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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 136 行增加 和 25 行删除
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -36,6 +36,9 @@ namespace OnlineStore.DeviceLibrary
/// 轴报警信息
/// </summary>
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;
/// <summary>
......@@ -146,7 +149,7 @@ namespace OnlineStore.DeviceLibrary
moveAxisList.Add(Config.Middle_Axis);
moveAxisList.Add(Config.UpDown_Axis);
moveAxisList.Add(Config.InOut_Axis);
//2018-11-22
//2018-11-22 add by renym
moveAxisList.Add(Config.Charging_Axis);
this.AxisAlarmCodeMap = new Dictionary<string , AxisAlarmInfo>();
this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.DeviceName, new AxisAlarmInfo());
......@@ -348,6 +351,32 @@ namespace OnlineStore.DeviceLibrary
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>
/// 复位处理
/// </summary>
......@@ -1319,6 +1348,9 @@ namespace OnlineStore.DeviceLibrary
ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_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)
{
ShuoKeControls.SuddownStop(Config.CompressAxis_Slv);
......@@ -1339,6 +1371,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "StopMove");
KNDIOMove(IO_Type.Door_Down, IO_VALUE.LOW);
KNDIOMove(IO_Type.Door_Up, IO_VALUE.LOW);
//？add 进料门锁
//HDevelopExport.CloseAllCamera();
isInPro = false;
}
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
......@@ -776,6 +776,7 @@ namespace OnlineStore.DeviceLibrary
}
#endregion
#region 自动上料上料机构处理
private bool bolChargingRun = false;
public void ChargingLoad()
{
//1、上料门是否关闭
......@@ -786,6 +787,7 @@ namespace OnlineStore.DeviceLibrary
//3、吸盘在最高端
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))
//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
......@@ -793,6 +795,9 @@ namespace OnlineStore.DeviceLibrary
//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
//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
//
/// add by renym 2018-11-26
/// /// <summary>
/// 轴四（上料轴）报警
/// 轴五（上料轴）报警
/// </summary>
public static int ChargingAxisAlarm = 18;
}
......
source/DeviceLibrary/store/StoreManager.cs
......@@ -42,7 +42,7 @@ namespace OnlineStore.DeviceLibrary
{
if (valueList.Contains(item))
{
LogUtil.error(LOGGER, type.Name+"枚举值："+item +"重复存在，请检查代码！");
LogUtil.error(LOGGER, type.Name + "枚举值：" + item + "重复存在，请检查代码！");
Application.Exit();
break;
}
......@@ -133,6 +133,10 @@ namespace OnlineStore.DeviceLibrary
/// 正在忙碌中，请稍后
/// </summary>
Busy = 4,
///
///进料轴运行
///
ChargingMoving = 5, //add by Renym 2018-11-27
}
/// <summary>
......@@ -194,7 +198,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 重置中（原点返回和重置都发此状态）
/// </summary>
ResetMove=13,
ResetMove = 13,
}
/// <summary>
......@@ -210,12 +214,12 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 料仓原点返回和重置步骤，，定位气缸下降
/// </summary>
BOX_H_LocationCylinderBack=010,
BOX_H_LocationCylinderBack = 010,
/// <summary>
/// 料仓原点返回和重置步骤，轴三先相对走3000
/// </summary>
BOX_H_InOutMove=011,
BOX_H_InOutMove = 011,
/// <summary>
/// 料仓原点返回和重置步骤，，轴三进出轴先返回原点
/// </summary>
......@@ -236,12 +240,12 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 旋转轴返回P1
/// </summary>
BOX_H_MiddleAxisToP1=016,
BOX_H_MiddleAxisToP1 = 016,
/// <summary>
/// 叉子先退回P1
/// </summary>
BOX_M_H_InOutToP1=018,
BOX_M_H_InOutToP1 = 018,
/// <summary>
/// 旋转轴回原点
/// </summary>
......@@ -250,7 +254,15 @@ namespace OnlineStore.DeviceLibrary
/// 旋转轴等待清理位置
/// </summary>
BOX_M_H_MiddleWait = 020,
//add by renym 2018-11-27
/// <summary>
/// 料仓原点返回和重置步骤，轴 五先相对走3000
/// </summary>
//？ BOX_H_ChargingMove = 021,
/// <summary>
/// 料仓原点返回和重置步骤，，轴五进料轴先返回原点
/// </summary>
//？ BOX_H_ChargingBack = 022,
/// <summary>
/// 叉子走到P1
/// </summary>
......@@ -270,7 +282,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
///料仓出库，，定位气缸下降
/// </summary>
SO_01_LocationCylinderDown=101,
SO_01_LocationCylinderDown = 101,
/// <summary>
///料仓出库：叉子先运动到P1
/// </summary>
......@@ -330,7 +342,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 等待拿走物品
/// </summary>
SO_14_WaitTake=114,
SO_14_WaitTake = 114,
#endregion
......@@ -338,11 +350,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 入库检测
/// </summary>
SI_00_TrayCheck=200,
SI_00_TrayCheck = 200,
/// <summary>
/// 入库，。定位气缸下降
/// </summary>
SI_01_LocationCylinderDown=201,
SI_01_LocationCylinderDown = 201,
/// <summary>
/// 入库。。进出轴（叉子）先返回P1
/// </summary>
......@@ -517,11 +529,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 等待StoreMove完成当前操作开始入库
/// </summary>
MIO_08_WaitInStore=3088,
MIO_08_WaitInStore = 3088,
/// <summary>
/// 等待StoreMove移走料盘开始放托盘通过
/// </summary>
MIO_09_WaitLetFixtureGo=3089,
MIO_09_WaitLetFixtureGo = 3089,
#endregion
#region 移栽装置出库处理
......@@ -602,7 +614,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 移载装置入库处理，，等待box等待状态才能继续操作
/// </summary>
MI_10_WaitBox=3006,
MI_10_WaitBox = 3006,
/// <summary>
///移载装置入库处理，，编码与仓位一致，，上下气缸1下降(Y22=0/Y23=1)
/// </summary>
......@@ -681,11 +693,11 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 关闭皮带
/// </summary>
LINEIN_CloseLine=20003,
LINEIN_CloseLine = 20003,
/// <summary>
/// 等待下位机要料信号
/// </summary>
LINEIN_WatiMachineSingle=20004,
LINEIN_WatiMachineSingle = 20004,
/// <summary>
/// 双层料仓流水线模块 。线体调宽回原点
......@@ -707,7 +719,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 流水线原点返回，开始原点返回
/// </summary>
LINEH_LineHome_003= 20022,
LINEH_LineHome_003 = 20022,
#endregion
......@@ -817,7 +829,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 在线双层料仓：等待物料到达
/// </summary>
DB_SO_11_WaitTrayToDoor= 20211,
DB_SO_11_WaitTrayToDoor = 20211,
/// <summary>
/// 在线双层料仓：等待拿走料盘
/// </summary>
......@@ -840,7 +852,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 在线双层料仓：回原点：同时动作：转盘低速旋转 ， 电缸回到原位 ，（ I/O点控制） 旋转气缸旋回
/// </summary>
DB_H_02_BackHome= 20302,
DB_H_02_BackHome = 20302,
/// <summary>
/// 在线双层料仓：回原点：旋回完成
/// </summary>
......@@ -880,6 +892,57 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 电钢报警
/// </summary>
StellAlarm=50,
StellAlarm = 50,
}
//Charging 上料轴 入库运行状态
public enum ChargingInStatu
{
//Wait = 0,
/// <summary>
/// 初始化 ，原点返回状态中,只有流水线使用
/// </summary>
// HomeMoving = 1,
/// <summary>
/// 进料-上料轴--上移
/// </summary>
InBoxMoveUp = 1,
/// <summary>
/// 料盘检测步骤、扫码操作
/// </summary>
InBoxCheck = 2,
/// <summary>
/// 吸盘-下移动检测步骤
/// </summary>
SuckerMove_Down = 3,
/// <summary>
/// 吸盘-下端检测步骤
/// </summary>
Sucker_DownCheck = 4,
/// <summary>
/// 吸盘-停止下移步骤
/// </summary>
Sucker_DownStop = 5,
//吸盘吸
Sucker_SuctionSOL = 6,
////吸盘上升
Sucker_UpSOL = 7,
//进出轴出
//吸盘放掉料盘
//夹紧装置
//进出轴退回
//判断进出轴是否退回？
//上料轴运行
//上料轴位置判断
//挂起
}
public enum ChargingOutStatu
{
Wait = 0,
//开门出料
}
}
source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs
......@@ -191,19 +191,19 @@ namespace OnlineStore.LoadCSVLibrary
#region
/// <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>
[ConfigProAttribute("ChargingAxis_HomeLowSpeed", false)]
public short ChargingAxis_HomeLowSpeed { get; set; }
/// <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>
[ConfigProAttribute("ChargingAxis_HomeHighSpeed", false)]
public short ChargingAxis_HomeHighSpeed { get; set; }
/// <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>
[ConfigProAttribute("ChargingAxis_HomeAddSpeed", false)]
public short ChargingAxis_HomeAddSpeed { get; set; }
......@@ -390,6 +390,16 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("CompressAxis_P1_Position")]
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>
/// PRO 是否使用料盘检测信号 IsUse_Tray_Check
......
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