上料模块批量轴上升时最多上升100mm

LN
Commit e62828c3 由 LN 编写于 2020-04-03 13:35:07 +0800
source/AssemblyLineClient/记录.txt
source/DeviceLibrary/agvClient/AgvClient.cs
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
source/DeviceLibrary/assemblymanager/RFIDManagercs.cs
--- a/source/AssemblyLineClient/记录.txt
查看文件 @e62828c
+++ b/source/AssemblyLineClient/记录.txt
查看文件 @e62828c
-20200324
+20200403
+紧急出料不放太慢。
+rfid不需要格式化。
+上料模块批量轴上升时，如果不是第一次上升，最多上升100mm
+20200324
 1.入库逻辑修改：提升轴先上升后需要下降到料盘不溢出的位置，横移气缸才能动作。
 2.出料模块取料条件修改：随意放时需要等皮带线空闲。
 3.移栽模块出库过程中或还有出库任务，不能入库，完全出库完成再入库

--- a/source/DeviceLibrary/agvClient/AgvClient.cs
查看文件 @e62828c
+++ b/source/DeviceLibrary/agvClient/AgvClient.cs
查看文件 @e62828c
@@ -151,7 +151,7 @@ namespace OnlineStore.DeviceLibrary
            ClientAction currA = GetAction(id);
            if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
            {
-                SetStatus(id, shelfId, ClientAction.NeedEnter);
+                SetStatus(id, shelfId, ClientAction.NeedEnter,ClientLevel.Low);
                return true;
            }
            return false;
@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary
            ClientAction currA = GetAction(id);
            if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
            {
-                SetStatus(id, shelfId, ClientAction.NeedLeave);
+                SetStatus(id, shelfId, ClientAction.NeedLeave,ClientLevel.High);
                return true;
            }
            return false;

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
查看文件 @e62828c
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
查看文件 @e62828c
@@ -733,6 +733,7 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_WaitNoLocationCheck))
            {
                MoveInfo.NextMoveStep(LineMoveStep.FI_19_BatchAxisToP3);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                LastWidth = GetWidth();
                InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，盘宽【" + LastWidth + "】，横移气缸上升 ");
                if (!CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
@@ -743,7 +744,7 @@ namespace OnlineStore.DeviceLibrary
                { 
                    CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
                }
-                BatchAxisToP3();
+                BatchAxisToP3(false );
            }
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3))
            {
@@ -885,11 +886,12 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_CylinderRelax))
            {
                MoveInfo.NextMoveStep(LineMoveStep.FI_26_CylinderUp);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
                if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
                {
                    InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升，上料轴开始慢速上升到P3点，等待检测到料盘"); 
-                    BatchAxisToP3();
+                    BatchAxisToP3(false );
                }
                else
                {
@@ -1143,7 +1145,7 @@ namespace OnlineStore.DeviceLibrary
                        MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
                        InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
                        MoveInfo.ShelfNoTray = false;
-                        BatchAxisToP3();
+                        BatchAxisToP3(false  );
                        return;
                    }
                }
@@ -1157,15 +1159,25 @@ namespace OnlineStore.DeviceLibrary
            }
        }
-        private void BatchAxisToP3()
+        private void BatchAxisToP3(bool isFirstMove = true)
        {
+            int targetP3 = Config.BatchAxisP3;
+            if (!isFirstMove)
+            {
+                int currPosition = BatchAxis.GetAclPosition();
+                if (currPosition != -1)
+                {
+                    targetP3 = currPosition + Config.Height_ChangeValue * 100;
+                    LogUtil.info(Name + " BatchAxisToP3 目标P3: " + targetP3 + "(" + currPosition + ")");
+                }
+            }
            MoveInfo.TimeOutSeconds = 200;
            MoveInfo.CanWhileCount = 0;
            //  需要增加定时器，获取验证信号并停止伺服
            StartMovePosition = BatchAxis.GetAclPosition();
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, Config.BatchAxisP3, Config.BatchAxis_P3Speed));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, Config.BatchAxis_P3Speed));
-            Config.Batch_Axis.TargetPosition = Config.BatchAxisP3;
+            Config.Batch_Axis.TargetPosition = targetP3;
-            BatchAxis.AbsMove( null, Config.BatchAxisP3, Config.BatchAxis_P3Speed);
+            BatchAxis.AbsMove(null, targetP3, Config.BatchAxis_P3Speed);
            //开始检测信号
            BatchAxisStartCheck();
        }

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @e62828c
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @e62828c
@@ -554,7 +554,7 @@ namespace OnlineStore.DeviceLibrary
                    CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
                    //只有提升轴位置过低时才需要到P3
                    int currPosition = BatchAxis.GetAclPosition();
-                    if (currPosition <= (Config.BatchAxisP2 + Config.Height_ChangeValue * 20))
+                    if (currPosition <= (Config.BatchAxisP2 + Config.Height_ChangeValue * 40))
                    {
                        OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构回到取料端，提升轴[" + currPosition + "]需要到P3");
                        BatchAxisToP3();
@@ -577,8 +577,8 @@ namespace OnlineStore.DeviceLibrary
                //    bool isNeedSendShelf = false;
                //判断料架是否满了
                int currPositon = BatchAxis.GetAclPosition();
-                int tp = currPositon - Config.Height_ChangeValue * 16;
+                int tp = currPositon - Config.Height_ChangeValue * 40;
-                if (tp < Config.BatchAxisP2)
+                if (tp <= Config.BatchAxisP2)
                {
                    SendOutShelfOut("当前提升轴位置：" + currPositon + ",料架已满，需要送出料架");
                }

--- a/source/DeviceLibrary/assemblymanager/RFIDManagercs.cs
查看文件 @e62828c
+++ b/source/DeviceLibrary/assemblymanager/RFIDManagercs.cs
查看文件 @e62828c
@@ -231,7 +231,7 @@ namespace OnlineStore.DeviceLibrary
        }
        public string NumStr()
        {
-            return "" + RFType + "" + Num.ToString().PadLeft(2, '0') + "";
+            return "" + RFType + "" + Num.ToString() + "";
        }
    }
 }