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Commit 5338ca7a 由 几米阳光
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拿走料盘的过程中增加出库处理。

1 个父辈 35b5eb93
内嵌 并排
正在显示 11 个修改的文件 包含 505 行增加 和 473 行删除
source/ACSingleStore/App.config
...@@ -10,22 +10,22 @@ ...@@ -10,22 +10,22 @@
<add key="Server_Log_Open" value="0" /> <add key="Server_Log_Open" value="0" />
<add key="scanner_start_command" value="S" /> <add key="scanner_start_command" value="S" />
<!-- 开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）--> <!-- 开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）-->
<add key="StartBlowValue" value="4" /> <add key="StartBlowValue" value="0.5" />
<!-- 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）--> <!-- 停止吹气的判断值（配置值=服务器发送的湿度值-停止吹气值）-->
<add key="StopBlowValue" value="4" /> <add key="StopBlowValue" value="1" />
<!--Server address--> <!--Server address-->
<add key="http.server" value="" /> <!--<add key="http.server" value="" />-->
<!--<add key="http.server" value="http://192.168.1.187/myproject/" /> --> <add key="http.server" value="http://localhost/myproject/" />
<!--storeType--> <!--storeType-->
<add key="store_count" value="1" /> <add key="store_count" value="1" />
<!--start one store config--> <!--start one store config-->
<add key="Store_Position_Config" value="\StoreConfig\AC\linePositions.csv" /> <add key="Store_Position_Config" value="\StoreConfig\AC\linePositions.csv" />
<add key="Store_ConfigPath" value="\StoreConfig\AC\StoreConfig.csv" /> <add key="Store_ConfigPath" value="\StoreConfig\AC\StoreConfig.csv" />
<add key="Store_Type" value="AUTO_SA_Config" /> <add key="Store_Type" value="AUTO_SA_Config" />
<add key="Store_CID" value="nanrui1" /> <add key="Store_CID" value="auto1" />
<!--end one store config--> <!--end one store config-->
<!--摄像机名称列表配置，用#分割--> <!--摄像机名称列表配置，用#分割-->
<add key="CameraName" value="GigE:MV-CE100-30GC (00C69898477)" /> <add key="CameraName" value="GigE:MV-CE100-30GC (00C81915560)#GigE:MV-CE100-30GC (00C81915565)" />
<!--二维码类型列表配置，用#分割--> <!--二维码类型列表配置，用#分割-->
<add key="CodeType" value="QR Code" /> <add key="CodeType" value="QR Code" />
<!--<add key="CodeType" value="Data Matrix ECC 200#QR Code"/>--> <!--<add key="CodeType" value="Data Matrix ECC 200#QR Code"/>-->
...@@ -36,11 +36,11 @@ ...@@ -36,11 +36,11 @@
<!--5000脉冲对应1mm--> <!--5000脉冲对应1mm-->
<add key="AxisChangeValue" value="5000" /> <add key="AxisChangeValue" value="5000" />
<!--压紧轴计量检测信号亮1次的脉冲值--> <!--压紧轴计量检测信号亮1次的脉冲值-->
<add key="ComAxisChangeValue" value="10000" /> <add key="ComAxisChangeValue" value="20000" />
<add key ="DebugPosId" value ="1#AC1_2_1_1"/> <add key="DebugPosId" value="1#AC2_2_1_1" />
<!--是否有门禁屏蔽功能，=1表示有此功能--> <!--是否有门禁屏蔽功能，=1表示有此功能-->
<add key ="HasDisableDoorControl" value ="0"/> <add key="HasDisableDoorControl" value="1" />
<add key ="ACBaudRate" value ="9600"/> <add key="ACBaudRate" value="9600" />
<add key="Default_Language" value="zh-CN" /> <add key="Default_Language" value="zh-CN" />
</appSettings> </appSettings>
<log4net> <log4net>
......
source/ACSingleStore/记录.txt
...@@ -130,7 +130,8 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,, ...@@ -130,7 +130,8 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,,
2.从料仓下方接盘时，压紧轴和升降轴一起运动。 2.从料仓下方接盘时，压紧轴和升降轴一起运动。
3.吸盘吸料后，等待入库的过程中增加超时报警。 3.吸盘吸料后，等待入库的过程中增加超时报警。
20190314修改：
拿走料盘的过程中增加出库处理。
......
source/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs
...@@ -190,7 +190,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -190,7 +190,10 @@ namespace OnlineStore.DeviceLibrary
dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length); dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
SendData(portName, dataArray); SendData(portName, dataArray);
} }
public static void SuddenStop(ConfigMoveAxis axis)
{
SuddenStop(axis.DeviceName, axis.GetAxisValue());
}
public static void SuddenStop(string portName, int slvAddr) public static void SuddenStop(string portName, int slvAddr)
{ {
// RunBlock(7); // RunBlock(7);
......
source/DeviceLibrary/PanasonicServo/BatchAxisController.cs
...@@ -15,7 +15,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -15,7 +15,8 @@ namespace OnlineStore.DeviceLibrary
private static bool IsStop = false; private static bool IsStop = false;
private static System.Timers.Timer checkTimer = null; private static System.Timers.Timer checkTimer = null;
public static bool StartCheck() private static string TargetIoType = IO_Type.TrayCheck_LoadMaterial;
public static bool StartCheck(string targetIo)
{ {
if (checkTimer == null) if (checkTimer == null)
{ {
...@@ -24,12 +25,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -24,12 +25,12 @@ namespace OnlineStore.DeviceLibrary
checkTimer.Interval += 50; checkTimer.Interval += 50;
checkTimer.Elapsed += CheckTimer_Elapsed; checkTimer.Elapsed += CheckTimer_Elapsed;
checkTimer.Enabled = false; checkTimer.Enabled = false;
} }
TargetIoType = targetIo;
checkTimer.Start(); checkTimer.Start();
return true; return true;
} }
public static bool StopCheck() public static bool StopCheck()
{ {
if (!(checkTimer == null)) if (!(checkTimer == null))
...@@ -39,14 +40,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -39,14 +40,14 @@ namespace OnlineStore.DeviceLibrary
return true; return true;
} }
private static bool IsInProcess = false; private static bool IsInProcess = false;
private static void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e) private static void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{ {
if (IsInProcess) { return; } if (IsInProcess) { return; }
IsInProcess = true; IsInProcess = true;
bool result = false; bool result = false;
if (KND.IOValue(LoadCSVLibrary.IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH)) if (KND.IOValue(TargetIoType).Equals(IO_VALUE.HIGH))
{ {
LogUtil.info("批量上料轴，检测到上料机构料盘信号，可以停止运动"); LogUtil.info("批量上料轴，检测到【" + TargetIoType + "】信号，可以停止运动");
result = true; result = true;
} }
//else if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(1)) //else if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(1))
...@@ -61,7 +62,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -61,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue()); ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
StopCheck(); StopCheck();
} }
IsInProcess = false ; IsInProcess = false;
} }
} }
} }
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
类型,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义,SlaveID, 类型,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义,SlaveID,
DI,急停,SuddenStop_BTN,200,192.168.200.11,0,急停,X01,DI-01,0, DI,急停,SuddenStop_BTN,200,192.168.200.21,0,急停,X01,DI-01,0,
DI,复位,Reset_BTN,201,192.168.200.11,0,复位,X02,DI-02,0, DI,复位,Reset_BTN,201,192.168.200.21,0,复位,X02,DI-02,0,
DI,自动启动,AutoRun_Single,202,192.168.200.11,0,自动启动,X03,DI-03,0, DI,自动启动,AutoRun_Single,202,192.168.200.21,0,自动启动,X03,DI-03,0,
DI,安全光栅,SafetyLightCurtains,203,192.168.200.11,0,安全光栅,X04,DI-04,0, DI,安全光栅,SafetyLightCurtains,203,192.168.200.21,0,安全光栅,X04,DI-04,0,
DI,进料口门上升端,Door_Up,204,192.168.200.11,0,进料口门上升端,X05,DI-05,0, DI,进料口门上升端,Door_Up,204,192.168.200.21,0,进料口门上升端,X05,DI-05,0,
DI,进料口门下降端,Door_Down,205,192.168.200.11,0,进料口门下降端,X06,DI-06,0, DI,进料口门下降端,Door_Down,205,192.168.200.21,0,进料口门下降端,X06,DI-06,0,
DI,吸盘气缸上升端,SuckingDisc_Up,206,192.168.200.11,0,吸盘气缸上升端,X07,DI-07,0, DI,吸盘气缸上升端,SuckingDisc_Up,206,192.168.200.21,0,吸盘气缸上升端,X07,DI-07,0,
DI,吸盘气缸下降端,SuckingDisc_Down,207,192.168.200.11,0,吸盘气缸下降端,X08,DI-08,0, DI,吸盘气缸下降端,SuckingDisc_Down,207,192.168.200.21,0,吸盘气缸下降端,X08,DI-08,0,
DI,料盘宽度检测1,WidthCheck1,208,192.168.200.11,0,料盘宽度检测1,X09,DI-09,0, DI,料盘宽度检测1,WidthCheck1,208,192.168.200.21,0,料盘宽度检测1,X09,DI-09,0,
DI,料盘宽度检测2,WidthCheck2,209,192.168.200.11,0,料盘宽度检测2,X10,DI-10,0, DI,料盘宽度检测2,WidthCheck2,209,192.168.200.21,0,料盘宽度检测2,X10,DI-10,0,
DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial,210,192.168.200.11,0,料盘检测1（上料机构）,X11,DI-11,0, DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial,210,192.168.200.21,0,料盘检测1（上料机构）,X11,DI-11,0,
DI,上料机构出料检测,OutCheck,211,192.168.200.11,0,上料机构出料检测,X12,DI-12,0, DI,上料机构出料检测,OutCheck,211,192.168.200.21,0,上料机构出料检测,X12,DI-12,0,
DI,门锁气缸打开端,BatchDoor_Open,212,192.168.200.11,0,门锁气缸打开端,X13,DI-13,0, DI,门锁气缸打开端,BatchDoor_Open,212,192.168.200.21,0,门锁气缸打开端,X13,DI-13,0,
DI,门锁气缸关闭端,BatchDoor_Close,213,192.168.200.11,0,门锁气缸关闭端,X14,DI-14,0, DI,门锁气缸关闭端,BatchDoor_Close,213,192.168.200.21,0,门锁气缸关闭端,X14,DI-14,0,
DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.11,0,料盘检测2（料叉机构）,X15,DI-15,0, DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.21,0,料盘检测2（料叉机构）,X15,DI-15,0,
DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.11,0,压紧机构计量检测,X16,DI-16,0, DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.21,0,压紧机构计量检测,X16,DI-16,0,
DO,自动指示灯,AutoRun_HddLed,100,192.168.200.11,0,自动指示灯,Y01,DO-01,0, DO,自动指示灯,AutoRun_HddLed,100,192.168.200.21,0,自动指示灯,Y01,DO-01,0,
DO,故障指示灯,Alarm_HddLed,101,192.168.200.11,0,故障指示灯,Y02,DO-02,0, DO,故障指示灯,Alarm_HddLed,101,192.168.200.21,0,故障指示灯,Y02,DO-02,0,
DO,待机指示灯,RunSign_HddLed,102,192.168.200.11,0,待机指示灯,Y03,DO-03,0, DO,待机指示灯,RunSign_HddLed,102,192.168.200.21,0,待机指示灯,Y03,DO-03,0,
DO,吹气SOL ON,StartOrStopBlow,103,192.168.200.11,0,吹气SOL ON,Y04,DO-04,0, DO,吹气SOL ON,StartOrStopBlow,103,192.168.200.21,0,吹气SOL ON,Y04,DO-04,0,
DO,料仓运转ON,Run_Sign,104,192.168.200.11,0,料仓运转ON,Y05,DO-05,0, DO,料仓运转ON,Run_Sign,104,192.168.200.21,0,料仓运转ON,Y05,DO-05,0,
DO,轴2刹车电源ON,Axis_Brake,105,192.168.200.11,0,轴2刹车电源ON,Y06,DO-06,0, DO,轴2刹车电源ON,Axis_Brake,105,192.168.200.21,0,轴2刹车电源ON,Y06,DO-06,0,
DO,相机照明开,CameraLight_Power,106,192.168.200.11,0,相机照明开,Y07,DO-07,0, DO,相机照明开,CameraLight_Power,106,192.168.200.21,0,相机照明开,Y07,DO-07,0,
DO,吸盘吸料SOL,SuckingDisc_Work,107,192.168.200.11,0,吸盘吸料SOL,Y08,DO-08,0, DO,吸盘吸料SOL,SuckingDisc_Work,107,192.168.200.21,0,吸盘吸料SOL,Y08,DO-08,0,
DO,进料口门上升SOL,Door_Up,108,192.168.200.11,0,进料口门上升SOL,Y09,DO-09,0, DO,进料口门上升SOL,Door_Up,108,192.168.200.21,0,进料口门上升SOL,Y09,DO-09,0,
DO,进料口门下降SOL,Door_Down,109,192.168.200.11,0,进料口门下降SOL,Y10,DO-10,0, DO,进料口门下降SOL,Door_Down,109,192.168.200.21,0,进料口门下降SOL,Y10,DO-10,0,
DO,吸盘气缸上升SOL,SuckingDisc_Up,110,192.168.200.11,0,吸盘气缸上升SOL,Y11,DO-11,0, DO,吸盘气缸上升SOL,SuckingDisc_Up,110,192.168.200.21,0,吸盘气缸上升SOL,Y11,DO-11,0,
DO,吸盘气缸下降SOL,SuckingDisc_Down,111,192.168.200.11,0,吸盘气缸下降SOL,Y12,DO-12,0, DO,吸盘气缸下降SOL,SuckingDisc_Down,111,192.168.200.21,0,吸盘气缸下降SOL,Y12,DO-12,0,
DO,门锁气缸打开SOL,BatchDoor_Open,112,192.168.200.11,0,门锁气缸打开SOL,Y13,DO-13,0, DO,门锁气缸打开SOL,BatchDoor_Open,112,192.168.200.21,0,门锁气缸打开SOL,Y13,DO-13,0,
DO,门锁气缸关闭SOL,BatchDoor_Close,113,192.168.200.11,0,门锁气缸关闭SOL,Y14,DO-14,0, DO,门锁气缸关闭SOL,BatchDoor_Close,113,192.168.200.21,0,门锁气缸关闭SOL,Y14,DO-14,0,
DO,门禁功能屏蔽,DisableDoorControl,114,192.168.200.11,0,门禁功能屏蔽,Y15,DO-15,0, DO,门禁功能屏蔽,DisableDoorControl,114,192.168.200.21,0,门禁功能屏蔽,Y15,DO-15,0,
,,,115,192.168.200.11,0,,Y16,DO-16,0, ,,,115,192.168.200.21,0,,Y16,DO-16,0,
DI,上料机构门关闭,DoorClose_LoadMaterial,200,192.168.200.12,0,上料机构门关闭,X21,DI-21,0, DI,上料机构门关闭,DoorClose_LoadMaterial,200,192.168.200.22,0,上料机构门关闭,X21,DI-21,0,
DI,气压检测,Airpressure_Check,201,192.168.200.12,0,气压检测,X22,DI-22,0, DI,气压检测,Airpressure_Check,201,192.168.200.22,0,气压检测,X22,DI-22,0,
DI,吸盘压力确认信号,SuckingDisc_Air,202,192.168.200.12,0,吸盘压力确认信号,X23,DI-23,0, DI,吸盘压力确认信号,SuckingDisc_Air,202,192.168.200.22,0,吸盘压力确认信号,X23,DI-23,0,
DI,左侧门关闭,DoorColse_Single,203,192.168.200.12,0,左侧门关闭,X24,DI-24,0, DI,左侧门关闭,DoorColse_Single,203,192.168.200.22,0,左侧门关闭,X24,DI-24,0,
,,,100,192.168.200.12,0,,Y21,DO-21,0, ,,,100,192.168.200.22,0,,Y21,DO-21,0,
,,,101,192.168.200.12,0,,Y22,DO-22,0, ,,,101,192.168.200.22,0,,Y22,DO-22,0,
,,,102,192.168.200.12,0,,Y23,DO-23,0, ,,,102,192.168.200.22,0,,Y23,DO-23,0,
,,,103,192.168.200.12,0,,Y24,DO-24,0, ,,,103,192.168.200.22,0,,Y24,DO-24,0,
AXIS,(轴一)旋转轴,Middle_Axis,1,COM1,0,,,,, AXIS,(轴一)旋转轴,Middle_Axis,1,COM1,0,,,,,
AXIS,(轴二)升降轴轴,UpDown_Axis,2,COM1,0,,,,, AXIS,(轴二)升降轴轴,UpDown_Axis,2,COM1,0,,,,,
AXIS,(轴三)进出轴,InOut_Axis,3,COM1,0,,,,, AXIS,(轴三)进出轴,InOut_Axis,3,COM1,0,,,,,
...@@ -47,13 +47,13 @@ AXIS,(轴五)批量上下料轴,Batch_Axis,4,COM1,0,,,,, ...@@ -47,13 +47,13 @@ AXIS,(轴五)批量上下料轴,Batch_Axis,4,COM1,0,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,升降轴 仓门位置P7(人工拿走盘的位置),UpDownAxis_Door_P7,347550,,,,,,, PRO,升降轴 仓门位置P7(人工拿走盘的位置),UpDownAxis_Door_P7,347550,,,,,,,
PRO,升降轴 出库高点P2,UpDownAxis_OutHigh_P2,247000,,,,,,, PRO,升降轴 出库高点P2,UpDownAxis_OutHigh_P2,247000,,,,,,,
PRO,升降轴 出库低点P8,UpDownAxis_OutLow_P8,217000,,,,,,, PRO,升降轴 出库低点P8,UpDownAxis_OutLow_P8,230000,,,,,,,
PRO,升降轴从吸盘下方接料后下降的高度,UpDownAxis_DownValue,10000,,,,,,, PRO,升降轴从吸盘下方接料后下降的高度,UpDownAxis_DownValue,10000,,,,,,,
PRO,升降轴 入库P1点集合,UpDownAxis_P1_List,12#396000;16#394000;20#394000;24#390500;28#390500;32#390500;36#390500;40#390500;52#390500;,,,,,,, PRO,升降轴 入库P1点集合,UpDownAxis_P1_List,8#398000;12#398000;16#393000;20#393000;24#390500;28#390500;32#390500;36#390500;40#390500;52#390500;,,,,,,,
PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,217400,,,,,,, PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,217400,,,,,,,
PRO,进出轴(轴三)P1待机原位点,InOutAxis_P1_Position,1000,,,,,,, PRO,进出轴(轴三)P1待机原位点,InOutAxis_P1_Position,1000,,,,,,,
PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-25000,,,,,,, PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-25000,,,,,,,
PRO,压紧轴（轴4）P2压紧点集合,CompressAxis_P2_List,12#-110000;16#-90000;20#-90000;24#-70000;28#-70000;32#-70000;36#-70000;40#-70000;44#-70000;48#-70000;52#-70000;,,,,,,, PRO,压紧轴（轴4）P2压紧点集合,CompressAxis_P2_List,8#-110000;12#-110000;16#-90000;20#-90000;24#-110000;28#-70000;32#-70000;36#-70000;40#-70000;44#-70000;48#-70000;52#-70000;,,,,,,,
PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,, PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,,
PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,, PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,,
PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,,,, PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,,,,
...@@ -63,38 +63,38 @@ PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,180,,,,, ,, ...@@ -63,38 +63,38 @@ PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,180,,,,, ,,
,,,,,,,,,, ,,,,,,,,,,
PRO,预警温度,WarnTemperate,80,,,,,,, PRO,预警温度,WarnTemperate,80,,,,,,,
PRO,预警湿度,WarnHumidity,80,,,,,,, PRO,预警湿度,WarnHumidity,80,,,,,,,
PRO,(轴一)旋转轴目标速度,MiddleAxis_TargetSpeed,250,,,,,,, PRO,(轴一)旋转轴目标速度,MiddleAxis_TargetSpeed,1000,,,,,,,
PRO,(轴一)旋转轴加速度,MiddleAxis_AddSpeed,80,,,,,,, PRO,(轴一)旋转轴加速度,MiddleAxis_AddSpeed,1000,,,,,,,
PRO,(轴一)旋转轴减速度,MiddleAxis_DelSpeed,80,,,,,,, PRO,(轴一)旋转轴减速度,MiddleAxis_DelSpeed,1000,,,,,,,
PRO,(轴一)旋转轴原点低速度,MiddleAxis_HomeLowSpeed,80,,,,,,, PRO,(轴一)旋转轴原点低速度,MiddleAxis_HomeLowSpeed,1000,,,,,,,
PRO,(轴一)旋转轴原点高速,MiddleAxis_HomeHighSpeed,60,,,,,,, PRO,(轴一)旋转轴原点高速,MiddleAxis_HomeHighSpeed,1000,,,,,,,
PRO,(轴一)旋转轴原点加速度,MiddleAxis_HomeAddSpeed,50,,,,,,, PRO,(轴一)旋转轴原点加速度,MiddleAxis_HomeAddSpeed,1000,,,,,,,
PRO,(轴二)升降轴轴目标速度,UpdownAxis_TargetSpeed,150,,,,,,, PRO,(轴二)升降轴轴目标速度,UpdownAxis_TargetSpeed,200,,,,,,,
PRO,(轴二)升降轴轴加速度,UpdownAxis_AddSpeed,40,,,,,,, PRO,(轴二)升降轴轴加速度,UpdownAxis_AddSpeed,200,,,,,,,
PRO,(轴二)升降轴轴减速度,UpdownAxis_DelSpeed,40,,,,,,, PRO,(轴二)升降轴轴减速度,UpdownAxis_DelSpeed,200,,,,,,,
PRO,(轴二)升降轴轴原点低速度,UpdownAxis_HomeLowSpeed,10,,,,,,, PRO,(轴二)升降轴轴原点低速度,UpdownAxis_HomeLowSpeed,200,,,,,,,
PRO,(轴二)升降轴轴原点高速,UpdownAxis_HomeHighSpeed,20,,,,,,, PRO,(轴二)升降轴轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,,,
PRO,(轴二)升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,20,,,,,,, PRO,(轴二)升降轴轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,,,
PRO,(轴三)进出轴目标速度,InoutAxis_TargetSpeed,100,,,,,,, PRO,(轴三)进出轴目标速度,InoutAxis_TargetSpeed,200,,,,,,,
PRO,(轴三)进出轴加速度,InoutAxis_AddSpeed,30,,,,,,, PRO,(轴三)进出轴加速度,InoutAxis_AddSpeed,200,,,,,,,
PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,30,,,,,,, PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,200,,,,,,,
PRO,(轴三)进出轴原点低速,InoutAxis_HomeLowSpeed,20,,,,,,, PRO,(轴三)进出轴原点低速,InoutAxis_HomeLowSpeed,200,,,,,,,
PRO,(轴三)进出轴原点高速,InoutAxis_HomeHighSpeed,60,,,,,,, PRO,(轴三)进出轴原点高速,InoutAxis_HomeHighSpeed,200,,,,,,,
PRO,(轴三)进出轴原点加速度,InoutAxis_HomeAddSpeed,20,,,,,,, PRO,(轴三)进出轴原点加速度,InoutAxis_HomeAddSpeed,200,,,,,,,
PRO,升降轴(轴二)到仓门速度,UpDownAxis_Door_Speed,50,,,,,,, PRO,升降轴(轴二)到仓门速度,UpDownAxis_Door_Speed,250,,,,,,,
PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,250,,,,,,, PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,1000,,,,,,,
PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,250,,,,,,, PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,1000,,,,,,,
PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,250,,,,,,, PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,1000,,,,,,,
PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,150,,,,,,, PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,500,,,,,,,
PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,250,,,,,,, PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,1000,,,,,,,
PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,100,,,,,,, PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,500,,,,,,,
PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,100,,,,,,, PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,1000,,,,,,,
PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,100,,,,,,, PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,500,,,,,,,
PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,120,,,,,,, PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,500,,,,,,,
PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,120,,,,,,, PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,500,,,,,,,
PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,100,,,,,,, PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,500,,,,,,,
PRO,进出轴(轴三)P2速度,InOutAxis_P2_Speed,100,,,,,,, PRO,进出轴(轴三)P2速度,InOutAxis_P2_Speed,500,,,,,,,
PRO,进出轴(轴三)P3速度,InOutAxis_P3_Speed,100,,,,,,, PRO,进出轴(轴三)P3速度,InOutAxis_P3_Speed,500,,,,,,,
PRO,(轴一)旋转轴最小误差脉冲值,MiddleAxis_ErrorCountMin,10,,,,,, , PRO,(轴一)旋转轴最小误差脉冲值,MiddleAxis_ErrorCountMin,10,,,,,, ,
PRO,(轴二)升降轴轴最小误差脉冲值,UpdownAxis_ErrorCountMin,10,,,,,,, PRO,(轴二)升降轴轴最小误差脉冲值,UpdownAxis_ErrorCountMin,10,,,,,,,
PRO,(轴三)进出轴最小误差脉冲值,InoutAxis_ErrorCountMin,10,,,,,,, PRO,(轴三)进出轴最小误差脉冲值,InoutAxis_ErrorCountMin,10,,,,,,,
...@@ -112,16 +112,16 @@ PRO,(轴一)旋转轴最大限位,MiddleAxis_PositionMax,0,,,,,,, ...@@ -112,16 +112,16 @@ PRO,(轴一)旋转轴最大限位,MiddleAxis_PositionMax,0,,,,,,,
PRO,(轴二)升降轴最大限位,UpdownAxis_PositionMax,0,,,,,,, PRO,(轴二)升降轴最大限位,UpdownAxis_PositionMax,0,,,,,,,
PRO,(轴三)进出轴最大限位,InoutAxis_PositionMax,0,,,,,,, PRO,(轴三)进出轴最大限位,InoutAxis_PositionMax,0,,,,,,,
PRO,需要吹气的温度(温度标准),Max_Temperature,0,,,,,, , PRO,需要吹气的温度(温度标准),Max_Temperature,0,,,,,, ,
PRO,需要吹气的湿度(湿度标准),Max_Humidity,10,,,,,,, PRO,需要吹气的湿度(湿度标准),Max_Humidity,5,,,,,,,
PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,, PRO,每次吹气的时间（分钟）,BlowAir_Time,30,,,,,,,
PRO,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,, PRO,两次吹气间隔（分钟）,BlowAir_Interval,1,,,,,,,
PRO,温湿度端口号,Humiture_Port,COM2,,,,,,, PRO,温湿度端口号,Humiture_Port,COM5,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,硕科步进电机(压紧轴)控制端口号,CompressAxis_PortName,COM6,,,,,,, PRO,硕科步进电机(压紧轴)控制端口号,CompressAxis_PortName,COM6,,,,,,,
PRO,硕科步进电机(压紧轴)控制波特率,CompressAxis_PortBaudrate,9600,,,,,,, PRO,硕科步进电机(压紧轴)控制波特率,CompressAxis_PortBaudrate,9600,,,,,,,
PRO,硕科步进电机(压紧轴)控制奇偶校验,CompressAxis_PortParity,0,,,,,,, PRO,硕科步进电机(压紧轴)控制奇偶校验,CompressAxis_PortParity,0,,,,,,,
PRO,硕科步进电机(压紧轴)控制停止位,CompressAxis_StopBits,1,,,,,,, PRO,硕科步进电机(压紧轴)控制停止位,CompressAxis_StopBits,1,,,,,,,
PRO,硕科步进电机(压紧轴)控制初速度,CompressAxis_StartSpeed,16000,,,,,,, PRO,硕科步进电机(压紧轴)控制初速度,CompressAxis_StartSpeed,30000,,,,,,,
PRO,硕科步进电机(压紧轴)控制最大速度,CompressAxis_MaxSpeed,40000,,,,,,, PRO,硕科步进电机(压紧轴)控制最大速度,CompressAxis_MaxSpeed,40000,,,,,,,
PRO,硕科步进电机(压紧轴)控制末速度,CompressAxis_EndSpeed,40000,,,,,,, PRO,硕科步进电机(压紧轴)控制末速度,CompressAxis_EndSpeed,40000,,,,,,,
PRO,硕科步进电机(压紧轴)控制加速度,CompressAxis_AddSpeed,4000,,,,,,, PRO,硕科步进电机(压紧轴)控制加速度,CompressAxis_AddSpeed,4000,,,,,,,
...@@ -129,25 +129,25 @@ PRO,硕科步进电机(压紧轴)控制减速度,CompressAxis_DelSpeed,4000,,,,,,, ...@@ -129,25 +129,25 @@ PRO,硕科步进电机(压紧轴)控制减速度,CompressAxis_DelSpeed,4000,,,,,,,
PRO,硕科步进电机(压紧轴)原点返回速度,CompressAxis_HomeSpeed,4000,,,,,,, PRO,硕科步进电机(压紧轴)原点返回速度,CompressAxis_HomeSpeed,4000,,,,,,,
PRO,硕科步进电机轴地址(压紧轴),CompressAxis_Slv,1,,,,,, , PRO,硕科步进电机轴地址(压紧轴),CompressAxis_Slv,1,,,,,, ,
,,,,,,,,,, ,,,,,,,,,,
PRO,(轴五)上料轴目标速度,BatchAxis_TargetSpeed,300,,,,,,, PRO,(轴五)上料轴目标速度,BatchAxis_TargetSpeed,800,,,,,,,
PRO,(轴五)上料轴慢速匀速上升速度,BatchAxis_SlowSpeed,150,,,,,,, PRO,(轴五)上料轴慢速匀速上升速度,BatchAxis_SlowSpeed,150,,,,,,,
PRO,(轴五)上料轴加速度,BatchAxis_AddSpeed,300,,,,,,, PRO,(轴五)上料轴加速度,BatchAxis_AddSpeed,300,,,,,,,
PRO,(轴五)上料轴减速度,BatchAxis_DelSpeed,300,,,,,,, PRO,(轴五)上料轴减速度,BatchAxis_DelSpeed,300,,,,,,,
PRO,(轴五)上料轴原点低速,BatchAxis_HomeLowSpeed,20,,,,,,, PRO,(轴五)上料轴原点低速,BatchAxis_HomeLowSpeed,20,,,,,,,
PRO,(轴五)上料轴原点高速,BatchAxis_HomeHighSpeed,60,,,,,,, PRO,(轴五)上料轴原点高速,BatchAxis_HomeHighSpeed,60,,,,,,,
PRO,(轴五)上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,,, PRO,(轴五)上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,,,
PRO,(轴五)上料轴P1点（出库时接料盘的位置）,BatchAxis_P1,1730000,,,,,, , PRO,(轴五)上料轴P1点（出库时接料盘的位置）,BatchAxis_P1,1750000,,,,,, ,
PRO,(轴五)上料轴P2点（待机点）,BatchAxis_P2,20000,,,,,, , PRO,(轴五)上料轴P2点（待机点）,BatchAxis_P2,30000,,,,,, ,
PRO,(轴五)上料轴P2速度,BatchAxis_P2_Speed,300,,,,,,, PRO,(轴五)上料轴P2速度,BatchAxis_P2_Speed,2500,,,,,,,
PRO,(轴五)上料轴最小误差脉冲值,BatchAxis_ErrorCountMin,10,,,,,,, PRO,(轴五)上料轴最小误差脉冲值,BatchAxis_ErrorCountMin,10,,,,,,,
PRO,(轴五)上料轴最大误差脉冲值,BatchAxis_ErrorCountMax,1000,,,,,,, PRO,(轴五)上料轴最大误差脉冲值,BatchAxis_ErrorCountMax,1000,,,,,,,
PRO,(轴五)上料轴最小限位,BatchAxis_PositionMin,0,,,,,,, PRO,(轴五)上料轴最小限位,BatchAxis_PositionMin,0,,,,,,,
PRO,(轴五)上料轴最大限位,BatchAxis_PositionMax,0,,,,,,, PRO,(轴五)上料轴最大限位,BatchAxis_PositionMax,0,,,,,,,
PRO,(轴五)上料轴P1速度,BatchAxis_P1_Speed,300,,,,,,, PRO,(轴五)上料轴P1速度,BatchAxis_P1_Speed,2000,,,,,,,
PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,80000,,,,,,, PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,80000,,,,,,,
PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,340,,,,,,, PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,360,,,,,,,
PRO,最后一盘料需要补充的高度,LastTrayAddHeight,12,,,,,,, PRO,最后一盘料需要补充的高度,LastTrayAddHeight,12,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,IO模块对应的DI数量,IO_DILength,192.168.200.11#16;192.168.200.12#4,,,,,, , PRO,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#4,,,,,, ,
PRO,模块对应的DO数量,IO_DOLength,192.168.200.11#16;192.168.200.12#4,,,,,,, PRO,模块对应的DO数量,IO_DOLength,192.168.200.21#16;192.168.200.22#4,,,,,,,
source/DeviceLibrary/StoreConfig/AC/linePositions.csv
位置,优先级,高度,宽度,料仓ID,中轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,压紧轴压紧点P2,压紧轴压紧前点P3,进出轴仓门出料点P4,进出轴吸盘取料点P2 位置,优先级,高度,宽度,料仓ID,中轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,压紧轴压紧点P2,压紧轴压紧前点P3,进出轴仓门出料点P4,进出轴吸盘取料点P2
1#AUTO1_1_1_1,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854 1#AC2_2_1_1,208,24,13,1,73490,0,6500,6500,0,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_2,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854 1#AC2_2_1_2,207,24,13,1,73490,30250,36750,36750,30250,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_3,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854 1#AC2_2_1_3,206,24,13,1,73490,60500,67000,67000,60500,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_4,774,40,13,,80430,407400,415100,415100,407400,86693,-40000,-20000,84854,84854 1#AC2_2_1_4,205,24,13,1,73490,90750,97250,97250,90750,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_5,773,40,13,,211783,67807,71168,71168,67807,86693,-40000,-20000,84854,84854 1#AC2_2_1_5,204,24,13,1,73490,121000,127500,127500,121000,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_6,772,40,13,,211783,83730,87091,87091,83730,86693,-40000,-20000,84854,84854 1#AC2_2_1_6,203,24,13,1,73490,151250,157750,157750,151250,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_7,771,40,13,,211783,99653,103014,103014,99653,86693,-40000,-20000,84854,84854 1#AC2_2_1_7,202,24,13,1,73490,181500,188000,188000,181500,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_8,770,40,13,,211783,115576,118937,118937,115576,86693,-40000,-20000,84854,84854 1#AC2_2_1_8,201,24,13,1,73490,211750,218250,218250,211750,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_9,769,40,13,,211783,131499,134860,134860,131499,86693,-40000,-20000,84854,84854 1#AC2_2_1_9,200,24,13,1,73490,242000,248500,248500,242000,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_10,768,40,13,,211783,147422,150783,150783,147422,86693,-40000,-20000,84854,84854 1#AC2_2_1_10,199,24,13,1,73490,272250,278750,278750,272250,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_11,767,40,13,,211783,163345,166706,166706,163345,86693,-40000,-20000,84854,84854 1#AC2_2_1_11,198,24,13,1,73490,302500,309000,309000,302500,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_12,766,40,13,,211783,179268,182629,182629,179268,86693,-40000,-20000,84854,84854 1#AC2_2_1_12,197,24,13,1,73490,331250,339250,339250,331250,86000,-110000,-25000,88750,88750
1#AUTO1_1_1_13,765,52,13,,211783,195191,198552,198552,195191,86693,-40000,-10000,84854,84854 1#AC2_2_1_13,196,24,13,1,73490,362000,369500,369500,362000,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_1,755,40,13,,211783,385700,389433,389433,385700,86693,-40000,-20000,84854,84854 1#AC2_2_2_1,195,24,13,1,73490,393250,399750,399750,393250,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_2,755,40,13,,211783,385700,389433,389433,385700,86693,-40000,-20000,84854,84854 1#AC2_2_2_2,194,24,13,1,73530,423350,429850,429850,423350,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_3,755,40,13,,211783,385700,389433,389433,385700,86693,-40000,-20000,84854,84854 1#AC2_2_2_3,193,24,13,1,73570,453450,459950,459950,453450,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_4,754,40,13,,211783,403000,405356,405356,403000,86693,-40000,-20000,84854,84854 1#AC2_2_2_4,192,24,13,1,73610,483550,490050,490050,483550,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_5,753,40,13,,211783,418345,421279,421279,418345,86693,-40000,-20000,84854,84854 1#AC2_2_2_5,191,24,13,1,73650,513650,520150,520150,513650,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_6,752,40,13,,211783,434000,437202,437202,434000,86693,-40000,-20000,84854,84854 1#AC2_2_2_6,190,24,13,1,73690,543750,550250,550250,543750,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_7,751,40,13,,211783,450000,453125,453125,450000,86693,-40000,-20000,84854,84854 1#AC2_2_2_7,189,24,13,1,73730,573850,580350,580350,573850,86000,-110000,-25000,88750,88750
1#AUTO1_1_2_8,750,40,13,,211783,465900,469048,469048,465900,86693,-40000,-20000,84854,84854 1#AC2_2_2_8,188,24,13,1,73770,603950,610450,610450,603950,86000,-110000,-25000,88750,88750
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1#AUTO1_5_2_4,495,40,13,1,42979,402500,404856,404856,402500,86693,-40000,-20000,84854,84854 1#AC2_6_2_4,36,24,13,1,362000,483550,490050,490050,483550,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_5,494,40,13,1,42979,417845,420779,420779,417845,86693,-40000,-20000,84854,84854 1#AC2_6_2_5,35,24,13,1,362000,513650,520150,520150,513650,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_6,493,40,13,1,42979,434000,436702,436702,434000,86693,-40000,-20000,84854,84854 1#AC2_6_2_6,34,24,13,1,362000,543750,550250,550250,543750,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_7,492,40,13,1,42979,449500,452625,452625,449500,86693,-40000,-20000,84854,84854 1#AC2_6_2_7,33,24,13,1,362000,573850,580350,580350,573850,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_8,491,40,13,1,42979,465400,468548,468548,465400,86693,-40000,-20000,84854,84854 1#AC2_6_2_8,32,24,13,1,362000,603950,610450,610450,603950,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_9,490,40,13,1,42979,481300,484471,484471,481300,86693,-40000,-20000,84854,84854 1#AC2_6_2_9,31,24,13,1,362000,634050,640550,640550,634050,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_10,489,40,13,1,42979,497160,500394,500394,497160,86693,-40000,-20000,84854,84854 1#AC2_6_2_10,30,24,13,1,362000,664150,670650,670650,664150,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_11,488,40,13,1,42979,513100,516317,516317,513100,86693,-40000,-20000,84854,84854 1#AC2_6_2_11,29,24,13,1,362000,694250,700750,700750,694250,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_12,487,40,13,1,42979,528700,532240,532240,528700,86693,-40000,-20000,84854,84854 1#AC2_6_2_12,28,24,13,1,362000,724350,730850,730850,724350,86000,-110000,-25000,88750,88750
1#AUTO1_5_2_13,486,40,13,1,42979,544600,548163,548163,544600,86693,-40000,-20000,84854,84854 1#AC2_6_2_13,27,24,13,1,362000,754450,760950,760950,754450,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_1,476,40,13,1,42979,705757,709366,709366,705757,86693,-40000,-20000,84854,84854 1#AC2_6_3_1,26,24,13,1,362000,784500,791500,791500,784500,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_2,475,40,13,1,42979,720680,725289,725289,720680,86693,-40000,-20000,84854,84854 1#AC2_6_3_2,25,24,13,1,362050,814750,821750,821750,814750,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_3,474,40,13,1,42979,736600,741212,741212,736600,86693,-40000,-20000,84854,84854 1#AC2_6_3_3,24,24,13,1,362100,845000,852000,852000,845000,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_4,473,40,13,1,42979,752526,757135,757135,752526,86693,-40000,-20000,84854,84854 1#AC2_6_3_4,23,24,13,1,362150,875250,882250,882250,875250,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_5,472,40,13,1,42979,767449,773058,773058,767449,86693,-40000,-20000,84854,84854 1#AC2_6_3_5,22,24,13,1,362200,905500,912500,912500,905500,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_6,471,40,13,1,42979,783372,788981,788981,783372,86693,-40000,-20000,84854,84854 1#AC2_6_3_6,21,24,13,1,362250,935750,942750,942750,935750,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_7,470,40,13,1,42979,799295,804904,804904,799295,86693,-40000,-20000,84854,84854 1#AC2_6_3_7,20,24,13,1,362300,966000,973000,973000,966000,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_8,469,40,13,1,42979,814718,818827,818827,814718,86693,-40000,-20000,84854,84854 1#AC2_6_3_8,19,24,13,1,362350,996250,1003250,1003250,996250,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_9,468,40,13,1,42979,831641,834750,834750,831641,86693,-40000,-20000,84854,84854 1#AC2_6_3_9,18,24,13,1,362400,1026500,1033500,1033500,1026500,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_10,467,40,13,1,42979,847564,850673,850673,847564,86693,-40000,-20000,84854,84854 1#AC2_6_3_10,17,24,13,1,362450,1056750,1063750,1063750,1056750,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_11,466,40,13,1,42979,861487,866596,866596,861487,86693,-40000,-20000,84854,84854 1#AC2_6_3_11,16,24,13,1,362500,1087000,1094000,1094000,1087000,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_12,465,40,13,1,42979,877900,882519,882519,877900,86693,-40000,-20000,84854,84854 1#AC2_6_3_12,15,24,13,1,362550,1117250,1124250,1124250,1117250,86000,-110000,-25000,88750,88750
1#AUTO1_5_3_13,464,52,13,1,42979,893333,898442,898442,893333,86693,-40000,-10000,84854,84854 1#AC2_6_3_13,14,24,13,1,362600,1147500,1154500,1154500,1147500,86000,-110000,-25000,88750,88750
1#AUTO1_6_1_1,455,40,13,1,863,5500,8900,8900,5500,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_2,454,40,13,1,863,21038,24899,24899,21038,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_3,453,40,13,1,863,36500,40322,40322,36500,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_4,452,40,13,1,863,51384,54745,54745,51384,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_5,451,40,13,1,863,67307,70668,70668,67307,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_6,450,40,13,1,863,83230,86591,86591,83230,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_7,449,40,13,1,863,99153,102514,102514,99153,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_8,448,40,13,1,863,115076,118437,118437,115076,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_9,447,40,13,1,863,130999,134360,134360,130999,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_10,446,40,13,1,863,146700,150283,150283,146700,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_11,445,40,13,1,863,162845,166206,166206,162845,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_12,444,40,13,1,863,178768,182129,182129,178768,86693,-40000,-20000,84854,84854
1#AUTO1_6_1_13,443,52,13,1,863,194200,198052,198052,194200,86693,-40000,-10000,84854,84854
1#AUTO1_6_2_1,433,40,13,1,863,354153,357087,357087,354153,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_2,432,40,13,1,863,370076,373500,373500,370076,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_3,431,40,13,1,863,385200,389200,389200,385200,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_4,430,40,13,1,863,401600,404856,404856,401600,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_5,429,40,13,1,863,417845,421700,421700,417845,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_6,428,40,13,1,863,433500,437700,437700,433500,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_7,427,40,13,1,863,449500,454000,454000,449500,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_8,426,40,13,1,863,465000,470000,470000,465000,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_9,425,40,13,1,863,481000,485400,485400,481000,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_10,424,40,13,1,863,496000,501300,501300,496000,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_11,423,40,13,1,863,512000,517317,517317,512000,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_12,422,40,13,1,863,527700,533240,533240,527700,86693,-40000,-20000,84854,84854
1#AUTO1_6_2_13,421,40,13,1,863,543300,549163,549163,543300,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_1,411,40,13,1,863,704757,708366,708366,704757,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_2,410,40,13,1,863,720300,724289,724289,720300,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_3,409,40,13,1,863,736603,740212,740212,736603,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_4,408,40,13,1,863,751526,756135,756135,751526,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_5,407,40,13,1,863,766449,772058,772058,766449,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_6,406,40,13,1,863,782372,787981,787981,782372,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_7,405,40,13,1,863,798295,803904,803904,798295,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_8,404,40,13,1,863,812718,817827,817827,812718,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_9,403,40,13,1,863,830641,833750,833750,830641,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_10,402,40,13,1,863,846564,849673,849673,846564,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_11,401,40,13,1,863,860487,865596,865596,860487,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_12,400,40,13,1,863,876410,881519,881519,876410,86693,-40000,-20000,84854,84854
1#AUTO1_6_3_13,399,52,13,1,863,892333,897442,897442,892333,86693,-40000,-10000,84854,84854
1#AUTO1_7_1_1,390,40,13,1,535149,5000,9476,9476,5000,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_2,389,40,13,1,535149,20538,24399,24399,20538,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_3,388,40,13,1,535149,36461,39822,39822,36461,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_4,387,40,13,1,535149,50884,54245,54245,50884,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_5,386,40,13,1,535149,66807,70168,70168,66807,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_6,385,40,13,1,535149,82730,86091,86091,82730,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_7,384,40,13,1,535149,98653,102014,102014,98653,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_8,383,40,13,1,535149,114576,117937,117937,114576,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_9,382,40,13,1,535149,130499,133860,133860,130499,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_10,381,40,13,1,535149,146422,149783,149783,146422,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_11,380,40,13,1,535149,162345,165706,165706,162345,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_12,379,40,13,1,535149,178268,181629,181629,178268,86693,-40000,-20000,84854,84854
1#AUTO1_7_1_13,378,52,13,1,535149,194191,197552,197552,194191,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_1,368,40,13,1,535149,353653,356587,356587,353653,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_2,367,40,13,1,535149,369576,372510,372510,369576,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_3,366,40,13,1,535149,384700,388433,388433,384700,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_4,365,40,13,1,535149,402000,404356,404356,402000,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_5,364,40,13,1,535149,417345,420279,420279,417345,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_6,363,40,13,1,535149,433000,436202,436202,433000,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_7,362,40,13,1,535149,449000,452125,452125,449000,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_8,361,40,13,1,535149,464900,468048,468048,464900,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_9,360,40,13,1,535149,480800,483971,483971,480800,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_10,359,40,13,1,535149,496660,499894,499894,496660,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_11,358,40,13,1,535149,512600,515817,515817,512600,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_12,357,40,13,1,535149,528200,531740,531740,528200,86693,-40000,-20000,84854,84854
1#AUTO1_7_2_13,356,40,13,1,535149,544100,547663,547663,544100,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_1,346,40,13,1,535149,703757,708866,708866,703757,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_2,345,40,13,1,535149,719680,724789,724789,719680,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_3,344,40,13,1,535149,735603,740712,740712,735603,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_4,343,40,13,1,535149,750526,756635,756635,750526,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_5,342,40,13,1,535149,765449,772558,772558,765449,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_6,341,40,13,1,535149,781372,788481,788481,781372,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_7,340,40,13,1,535149,799295,804404,804404,799295,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_8,339,40,13,1,535149,813718,818327,818327,813718,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_9,338,40,13,1,535149,830641,834250,834250,830641,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_10,337,40,13,1,535149,846064,850173,850173,846064,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_11,336,40,13,1,535149,861487,866096,866096,861487,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_12,335,40,13,1,535149,877410,882019,882019,877410,86693,-40000,-20000,84854,84854
1#AUTO1_7_3_13,335,52,13,1,535149,877410,882019,882019,877410,86693,-10000,-10000,84854,84854
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -179,9 +179,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -179,9 +179,7 @@ namespace OnlineStore.DeviceLibrary
wait.IsEnd = AutomaticBaiting.IsGetTrayGo; wait.IsEnd = AutomaticBaiting.IsGetTrayGo;
} }
else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10) else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10)
{ {
//if ((Config.Batch_Axis.IsSameAxis(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue())) && wait.TargetPosition.Equals(Config.BatchAxis_P1))
//{
if (!wait.IsEnd) if (!wait.IsEnd)
{ {
wait.IsEnd = AutomaticBaiting.BatchAxisIsEnd(wait); wait.IsEnd = AutomaticBaiting.BatchAxisIsEnd(wait);
...@@ -403,7 +401,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -403,7 +401,7 @@ namespace OnlineStore.DeviceLibrary
InStoreLog("入库：SI_06 压紧轴压紧，压紧轴到P2，升降轴稍微下降【" + Config.UpDownAxis_DownValue + "】，目标位置【" + targetPosition + "】 "); InStoreLog("入库：SI_06 压紧轴压紧，压紧轴到P2，升降轴稍微下降【" + Config.UpDownAxis_DownValue + "】，目标位置【" + targetPosition + "】 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_06_CompressWork); StoreMove.NextMoveStep(StoreMoveStep.SI_06_CompressWork);
ComMoveToPosition(moveP.ComPress_P2, true); ComMoveToPosition(moveP.ComPress_P2, true);
ACAxisMove(Config.UpDown_Axis, targetPosition, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, targetPosition, Config.UpDownAxis_P4_Speed);
} }
else else
{ {
...@@ -832,10 +830,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -832,10 +830,15 @@ namespace OnlineStore.DeviceLibrary
{ {
StoreMove.TimeOutSeconds = 120; StoreMove.TimeOutSeconds = 120;
//ACAxisMove(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed); //ACAxisMove(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed);
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_P1)); StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_P1, IO_Type.TrayCheck_LoadMaterial));
BatchAxisController.StartCheck(); BatchAxisController.StartCheck(IO_Type.TrayCheck_LoadMaterial);
Config.Batch_Axis.TargetPosition = Config.BatchAxis_P1; Config.Batch_Axis.TargetPosition = Config.BatchAxis_P1;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_P1, Config.BatchAxis_P1_Speed); int speed = Config.BatchAxis_P1_Speed;
if (AutomaticBaiting.BatchOutStoreHeight > 0)
{
speed = Config.BatchAxis_P1_Speed / 2;
}
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_P1, speed);
OutStoreLog("出库：SO_02 批量上下料轴到P1点【"+Config.BatchAxis_P1+"】 "); OutStoreLog("出库：SO_02 批量上下料轴到P1点【"+Config.BatchAxis_P1+"】 ");
} }
} }
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
...@@ -67,7 +67,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -67,7 +67,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveType.Equals(StoreMoveType.OutStore)) else if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{ {
//OutStoreProcess(); OutStoreProcess();
} }
} }
}catch(Exception ex) }catch(Exception ex)
...@@ -245,13 +245,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -245,13 +245,15 @@ namespace OnlineStore.DeviceLibrary
default: break; default: break;
} }
} }
#region 入库流程
private static void IsNeedInstore() private static void IsNeedInstore()
{ {
if (IsNeedStartInout) if (IsNeedStartInout)
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome); StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
LogUtil.info(Name + "复位中：需要检测是否有料盘，批量轴匀速上升速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】"); LogUtil.info(Name + "复位中：需要检测是否有料盘，批量轴匀速上升速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed,IO_Type.TrayCheck_LoadMaterial);
} }
else else
{ {
...@@ -304,7 +306,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -304,7 +306,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】"); LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_MoveToUp)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_MoveToUp))
...@@ -327,10 +329,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -327,10 +329,10 @@ namespace OnlineStore.DeviceLibrary
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_SuckingDisc_Up); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升" ); LogUtil.info(Name + "入料: 吸盘上升");
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, false); CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, false);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Down, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Down, IO_VALUE.LOW));
} }
else if (SuckingDisc_WorkCount < 3) else if (SuckingDisc_WorkCount < 3)
{ {
...@@ -339,7 +341,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -339,7 +341,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
//TODO 报警 //TODO 报警
WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError,"吸盘吸料失败"); WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnMsg, StoreMoveType.InStore); StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnMsg, StoreMoveType.InStore);
LogUtil.error(WarnMsg, 103); LogUtil.error(WarnMsg, 103);
} }
...@@ -350,7 +352,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -350,7 +352,7 @@ namespace OnlineStore.DeviceLibrary
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
LogUtil.info(Name + "入料: 批量上下料轴上升速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】"); LogUtil.info(Name + "入料: 批量上下料轴上升速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed ); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true); CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
if (StoreManager.Config.Default_TrayWidth.Equals(7)) if (StoreManager.Config.Default_TrayWidth.Equals(7))
{ {
...@@ -371,7 +373,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -371,7 +373,7 @@ namespace OnlineStore.DeviceLibrary
{ {
WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"); WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnMsg, StoreMoveType.InStore); StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnMsg, StoreMoveType.InStore);
LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败",105); LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_BatchAxisUp)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_BatchAxisUp))
...@@ -481,7 +483,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -481,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
addHeight = StoreManager.Config.LastTrayAddHeight; addHeight = StoreManager.Config.LastTrayAddHeight;
} }
LastHeight += addHeight; LastHeight += addHeight;
LogUtil.info(Name + "入料: 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【"+addHeight+"】计算后高度【" + LastHeight + "】"); LogUtil.info(Name + "入料: 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【" + addHeight + "】计算后高度【" + LastHeight + "】");
if (LastHeight < 0) if (LastHeight < 0)
{ {
LastHeight = StoreManager.Config.GetDefaultHeight(); LastHeight = StoreManager.Config.GetDefaultHeight();
...@@ -509,10 +511,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -509,10 +511,10 @@ namespace OnlineStore.DeviceLibrary
{ {
LastHeight = (int)Math.Ceiling(1F * LastHeight / 4) * 4; LastHeight = (int)Math.Ceiling(1F * LastHeight / 4) * 4;
} }
} }
return LastHeight; return LastHeight;
} }
private static List<AutoStorePosition> AllPosList = null; private static List<AutoStorePosition> AllPosList = null;
private static void SendTrayOut() private static void SendTrayOut()
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I10_WaitTrayGo);
...@@ -546,7 +548,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -546,7 +548,7 @@ namespace OnlineStore.DeviceLibrary
} }
private static void ClearTimeOut() private static void ClearTimeOut()
{ {
if (WarnMsg.Contains(TimeOut)) if (WarnMsg.Contains(TimeOut))
{ {
WarnMsg = ""; WarnMsg = "";
...@@ -587,7 +589,115 @@ namespace OnlineStore.DeviceLibrary ...@@ -587,7 +589,115 @@ namespace OnlineStore.DeviceLibrary
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed); ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
} }
} }
#endregion
#region 出库流程
public static string StartOut()
{
if ((!StoreManager.Store.storeRunStatus.Equals(StoreRunStatus.Runing)) ||
(!StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.None)))
{
LogUtil.error(Name + " 启动出料流程失败，料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType);
return "料仓不在待机状态" + StoreManager.Store.storeRunStatus + "，MoveType" + StoreManager.Store.StoreMove.MoveType;
}
if (AutoBaitingStatus == StoreRunStatus.Runing && StoreMove.MoveType.Equals(StoreMoveType.None))
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.OutStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O00_Wait);
LogUtil.info(Name + "启动出料");
return "";
}
else
{
LogUtil.error(Name + " 启动出料失败， Status=" + AutoBaitingStatus + "，MoveType=" + StoreMove.MoveType);
return "启动出料失败， Status = " + AutoBaitingStatus + "，MoveType = " + StoreMove.MoveType;
}
}
private static void OutStoreProcess()
{
if (StoreMove.IsInWait)
{
CheckWait();
}
if (StoreMove.IsInWait)
{
return;
}
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O00_Wait))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_WaitDoorOpen);
LogUtil.info(Name + "出料: 等待门锁打开 ");
BatchDoorOpen(true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_WaitDoorOpen))
{
if (KND.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitOutSingleLow);
LogUtil.info(Name + " 出料 ，等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove);
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.OutCheck);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitOutSingleLow))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove);
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.OutCheck);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O03_SpeedMove))
{
//先判断极限是否亮
int value = ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis);
if (value.Equals(1))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O05_BackToP2);
LogUtil.info(Name + "出料：上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】");
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
else
{
//等待出料信号亮
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitOutSingleLow);
LogUtil.info(Name + " 出料 ，等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O05_BackToP2))
{
//TODO
LogUtil.info(Name + "出料：回到待机点完成，出料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
else
{
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
}
}
private static void StopOutProcess()
{
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
LogUtil.error(Name+"正在出料中，停止出料流程");
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis);
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
}
#endregion
public static bool DoorIsClose() public static bool DoorIsClose()
{ {
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
...@@ -15,14 +15,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -15,14 +15,14 @@ namespace OnlineStore.DeviceLibrary
private static int StartMovePosition = 0; private static int StartMovePosition = 0;
private static int EndMovePosition = 0; private static int EndMovePosition = 0;
//public static int AutoAxisIsMove = 0; //public static int AutoAxisIsMove = 0;
private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis, int targetSpeed) private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis, int targetSpeed,string targetSingle)
{ {
//AutoAxisIsMove = 1; //AutoAxisIsMove = 1;
StartMovePosition = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue()); StartMovePosition = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
EndMovePosition = StartMovePosition; EndMovePosition = StartMovePosition;
LogUtil.debug("当前坐标："+StartMovePosition+",批量上料轴开始匀速"+targetSpeed+"上升"); LogUtil.debug("当前坐标："+StartMovePosition+",批量上料轴开始匀速"+targetSpeed+"上升");
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(moveAxis,0)); StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(moveAxis,0, targetSingle));
BatchAxisController.StartCheck(); BatchAxisController.StartCheck(targetSingle);
ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed); ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
} }
...@@ -119,19 +119,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -119,19 +119,7 @@ namespace OnlineStore.DeviceLibrary
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()); IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
wait.IsEnd = wait.IoValue.Equals(value); wait.IsEnd = wait.IoValue.Equals(value);
} }
//else if (wait.WaitType == (int)Wait_Type.WaitHeight_7)
//{
//}
//else if (wait.WaitType == (int)Wait_Type.AxisLimitNegativeSingle_8)
//{
// IO_VALUE value = (IO_VALUE)ACServerManager.GetLimitNegativeSingle(wait.AxisInfo);
// wait.IsEnd = wait.IoValue.Equals(value);
//}
//else if (wait.WaitType == (int)Wait_Type.AxisLimitPositiveSingle_9)
//{
// IO_VALUE value = (IO_VALUE)ACServerManager.GetLimitPositiveSingle(wait.AxisInfo);
// wait.IsEnd = wait.IoValue.Equals(value);
//}
else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10) else if (wait.WaitType == (int)Wait_Type.BatchAxisMove_10)
{ {
wait.IsEnd = BatchAxisIsEnd(wait); wait.IsEnd = BatchAxisIsEnd(wait);
...@@ -239,9 +227,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -239,9 +227,9 @@ namespace OnlineStore.DeviceLibrary
public static bool BatchAxisIsEnd(WaitResultInfo wait) public static bool BatchAxisIsEnd(WaitResultInfo wait)
{ {
bool result = false; bool result = false;
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH)) if (KND.IOValue(wait.IoType).Equals(IO_VALUE.HIGH))
{ {
LogUtil.info(wait.ToStr() + " 检测到上料机构料盘信号，可以停止运动"); LogUtil.info(wait.ToStr() + " 检测到【" + wait.IoType + "】信号，可以停止运动");
result = true; result = true;
} }
else if (ACServerManager.GetLimitPositiveSingle(wait.AxisInfo).Equals(1)) else if (ACServerManager.GetLimitPositiveSingle(wait.AxisInfo).Equals(1))
...@@ -477,7 +465,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -477,7 +465,7 @@ namespace OnlineStore.DeviceLibrary
map.Add(ParamDefine.closeLock, ParamDefine.disable); map.Add(ParamDefine.closeLock, ParamDefine.disable);
map.Add(ParamDefine.takeOutReel, ParamDefine.disable); map.Add(ParamDefine.takeOutReel, ParamDefine.disable);
map.Add(ParamDefine.confirmReelOut, ParamDefine.disable); map.Add(ParamDefine.confirmReelOut, ParamDefine.disable);
if (AutomaticBaiting.DoorStatus.Equals(2)) if ( DoorStatus.Equals(2))
{ {
map.Add(ParamDefine.doorStatus, ResourceControl.GetString(ResourceControl.doorClose, "Door lock close")); map.Add(ParamDefine.doorStatus, ResourceControl.GetString(ResourceControl.doorClose, "Door lock close"));
} }
...@@ -487,15 +475,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -487,15 +475,15 @@ namespace OnlineStore.DeviceLibrary
} }
if (AutomaticBaiting.IsWaitTragGo && (AutomaticBaiting.IsGetTrayGo.Equals(false))) if ( IsWaitTragGo && ( IsGetTrayGo.Equals(false)))
{ {
map[ParamDefine.confirmReelOut] = ParamDefine.enable; map[ParamDefine.confirmReelOut] = ParamDefine.enable;
} }
else if (AutomaticBaiting.CanOpenBatchDoor()) else if ( CanOpenBatchDoor())
{ {
if (AutomaticBaiting.DoorStatus.Equals(2)) if ( DoorStatus.Equals(2))
{ {
if (AutomaticBaiting.BatchOutStoreCount > 0) if ( BatchOutStoreCount > 0)
{ {
map[ParamDefine.takeOutReel] = ParamDefine.enable; map[ParamDefine.takeOutReel] = ParamDefine.enable;
} }
...@@ -515,10 +503,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -515,10 +503,10 @@ namespace OnlineStore.DeviceLibrary
public static string doOpenDoor() public static string doOpenDoor()
{ {
if (AutomaticBaiting.CanOpenBatchDoor()) if ( CanOpenBatchDoor())
{ {
AutomaticBaiting.BatchDoorOpen(false); BatchDoorOpen(false);
AutomaticBaiting.IsNeedStartInout = false; IsNeedStartInout = false;
return ""; return "";
} }
else else
...@@ -528,28 +516,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -528,28 +516,29 @@ namespace OnlineStore.DeviceLibrary
} }
public static string doStartBatchIn() public static string doStartBatchIn()
{ {
if (!AutomaticBaiting.DoorIsClose()) if (! DoorIsClose())
{ {
return ResourceControl.GetString(ResourceControl.batchInError, "Batch storing Error: Close feeding device"); return ResourceControl.GetString(ResourceControl.batchInError, "Batch storing Error: Close feeding device");
} }
if (KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)) if (KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{ {
return ResourceControl.GetString(ResourceControl.batchInError2, "Batch storing Error: gripper full, check before restoring"); return ResourceControl.GetString(ResourceControl.batchInError2, "Batch storing Error: gripper full, check before restoring");
} }
AutomaticBaiting.BatchDoorClose(false); StopOutProcess();
AutomaticBaiting.Reset(false,true); BatchDoorClose(false);
Reset(false,true);
return ""; return "";
} }
public static string doTakeReel() public static string doTakeReel()
{ {
if (AutomaticBaiting.CanOpenBatchDoor()) if (CanOpenBatchDoor())
{ {
if (AutomaticBaiting.BatchOutStoreCount > 0 && AutomaticBaiting.BatchOutStoreHeight > 0) if (BatchOutStoreCount > 0 && BatchOutStoreHeight > 0)
{ {
AutomaticBaiting.BatchDoorOpen(false); BatchDoorOpen(false);
return ""; return StartOut();
//return "";
} }
else else
{ {
...@@ -559,23 +548,27 @@ namespace OnlineStore.DeviceLibrary ...@@ -559,23 +548,27 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
return (ResourceControl.GetString(ResourceControl.GetError2, "Providing Error: BUSY, open doorlock failure")); return (ResourceControl.GetString(ResourceControl.GetError2, "Providing Error: BUSY, open doorlock failure"));
} }
} }
public static string doCloseDoor() public static string doCloseDoor()
{ {
if (!AutomaticBaiting.DoorIsClose()) if (! DoorIsClose())
{ {
return (ResourceControl.GetString(ResourceControl.CloseError, "Door lock Error: Close feeding device")); return (ResourceControl.GetString(ResourceControl.CloseError, "Door lock Error: Close feeding device"));
} }
AutomaticBaiting.BatchDoorClose(false); StopOutProcess();
AutomaticBaiting.Reset(false,false); BatchDoorClose(false);
Reset(false,false);
return ""; return "";
} }
public static bool doConfirmReelGo() public static bool doConfirmReelGo()
{ {
LogUtil.info(ResourceControl.GetString(ResourceControl.TakeTrayOut, "Take out reel manually")); LogUtil.info(ResourceControl.GetString(ResourceControl.TakeTrayOut, "Take out reel manually"));
AutomaticBaiting.IsWaitTragGo = false; IsWaitTragGo = false;
AutomaticBaiting.IsGetTrayGo = true; IsGetTrayGo = true;
return true; return true;
} }
} }
......
source/DeviceLibrary/store/StoreMoveStep.cs
...@@ -488,30 +488,29 @@ namespace OnlineStore.DeviceLibrary ...@@ -488,30 +488,29 @@ namespace OnlineStore.DeviceLibrary
#endregion #endregion
//#region 自动上下料出料功能 #region 自动上下料出料功能
///// <summary>
///// 吸盘吸走料盘，同时上料轴开始上升 AUTO_O00_Wait=1300,
///// </summary> /// <summary>
//AUTO_O01_SuckingDisc_Work, /// 等待门锁打开
///// <summary> /// </summary>
///// 等待1秒后吸盘下降 AUTO_O01_WaitDoorOpen =1301,
///// </summary> /// <summary>
//AUTO_O02_WaitTimeDown, /// 等待出料检测信号关闭
/// </summary>
AUTO_O02_WaitOutSingleLow=1302,
/// <summary>
/// 向上运动，等待DI12亮或者极限亮停止
/// </summary>
AUTO_O03_SpeedMove=1303,
/// <summary>
/// 极限亮，返回P2点
/// </summary>
AUTO_O05_BackToP2=1304,
#endregion
///// <summary>
///// 吸盘下降
///// </summary>
//AUTO_O03_SuckingDisc_Down,
///// <summary>
///// 放下料盘
///// </summary>
//AUTO_O04_PutTrayDown,
///// <summary>
///// 吸盘上升
///// </summary>
//AUTO_O05_SuckingDisc_Up,
//#endregion
} }
public enum StoreAlarmType public enum StoreAlarmType
......
source/DeviceLibrary/store/model/StoreMoveInfo.cs
...@@ -277,7 +277,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -277,7 +277,7 @@ namespace OnlineStore.DeviceLibrary
/// 10=等待批量上下料轴运动 停止 /// 10=等待批量上下料轴运动 停止
/// </summary> /// </summary>
/// <returns></returns> /// <returns></returns>
public static WaitResultInfo WaitBatchAxisStop(ConfigMoveAxis moveAxis,int targetPosition) public static WaitResultInfo WaitBatchAxisStop(ConfigMoveAxis moveAxis,int targetPosition,string targetIoType)
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
wait.TargetPosition = targetPosition; wait.TargetPosition = targetPosition;
...@@ -286,6 +286,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -286,6 +286,7 @@ namespace OnlineStore.DeviceLibrary
wait.WaitType = (int)Wait_Type.BatchAxisMove_10; wait.WaitType = (int)Wait_Type.BatchAxisMove_10;
wait.IsHomeMove = true; wait.IsHomeMove = true;
wait.IsEnd = false; wait.IsEnd = false;
wait.IoType = targetIoType;
return wait; return wait;
} }
/// <summary> /// <summary>
...@@ -434,8 +435,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -434,8 +435,7 @@ namespace OnlineStore.DeviceLibrary
/// 高度 /// 高度
/// </summary> /// </summary>
public int HeightValue { get; set; } public int HeightValue { get; set; }
} }
public enum Wait_Type public enum Wait_Type
......
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