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Commit ad5ca24d 由 LN
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上料机构优化。 

托盘优化：阻挡下降后，可能等不到check1灭。
1 个父辈 d2453747
内嵌 并排
正在显示 10 个修改的文件 包含 327 行增加 和 174 行删除
source/AssemblyLineClient/App.config
......@@ -6,64 +6,76 @@
<appSettings>
<!--是否开机自动启动料仓-->
<add key="App_AutoRun" value="1" />
<add key="App_Title" value="包装料料仓" />
<!-- 开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）-->
<add key="StartBlowValue" value="4" />
<!-- 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）-->
<add key="StopBlowValue" value="4" />
<add key="App_Title" value="流水线客户端" />
<!--Server address-->
<add key="http.server" value="http://10.85.160.25/myproject/" />
<!--<add key="http.server" value="http://localhost/myproject/service/store/emptyPosForPutin"/>-->
<add key="http.server" value="http://192.168.101.11/myproject/" />
<!--storeType-->
<add key="store_count" value="2" />
<add key="Store_ConfigPath" value="\StoreConfig\StoreConfig.csv" />
<add key="Line_moveEquip_count" value="18" />
<add key="Line_feedingEquip_count" value="4" />
<add key="Line_providingEquip_count" value="4" />
<add key="Line_dischargeLine_count" value="2" />
<!--start one store config-->
<add key="Shelf_Position_Config" value="\StoreConfig\shelfPosition.csv" />
<add key="Store_Position_Config" value="\StoreConfig\linePositions.csv" />
<add key="BOX_ConfigPath" value="\StoreConfig\BoxConfig.csv" />
<add key="Store_Type" value="RC_AC_PA" />
<add key="Store_CID" value="packing-store" />
<add key="Store_CID_1" value="packing-19" />
<add key="Store_CID_2" value="packing-20" />
<add key="ConfigPath_Line" value="\LineConfig\Config_Line.csv" />
<add key="ConfigPath_MoveEquip" value="\LineConfig\MoveEquip\Config_MoveEquip.csv" />
<add key="ConfigPath_FeedingEquip" value="\LineConfig\Config_FeedingEquip.csv" />
<add key="ConfigPath_ProvidingEquip" value="\LineConfig\Config_ProvidingEquip.csv" />
<add key="ConfigPath_DischargeLine" value="\LineConfig\Config_DischargeLine.csv" />
<add key="Line_Type" value="Line" />
<add key="Line_CID" value="rc1250" />
<!--end one store config-->
<add key="ACBaudRate" value="115200" />
<add key="InOutDefaultPosition" value="52000" />
<add key="Config_Pwd" value="123456" />
<!--摄像机名称列表配置，用#分割-->
<add key="CameraName" value="GigE:MV-CE100-30GC (00C69898519)#GigE:MV-CE100-30GC (00C95305929)" />
<!--二维码类型列表配置，用#分割，一维码=Barcode 二维码： QR Code#Data Matrix ECC 200#Micro QR Code-->
<add key="CodeType" value="QR Code#Data Matrix ECC 200" />
<!--<add key="CodeType" value="Data Matrix ECC 200"/>-->
<add key="ACBaudRate" value="115200" />
<!--二维码参数文件所在路径，文件名与二维码类型名一样-->
<add key="CodeParamPath" value="\CodeParam\" />
<add key="Config_Pwd" value="123456" />
<!--出库等待料盘拿走的时间，秒-->
<add key="OutStoreWaitSeconds" value="1" />
<!--温控器类型，0=壁挂王字壳温湿度变送器，1=妙昕温湿度记录仪-->
<add key="HumitureControllerType" value="0" />
<add key="OutStoreWaitSeconds" value="10" />
<add key="UseAIOBOX" value="1" />
<add key="DIMS" value="60" />
<add key="DOMS" value="300" />
<!--流水线地址和端口配置-->
<add key="LineServerIp" value="192.168.101.11" />
<add key="LineServerPort" value="5246" />
<!--是否调试状态-->
<add key="IsInDebug" value="1" />
<add key="UseBuzzer" value="0" />
<!--IO模块是否主动上传-->
<add key="AIOAutoUpload" value="0" />
<!--流水线监听端口-->
<add key="TCPServerPort" value="5246" />
<!--AGV调度服务器地址-->
<add key="AgvServerIp" value="10.85.160.20" />
<!--IO配置-->
<add key="DIMS" value="60" />
<add key="DOMS" value="300" />
<add key="LineRunTest" value="1" />
<!--ABB机器人服务器-->
<add key="ABBServerPort" value="21" />
<!--是否打开托盘编码界面-->
<add key="OpenRFIDWrite" value="1" />
<add key="DefaultPWD" value="123456" />
<!--当前调试的设备ID，分号分割-->
<add key="DebugDeviceId" value="0" />
<add key="Server_Log_Open" value="0" />
<add key="CodeCount" value="3" />
<add key="Tool_P3_Offset" value="7000" />
<add key="Tool_P4_Offset" value="-2000" />
<add key="Tool_P5_Offset" value="-2000" />
<add key="Tool_P6_Offset" value="7000" />
<add key="Tool_TargetSpeed" value="20" />
<add key="Tool_TargetPosition" value="1835000" />
<!--是否启用入料口移门，1=启用，0=禁用-->
<add key="UseDoor" value="0" />
<add key="Agv_Log_Open" value="1" />
<add key="AutoShelfInstore" value="1" />
<add key="DefaultTrayNum" value="0" />
<add key="NeedScanCode" value="1" />
<add key="Agv_Log_Open" value="0" />
</appSettings>
<!-- <log4net> -->
<!-- <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender"> -->
<!-- <file value="logs/Line-RC1250.log" /> -->
<!-- <param name="Encoding" value="UTF-8" /> -->
<!-- <appendToFile value="true" /> -->
<!-- <rollingStyle value="Date" /> -->
<!-- <datePattern value="yyyy-MM-dd" /> -->
<!-- <layout type="log4net.Layout.PatternLayout"> -->
<!-- <conversionPattern value="[%date][%t]%-5p %m%n" /> -->
<!-- </layout> -->
<!-- </appender> -->
<!-- <root> -->
<!-- <level value="Info" /> -->
<!-- <appender-ref ref="RollingLogFileAppender" /> -->
<!-- </root> -->
<!-- </log4net> -->
<log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/Packing-store-19-20.log" />
<file value="logs/Line-RC1250.log" />
<param name="Encoding" value="UTF-8" />
<appendToFile value="true" />
<rollingStyle value="Date" />
......@@ -73,7 +85,7 @@
</layout>
</appender>
<appender name="TheRFID" type="log4net.Appender.RollingFileAppender">
<file value="logs/TheRFID-19-20.log" />
<file value="logs/TheRFID-line.log" />
<param name="Encoding" value="UTF-8" />
<appendToFile value="true" />
<rollingStyle value="Date" />
......@@ -87,9 +99,13 @@
<appender-ref ref="RollingLogFileAppender" />
</logger>
<logger name="TheRFID">
<level value="Debug" />
<level value="Info" />
<appender-ref ref="TheRFID" />
</logger>
<!--<root>
<level value="Info" />
<appender-ref ref="RollingLogFileAppender" />
</root>-->
</log4net>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
......
source/AssemblyLineClient/FrmLineStore.cs
......@@ -418,8 +418,11 @@ namespace OnlineStore.AssemblyLine
}
AgvClient.Dispose();
IOManager.instance.CloseAllDO();
IOManager.instance.CloseAllConnection();
if (IOManager.instance != null)
{
IOManager.instance.CloseAllDO();
IOManager.instance.CloseAllConnection();
}
}
private void btnClearLog_Click(object sender, EventArgs e)
......
source/AssemblyLineClient/记录.txt
......@@ -274,7 +274,8 @@ PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=800
20200308
增加托盘顺序检测功能NeedCheckTray的开关选项。
上料机构优化。
托盘优化：阻挡下降后，可能等不到check1灭。
......
source/DeviceLibrary/assemblyLine/EquipBase.cs
......@@ -146,6 +146,11 @@ namespace OnlineStore.DeviceLibrary
return;
}
BaseTimerProcess();
if (TimerMaxSeconds > 3 && runStatus >= LineRunStatus.Runing)
{
TimerMaxSeconds = 3;
}
}
catch (Exception ex)
{
......@@ -194,6 +199,7 @@ namespace OnlineStore.DeviceLibrary
}
protected void ResetClearData()
{
TimerMaxSeconds = 10;
trayCount = 0;
SetWarnMsg("");
alarmType = LineAlarmType.None;
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -105,13 +105,15 @@ namespace OnlineStore.DeviceLibrary
lastStopDown = DateTime.Now;
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
LogUtil.debug(Name + " [" + trayCount + "] 检测到SW_StopCheck：" + SecondMoveInfo.SLog + "阻挡气缸下降 ，等待 SW_StopCheck=0");
//CheckLog("检测到SW_StopCheck：" + SecondMoveInfo.SLog + "阻挡气缸下降 ，等待 SW_StopCheck=0" );
IOMove(IO_Type.SW_StopDown, IO_VALUE.HIGH,1200);
SecondMoveInfo.OneWaitCanEndStep = true;
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_StopDown, IO_VALUE.HIGH));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_StopDown, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_StopCheck, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
//IOMove(IO_Type.SW_StopDown, IO_VALUE.HIGH, TrayManager.StopDownWaitTime);
}
}
......@@ -143,8 +145,10 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
CheckLog(" 检测到FL_StopCheck：" + SecondMoveInfo.SLog + " FL阻挡1下降 ，等待 FL_StopCheck=0");
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.OneWaitCanEndStep = true;
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCheck, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.HIGH));
/// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
}
......@@ -199,7 +203,7 @@ namespace OnlineStore.DeviceLibrary
{
TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_FixtureCheck);
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）");
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
}
......@@ -258,7 +262,7 @@ namespace OnlineStore.DeviceLibrary
LineManager.Line.CylinderMove(null, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
}
else
{
{
CheckLog("托盘检测：" + SecondMoveInfo.SLog + " 需要此托盘，横移顶升气缸上 升 ");
}
}
......@@ -274,13 +278,13 @@ namespace OnlineStore.DeviceLibrary
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待 NextStopCheck=0");
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.NextStopCheck, IO_VALUE.LOW));
}
else
else
{
CheckLog("托盘检测：不需要此托盘，写一下顶升上升，结束处理");
if (Config.SidesWayNum.Equals(2))
{
CylinderMove(null, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
if ( LineManager.Line.SwCanUpMove(3))
if (LineManager.Line.SwCanUpMove(3))
{
LineManager.Line.CylinderMove(null, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
}
......@@ -356,17 +360,18 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_14_TopDown))
{
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));
}
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))
{
......@@ -423,7 +428,63 @@ namespace OnlineStore.DeviceLibrary
}
}
}
private void TrayMoveOk()
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
if (Config.SidesWayNum > 0)
{
if (CylinderIsOk(IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down))
{
if (Config.SidesWayNum.Equals(2))
{
//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） ");
SMoveEnd();
}
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
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionDown);
SInLog("托盘放行， " + SecondMoveInfo.SLog + " 托盘开始放行，环形线定位气缸下降");
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
}
else
{
if (CylinderIsOk(IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down))
{
MO_15_WaitCanGo();
}
else
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CheckLog("托盘放行， " + SecondMoveInfo.SLog + " ， 顶升气缸下降）");
CylinderMove(SecondMoveInfo, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
}
}
private void 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));
}
}
private void SMoveEnd()
{
lastStopDown = DateTime.Now.AddSeconds(-2);
......@@ -804,12 +865,6 @@ namespace OnlineStore.DeviceLibrary
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升 ");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_26_CylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_27_UpDownAxisToP1);
InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
if (Config.SidesWayNum > 0)
{
InLog(MoveInfo.SLog + " 提前下降顶升气缸 ，环形线定位气缸先下降");
......@@ -820,12 +875,18 @@ namespace OnlineStore.DeviceLibrary
InLog(MoveInfo.SLog + " 提前顶升下降， 顶升气缸下降）");
CylinderMove(null, IO_Type.FL_TopCylinder_Up, IO_Type.FL_TopCylinder_Down);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_26_CylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_27_UpDownAxisToP1);
InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点，托盘开始放行");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
// SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
TrayMoveOk();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_27_UpDownAxisToP1))
{
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位，托盘开始放行 ");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位 ");
CheckHasTray();
}
#endregion
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
......@@ -407,6 +407,11 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FO_216_CylinderUp);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
if (Config.SidesWayNum.Equals(3))
{
InLog(MoveInfo.SLog + " 提前下降顶升气缸 ，环形线定位气缸先下降");
CylinderMove(null, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_216_CylinderUp))
{
......@@ -417,7 +422,8 @@ namespace OnlineStore.DeviceLibrary
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(trayNum, false);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
//SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
TrayMoveOk();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_217_UpdownAxisToP1))
{
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -293,7 +293,8 @@ namespace OnlineStore.DeviceLibrary
}
private void RHomeOp()
{
mainTimer.Interval = 1000;
maxSeconds = 10;
// TrayManager.SidesWayStateMap = new System.Collections.Concurrent.ConcurrentDictionary<int, int>() ;
alarmType = LineAlarmType.None;
mainTimer.Enabled = false;
......@@ -691,10 +692,11 @@ namespace OnlineStore.DeviceLibrary
}
private bool busyPro = false ;
private DateTime busyProTime = DateTime.Now;
private int maxSeconds = 3;
private void LineTimerPro()
{
TimeSpan span = DateTime.Now - busyProTime;
if (busyPro && span.TotalSeconds < 3)
if (busyPro && span.TotalSeconds < maxSeconds)
{
return;
}
......@@ -893,7 +895,9 @@ namespace OnlineStore.DeviceLibrary
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
MoveInfo.EndMove();
LogUtil.info(Name + "所有移栽模块复位完成，打开流水线，开始运转，耗时 [" + FormUtil.GetSpanStr(span) + "]");
mainTimer.Interval = 300;
maxSeconds = 3;
LogUtil.info(Name + "所有移栽模块复位完成，打开流水线，开始运转，定时器改为300，耗时 [" + FormUtil.GetSpanStr(span) + "]");
}
else if (span.TotalSeconds > 120)
{
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -21,7 +21,7 @@ namespace OnlineStore.DeviceLibrary
public bool CanProcessLine(bool isCheckSleep = true)
{
if (runStatus<=LineRunStatus.Wait)
if (runStatus <= LineRunStatus.Wait)
{
return true;
}
......@@ -31,12 +31,12 @@ namespace OnlineStore.DeviceLibrary
IOManager.IOValue(IO_Type.DriveMotor_Run3, 0).Equals(IO_VALUE.HIGH) &&
IOManager.IOValue(IO_Type.DriveMotor_Run4, 0).Equals(IO_VALUE.HIGH))
{
return true;
return true;
}
return false;
}
private DateTime preIoTimerOutTime = DateTime.Now;
private void IOTimeOutProcess()
{
......@@ -63,7 +63,7 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error("IOTimeOutProcess出错：",ex);
LogUtil.error("IOTimeOutProcess出错：", ex);
}
}
private DateTime preRWTime = DateTime.Now;
......@@ -87,12 +87,12 @@ namespace OnlineStore.DeviceLibrary
isOk = false;
}
foreach (WaitResultInfo wait in list)
{
if (wait==null|| wait.IsEnd)
{
if (wait == null || wait.IsEnd)
{
continue;
}
NotOkMsg = " ["+wait.ToStr()+"] ";
NotOkMsg = " [" + wait.ToStr() + "] ";
if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{
NotOkMsg = " [" + Config.GetDisplayName(wait.IoType) + "=" + wait.IoValue + "] ";
......@@ -147,7 +147,8 @@ namespace OnlineStore.DeviceLibrary
{
int storeId = checkWaitInfo.MoveParam.GetStoreId();
wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
}else if (wait.WaitType.Equals(WaitEnum.W010_SWCanTopUp))
}
else if (wait.WaitType.Equals(WaitEnum.W010_SWCanTopUp))
{
wait.IsEnd = SwCanUpMove(wait.TargetPosition);
}
......@@ -166,7 +167,7 @@ namespace OnlineStore.DeviceLibrary
{
checkWaitInfo.EndStepWait();
}
else if (span.TotalSeconds > checkWaitInfo.TimeOutSeconds )
else if (span.TotalSeconds > checkWaitInfo.TimeOutSeconds)
{
WarnMsg = checkWaitInfo.Name + "[" + checkWaitInfo.MoveStep + "][" + NotOkMsg + "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, 100);
......@@ -175,32 +176,32 @@ namespace OnlineStore.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.error(checkWaitInfo.Name + " [" + checkWaitInfo.MoveStep + "] CheckWait 出错：",ex);
LogUtil.error(checkWaitInfo.Name + " [" + checkWaitInfo.MoveStep + "] CheckWait 出错：", ex);
}
}
}
#endregion
#region 出库
public override bool StartOutStoreMove(InOutParam param)
{
{
return true;
}
protected override void OutStoreProcess()
{
{
}
#endregion
#region 入库
public override bool StartInStoreMove(InOutParam param)
{
return true;
{
return true;
}
protected override void InStoreProcess()
{
{
}
#endregion
......@@ -243,17 +244,16 @@ namespace OnlineStore.DeviceLibrary
Sw23TrayNum = trayNum;
SW23_MoveInfo.NewMove(LineMoveType.InStore);
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW03_WaitTime);
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));
// 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);
//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();
}
else
{
SW23WaitTrayNum = trayNum;
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW23_MoveInfo 忙碌中，记录 SW23WaitTrayNum="+ SW23WaitTrayNum);
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW23_MoveInfo 忙碌中，记录 SW23WaitTrayNum=" + SW23WaitTrayNum);
}
}
else if (swNum.Equals(4))
......@@ -264,16 +264,15 @@ namespace OnlineStore.DeviceLibrary
SW41_MoveInfo.NewMove(LineMoveType.InStore);
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW03_WaitTime);
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));
//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);
//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();
}
else
{
SW41WaitTrayNum = trayNum;
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW41_MoveInfo 忙碌中，记录 SW41WaitTrayNum ="+ SW41WaitTrayNum);
LogInfo("Equip_TrayPEndEvent【" + swNum + "】【" + trayNum + "】失败，SW41_MoveInfo 忙碌中，记录 SW41WaitTrayNum =" + SW41WaitTrayNum);
}
}
}
......@@ -297,10 +296,10 @@ namespace OnlineStore.DeviceLibrary
return true;
}
if (sidesWayNum.Equals(2) && SW23WaitTrayNum < 0)
{
{
if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
return true;
}
else if (SW23_MoveInfo.MoveStep <= (LineMoveStep.SW12_WaitTrayGo)
&& SW23_MoveInfo.MoveStep >= (LineMoveStep.SW10_WatOutFixture2))
......@@ -311,12 +310,12 @@ namespace OnlineStore.DeviceLibrary
else if (sidesWayNum.Equals(3) && SW23WaitTrayNum < 0 && runStatus <= LineRunStatus.Wait)
{
return true;
}
}
else if (sidesWayNum.Equals(4) && SW41WaitTrayNum < 0)
{
{
if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
{
return true;
return true;
}
else if (SW41_MoveInfo.MoveStep <= (LineMoveStep.SW12_WaitTrayGo)
&& SW41_MoveInfo.MoveStep >= (LineMoveStep.SW10_WatOutFixture2))
......@@ -377,18 +376,18 @@ namespace OnlineStore.DeviceLibrary
private static LineMoveInfo SW41_MoveInfo = null;
private static LineMoveInfo SW23_MoveInfo = null;
private void SideWayStop()
{
sw23WaitWatch.Stop();
sw41WaitWatch.Stop();
sw41WaitWatch.Stop();
SW41_MoveInfo.EndMove();
SW23_MoveInfo.EndMove();
SW23_MoveInfo.EndMove();
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
}
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
}
private Stopwatch sw41WaitWatch = new Stopwatch();
private Stopwatch sw23WaitWatch = new Stopwatch();
private bool sdIsInprocess = false;
......@@ -427,7 +426,7 @@ namespace OnlineStore.DeviceLibrary
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) &&
if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.LineCanMoveSW(4) && TrayManager.LineCanMoveSW(1))
{
if (TrayManager.checkWatch(sw41WaitWatch, TrayManager.SwTrayWaitTime, true))
......@@ -475,7 +474,7 @@ namespace OnlineStore.DeviceLibrary
{
//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) &&
if (IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) &&
TrayManager.LineCanMoveSW(2) && TrayManager.LineCanMoveSW(3))
{
if (TrayManager.checkWatch(sw23WaitWatch, TrayManager.SwTrayWaitTime, true))
......@@ -493,7 +492,7 @@ namespace OnlineStore.DeviceLibrary
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) &&
(DateTime.Now - lastSw2StopDownTime).TotalSeconds > 2 &&
(DateTime.Now - lastSw2StopDownTime).TotalSeconds > 2 &&
TrayManager.LineCanMoveSW(2) && TrayManager.LineCanMoveSW(3))
{
if (TrayManager.checkWatch(sw23WaitWatch, TrayManager.SwTrayWaitTime, true))
......@@ -573,7 +572,7 @@ namespace OnlineStore.DeviceLibrary
if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW00_Wait))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopDown);
LogUtil.info(Name+ "横移轨道41： 阻挡气缸下降 等待 SW4_StopCheck=0");
LogUtil.info(Name + "横移轨道41： 阻挡气缸下降 等待 SW4_StopCheck=0");
IOMove(IO_Type.SW4_StopDown, IO_VALUE.HIGH);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_StopCheck, IO_VALUE.LOW));
//SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
......@@ -598,12 +597,8 @@ namespace OnlineStore.DeviceLibrary
{
if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH))
{
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));
SW41_SW04_WaitCanUp();
// SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.SwTrayWaitTime));
}
else
......@@ -617,20 +612,29 @@ namespace OnlineStore.DeviceLibrary
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_WaitCanUp))
{
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);
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);
}
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_LocationDown))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderUp);
SWLog("横移轨道41：顶升气缸上升 ,至少等待1000 ");
IOMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Down, IO_Type.SW4_TopCylinder_Up);
Thread.Sleep(50);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
SW41_SW06_TopCylinderUp();
//SW41_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderUp);
//SWLog("横移轨道41：顶升气缸上升 ,至少等待1000 ");
//IOMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
//SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Down, IO_Type.SW4_TopCylinder_Up);
//Thread.Sleep(50);
//CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_TopCylinderUp))
{
......@@ -654,7 +658,7 @@ namespace OnlineStore.DeviceLibrary
SWLog("横移轨道41：收到SW1_TrayCheck，先顶升4下降 ");
CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Up, IO_Type.SW4_TopCylinder_Down);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
// SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
// SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW09_WaitOutCheck))
{
......@@ -715,8 +719,8 @@ namespace OnlineStore.DeviceLibrary
else
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW11_TopDown);
SWLog("横移轨道41：托盘已到达出口，重新顶升气缸下降 ");
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Up, IO_Type.SW1_TopCylinder_Down);
SWLog("横移轨道41：托盘已到达出口，重新顶升气缸下降 ");
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Up, IO_Type.SW1_TopCylinder_Down);
}
}
}
......@@ -731,7 +735,27 @@ namespace OnlineStore.DeviceLibrary
SWLog("横移轨道41：横移结束 ");
}
}
private bool CheckTrayIsNeed(int deviceId,int trayNum)
private void SW41_SW06_TopCylinderUp()
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderUp);
SWLog("横移轨道41：顶升气缸上升 ,至少等待1000 ");
IOMove(IO_Type.SW4_StopDown, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Down, IO_Type.SW4_TopCylinder_Up);
Thread.Sleep(50);
CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);
}
private void SW41_SW04_WaitCanUp()
{
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)
{
//横移1对应入料1
if (FeedingEquipMap.ContainsKey(deviceId))
......@@ -739,7 +763,7 @@ namespace OnlineStore.DeviceLibrary
FeedingEquip equip = FeedingEquipMap[deviceId];
if (equip.runStatus >= LineRunStatus.Runing)
{
if (equip.CurrTrayIsNeed(trayNum, false ))
if (equip.CurrTrayIsNeed(trayNum, false))
{
return true;
}
......@@ -760,7 +784,7 @@ namespace OnlineStore.DeviceLibrary
if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW00_Wait))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW01_StopDown);
LogUtil.info(Name+ "横移轨道23：阻挡气缸下降 等待 SW2_StopCheck=0 ");
LogUtil.info(Name + "横移轨道23：阻挡气缸下降 等待 SW2_StopCheck=0 ");
IOMove(IO_Type.SW2_StopDown, IO_VALUE.HIGH);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_StopCheck, IO_VALUE.LOW));
// SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
......@@ -785,14 +809,7 @@ namespace OnlineStore.DeviceLibrary
{
if (IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.HIGH))
{
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.WaitTime(TrayManager.SwTrayWaitTime));
SW23_SW04_WaitCanUp();
}
else
{
......@@ -805,20 +822,29 @@ namespace OnlineStore.DeviceLibrary
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_WaitCanUp))
{
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);
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);
}
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_LocationDown))
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderUp);
SWLog("横移轨道23：顶升气缸上升 ,至少等待1000 ");
IOMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Down, IO_Type.SW2_TopCylinder_Up);
Thread.Sleep(50);
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
SW23_SW06_TopCylinderUp();
//SW23_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderUp);
//SWLog("横移轨道23：顶升气缸上升 ,至少等待1000 ");
//IOMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
//SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
//CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Down, IO_Type.SW2_TopCylinder_Up);
//Thread.Sleep(50);
//CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_TopCylinderUp))
{
......@@ -898,8 +924,8 @@ namespace OnlineStore.DeviceLibrary
else
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW11_TopDown);
SWLog("横移轨道23：托盘已到达出口，重新顶升气缸下降 ");
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Up, IO_Type.SW3_TopCylinder_Down);
SWLog("横移轨道23：托盘已到达出口，重新顶升气缸下降 ");
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Up, IO_Type.SW3_TopCylinder_Down);
}
}
}
......@@ -915,14 +941,35 @@ namespace OnlineStore.DeviceLibrary
}
}
private void SW23_SW06_TopCylinderUp()
{
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW06_TopCylinderUp);
SWLog("横移轨道23：顶升气缸上升 ,至少等待1000 ");
IOMove(IO_Type.SW2_StopDown, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Down, IO_Type.SW2_TopCylinder_Up);
Thread.Sleep(50);
CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);
}
private void SW23_SW04_WaitCanUp()
{
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));
}
private void SWLog(string msg)
{
LogUtil.debug(Name + msg);
}
#endregion
#region 料仓出入库逻辑处理
/// <summary>--
/// BOX出入库完成事件
/// </summary>
......@@ -946,9 +993,10 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(Name + " 执行出库【" + param.ToStr() + "】失败， 加入等待队列");
moveEquip.AddWaitOutInfo(param);
}
}else if(moveEquip.MoveInfo.MoveType .Equals(LineMoveType.OutStore) && moveEquip.MoveInfo.MoveParam!=null&& moveEquip.MoveInfo.MoveParam.PosId.Equals(posId))
}
else if (moveEquip.MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveEquip.MoveInfo.MoveParam != null && moveEquip.MoveInfo.MoveParam.PosId.Equals(posId))
{
LogUtil.info(param.ToStr() + "已经完成出库，" + moveEquip.Name + "正在【"+posId+"】出库中，库位号重复，不处理！");
LogUtil.info(param.ToStr() + "已经完成出库，" + moveEquip.Name + "正在【" + posId + "】出库中，库位号重复，不处理！");
}
else
{
......@@ -992,7 +1040,7 @@ namespace OnlineStore.DeviceLibrary
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_56_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false))
{
return true;
}
}
}
}
return false;
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -509,11 +509,13 @@ namespace OnlineStore.DeviceLibrary
//托盘在第一个阻挡处
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_00_Stop1Down);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
//SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
CheckLog(" 托盘检测：料盘检测StopCylinder_Check1 " + SecondMoveInfo.SLog + "阻挡气缸1-1下降 ， 等待 StopCylinder_Check1=0");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH, 1200);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.OneWaitCanEndStep = true;
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(TrayManager.StopDownWaitTime));
}
}
......
source/DeviceLibrary/model/KTK_Store.cs
......@@ -374,7 +374,13 @@ namespace OnlineStore.DeviceLibrary
return sta;
}
}
public bool CylinderIsOk(string IoLowType, string IoHighType)
{
if (IOValue(IoLowType).Equals(IO_VALUE.LOW) && IOValue(IoHighType).Equals(IO_VALUE.HIGH)){
return true;
}
return false;
}
public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType, bool isCheckMove = false)
{
try
......
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