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Commit cece86de 由 LN
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1 个父辈 6bb3f77f
内嵌 并排
正在显示 17 个修改的文件 包含 557 行增加 和 333 行删除
RC1250-AssemblyLine.sln
......@@ -3,8 +3,6 @@ Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 15
VisualStudioVersion = 15.0.27130.2024
MinimumVisualStudioVersion = 10.0.40219.1
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ACServoDriveTest", "source\ACServoDriveTest\ACServoDriveTest.csproj", "{7FA84E1E-BCDE-49F6-BE42-0BC397AF65B8}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Common", "source\Common\Common.csproj", "{43CDD09E-FCF3-4960-A01D-3BBFE9933122}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "DeviceLibrary", "source\DeviceLibrary\DeviceLibrary.csproj", "{513BC1C9-800D-43A6-9499-3700BAEC3554}"
......@@ -25,10 +23,6 @@ Global
Release|Any CPU = Release|Any CPU
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{7FA84E1E-BCDE-49F6-BE42-0BC397AF65B8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{7FA84E1E-BCDE-49F6-BE42-0BC397AF65B8}.Debug|Any CPU.Build.0 = Debug|Any CPU
{7FA84E1E-BCDE-49F6-BE42-0BC397AF65B8}.Release|Any CPU.ActiveCfg = Release|Any CPU
{7FA84E1E-BCDE-49F6-BE42-0BC397AF65B8}.Release|Any CPU.Build.0 = Release|Any CPU
{43CDD09E-FCF3-4960-A01D-3BBFE9933122}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{43CDD09E-FCF3-4960-A01D-3BBFE9933122}.Debug|Any CPU.Build.0 = Debug|Any CPU
{43CDD09E-FCF3-4960-A01D-3BBFE9933122}.Release|Any CPU.ActiveCfg = Release|Any CPU
......
source/AssemblyLineClient/FrmBase.cs
......@@ -13,7 +13,7 @@ namespace OnlineStore.AssemblyLine
{
internal partial class FrmBase : Form
{
internal static string GetVersion()
internal static string GetVersion(bool IsShow=false)
{
string str = "";
string version = "";
......@@ -38,7 +38,10 @@ namespace OnlineStore.AssemblyLine
str = version;
LogUtil.error("解析版本号【" + str + "】出错：" + ex.ToString());
}
LogUtil.info("版本号[" + version + "][" + str + "]["+GetCodeNum()+"]");
if (IsShow)
{
LogUtil.info("版本号[" + version + "][" + str + "][" + GetCodeNum() + "]");
}
return str;
}
internal static string GetCodeNum(string codeName = "RC1250-AssemblyLine")
......
source/AssemblyLineClient/FrmLineStore.Designer.cs
......@@ -66,6 +66,8 @@
this.扫码测试ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator6 = new System.Windows.Forms.ToolStripSeparator();
this.二维码学习ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.toolStripSeparator7 = new System.Windows.Forms.ToolStripSeparator();
this.托盘初始化ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.帮助ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.版本号ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.notifyIcon1 = new System.Windows.Forms.NotifyIcon(this.components);
......@@ -74,8 +76,6 @@
this.toolStripMenuItem1 = new System.Windows.Forms.ToolStripMenuItem();
this.timer1 = new System.Windows.Forms.Timer(this.components);
this.listView1 = new System.Windows.Forms.ListView();
this.toolStripSeparator7 = new System.Windows.Forms.ToolStripSeparator();
this.托盘初始化ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.tabControl1.SuspendLayout();
this.tabPage1.SuspendLayout();
this.groupBox1.SuspendLayout();
......@@ -318,9 +318,9 @@
| System.Windows.Forms.AnchorStyles.Right)));
this.lblWarnMsg.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
this.lblWarnMsg.Location = new System.Drawing.Point(261, 4);
this.lblWarnMsg.Location = new System.Drawing.Point(307, 4);
this.lblWarnMsg.Name = "lblWarnMsg";
this.lblWarnMsg.Size = new System.Drawing.Size(1491, 69);
this.lblWarnMsg.Size = new System.Drawing.Size(1445, 69);
this.lblWarnMsg.TabIndex = 96;
this.lblWarnMsg.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
......@@ -358,61 +358,61 @@
// toolStripSeparator1
//
this.toolStripSeparator1.Name = "toolStripSeparator1";
this.toolStripSeparator1.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator1.Size = new System.Drawing.Size(141, 6);
//
// 启动AToolStripMenuItem
//
this.启动AToolStripMenuItem.Name = "启动AToolStripMenuItem";
this.启动AToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.启动AToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.启动AToolStripMenuItem.Text = "启动 ";
this.启动AToolStripMenuItem.Click += new System.EventHandler(this.启动所有料仓AToolStripMenuItem_Click);
//
// toolStripSeparator4
//
this.toolStripSeparator4.Name = "toolStripSeparator4";
this.toolStripSeparator4.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator4.Size = new System.Drawing.Size(141, 6);
//
// 复位RToolStripMenuItem
//
this.复位RToolStripMenuItem.Name = "复位RToolStripMenuItem";
this.复位RToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.复位RToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.复位RToolStripMenuItem.Text = "复位";
this.复位RToolStripMenuItem.Click += new System.EventHandler(this.复位RToolStripMenuItem_Click);
//
// toolStripSeparator3
//
this.toolStripSeparator3.Name = "toolStripSeparator3";
this.toolStripSeparator3.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator3.Size = new System.Drawing.Size(141, 6);
//
// 停止TToolStripMenuItem
//
this.停止TToolStripMenuItem.Name = "停止TToolStripMenuItem";
this.停止TToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.停止TToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.停止TToolStripMenuItem.Text = "停止";
this.停止TToolStripMenuItem.Click += new System.EventHandler(this.停止所有料仓TToolStripMenuItem_Click);
//
// toolStripSeparator5
//
this.toolStripSeparator5.Name = "toolStripSeparator5";
this.toolStripSeparator5.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator5.Size = new System.Drawing.Size(141, 6);
//
// 入库模式ToolStripMenuItem
//
this.入库模式ToolStripMenuItem.Name = "入库模式ToolStripMenuItem";
this.入库模式ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.入库模式ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.入库模式ToolStripMenuItem.Text = "入库模式";
this.入库模式ToolStripMenuItem.Visible = false;
//
// toolStripSeparator2
//
this.toolStripSeparator2.Name = "toolStripSeparator2";
this.toolStripSeparator2.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator2.Size = new System.Drawing.Size(141, 6);
this.toolStripSeparator2.Visible = false;
//
// 退出ToolStripMenuItem
//
this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem";
this.退出ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.退出ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
this.退出ToolStripMenuItem.Text = "退出";
this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click_1);
//
......@@ -431,22 +431,34 @@
// 扫码测试ToolStripMenuItem
//
this.扫码测试ToolStripMenuItem.Name = "扫码测试ToolStripMenuItem";
this.扫码测试ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.扫码测试ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
this.扫码测试ToolStripMenuItem.Text = "扫码测试";
this.扫码测试ToolStripMenuItem.Click += new System.EventHandler(this.扫码测试ToolStripMenuItem_Click);
//
// toolStripSeparator6
//
this.toolStripSeparator6.Name = "toolStripSeparator6";
this.toolStripSeparator6.Size = new System.Drawing.Size(177, 6);
this.toolStripSeparator6.Size = new System.Drawing.Size(157, 6);
//
// 二维码学习ToolStripMenuItem
//
this.二维码学习ToolStripMenuItem.Name = "二维码学习ToolStripMenuItem";
this.二维码学习ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.二维码学习ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
this.二维码学习ToolStripMenuItem.Text = "二维码学习";
this.二维码学习ToolStripMenuItem.Click += new System.EventHandler(this.二维码学习ToolStripMenuItem_Click);
//
// toolStripSeparator7
//
this.toolStripSeparator7.Name = "toolStripSeparator7";
this.toolStripSeparator7.Size = new System.Drawing.Size(157, 6);
//
// 托盘初始化ToolStripMenuItem
//
this.托盘初始化ToolStripMenuItem.Name = "托盘初始化ToolStripMenuItem";
this.托盘初始化ToolStripMenuItem.Size = new System.Drawing.Size(160, 26);
this.托盘初始化ToolStripMenuItem.Text = "托盘编码";
this.托盘初始化ToolStripMenuItem.Click += new System.EventHandler(this.托盘初始化ToolStripMenuItem_Click);
//
// 帮助ToolStripMenuItem
//
this.帮助ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
......@@ -515,18 +527,6 @@
this.listView1.View = System.Windows.Forms.View.Details;
this.listView1.SelectedIndexChanged += new System.EventHandler(this.listView1_SelectedIndexChanged);
//
// toolStripSeparator7
//
this.toolStripSeparator7.Name = "toolStripSeparator7";
this.toolStripSeparator7.Size = new System.Drawing.Size(177, 6);
//
// 托盘初始化ToolStripMenuItem
//
this.托盘初始化ToolStripMenuItem.Name = "托盘初始化ToolStripMenuItem";
this.托盘初始化ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
this.托盘初始化ToolStripMenuItem.Text = "托盘编码";
this.托盘初始化ToolStripMenuItem.Click += new System.EventHandler(this.托盘初始化ToolStripMenuItem_Click);
//
// FrmLineStore
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
......
source/AssemblyLineClient/FrmLineStore.cs
......@@ -100,8 +100,8 @@ namespace OnlineStore.AssemblyLine
}
private void FrmMain_Load(object sender, EventArgs e)
{
FrmBase. GetVersion();
if(!LineManager.Init())
FrmBase.GetVersion(true);
if (!LineManager.Init())
{
LogUtil.error("加载配置失败，直接退出程序");
Application.Exit();
......
source/DeviceLibrary/assemblyLine/DischargeLine.cs
......@@ -38,7 +38,7 @@ namespace OnlineStore.DeviceLibrary
public override bool StartRun(bool isDebug = false)
{
preTrayNum = 0;
currMoveTrayNum = 0;
currTrayNum = 0;
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
......@@ -252,12 +252,13 @@ namespace OnlineStore.DeviceLibrary
public override bool StartInStoreMove(InOutParam param)
{
return false;
}
protected override void InStoreProcess()
{
}
protected override void CheckFixtureProcess()
{
}
}
}
source/DeviceLibrary/assemblyLine/DischargeLine_Partial.cs
......@@ -11,31 +11,8 @@ namespace OnlineStore.DeviceLibrary
{
partial class DischargeLine
{
#region 托盘检测
private void StartCheckFixture()
{
#region 是否可移栽料盘
}
private bool CheckIsNeedOutStore()
{
return false;
}
protected override void CheckFixtureProcess()
{
if (!LineManager.Line.LineCanRun())
{
return;
}
if (SecondMoveInfo.IsInWait)
{
CheckWait(SecondMoveInfo);
}
if (SecondMoveInfo.IsInWait)
{
return;
}
}
internal bool CanStartOut(int lineNum)
{
......@@ -118,9 +95,7 @@ namespace OnlineStore.DeviceLibrary
string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
if (MoveInfo.MoveStep.Equals(LineMoveStep.DL_R_LineCheck))
{
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.DL_R_LineCheck))
{
LogInfo("出料【" + posId + "】处理完成！");
......
source/DeviceLibrary/assemblyLine/EquipBase.cs
......@@ -13,12 +13,12 @@ namespace OnlineStore.DeviceLibrary
{
private bool IsIntSlvBlock = false;
public bool IsDebug = false;
public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
internal AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
public bool UseAxis = false;
public List<InOutParam> waitOutStoreList = new List<InOutParam>();
public List<InOutParam> waitInStoreList = new List<InOutParam>();
public object waitInListLock = "";
public object waitOutListLock = "";
internal object waitInListLock = "";
internal object waitOutListLock = "";
/// <summary>
///移栽装置后面分为两条移动线
/// </summary>
......@@ -26,11 +26,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 上一个盘号
/// </summary>
public int preTrayNum = 0;
internal int preTrayNum = 0;
/// <summary>
/// 当前正在通过的托盘号
/// </summary>
protected int currMoveTrayNum = 0;
protected int currTrayNum = 0;
protected abstract void ReturnHomeProcess();
protected virtual void StopMoveProcess()
......
source/DeviceLibrary/assemblyLine/FeedingEquip_Partial.cs
......@@ -129,33 +129,34 @@ namespace OnlineStore.DeviceLibrary
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
//此处先对托盘号进行验证
currMoveTrayNum = TrayManager.GetTrayNum(DeviceID);
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (TrayManager.RightTrayCode(currMoveTrayNum, preTrayNum, false))
preTrayNum = currTrayNum;
currTrayNum = TrayManager.GetTrayNum(DeviceID);
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
TrayManager.UpdateTrayNumError(-1, "");
}
//出料中，需要拦盘
if (NeedCurrTray())
if (NeedCurrTray(true ))
{
//preTrayNum = currMoveTrayNum;
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
// SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
SecondMoveInfo.EndStepWait();
return;
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currMoveTrayNum + "】没有出入料任务，放盘通过~");
bool isFull = TrayManager.TrayIsFull(currTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入料任务，放盘通过~");
CheckLog("托盘放行 SecondStoreMove：(MO_14_WaitCanGo ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currMoveTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
......@@ -178,27 +179,26 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_07_LocationCylinderUp))
{
CheckLog("托盘检测（流水线阻挡）*************** 托盘号【" + currMoveTrayNum + "】");
CheckLog("托盘检测（流水线阻挡）*************** 托盘号【" + currTrayNum + "】");
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】 ，需要入料，移栽料盘");
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】 ，需要入料，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
else if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
//TODO
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】 ，需要出库，开始出库处理");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】 ，需要出库，开始出库处理，升降伺服到P1点");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_201_UpDownToP1);
InStoreLog(" MO_201_UpDownToP1 紧急出料移栽：升降伺服到P1点" );
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else
{
CheckLog("托盘检测 SecondStoreMove：(MO_13_LoactionCylinder_Down ，托盘号【" + currMoveTrayNum + "】,直接放盘通过，定位气缸下降）");
CheckLog("托盘检测 SecondStoreMove：(MO_13_LoactionCylinder_Down ，托盘号【" + currTrayNum + "】,直接放盘通过，定位气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
......@@ -217,18 +217,18 @@ namespace OnlineStore.DeviceLibrary
{
//更新托盘条码信息
string code = CodeManager.ProcessCode(LastCodeList);
TrayManager.UpdateTrayCode(currMoveTrayNum, code);
TrayManager.UpdateTrayCode(currTrayNum, code);
//从服务器获取库位号
string result = StoreServerManager.CodeReceived(Name, currMoveTrayNum, LastCodeList, LastHeight, LastWidth);
string result = StoreServerManager.CodeReceived(Name, currTrayNum, LastCodeList, LastHeight, LastWidth);
if (!result.Equals("")) { LogUtil.error(result); }
InStoreLog(" SecondStoreMove=MO_12_LoactionCylinder_Down 上料横移机构上升，托盘开始放行，定位气缸下降");
InStoreLog(" SecondStoreMove=MO_13_LoactionCylinder_Down 上料横移机构上升，托盘开始放行，定位气缸下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_13_LoactionCylinder_Down))
{
CheckLog("托盘检测 SecondStoreMove：(MO_13_TopCylinder_Down ，托盘号【" + currMoveTrayNum + "】,直接放盘通过，顶升气缸下降）");
CheckLog("托盘检测 SecondStoreMove：(MO_14_TopCylinder_Down ，托盘号【" + currTrayNum + "】,直接放盘通过，顶升气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopCylinder_Down);
if (Config.SidesWayNum > 0)
{
......@@ -245,7 +245,7 @@ namespace OnlineStore.DeviceLibrary
{
//更新横移托盘已处理完成
TrayManager.UpdateSWState(Config.SidesWayNum, 1);
preTrayNum = currMoveTrayNum;
preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
SecondMoveInfo.EndMove();
}
......@@ -279,95 +279,99 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
preTrayNum = currMoveTrayNum;
preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondStoreMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
}
#endregion
#region 紧急出料，先移载料盘
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_201_UpDownToP1)&& MoveInfo.MoveStep>=(LineMoveStep.FO_07_LocationCylinder_Up))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_202_MoveCylinder_Give);
InStoreLog(" MO_202_MoveCylinder_Give 紧急出料移栽：上料横移机构到放料端");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_202_MoveCylinder_Give))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_203_MoveCylinder_Down);
InStoreLog(" MO_203_MoveCylinder_Down 紧急出料移栽：上料横移机构下降");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_203_MoveCylinder_Down))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_204_UpdownAxisToP2);
int targetP = Config.GetUpdownPositionP2(SecondMoveInfo.MoveParam.PlateH);
InStoreLog(" MO_204_UpdownAxisToP2 紧急出料移栽：升降伺服下降到指定位置"+targetP);
ACAxisMove(Config.UpDown_Axis, targetP, Config.UpdownAxis_P2Speed);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_204_UpdownAxisToP2))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_205_MoveCylinder_Tighten);
InStoreLog(" MO_205_MoveCylinder_Tighten 紧急出料移栽：上料气缸夹紧");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_205_MoveCylinder_Tighten))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_206_UpdownAxisToP1);
InStoreLog(" MO_206_UpdownAxisToP1 紧急出料移栽：升降伺服到P1");
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_206_UpdownAxisToP1))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_207_MoveCylinder_Up);
InStoreLog(" MO_207_MoveCylinder_Up 紧急出料移栽：上料横移机构上升，更新【"+currTrayNum+"】为空托盘");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(currTrayNum, false);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_207_MoveCylinder_Up))
{
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_208_MoveCylinder_Take);
InStoreLog(" MO_208_MoveCylinder_Take 紧急出料移栽：上料横移机构到取料端");
CylinderMove(SecondMoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_208_MoveCylinder_Take))
{
InStoreLog(" SecondStoreMove=MO_13_LoactionCylinder_Down 托盘开始放行，定位气缸下降");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_13_LoactionCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
}
#endregion
}
#endregion
#region 入料流程
////SL1定位工位检测有信号，阻挡气缸不能下降。
//SL1定位工位检测无信号，阻挡气缸下降，然后料架到工位
//待机位：上料横移机构后退端，上升端，放松端
//移栽伺服原点在上方，只有移栽到流水线时才需要用到，其他时候都在上方待机点
//提升伺服原点在上方，需要配置待机点P1=500？，下降点P5=10000?，回原点负方向
//
//提升伺服先上升到待机点，SL1升降盘定位气缸1后退，定位气缸下降，料架才能进入上料工位
//料架进入上料工位后，定位气缸先上升
//提升伺服下降到P2
////升降盘定位气缸前进
//提升伺服缓慢上升，绝对位置=P1，若上升到P1么有X105,那么没有料盘
// 检测到X105信号，提升伺服停止
// 上料横移机构下降，
// 上料横移机构取料
// 上料横移机构下降
// 上料横移机构夹紧
// 上料横移机构上升
// 提升伺服开始缓慢上升到位
// 计算高度，宽度并记录
// 上料横移机构到放料端
//等待拦截到托盘，并顶升上升，定位上升
// 上料横移机构下降
// 移栽伺服下降到对应盘高位置
//上料气缸放松
// 移栽伺服上升，
// 上料横移机构上升
/// <summary>
/// 判断是否有料架，若有开始入料
/// </summary>
/// <returns></returns>
private bool StartInStoreP()
{
////定位工位有料架
//if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)){
// return true;
//}
////阻挡工位有料架
//else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
//{
// MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
// IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
// IOMove(IO_Type.SL_Entry_Check, IO_VALUE.LOW);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.LOW));
// InStoreLog(" 检测到SL_Stop_Check=1， FI_03_InLineStart 开始：进料线体运转，进料阻挡上升，等待SL_Stop_Check=0");
// IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
// return true;
//}
////入料口有料架
//else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
//{
// MoveInfo.NewMove(LineMoveType.InStore);
// MoveInfo.NextMoveStep(LineMoveStep.FI_06_LineRunCheck);
// IOMove(IO_Type.SL_Entry_Check, IO_VALUE.HIGH);
// IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Entry_Check, IO_VALUE.LOW));
// InStoreLog("检测到SL_Entry_Check信号，进料线体运转，进料阻挡下降，等待SL_Entry_Check=0");
// return true;
//}
//若定位工位，阻挡工位，入料口有一个有料架，需要进行处理
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog("检测到料架， FI_01_TrayLocation_After ：升降盘定位气缸下降");
StartInStoreMove(null);
}
return false ;
}
public override bool StartInStoreMove(InOutParam param)
{
return false;
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.InStoreExecute;
MoveInfo.NewMove(LineMoveType.InStore);
MoveInfo.MoveParam = new InOutParam();
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog("检测到料架， FI_01_TrayLocation_After ：升降盘定位气缸下降");
return true ;
}
private void LineRunProcess()
private void LineInStoreProcess()
{
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
......@@ -416,6 +420,8 @@ namespace OnlineStore.DeviceLibrary
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
......@@ -430,11 +436,11 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_02_LocationCylinder_Down))
{
LineRunProcess();
LineInStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_03_LineStart))
{
LineRunProcess();
LineInStoreProcess();
}
//else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_04_LineRunCheck))
//{
......@@ -573,7 +579,7 @@ namespace OnlineStore.DeviceLibrary
InStoreLog(" FI_22_MoveCylinder_Up 料盘移栽：上料横移机构上升，记录托盘尺寸， 开始放行，");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
TrayManager.UpdateTrayInfo(currMoveTrayNum, true, 1, "", "", LastHeight, LastWidth);
TrayManager.UpdateTrayInfo(currTrayNum, true, 1, "", "", LastHeight, LastWidth);
LastCodeList = new List<string>();
InStoreLog(" SecondStoreMove=MO_12_MoveOk 开始扫码");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
......@@ -674,9 +680,6 @@ namespace OnlineStore.DeviceLibrary
runStatus = LineRunStatus.Runing;
LogUtil.info("空料架已送出，入料结束");
}
return;
}
}
private void BatchAxisToP3()
{
......@@ -732,17 +735,28 @@ namespace OnlineStore.DeviceLibrary
/// 是否需要拦截当前托盘进行处理
/// </summary>
/// <returns></returns>
internal bool NeedCurrTray()
internal bool NeedCurrTray(bool checkAndMove = false )
{
int num = TrayManager.GetTrayNum(Config.Id);
bool isFull = TrayManager.IsFixTureFull(num);
int trayNum = TrayManager.GetTrayNum(Config.Id);
bool isFull = TrayManager.TrayIsFull(trayNum);
TrayInfo info = TrayManager.GetTrayInfo(trayNum);
InOutParam param = new InOutParam(trayNum, info.WareCode, info.PosId, info.PlateH, info.PlateW);
//是出料的模块
if (Config.IsCanOut.Equals(1))
{
if ((IOValue(IO_Type.SW_ReelCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.FL_ReelCheck).Equals(IO_VALUE.HIGH)))
//此托盘是紧急出料盘，需要通过料架出库
if ((IOValue(IO_Type.SW_ReelCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.FL_ReelCheck).Equals(IO_VALUE.HIGH))&&info.EmergencyOut)
{
if (isFull && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
lastOutParam = param;
if (checkAndMove)
{
SecondMoveInfo.MoveParam = param;
}
// return true;
//TODO 开始出库
StartOutStoreMove(param);
}
}
}
......@@ -753,31 +767,229 @@ namespace OnlineStore.DeviceLibrary
//入料执行中， 且需要空托盘
if (MoveInfo.MoveStep >= LineMoveStep.FI_11_MoveCylinder_Take && MoveInfo.MoveStep <= LineMoveStep.FI_17_WaitTray)
{
LogUtil.info(Name + "拦截到空托盘【" + num + "】，入料执行中，需要空托盘");
return true;
if (checkAndMove)
{
SecondMoveInfo.MoveParam = param;
}
LogUtil.info(Name + "拦截到空托盘【" + trayNum + "】，入料执行中，需要空托盘");
return true;
}
}
return false;
}
/// <summary>
/// 判断当前托盘是否需出库
/// </summary>
/// <returns></returns>
private bool TrayIsNeedOutStore()
{
return false;
}
#region 出料流程
#region 出料流程
private InOutParam lastOutParam = null;
public override bool StartOutStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = new InOutParam();
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog("检测到料架， FO_01_TrayLocation_After ：升降盘定位气缸后退");
return true;
}
private void LineOutStoreProcess()
{
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
//判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_07_LocationCylinder_Up);
InStoreLog(" FO_07_LocationCylinder_Up 定位工位检测到料架：缓冲阻挡上升， 定位气缸上升");
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);
}
//阻挡工位有料架，流水线转动一个工位
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH);//缓冲阻挡下降
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" FO_03_InLineStart 出料检测：阻挡工位有料架，进料阻挡上升，缓冲阻挡下降，流水线转动2000");
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);//进料阻挡下降
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡上升
IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" FO_03_InLineStart 出料检测：入料工位有料架，进料阻挡下降，缓冲阻挡上升，流水线转动2000");
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
LogUtil.info(" 未检测到料架，出料结束");
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
InStoreLog("检测到料架， FO_01_TrayLocation_After ：升降盘定位气缸后退");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_LocationCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
InStoreLog(" FO_02_LocationCylinder_Down 开始：定位气缸下降");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_02_LocationCylinder_Down))
{
LineOutStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_03_LineStart))
{
LineOutStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_07_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_BatchAxisToP2);
InStoreLog(" FO_08_BatchAxisToP2 开始：提升轴下降到位P2");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_08_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_09_TrayLocation_Before);
InStoreLog(" FO_09_TrayLocation_Before 开始：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_09_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_10_AxisUpMove);
InStoreLog(" FO_10_AxisUpMove 开始：上料轴开始慢速上升到P3点");
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP3, Config.BatchAxis_TargetSpeed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_10_AxisUpMove))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_11_AxisDownMove);
InStoreLog(" FO_31_BatchAxisToP2 料盘移栽：提升伺服下降指定的高度");
int targetPosition = Config.BatchAxisP3 + lastOutParam.PlateH * Config.Height_ChangeValue;
ACAxisMove(Config.Batch_Axis, targetPosition, Config.BatchAxis_TargetSpeed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_11_AxisDownMove))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_12_MoveCylinder_Down);
InStoreLog(" FO_12_MoveCylinder_Down 料盘移栽：出料横移机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_12_MoveCylinder_Down))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_13_MoveCylinder_Slack);
InStoreLog(" FO_13_MoveCylinder_Slack 料盘移栽：出料横移机构放松");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_13_MoveCylinder_Slack))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_14_MoveCylinder_Up);
InStoreLog(" FO_14_MoveCylinder_Up 料盘移栽：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.FO_14_MoveCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_BatchAxisToP2);
InStoreLog(" FO_31_BatchAxisToP2 出料完成：未检测到料盘，提升伺服到P2点");
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_TrayLocationCylinder_After);
InStoreLog(" FO_32_TrayLocationCylinder_After 出料完成： 升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_32_TrayLocationCylinder_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_33_BatchAxisToP1);
InStoreLog(" FO_33_BatchAxisToP1 出料完成：提升伺服到P1点");
ACAxisMove(Config.Batch_Axis, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_33_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_35_OutTopCylinder_Up);
InStoreLog(" FO_34_LocationCylinder_Down 出料完成，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_OutCheck))
{
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_35_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_36_SideWayLineRun);
InStoreLog(" FO_36_SideWayLineRun 出料完成， 线体横移电机运转，等待料架到达出口");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_36_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_37_LineStop);
InStoreLog(" FO_37_LineStop 出料完成， 料架到达出口，线体横移电机停止 ");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_37_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_38_TopCylinderDown);
InStoreLog(" FO_38_TopCylinderDown 出料完成， 料架到达出口，出口顶升下降，定位气缸下降, ");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_38_TopCylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
InStoreLog(" FO_39_OutLineRun 出料完成， 出口线体运转，料架到达出口处, 通知AGV取空料架, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_40_OutLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_40_OutLineRun);
InStoreLog(" FO_40_OutLineRun 出料完成， AGV到达，继续转动出口线体，送走出料料架, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_40_OutLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_41_OutLineRun);
InStoreLog(" FO_41_OutLineRun 出料完成， 上料完成， 料架送出, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_41_OutLineRun))
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
lastOutParam = null;
LogUtil.info("空料架已送出，出料结束");
}
}
#endregion
}
......
source/DeviceLibrary/assemblyLine/LineBean.cs
......@@ -361,7 +361,7 @@ namespace OnlineStore.DeviceLibrary
{
return true;
}
if (TrayManager.IsHasFull())
if (TrayManager.IsHasFullTray())
{
return true;
}
......@@ -600,23 +600,6 @@ namespace OnlineStore.DeviceLibrary
// FeederProcess();
//如果驱动电机正转过程中，驱动电机INV1状态 驱动电机INV2状态 有信号，需要报警
//if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH))
//{
// if (IOValue(IO_Type.DriveMotor_INV1).Equals(IO_VALUE.LOW))
// {
// WarnMsg = "驱动电机INV1状态异常";
// LogUtil.error("驱动电机正转过程中，DriveMotor_INV1 信号LOW，需要报警", 300);
// //Alarm(LineAlarmType.SuddenStop, "1", WarnMsg, LineMoveType.None);
// }
// else if (IOValue(IO_Type.DriveMotor_INV2).Equals(IO_VALUE.LOW))
// {
// WarnMsg = "驱动电机INV2状态异常";
// LogUtil.error("驱动电机正转过程中，DriveMotor_INV2 信号LOW，需要报警", 301);
// // Alarm(LineAlarmType.SuddenStop, "1", WarnMsg, LineMoveType.None);
// }
//}
}
}
catch (Exception ex)
......@@ -625,21 +608,6 @@ namespace OnlineStore.DeviceLibrary
}
Thread.Sleep(1);
}
//public string GetINVMsg()
//{
// if (IOValue(IO_Type.DriveMotor_Run).Equals(IO_VALUE.HIGH))
// {
// if (IOValue(IO_Type.DriveMotor_INV1).Equals(IO_VALUE.LOW))
// {
// return " 驱动电机INV1状态异常";
// }
// else if (IOValue(IO_Type.DriveMotor_INV2).Equals(IO_VALUE.LOW))
// {
// return " 驱动电机INV2状态异常";
// }
// }
// return "";
//}
/// <summary>
/// 定时处理，监听信号，监听IO
/// </summary>
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -949,86 +949,6 @@ namespace OnlineStore.DeviceLibrary
}
#endregion
#region 高度传感器处理
public int GetWidth()
{
////根据料盘检测信号
//if (IOValue(IO_Type.InStore_TrayCheck2).Equals(IO_VALUE.HIGH))
//{
// return 13;
//}
return 7;
}
public int GetHeight()
{
if (GetWidth().Equals(13))
{
return Get13Height();
}
return Get7Height();
}
private int Get7Height()
{
int result = 0;
//if (IOValue(IO_Type.InStore_TrayCheck1).Equals(IO_VALUE.LOW))
//{
// return result;
//}
//int ai1 = AIManager.GetAIValue(Config.AIDI1_Addr);
//int ai2 = AIManager.GetAIValue(Config.AIDI2_Addr);
//double ai1Value = AIManager.ConvertAI(ai1, Config.AIDI1_DefaultPosition);
//double ai2Value = AIManager.ConvertAI(ai2, Config.AIDI2_DefaultPosition);
//result = CalHeight(ai1Value, ai2Value);
return result;
}
private int Get13Height()
{
int result = 0;
//if (IOValue(IO_Type.InStore_TrayCheck2).Equals(IO_VALUE.LOW))
//{
// return result;
//}
//double ai1Value = AIManager.ConvertAI(AIManager.GetAIValue(Config.AIDI3_Addr), Config.AIDI3_DefaultPosition);
//double ai2Value = AIManager.ConvertAI(AIManager.GetAIValue(Config.AIDI4_Addr), Config.AIDI4_DefaultPosition);
//result = CalHeight(ai1Value, ai2Value);
return result;
}
private int CalHeight(double ai1Value, double ai2Value)
{
int result = 0;
double Value = Math.Round((ai1Value + ai2Value) / 2, 1);
if (Value > 10)
{
int mo = (int)Value % 4;
if (!mo.Equals(0))
{
result = ((int)(Value + 2) / 4) * 4;
}
else
{
result = (int)Value;
}
}
else if (Value >= 4)
{
if (ai1Value >= 9 || ai2Value >= 9)
{
result = 12;
}
else
{
result = 8;
}
}
return result;
}
#endregion
#region 料仓出入库逻辑处理
......
source/DeviceLibrary/assemblyLine/MoveEquip.cs
......@@ -48,7 +48,7 @@ namespace OnlineStore.DeviceLibrary
public override bool StartRun(bool isDebug=false)
{
preTrayNum = 0;
currMoveTrayNum = 0;
currTrayNum = 0;
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
......@@ -65,7 +65,7 @@ namespace OnlineStore.DeviceLibrary
public override void StopRun()
{
preTrayNum = 0;
currMoveTrayNum = 0;
currTrayNum = 0;
if (mainTimer != null)
{
mainTimer.Enabled = false;
......@@ -185,7 +185,7 @@ namespace OnlineStore.DeviceLibrary
alarmType = LineAlarmType.None;
//重置时清理盘号，从头开始判断
preTrayNum = 0;
currMoveTrayNum = 0;
currTrayNum = 0;
LogInfo("开始重置：清空托盘号，（上下气缸回原点，阻挡1气缸上升 ）开始；");
runStatus = LineRunStatus.Reset;
SecondMoveInfo.EndMove();
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -323,7 +323,7 @@ namespace OnlineStore.DeviceLibrary
//判断是否是自己排队列表中的入库信息
foreach (InOutParam cc in waitInStoreList)
{
if (cc.TrayNumber.Equals(currMoveTrayNum) && (!cc.WareCode.Equals("")))
if (cc.TrayNumber.Equals(currTrayNum) && (!cc.WareCode.Equals("")))
{
return true;
}
......@@ -340,13 +340,13 @@ namespace OnlineStore.DeviceLibrary
/// <returns></returns>
private bool CheckIsNeedOutStore()
{
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
bool isFull = TrayManager.TrayIsFull(currTrayNum);
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && (MoveInfo.MoveStep >= LineMoveStep.MO_56_BeforeAfterCylinderAfter)
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_UpDownCylinderUp)))
{
if (isFull.Equals(false))
{
LogInfo(" 托盘号【" + preTrayNum + "】，当前托盘号【(isFull=" + isFull + ")：" + currMoveTrayNum + "】需要出库，不顶升直接让移栽放盘~");
LogInfo(" 托盘号【" + preTrayNum + "】，当前托盘号【(isFull=" + isFull + ")：" + currTrayNum + "】需要出库，不顶升直接让移栽放盘~");
return true;
}
//去掉直接丢料盘处理
......@@ -364,8 +364,8 @@ namespace OnlineStore.DeviceLibrary
/// <returns></returns>
private bool CheckIsNeedInStore()
{
bool isfull = TrayManager.IsFixTureFull(currMoveTrayNum);
LogInfo("***************入库*****验证入库编号，托盘号【" + currMoveTrayNum + "】,isfull【" + isfull + "】");
bool isfull = TrayManager.TrayIsFull(currTrayNum);
LogInfo("***************入库*****验证入库编号，托盘号【" + currTrayNum + "】,isfull【" + isfull + "】");
//FixtureCodeInfo code = GetBox().currInOutFixture;
if (!isfull)
{
......@@ -382,11 +382,11 @@ namespace OnlineStore.DeviceLibrary
for (int i = 0; i < waitInStoreList.Count; i++)
{
InOutParam cc = waitInStoreList[i];
if (cc.TrayNumber.Equals(currMoveTrayNum) && (!cc.WareCode.Equals("")))
if (cc.TrayNumber.Equals(currTrayNum) && (!cc.WareCode.Equals("")))
{
reIndex = i;
currCode = cc;
LogInfo("*******托盘" + currMoveTrayNum + "需要入库【" + currCode.ToStr() + "】 ，开始入库移栽");
LogInfo("*******托盘" + currTrayNum + "需要入库【" + currCode.ToStr() + "】 ，开始入库移栽");
SecondMoveInfo.MoveParam = new InOutParam(cc.TrayNumber, cc.WareCode, cc.PosId, cc.PlateH, cc.PlateW);
break;
}
......@@ -396,7 +396,7 @@ namespace OnlineStore.DeviceLibrary
waitInStoreList.RemoveAt(reIndex);
if (!LineServer.BoxCanInStore(DeviceID))
{
LogUtil.info(Name + "*******托盘" + currMoveTrayNum + "需要入库【" + currCode.ToStr() + "】，BoxCanInStore验证失败，先移栽再等待料仓可入库，开始入库移栽");
LogUtil.info(Name + "*******托盘" + currTrayNum + "需要入库【" + currCode.ToStr() + "】，BoxCanInStore验证失败，先移栽再等待料仓可入库，开始入库移栽");
return true;
}
else
......@@ -490,15 +490,16 @@ namespace OnlineStore.DeviceLibrary
//判断是否需要顶升
bool isNeed = false;
//此处先对托盘号进行验证
currMoveTrayNum = TrayManager.GetTrayNum(DeviceID);
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (TrayManager.RightTrayCode(currMoveTrayNum, preTrayNum, false))
preTrayNum = currTrayNum;
currTrayNum = TrayManager.GetTrayNum(DeviceID);
bool isFull = TrayManager.TrayIsFull(currTrayNum);
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
//出库中，需要拦盘
if (CheckIsNeedOutStore())
{
//preTrayNum = currMoveTrayNum;
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.MoveParam = new InOutParam(currTrayNum);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
return;
......@@ -510,7 +511,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currMoveTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
......@@ -523,7 +524,7 @@ namespace OnlineStore.DeviceLibrary
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currMoveTrayNum + "】没有出入库任务，放盘通过~");
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入库任务，放盘通过~");
// preTrayNum = currMoveTrayNum;
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
......@@ -552,7 +553,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopCylinderUp))
{
CheckLog("托盘检测（流水线阻挡）*************** 托盘号【" + currMoveTrayNum + "】");
CheckLog("托盘检测（流水线阻挡）*************** 托盘号【" + currTrayNum + "】");
//托盘号正确
//preTrayNum = num;
......@@ -560,9 +561,9 @@ namespace OnlineStore.DeviceLibrary
//判断盘是空盘,空盘并且编号正确才需要放料盘过去
if (CheckIsNeedOutStore())
{
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
SecondMoveInfo.MoveParam = new InOutParam(currTrayNum);
isNeedMove = true;
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】可以放出库托盘，正在出库中，移栽料盘");
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】可以放出库托盘，正在出库中，移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
......@@ -570,13 +571,13 @@ namespace OnlineStore.DeviceLibrary
{
if (CheckIsNeedInStore())
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】不是空盘，有对应的入库任务，等待移栽");
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】不是空盘，有对应的入库任务，等待移栽");
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_08_WaitInStore);
isNeedMove = true;
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currMoveTrayNum + "】不是空盘, 放盘通过");
LogInfo(SecondMoveInfo.MoveNum + "*************** 托盘号【" + currTrayNum + "】不是空盘, 放盘通过");
}
}
if (!isNeedMove)
......@@ -586,7 +587,7 @@ namespace OnlineStore.DeviceLibrary
{
TrayManager.UpdateTrayNumError(-1, "");
}
CheckLog("托盘检测 SecondMove：(MO_13_TopCylinder_Down ，托盘号【" + currMoveTrayNum + "】,直接放盘通过，顶升气缸下降）");
CheckLog("托盘检测 SecondMove：(MO_13_TopCylinder_Down ，托盘号【" + currTrayNum + "】,直接放盘通过，顶升气缸下降）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopCylinder_Down);
CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
......@@ -637,7 +638,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
preTrayNum = currMoveTrayNum;
preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
......
source/DeviceLibrary/assemblyLine/ProvidingEquip.cs
......@@ -47,7 +47,7 @@ namespace OnlineStore.DeviceLibrary
public override bool StartRun(bool isDebug=false)
{
preTrayNum = 0;
currMoveTrayNum = 0;
currTrayNum = 0;
mainTimer.Enabled = false;
MoveInfo.EndMove();
SecondMoveInfo.EndMove();
......@@ -128,7 +128,7 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = "";
alarmType = LineAlarmType.None;
preTrayNum = 0;
currMoveTrayNum = 0;
currTrayNum = 0;
LogInfo("开始重置：清理盘号，（上下气上升，阻挡气缸上升 ）开始 ");
runStatus = LineRunStatus.Reset;
MoveInfo.EndMove();
......
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
......@@ -103,9 +103,9 @@ namespace OnlineStore.DeviceLibrary
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
{
//此处先对托盘号进行验证
currMoveTrayNum = TrayManager.GetTrayNum(DeviceID);
bool isFull = TrayManager.IsFixTureFull(currMoveTrayNum);
if (TrayManager.RightTrayCode(currMoveTrayNum, preTrayNum, false))
preTrayNum = currTrayNum;
currTrayNum = TrayManager.GetTrayNum(DeviceID);
if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
{
if (TrayManager.ErrorStoreId.Equals(DeviceID))
{
......@@ -114,8 +114,8 @@ namespace OnlineStore.DeviceLibrary
//出料中，需要拦盘
if (CheckIsNeedOutStore())
{
TrayInfo trayInfo = TrayManager.GetTrayInfo(currMoveTrayNum);
InOutParam param = new InOutParam(currMoveTrayNum, trayInfo.WareCode, trayInfo.PosId, trayInfo.PlateH, trayInfo.PlateW);
TrayInfo trayInfo = TrayManager.GetTrayInfo(currTrayNum);
InOutParam param = new InOutParam(currTrayNum, trayInfo.WareCode, trayInfo.PosId, trayInfo.PlateH, trayInfo.PlateW);
CheckLog("托盘检测（流水线阻挡）是需要出库" + param.ToStr() + "：(MIO_05_WaitTime 等待1秒后顶升上升 ）");
SecondMoveInfo.MoveParam = param;
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_05_WaitTime);
......@@ -126,15 +126,15 @@ namespace OnlineStore.DeviceLibrary
}
else
{
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currMoveTrayNum + "】没有出入料任务，放盘通过~");
bool isFull = TrayManager.TrayIsFull(currTrayNum);
LogInfo(SecondMoveInfo.MoveNum + "***************上个托盘号【" + preTrayNum + "】，当前" + (isFull ? "有料托盘" : "空托盘") + "【" + currTrayNum + "】没有出入料任务，放盘通过~");
CheckLog("托盘放行 SecondMove：(MO_14_WaitCanGo ，移栽2，需要判断是否可以放盘通过,最多等待10000）");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo);
}
}
else
{
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currMoveTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
string msg = Name + " 托盘顺序错乱，上个托盘号【" + preTrayNum + "】当前托盘号 【" + currTrayNum + "】最大盘号【" + TrayManager.MaxTrayNum + "】";
TrayManager.UpdateTrayNumError(DeviceID, msg);
LogUtil.error(msg);
return;
......@@ -152,8 +152,8 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_06_TopCylinderUp))
{
SecondMoveInfo.MoveParam = new InOutParam(currMoveTrayNum);
LogInfo(SecondMoveInfo.MoveNum + " 托盘号【" + currMoveTrayNum + "】等待移栽料盘");
SecondMoveInfo.MoveParam = new InOutParam(currTrayNum);
LogInfo(SecondMoveInfo.MoveNum + " 托盘号【" + currTrayNum + "】等待移栽料盘");
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_11_CodeRember);
SecondMoveInfo.EndStepWait();
}
......@@ -198,7 +198,7 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_18_StopCylinder_Back))
{
preTrayNum = currMoveTrayNum;
preTrayNum = currTrayNum;
CheckLog("托盘放行 SecondMove：(托盘放行结束） ");
// IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
SecondMoveInfo.EndMove();
......
source/DeviceLibrary/assemblymanager/TrayManager.cs
......@@ -57,7 +57,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
/// <param name="trayNum">盘号1-6</param>
/// <returns>盘上是否有料盘</returns>
internal static bool IsFixTureFull(int trayNum)
internal static bool TrayIsFull(int trayNum)
{
lock (fixtureMapLock)
{
......@@ -129,7 +129,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 是否还有有料仓的盘
/// </summary>
internal static bool IsHasFull()
internal static bool IsHasFullTray()
{
foreach (int key in fixtureCodeFullMap.Keys)
{
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -379,7 +379,45 @@ namespace OnlineStore.DeviceLibrary
MO_60_UpDownCylinderUp = 3160,
#region 入料模块，紧急出料移栽处理
/// <summary>
/// 紧急出料移栽：升降伺服到P1点
/// </summary>
MO_201_UpDownToP1 = 3201,
/// <summary>
/// 紧急出料移栽：上料横移机构到放料端
/// /// </summary>
MO_202_MoveCylinder_Give = 3202,
/// <summary>
/// 紧急出料移栽：上料横移机构下降
/// /// </summary>
MO_203_MoveCylinder_Down = 3203,
/// <summary>
/// 紧急出料移栽：升降伺服下降到指定位置
/// /// </summary>
MO_204_UpdownAxisToP2= 3204,
/// <summary>
/// 紧急出料移栽：上料气缸夹紧
/// /// </summary>
MO_205_MoveCylinder_Tighten = 3205,
/// <summary>
/// 紧急出料移栽：升降伺服到P1
/// /// </summary>
MO_206_UpdownAxisToP1= 3206,
/// <summary>
/// 紧急出料移栽：上料横移机构上升
/// /// </summary>
MO_207_MoveCylinder_Up= 3207,
/// <summary>
/// 紧急出料移栽：上料横移机构到取料端
/// /// </summary>
MO_208_MoveCylinder_Take = 3208,
/// <summary>
/// 紧急出料移栽：等待料架准备好
/// /// </summary>
MO_209_Wait = 3209,
#endregion
#endregion
......@@ -387,7 +425,7 @@ namespace OnlineStore.DeviceLibrary
#region 横移轨道处理 5000 开始
SW00_Wait=5000,
SW00_Wait = 5000,
/// <summary>
/// 定位气缸下降
/// </summary>
......@@ -664,10 +702,122 @@ namespace OnlineStore.DeviceLibrary
#region 入料装置出料处理，12000开始
/// <summary>
/// 出料流程：升降盘定位气缸后退
/// </summary>
FO_01_TrayLocation_After = 12001,
/// <summary>
/// 出料流程：定位气缸下降
/// </summary>
FO_02_LocationCylinder_Down = 12002,
/// <summary>
/// 入口流水线转动，等待出料检测信号消失
/// </summary>
FO_03_LineStart = 12003,
/// <summary>
/// 入口流水线转动，等待阻挡气缸信号到位
/// </summary>
FO_04_LineRunCheck = 12004,
/// <summary>
/// 入口流水线转动，等待出料阻挡信号消失
/// </summary>
FO_05_LineStart = 12005,
/// <summary>
/// 入口流水线转动，等待定位工位检测到位
/// </summary>
FO_06_LineRunCheck = 12006,
/// <summary>
///出料检测： 工位检测信号，定位气缸上升
/// </summary>
FO_07_LocationCylinder_Up = 12007,
/// <summary>
/// 出料检测：提升轴下降到位P2
/// </summary>
FO_08_BatchAxisToP2 = 12008,
/// <summary>
/// 出料检测：升降盘定位气缸前进
/// </summary>
FO_09_TrayLocation_Before = 12009,
/// <summary>
/// 出料检测：上料轴开始慢速上升到P3点
/// </summary>
FO_10_AxisUpMove = 12010,
/// <summary>
/// 料盘移栽：上料轴下降指定的高度
/// </summary>
FO_11_AxisDownMove = 12011,
/// <summary>
/// 料盘移栽：出料横移机构下降
/// </summary>
FO_12_MoveCylinder_Down = 12012,
/// <summary>
/// 料盘移栽：出料横移机构放松
/// </summary>
FO_13_MoveCylinder_Slack = 12013,
/// <summary>
/// 料盘移栽：出料横移机构上升
/// </summary>
FO_14_MoveCylinder_Up = 12014,
/// <summary>
/// 出料完成，料盘已放入料架，提升伺服到P2点
/// </summary>
FO_31_BatchAxisToP2 = 12031,
/// <summary>
/// 出料完成，升降盘定位气缸后退
/// </summary>
FO_32_TrayLocationCylinder_After = 12032,
/// <summary>
/// 出料完成，提升伺服到P1点
/// </summary>
FO_33_BatchAxisToP1 = 12033,
/// <summary>
/// 出料完成，判断出料线体是否有料架
/// </summary>
FO_34_OutCheck = 12034,
/// <summary>
/// 出料完成，出口顶升气缸上升
/// </summary>
FO_35_OutTopCylinder_Up = 12035,
/// <summary>
///出料完成， 线体横移电机运转，等待料架到达出口
/// </summary>
FO_36_SideWayLineRun = 12036,
/// <summary>
///出料完成， 料架到达出口，线体横移电机停止
/// </summary>
FO_37_LineStop = 12037,
/// <summary>
///出料完成， 料架到达出口，出口顶升下降，定位气缸下降,
/// </summary>
FO_38_TopCylinderDown = 12038,
/// <summary>
///出料完成， 出口线体运转，料架到达出口处, 通知AGV取空料架
/// </summary>
FO_39_OutLineRun = 12039,
/// <summary>
///出料完成， AGV到达，继续转动出口线体，送走出料料架,
/// </summary>
FO_40_OutLineRun = 12040,
/// <summary>
///
///出料完成， 料架送出,
/// </summary>
FO_01_OutLineStart = 12000,
FO_41_OutLineRun = 12041,
#endregion
#region 出料装置移栽出料，20000开始
......
source/DeviceLibrary/model/TrayInfo.cs
......@@ -58,7 +58,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public int PlateW { get; set; }
public bool EmergencyOut = false;
}
/// <summary>
/// 托盘上的物料的类型
......
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