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Commit c55429b2 由 LN
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20200805 

横移3和横移1顶升下降之后需要等待1秒再检测托盘检测信号是否消失。
出料4紧急出料最多等待20-30秒，如果料架已离开或者当前无料架直接放行托盘。
上升端不到位就横移。
两头的横移有时皮带不转。
1 个父辈 4d2406af
内嵌 并排
正在显示 9 个修改的文件 包含 128 行增加 和 51 行删除
source/AssemblyLineClient/Program.cs
...@@ -98,6 +98,7 @@ namespace OnlineStore.AssemblyLine ...@@ -98,6 +98,7 @@ namespace OnlineStore.AssemblyLine
} }
if (!isShow) if (!isShow)
{ {
System.Net.ServicePointManager.DefaultConnectionLimit = 512;
XmlConfigurator.Configure(); XmlConfigurator.Configure();
Application.EnableVisualStyles(); Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false); Application.SetCompatibleTextRenderingDefault(false);
......
source/AssemblyLineClient/记录.txt
进仓18个夹爪，夹紧DI信号不用 20200805
横移3和横移1顶升下降之后需要等待1秒再检测托盘检测信号是否消失。
出料4紧急出料最多等待20-30秒，如果料架已离开或者当前无料架直接放行托盘。
上升端不到位就横移。
两头的横移有时皮带不转。
进仓18个夹爪，夹紧DI信号不用
横移四个定位气缸暂时不用 横移四个定位气缸暂时不用
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
...@@ -421,18 +421,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -421,18 +421,20 @@ namespace OnlineStore.DeviceLibrary
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_200_WaitInoutParam)) else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_200_WaitInoutParam))
{ {
if (MoveInfo.MoveType.Equals(LineMoveType.None) && StartTrayOut(SecondMoveInfo.MoveParam)) if ( StartTrayOut(SecondMoveInfo.MoveParam))
{ {
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_WaitOutEnd); SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_WaitOutEnd);
} }
else if (SecondMoveInfo.IsTimeOut(120))
//如果当前无料串，或者料串已离开，直接放行 托盘
else if (SecondMoveInfo.IsTimeOut(30))
{ {
WarnMsg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveStep + "] 等待出库移栽超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒"; WarnMsg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveStep + "] 等待出库移栽超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg + "，暂时放托盘离开"); LogUtil.error(WarnMsg + "，暂时放托盘离开");
TrayMoveOk(); TrayMoveOk();
} }
else if (SecondMoveInfo.IsTimeOut(60)) else if (SecondMoveInfo.IsTimeOut(20))
{ {
WarnMsg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveStep + "] 等待出库移栽超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒"; WarnMsg = SecondMoveInfo.Name + "[" + SecondMoveInfo.MoveStep + "] 等待出库移栽超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, DeviceID * 1000 + 21); LogUtil.error(WarnMsg, DeviceID * 1000 + 21);
...@@ -505,6 +507,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -505,6 +507,7 @@ namespace OnlineStore.DeviceLibrary
if (Config.SidesWayNum > 0) if (Config.SidesWayNum > 0)
{ {
CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开"); CheckLog("托盘放行 " + SecondMoveInfo.SLog + " ，等待托盘离开");
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.LOW)); SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.LOW));
} }
else else
......
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
...@@ -40,15 +40,31 @@ namespace OnlineStore.DeviceLibrary ...@@ -40,15 +40,31 @@ namespace OnlineStore.DeviceLibrary
{ {
if (outParam == null || outParam.PosId == null || outParam.PosId.Equals("")) if (outParam == null || outParam.PosId == null || outParam.PosId.Equals(""))
{ {
LogUtil.error(Name + "出库失败，参数不完整："); LogUtil.error(Name + "出库失败，参数不完整，托盘先离开");
TrayMoveOk();
LogUtil.error(outParam.ToStr()); LogUtil.error(outParam.ToStr());
return false; return false;
} }
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) || OutStoreHeight < 0) if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) || OutStoreHeight < 0)
{ {
LogUtil.error(Name + "出库" + outParam.ToStr() + "失败，未准备好料架"); LogUtil.error(Name + "出库" + outParam.ToStr() + "失败，未准备好料架，托盘先离开");
TrayMoveOk();
return false;
}
//如果已经开始送出料架，暂不处理
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && MoveInfo.MoveStep >= LineMoveStep.FO_30_BatchAxisToP2)
{
LogUtil.error(Name + "出库" + outParam.ToStr() + "失败，正在送出料架，托盘先离开");
TrayMoveOk();
return false;
}
if (!MoveInfo.MoveType.Equals(LineMoveType.None))
{
return false; return false;
} }
runStatus = LineRunStatus.Busy; runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute; lineStatus = LineStatus.OutStoreExecute;
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
...@@ -309,7 +309,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -309,7 +309,7 @@ namespace OnlineStore.DeviceLibrary
{ {
return true; return true;
} }
else if (SW23_MoveInfo.MoveStep <= (LineMoveStep.SW12_WaitTrayGo) else if (SW23_MoveInfo.MoveStep <= (LineMoveStep.SW13_WaitTrayGo)
&& SW23_MoveInfo.MoveStep >= (LineMoveStep.SW10_WatOutFixture2) && SW23_MoveInfo.MoveStep >= (LineMoveStep.SW10_WatOutFixture2)
) )
{ {
...@@ -333,7 +333,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -333,7 +333,7 @@ namespace OnlineStore.DeviceLibrary
{ {
return true; return true;
} }
else if (SW41_MoveInfo.MoveStep <= (LineMoveStep.SW12_WaitTrayGo) else if (SW41_MoveInfo.MoveStep <= (LineMoveStep.SW13_WaitTrayGo)
&& SW41_MoveInfo.MoveStep >= (LineMoveStep.SW10_WatOutFixture2)) && SW41_MoveInfo.MoveStep >= (LineMoveStep.SW10_WatOutFixture2))
{ {
if (CylinderIsOk(IO_Type.SW4_TopCylinder_Up, IO_Type.SW4_TopCylinder_Down)) if (CylinderIsOk(IO_Type.SW4_TopCylinder_Up, IO_Type.SW4_TopCylinder_Down))
...@@ -692,7 +692,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -692,7 +692,7 @@ namespace OnlineStore.DeviceLibrary
if (result) if (result)
{ {
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW12_WaitTrayGo); SW41_MoveInfo.NextMoveStep(LineMoveStep.SW13_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，不需要等待 托盘离开"); SWLog("横移轨道41：关闭皮带电机，不需要等待 托盘离开");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
...@@ -705,14 +705,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -705,14 +705,11 @@ namespace OnlineStore.DeviceLibrary
if (topCylinderDown) if (topCylinderDown)
{ {
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW12_WaitTrayGo); SW41_MoveInfo.NextMoveStep(LineMoveStep.SW12_WaitTime);
SWLog("横移轨道41：关闭皮带电机，等待SW1_TrayCheck=0，关闭横移电机 "); SWLog("横移轨道41：关闭皮带电机，等待1秒后，关闭横移电机 ");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW));
// SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
// SW41_MoveInfo.OneWaitCanEndStep = true;
} }
else else
{ {
...@@ -722,7 +719,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -722,7 +719,16 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW12_WaitTrayGo)) else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW12_WaitTime))
{
SW41_MoveInfo.NextMoveStep(LineMoveStep.SW13_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，等待SW1_TrayCheck=0，关闭横移电机 ");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW));
}
else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW13_WaitTrayGo))
{ {
lastSw4StopDownTime = DateTime.Now.AddSeconds(-2); lastSw4StopDownTime = DateTime.Now.AddSeconds(-2);
SW41_MoveInfo.EndMove(); SW41_MoveInfo.EndMove();
...@@ -737,6 +743,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -737,6 +743,8 @@ namespace OnlineStore.DeviceLibrary
SWLog("横移轨道41：开始转动电机 ,等待1000，SW4_TrayCheck=0, SW1_TrayCheck=1 "); SWLog("横移轨道41：开始转动电机 ,等待1000，SW4_TrayCheck=0, SW1_TrayCheck=1 ");
IOMove(IO_Type.SW4_MotorRun, IO_VALUE.HIGH); IOMove(IO_Type.SW4_MotorRun, IO_VALUE.HIGH);
IOMove(IO_Type.SW1_MotorRun, IO_VALUE.HIGH); IOMove(IO_Type.SW1_MotorRun, IO_VALUE.HIGH);
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_MotorRun, IO_VALUE.HIGH));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_MotorRun, IO_VALUE.HIGH));
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));
SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.LOW)); SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.LOW));
} }
...@@ -937,8 +945,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -937,8 +945,8 @@ namespace OnlineStore.DeviceLibrary
} }
if (result) if (result)
{ {
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW12_WaitTrayGo); SW23_MoveInfo.NextMoveStep(LineMoveStep.SW13_WaitTrayGo);
SWLog("横移轨道41：关闭皮带电机，需要紧急出料，不需要等待 托盘离开"); SWLog("横移轨道23：关闭皮带电机，需要紧急出料，不需要等待 托盘离开");
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_MotorRun, IO_VALUE.LOW)); SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_MotorRun, IO_VALUE.LOW));
...@@ -948,14 +956,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -948,14 +956,11 @@ namespace OnlineStore.DeviceLibrary
{ {
if (topCylinderDown) if (topCylinderDown)
{ {
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW12_WaitTrayGo); SW23_MoveInfo.NextMoveStep(LineMoveStep.SW12_WaitTime);
SWLog("横移轨道23：关闭皮带电机，等待SW3_TrayCheck=0，关闭横移电机 "); SWLog("横移轨道23：关闭皮带电机，等待1秒钟，关闭横移电机 ");
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW); IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000)); SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW));
// SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
// SW23_MoveInfo.OneWaitCanEndStep = true;
} }
else else
{ {
...@@ -965,11 +970,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -965,11 +970,16 @@ namespace OnlineStore.DeviceLibrary
} }
} }
} }
//else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW11_StopDrive)) else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW12_WaitTime))
//{ {
SW23_MoveInfo.NextMoveStep(LineMoveStep.SW13_WaitTrayGo);
//} SWLog("横移轨道23：关闭皮带电机，等待SW3_TrayCheck=0，关闭横移电机 ");
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW12_WaitTrayGo)) IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW));
}
else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW13_WaitTrayGo))
{ {
lastSw2StopDownTime = DateTime.Now.AddSeconds(-2); lastSw2StopDownTime = DateTime.Now.AddSeconds(-2);
SW23_MoveInfo.EndMove(); SW23_MoveInfo.EndMove();
...@@ -985,6 +995,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -985,6 +995,8 @@ namespace OnlineStore.DeviceLibrary
SWLog("横移轨道23：开始转动电机 ,等待1000，SW2_TrayCheck=0, SW3_TrayCheck=1 "); SWLog("横移轨道23：开始转动电机 ,等待1000，SW2_TrayCheck=0, SW3_TrayCheck=1 ");
IOMove(IO_Type.SW2_MotorRun, IO_VALUE.HIGH); IOMove(IO_Type.SW2_MotorRun, IO_VALUE.HIGH);
IOMove(IO_Type.SW3_MotorRun, IO_VALUE.HIGH); IOMove(IO_Type.SW3_MotorRun, IO_VALUE.HIGH);
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_MotorRun, IO_VALUE.HIGH));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_MotorRun, IO_VALUE.HIGH));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH)); SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));
SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.LOW)); SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.LOW));
} }
......
source/DeviceLibrary/assemblyLine/LineBean_Shunt.cs
...@@ -342,6 +342,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -342,6 +342,8 @@ namespace OnlineStore.DeviceLibrary
IOMove(IO_Type.Shunt_MotorRun1, IO_VALUE.HIGH); IOMove(IO_Type.Shunt_MotorRun1, IO_VALUE.HIGH);
IOMove(IO_Type.Shunt_MotorRun2, IO_VALUE.HIGH); IOMove(IO_Type.Shunt_MotorRun2, IO_VALUE.HIGH);
CylinderMove(Shunt_MoveInfo, IO_Type.Shunt_TopCylinder_Down2, IO_Type.Shunt_TopCylinder_Up2); CylinderMove(Shunt_MoveInfo, IO_Type.Shunt_TopCylinder_Down2, IO_Type.Shunt_TopCylinder_Up2);
Shunt_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt_MotorRun1, IO_VALUE.HIGH));
Shunt_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt_MotorRun2, IO_VALUE.HIGH));
Shunt_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt_Check1_Front, IO_VALUE.LOW)); Shunt_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt_Check1_Front, IO_VALUE.LOW));
Shunt_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt_Check2_Middle, IO_VALUE.LOW)); Shunt_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shunt_Check2_Middle, IO_VALUE.LOW));
} }
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
...@@ -299,6 +299,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -299,6 +299,18 @@ namespace OnlineStore.DeviceLibrary
#region 上下气缸伺服运动 #region 上下气缸伺服运动
private bool UpdownIsUp()
{
if (UseAxis)
{
return true;
}
else
{
return CylinderIsOk(IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
}
}
private void UpdownUpMove() private void UpdownUpMove()
{ {
if (UseAxis) if (UseAxis)
...@@ -308,7 +320,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -308,7 +320,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up); CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
} }
} }
...@@ -323,7 +335,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -323,7 +335,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down); CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
} }
} }
...@@ -337,7 +349,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -337,7 +349,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down); CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
} }
} }
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
...@@ -26,12 +26,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -26,12 +26,13 @@ namespace OnlineStore.DeviceLibrary
} }
if (runStatus.Equals(LineRunStatus.Runing)) if (runStatus.Equals(LineRunStatus.Runing))
{ {
LogInfo("启动出库【" + posId + "】 "); LogInfo("启动出库【" + posId + "】升降气缸上升 ");
runStatus = LineRunStatus.Busy; runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute; lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore); MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = param; MoveInfo.MoveParam = param;
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess); MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
UpdownUpMove();
// TrayManager.AddNeedEmptyTrayNum(); // TrayManager.AddNeedEmptyTrayNum();
return true; return true;
} }
...@@ -59,11 +60,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -59,11 +60,20 @@ namespace OnlineStore.DeviceLibrary
#region 移载装置 移栽物品操作 #region 移载装置 移栽物品操作
if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_50_StartOutProcess)) if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_50_StartOutProcess))
{ {
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore); MoveInfo.NextMoveStep(LineMoveStep.MO_51_CylinderBefore);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进"); OutLog("出库 " + MoveInfo.MoveStep + ": 前后气缸前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before); CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
} }
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_50_StartOutProcess);
OutLog("出库 " + MoveInfo.MoveStep + ": 升降气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_CylinderBefore)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_51_CylinderBefore))
{ {
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before)) if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
...@@ -107,6 +117,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -107,6 +117,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_55_CylinderUp)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_55_CylinderUp))
{ {
if (UpdownIsUp())
{
if (IsBigStore()) if (IsBigStore())
{ {
if (TrayIsOk()) if (TrayIsOk())
...@@ -125,6 +137,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -125,6 +137,13 @@ namespace OnlineStore.DeviceLibrary
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After); CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
} }
} }
else
{
MoveInfo.NextMoveStep(LineMoveStep.MO_55_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove();
}
}
#endregion #endregion
#region 移载装置，放物品到流水线操作 #region 移载装置，放物品到流水线操作
...@@ -287,16 +306,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -287,16 +306,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.MI_09_CylinderUp); MoveInfo.NextMoveStep(LineMoveStep.MI_09_CylinderUp);
InLog("入库 " + MoveInfo.SLog + ": 上下气缸上升"); InLog("入库 " + MoveInfo.SLog + ": 上下气缸上升");
UpdownUpMove(); UpdownUpMove();
//if (MoveInfo.MoveParam.PlateW.Equals(7))
//{
// InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 7寸盘已移走，气缸1下降");
// SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
// CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
//}
//else
//{
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down); CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
//}
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_09_CylinderUp)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_09_CylinderUp))
{ {
...@@ -306,21 +316,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -306,21 +316,25 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray()); MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanReviceTray());
TrayManager.UpdateTrayInfo(num); TrayManager.UpdateTrayInfo(num);
//阻挡气缸移动
//if (SecondMoveInfo.MoveStep < LineMoveStep.MO_14_TopDown)
//{
// SecondMoveInfo.NewMove(LineMoveType.CheckFixture);
InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降"); InLog("放托盘（放开阻挡）： " + MoveInfo.SLog + " 物品已移走，顶升气缸1下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown); SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down); CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
//}
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_WaitBox)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_WaitBox))
{ {
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MI_10_CylinderBefore); MoveInfo.NextMoveStep(LineMoveStep.MI_10_CylinderBefore);
InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进"); InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before); CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
} }
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_10_WaitBox);
InLog("入库： " + MoveInfo.SLog + " 升降气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_CylinderBefore)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_10_CylinderBefore))
{ {
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before)) if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
...@@ -350,6 +364,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -350,6 +364,8 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_13_UpdownCylinderUp)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_13_UpdownCylinderUp))
{ {
if (UpdownIsUp())
{
MoveInfo.NextMoveStep(LineMoveStep.MI_14_CylinderAfter); MoveInfo.NextMoveStep(LineMoveStep.MI_14_CylinderAfter);
InLog("入库 " + MoveInfo.SLog + "，前后气缸后退，等待300 "); InLog("入库 " + MoveInfo.SLog + "，前后气缸后退，等待300 ");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After); CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
...@@ -357,7 +373,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -357,7 +373,13 @@ namespace OnlineStore.DeviceLibrary
//此时box就可以入库操作了 //触发事件，BOX入库 //此时box就可以入库操作了 //触发事件，BOX入库
// LineServer.StartInStore(DeviceID, MoveInfo.MoveParam); // LineServer.StartInStore(DeviceID, MoveInfo.MoveParam);
} }
else
{
MoveInfo.NextMoveStep(LineMoveStep.MI_13_UpdownCylinderUp);
InLog("入库 " + MoveInfo.SLog + "，上下气缸上升");
UpdownUpMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_14_CylinderAfter)) else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_14_CylinderAfter))
{ {
MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore); MoveInfo.NextMoveStep(LineMoveStep.MI_15_SendPosToStore);
......
source/DeviceLibrary/model/StoreStep.cs
...@@ -456,11 +456,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -456,11 +456,14 @@ namespace OnlineStore.DeviceLibrary
/// 停止横移轨道转动，横移轨道顶升气缸下降 /// 停止横移轨道转动，横移轨道顶升气缸下降
/// </summary> /// </summary>
SW11_TopDown=5011, SW11_TopDown=5011,
/// <summary>
/// 等待托盘流出，等待1秒后再检测托盘信号是否消失
/// </summary>
SW12_WaitTime = 5012,
/// <summary> /// <summary>
/// 等待托盘流出，上升阻挡气缸 /// 等待托盘流出，上升阻挡气缸
/// </summary> /// </summary>
SW12_WaitTrayGo=5012, SW13_WaitTrayGo =5013,
#endregion #endregion
......
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