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Commit 598a720a 由 几米阳光
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复位时升降轴至门口位置。出入库升降轴逻辑修改。

1 个父辈 e4680c31
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正在显示 9 个修改的文件 包含 144 行增加 和 123 行删除
source/ACSingleStore/FrmStoreBox.cs
...@@ -65,12 +65,13 @@ namespace OnlineStore.AutoInOutStore ...@@ -65,12 +65,13 @@ namespace OnlineStore.AutoInOutStore
txtInOutP1.Text = store.Config.InOutAxis_P1_Position.ToString(); txtInOutP1.Text = store.Config.InOutAxis_P1_Position.ToString();
txtComP1.Text = store.Config.CompressAxis_P1_Position.ToString(); txtComP1.Text = store.Config.CompressAxis_P1_Position.ToString();
//txtUpDownP2.Text = store.Config.UpDownAxis_DoorIPosition_P2.ToString(); txtUpdownP8.Text = store.Config.UpDownAxis_OutLow_P8.ToString();
txtUpdownP2.Text = store.Config.UpDownAxis_OutHigh_P2.ToString();
//txtUpDownP7.Text = store.Config.UpDownAxis_DoorOBPosition_P7.ToString(); //txtUpDownP7.Text = store.Config.UpDownAxis_DoorOBPosition_P7.ToString();
//txtUpDownP8.Text = store.Config.UpDownAxis_DoorIBPosition_P8.ToString(); //txtUpDownP8.Text = store.Config.UpDownAxis_DoorIBPosition_P8.ToString();
//txtInOutP2.Text = store.Config.InOutAxis_DoorPosition_P2.ToString(); //txtInOutP2.Text = store.Config.InOutAxis_DoorPosition_P2.ToString();
txtUpDownP1.Text = store.Config.GetDefaultUpDownP1().ToString(); txtUpDownP1.Text = store.Config.GetDefaultUpDownP1().ToString();
txtUpDownDoor.Text = store.Config.UpDownAxis_DoorPosition.ToString(); txtUpDownDoor.Text = store.Config.UpDownAxis_Door_P7.ToString();
if (Position != null) if (Position != null)
{ {
txtUpDownP1.Text = store.Config.GetUpDownP1(Position.BagHeight).ToString(); txtUpDownP1.Text = store.Config.GetUpDownP1(Position.BagHeight).ToString();
...@@ -81,11 +82,7 @@ namespace OnlineStore.AutoInOutStore ...@@ -81,11 +82,7 @@ namespace OnlineStore.AutoInOutStore
txtUpDownP6.Text = Position.UpDownAxis_OLPosition_P6.ToString(); txtUpDownP6.Text = Position.UpDownAxis_OLPosition_P6.ToString();
txtComP2.Text = Position.CompressAxis_Position_P2.ToString(); txtComP2.Text = Position.CompressAxis_Position_P2.ToString();
txtComP3.Text = Position.CompressAxis_CPosition_P3.ToString(); txtComP3.Text = Position.CompressAxis_CPosition_P3.ToString();
txtInOutP3.Text = Position.InOutAxis_Position_P3.ToString(); txtInOutP3.Text = Position.InOutAxis_Position_P3.ToString();
//txtUpDownP2.Text = ktkPosition.UpDownAxis_DoorIPosition_P2.ToString();
//txtUpDownP7.Text = ktkPosition.UpDownAxis_DoorOBPosition_P7.ToString();
//txtUpDownP8.Text = ktkPosition.UpDownAxis_DoorIBPosition_P8.ToString();
txtInOutP2.Text = Position.InOutAxis_DoorPosition_P2.ToString(); txtInOutP2.Text = Position.InOutAxis_DoorPosition_P2.ToString();
//txtUpDownP1.Text = ktkPosition.UpDownAxis_DoorOPosition_P1.ToString(); //txtUpDownP1.Text = ktkPosition.UpDownAxis_DoorOPosition_P1.ToString();
...@@ -237,21 +234,14 @@ namespace OnlineStore.AutoInOutStore ...@@ -237,21 +234,14 @@ namespace OnlineStore.AutoInOutStore
} }
} }
} }
lblWarnMsg.Text = store.WarnMsg; lblWarnMsg.Text = store.WarnMsg;
string deviceMsg = "叉子上有料盘，请打开仓门检查";
if (store.Config.IsHasDoorLimit.Equals(1)) if (store.storeRunStatus.Equals(StoreRunStatus.Runing) && store.StoreMove.MoveType.Equals(StoreMoveType.None) && KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
if (KND.IOValue(IO_Type.DoorColse_Single).Equals(IO_VALUE.LOW))
{
lblWarnMsg.Text = lblWarnMsg.Text + " 前门未关";
}
}
//如果不在出入库中，且叉子上有信号，需要提示检查叉子
if (store.storeRunStatus.Equals(StoreRunStatus.Runing) && KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{ {
lblWarnMsg.Text = lblWarnMsg.Text + " 叉子料盘检测有料，请检查"; lblWarnMsg.Text = lblWarnMsg.Text + deviceMsg;
} }
if (store.autoNext) if (store.autoNext)
{ {
string msg = store.autoMsg; string msg = store.autoMsg;
...@@ -334,10 +324,27 @@ namespace OnlineStore.AutoInOutStore ...@@ -334,10 +324,27 @@ namespace OnlineStore.AutoInOutStore
private void UpdateFormDoorStats(bool dooIsOpen) private void UpdateFormDoorStats(bool dooIsOpen)
{ {
btnOpenDoor.Enabled = !dooIsOpen;
btnBatchInStore.Enabled = dooIsOpen;
btnGetOutTray.Enabled = !dooIsOpen;
btnCloseDoor.Enabled = dooIsOpen; btnCloseDoor.Enabled = dooIsOpen;
btnBatchInStore.Enabled = dooIsOpen;
if (dooIsOpen.Equals(false))
{
if (AutomaticBaiting.BatchOutStoreCount > 0)
{
btnGetOutTray.Enabled = true;
btnOpenDoor.Enabled = false;
}
else
{
btnGetOutTray.Enabled = false;
btnOpenDoor.Enabled = true;
}
}
else
{
btnOpenDoor.Enabled = !dooIsOpen;
btnGetOutTray.Enabled = !dooIsOpen;
}
btnBatchReset.Enabled = !dooIsOpen; btnBatchReset.Enabled = !dooIsOpen;
} }
...@@ -492,7 +499,7 @@ namespace OnlineStore.AutoInOutStore ...@@ -492,7 +499,7 @@ namespace OnlineStore.AutoInOutStore
ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2); ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2);
ktk.UpDown_P1 = FormUtil.GetIntValue(txtUpDownP1); ktk.UpDown_P1 = FormUtil.GetIntValue(txtUpDownP1);
ktk.UpDown_Door = FormUtil.GetIntValue(txtUpDownDoor); ktk.UpDown_Door_P7 = FormUtil.GetIntValue(txtUpDownDoor);
//ktk.UpDown_P2 = FormUtil.GetIntValue(txtUpDownP2); //ktk.UpDown_P2 = FormUtil.GetIntValue(txtUpDownP2);
ktk.UpDown_P3 = FormUtil.GetIntValue(txtUpDownP3); ktk.UpDown_P3 = FormUtil.GetIntValue(txtUpDownP3);
ktk.UpDown_P4 = FormUtil.GetIntValue(txtUpDownP4); ktk.UpDown_P4 = FormUtil.GetIntValue(txtUpDownP4);
...@@ -500,6 +507,8 @@ namespace OnlineStore.AutoInOutStore ...@@ -500,6 +507,8 @@ namespace OnlineStore.AutoInOutStore
ktk.UpDown_P6 = FormUtil.GetIntValue(txtUpDownP6); ktk.UpDown_P6 = FormUtil.GetIntValue(txtUpDownP6);
//ktk.UpDown_P7 = FormUtil.GetIntValue(txtUpDownP7); //ktk.UpDown_P7 = FormUtil.GetIntValue(txtUpDownP7);
//ktk.UpDown_P8 = FormUtil.GetIntValue(txtUpDownP8); //ktk.UpDown_P8 = FormUtil.GetIntValue(txtUpDownP8);
ktk.UpDown_OutHigh_P2 = FormUtil.GetIntValue(txtUpdownP2);
ktk.UpDown_OutLow_P8 = FormUtil.GetIntValue(txtUpdownP8);
return ktk; return ktk;
} }
...@@ -720,26 +729,26 @@ namespace OnlineStore.AutoInOutStore ...@@ -720,26 +729,26 @@ namespace OnlineStore.AutoInOutStore
store.Config.CompressAxis_P1_Position = FormUtil.GetIntValue(txtComP1); store.Config.CompressAxis_P1_Position = FormUtil.GetIntValue(txtComP1);
needUpdate = true; needUpdate = true;
} }
if (store.Config.UpDownAxis_DoorPosition != FormUtil.GetIntValue(txtUpDownDoor)) if (store.Config.UpDownAxis_Door_P7 != FormUtil.GetIntValue(txtUpDownDoor))
{ {
store.Config.UpDownAxis_DoorPosition = FormUtil.GetIntValue(txtUpDownDoor); store.Config.UpDownAxis_Door_P7 = FormUtil.GetIntValue(txtUpDownDoor);
needUpdate = true;
}
if (store.Config.UpDownAxis_OutHigh_P2 != FormUtil.GetIntValue(txtUpdownP2))
{
store.Config.UpDownAxis_OutHigh_P2 = FormUtil.GetIntValue(txtUpdownP2);
needUpdate = true; needUpdate = true;
} }
//if (store.Config.UpDownAxis_DoorIPosition_P2 != FormUtil.GetIntValue(txtUpDownP2))
//{
// store.Config.UpDownAxis_DoorIPosition_P2 = FormUtil.GetIntValue(txtUpDownP2);
// needUpdate = true;
//}
//if (store.Config.UpDownAxis_DoorOBPosition_P7 != FormUtil.GetIntValue(txtUpDownP7)) //if (store.Config.UpDownAxis_DoorOBPosition_P7 != FormUtil.GetIntValue(txtUpDownP7))
//{ //{
// store.Config.UpDownAxis_DoorOBPosition_P7 = FormUtil.GetIntValue(txtUpDownP7); // store.Config.UpDownAxis_DoorOBPosition_P7 = FormUtil.GetIntValue(txtUpDownP7);
// needUpdate = true; // needUpdate = true;
//} //}
//if (store.Config.UpDownAxis_DoorIBPosition_P8 != FormUtil.GetIntValue(txtUpDownP8)) if (store.Config.UpDownAxis_OutLow_P8 != FormUtil.GetIntValue(txtUpdownP8))
//{ {
// store.Config.UpDownAxis_DoorIBPosition_P8 = FormUtil.GetIntValue(txtUpDownP8); store.Config.UpDownAxis_OutLow_P8 = FormUtil.GetIntValue(txtUpdownP8);
// needUpdate = true; needUpdate = true;
//} }
//if (store.Config.InOutAxis_DoorPosition_P2 != FormUtil.GetIntValue(txtInOutP2)) //if (store.Config.InOutAxis_DoorPosition_P2 != FormUtil.GetIntValue(txtInOutP2))
//{ //{
// store.Config.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2); // store.Config.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2);
...@@ -811,11 +820,11 @@ namespace OnlineStore.AutoInOutStore ...@@ -811,11 +820,11 @@ namespace OnlineStore.AutoInOutStore
private void btnUpDownP2_Click(object sender, EventArgs e) private void btnUpDownP2_Click(object sender, EventArgs e)
{ {
//if (InOutIsIsP1()) if (InOutIsIsP1())
//{ {
// int value = FormUtil.GetIntValue(txtUpDownP2); int value = FormUtil.GetIntValue(txtUpdownP2);
// AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P2_Speed); AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P2_Speed);
//} }
} }
private void btnUpDownP7_Click(object sender, EventArgs e) private void btnUpDownP7_Click(object sender, EventArgs e)
{ {
...@@ -828,11 +837,11 @@ namespace OnlineStore.AutoInOutStore ...@@ -828,11 +837,11 @@ namespace OnlineStore.AutoInOutStore
private void btnUpDownP8_Click(object sender, EventArgs e) private void btnUpDownP8_Click(object sender, EventArgs e)
{ {
//if (InOutIsIsP1()) if (InOutIsIsP1())
//{ {
// int value = FormUtil.GetIntValue(txtUpDownP8); int value = FormUtil.GetIntValue(txtUpdownP8);
// AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P8_Speed); AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P8_Speed);
//} }
} }
private void btnUpDownP3_Click(object sender, EventArgs e) private void btnUpDownP3_Click(object sender, EventArgs e)
...@@ -1540,7 +1549,7 @@ namespace OnlineStore.AutoInOutStore ...@@ -1540,7 +1549,7 @@ namespace OnlineStore.AutoInOutStore
if (InOutIsIsP1()) if (InOutIsIsP1())
{ {
int value = FormUtil.GetIntValue(txtUpDownDoor); int value = FormUtil.GetIntValue(txtUpDownDoor);
AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_Door_Speed); AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P7_Speed);
} }
} }
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -45,12 +45,10 @@ AXIS,(轴三)进出轴,InOut_Axis,1,COM5,0,,,,, ...@@ -45,12 +45,10 @@ AXIS,(轴三)进出轴,InOut_Axis,1,COM5,0,,,,,
AXIS,(轴五)批量上下料轴,Batch_Axis,1,COM6,0,,,,, AXIS,(轴五)批量上下料轴,Batch_Axis,1,COM6,0,,,,,
,,,,,,,,,, ,,,,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,升降轴 进料口仓门位置,UpDownAxis_DoorPosition,355000,,,,,,, PRO,升降轴 仓门位置P7(人工拿走盘的位置),UpDownAxis_Door_P7,355007,,,,,,,
,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,403000,,,,,,, PRO,升降轴 出库高点P2,UpDownAxis_OutHigh_P2,355002,,,,,,,
,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,415000,,,,,,, PRO,升降轴 出库低点P8,UpDownAxis_OutLow_P8,350008,,,,,,,
,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,415000,,,,,,, PRO,升降轴 入库P1点集合,UpDownAxis_P1_List,8#355001;12#350001;,,,,,,,
,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,403000,,,,,,,
PRO,升降轴 出入料待机点P1集合,UpDownAxis_P1_List,8#355000;12#350000;,,,,,,,
PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,260000,,,,,,, PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,260000,,,,,,,
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,-40000,,,,,,, PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-40000,,,,,,,
...@@ -80,15 +78,15 @@ PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,30,,,,,,, ...@@ -80,15 +78,15 @@ PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,30,,,,,,,
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,20,,,,,,,
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,60,,,,,,,
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,20,,,,,,,
PRO,升降轴(轴二)到仓门速度,UpDownAxis_Door_Speed,50,,,,,,, ,,,,,,,,,,
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,250,,,,,,,
,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,250,,,,,,, PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,250,,,,,,,
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,250,,,,,,,
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,150,,,,,,,
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,250,,,,,,,
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,100,,,,,,,
,升降轴(轴二)P7速度,UpDownAxis_P7_Speed,100,,,,,,, PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,100,,,,,,,
,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,100,,,,,,, PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,100,,,,,,,
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,120,,,,,,,
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,120,,,,,,,
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,100,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
...@@ -363,9 +363,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -363,9 +363,9 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_H_OtherAxisBack: case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！"); LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P7门口位置，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.GetDefaultUpDownP1(), Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P7_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position); ComMoveToPosition(Config.CompressAxis_P1_Position);
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
...@@ -392,9 +392,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -392,9 +392,9 @@ namespace OnlineStore.DeviceLibrary
break; break;
case StoreMoveStep.BOX_M_H_TOP1_CompressHome: case StoreMoveStep.BOX_M_H_TOP1_CompressHome:
StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1);
LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！"); LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到门口位置P7，压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.GetDefaultUpDownP1(), Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P7_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position); ComMoveToPosition(Config.CompressAxis_P1_Position);
break; break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1: case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
...@@ -507,9 +507,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -507,9 +507,9 @@ namespace OnlineStore.DeviceLibrary
case StoreMoveStep.BOX_H_OtherAxisBack: case StoreMoveStep.BOX_H_OtherAxisBack:
StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1); StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到P1,压紧轴到P1！"); LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到门口位置P7,压紧轴到P1！");
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.GetDefaultUpDownP1(), Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P7_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position); ComMoveToPosition(Config.CompressAxis_P1_Position);
break; break;
case StoreMoveStep.BOX_H_MiddleAxisToP1: case StoreMoveStep.BOX_H_MiddleAxisToP1:
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -52,7 +52,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -52,7 +52,9 @@ namespace OnlineStore.DeviceLibrary
p.ComPress_P1 = Config.CompressAxis_P1_Position; p.ComPress_P1 = Config.CompressAxis_P1_Position;
p.InOut_P1 = Config.InOutAxis_P1_Position; p.InOut_P1 = Config.InOutAxis_P1_Position;
p.Middle_P1 = Config.MiddleAxis_P1_Position; p.Middle_P1 = Config.MiddleAxis_P1_Position;
p.UpDown_Door = Config.UpDownAxis_DoorPosition; p.UpDown_Door_P7 = Config.UpDownAxis_Door_P7;
p.UpDown_OutHigh_P2 = Config.UpDownAxis_OutHigh_P2;
p.UpDown_OutLow_P8 = Config.UpDownAxis_OutLow_P8;
p.InOut_P2 = position.InOutAxis_DoorPosition_P2; p.InOut_P2 = position.InOutAxis_DoorPosition_P2;
if (IsBatch) if (IsBatch)
{ {
...@@ -410,7 +412,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -410,7 +412,7 @@ namespace OnlineStore.DeviceLibrary
InStoreLog("入库：SI_21不需要入库，把料盘放在门口等待操作人员拿走料盘 "); InStoreLog("入库：SI_21不需要入库，把料盘放在门口等待操作人员拿走料盘 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor); StoreMove.NextMoveStep(StoreMoveStep.SI_21_DeviceToDoor);
OpenDoorAndWait(); OpenDoorAndWait();
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door, Config.UpDownAxis_Door_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
} }
else else
{ {
...@@ -661,6 +663,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -661,6 +663,11 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack) else if (StoreMove.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
{ {
if (KND.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
{
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
LogUtil.error("出库【"+posId+"】过程中叉子已从库位退出，未检测到叉子料盘信号 ");
}
if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0)) if (IsHasCompress_Axis || Config.IsHasLocationCylinder.Equals(0))
{ {
SO_08_ToDoorPosition(); SO_08_ToDoorPosition();
...@@ -674,8 +681,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -674,8 +681,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up) else if (StoreMove.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up)
{ {
SO_08_ToDoorPosition(); SO_08_ToDoorPosition();
} }
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition) else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
{ {
...@@ -700,7 +706,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -700,7 +706,9 @@ namespace OnlineStore.DeviceLibrary
if (StoreMove.IsBatchInOutStore) if (StoreMove.IsBatchInOutStore)
{ {
StoreMove.NextMoveStep(StoreMoveStep.SO_11_PutTray); StoreMove.NextMoveStep(StoreMoveStep.SO_11_PutTray);
BatchAxisUpTrayHeight(); OutStoreLog("出库：SO_11_PutTray 放下料盘，升降轴下降到_OutLow_P8，压紧轴放松");
ComMoveToPosition(StoreMove.MoveParam.MoveP.ComPress_P3);
ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_OutLow_P8, Config.UpDownAxis_P8_Speed);
} }
else else
{ {
...@@ -750,10 +758,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -750,10 +758,7 @@ namespace OnlineStore.DeviceLibrary
//如果批量能未检测到料盘，需要把批量轴走到能检测到料盘的位置 //如果批量能未检测到料盘，需要把批量轴走到能检测到料盘的位置
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW)) if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{ {
StoreMove.TimeOutSeconds = 120; StoreMove.TimeOutSeconds = 120;
//ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_P1, Config.BatchAxis_P1_Speed);
//StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed));
//Config.Batch_Axis.TargetPosition = Config.BatchAxis_P1;
ACAxisMove(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed); ACAxisMove(Config.Batch_Axis, Config.BatchAxis_P1, Config.BatchAxis_P1_Speed);
OutStoreLog("出库：SO_02 批量上下料轴走到P1点 "); OutStoreLog("出库：SO_02 批量上下料轴走到P1点 ");
} }
...@@ -771,7 +776,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -771,7 +776,7 @@ namespace OnlineStore.DeviceLibrary
//记录高度 //记录高度
AutomaticBaiting.BatchOutStoreCount++; AutomaticBaiting.BatchOutStoreCount++;
AutomaticBaiting.BatchOutStoreHeight += StoreMove.MoveParam.GetACPosition().BagHeight; AutomaticBaiting.BatchOutStoreHeight += StoreMove.MoveParam.GetACPosition().BagHeight;
OutStoreLog("出库：SO_13 升降轴返回，将物品放下，批量上下料轴下降【" + StoreMove.MoveParam.MoveP.BatchAxis_DownValue + "】，目标位置【" + targetValue + "】"); OutStoreLog(" 批量上下料轴下降【" + StoreMove.MoveParam.MoveP.BatchAxis_DownValue + "】，目标位置【" + targetValue + "】");
//判断盘满后，需要报警? //判断盘满后，需要报警?
if (targetValue <= 0) if (targetValue <= 0)
{ {
...@@ -803,18 +808,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -803,18 +808,16 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition); StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
if (StoreMove.IsBatchInOutStore) if (StoreMove.IsBatchInOutStore)
{ {
OutStoreLog("出库：SO_08 走到吸盘下方，旋转轴至P1(待机点)升降轴至P1 "); OutStoreLog("出库：SO_08 升降轴到出料高点OutHigh_P2，旋转轴至P1(待机点) ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_OutHigh_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
BatchAxisUpTrayHeight();
} }
else else
{ {
OutStoreLog("出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点) "); OutStoreLog("出库：SO_08 走到料门口，旋转轴至P1(待机点)升降轴至P2(进料口出料前点) ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door, Config.UpDownAxis_Door_Speed); ACAxisMove(Config.UpDown_Axis, moveP.UpDown_Door_P7, Config.UpDownAxis_P7_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed); ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
//此处需要等待box门口没有盘
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
} }
} }
private void SO_10_DeviceToDoorPro() private void SO_10_DeviceToDoorPro()
...@@ -823,8 +826,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -823,8 +826,7 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor); StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
OutStoreLog("出库：SO_10 叉子进出料口，进出轴至P2(进料口取料点) "); OutStoreLog("出库：SO_10 叉子进出料口，进出轴至P2(进料口取料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed); ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
NeedCheckSafetyLight = 1; //NeedCheckSafetyLight = 1;
} }
#endregion #endregion
......
source/DeviceLibrary/store/LineMoveP.cs
...@@ -15,15 +15,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -15,15 +15,19 @@ namespace OnlineStore.DeviceLibrary
/// <summary> /// <summary>
/// 轴2（升降轴）门口位置，需要等待拿走料盘的位置 /// 轴2（升降轴）门口位置，需要等待拿走料盘的位置
/// </summary> /// </summary>
public int UpDown_Door { get; set; } public int UpDown_Door_P7 { get; set; }
/// <summary> /// <summary>
/// 轴2（ 升降轴） 进料口取料点 P1 /// 轴2（ 升降轴） 入库取料点 P1
/// </summary> /// </summary>
public int UpDown_P1 { get; set; } public int UpDown_P1 { get; set; }
///// <summary> /// <summary>
///// 轴2（ 升降轴） 进料口出料前点P2 /// 轴2（ 升降轴）升降轴 出库高点P2
///// </summary> /// </summary>
//public int UpDown_P2 { get; set; } public int UpDown_OutHigh_P2 { get; set; }
/// <summary>
/// 轴2（ 升降轴）升降轴 出库低点P8
/// </summary>
public int UpDown_OutLow_P8 { get; set; }
/// <summary> /// <summary>
/// 轴2（ 升降轴） 库位入料前点P3 /// 轴2（ 升降轴） 库位入料前点P3
/// </summary> /// </summary>
...@@ -44,10 +48,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -44,10 +48,7 @@ namespace OnlineStore.DeviceLibrary
///// 轴2（ 升降轴） 进料口取料缓冲点P7 ///// 轴2（ 升降轴） 进料口取料缓冲点P7
///// </summary> ///// </summary>
//public int UpDown_P7 { get; set; } //public int UpDown_P7 { get; set; }
///// <summary>
///// 轴2（ 升降轴） 进料口出料缓冲点P8
///// </summary>
//public int UpDown_P8 { get; set; }
/// <summary> /// <summary>
/// 轴1旋转轴 待机原位点 P1 /// 轴1旋转轴 待机原位点 P1
......
source/DeviceLibrary/store/StoreMoveStep.cs
...@@ -233,7 +233,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -233,7 +233,7 @@ namespace OnlineStore.DeviceLibrary
//SO_12_DeviceOutFromDoor = 112, //SO_12_DeviceOutFromDoor = 112,
/// <summary> /// <summary>
/// 料仓出库，，升降轴返回，， 轴2至P1（ 待机点） /// 料仓出库，升降轴下降，压紧轴放松
/// </summary> /// </summary>
SO_11_PutTray = 111, SO_11_PutTray = 111,
/// <summary> /// <summary>
......
source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs
...@@ -159,11 +159,11 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -159,11 +159,11 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
[ConfigProAttribute("UpDownAxis_P1_Speed")] [ConfigProAttribute("UpDownAxis_P1_Speed")]
public int UpDownAxis_P1_Speed { get; set; } public int UpDownAxis_P1_Speed { get; set; }
///// <summary> /// <summary>
///// PRO 升降轴（轴2）P2速度 UpDownAxis_P2_Speed /// PRO 升降轴（轴2）P2速度 UpDownAxis_P2_Speed
///// </summary> /// </summary>
//[ConfigProAttribute("UpDownAxis_P2_Speed")] [ConfigProAttribute("UpDownAxis_P2_Speed")]
//public int UpDownAxis_P2_Speed { get; set; } public int UpDownAxis_P2_Speed { get; set; }
/// <summary> /// <summary>
/// PRO 升降轴（轴2）P3速度 UpDownAxis_P3_Speed /// PRO 升降轴（轴2）P3速度 UpDownAxis_P3_Speed
/// </summary> /// </summary>
...@@ -186,18 +186,18 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -186,18 +186,18 @@ namespace OnlineStore.LoadCSVLibrary
public int UpDownAxis_P6_Speed { get; set; } public int UpDownAxis_P6_Speed { get; set; }
///// <summary> /// <summary>
///// PRO 升降轴（轴2）P7速度 UpDownAxis_P7_Speed /// PRO 升降轴(轴二)到仓门P7速度 UpDownAxis_P7_Speed
///// </summary> /// </summary>
//[ConfigProAttribute("UpDownAxis_P7_Speed")] [ConfigProAttribute("UpDownAxis_P7_Speed")]
//public int UpDownAxis_P7_Speed { get; set; } public int UpDownAxis_P7_Speed { get; set; }
///// <summary> /// <summary>
///// PRO 升降轴（轴2）P8速度 UpDownAxis_P8_Speed /// PRO 升降轴（轴2）P8速度 UpDownAxis_P8_Speed
///// </summary> /// </summary>
//[ConfigProAttribute("UpDownAxis_P8_Speed")] [ConfigProAttribute("UpDownAxis_P8_Speed")]
//public int UpDownAxis_P8_Speed { get; set; } public int UpDownAxis_P8_Speed { get; set; }
/// <summary> /// <summary>
/// PRO 旋转轴（轴1）P1速度 MiddleAxis_P1_Speed /// PRO 旋转轴（轴1）P1速度 MiddleAxis_P1_Speed
...@@ -279,22 +279,33 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -279,22 +279,33 @@ namespace OnlineStore.LoadCSVLibrary
public int IOSingle_TimerOut { get; set; } public int IOSingle_TimerOut { get; set; }
/// <summary> /// <summary>
/// PRO 升降轴 待机点P1集合 UpDownAxis_P1_List 8#20000;12#22000 /// PRO 升降轴 入库P1点集合 UpDownAxis_P1_List 8#20000;12#22000
/// </summary> /// </summary>
[ConfigProAttribute("UpDownAxis_P1_List")] [ConfigProAttribute("UpDownAxis_P1_List")]
public string UpDownAxis_P1_List { get; set; } public string UpDownAxis_P1_List { get; set; }
/// <summary> /// <summary>
/// PRO,升降轴 进料口位置, UpDownAxis_DoorPosition,403000,,,,,,, /// PRO 升降轴 出库高点 P2 UpDownAxis_OutHigh_P2
/// </summary>
[ConfigProAttribute("UpDownAxis_OutHigh_P2")]
public int UpDownAxis_OutHigh_P2 { get; set; }
/// <summary>
///PRO 升降轴 出库低点 P8 UpDownAxis_OutLow_P8
/// </summary> /// </summary>
[ConfigProAttribute("UpDownAxis_DoorPosition")] [ConfigProAttribute("UpDownAxis_OutLow_P8")]
public int UpDownAxis_DoorPosition { get; set; } public int UpDownAxis_OutLow_P8 { get; set; }
/// <summary> /// <summary>
/// 升降轴(轴二)到仓门速度 UpDownAxis_Door_Speed 2500 /// PRO,升降轴 进料口位置, UpDownAxis_Door_P7,403000,,,,,,,
/// </summary> /// </summary>
[ConfigProAttribute("UpDownAxis_Door_Speed")] [ConfigProAttribute("UpDownAxis_Door_P7")]
public int UpDownAxis_Door_Speed { get; set; } public int UpDownAxis_Door_P7 { get; set; }
///// <summary>
///// 升降轴(轴二)到仓门速度 UpDownAxis_Door_Speed 2500
///// </summary>
//[ConfigProAttribute("UpDownAxis_Door_Speed")]
//public int UpDownAxis_Door_Speed { get; set; }
///// <summary> ///// <summary>
///// 升降轴 进料口取料点 P1 ///// 升降轴 进料口取料点 P1
///// </summary> ///// </summary>
...@@ -723,7 +734,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -723,7 +734,7 @@ namespace OnlineStore.LoadCSVLibrary
MustHaveDIList.Add(IO_Type.DoorClose_LoadMaterial); MustHaveDIList.Add(IO_Type.DoorClose_LoadMaterial);
MustHaveDIList.Add(IO_Type.Airpressure_Check); MustHaveDIList.Add(IO_Type.Airpressure_Check);
MustHaveDIList.Add(IO_Type.SuckingDisc_Air); MustHaveDIList.Add(IO_Type.SuckingDisc_Air);
MustHaveDIList.Add(IO_Type.DoorColse_Single); //MustHaveDIList.Add(IO_Type.DoorColse_Single);
MustHaveDOList.Add(IO_Type.AutoRun_HddLed); MustHaveDOList.Add(IO_Type.AutoRun_HddLed);
...@@ -794,7 +805,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -794,7 +805,7 @@ namespace OnlineStore.LoadCSVLibrary
Config.Middle_Axis.DefaultPosition = Config.MiddleAxis_P1_Position; Config.Middle_Axis.DefaultPosition = Config.MiddleAxis_P1_Position;
Config.InOut_Axis.DefaultPosition = Config.InOutAxis_P1_Position; Config.InOut_Axis.DefaultPosition = Config.InOutAxis_P1_Position;
Config.UpDown_Axis.DefaultPosition = Config.GetDefaultUpDownP1(); Config.UpDown_Axis.DefaultPosition = Config.UpDownAxis_Door_P7;
} }
} }
} }
source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs
...@@ -118,10 +118,10 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -118,10 +118,10 @@ namespace OnlineStore.LoadCSVLibrary
/// 吸盘压力确认信号 SuckingDisc_Air 202 192.168.200.11 0 吸盘压力确认信号 X19 DI-23 /// 吸盘压力确认信号 SuckingDisc_Air 202 192.168.200.11 0 吸盘压力确认信号 X19 DI-23
/// </summary> /// </summary>
public static string SuckingDisc_Air = "SuckingDisc_Air"; public static string SuckingDisc_Air = "SuckingDisc_Air";
/// <summary> ///// <summary>
/// 左侧门关闭 DoorColse_Single X20 DI-24 ///// 左侧门关闭 DoorColse_Single X20 DI-24
/// </summary> ///// </summary>
public static string DoorColse_Single = "DoorColse_Single"; //public static string DoorColse_Single = "DoorColse_Single";
/// <summary> /// <summary>
/// 吸盘气缸上升端 SuckingDisc_Up X07 DI-07 /// 吸盘气缸上升端 SuckingDisc_Up X07 DI-07
...@@ -180,7 +180,7 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -180,7 +180,7 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary> /// </summary>
public static string SuckingDisc_Work = "SuckingDisc_Work"; public static string SuckingDisc_Work = "SuckingDisc_Work";
public static string TrayCheck_Door = "TrayCheck_Door"; //public static string TrayCheck_Door = "TrayCheck_Door";
//public static string TrayCheck_Door = "TrayCheck_Door"; //public static string TrayCheck_Door = "TrayCheck_Door";
} }
......
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