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Commit fb400ac6 由 LN
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批量上料轴上升改为绝对运动

1 个父辈 692849d3
内嵌 并排
正在显示 8 个修改的文件 包含 117 行增加 和 100 行删除
source/Common/util/LogUtil.cs
...@@ -14,7 +14,7 @@ namespace OnlineStore.Common ...@@ -14,7 +14,7 @@ namespace OnlineStore.Common
private static LogUtil instance = new LogUtil(); private static LogUtil instance = new LogUtil();
public delegate void ShowLog(string msg, Color color); public delegate void ShowLog(string msg, Color color);
public static readonly ILog LOGGER = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); public static readonly ILog LOGGER = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
public static readonly ILog AIOLog = LogManager.GetLogger("AIOBOXLog"); // public static readonly ILog AIOLog = LogManager.GetLogger("AIOBOX");
public static Dictionary<int, DateTime> lastErrorLogTime = new Dictionary<int, DateTime>(); public static Dictionary<int, DateTime> lastErrorLogTime = new Dictionary<int, DateTime>();
public static System.Windows.Forms.RichTextBox logBox = null; public static System.Windows.Forms.RichTextBox logBox = null;
......
source/DeviceLibrary/DeviceLibrary.csproj
...@@ -36,7 +36,8 @@ ...@@ -36,7 +36,8 @@
<Prefer32Bit>false</Prefer32Bit> <Prefer32Bit>false</Prefer32Bit>
</PropertyGroup> </PropertyGroup>
<ItemGroup> <ItemGroup>
<Reference Include="Asa.IOModule.AIOBOX"> <Reference Include="Asa.IOModule.AIOBOX, Version=2.2.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath> <HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
</Reference> </Reference>
<Reference Include="CodeLibrary"> <Reference Include="CodeLibrary">
......
source/DeviceLibrary/DeviceLibrary/PanasonicServo/BatchAxisController.cs
...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary
{ {
checkTimer = new System.Timers.Timer(); checkTimer = new System.Timers.Timer();
checkTimer.AutoReset = true; checkTimer.AutoReset = true;
checkTimer.Interval += 20; checkTimer.Interval += 30;
checkTimer.Elapsed += CheckTimer_Elapsed; checkTimer.Elapsed += CheckTimer_Elapsed;
checkTimer.Enabled = false; checkTimer.Enabled = false;
} }
...@@ -53,11 +53,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -53,11 +53,11 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info("批量上料轴，检测到 " + TargetIoType + "="+TargetIoValue+"，可以停止运动"); LogUtil.info("批量上料轴，检测到 " + TargetIoType + "="+TargetIoValue+"，可以停止运动");
result = true; result = true;
} }
else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH)) //else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH))
{ //{
LogUtil.info("批量上料轴，检测到正极限信号，可以停止运动"); // LogUtil.info("批量上料轴，检测到正极限信号，可以停止运动");
result = true; // result = true;
} //}
if (result) if (result)
{ {
//AutoAxisIsMove = 0; //AutoAxisIsMove = 0;
......
source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv
...@@ -148,7 +148,6 @@ PRO,温湿度端口号,Humiture_Port,COM2,,,,,,, ...@@ -148,7 +148,6 @@ PRO,温湿度端口号,Humiture_Port,COM2,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
,,,,,,,,,, ,,,,,,,,,,
PRO,(轴五)上料轴目标速度,BatchAxis_TargetSpeed,800,,,,,,, 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,80,,,,,,,
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,,,,,,,
...@@ -156,12 +155,14 @@ PRO,(轴五)上料轴原点高速,BatchAxis_HomeHighSpeed,60,,,,,,, ...@@ -156,12 +155,14 @@ 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,2000,,,,,, , PRO,(轴五)上料轴原点加速度,BatchAxis_HomeAddSpeed,2000,,,,,, ,
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,2000,,,,,,, PRO,(轴五)上料轴P3点（上料目标位置）,BatchAxis_P3,1700000,,,,,,,
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,2000,,,,,,, PRO,(轴五)上料轴P1速度,BatchAxis_P1_Speed,2000,,,,,,,
PRO,(轴五)上料轴P2速度,BatchAxis_P2_Speed,2000,,,,,,,
PRO,(轴五)上料轴慢速匀速上升速度,BatchAxis_SlowSpeed,80,,,,,,,
PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,30000,,,,,,, PRO,(轴五)上料轴出料时距离检测信号需要下降的高度,BatchAxis_OutDownPosition,30000,,,,,,,
PRO,(轴五)上料轴出料时检测到料盘需要下降的高度,BatchAxis_DownPosition2,150000,,,,,,, PRO,(轴五)上料轴出料时检测到料盘需要下降的高度,BatchAxis_DownPosition2,150000,,,,,,,
PRO,(轴五)上料轴最最大料盘高度mm，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mm，到达后无法批量出库,BatchAxis_MaxHeight,250,,,,,,,
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -208,16 +208,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -208,16 +208,16 @@ namespace OnlineStore.DeviceLibrary
{ {
wait.IsEnd = AutomaticBaiting.BatchAxisIsEnd(wait, span); wait.IsEnd = AutomaticBaiting.BatchAxisIsEnd(wait, span);
} }
if (!wait.IsEnd) //if (!wait.IsEnd)
{ //{
bool MoveEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0); // bool MoveEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
int outCount = ACServerManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()); // int outCount = ACServerManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
int errorCount = Math.Abs(outCount - wait.TargetPosition); // int errorCount = Math.Abs(outCount - wait.TargetPosition);
if (MoveEnd && errorCount < wait.AxisInfo.CanErrorCountMax) // if (MoveEnd && errorCount < wait.AxisInfo.CanErrorCountMax)
{ // {
wait.IsEnd = true; // wait.IsEnd = true;
} // }
} //}
if (wait.IsEnd) if (wait.IsEnd)
{ {
BatchAxisController.StopCheck(); BatchAxisController.StopCheck();
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs
...@@ -34,7 +34,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -34,7 +34,7 @@ namespace OnlineStore.DeviceLibrary
public static StoreRunStatus AutoBaitingStatus = StoreRunStatus.Wait; public static StoreRunStatus AutoBaitingStatus = StoreRunStatus.Wait;
public static bool IsNeedStartInout = false; public static bool IsNeedStartInout = false;
public static bool IsNeedAxisHome = true ; public static bool IsNeedAxisHome = true;
/// <summary> /// <summary>
/// 记录没开门状态下，已经出库的数量 /// 记录没开门状态下，已经出库的数量
...@@ -105,9 +105,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -105,9 +105,10 @@ namespace OnlineStore.DeviceLibrary
OutStoreProcess(); OutStoreProcess();
} }
} }
}catch(Exception ex) }
catch (Exception ex)
{ {
LogUtil.error(Name+"出错："+ex.StackTrace); LogUtil.error(Name + "出错：" + ex.StackTrace);
} }
} }
...@@ -198,7 +199,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -198,7 +199,7 @@ namespace OnlineStore.DeviceLibrary
AutoBaitingStatus = StoreRunStatus.Reset; AutoBaitingStatus = StoreRunStatus.Reset;
StoreMove.NewMove(StoreMoveType.StoreReset); StoreMove.NewMove(StoreMoveType.StoreReset);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R00_Start); StoreMove.NextMoveStep(StoreMoveStep.AUTO_R00_Start);
LogUtil.info(Name + "开始复位，是否入库【" + AutomaticBaiting.IsNeedStartInout + "】,上料轴回原点【"+AutomaticBaiting.IsNeedAxisHome+"】"); LogUtil.info(Name + "开始复位，是否入库【" + AutomaticBaiting.IsNeedStartInout + "】,上料轴回原点【" + AutomaticBaiting.IsNeedAxisHome + "】");
return true; return true;
} }
...@@ -294,9 +295,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -294,9 +295,9 @@ namespace OnlineStore.DeviceLibrary
if (IsNeedStartInout) if (IsNeedStartInout)
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome); StoreMove.NextMoveStep(StoreMoveStep.AUTO_R03_AutoAxisHome);
int speed = StoreManager.Config.BatchAxis_TargetSpeed ; int speed = StoreManager.Config.BatchAxis_TargetSpeed;
LogUtil.info(Name + "复位中：检测是否有料盘，批量轴匀速上升【" + speed + "】"); LogUtil.info(Name + "复位中：检测是否有料盘，批量轴匀速上升【" + speed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, speed, IO_Type.TrayCheck_LoadMaterial); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, speed, IO_Type.TrayCheck_LoadMaterial);
} }
else else
{ {
...@@ -344,12 +345,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -344,12 +345,12 @@ namespace OnlineStore.DeviceLibrary
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp);
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH)) if (IOManager.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"); InStoreLog(" 已检测到料盘，轴不需要上升");
} }
else else
{ {
LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】"); InStoreLog(" 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, IO_Type.TrayCheck_LoadMaterial); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, 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))
...@@ -359,7 +360,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -359,7 +360,7 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_ScanCode)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I03_ScanCode))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I04_SuckingDisc_Down); 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"); InStoreLog(" 扫码结束，二维码【" + LastCode + "】 吸盘开始下降");
CylinderMove(IO_Type.ClampingDisc_Down, IO_Type.ClampingDisc_Up, true); CylinderMove(IO_Type.ClampingDisc_Down, IO_Type.ClampingDisc_Up, true);
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Down)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I04_SuckingDisc_Down))
...@@ -374,7 +375,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -374,7 +375,7 @@ 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"); InStoreLog(" 吸盘上升");
CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, false); CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, false);
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1500)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1500));
...@@ -403,8 +404,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -403,8 +404,8 @@ namespace OnlineStore.DeviceLibrary
if ((!needCheck) || IOManager.IOValue(IO_Type.Clamping_Check).Equals(IO_VALUE.HIGH)) if ((!needCheck) || IOManager.IOValue(IO_Type.Clamping_Check).Equals(IO_VALUE.HIGH))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I07_BatchAxisUp);
LogUtil.info(Name + "入料: 批量轴匀速上升【" + StoreManager.Config.BatchAxis_SlowSpeed + "】"); InStoreLog(" 批量轴匀速上升【" + StoreManager.Config.BatchAxis_SlowSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial); ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, StoreManager.Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial);
CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true); CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true);
if (StoreManager.Config.Default_TrayWidth.Equals(7)) if (StoreManager.Config.Default_TrayWidth.Equals(7))
{ {
...@@ -425,14 +426,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -425,14 +426,14 @@ namespace OnlineStore.DeviceLibrary
{ {
SetWarnMsg(ResourceControl.NO_Clamping_Check); SetWarnMsg(ResourceControl.NO_Clamping_Check);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore); StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
LogUtil.error(Name + "入料: 吸盘上升后未检测到夹爪气缸料盘信号，吸取料盘失败", 106); LogUtil.error(Name + StoreMove.MoveStep + "入料: 吸盘上升后未检测到夹爪气缸料盘信号，吸取料盘失败", 106);
} }
} }
else else
{ {
SetWarnMsg(ResourceControl.XiLiaoError); SetWarnMsg(ResourceControl.XiLiaoError);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore); StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.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 + StoreMove.MoveStep + "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))
...@@ -464,14 +465,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -464,14 +465,14 @@ namespace OnlineStore.DeviceLibrary
if (LastCode.Equals("")) if (LastCode.Equals(""))
{ {
LogUtil.info(Name + "入料: 未扫到二维码尺寸：【" + LastWidth + "*" + LastHeight + "】，将料盘送出，等待料盘拿走"); InStoreLog(" 未扫到二维码尺寸：【" + LastWidth + "*" + LastHeight + "】，将料盘送出，等待料盘拿走");
SendTrayOut(); SendTrayOut();
} }
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_GetPosId); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I08_GetPosId);
LogUtil.debug(Name + "入料: 从服务器获取入库PosId，尺寸：【" + LastWidth + "*" + LastHeight + "】二维码【" + LastCode + "】"); LogUtil.debug(Name + StoreMove.MoveStep + "入料: 从服务器获取入库PosId，尺寸：【" + LastWidth + "*" + LastHeight + "】二维码【" + LastCode + "】");
GetInStorePosId(ProcessMsg()); GetInStorePosId(ProcessMsg());
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(3000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(3000));
...@@ -492,7 +493,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -492,7 +493,7 @@ 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");
SetWarnMsg(ResourceControl.XiLiaoError); SetWarnMsg(ResourceControl.XiLiaoError);
StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnObj.WarnMsg, StoreMoveType.InStore); StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnObj.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 + StoreMove.MoveStep + "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_I08_GetPosId)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I08_GetPosId))
...@@ -501,14 +502,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -501,14 +502,14 @@ namespace OnlineStore.DeviceLibrary
if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals(""))) if (StoreManager.Store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_WaitTrayLeave); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I09_WaitTrayLeave);
LogUtil.info(Name + "入料: 开始入库【" + LastPosId + "】，等待料盘拿走"); InStoreLog(" 开始入库【" + LastPosId + "】，等待料盘拿走");
//StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW)); //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Relax, IO_VALUE.HIGH)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Relax, IO_VALUE.HIGH));
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Work, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Work, IO_VALUE.LOW));
} }
else else
{ {
LogUtil.info(Name + "入料: 入库失败，尺寸：【" + LastWidth + "*" + LastHeight + "】将料盘送出，等待料盘拿走"); InStoreLog(" 入库失败，尺寸：【" + LastWidth + "*" + LastHeight + "】将料盘送出，等待料盘拿走");
SendTrayOut(); SendTrayOut();
} }
} }
...@@ -530,16 +531,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -530,16 +531,15 @@ namespace OnlineStore.DeviceLibrary
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I11_BatchAxisHome)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_I11_BatchAxisHome))
{ {
//TODO //TODO
LogUtil.info(Name + "入料：已经没有料盘，批量上料结束"); InStoreLog(" 已经没有料盘，批量上料结束");
StoreMove.EndMove(); StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing; AutoBaitingStatus = StoreRunStatus.Runing;
} }
else else
{ {
LogUtil.error(Name + "未找到步骤：" + StoreMove.MoveType); LogUtil.error(Name + StoreMove.MoveStep + "未找到步骤：" + StoreMove.MoveType);
} }
} }
private static int GetHeight() private static int GetHeight()
{ {
//计算高度 //计算高度
...@@ -557,36 +557,17 @@ namespace OnlineStore.DeviceLibrary ...@@ -557,36 +557,17 @@ namespace OnlineStore.DeviceLibrary
addHeight = StoreManager.Config.LastTrayAddHeight; addHeight = StoreManager.Config.LastTrayAddHeight;
} }
LastHeight += addHeight; LastHeight += addHeight;
string msg = Name + " 计算盘高：脉冲值 [" + EndMovePosition + "-" + StartMovePosition + "]=[" + cha + "] ,补充[" + addHeight + "]计算后[" + LastHeight + "]"; string msg = Name + StoreMove.MoveStep + " 计算盘高：脉冲值 [" + EndMovePosition + "-" + StartMovePosition + "]=[" + cha + "] ,补充[" + addHeight + "]计算后[" + LastHeight + "]";
if (LastHeight < 0) if (LastHeight < 0)
{ {
LastHeight = StoreManager.Config.GetDefaultHeight(); LastHeight = StoreManager.Config.GetDefaultHeight();
} }
//if (StoreManager.Config.Default_TrayWidth.Equals(7))
//{
//高度=8的料盘容易被测成12的，判断如果计算的高度<12都认为是8mm，
//if (LastHeight >= 20)
//{
// LastHeight = 24;
//}
//else if (LastHeight >= 12)
//{
// LastHeight = 12;
//}
//else
//{
// LastHeight = 8;
//}
//}
//else
//{
if (LastHeight <= 8) { LastHeight = 8; } if (LastHeight <= 8) { LastHeight = 8; }
else else
{ {
LastHeight = (int)Math.Floor(1F * LastHeight / 4) * 4; LastHeight = (int)Math.Floor(1F * LastHeight / 4) * 4;
} }
//} LogUtil.info(msg + ",归类为" + LastHeight + "【" + LastCode + "】");
LogUtil.info(msg + ",归类为" + LastHeight);
return LastHeight; return LastHeight;
} }
private static List<AutoStorePosition> AllPosList = null; private static List<AutoStorePosition> AllPosList = null;
...@@ -608,7 +589,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -608,7 +589,7 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
LogUtil.info("未找到盘高>="+LastHeight+"的库位"); LogUtil.info("未找到盘高>=" + LastHeight + "的库位");
} }
bool result = StoreManager.Store.StartInStoreMove(new InOutStoreParam(LastCode, posId, LastHeight, LastWidth), true, false); bool result = StoreManager.Store.StartInStoreMove(new InOutStoreParam(LastCode, posId, LastHeight, LastWidth), true, false);
StoreMove.WaitList.Add(WaitResultInfo.WaitStoreRuning()); StoreMove.WaitList.Add(WaitResultInfo.WaitStoreRuning());
...@@ -619,7 +600,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -619,7 +600,7 @@ namespace OnlineStore.DeviceLibrary
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW); // IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.LOW);
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_SuckingDisc_Work); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I05_SuckingDisc_Work);
SuckingDisc_WorkCount++; SuckingDisc_WorkCount++;
LogUtil.info(Name + "入料: 吸盘开始第" + SuckingDisc_WorkCount + "次工作"); InStoreLog(" 吸盘开始第" + SuckingDisc_WorkCount + "次工作");
// IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH); // IOManager.IOMove(IO_Type.SuckingDisc_Work, IO_VALUE.HIGH);
// StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500)); // StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
// StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.HIGH)); // StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.HIGH));
...@@ -632,7 +613,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -632,7 +613,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (WarnObj.WarnMsg.Contains(TimeOut)) if (WarnObj.WarnMsg.Contains(TimeOut))
{ {
SetWarnMsg( ""); SetWarnMsg("");
} }
} }
...@@ -643,7 +624,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -643,7 +624,7 @@ namespace OnlineStore.DeviceLibrary
//如果有超时异常，需要清理 //如果有超时异常，需要清理
if (StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchIoTimeOut)) if (StoreManager.Store.alarmType.Equals(StoreAlarmType.BatchIoTimeOut))
{ {
LogUtil.info(Name + " 扫码前清理超时报警【" + StoreManager.Store.alarmType + "】"); LogUtil.info(Name + StoreMove.MoveStep + " 扫码前清理超时报警【" + StoreManager.Store.alarmType + "】");
StoreManager.Store.alarmType = StoreAlarmType.None; StoreManager.Store.alarmType = StoreAlarmType.None;
IOManager.IOMove(IO_Type.Buzzer_Sign, IO_VALUE.LOW); IOManager.IOMove(IO_Type.Buzzer_Sign, IO_VALUE.LOW);
ClearTimeOut(); ClearTimeOut();
...@@ -652,7 +633,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -652,7 +633,7 @@ namespace OnlineStore.DeviceLibrary
if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_ScanCode); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I03_ScanCode);
LogUtil.info(Name + "入料: 开始扫码，最多等待10000 "); InStoreLog(" 开始扫码，最多等待10000 ");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000));
StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK()); StoreMove.WaitList.Add(WaitResultInfo.WaitCodeOK());
StoreMove.OneWaitCanEndStep = true; StoreMove.OneWaitCanEndStep = true;
...@@ -660,13 +641,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -660,13 +641,23 @@ namespace OnlineStore.DeviceLibrary
} }
else else
{ {
//判断是否到达目标位置
int targetP = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
int cha = Math.Abs(targetP - StoreManager.Config.BatchAxis_P3);
if (cha < StoreManager.Config.Batch_Axis.CanErrorCountMax)
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome); StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
LogUtil.info(Name + "入料：已经没有料盘，直接回待机点P2【" + StoreManager.Config.BatchAxis_P2 + "】"); InStoreLog(" 批量轴到达P3，已经没有料盘，直接回待机点P2【" + StoreManager.Config.BatchAxis_P2 + "】");
//StoreMove.TimeOutSeconds = 120;
//ACAxisHomeMove(StoreManager.Config.Batch_Axis);
//LogUtil.info(Name + "复位中：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); ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
} }
else
{
StoreMove.NextMoveStep(StoreMoveStep.AUTO_I02_MoveToUp);
InStoreLog(" 轴上升到检测到料盘，速度【" + StoreManager.Config.Batch_Axis.TargetSpeed + "】");
ACAxisSpeedMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P3, StoreManager.Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
}
}
} }
#endregion #endregion
...@@ -713,7 +704,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -713,7 +704,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.LOW) && IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW)) if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.LOW) && IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
{ {
LogUtil.info(Name + "出料: OutCheck=LOW ，直接打开门锁 "); OutStoreLog("OutCheck=LOW ，直接打开门锁 ");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitDoorOpen); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitDoorOpen);
BatchDoorOpen(true); BatchDoorOpen(true);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
...@@ -721,7 +712,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -721,7 +712,7 @@ namespace OnlineStore.DeviceLibrary
else else
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_BatchAxisDown); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O01_BatchAxisDown);
LogUtil.info(Name + "出料: OutCheck=HIGH或TrayCheck_LoadMaterial=High，批量轴先匀速下降到P2 "); OutStoreLog(": OutCheck=HIGH或TrayCheck_LoadMaterial=High，批量轴先匀速下降到P2 ");
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);
return; return;
//批量轴直接走到P2 //批量轴直接走到P2
...@@ -731,23 +722,24 @@ namespace OnlineStore.DeviceLibrary ...@@ -731,23 +722,24 @@ namespace OnlineStore.DeviceLibrary
StoreManager.Config.Batch_Axis.TargetPosition = Config.BatchAxis_P2; StoreManager.Config.Batch_Axis.TargetPosition = Config.BatchAxis_P2;
ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_OutMaxValue, Config.BatchAxis_P2_Speed); ACServerManager.AbsMove(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue(), Config.BatchAxis_OutMaxValue, Config.BatchAxis_P2_Speed);
} }
}else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_BatchAxisDown)) }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O01_BatchAxisDown))
{ {
LogUtil.info(Name + "出料: 批量轴已下降到P2 ，打开门锁 "); OutStoreLog("批量轴已下降到P2 ，打开门锁 ");
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitDoorOpen); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O02_WaitDoorOpen);
BatchDoorOpen(true); BatchDoorOpen(true);
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(2000));
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitDoorOpen)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O02_WaitDoorOpen))
{ {
LogUtil.info(Name + "出料：回到待机点完成，出料结束"); OutStoreLog("回到待机点完成，出料结束");
StoreMove.EndMove(); StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing; AutoBaitingStatus = StoreRunStatus.Runing;
return; return;
if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(IO_Type.OutCheck).Equals(IO_VALUE.HIGH))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_WaitOutSingleLow); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_WaitOutSingleLow);
LogUtil.info(Name + " 出料 ，等待出料检测信号关闭"); OutStoreLog("等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
} }
else else
...@@ -769,7 +761,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -769,7 +761,7 @@ namespace OnlineStore.DeviceLibrary
if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH) || count < StoreManager.Config.Batch_Axis.CanErrorCountMax) if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH) || count < StoreManager.Config.Batch_Axis.CanErrorCountMax)
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O06_WaitDI12Low); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O06_WaitDI12Low);
LogUtil.info(Name + " 出料,当前坐标【"+ currValue + "】已到达高点 ，等待出料检测信号关闭(最多等待10秒)"); OutStoreLog("当前坐标【" + currValue + "】已到达高点 ，等待出料检测信号关闭(最多等待10秒)");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(10000));
StoreMove.OneWaitCanEndStep = true; StoreMove.OneWaitCanEndStep = true;
...@@ -778,25 +770,26 @@ namespace OnlineStore.DeviceLibrary ...@@ -778,25 +770,26 @@ namespace OnlineStore.DeviceLibrary
{ {
//等待出料信号亮 //等待出料信号亮
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_WaitOutSingleLow); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O03_WaitOutSingleLow);
LogUtil.info(Name + " 出料 ，等待出料检测信号关闭"); OutStoreLog("等待出料检测信号关闭");
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW)); StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutCheck, IO_VALUE.LOW));
} }
}else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O06_WaitDI12Low)) }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O06_WaitDI12Low))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O07_WaitDown); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O07_WaitDown);
LogUtil.info(Name + " 出料,等待1秒后批量轴回P2点"); OutStoreLog("等待1秒后批量轴回P2点");
StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000)); StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O07_WaitDown)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O07_WaitDown))
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O08_BackToP2); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O08_BackToP2);
LogUtil.info(Name + "出料：上料轴移动到p2点【" + StoreManager.Config.BatchAxis_P2 + "】"); OutStoreLog("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); ACAxisAbsMove(StoreManager.Config.Batch_Axis, StoreManager.Config.BatchAxis_P2, StoreManager.Config.BatchAxis_P2_Speed);
} }
else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O08_BackToP2)) else if (StoreMove.MoveStep.Equals(StoreMoveStep.AUTO_O08_BackToP2))
{ {
//TODO //TODO
LogUtil.info(Name + "出料：回到待机点完成，出料结束"); OutStoreLog("回到待机点完成，出料结束");
StoreMove.EndMove(); StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing; AutoBaitingStatus = StoreRunStatus.Runing;
} }
...@@ -809,7 +802,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -809,7 +802,7 @@ namespace OnlineStore.DeviceLibrary
{ {
StoreMove.NextMoveStep(StoreMoveStep.AUTO_O04_SpeedMove); StoreMove.NextMoveStep(StoreMoveStep.AUTO_O04_SpeedMove);
AUTO_SA_Config Config = StoreManager.Config; 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 + "】"); OutStoreLog("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); //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)); StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(Config.Batch_Axis, Config.BatchAxis_OutMaxValue, IO_Type.OutCheck));
BatchAxisController.StartCheck(IO_Type.OutCheck); BatchAxisController.StartCheck(IO_Type.OutCheck);
...@@ -822,7 +815,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -822,7 +815,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (StoreMove.MoveType.Equals(StoreMoveType.OutStore)) if (StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{ {
LogUtil.error(Name+"正在出料中，停止出料流程"); LogUtil.error(Name + "正在出料中，停止出料流程");
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis); ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis);
StoreMove.EndMove(); StoreMove.EndMove();
AutoBaitingStatus = StoreRunStatus.Runing; AutoBaitingStatus = StoreRunStatus.Runing;
...@@ -844,7 +837,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -844,7 +837,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (DoorIsClose()) if (DoorIsClose())
{ {
if (IOManager.IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BatchDoor_Open).Equals(IO_VALUE.LOW)&& if (IOManager.IOValue(IO_Type.BatchDoor_Close).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BatchDoor_Open).Equals(IO_VALUE.LOW) &&
IOManager.IOValue(IO_Type.BatchDoor_Close2).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BatchDoor_Open2).Equals(IO_VALUE.LOW)) IOManager.IOValue(IO_Type.BatchDoor_Close2).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BatchDoor_Open2).Equals(IO_VALUE.LOW))
{ {
return true; return true;
...@@ -908,5 +901,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -908,5 +901,16 @@ namespace OnlineStore.DeviceLibrary
return true; return true;
} }
private static void InStoreLog(string msg)
{
LogUtil.info(Name + " " + StoreMove.MoveStep + "" + "入料：" + msg);
}
private static void OutStoreLog(string msg)
{
LogUtil.info(Name + " " + StoreMove.MoveStep + "" + "出料：" + msg);
}
} }
} }
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
...@@ -15,15 +15,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -15,15 +15,15 @@ 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,string targetSingle) private static void ACAxisSpeedMove(ConfigMoveAxis moveAxis,int targetPosition, 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, targetSingle)); StoreMove.WaitList.Add(WaitResultInfo.WaitBatchAxisStop(moveAxis,targetPosition, targetSingle));
BatchAxisController.StartCheck(targetSingle); BatchAxisController.StartCheck(targetSingle);
ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed); ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed);
} }
private static void ACAxisAbsMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed) private static void ACAxisAbsMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
...@@ -67,9 +67,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -67,9 +67,10 @@ namespace OnlineStore.DeviceLibrary
} }
} }
return true; return true;
}else if ( IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH)) }
else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH))
{ {
LogUtil.error("批量轴原点返回时BatchAxis_Limit=High ，停止运动",30); LogUtil.error("批量轴原点返回时BatchAxis_Limit=High ，停止运动", 30);
ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis); ACServerManager.SuddenStop(StoreManager.Config.Batch_Axis);
} }
return false; return false;
...@@ -281,24 +282,28 @@ namespace OnlineStore.DeviceLibrary ...@@ -281,24 +282,28 @@ namespace OnlineStore.DeviceLibrary
bool result = false; bool result = false;
if (IOManager.IOValue(wait.IoType).Equals(wait.IoValue)) if (IOManager.IOValue(wait.IoType).Equals(wait.IoValue))
{ {
LogUtil.debug(wait.ToStr() + " 检测到 " + wait.IoType + "="+wait.IoValue+"，可以停止运动"); LogUtil.debug(wait.ToStr() + " 检测到 " + wait.IoType + "=" + wait.IoValue + "，可以停止运动");
result = true;
}
else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH))
{
LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动");
result = true; result = true;
} }
//else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH))
//{
// LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动");
// result = true;
//}
else if (wait.TargetPosition > 0) else if (wait.TargetPosition > 0)
{ {
bool MoveEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0); bool MoveEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (MoveEnd)
{
int outCount = ACServerManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()); int outCount = ACServerManager.GetActualtPosition(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
int errorCount = Math.Abs(outCount - wait.TargetPosition); int errorCount = Math.Abs(outCount - wait.TargetPosition);
if (MoveEnd && (errorCount < wait.AxisInfo.CanErrorCountMax)) if ((errorCount < wait.AxisInfo.CanErrorCountMax))
{ {
result = true; result = true;
} }
} }
}
if (result) if (result)
{ {
LogUtil.debug(wait.ToStr() + " 停止运动"); LogUtil.debug(wait.ToStr() + " 停止运动");
......
source/LoadCVSLibrary/storeConfig/config/AUTO_SA_Config.cs
...@@ -706,6 +706,12 @@ namespace OnlineStore.LoadCSVLibrary ...@@ -706,6 +706,12 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("BatchAxis_DownPosition2", false)] [ConfigProAttribute("BatchAxis_DownPosition2", false)]
public int BatchAxis_DownPosition2 { get; set; } public int BatchAxis_DownPosition2 { get; set; }
/// <summary>
/// PRO,(轴五) 上料轴P3点（上料目标位置）,BatchAxis_P3,1700000,,,,,,,
/// </summary>
[ConfigProAttribute("BatchAxis_P3", false)]
public int BatchAxis_P3 { get; set; }
private Dictionary<string, string> CodeSizeMap = null; private Dictionary<string, string> CodeSizeMap = null;
private static char codeSpilt = '#'; private static char codeSpilt = '#';
......
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