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Commit c4c90572 由 LN
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移栽模块流程优化。 

上料模块出料架口收到ready信号后，先把状态设置为None。
1 个父辈 bbfcdee8
内嵌 并排
正在显示 4 个修改的文件 包含 56 行增加 和 22 行删除
source/AssemblyLineClient/记录.txt
......@@ -279,7 +279,8 @@ PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=800
20200309
流水线启动时先转动链条5秒，停止时最后停止流水线，防止托盘停留在rfid读卡器上方。
移栽模块流程优化。
上料模块出料架口收到ready信号后，先把状态设置为None。
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -681,9 +681,10 @@ namespace OnlineStore.DeviceLibrary
string logName = Name + "[" + Config.AgvOutName + "] 料架送入AGV ";
try
{
LogUtil.info(logName + "开始，先设置状态为None");
AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
LogUtil.info(logName+"开始");
// AgvClient.SetStatus(Config.AgvOutName,"",ClientAction.MayLeave,ClientLevel.High);
ProcessShelfOut = true;
//出口阻挡下降，出口线体转动
......@@ -713,6 +714,10 @@ namespace OnlineStore.DeviceLibrary
ProcessShelfOut = false;
LogUtil.info(logName + ",停止转动， 结束");
}
else
{
LogUtil.info(logName + "开始，未检测到料架信号，不处理");
}
}
catch (TimeoutException te)
{
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -60,21 +60,31 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_50_StartOutProcess))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_52_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸下降 ");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH);
// CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_52_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MO_53_DownWait);
OutLog("出库 " + MoveInfo.SLog + ": 等待600ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(600));
OutLog("出库 " + MoveInfo.SLog + ": 等待200ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_53_DownWait))
{
......@@ -101,7 +111,7 @@ namespace OnlineStore.DeviceLibrary
if (TrayIsOk())
{
MoveInfo.NextMoveStep(LineMoveStep.MO_56_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 前后气缸后退");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
}
......@@ -109,7 +119,7 @@ namespace OnlineStore.DeviceLibrary
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_56_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 前后气缸后退");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
}
......@@ -250,14 +260,14 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(LineMoveStep.MI_06_CylinderDown);
InLog("入库 " + MoveInfo.SLog + ": 升降下降");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH,MoveInfo.MoveParam.PlateW);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_06_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_07_DownWait);
InLog("入库 " + MoveInfo.SLog + ": 等待600ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(600));
InLog("入库 " + MoveInfo.SLog + ": 等待200ms后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
//只有当BOX可以进行出入库时，移栽物品，防止卡住
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_07_DownWait))
......@@ -294,10 +304,19 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_11_CylinderDown);
InLog("入库 " + MoveInfo.SLog + " ，上下气缸下降");
UpdownDownP3Move(MoveInfo.MoveParam.PlateH);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_10_CylinderBefore);
InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_11_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_12_CylinderRelax);
......@@ -313,9 +332,9 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_13_UpdownCylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.MI_14_CylinderAfter);
InLog("入库 " + MoveInfo.SLog + "，前后气缸后退，等待1000 ");
InLog("入库 " + MoveInfo.SLog + "，前后气缸后退，等待300 ");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
//此时box就可以入库操作了 //触发事件，BOX入库
// LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
}
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -433,14 +433,14 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(LineMoveStep.PO_01_CylinderDown);
OutLog(" " + MoveInfo.SLog + " : 上下气缸下降");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_01_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_02_DownWait);
OutLog("出料 " + MoveInfo.SLog + " : 等待300后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
OutLog("出料 " + MoveInfo.SLog + " : 等待200后夹紧");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
}
//只有当BOX可以进行出出料时，移栽物品，防止卡住
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_02_DownWait))
......@@ -485,6 +485,8 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_06_CylinderBefore))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
{
if (LineIsReady())
{
//气缸不下降，直接扔料
......@@ -502,6 +504,13 @@ namespace OnlineStore.DeviceLibrary
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.PO_06_CylinderBefore);
OutLog("出料：" + MoveInfo.SLog + " ，前后气缸前进）");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
}
}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_07_CylinderDown))
//{
// MoveInfo.NextMoveStep(LineMoveStep.PO_08_CylinderRelax);
......@@ -510,16 +519,16 @@ namespace OnlineStore.DeviceLibrary
//}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_08_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.PO_09_CylinderUp);
OutLog("出料：" + MoveInfo.SLog + "，上下气缸上升）");
UpdownUpMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_09_CylinderUp))
{
// MoveInfo.NextMoveStep(LineMoveStep.PO_09_CylinderUp);
// OutLog("出料：" + MoveInfo.SLog + "，上下气缸上升）");
// UpdownUpMove();
//}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.PO_09_CylinderUp))
//{
MoveInfo.NextMoveStep(LineMoveStep.PO_10_CylinderAfter);
OutLog("出料：" + MoveInfo.SLog + "，前后气缸后退，等待1000 ,皮带线继续运动");
OutLog("出料：" + MoveInfo.SLog + "，前后气缸后退，等待200 ,皮带线继续运动");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
//出料皮带线停止出料
DisLineContiune();
......
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