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Commit b476c447 由 LN
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料架进入入料口逻辑修改

1 个父辈 4f98455d
内嵌 并排
正在显示 2 个修改的文件 包含 35 行增加 和 17 行删除
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -579,14 +579,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -579,14 +579,14 @@ namespace OnlineStore.DeviceLibrary
InLog("定位工位检测到料架： " + MoveInfo.SLog + "，进料阻挡上升，缓冲阻挡上升， 等待3秒再次检测"); InLog("定位工位检测到料架： " + MoveInfo.SLog + "，进料阻挡上升，缓冲阻挡上升， 等待3秒再次检测");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW); IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW); IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
} }
private void LineInStoreProcess() private void LineInStoreProcess()
{ {
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//判断是哪个工位有料架 //判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -619,6 +619,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -619,6 +619,10 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
MoveEndS(); MoveEndS();
LogUtil.info(" 未检测到料架，入料结束"); LogUtil.info(" 未检测到料架，入料结束");
} }
...@@ -674,7 +678,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -674,7 +678,7 @@ namespace OnlineStore.DeviceLibrary
//定位工位有料架，直接开始入料 //定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up); MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
InLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 定位气缸上升，读取料架号"); InLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡上升， 定位气缸上升，读取料架号");
// IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降 // IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up); CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
} }
} }
...@@ -696,7 +700,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -696,7 +700,10 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_08_BatchAxisToP2); MoveInfo.NextMoveStep(LineMoveStep.FI_08_BatchAxisToP2);
InLog("料架入库" + MoveInfo.SLog + "：提升轴下降到位P2，定位气缸上升"); InLog("料架入库" + MoveInfo.SLog + "：提升轴下降到位P2，定位气缸上升");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW); if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up); CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
} }
...@@ -1001,10 +1008,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -1001,10 +1008,13 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_34_OutCheck)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_34_OutCheck))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FI_35_OutTopCylinder_Up); if (!ProcessShelfOut)
InLog("上料完成" + MoveInfo.SLog + "，出口顶升气缸上升,出料缓冲阻挡上升"); {
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up); MoveInfo.NextMoveStep(LineMoveStep.FI_35_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW); InLog("上料完成" + MoveInfo.SLog + "，出口顶升气缸上升,出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_35_OutTopCylinder_Up)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_35_OutTopCylinder_Up))
{ {
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
...@@ -202,7 +202,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -202,7 +202,7 @@ namespace OnlineStore.DeviceLibrary
//定位工位有料架，等待1秒后再次检测 //定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FO_04_WaitTime); MoveInfo.NextMoveStep(LineMoveStep.FO_04_WaitTime);
OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架：进料阻挡上升， 等待3秒再次检测"); OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架：进料阻挡上升， 等待3秒再次检测");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW); IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW); IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW)); MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW));
...@@ -212,8 +212,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -212,8 +212,7 @@ namespace OnlineStore.DeviceLibrary
private void LineOutStoreProcess() private void LineOutStoreProcess()
{ {
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//判断是哪个工位有料架 //判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)) if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{ {
...@@ -246,6 +245,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -246,6 +245,10 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
MoveEndS(); MoveEndS();
OutLog(" 未检测到料架， 准备出库料架结束"); OutLog(" 未检测到料架， 准备出库料架结束");
} }
...@@ -331,7 +334,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -331,7 +334,10 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(LineMoveStep.FO_06_BatchAxisToP2); MoveInfo.NextMoveStep(LineMoveStep.FO_06_BatchAxisToP2);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2,定位气缸上升"); OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2,定位气缸上升");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW); if (!ProcessShelfEnter)
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
}
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed); BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up); CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
} }
...@@ -412,11 +418,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -412,11 +418,13 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutCheck)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutCheck))
{ {
MoveInfo.NextMoveStep(LineMoveStep.FO_34_OutTopCylinder_Up); if (!ProcessShelfOut)
OutLog("送出料串： " + MoveInfo.SLog + "，出口顶升气缸上升，出料缓冲阻挡上升"); {
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up); MoveInfo.NextMoveStep(LineMoveStep.FO_34_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW); OutLog("送出料串： " + MoveInfo.SLog + "，出口顶升气缸上升，出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutTopCylinder_Up)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutTopCylinder_Up))
{ {
......
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