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Commit c5408e4b 由 LN
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1.入口阻挡气缸下降改为时间控制1200ms. 

2.托盘定位时，先前进2s后退，再重新前进。
1 个父辈 4551bc53
内嵌 并排
正在显示 5 个修改的文件 包含 51 行增加 和 25 行删除
source/AssemblyLineClient/记录.txt

20200522
1.入口阻挡气缸下降改为时间控制1200ms.
2.托盘定位时，先前进2s后退，再重新前进。
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -155,7 +155,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
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);
IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.HIGH, 1200);
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));
......@@ -206,8 +206,8 @@ namespace OnlineStore.DeviceLibrary
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
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));
// IOMove(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW);
// SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_StopCylinder_Down1, IO_VALUE.LOW));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.FL_TrayCheck, IO_VALUE.HIGH));
}
else
......@@ -215,7 +215,7 @@ 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）");
IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
// IOMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
}
}
......@@ -224,7 +224,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_WaitFixture);
CheckLog("托盘检测：" + SecondMoveInfo.SLog + "再次等待SW_TrayCheck=1 ：");
//CheckLog("托盘检测：" + SecondMoveInfo.SLog + "再次等待SW_TrayCheck=1并需要持续：" + TrayManager.SwTrayWaitTime);
CheckAndMove(IO_Type.SW_StopDown, IO_VALUE.LOW);
// CheckAndMove(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));
......@@ -687,7 +687,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.ShelfNoTray = false;
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FI_07_LocationCylinder_Up);
MoveInfo.NextMoveStep(LineMoveStep.FI_05_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");
// 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);
......@@ -707,9 +707,9 @@ namespace OnlineStore.DeviceLibrary
// IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
// CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
//}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_07_LocationCylinder_Up))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_05_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_BatchAxisToP2);
MoveInfo.NextMoveStep(LineMoveStep.FI_06_BatchAxisToP2);
InLog("料架入库" + MoveInfo.SLog + "：提升轴下降到位P2，定位气缸上升");
if (!ProcessShelfEnter)
{
......@@ -718,7 +718,23 @@ namespace OnlineStore.DeviceLibrary
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_08_BatchAxisToP2))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_06_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_07_TrayLocation_Before);
InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸第一次前进 2秒，清空条码信息");
LastCodeList = new List<string>();
NextCodeList = new List<string>();
TrayLCylinderBefore(null);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_07_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_TrayLocation_Back);
InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸后退，等待再次前进");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_08_TrayLocation_Back))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_09_TrayLocation_Before);
InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸前进，清空条码信息");
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -621,15 +621,15 @@ namespace OnlineStore.DeviceLibrary
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_01_FixtureCheck);
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）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Down1, IO_VALUE.LOW));
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
// 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_01_FixtureCheck))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次等待托盘信号");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
// IOMove(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_03_Stop2Down))
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -271,7 +271,7 @@ 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 阻挡2托盘检测=1）");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
// IOMove(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_01_FixtureCheck))
......@@ -279,7 +279,7 @@ namespace OnlineStore.DeviceLibrary
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_03_Stop2Down);
CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 再次检测料盘信号");
//CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " 等待" + TrayManager.SwTrayWaitTime + ",再次检测料盘信号");
IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
if (Config.SidesWayNum.Equals(4))
{
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -589,49 +589,57 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
///入料检测： 工位检测信号，定位气缸上升
/// </summary>
FI_07_LocationCylinder_Up = 11007,
FI_05_LocationCylinder_Up ,
/// <summary>
/// 入料检测：提升轴下降到位P2
/// </summary>
FI_08_BatchAxisToP2 = 11008,
FI_06_BatchAxisToP2 ,
/// <summary>
/// 入料检测：升降盘定位气缸第一次前进
/// </summary>
FI_07_TrayLocation_Before,
/// <summary>
/// 入料检测：升降盘定位气缸第一次后退
/// </summary>
FI_08_TrayLocation_Back ,
/// <summary>
/// 入料检测：升降盘定位气缸前进
/// </summary>
FI_09_TrayLocation_Before = 11009,
FI_09_TrayLocation_Before ,
/// <summary>
/// 入料检测：上料轴开始慢速上升到P3点，等待检测到料盘
/// </summary>
FI_10_AxisUpMove = 11010,
FI_10_AxisUpMove ,
/// <summary>
/// 入料取料：横移机构先上升
/// </summary>
FI_11_CylinderUp=11011,
FI_11_CylinderUp,
/// <summary>
/// 入料取料：上料机构到放料端
/// </summary>
FI_12_CylinderGive = 11012,
FI_12_CylinderGive ,
/// <summary>
/// 入料检测到料盘：扫码
/// </summary>
FI_13_ScanCode =11013,
FI_13_ScanCode ,
/// <summary>
/// 料盘移栽：有料盘：上料横移机构取料
/// </summary>
FI_14_CylinderTake = 11014,
FI_14_CylinderTake ,
/// <summary>
/// 料盘移栽：升降轴到P3
/// </summary>
FI_15_UpdownAxisToP3= 11015,
FI_15_UpdownAxisToP3,
/// <summary>
/// 料盘移栽：上料横移机构夹紧
/// </summary>
FI_16_CylinderTighten = 11016,
FI_16_CylinderTighten ,
/// <summary>
/// 料盘移栽：升降伺服到P1点
/// </summary>
......
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