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Commit 7a872b9d 由 几米阳光
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取出料盘逻辑修改。出库逻辑修改。AIO使用AIOBOX2

1 个父辈 74e65d3d
内嵌 并排
正在显示 7 个修改的文件 包含 373 行增加 和 314 行删除
source/ACSingleStore/记录.txt
...@@ -187,6 +187,7 @@ IO模块读取时间改为可配置。 ...@@ -187,6 +187,7 @@ IO模块读取时间改为可配置。
界面上增加按钮。 界面上增加按钮。
2.需要修改：出库时不使用极限信号，增加一个最高点配置。 2.需要修改：出库时不使用极限信号，增加一个最高点配置。
取出料盘逻辑修改。出库逻辑修改。AIO使用AIOBOX2
PRO,(轴五)上料轴出库上升最大高度,BatchAxis_OutMaxValue,1600000,,,,,,, PRO,(轴五)上料轴出库上升最大高度,BatchAxis_OutMaxValue,1600000,,,,,,,
......
source/DeviceLibrary/DeviceLibrary/IO/AIOBOX/AIOBOXManager.cs
...@@ -18,7 +18,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -18,7 +18,7 @@ namespace OnlineStore.DeviceLibrary
//public static uint DefaultDOCount = 16; //public static uint DefaultDOCount = 16;
public readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public Dictionary<string, AIOBOX> AIOMap = new Dictionary<string, AIOBOX>(); public Dictionary<string, AIOBOX2> AIOMap = new Dictionary<string, AIOBOX2>();
public Dictionary<string, List<Box_Sta>> DIValueMap = new Dictionary<string, List<Box_Sta>>(); public Dictionary<string, List<Box_Sta>> DIValueMap = new Dictionary<string, List<Box_Sta>>();
public Dictionary<string, List<Box_Sta>> DOValueMap = new Dictionary<string, List<Box_Sta>>(); public Dictionary<string, List<Box_Sta>> DOValueMap = new Dictionary<string, List<Box_Sta>>();
...@@ -29,7 +29,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -29,7 +29,7 @@ namespace OnlineStore.DeviceLibrary
private object DOLock = ""; private object DOLock = "";
public void ConnectionIP(string ioIp ) public void ConnectionIP(string ioIp )
{ {
AIOBOX aioBox = null; AIOBOX2 aioBox = null;
if (AIOMap.ContainsKey(ioIp)) if (AIOMap.ContainsKey(ioIp))
{ {
aioBox = AIOMap[ioIp]; aioBox = AIOMap[ioIp];
...@@ -52,7 +52,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -52,7 +52,7 @@ namespace OnlineStore.DeviceLibrary
try try
{ {
// Create new modbus master and add event functions // Create new modbus master and add event functions
aioBox = new AIOBOX(); aioBox = new AIOBOX2();
aioBox.IP = ioIp; aioBox.IP = ioIp;
int DIMS = ConfigAppSettings.GetIntValue("DIMS"); int DIMS = ConfigAppSettings.GetIntValue("DIMS");
if (DIMS < 20) if (DIMS < 20)
...@@ -68,7 +68,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -68,7 +68,7 @@ namespace OnlineStore.DeviceLibrary
aioBox.AutoReadDI(true, DIMS); aioBox.AutoReadDI(true, DIMS);
aioBox.AutoReadDO (true, DOMS); aioBox.AutoReadDO (true, DOMS);
aioBox.LogOut = true; aioBox.LogOut = true;
aioBox.Reconnect_Event += AioBox_Reconnect_Event; //aioBox.Reconnect_Event += AioBox_Reconnect_Event;
if (StoreManager.Config.GetDILength(ioIp).Equals(8)) if (StoreManager.Config.GetDILength(ioIp).Equals(8))
{ {
...@@ -116,7 +116,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -116,7 +116,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void AioBox_Reconnect_Event(AIOBOX box, int times, ref bool conn, Dictionary<string, string> dict) private void AioBox_Reconnect_Event(AIOBOX2 box, int times, ref bool conn, Dictionary<string, string> dict)
{ {
conn = true; conn = true;
string msg = "重连AIO块【" + box.IP + "】次数：" + times + "【" + box.ErrInfo + "】，连接信息如下\r\n"; string msg = "重连AIO块【" + box.IP + "】次数：" + times + "【" + box.ErrInfo + "】，连接信息如下\r\n";
...@@ -129,7 +129,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -129,7 +129,7 @@ namespace OnlineStore.DeviceLibrary
} }
private DateTime lastLogTime = DateTime.Now; private DateTime lastLogTime = DateTime.Now;
//private void AioBox_Log_RxTx_Event(AIOBOX box, string[] s) //private void AioBox_Log_RxTx_Event(AIOBOX2 box, string[] s)
//{ //{
// TimeSpan span = DateTime.Now - lastLogTime; // TimeSpan span = DateTime.Now - lastLogTime;
// //if (span.TotalMinutes > 1) // //if (span.TotalMinutes > 1)
...@@ -142,7 +142,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -142,7 +142,7 @@ namespace OnlineStore.DeviceLibrary
// } // }
//} //}
private void AioBox_Log_Out_Event(AIOBOX box, string[] s) private void AioBox_Log_Out_Event(AIOBOX2 box, string[] s)
{ {
foreach (string str in s) foreach (string str in s)
{ {
...@@ -150,7 +150,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -150,7 +150,7 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta) private void AioBox_DI_Changed_Event(AIOBOX2 box, Box_Sta[] sta)
{ {
try try
{ {
...@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error("AioBox_DI_Changed_Event出错：" + ex.ToString()); LogUtil.error("AioBox_DI_Changed_Event出错：" + ex.ToString());
} }
} }
private void AioBox_DO_Changed_Event(AIOBOX box, Box_Sta[] sta) private void AioBox_DO_Changed_Event(AIOBOX2 box, Box_Sta[] sta)
{ {
try try
{ {
...@@ -256,7 +256,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -256,7 +256,7 @@ namespace OnlineStore.DeviceLibrary
//foreach (string io in list) //foreach (string io in list)
//{ //{
// //判断是否连接，如果没有连接自动重连 // //判断是否连接，如果没有连接自动重连
// AIOBOX client = AIOMap[io]; // AIOBOX2 client = AIOMap[io];
// if (!client.IsConn) // if (!client.IsConn)
// { // {
// //重连 // //重连
...@@ -290,7 +290,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -290,7 +290,7 @@ namespace OnlineStore.DeviceLibrary
//关闭所有的DO //关闭所有的DO
public override void CloseAllDO() public override void CloseAllDO()
{ {
foreach (AIOBOX aio in AIOMap.Values) foreach (AIOBOX2 aio in AIOMap.Values)
{ {
ushort length = StoreManager.Config.GetDILength(aio.IP); ushort length = StoreManager.Config.GetDILength(aio.IP);
for (ushort i = 0; i < length; i++) for (ushort i = 0; i < length; i++)
...@@ -304,7 +304,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -304,7 +304,7 @@ namespace OnlineStore.DeviceLibrary
public override void CloseAllConnection() public override void CloseAllConnection()
{ {
foreach (AIOBOX aio in AIOMap.Values) foreach (AIOBOX2 aio in AIOMap.Values)
{ {
aio.Close(); aio.Close();
} }
...@@ -317,7 +317,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -317,7 +317,7 @@ namespace OnlineStore.DeviceLibrary
try try
{ {
AIOBOX aioBox = getAIO(ioIp); AIOBOX2 aioBox = getAIO(ioIp);
if (aioBox != null) if (aioBox != null)
{ {
Box_Addr add = GetAddr(StartAddress); Box_Addr add = GetAddr(StartAddress);
...@@ -350,7 +350,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -350,7 +350,7 @@ namespace OnlineStore.DeviceLibrary
try try
{ {
AIOBOX aioBox = getAIO(ioIp); AIOBOX2 aioBox = getAIO(ioIp);
Box_Sta currBox_Sta = GetBox_Sta(onOff); Box_Sta currBox_Sta = GetBox_Sta(onOff);
if (aioBox != null) if (aioBox != null)
{ {
...@@ -388,7 +388,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -388,7 +388,7 @@ namespace OnlineStore.DeviceLibrary
{ {
try try
{ {
AIOBOX aioBox = getAIO(ioIp); AIOBOX2 aioBox = getAIO(ioIp);
if (aioBox != null) if (aioBox != null)
{ {
Box_Sta[] allDi = aioBox.ReadDI(Box_Addr.DI_1, StoreManager.Config.GetDILength(ioIp)); Box_Sta[] allDi = aioBox.ReadDI(Box_Addr.DI_1, StoreManager.Config.GetDILength(ioIp));
...@@ -404,7 +404,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -404,7 +404,7 @@ namespace OnlineStore.DeviceLibrary
{ {
try try
{ {
AIOBOX aioBox = getAIO(ioIp); AIOBOX2 aioBox = getAIO(ioIp);
if (aioBox != null) if (aioBox != null)
{ {
Box_Sta[] allDO = aioBox.ReadDO(Box_Addr.DO_1, StoreManager.Config.GetDOLength(ioIp)); Box_Sta[] allDO = aioBox.ReadDO(Box_Addr.DO_1, StoreManager.Config.GetDOLength(ioIp));
...@@ -421,7 +421,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -421,7 +421,7 @@ namespace OnlineStore.DeviceLibrary
IO_VALUE value = IO_VALUE.LOW; IO_VALUE value = IO_VALUE.LOW;
try try
{ {
AIOBOX aioBox = getAIO(ioIP); AIOBOX2 aioBox = getAIO(ioIP);
if (aioBox != null) if (aioBox != null)
{ {
Box_Sta sta = Box_Sta.Off; Box_Sta sta = Box_Sta.Off;
...@@ -451,7 +451,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -451,7 +451,7 @@ namespace OnlineStore.DeviceLibrary
IO_VALUE value = IO_VALUE.LOW; IO_VALUE value = IO_VALUE.LOW;
try try
{ {
AIOBOX aioBox = getAIO(ioIP); AIOBOX2 aioBox = getAIO(ioIP);
if (aioBox != null) if (aioBox != null)
{ {
Box_Sta sta = Box_Sta.Off; Box_Sta sta = Box_Sta.Off;
...@@ -514,9 +514,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -514,9 +514,9 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private AIOBOX getAIO(string ioIp) private AIOBOX2 getAIO(string ioIp)
{ {
AIOBOX aioBox = null; AIOBOX2 aioBox = null;
if (AIOMap.ContainsKey(ioIp)) if (AIOMap.ContainsKey(ioIp))
{ {
aioBox = AIOMap[ioIp]; aioBox = AIOMap[ioIp];
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -51,13 +51,13 @@ AXIS,(轴五)批量上下料轴,Batch_Axis,4,COM1,0,,,,, ...@@ -51,13 +51,13 @@ 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_P7,345000,,,,,,, PRO,升降轴 仓门位置P7(人工拿走盘的位置),UpDownAxis_Door_P7,345000,,,,,,,
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_P8,230000,,,,,,, PRO,升降轴 出库低点P8,UpDownAxis_OutLow_P8,225000,,,,,,,
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,8#398000;12#398000;16#393000;20#393000;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#388000;12#385000;16#380000;20#380000;24#375000;28#370000;32#370000;36#370000;40#370000;52#370000;,,,,,,,
PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,218900,,,,,,, PRO,旋转轴(轴一)P1 待机原位点,MiddleAxis_P1_Position,218900,,,,,,,
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,8#-135000;12#-135000;16#-125000;20#-120000;24#-115000;28#-90000;32#-80000;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#-135000;12#-135000;16#-135000;20#-120000;24#-125000;28#-90000;32#-80000;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,,,,,,,
...@@ -85,20 +85,20 @@ PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,200,,,,,,, ...@@ -85,20 +85,20 @@ PRO,(轴三)进出轴减速度,InoutAxis_DelSpeed,200,,,,,,,
PRO,(轴三)进出轴原点低速,InoutAxis_HomeLowSpeed,200,,,,,,, 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,200,,,,,,, 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,200,,,,,,, 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,300,,,,,,, PRO,升降轴(轴二)到仓门速度,UpDownAxis_Door_Speed,1000,,,,,,,
PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,2200,,,,,,, PRO,升降轴(轴二)P1速度,UpDownAxis_P1_Speed,2500,,,,,,,
PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,2200,,,,,,, PRO,升降轴(轴二)P2速度,UpDownAxis_P2_Speed,2500,,,,,,,
PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,2200,,,,,,, PRO,升降轴(轴二)P3速度,UpDownAxis_P3_Speed,2500,,,,,,,
PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,400,,,,,,, PRO,升降轴(轴二)P4速度,UpDownAxis_P4_Speed,400,,,,,,,
PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,2200,,,,,,, PRO,升降轴(轴二)P5速度,UpDownAxis_P5_Speed,2500,,,,,,,
PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,400,,,,,,, PRO,升降轴(轴二)P6速度,UpDownAxis_P6_Speed,400,,,,,,,
PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,2000,,,,,,, PRO,升降轴(轴二)到仓门P7速度,UpDownAxis_P7_Speed,2000,,,,,,,
PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,400,,,,,,, PRO,升降轴(轴二)P8速度,UpDownAxis_P8_Speed,400,,,,,,,
PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,800,,,,,,, PRO,旋转轴(轴一)P1速度,MiddleAxis_P1_Speed,1200,,,,,,,
PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,800,,,,,,, PRO,旋转轴(轴一)P2速度,MiddleAxis_P2_Speed,1200,,,,,,,
PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,800,,,,,,, PRO,进出轴(轴三)P1速度,InOutAxis_P1_Speed,1000,,,,,,,
PRO,进出轴(轴三)P2速度,InOutAxis_P2_Speed,800,,,,,,, PRO,进出轴(轴三)P2速度,InOutAxis_P2_Speed,1000,,,,,,,
PRO,进出轴(轴三)P3速度,InOutAxis_P3_Speed,800,,,,,,, PRO,进出轴(轴三)P3速度,InOutAxis_P3_Speed,1000,,,,,,,
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,,,,,,,
...@@ -140,20 +140,20 @@ PRO,(轴五)上料轴减速度,BatchAxis_DelSpeed,300,,,,,,, ...@@ -140,20 +140,20 @@ 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_P1,1750000,,,,,, , PRO,(轴五)上料轴P1点（出库时接料盘的位置）,BatchAxis_P1,1700000,,,,,, ,
PRO,(轴五)上料轴P2点（待机点）,BatchAxis_P2,30000,,,,,, , 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,2800,,,,,,, PRO,(轴五)上料轴P2速度,BatchAxis_P2_Speed,2000,,,,,,,
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,2800,,,,,,, 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,100000,,,,,,, PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,100000,,,,,,,
PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,250,,,,,,, PRO,(轴五)上料轴最最大料盘高度，到达后无法批量出库,BatchAxis_MaxHeight,250,,,,,,,
PRO,最后一盘料需要补充的高度,LastTrayAddHeight,4,,,,,,, PRO,最后一盘料需要补充的高度,LastTrayAddHeight,4,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,(轴二)升降轴单盘入库抬升料盘的高度,UpdownAxis_UpPosition,3000,,,,,,,
PRO,(轴五)上料轴出库上升最大高度,BatchAxis_OutMaxValue,1600000,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#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,192.168.200.21#16;192.168.200.22#4,,,,,,, PRO,模块对应的DO数量,IO_DOLength,192.168.200.21#16;192.168.200.22#4,,,,,,,
PRO,(轴二)升降轴单盘入库抬升料盘的高度,UpdownAxis_UpPosition,3000,,,,,,,
PRO,(轴五)上料轴出库上升最大高度,BatchAxis_OutMaxValue,1500000,,,,,,,
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#AC2_0_1_1,1,24,13,1,218800,781000,793000,793000,781000,86000,-125000,-30000,90000,88000 1#AC2_0_1_1,1,24,13,1,218800,781000,793000,793000,781000,85000,-125000,-30000,90000,87000
1#AC2_0_1_2,2,24,13,1,218800,810000,822000,822000,810000,86000,-125000,-30000,90000,88000 1#AC2_0_1_2,2,24,13,1,218800,810000,822000,822000,810000,85000,-125000,-30000,90000,87000
1#AC2_0_1_3,3,24,13,1,218800,840500,852500,852500,840500,86000,-125000,-30000,90000,88000 1#AC2_0_1_3,3,24,13,1,218800,840500,852500,852500,840500,85000,-125000,-30000,90000,87000
1#AC2_0_1_4,4,24,13,1,218800,871000,883000,883000,871000,86000,-125000,-30000,90000,88000 1#AC2_0_1_4,4,24,13,1,218800,871000,883000,883000,871000,85000,-125000,-30000,90000,87000
1#AC2_0_1_5,5,24,13,1,218800,900000,912000,912000,900000,86000,-125000,-30000,90000,88000 1#AC2_0_1_5,5,24,13,1,218800,900000,912000,912000,900000,85000,-125000,-30000,90000,87000
1#AC2_0_1_6,6,24,13,1,218800,931000,943000,943000,931000,86000,-125000,-30000,90000,88000 1#AC2_0_1_6,6,24,13,1,218800,931000,943000,943000,931000,85000,-125000,-30000,90000,87000
1#AC2_0_1_7,7,24,13,1,218800,960000,972000,972000,960000,86000,-125000,-30000,90000,88000 1#AC2_0_1_7,7,24,13,1,218800,960000,972000,972000,960000,85000,-125000,-30000,90000,87000
1#AC2_0_1_8,8,24,13,1,218800,990000,1002000,1002000,990000,86000,-125000,-30000,90000,88000 1#AC2_0_1_8,8,24,13,1,218800,990000,1002000,1002000,990000,85000,-125000,-30000,90000,87000
1#AC2_0_1_9,9,24,13,1,218800,1020000,1032000,1032000,1020000,86000,-125000,-30000,90000,88000 1#AC2_0_1_9,9,24,13,1,218800,1020000,1032000,1032000,1020000,85000,-125000,-30000,90000,87000
1#AC2_0_1_10,10,24,13,1,218800,1051000,1063000,1063000,1051000,86000,-125000,-30000,90000,88000 1#AC2_0_1_10,10,24,13,1,218800,1051000,1063000,1063000,1051000,85000,-125000,-30000,90000,87000
1#AC2_0_1_11,11,24,13,1,218800,1081000,1093000,1093000,1081000,86000,-125000,-30000,90000,88000 1#AC2_0_1_11,11,24,13,1,218800,1081000,1093000,1093000,1081000,85000,-125000,-30000,90000,87000
1#AC2_0_1_12,12,24,13,1,218800,1110000,1122000,1122000,1110000,86000,-125000,-30000,90000,88000 1#AC2_0_1_12,12,24,13,1,218800,1110000,1122000,1122000,1110000,85000,-125000,-30000,90000,87000
1#AC2_0_1_13,13,24,13,1,218800,1141000,1153000,1153000,1141000,86000,-125000,-30000,90000,88000 1#AC2_0_1_13,13,24,13,1,218800,1141000,1153000,1153000,1141000,85000,-125000,-30000,90000,87000
1#AC2_1_1_1,,24,13,1,146700,0,12000,12000,0,86000,-125000,-30000,90000,88000 1#AC2_1_1_1,,24,13,1,146700,0,12000,12000,0,85000,-125000,-30000,90000,87000
1#AC2_1_1_2,,24,13,1,146700,30000,42000,42000,30000,86000,-125000,-30000,90000,88000 1#AC2_1_1_2,,24,13,1,146700,30000,42000,42000,30000,85000,-125000,-30000,90000,87000
1#AC2_1_1_3,,24,13,1,146700,59000,71000,71000,59000,86000,-125000,-30000,90000,88000 1#AC2_1_1_3,,24,13,1,146700,59000,71000,71000,59000,85000,-125000,-30000,90000,87000
1#AC2_1_1_4,,24,13,1,146700,89000,101000,101000,89000,86000,-125000,-30000,90000,88000 1#AC2_1_1_4,,24,13,1,146700,89000,101000,101000,89000,85000,-125000,-30000,90000,87000
1#AC2_1_1_5,,24,13,1,146700,120000,132000,132000,120000,86000,-125000,-30000,90000,88000 1#AC2_1_1_5,,24,13,1,146700,120000,132000,132000,120000,85000,-125000,-30000,90000,87000
1#AC2_1_1_6,,24,13,1,146700,150000,162000,162000,150000,86000,-125000,-30000,90000,88000 1#AC2_1_1_6,,24,13,1,146700,150000,162000,162000,150000,85000,-125000,-30000,90000,87000
1#AC2_1_1_7,,24,13,1,146700,180000,192000,192000,180000,86000,-125000,-30000,90000,88000 1#AC2_1_1_7,,24,13,1,146700,180000,192000,192000,180000,85000,-125000,-30000,90000,87000
1#AC2_1_1_8,,24,13,1,146700,210000,222000,222000,210000,86000,-125000,-30000,90000,88000 1#AC2_1_1_8,,24,13,1,146700,210000,222000,222000,210000,85000,-125000,-30000,90000,87000
1#AC2_1_1_9,,24,13,1,146700,240000,252000,252000,240000,86000,-125000,-30000,90000,88000 1#AC2_1_1_9,,24,13,1,146700,240000,252000,252000,240000,85000,-125000,-30000,90000,87000
1#AC2_1_1_10,,24,13,1,146700,270000,282000,282000,270000,86000,-125000,-30000,90000,88000 1#AC2_1_1_10,,24,13,1,146700,270000,282000,282000,270000,85000,-125000,-30000,90000,87000
1#AC2_1_1_11,,24,13,1,146700,299000,311000,311000,299000,86000,-125000,-30000,90000,88000 1#AC2_1_1_11,,24,13,1,146700,299000,311000,311000,299000,85000,-125000,-30000,90000,87000
1#AC2_1_1_12,,24,13,1,146700,329000,341000,341000,329000,86000,-125000,-30000,90000,88000 1#AC2_1_1_12,,24,13,1,146700,329000,341000,341000,329000,85000,-125000,-30000,90000,87000
1#AC2_1_1_13,,24,13,1,146700,360000,372000,372000,360000,86000,-125000,-30000,90000,88000 1#AC2_1_1_13,,24,13,1,146700,360000,372000,372000,360000,85000,-125000,-30000,90000,87000
1#AC2_1_2_1,,24,13,1,146700,392000,404000,404000,392000,86000,-125000,-30000,90000,88000 1#AC2_1_2_1,,24,13,1,146700,392000,404000,404000,392000,85000,-125000,-30000,90000,87000
1#AC2_1_2_2,,24,13,1,146700,420000,432000,432000,420000,86000,-125000,-30000,90000,88000 1#AC2_1_2_2,,24,13,1,146700,420000,432000,432000,420000,85000,-125000,-30000,90000,87000
1#AC2_1_2_3,,24,13,1,146700,451500,463500,463500,451500,86000,-125000,-30000,90000,88000 1#AC2_1_2_3,,24,13,1,146700,451500,463500,463500,451500,85000,-125000,-30000,90000,87000
1#AC2_1_2_4,,24,13,1,146700,482000,494000,494000,482000,86000,-125000,-30000,90000,88000 1#AC2_1_2_4,,24,13,1,146700,482000,494000,494000,482000,85000,-125000,-30000,90000,87000
1#AC2_1_2_5,,24,13,1,146700,511000,523000,523000,511000,86000,-125000,-30000,90000,88000 1#AC2_1_2_5,,24,13,1,146700,511000,523000,523000,511000,85000,-125000,-30000,90000,87000
1#AC2_1_2_6,,24,13,1,146700,542000,554000,554000,542000,86000,-125000,-30000,90000,88000 1#AC2_1_2_6,,24,13,1,146700,542000,554000,554000,542000,85000,-125000,-30000,90000,87000
1#AC2_1_2_7,,24,13,1,146700,571000,583000,583000,571000,86000,-125000,-30000,90000,88000 1#AC2_1_2_7,,24,13,1,146700,571000,583000,583000,571000,85000,-125000,-30000,90000,87000
1#AC2_1_2_8,,24,13,1,146700,601000,613000,613000,601000,86000,-125000,-30000,90000,88000 1#AC2_1_2_8,,24,13,1,146700,601000,613000,613000,601000,85000,-125000,-30000,90000,87000
1#AC2_1_2_9,,24,13,1,146700,631000,643000,643000,631000,86000,-125000,-30000,90000,88000 1#AC2_1_2_9,,24,13,1,146700,631000,643000,643000,631000,85000,-125000,-30000,90000,87000
1#AC2_1_2_10,,24,13,1,146700,662000,674000,674000,662000,86000,-125000,-30000,90000,88000 1#AC2_1_2_10,,24,13,1,146700,662000,674000,674000,662000,85000,-125000,-30000,90000,87000
1#AC2_1_2_11,,24,13,1,146700,692000,704000,704000,692000,86000,-125000,-30000,90000,88000 1#AC2_1_2_11,,24,13,1,146700,692000,704000,704000,692000,85000,-125000,-30000,90000,87000
1#AC2_1_2_12,,24,13,1,146700,721000,733000,733000,721000,86000,-125000,-30000,90000,88000 1#AC2_1_2_12,,24,13,1,146700,721000,733000,733000,721000,85000,-125000,-30000,90000,87000
1#AC2_1_2_13,,24,13,1,146700,752000,764000,764000,752000,86000,-125000,-30000,90000,88000 1#AC2_1_2_13,,24,13,1,146700,752000,764000,764000,752000,85000,-125000,-30000,90000,87000
1#AC2_1_3_1,,24,13,1,146700,781000,793000,793000,781000,86000,-125000,-30000,90000,88000 1#AC2_1_3_1,,24,13,1,146700,781000,793000,793000,781000,85000,-125000,-30000,90000,87000
1#AC2_1_3_2,,24,13,1,146700,810000,822000,822000,810000,86000,-125000,-30000,90000,88000 1#AC2_1_3_2,,24,13,1,146700,810000,822000,822000,810000,85000,-125000,-30000,90000,87000
1#AC2_1_3_3,,24,13,1,146700,840500,852500,852500,840500,86000,-125000,-30000,90000,88000 1#AC2_1_3_3,,24,13,1,146700,840500,852500,852500,840500,85000,-125000,-30000,90000,87000
1#AC2_1_3_4,,24,13,1,146700,871000,883000,883000,871000,86000,-125000,-30000,90000,88000 1#AC2_1_3_4,,24,13,1,146700,871000,883000,883000,871000,85000,-125000,-30000,90000,87000
1#AC2_1_3_5,,24,13,1,146700,900000,912000,912000,900000,86000,-125000,-30000,90000,88000 1#AC2_1_3_5,,24,13,1,146700,900000,912000,912000,900000,85000,-125000,-30000,90000,87000
1#AC2_1_3_6,,24,13,1,146700,931000,943000,943000,931000,86000,-125000,-30000,90000,88000 1#AC2_1_3_6,,24,13,1,146700,931000,943000,943000,931000,85000,-125000,-30000,90000,87000
1#AC2_1_3_7,,24,13,1,146700,960000,972000,972000,960000,86000,-125000,-30000,90000,88000 1#AC2_1_3_7,,24,13,1,146700,960000,972000,972000,960000,85000,-125000,-30000,90000,87000
1#AC2_1_3_8,,24,13,1,146700,990000,1002000,1002000,990000,86000,-125000,-30000,90000,88000 1#AC2_1_3_8,,24,13,1,146700,990000,1002000,1002000,990000,85000,-125000,-30000,90000,87000
1#AC2_1_3_9,,24,13,1,146700,1020000,1032000,1032000,1020000,86000,-125000,-30000,90000,88000 1#AC2_1_3_9,,24,13,1,146700,1020000,1032000,1032000,1020000,85000,-125000,-30000,90000,87000
1#AC2_1_3_10,,24,13,1,146700,1051000,1063000,1063000,1051000,86000,-125000,-30000,90000,88000 1#AC2_1_3_10,,24,13,1,146700,1051000,1063000,1063000,1051000,85000,-125000,-30000,90000,87000
1#AC2_1_3_11,,24,13,1,146700,1081000,1093000,1093000,1081000,86000,-125000,-30000,90000,88000 1#AC2_1_3_11,,24,13,1,146700,1081000,1093000,1093000,1081000,85000,-125000,-30000,90000,87000
1#AC2_1_3_12,,24,13,1,146700,1110000,1122000,1122000,1110000,86000,-125000,-30000,90000,88000 1#AC2_1_3_12,,24,13,1,146700,1110000,1122000,1122000,1110000,85000,-125000,-30000,90000,87000
1#AC2_1_3_13,,24,13,1,146700,1141000,1153000,1153000,1141000,86000,-125000,-30000,90000,88000 1#AC2_1_3_13,,24,13,1,146700,1141000,1153000,1153000,1141000,85000,-125000,-30000,90000,87000
1#AC2_2_1_1,14,24,13,1,75400,0,12000,12000,0,86000,-125000,-30000,90000,88000 1#AC2_2_1_1,14,24,13,1,75400,0,12000,12000,0,85000,-125000,-30000,90000,87000
1#AC2_2_1_2,15,24,13,1,75400,30000,42000,42000,30000,86000,-125000,-30000,90000,88000 1#AC2_2_1_2,15,24,13,1,75400,30000,42000,42000,30000,85000,-125000,-30000,90000,87000
1#AC2_2_1_3,16,24,13,1,75400,59000,71000,71000,59000,86000,-125000,-30000,90000,88000 1#AC2_2_1_3,16,24,13,1,75400,59000,71000,71000,59000,85000,-125000,-30000,90000,87000
1#AC2_2_1_4,17,24,13,1,75400,89000,101000,101000,89000,86000,-125000,-30000,90000,88000 1#AC2_2_1_4,17,24,13,1,75400,89000,101000,101000,89000,85000,-125000,-30000,90000,87000
1#AC2_2_1_5,18,24,13,1,75400,120000,132000,132000,120000,86000,-125000,-30000,90000,88000 1#AC2_2_1_5,18,24,13,1,75400,120000,132000,132000,120000,85000,-125000,-30000,90000,87000
1#AC2_2_1_6,19,24,13,1,75400,150000,162000,162000,150000,86000,-125000,-30000,90000,88000 1#AC2_2_1_6,19,24,13,1,75400,150000,162000,162000,150000,85000,-125000,-30000,90000,87000
1#AC2_2_1_7,20,24,13,1,75300,180000,192000,192000,180000,86000,-125000,-30000,90000,88000 1#AC2_2_1_7,20,24,13,1,75300,180000,192000,192000,180000,85000,-125000,-30000,90000,87000
1#AC2_2_1_8,21,24,13,1,75300,210000,222000,222000,210000,86000,-125000,-30000,90000,88000 1#AC2_2_1_8,21,24,13,1,75300,210000,222000,222000,210000,85000,-125000,-30000,90000,87000
1#AC2_2_1_9,22,24,13,1,75200,240000,252000,252000,240000,86000,-125000,-30000,90000,88000 1#AC2_2_1_9,22,24,13,1,75200,240000,252000,252000,240000,85000,-125000,-30000,90000,87000
1#AC2_2_1_10,23,24,13,1,75200,270000,282000,282000,270000,86000,-125000,-30000,90000,88000 1#AC2_2_1_10,23,24,13,1,75200,270000,282000,282000,270000,85000,-125000,-30000,90000,87000
1#AC2_2_1_11,24,24,13,1,75000,299000,311000,311000,299000,86000,-125000,-30000,90000,88000 1#AC2_2_1_11,24,24,13,1,75000,299000,311000,311000,299000,85000,-125000,-30000,90000,87000
1#AC2_2_1_12,25,24,13,1,75000,329000,341000,341000,329000,86000,-125000,-30000,90000,88000 1#AC2_2_1_12,25,24,13,1,75000,329000,341000,341000,329000,85000,-125000,-30000,90000,87000
1#AC2_2_1_13,26,24,13,1,75000,360000,372000,372000,360000,86000,-125000,-30000,90000,88000 1#AC2_2_1_13,26,24,13,1,75000,360000,372000,372000,360000,85000,-125000,-30000,90000,87000
1#AC2_2_2_1,27,24,13,1,74700,392000,404000,404000,392000,86000,-125000,-30000,90000,88000 1#AC2_2_2_1,27,24,13,1,74700,392000,404000,404000,392000,85000,-125000,-30000,90000,87000
1#AC2_2_2_2,28,24,13,1,74700,420000,432000,432000,420000,86000,-125000,-30000,90000,88000 1#AC2_2_2_2,28,24,13,1,74700,420000,432000,432000,420000,85000,-125000,-30000,90000,87000
1#AC2_2_2_3,29,24,13,1,74700,451500,463500,463500,451500,86000,-125000,-30000,90000,88000 1#AC2_2_2_3,29,24,13,1,74700,451500,463500,463500,451500,85000,-125000,-30000,90000,87000
1#AC2_2_2_4,30,24,13,1,74700,482000,494000,494000,482000,86000,-125000,-30000,90000,88000 1#AC2_2_2_4,30,24,13,1,74700,482000,494000,494000,482000,85000,-125000,-30000,90000,87000
1#AC2_2_2_5,31,24,13,1,74700,511000,523000,523000,511000,86000,-125000,-30000,90000,88000 1#AC2_2_2_5,31,24,13,1,74700,511000,523000,523000,511000,85000,-125000,-30000,90000,87000
1#AC2_2_2_6,32,24,13,1,74700,542000,554000,554000,542000,86000,-125000,-30000,90000,88000 1#AC2_2_2_6,32,24,13,1,74700,542000,554000,554000,542000,85000,-125000,-30000,90000,87000
1#AC2_2_2_7,33,24,13,1,74700,571000,583000,583000,571000,86000,-125000,-30000,90000,88000 1#AC2_2_2_7,33,24,13,1,74700,571000,583000,583000,571000,85000,-125000,-30000,90000,87000
1#AC2_2_2_8,34,24,13,1,74700,601000,613000,613000,601000,86000,-125000,-30000,90000,88000 1#AC2_2_2_8,34,24,13,1,74700,601000,613000,613000,601000,85000,-125000,-30000,90000,87000
1#AC2_2_2_9,35,24,13,1,74500,631000,643000,643000,631000,86000,-125000,-30000,90000,88000 1#AC2_2_2_9,35,24,13,1,74500,631000,643000,643000,631000,85000,-125000,-30000,90000,87000
1#AC2_2_2_10,36,24,13,1,74500,662000,674000,674000,662000,86000,-125000,-30000,90000,88000 1#AC2_2_2_10,36,24,13,1,74500,662000,674000,674000,662000,85000,-125000,-30000,90000,87000
1#AC2_2_2_11,37,24,13,1,74500,692000,704000,704000,692000,86000,-125000,-30000,90000,88000 1#AC2_2_2_11,37,24,13,1,74500,692000,704000,704000,692000,85000,-125000,-30000,90000,87000
1#AC2_2_2_12,38,24,13,1,74500,721000,733000,733000,721000,86000,-125000,-30000,90000,88000 1#AC2_2_2_12,38,24,13,1,74500,721000,733000,733000,721000,85000,-125000,-30000,90000,87000
1#AC2_2_2_13,39,24,13,1,74500,752000,764000,764000,752000,86000,-125000,-30000,90000,88000 1#AC2_2_2_13,39,24,13,1,74500,752000,764000,764000,752000,85000,-125000,-30000,90000,87000
1#AC2_2_3_1,40,24,13,1,74700,781000,793000,793000,781000,86000,-125000,-30000,90000,88000 1#AC2_2_3_1,40,24,13,1,74700,781000,793000,793000,781000,85000,-125000,-30000,90000,87000
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1#AC2_6_3_4,173,24,13,1,362700,871000,883000,883000,871000,86000,-125000,-30000,90000,88000 1#AC2_6_3_4,199,24,13,1,362700,871000,883000,883000,871000,85000,-125000,-30000,90000,87000
1#AC2_6_3_5,174,24,13,1,362700,900000,912000,912000,900000,86000,-125000,-30000,90000,88000 1#AC2_6_3_5,200,24,13,1,362700,900000,912000,912000,900000,85000,-125000,-30000,90000,87000
1#AC2_6_3_6,175,24,13,1,362700,931000,943000,943000,931000,86000,-125000,-30000,90000,88000 1#AC2_6_3_6,201,24,13,1,362700,931000,943000,943000,931000,85000,-125000,-30000,90000,87000
1#AC2_6_3_7,176,24,13,1,362700,960000,972000,972000,960000,86000,-125000,-30000,90000,88000 1#AC2_6_3_7,202,24,13,1,362700,960000,972000,972000,960000,85000,-125000,-30000,90000,87000
1#AC2_6_3_8,177,24,13,1,362700,990000,1002000,1002000,990000,86000,-125000,-30000,90000,88000 1#AC2_6_3_8,203,24,13,1,362700,990000,1002000,1002000,990000,85000,-125000,-30000,90000,87000
1#AC2_6_3_9,178,24,13,1,362700,1020000,1032000,1032000,1020000,86000,-125000,-30000,90000,88000 1#AC2_6_3_9,204,24,13,1,362700,1020000,1032000,1032000,1020000,85000,-125000,-30000,90000,87000
1#AC2_6_3_10,179,24,13,1,362700,1051000,1063000,1063000,1051000,86000,-125000,-30000,90000,88000 1#AC2_6_3_10,205,24,13,1,362700,1051000,1063000,1063000,1051000,85000,-125000,-30000,90000,87000
1#AC2_6_3_11,180,24,13,1,362700,1081000,1093000,1093000,1081000,86000,-125000,-30000,90000,88000 1#AC2_6_3_11,206,24,13,1,362700,1081000,1093000,1093000,1081000,85000,-125000,-30000,90000,87000
1#AC2_6_3_12,181,24,13,1,362800,1110000,1122000,1122000,1110000,86000,-125000,-30000,90000,88000 1#AC2_6_3_12,207,24,13,1,362800,1110000,1122000,1122000,1110000,85000,-125000,-30000,90000,87000
1#AC2_6_3_13,180,24,13,1,362800,1141000,1153000,1153000,1141000,86000,-125000,-30000,90000,88000 1#AC2_6_3_13,208,24,13,1,362800,1141000,1153000,1153000,1141000,85000,-125000,-30000,90000,87000
1#AC2_7_1_1,183,24,13,1,290900,781000,793000,793000,781000,86000,-125000,-30000,90000,88000 1#AC2_7_1_1,209,24,13,1,290900,781000,793000,793000,781000,85000,-125000,-30000,90000,87000
1#AC2_7_1_2,184,24,13,1,290900,810000,822000,822000,810000,86000,-125000,-30000,90000,88000 1#AC2_7_1_2,210,24,13,1,290900,810000,822000,822000,810000,85000,-125000,-30000,90000,87000
1#AC2_7_1_3,185,24,13,1,290900,840500,852500,852500,840500,86000,-125000,-30000,90000,88000 1#AC2_7_1_3,211,24,13,1,290900,840500,852500,852500,840500,85000,-125000,-30000,90000,87000
1#AC2_7_1_4,186,24,13,1,290900,871000,883000,883000,871000,86000,-125000,-30000,90000,88000 1#AC2_7_1_4,212,24,13,1,290900,871000,883000,883000,871000,85000,-125000,-30000,90000,87000
1#AC2_7_1_5,187,24,13,1,290900,900000,912000,912000,900000,86000,-125000,-30000,90000,88000 1#AC2_7_1_5,213,24,13,1,290900,900000,912000,912000,900000,85000,-125000,-30000,90000,87000
1#AC2_7_1_6,188,24,13,1,290900,931000,943000,943000,931000,86000,-125000,-30000,90000,88000 1#AC2_7_1_6,214,24,13,1,290900,931000,943000,943000,931000,85000,-125000,-30000,90000,87000
1#AC2_7_1_7,189,24,13,1,290900,960000,972000,972000,960000,86000,-125000,-30000,90000,88000 1#AC2_7_1_7,215,24,13,1,290900,960000,972000,972000,960000,85000,-125000,-30000,90000,87000
1#AC2_7_1_8,190,24,13,1,290900,990000,1002000,1002000,990000,86000,-125000,-30000,90000,88000 1#AC2_7_1_8,216,24,13,1,290900,990000,1002000,1002000,990000,85000,-125000,-30000,90000,87000
1#AC2_7_1_9,191,24,13,1,290900,1020000,1032000,1032000,1020000,86000,-125000,-30000,90000,88000 1#AC2_7_1_9,217,24,13,1,290900,1020000,1032000,1032000,1020000,85000,-125000,-30000,90000,87000
1#AC2_7_1_10,192,24,13,1,290900,1051000,1063000,1063000,1051000,86000,-125000,-30000,90000,88000 1#AC2_7_1_10,218,24,13,1,290900,1051000,1063000,1063000,1051000,85000,-125000,-30000,90000,87000
1#AC2_7_1_11,193,24,13,1,290900,1081000,1093000,1093000,1081000,86000,-125000,-30000,90000,88000 1#AC2_7_1_11,219,24,13,1,290900,1081000,1093000,1093000,1081000,85000,-125000,-30000,90000,87000
1#AC2_7_1_12,194,24,13,1,290900,1110000,1122000,1122000,1110000,86000,-125000,-30000,90000,88000 1#AC2_7_1_12,220,24,13,1,290900,1110000,1122000,1122000,1110000,85000,-125000,-30000,90000,87000
1#AC2_7_1_13,195,24,13,1,290900,1141000,1153000,1153000,1141000,86000,-125000,-30000,90000,88000 1#AC2_7_1_13,221,24,13,1,290900,1141000,1153000,1153000,1141000,85000,-125000,-30000,90000,87000
,,,,,,,,,,,,,,
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source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -800,8 +800,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -800,8 +800,13 @@ namespace OnlineStore.DeviceLibrary
bool BatchNeedMove = false; bool BatchNeedMove = false;
int targetValue = -1; int targetValue = -1;
int outDownPosition = StoreMove.MoveParam.MoveP.BatchAxis_DownValue; int outDownPosition = StoreMove.MoveParam.MoveP.BatchAxis_DownValue;
if (StoreMove.IsBatchInOutStore) if (StoreMove.IsBatchInOutStore)
{ //如果料盘检测信号不亮，不需要下降这么多
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW) && outDownPosition > Config.BatchAxis_OutDownPosition)
{ {
outDownPosition = outDownPosition - Config.BatchAxis_OutDownPosition;
}
//上下料机构下降的距离=料盘最低高度+默认的高度 //上下料机构下降的距离=料盘最低高度+默认的高度
targetValue = GetBatchTargetValue(outDownPosition); targetValue = GetBatchTargetValue(outDownPosition);
if (targetValue >= 1000) if (targetValue >= 1000)
...@@ -812,7 +817,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -812,7 +817,7 @@ namespace OnlineStore.DeviceLibrary
{ {
AutomaticBaiting.BatchOutStoreCount++; AutomaticBaiting.BatchOutStoreCount++;
AutomaticBaiting.BatchOutStoreHeight = 1000; AutomaticBaiting.BatchOutStoreHeight = 1000;
OutStoreLog("出库：SO_03批量上下料轴需要下降【" + outDownPosition + "】目标【" + targetValue + "】 ，请检查料盘是否已满"); OutStoreLog("出库：SO_03批量上下料轴需下降【" + outDownPosition + "】目标【" + targetValue + "】 ，请检查料盘是否已满");
//停止出库 //停止出库
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : ""; string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
storeStatus = StoreStatus.StoreOnline; storeStatus = StoreStatus.StoreOnline;
...@@ -968,8 +973,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -968,8 +973,15 @@ namespace OnlineStore.DeviceLibrary
InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1); InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
if (StoreMove.IsBatchInOutStore) if (StoreMove.IsBatchInOutStore)
{ {
//如果可以直接下降，则不需要匀速上升
int targetValue = GetBatchTargetValue(StoreMove.MoveParam.MoveP.BatchAxis_DownValue);
if (targetValue >= 300000)
{
OutStoreLog("出库：SO_02 批量上下料轴直接下降后目标位置【" + targetValue + "】不需要匀速上升 ");
}
//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 (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW)) else if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{ {
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);
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
...@@ -643,8 +643,18 @@ namespace OnlineStore.DeviceLibrary ...@@ -643,8 +643,18 @@ namespace OnlineStore.DeviceLibrary
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O00_Wait)) if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O00_Wait))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_WaitDoorOpen); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_WaitDoorOpen);
LogUtil.info(Name + "出料: 等待门锁打开 ");
BatchDoorOpen(true); BatchDoorOpen(true);
if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.LOW))
{
LogUtil.info(Name + "出料: 等待门锁打开， OutCheck=LOW批量轴不需要到P2 ");
}
else
{
LogUtil.info(Name + "出料: 等待门锁打开，批量轴回到P2点 ");
//批量轴直接走到P2
ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
}
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_WaitDoorOpen)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_WaitDoorOpen))
{ {
...@@ -656,22 +666,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -656,22 +666,21 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove); StartSpeedOut();
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + StoreManager.Config.BatchAxis_SlowSpeed + "】,最大上升高度【"+StoreManager.Config.BatchAxis_OutMaxValue + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.OutCheck);
} }
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitOutSingleLow)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitOutSingleLow))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove); StartSpeedOut();
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)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O03_SpeedMove))
{ {
//先判断极限是否亮 //先判断极限是否亮
//int value = ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis); //int value = ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis);
if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH)) int currValue = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
int count = Math.Abs(currValue - StoreManager.Config.BatchAxis_OutMaxValue);
if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH) || count < StoreManager.Config.Batch_Axis.CanErrorCountMax)
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O05_BackToP2); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O05_BackToP2);
LogUtil.info(Name + "出料：上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】"); LogUtil.info(Name + "出料：上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】");
...@@ -697,7 +706,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -697,7 +706,19 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType); LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
} }
} }
private static void StartSpeedOut()
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_SpeedMove);
AUTO_SA_Config Config = StoreManager.Config;
LogUtil.info(Name + " 出料 ，轴上升到检测到出料信号，速度【" + Config.BatchAxis_SlowSpeed + "】,最大上升高度【" + Config.BatchAxis_OutMaxValue + "】");
//ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.OutCheck);
StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_OutMaxValue, IO_Type.OutCheck));
BatchAxisController.StartCheck(IO_Type.OutCheck);
StoreManager.Config.Batch_Axis.TargetPosition = Config.BatchAxis_OutMaxValue;
int speed = Config.BatchAxis_SlowSpeed;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_OutMaxValue, speed);
}
private static void StopOutProcess() private static void StopOutProcess()
{ {
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore)) if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
...@@ -272,28 +272,47 @@ namespace OnlineStore.DeviceLibrary ...@@ -272,28 +272,47 @@ namespace OnlineStore.DeviceLibrary
LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动"); LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动");
result = true; result = true;
} }
else if (wait.TargetPosition > 0)
{
bool MoveEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
int outCount = ACServerManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
int errorCount = Math.Abs(outCount - wait.TargetPosition);
if (MoveEnd && errorCount < wait.AxisInfo.CanErrorCountMax)
{
result = true;
}
}
if (result) if (result)
{ {
LogUtil.debug(wait.ToStr() + " 停止运动"); LogUtil.debug(wait.ToStr() + " 停止运动");
ACServerManager.SuddenStop(wait.AxisInfo); ACServerManager.SuddenStop(wait.AxisInfo);
} }
else if(startSpan.TotalSeconds>2) else if (startSpan.TotalSeconds > 2)
{ {
TimeSpan span = DateTime.Now - AxisResetMoveTime; TimeSpan span = DateTime.Now - AxisResetMoveTime;
if ((AutoBaitingStatus.Equals(StoreRunStatus.Busy)||AutoBaitingStatus.Equals(StoreRunStatus.Reset)) && span.TotalSeconds > 10) if ((AutoBaitingStatus.Equals(StoreRunStatus.Busy) || AutoBaitingStatus.Equals(StoreRunStatus.Reset)) && span.TotalSeconds > 10)
//if (AutoBaitingStatus.Equals(StoreRunStatus.Busy) && StoreMove.CanWhileCount > 0) //if (AutoBaitingStatus.Equals(StoreRunStatus.Busy) && StoreMove.CanWhileCount > 0)
{ {
AxisResetMoveTime = DateTime.Now; AxisResetMoveTime = DateTime.Now;
//如果批量轴已经停止运动，重新开始 //如果批量轴已经停止运动，重新开始
bool isEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0); bool isEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isEnd) if (isEnd)
{ //判断是否需要重新运动 {
StoreMove.CanWhileCount--; ACServerManager.SuddenStop(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
LogUtil.error(wait.ToStr() + " 未收到信号且停止运动，重新匀速" + StoreManager.Config.BatchAxis_SlowSpeed + "运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.SuddenStop(wait.AxisInfo.DeviceName,wait.AxisInfo.GetAxisValue());
Thread.Sleep(2000); Thread.Sleep(2000);
if (wait.TargetPosition <= 0)
{
LogUtil.error(wait.ToStr() + " 未收到信号且停止运动，重新匀速" + StoreManager.Config.BatchAxis_SlowSpeed + "运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.SpeedMove(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue(), StoreManager.Config.BatchAxis_SlowSpeed); ACServerManager.SpeedMove(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue(), StoreManager.Config.BatchAxis_SlowSpeed);
} }
else
{
LogUtil.error(wait.ToStr() + " 未收到信号且停止运动，绝对运动" + wait.TargetPosition + " ，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.AbsMove(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue(), wait.TargetPosition, StoreManager.Config.BatchAxis_SlowSpeed);
}
//判断是否需要重新运动
StoreMove.CanWhileCount--;
}
} }
} }
return result; return result;
......
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