Skip to content

孙克 / RC30-AutoInOutStore

转到一个项目
切换导航栏
切换导航栏固定状态
Commit d03fe7e8 由 几米阳光
选项

1

1 个父辈 7daf9d25
全部展开
内嵌 并排
正在显示 5 个修改的文件 包含 152 行增加 和 154 行删除
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs
......@@ -234,7 +234,7 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(LOGGER, StoreName + "到待机状态，进出轴到P1，压紧轴先相对走-2000");
ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
ComBeforeHomeMove();
ResetCloseDoor();
ResetCloseDoor();
}
public override void Reset()
{
......@@ -369,7 +369,7 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P7_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
ResetCloseDoor();
CloseDoorAndWait();
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "复位完成");
......@@ -397,6 +397,7 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P7_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
CloseDoorAndWait();
break;
case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
LogUtil.info(LOGGER, StoreName + "到待机状态完成");
......@@ -537,7 +538,7 @@ namespace OnlineStore.DeviceLibrary
ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_Door_P7, Config.UpDownAxis_P7_Speed);
ComMoveToPosition(Config.CompressAxis_P1_Position);
ResetCloseDoor();
CloseDoorAndWait();
break;
case StoreMoveStep.BOX_H_MiddleAxisToP1:
LogUtil.info(LOGGER, StoreName + "回原点完成");
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
......@@ -213,16 +213,8 @@ namespace OnlineStore.DeviceLibrary
{
AutoBaitingStatus = StoreRunStatus.Busy;
StoreMove.NewMove(StoreMoveType.InStore);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I00_MoveToUp);
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
LogUtil.error(Name + " 启动入料 ，已检测到料盘，轴不需要上升");
}
else
{
LogUtil.error(Name + " 启动入料 ，轴上升到检测到料盘");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I01_Wait);
LogUtil.info(Name + "启动入料");
return true;
}
else
......@@ -243,34 +235,47 @@ namespace OnlineStore.DeviceLibrary
{
return;
}
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I00_MoveToUp))
if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I01_Wait))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp);
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
LogUtil.info(Name + " 入料 ，已检测到料盘，轴不需要上升");
}
else
{
LogUtil.info(Name + " 入料 ，轴上升到检测到料盘");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_MoveToUp))
{
IsNeedScanCode();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I01_ScanCode))
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_ScanCode))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_SuckingDisc_Down);
LogUtil.info(Name + "入料: 检测到料盘， 吸盘开始下降");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Down);
LogUtil.info(Name + "入料: 扫码结束，二维码【" + LastCode + "】 吸盘开始下降");
CylinderMove(IO_Type.SuckingDisc_Down, IO_Type.SuckingDisc_Up, true);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I02_SuckingDisc_Down))
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Down))
{
SuckingDiscWork();
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_SuckingDisc_Work))
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_SuckingDisc_Work))
{
if (KND.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升，等待宽度到达"+StoreManager.Config.Default_TrayWidth);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_SuckingDisc_Up);
LogUtil.info(Name + "入料: 吸盘上升，等待宽度到达" + StoreManager.Config.Default_TrayWidth);
CylinderMove(IO_Type.SuckingDisc_Up, IO_Type.SuckingDisc_Down, true);
if (StoreManager.Config.Default_TrayWidth.Equals(7))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
}else if (StoreManager.Config.Default_TrayWidth.Equals(13))
{
}
else if (StoreManager.Config.Default_TrayWidth.Equals(13))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.HIGH));
}
......@@ -285,13 +290,14 @@ namespace OnlineStore.DeviceLibrary
WarnMsg = "吸盘已经尝试三次，仍然吸不到物料！";
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, "吸盘吸料失败", WarnMsg, StoreMoveType.InStore);
}
}else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Up))
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_SuckingDisc_Up))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_BatchAxisUp);
LogUtil.info(Name + "入料: 批量上下料轴上升");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
LogUtil.info(Name + "入料: 批量上下料轴上升");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.Batch_Axis.TargetSpeed);
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I05_BatchAxisUp))
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_BatchAxisUp))
{
if (StoreManager.Store.CanStarInOut())
{
......@@ -304,26 +310,25 @@ namespace OnlineStore.DeviceLibrary
}
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I06_GetPosId);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_GetPosId);
//计算高度
EndMovePosition = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis.DeviceName, StoreManager.Config.Batch_Axis.GetAxisValue());
LastHeight = Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue;
LogUtil.info(Name + "入料: 计算高度：上升前位置【" + StartMovePosition + "】实时位置【" + EndMovePosition + "】，计算后高度【" + LastHeight + "】");
LastSize = StoreManager.Config.Default_TrayWidth;
LastSize = StoreManager.Config.Default_TrayWidth;
LogUtil.info(Name + "入料: 从服务器获取入库PosId，尺寸：【" + LastSize + "*" + LastHeight + "】二维码【" + LastCode + "】");
GetInStorePosId(ProcessMsg());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
StoreMove.OneWaitCanEndStep = true;
}
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I06_GetPosId))
{
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I08_GetPosId))
{
//判断是否开始入库
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_WaitTrayLeave);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入料【" + LastPosId + "】，等待料盘拿走");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
}
......@@ -335,7 +340,7 @@ namespace OnlineStore.DeviceLibrary
StoreManager.Store.StartInStoreMove(new InOutStoreParam("", posId), true, false);
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I07_WaitTrayLeave))
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I09_WaitTrayLeave))
{
if (StoreManager.Store.StoreMove.MoveStep >= StoreMoveStep.SI_07_DeviceBackFromDoor)
{
......@@ -348,7 +353,14 @@ namespace OnlineStore.DeviceLibrary
{
IsNeedScanCode();
}
}
}
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I11_BatchAxisHome))
{
//TODO
LogUtil.info(Name + "入料：已经没有料盘，批量上料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
}
else
{
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType);
......@@ -357,7 +369,7 @@ namespace OnlineStore.DeviceLibrary
private static void SuckingDiscWork()
{
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_SuckingDisc_Work);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_SuckingDisc_Work);
SuckingDisc_WorkCount++;
LogUtil.info(Name + "入料: 吸盘开始第" + SuckingDisc_WorkCount + "次工作");
KND.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH);
......@@ -375,19 +387,19 @@ namespace OnlineStore.DeviceLibrary
// if (ACServerManager.GetLimitPositiveSingle(StoreManager.Config.Batch_Axis).Equals(0))
if (KND.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I01_ScanCode);
LogUtil.info(Name + "入料: 开始扫码 ");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_ScanCode);
LogUtil.info(Name + "入料: 开始扫码，最多等待两秒钟 ");
StoreMove.OneWaitCanEndStep = true;
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
GetCameraCode();
StoreMove.OneWaitCanEndStep = true;
}
else
{
//TODO
LogUtil.info(Name + "入料：已经没有料盘，入料结束");
StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing;
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
LogUtil.info(Name + "入料：已经没有料盘，批量上下轴回原点");
StoreMove.TimeOutSeconds = 120;
ACAxisHomeMove(StoreManager.Config.Batch_Axis);
}
}
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
......@@ -72,87 +72,88 @@ namespace OnlineStore.DeviceLibrary
StoreMove.EndStepWait();
return;
}
try {
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
string NotOkMsg = "";
bool isOk = !StoreMove.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
try
{
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == (int)Wait_Type.AxisMove_1)
//当等待超过一分钟时，需要打印提示
TimeSpan span = DateTime.Now - StoreMove.LastSetpTime;
string NotOkMsg = "";
bool isOk = !StoreMove.OneWaitCanEndStep;
foreach (WaitResultInfo wait in list)
{
wait.IsEnd = AxisMoveISEnd(wait);
}
else if (wait.WaitType == (int)Wait_Type.IOMove_2)
{
wait.IsEnd = KND.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = StoreManager.Config.IOSingle_TimerOut;
if (wait.IsEnd)
{
continue;
}
NotOkMsg = wait.ToStr();
if (wait.WaitType == (int)Wait_Type.AxisMove_1)
{
wait.IsEnd = AxisMoveISEnd(wait);
}
else if (wait.WaitType == (int)Wait_Type.IOMove_2)
{
wait.IsEnd = KND.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = StoreManager.Config.IOSingle_TimerOut;
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = StoreManager.Config.getWaitIO(wait.IoType);
WarnMsg = Name + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
LogUtil.error(WarnMsg);
isOk = false;
break;
}
}
else if (wait.WaitType == (int)Wait_Type.Time_3)
{
ConfigIO io = StoreManager.Config.getWaitIO(wait.IoType);
WarnMsg = Name + " 等待信号" + io.DisplayStr + "=" + wait.IoValue + "超时！";
StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, io.ElectricalDefinition, WarnMsg, StoreMove.MoveType);
LogUtil.error(WarnMsg);
isOk = false;
break;
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
}
else if (wait.WaitType == (int)Wait_Type.Time_3)
{
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}
else if (wait.WaitType == (int)Wait_Type.ShuoKe_5)
{
}
else if (wait.WaitType == (int)Wait_Type.AxisHomeSingle_6)
{
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
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)
{
wait.IsEnd = BatchAxisIsEnd(wait);
}
else if (wait.WaitType == (int)Wait_Type.ScanCode_11)
{
wait.IsEnd = !String.IsNullOrEmpty(LastCode);
}
if (wait.IsEnd)
{
if (StoreMove.OneWaitCanEndStep)
else if (wait.WaitType == (int)Wait_Type.ShuoKe_5)
{
isOk = true;
break;
}
}
else
{
if (!StoreMove.OneWaitCanEndStep)
else if (wait.WaitType == (int)Wait_Type.AxisHomeSingle_6)
{
isOk = false;
break;
IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
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)
{
wait.IsEnd = BatchAxisIsEnd(wait);
}
else if (wait.WaitType == (int)Wait_Type.ScanCode_11)
{
wait.IsEnd = (LastCode.Equals("").Equals(false));
}
if (wait.IsEnd)
{
if (StoreMove.OneWaitCanEndStep)
{
isOk = true;
break;
}
}
else
{
if (!StoreMove.OneWaitCanEndStep)
{
isOk = false;
break;
}
}
}
}
if (isOk)
{
StoreMove.EndStepWait();
......@@ -161,7 +162,7 @@ namespace OnlineStore.DeviceLibrary
{
WarnMsg = Name + "【" + StoreMove.MoveType + "】【" + StoreMove.MoveStep + "】等待超时 [" + NotOkMsg
+ "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
LogUtil.error(WarnMsg);
LogUtil.error(WarnMsg);
StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, "", WarnMsg, StoreMove.MoveType);
}
}
......@@ -291,12 +292,11 @@ namespace OnlineStore.DeviceLibrary
if (LastCode.Equals(""))
{
LastCode = "NoCode";
LogUtil.info(Name + "未扫到二维码，默认为NoCode");
LogUtil.info(Name + "模拟二维码：NoCode");
}
if (LastCode.Equals(""))
{
LogUtil.error("未扫到二维码，请拿走料盘");
WarnMsg = "未扫到二维码，请拿走料盘";
LogUtil.error("未扫到二维码，需要将料盘送出");
}
else
{
......@@ -353,7 +353,7 @@ namespace OnlineStore.DeviceLibrary
if (StoreManager.Store.IsDebug)
{
string posId = "1#AC1_1_1_4";
LogUtil.info(Name + "调试模式，不需要连接服务器，直接模拟库位号【" + posId + "】");
LogUtil.info(Name + "调试模式，模拟库位号【" + posId + "】");
string plateH = "8";
string plateW = "7";
if (StoreManager.Store.CanStarInOut())
......
source/DeviceLibrary/store/StoreMoveStep.cs
......@@ -407,73 +407,58 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 自动上下料上料功能
/// <summary>
/// 开始自动上料
/// </summary>
AUTO_I01_Wait=1201,
/// <summary>
/// 先上升到料盘检测1（上料机构）信号亮
/// </summary>
AUTO_I00_MoveToUp=1200,
AUTO_I02_MoveToUp=1202,
/// <summary>
/// 扫码
/// </summary>
AUTO_I01_ScanCode=1201,
AUTO_I03_ScanCode=1203,
/// <summary>
/// 吸盘下降
/// </summary>
AUTO_I02_SuckingDisc_Down=1202,
AUTO_I04_SuckingDisc_Down=1204,
/// <summary>
/// 吸盘吸料盘
/// </summary>
AUTO_I03_SuckingDisc_Work=1203,
AUTO_I05_SuckingDisc_Work=1205,
/// <summary>
/// 吸盘上升 ，
/// </summary>
AUTO_I04_SuckingDisc_Up=1204,
AUTO_I06_SuckingDisc_Up=1206,
/// <summary>
/// 批量上下料料轴上升
/// </summary>
AUTO_I05_BatchAxisUp=1205,
AUTO_I07_BatchAxisUp=1207,
/// <summary>
/// 从服务器获取PosID
/// </summary>
AUTO_I06_GetPosId=1206,
AUTO_I08_GetPosId=1208,
/// <summary>
/// 等待料盘被叉子拿走
/// </summary>
AUTO_I07_WaitTrayLeave=1207,
AUTO_I09_WaitTrayLeave=1209,
/// <summary>
/// 未扫到码：等待操作人员拿走料盘
/// </summary>
AUTO_I10_WaitTrayGo=1210,
///// <summary>
/////未扫到码： 把料盘放到叉子上
///// </summary>
//AUTO_I11_PutTrayToInout,
///// <summary>
///// 未扫到码：叉子进入门槛
///// </summary>
//AUTO_I12_InoutToDoor,
///// <summary>
///// 未扫到码：把料盘放到门口
///// </summary>
//AUTO_I13_PutTrayToDoor,
///// <summary>
///// 未扫到码：等待拿走料盘
///// </summary>
//AUTO_I14_WaitTakeTray,
///// <summary>
///// 未扫到码：料盘已手动拿走，需要等一秒钟后关闭仓门
///// </summary>
//AUTO_I15_TrayLeaveWaitTime,
AUTO_I10_WaitTrayGo=1210,
/// <summary>
/// 批量上下轴开始回原点
/// </summary>
AUTO_I11_BatchAxisHome=1211,
///// <summary>
///// 未扫到码：关闭仓门
///// </summary>
//AUTO_I16_CloseDoor,
#endregion
......
支持 Markdown 格式
你添加了 0 人 到此讨论。请谨慎行事。
Finish editing this message first!