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Commit d5e6eb43 由 LN
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料架入库：无托盘后需要返回

1 个父辈 a866d659
内嵌 并排
正在显示 7 个修改的文件 包含 126 行增加 和 73 行删除
source/AssemblyLineClient/useControl/AxisMoveControl.Designer.cs
......@@ -137,7 +137,7 @@
// txtBusyStatus
//
this.txtBusyStatus.Enabled = false;
this.txtBusyStatus.Location = new System.Drawing.Point(133, 75);
this.txtBusyStatus.Location = new System.Drawing.Point(133, 82);
this.txtBusyStatus.Name = "txtBusyStatus";
this.txtBusyStatus.Size = new System.Drawing.Size(25, 23);
this.txtBusyStatus.TabIndex = 288;
......@@ -145,7 +145,7 @@
// label11
//
this.label11.AutoSize = true;
this.label11.Location = new System.Drawing.Point(19, 110);
this.label11.Location = new System.Drawing.Point(19, 117);
this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(105, 17);
this.label11.TabIndex = 292;
......@@ -154,7 +154,7 @@
// txtHomeStatus
//
this.txtHomeStatus.Enabled = false;
this.txtHomeStatus.Location = new System.Drawing.Point(133, 107);
this.txtHomeStatus.Location = new System.Drawing.Point(133, 114);
this.txtHomeStatus.Name = "txtHomeStatus";
this.txtHomeStatus.Size = new System.Drawing.Size(25, 23);
this.txtHomeStatus.TabIndex = 291;
......@@ -162,7 +162,7 @@
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(58, 78);
this.label10.Location = new System.Drawing.Point(58, 85);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(66, 17);
this.label10.TabIndex = 289;
......@@ -171,7 +171,7 @@
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(65, 46);
this.label3.Location = new System.Drawing.Point(65, 53);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(59, 17);
this.label3.TabIndex = 286;
......@@ -180,7 +180,7 @@
// label24
//
this.label24.AutoSize = true;
this.label24.Location = new System.Drawing.Point(53, 206);
this.label24.Location = new System.Drawing.Point(53, 213);
this.label24.Name = "label24";
this.label24.Size = new System.Drawing.Size(71, 17);
this.label24.TabIndex = 316;
......@@ -210,7 +210,7 @@
// txtAlarmStatus
//
this.txtAlarmStatus.Enabled = false;
this.txtAlarmStatus.Location = new System.Drawing.Point(133, 43);
this.txtAlarmStatus.Location = new System.Drawing.Point(133, 50);
this.txtAlarmStatus.Name = "txtAlarmStatus";
this.txtAlarmStatus.Size = new System.Drawing.Size(25, 23);
this.txtAlarmStatus.TabIndex = 285;
......@@ -218,7 +218,7 @@
// txtLimit2
//
this.txtLimit2.Enabled = false;
this.txtLimit2.Location = new System.Drawing.Point(133, 203);
this.txtLimit2.Location = new System.Drawing.Point(133, 210);
this.txtLimit2.Name = "txtLimit2";
this.txtLimit2.Size = new System.Drawing.Size(25, 23);
this.txtLimit2.TabIndex = 313;
......@@ -234,7 +234,7 @@
// label22
//
this.label22.AutoSize = true;
this.label22.Location = new System.Drawing.Point(53, 174);
this.label22.Location = new System.Drawing.Point(53, 181);
this.label22.Name = "label22";
this.label22.Size = new System.Drawing.Size(71, 17);
this.label22.TabIndex = 312;
......@@ -244,7 +244,7 @@
// txtLimit1
//
this.txtLimit1.Enabled = false;
this.txtLimit1.Location = new System.Drawing.Point(133, 171);
this.txtLimit1.Location = new System.Drawing.Point(133, 178);
this.txtLimit1.Name = "txtLimit1";
this.txtLimit1.Size = new System.Drawing.Size(25, 23);
this.txtLimit1.TabIndex = 309;
......@@ -252,7 +252,7 @@
// label6
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(65, 142);
this.label6.Location = new System.Drawing.Point(65, 149);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(59, 17);
this.label6.TabIndex = 300;
......@@ -261,7 +261,7 @@
// txtHomeSingle
//
this.txtHomeSingle.Enabled = false;
this.txtHomeSingle.Location = new System.Drawing.Point(133, 139);
this.txtHomeSingle.Location = new System.Drawing.Point(133, 146);
this.txtHomeSingle.Name = "txtHomeSingle";
this.txtHomeSingle.Size = new System.Drawing.Size(25, 23);
this.txtHomeSingle.TabIndex = 297;
......
source/DeviceLibrary/assemblyLine/EquipBase.cs
......@@ -371,7 +371,7 @@ namespace OnlineStore.DeviceLibrary
Alarm(LineAlarmType.IoSingleTimeOut);
LogUtil.error(MoveInfo.Name + WarnMsg, DeviceID + 13);
}
else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3)
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6)
{
preRWTime = DateTime.Now;
string msg = moveInfo.Name + " " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
......
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
......@@ -97,7 +97,7 @@ namespace OnlineStore.DeviceLibrary
private void StartReset()
{
BatchAxisStopCheck();
ResetClearData();
lineStatus = LineStatus.ResetMove;
IOMove(IO_Type.SL_HddLed, IO_VALUE.HIGH);
......
source/DeviceLibrary/assemblyLine/FeedingEquip_Partial.cs
......@@ -16,6 +16,7 @@ namespace OnlineStore.DeviceLibrary
{
if (IOValue(TargetIoType).Equals(TargetIoValue))
{
BatchAxisStopCheck();
return true;
}
else
......@@ -23,6 +24,7 @@ namespace OnlineStore.DeviceLibrary
bool isOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isOk)
{
BatchAxisStopCheck();
return true;
}
}
......@@ -47,7 +49,8 @@ namespace OnlineStore.DeviceLibrary
if (Config.SidesWayNum > 0)
{
int num = TrayManager.GetTrayNum(DeviceID);
bool isTestNeed = LineManager.Line.runStatus <= LineRunStatus.Wait && IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW_ReelCheck).Equals(IO_VALUE.LOW);
bool isTestNeed =( LineManager.Line.runStatus <= LineRunStatus.Wait) && IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW_ReelCheck).Equals(IO_VALUE.LOW);
bool isNeedTray = IOValue(IO_Type.SW_TrayCheck).Equals(IO_VALUE.HIGH) && num > 0 && preTrayNum.Equals(num).Equals(false) && LineManager.Line.SwNoProcess(Config.SidesWayNum);
if (isTestNeed||isNeedTray)
{
......@@ -378,7 +381,7 @@ namespace OnlineStore.DeviceLibrary
private bool StartInStoreP()
{
//若定位工位，阻挡工位，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))
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))
{
StartInStoreMove(null);
}
......@@ -434,7 +437,7 @@ namespace OnlineStore.DeviceLibrary
}
private void LineInStoreProcess()
{
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_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))
......@@ -445,12 +448,23 @@ namespace OnlineStore.DeviceLibrary
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InStoreLog(" 入料检测： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡上升，缓冲阻挡下降，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
}else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_03_LineStart);
InStoreLog(" 入料检测： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡下降，缓冲阻挡上升，流水线转动 1000");
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);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
InStoreLog(" 入料检测： " + MoveInfo.SLog + " 阻挡检测有料架，进料阻挡上升，缓冲阻挡下降，流水线转动2000");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
}
else
{
......@@ -496,7 +510,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(LineMoveStep.FI_08_BatchAxisToP2);
InStoreLog(" 料架入库" + MoveInfo.SLog + "：提升轴下降到位P2，定位气缸上升");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
}
......@@ -584,7 +598,19 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(LineMoveStep.FI_18_SaveSize);
LastHeight = GetHeight();
LastWidth = GetWidth();
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】");
//判断是否还有料盘
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
{
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】,已经没有料盘，提升轴开始回下降待机点P2");
MoveInfo.ShelfNoTray = true;
BatchAxis.AbsMove(Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
{
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：记录高度尺寸 高度【" + LastHeight + "】宽度【" + LastWidth + "】");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_SaveSize))
{
......@@ -604,14 +630,29 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_MoveCylinder_Emptying))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_20_WaitTray);
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：等待空托盘到达，并顶升上升，定位上升");
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：等待空托盘到达");
//TODO 此处需要等待空托盘
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_WaitTray) && SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))//TODO
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_20_WaitTray))//TODO
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_MoveCylinder_Down);
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：上料机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_11_CodeRember))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_21_MoveCylinder_Down);
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：上料机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else
{
TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
if (span.TotalSeconds > 180)
{
WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]等待空托盘到达超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg, DeviceID + 19);
Alarm(LineAlarmType.IoSingleTimeOut);
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_MoveCylinder_Down))
{
......@@ -641,7 +682,7 @@ namespace OnlineStore.DeviceLibrary
{
//更新托盘条码信息
string code = CodeManager.ProcessCode(LastCodeList);
TrayManager.UpdateTrayInfo(currTrayNum, true, 1, code, "", LastHeight, LastWidth);
TrayManager.UpdateTrayInfo(currTrayNum, true, 1, code, "", LastHeight, LastWidth);
if (code.Equals(""))
{
TrayManager.UpdateInStoreNG(currTrayNum, true);
......@@ -730,28 +771,30 @@ namespace OnlineStore.DeviceLibrary
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FI_12_MoveCylinder_Give);
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：横移机构到放料端");
InStoreLog(" 料盘移栽 " + MoveInfo.SLog + "：上料机构检测到料盘，横移机构到放料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
{
//有料盘
MoveInfo.NextMoveStep(LineMoveStep.FI_11_MoveCylinder_Up);
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：检测到料盘，横移机构上升");
InStoreLog(" 料盘移栽 " + MoveInfo.SLog + "：上料机构检测到料盘，横移机构上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
private void CheckHasTray()
{
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH)&&MoveInfo.ShelfNoTray.Equals(false))
{
FI_12_MoveCylinder_Give();
}
else
{
//无料盘
MoveInfo.ShelfNoTray = true;
MoveInfo.NextMoveStep(LineMoveStep.FI_31_BatchAxisToP2);
InStoreLog(" 料盘移栽" + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点");
BatchAxis.SuddenStop();
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
}
......@@ -858,7 +901,7 @@ namespace OnlineStore.DeviceLibrary
else
{
bool trayCanUse = LineManager.Line.runStatus <= LineRunStatus.Wait || (!isFull);
if (trayCanUse && runStatus.Equals(LineRunStatus.Runing) && MoveInfo.MoveType.Equals(LineMoveType.InStore))
if (trayCanUse && runStatus.Equals(LineRunStatus.Busy) && MoveInfo.MoveType.Equals(LineMoveType.InStore))
{
//入料执行中， 且需要空托盘
if (MoveInfo.MoveStep >= LineMoveStep.FI_11_MoveCylinder_Up && MoveInfo.MoveStep <= LineMoveStep.FI_20_WaitTray)
......@@ -891,7 +934,7 @@ namespace OnlineStore.DeviceLibrary
}
private void LineOutStoreProcess()
{
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_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))
......@@ -908,7 +951,7 @@ namespace OnlineStore.DeviceLibrary
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);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
OutStoreLog(" 出料检测" + MoveInfo.SLog + "：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");
......@@ -918,7 +961,7 @@ namespace OnlineStore.DeviceLibrary
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);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
OutStoreLog(" 出料检测" + MoveInfo.SLog + "：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");
......@@ -949,7 +992,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_LocationCylinder_Down);
OutStoreLog("出库： " + MoveInfo.SLog + " 开始：定位气缸下降，提升轴移动到P1");
OutStoreLog("出库： " + MoveInfo.SLog + " 开始：定位气缸下降，提升轴移动到P1");
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
......@@ -965,26 +1008,26 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_07_LocationCylinder_Up))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_BatchAxisToP2);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：提升轴下降到位P2");
IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：提升轴下降到位P2");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_08_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_09_TrayLocation_Before);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：升降盘定位气缸前进");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：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);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：上料轴开始慢速上升到P3点");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：上料轴开始慢速上升到P3点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP3, Config.BatchAxis_TargetSpeed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_10_AxisUpMove))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_11_AxisDownMove);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度");
int targetPosition = Config.BatchAxisP3 + lastOutParam.PlateH * Config.Height_ChangeValue;
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_TargetSpeed);
......@@ -992,75 +1035,80 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_11_AxisDownMove))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_12_MoveCylinder_Down);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：出料横移机构下降");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：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);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：出料横移机构放松");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：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);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：上料横移机构上升");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：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);
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点");
OutStoreLog("出库料盘移栽 " + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_31_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_TrayLocationCylinder_After);
OutStoreLog("出料完成 " + MoveInfo.SLog + "： 升降盘定位气缸后退");
OutStoreLog("出料完成 " + MoveInfo.SLog + "： 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);
OutStoreLog("出料完成 " + MoveInfo.SLog + "：提升伺服到P1点");
OutStoreLog("出料完成 " + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_33_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_35_OutTopCylinder_Up);
OutStoreLog("出料完成 " + MoveInfo.SLog + "，出口顶升气缸上升,出料缓冲阻挡上升");
MoveInfo.NextMoveStep(LineMoveStep.FO_34_OutTopCylinder_Up);
OutStoreLog("出料完成 " + 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.FO_34_OutCheck))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutTopCylinder_Up))
{
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_35_OutTopCylinder_Up))
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_36_SideWayLineRun);
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开定位工位");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_35_WaitLocationNoShelf))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_36_SideWayLineRun);
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 线体横移电机运转，等待料架到达出口");
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 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.WaitTime(10000));
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);
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 料架到达出口，线体横移电机停止 ");
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 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));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_37_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_38_TopCylinderDown);
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 料架到达出口，出口顶升下降，定位气缸下降, ");
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 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));
......@@ -1068,17 +1116,17 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_38_TopCylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, ");
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 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);
OutStoreLog("出料完成 " + MoveInfo.SLog + "， AGV到达，继续转动出口线体，送走出料料架, ");
OutStoreLog("出料完成 " + MoveInfo.SLog + "， 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);
OutStoreLog("上料完成 " + MoveInfo.SLog + "， 料架送出, ");
OutStoreLog("上料完成 " + MoveInfo.SLog + "， 料架送出, ");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_41_OutLineRun))
{
......
source/DeviceLibrary/deviceLibrary/PanasonicServo/ACServerManager.cs
......@@ -156,7 +156,8 @@ namespace OnlineStore.DeviceLibrary
public static bool IsHomeMoveEnd(string portName, int slvAddr)
{
int status = GetHomeEndStatus(portName, slvAddr);
if (status >= 1)
bool isOk = ACServerManager.GetBusyStatus(portName, slvAddr).Equals(0);
if (status >= 1&&isOk)
{
return true;
} return false;
......
source/DeviceLibrary/model/LineMoveInfo.cs
......@@ -19,7 +19,7 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
public int TimeOutSeconds = 60;
public string Name = "";
public bool ShelfNoTray = false;
public LineMoveInfo(int storeId,string name)
{
this.Name = name;
......@@ -84,7 +84,7 @@ namespace OnlineStore.DeviceLibrary
}
public string SLog
{
get { return MoveStep + ""; }
get { return " "+MoveStep + " "; }
}
public void NextMoveStep(LineMoveStep step)
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -806,39 +806,43 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 出料完成，判断出料线体是否有料架
/// </summary>
FO_34_OutCheck = 12034,
// FO_34_OutCheck = 12034,
/// <summary>
/// 出料完成，出口顶升气缸上升
/// </summary>
FO_35_OutTopCylinder_Up = 12035,
FO_34_OutTopCylinder_Up = 12034,
/// <summary>
///出料完成， 等待料架离开定位工位
/// </summary>
FO_35_WaitLocationNoShelf,
/// <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,
FO_36_SideWayLineRun ,
/// <summary>
///出料完成， 料架到达出口，线体横移电机停止
/// </summary>
FO_37_LineStop = 12037,
FO_37_LineStop ,
/// <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,
FO_38_TopCylinderDown ,
/// <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,
FO_39_OutLineRun ,
/// <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,
FO_40_OutLineRun,
/// <summary>
///出料完成， 料架送出,
/// </summary>
FO_41_OutLineRun = 12041,
FO_41_OutLineRun,
#endregion
#region 出料装置移栽出料，20000开始
......
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