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Commit 3de72ecd 由 renym1968
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自动进料/出料处理Demo 版

1 个父辈 898b84e1
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正在显示 7 个修改的文件 包含 54 行增加 和 6 行删除
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -36,6 +36,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -36,6 +36,9 @@ namespace OnlineStore.DeviceLibrary
/// 轴报警信息 /// 轴报警信息
/// </summary> /// </summary>
private Dictionary<string , AxisAlarmInfo> AxisAlarmCodeMap = new Dictionary<string , AxisAlarmInfo>(); private Dictionary<string , AxisAlarmInfo> AxisAlarmCodeMap = new Dictionary<string , AxisAlarmInfo>();
/// <summary>
/// 是否有上料轴 add by renym 2018
/// </summary>
public bool IsHasCharging_Axis = false; public bool IsHasCharging_Axis = false;
/// <summary> /// <summary>
...@@ -146,7 +149,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -146,7 +149,7 @@ namespace OnlineStore.DeviceLibrary
moveAxisList.Add(Config.Middle_Axis); moveAxisList.Add(Config.Middle_Axis);
moveAxisList.Add(Config.UpDown_Axis); moveAxisList.Add(Config.UpDown_Axis);
moveAxisList.Add(Config.InOut_Axis); moveAxisList.Add(Config.InOut_Axis);
//2018-11-22 //2018-11-22 add by renym
moveAxisList.Add(Config.Charging_Axis); moveAxisList.Add(Config.Charging_Axis);
this.AxisAlarmCodeMap = new Dictionary<string , AxisAlarmInfo>(); this.AxisAlarmCodeMap = new Dictionary<string , AxisAlarmInfo>();
this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.DeviceName, new AxisAlarmInfo()); this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.DeviceName, new AxisAlarmInfo());
...@@ -348,6 +351,32 @@ namespace OnlineStore.DeviceLibrary ...@@ -348,6 +351,32 @@ namespace OnlineStore.DeviceLibrary
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
} }
} }
///add by renym 2018-11-27
///
/// 进料轴原点复位
///
///
private void ChargingStartReset()
{
string portName = Config.Charging_Axis.DeviceName;
int slvAddr = Config.Charging_Axis.GetAxisValue();
if (ACServerManager.GetHomeEndStatus(portName, slvAddr).Equals(1)
&& ACServerManager.GetHomeSingle(portName, slvAddr).Equals(1))
{
//？ StoreMove.NextMoveStep(StoreMoveStep.BOX_H_ChargingMove);//?
LogUtil.info(LOGGER, StoreName + "复位中，进料轴原点亮且已经原点返回过，先相对走-5000");
int currPos = ACServerManager.GetActualtPosition(portName, slvAddr);
int targetPos = currPos - 5000;//??
ACAxisMove(Config.Charging_Axis, targetPos, Config.ChargingAxis_HomeLowSpeed);
}
else
{
//? StoreMove.NextMoveStep(StoreMoveStep.BOX_H_ChargingBack);//?
LogUtil.info(LOGGER, StoreName + "复位中，进料轴开始原点返回");
ACAxisHomeMove(Config.Charging_Axis);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
}
/// <summary> /// <summary>
/// 复位处理 /// 复位处理
/// </summary> /// </summary>
...@@ -1319,6 +1348,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -1319,6 +1348,9 @@ namespace OnlineStore.DeviceLibrary
ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue()); ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue()); ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue()); ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
//add by renym 2018-11-27
if(IsHasCharging_Axis)
ACServerManager.SuddenStop(Config.Charging_Axis.DeviceName, Config.Charging_Axis.GetAxisValue());
if (IsHasCompress_Axis) if (IsHasCompress_Axis)
{ {
ShuoKeControls.SuddownStop(Config.CompressAxis_Slv); ShuoKeControls.SuddownStop(Config.CompressAxis_Slv);
...@@ -1339,6 +1371,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1339,6 +1371,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "StopMove"); LogUtil.info(LOGGER, StoreName + "StopMove");
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW); KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW); KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
//？add 进料门锁
//HDevelopExport.CloseAllCamera(); //HDevelopExport.CloseAllCamera();
isInPro = false; isInPro = false;
} }
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -776,6 +776,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -776,6 +776,7 @@ namespace OnlineStore.DeviceLibrary
} }
#endregion #endregion
#region 自动上料上料机构处理 #region 自动上料上料机构处理
private bool bolChargingRun = false;
public void ChargingLoad() public void ChargingLoad()
{ {
//1、上料门是否关闭 //1、上料门是否关闭
...@@ -786,13 +787,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -786,13 +787,17 @@ namespace OnlineStore.DeviceLibrary
//3、吸盘在最高端 //3、吸盘在最高端
if (KNDIOValue(IO_Type.Chuck_Up).Equals(IO_VALUE.HIGH)) if (KNDIOValue(IO_Type.Chuck_Up).Equals(IO_VALUE.HIGH))
{ {
//吸盘移动到最高点
} }
//if (KNDIOValue(IO_Type.Load_DoorClose).Equals(IO_VALUE.HIGH)) //if (KNDIOValue(IO_Type.Load_DoorClose).Equals(IO_VALUE.HIGH))
//通过读伺服线圈信息，判断伺服在最高位置还是在最低位置 //通过读伺服线圈信息，判断伺服在最高位置还是在最低位置
int value=ACServerManager.GetNotStatus(Config.Charging_Axis.DeviceName, Config.Charging_Axis.GetAxisValue()); int value=ACServerManager.GetNotStatus(Config.Charging_Axis.DeviceName, Config.Charging_Axis.GetAxisValue());
//4、判断上料机构是否在最高点？ 是---》无料盘 TrayCheck_Door //4、判断上料机构是否在最高点？ 是---》无料盘 TrayCheck_Door
//5、是否检测到料盘？检测到，不运行；检测不到伺服运行 //5、是否检测到料盘？检测到，不运行；检测不到伺服运行
//电机运动 ACAxisMove(Config.Charging_Axis, ??, Config.Charging_Axis.TargetSpeed); //电机运动 ACAxisMove(Config.Charging_Axis, ??, Config.Charging_Axis.TargetSpeed);
bolChargingRun = true;
ACAxisMove(Config.Charging_Axis,Config.ChargingAxis_PositionMin, Config.ChargingAxis_HomeLowSpeed);
} }
} }
......
source/DeviceLibrary/store/LineAlarm.cs
...@@ -51,7 +51,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -51,7 +51,7 @@ namespace OnlineStore.DeviceLibrary
// //
/// add by renym 2018-11-26 /// add by renym 2018-11-26
/// /// <summary> /// /// <summary>
/// 轴四（上料轴）报警 /// 轴五（上料轴）报警
/// </summary> /// </summary>
public static int ChargingAxisAlarm = 18; public static int ChargingAxisAlarm = 18;
} }
......
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
...@@ -191,19 +191,19 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -191,19 +191,19 @@ namespace OnlineStore.LoadCSVLibrary
#region #region
/// <summary> /// <summary>
/// PRO （轴四）进料轴轴原点低速度 ChargingAxis_HomeLowSpeed 50 /// PRO （轴五）进料轴轴原点低速度 ChargingAxis_HomeLowSpeed 50
/// </summary> /// </summary>
[ConfigProAttribute("ChargingAxis_HomeLowSpeed", false)] [ConfigProAttribute("ChargingAxis_HomeLowSpeed", false)]
public short ChargingAxis_HomeLowSpeed { get; set; } public short ChargingAxis_HomeLowSpeed { get; set; }
/// <summary> /// <summary>
/// PRO （轴四）进料轴轴原点高速 ChargingnAxis_HomeHighSpeed 100 /// PRO （轴五）进料轴轴原点高速 ChargingnAxis_HomeHighSpeed 100
/// </summary> /// </summary>
[ConfigProAttribute("ChargingAxis_HomeHighSpeed", false)] [ConfigProAttribute("ChargingAxis_HomeHighSpeed", false)]
public short ChargingAxis_HomeHighSpeed { get; set; } public short ChargingAxis_HomeHighSpeed { get; set; }
/// <summary> /// <summary>
/// PRO （轴四）进料轴轴原点加速度 ChargingAxis_HomeAddSpeed 30 /// PRO （轴五）进料轴轴原点加速度 ChargingAxis_HomeAddSpeed 30
/// </summary> /// </summary>
[ConfigProAttribute("ChargingAxis_HomeAddSpeed", false)] [ConfigProAttribute("ChargingAxis_HomeAddSpeed", false)]
public short ChargingAxis_HomeAddSpeed { get; set; } public short ChargingAxis_HomeAddSpeed { get; set; }
...@@ -390,6 +390,16 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -390,6 +390,16 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("CompressAxis_P1_Position")] [ConfigProAttribute("CompressAxis_P1_Position")]
public int CompressAxis_P1_Position { get; set; } public int CompressAxis_P1_Position { get; set; }
// add by renym 2018-11-27 上料轴原点定义
/// PRO 进料轴（轴5）P1待机原位点 CompressAxis_P1_Position
/// </summary>
[ConfigProAttribute("ChargingAxis_P1_Position", false)]
public int ChargingAxis_P1_Position { get; set; }
/// PRO 进料轴（轴5）最高位点 CompressAxis_P1_Position
/// </summary>
[ConfigProAttribute("ChargingAxis_MaxHigh_Position", false)]
public int ChargingAxis_MaxHigh_Position { get; set; }
/// <summary> /// <summary>
/// PRO 是否使用料盘检测信号 IsUse_Tray_Check /// PRO 是否使用料盘检测信号 IsUse_Tray_Check
......
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