogM(); LogM();
try if (lineBean.runStatus > LineRunStatus.Wait)
{ {
if (SServerManager.stopRun(Name)) try
{ {
if (!stopRequest) if (SServerManager.stopRun(Name))
{ {
stopTime = DateTime.Now; if (!stopRequest)
stopRequest = true; {
//lineBean.WriteDrivetMotorRun(IO_VALUE.LOW); stopTime = DateTime.Now;
stopRequest = true;
//lineBean.WriteDrivetMotorRun(IO_VALUE.LOW);
}
if (!stopRun && stopRequest && (DateTime.Now - stopTime).TotalSeconds > 40)
{
stopRun = true;
lineBean.LineStopRun = true;
//停止所有料仓TToolStripMenuItem_Click(null, null);
if (lineBean.LineCanStop())
{
LogUtil.info("收到服务端停机要求，直接停止环形线");
lineBean.WriteDrivetMotorRun(IO_VALUE.LOW);
}
else
{
LogUtil.info("收到服务端停机要求，横移还有托盘，等托盘离开后再停止环形线");
}
}
} }
if (!stopRun && stopRequest && (DateTime.Now - stopTime).TotalSeconds > 40) else
{ {
stopRun = true; if (stopRun)
lineBean.LineStopRun = true;
//停止所有料仓TToolStripMenuItem_Click(null, null);
if (lineBean.LineCanStop())
{ {
LogUtil.info("收到服务端停机要求，直接停止环形线"); lineBean.LineStopRun = false;
lineBean.WriteDrivetMotorRun(IO_VALUE.LOW); lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH);
} //启动所有料仓AToolStripMenuItem_Click(null, null);
else stopRun = false;
{ LogUtil.info("收到服务端开机要求，启动环形线");
LogUtil.info("收到服务端停机要求，横移还有托盘，等托盘离开后再停止环形线");
} }
stopRequest = false;
} }
} }
else catch { lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH); }
if (!this.Visible)
{ {
if (stopRun) return;
{
lineBean.LineStopRun = false;
lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH);
//启动所有料仓AToolStripMenuItem_Click(null, null);
stopRun = false;
LogUtil.info("收到服务端开机要求，启动环形线");
}
stopRequest = false;
} }
} }
catch { lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH); }
if (!this.Visible)
{
return;
}
string canScanCode = ""; string canScanCode = "";
if (AgvClient.CurrCancelState) if (AgvClient.CurrCancelState)
{ {
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
...@@ -362,6 +362,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -362,6 +362,8 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
int position = Config.GetUpdownP2Detial(trayHeight,traySize); int position = Config.GetUpdownP2Detial(trayHeight,traySize);
UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed); UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed);
MoveInfo.IsUpdownAxisMove = true;
} }
else else
{ {
......
source/DeviceLibrary/assemblyLine/ProvidingEquip.cs
...@@ -243,6 +243,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -243,6 +243,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
int position = Config.GetUpdownP2Detial(trayHeight,traySize); int position = Config.GetUpdownP2Detial(trayHeight,traySize);
UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed); UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed);
MoveInfo.IsUpdownAxisMove = true;
} }
else else
{ {
......
source/DeviceLibrary/baan/AxisBean.cs
...@@ -145,6 +145,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -145,6 +145,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要重新运动 //判断是否需要重新运动
if (MoveInfo.CanWhileCount > 0) if (MoveInfo.CanWhileCount > 0)
{ {
bool needHomeMove = MoveInfo.IsUpdownAxisMove;
string clearMsg = ""; string clearMsg = "";
//判断轴是否报警 //判断轴是否报警
if (MoveInfo.CanWhileCount <= 3) if (MoveInfo.CanWhileCount <= 3)
...@@ -157,18 +158,31 @@ namespace OnlineStore.DeviceLibrary ...@@ -157,18 +158,31 @@ namespace OnlineStore.DeviceLibrary
Thread.Sleep(200); Thread.Sleep(200);
ACServerManager.ServoOn(deviceName, axisNo); ACServerManager.ServoOn(deviceName, axisNo);
Thread.Sleep(500); Thread.Sleep(500);
} }
} }
if (String.IsNullOrEmpty(clearMsg)) if (String.IsNullOrEmpty(clearMsg))
{ {
ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue()); ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
Thread.Sleep(100); Thread.Sleep(100);
} }
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount + if (needHomeMove && MoveInfo.CanWhileCount == 3)
"]，误差过大，"+clearMsg+"重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次"); {
ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed); LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
MoveInfo.CanWhileCount--; "]，误差过大，" + clearMsg + "自动回原点一次后再开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
Thread.Sleep(200); ACServerManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed);
MoveInfo.CanWhileCount--;
Thread.Sleep(200);
}
else
{
LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
"]，误差过大，" + clearMsg + "重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
MoveInfo.CanWhileCount--;
Thread.Sleep(200);
}
} }
else else
{ {
......
source/DeviceLibrary/model/LineMoveInfo.cs
...@@ -79,6 +79,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -79,6 +79,8 @@ namespace OnlineStore.DeviceLibrary
/// 可以循环运动的次数（轴卡运动才需要） /// 可以循环运动的次数（轴卡运动才需要）
/// </summary> /// </summary>
public int CanWhileCount = 0; public int CanWhileCount = 0;
public bool IsUpdownAxisMove = false;
/// <summary> /// <summary>
/// 料仓运动步骤记录 /// 料仓运动步骤记录
/// </summary> /// </summary>
...@@ -153,6 +155,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -153,6 +155,7 @@ namespace OnlineStore.DeviceLibrary
WriteIoList = new List<WriteIOInfo>(); WriteIoList = new List<WriteIOInfo>();
OneWaitCanEndStep = false; OneWaitCanEndStep = false;
CanWhileCount = 5; CanWhileCount = 5;
IsUpdownAxisMove = false;
} }
private void StepMoveLog() private void StepMoveLog()
{ {
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!