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Commit 0b6327b8 由 张东亮
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调试ok

1 个父辈 8197f32d
内嵌 并排
正在显示 7 个修改的文件 包含 133 行增加 和 168 行删除
source/DeviceLibrary/manager/model/DeviceStep.cs
...@@ -1003,11 +1003,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -1003,11 +1003,14 @@ namespace OnlineStore.DeviceLibrary
/// 出库->A料串：取料旋转轴SVD13 运动到P2（A料口取料点） /// 出库->A料串：取料旋转轴SVD13 运动到P2（A料口取料点）
/// </summary> /// </summary>
IO23_MiddleToP2, IO23_MiddleToP2,
/// <summary> /// <summary>
/// 出库->A料串：取料进出轴SVD12 运动到P4（A料口取料点） /// 出库->A料串：取料进出轴SVD12 运动到P4（A料口取料点）
/// </summary> /// </summary>
IO24_InoutToP4, IO24_InoutToP4,
/// <summary>
/// 出库->A料串：取料升降轴SVD12 运动到P2（A料口取料点）
/// </summary>
IO25_UpdownToP2,
/// <summary> /// <summary>
/// 出库->B料串：批量轴运动到位 /// 出库->B料串：批量轴运动到位
...@@ -1023,7 +1026,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -1023,7 +1026,10 @@ namespace OnlineStore.DeviceLibrary
/// 出库->B料串：取料进出轴SVD12 运动到P5（B料口取料点） /// 出库->B料串：取料进出轴SVD12 运动到P5（B料口取料点）
/// </summary> /// </summary>
IO28_InoutToP5, IO28_InoutToP5,
/// <summary>
/// 出库->B料串：升降轴SVD12 运动到P3
/// </summary>
IO29_UpdownToP3,
/// <summary> /// <summary>
/// 出库 ：电卡爪放松 判断到位 /// 出库 ：电卡爪放松 判断到位
/// </summary> /// </summary>
...@@ -1032,10 +1038,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -1032,10 +1038,11 @@ namespace OnlineStore.DeviceLibrary
/// 出库 ：取料升降轴SVD12 运动到P1（待机点） /// 出库 ：取料升降轴SVD12 运动到P1（待机点）
/// </summary> /// </summary>
IO32_UpdownToP1, IO32_UpdownToP1,
IO33_InoutToP1,
/// <summary> /// <summary>
/// 出库 ：取料旋转轴SVD13 运动到P1（待机点） /// 出库 ：取料旋转轴SVD13 运动到P1（待机点）
/// </summary> /// </summary>
IO33_MiddleToP1, IO34_MiddleToP1,
#endregion #endregion
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
...@@ -299,6 +299,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -299,6 +299,11 @@ namespace OnlineStore.DeviceLibrary
} }
private void StartReset() private void StartReset()
{ {
if(HasDrawerInHook())
{
System.Windows.Forms.MessageBox.Show("检测到拉取机构上的拉钩检测信号亮，不允许复位！", "警告" );
return;
}
if (!CanReset()) if (!CanReset())
if (System.Windows.Forms.MessageBox.Show("检测到可能的撞机风险，请确认进出轴上是否有抽屉！若无抽屉在进出轴上，可继续复位，是否继续？", "警告", if (System.Windows.Forms.MessageBox.Show("检测到可能的撞机风险，请确认进出轴上是否有抽屉！若无抽屉在进出轴上，可继续复位，是否继续？", "警告",
System.Windows.Forms.MessageBoxButtons.YesNo).Equals(System.Windows.Forms.DialogResult.No)) System.Windows.Forms.MessageBoxButtons.YesNo).Equals(System.Windows.Forms.DialogResult.No))
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
...@@ -20,78 +20,13 @@ namespace OnlineStore.DeviceLibrary ...@@ -20,78 +20,13 @@ namespace OnlineStore.DeviceLibrary
return false; return false;
} }
/// <summary> /// <summary>
/// 判断旋转轴是否在暂存区，返回true表示在暂存区 /// 钩子上有抽屉
/// </summary> /// </summary>
/// <param name="areaNum">1=A上暂存区，2=A下暂存区，3=B上暂存区，4=B下暂存区</param>
/// <returns></returns> /// <returns></returns>
//public bool AxisInWorkingArea() public bool HasDrawerInHook()
//{ {
// int updownP = UpdownAxis.GetAclPosition(); return IOValue(IO_Type.Hook_A_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Hook_B_Check).Equals(IO_VALUE.HIGH);
// int xP = XAxis_A.GetAclPosition(); }
// int middleWucha = 20000;
// int updownWucha = 20000;
// //旋转轴在A暂存区
// if (UpdownAxis.GetAclPosition() >= (Config.Updown_P5 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P4 + axisDiff))
// {
// }
// if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha))
// {
// //如果升降轴低于下方高点
// if (updownP > Config.Updown_P6_AUnderH - updownWucha)
// {
// //在A下暂存区
// if (areaNum == 2)
// {
// return true;
// }
// }
// //升降轴高于上方低点
// else if (updownP < Config.Updown_P5_AUpperL + updownWucha)
// {
// if (areaNum == 1)
// {
// return true;
// }
// }
// else
// {
// if (areaNum == 1 || areaNum == 2)
// {
// return true;
// }
// }
// }
// else if (MiddleAxis.IsInPosition(Config.Middle_P5_BUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P8_BUnder, middleWucha))
// {
// //如果升降轴低于下方高点
// if (updownP > Config.Updown_P12_BUnderH - updownWucha)
// {
// if (areaNum == 4)
// {
// return true;
// }
// }
// //升降轴高于上方低点
// else if (updownP < Config.Updown_P11_BUpperL + updownWucha)
// {
// if (areaNum == 3)
// {
// return true;
// }
// }
// else
// {
// if (areaNum == 3 || areaNum == 4)
// {
// return true;
// }
// }
// }
// return false;
//}
/// <summary> /// <summary>
/// 1=A上入库料暂存区，2=A下出库料暂存区，3=B上入库暂存区，4=B下出库暂存区 /// 1=A上入库料暂存区，2=A下出库料暂存区，3=B上入库暂存区，4=B下出库暂存区
/// </summary> /// </summary>
...@@ -1014,7 +949,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1014,7 +949,7 @@ namespace OnlineStore.DeviceLibrary
(!runStatus.Equals(RunStatus.Runing)) (!runStatus.Equals(RunStatus.Runing))
|| (!MoveInfo.MoveType.Equals(MoveType.None))) || (!MoveInfo.MoveType.Equals(MoveType.None)))
{ {
LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirpressure_Check=" + isNoAirpressure_Check); //LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirpressure_Check=" + isNoAirpressure_Check);
return false; return false;
} }
if (!PreInStoreCheck(param)) if (!PreInStoreCheck(param))
...@@ -1238,7 +1173,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1238,7 +1173,7 @@ namespace OnlineStore.DeviceLibrary
|| !runStatus.Equals(RunStatus.Runing) || !runStatus.Equals(RunStatus.Runing)
|| !MoveInfo.MoveType.Equals(MoveType.None)) || !MoveInfo.MoveType.Equals(MoveType.None))
{ {
LogUtil.error(Name + " 启动出库【" + param.PosInfo.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + runStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirpressure_Check); // LogUtil.error(Name + " 启动出库【" + param.PosInfo.ToStr() + "】失败，忙碌或报警中 ，storeStatus：" + runStatus + ",MoveType：" + MoveInfo.MoveType + ",isInSuddenDown：" + isInSuddenDown + ",isNoAirCheck：" + isNoAirpressure_Check);
return false; return false;
} }
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs
...@@ -221,6 +221,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -221,6 +221,7 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.IBR06_BatchToP1)) else if (MoveInfo.IsStep(StepEnum.IBR06_BatchToP1))
{ {
Robot.IOMove(IO_Type.CameraLed, IO_VALUE.HIGH);
WorkLog("复位完成"); WorkLog("复位完成");
MoveInfo.EndMove(); MoveInfo.EndMove();
} }
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
...@@ -366,7 +366,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -366,7 +366,7 @@ namespace OnlineStore.DeviceLibrary
{ {
LastCodeList = CodeManager.CameraScan(Config.CameraName, Name); LastCodeList = CodeManager.CameraScan(Config.CameraName, Name);
} }
Robot.IOMove(IO_Type.CameraLed, IO_VALUE.LOW); // Robot.IOMove(IO_Type.CameraLed, IO_VALUE.LOW);
//TODO 需要判断是否和上次的条码重复，重复的条码不可用 //TODO 需要判断是否和上次的条码重复，重复的条码不可用
bool isCanUse = true; bool isCanUse = true;
...@@ -523,8 +523,8 @@ namespace OnlineStore.DeviceLibrary ...@@ -523,8 +523,8 @@ namespace OnlineStore.DeviceLibrary
string buchongStr = ""; string buchongStr = "";
if (isLast) if (isLast)
{ {
buchongStr = "(最后一盘料已补充5)"; buchongStr = "(最后一盘料)";
height += 5; height += 0;
} }
//如果检测出<=15,都按照8计算 //如果检测出<=15,都按照8计算
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
...@@ -674,67 +674,68 @@ namespace OnlineStore.DeviceLibrary ...@@ -674,67 +674,68 @@ namespace OnlineStore.DeviceLibrary
/// <returns></returns> /// <returns></returns>
public bool AxisInWorkingArea(params int[] areaNums) public bool AxisInWorkingArea(params int[] areaNums)
{ {
int updownP = UpdownAxis.GetAclPosition(); return false;
int middleP = MiddleAxis.GetAclPosition(); //int updownP = UpdownAxis.GetAclPosition();
//int middleP = MiddleAxis.GetAclPosition();
int middleWucha = 20000; //int middleWucha = 20000;
int updownWucha = 20000; //int updownWucha = 20000;
//旋转轴在A暂存区 ////旋转轴在A暂存区
if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha)) //if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha))
{ //{
//如果升降轴低于下方高点 // //如果升降轴低于下方高点
if (updownP > Config.Updown_P6_AUnderH - updownWucha) // if (updownP > Config.Updown_P6_AUnderH - updownWucha)
{ // {
//在A下暂存区 // //在A下暂存区
if (areaNums.Contains(2)) // if (areaNums.Contains(2))
{ // {
return true; // return true;
} // }
} // }
//升降轴高于上方低点 // //升降轴高于上方低点
else if (updownP < Config.Updown_P5_AUpperL7 + updownWucha) // else if (updownP < Config.Updown_P5_AUpperL7 + updownWucha)
{ // {
if (areaNums.Contains(1)) // if (areaNums.Contains(1))
{ // {
return true; // return true;
} // }
} // }
else // else
{ // {
if (areaNums.Contains(1) || areaNums.Contains(2)) // if (areaNums.Contains(1) || areaNums.Contains(2))
{ // {
return true; // return true;
} // }
} // }
} //}
else if (MiddleAxis.IsInPosition(Config.Middle_P5_BUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P8_BUnder, middleWucha)) //else if (MiddleAxis.IsInPosition(Config.Middle_P5_BUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P8_BUnder, middleWucha))
{ //{
//如果升降轴低于下方高点 // //如果升降轴低于下方高点
if (updownP > Config.Updown_P12_BUnderH - updownWucha) // if (updownP > Config.Updown_P12_BUnderH - updownWucha)
{ // {
if (areaNums.Contains(4)) // if (areaNums.Contains(4))
{ // {
return true; // return true;
} // }
} // }
//升降轴高于上方低点 // //升降轴高于上方低点
else if (updownP < Config.Updown_P11_BUpperL7 + updownWucha) // else if (updownP < Config.Updown_P11_BUpperL7 + updownWucha)
{ // {
if (areaNums.Contains(3)) // if (areaNums.Contains(3))
{ // {
return true; // return true;
} // }
} // }
else // else
{ // {
if (areaNums.Contains(3) || areaNums.Contains(4)) // if (areaNums.Contains(3) || areaNums.Contains(4))
{ // {
return true; // return true;
} // }
} // }
} //}
return false; //return false;
} }
/// <summary> /// <summary>
...@@ -744,23 +745,23 @@ namespace OnlineStore.DeviceLibrary ...@@ -744,23 +745,23 @@ namespace OnlineStore.DeviceLibrary
/// <returns></returns> /// <returns></returns>
public bool AxisIsInShelfUp(int shelfType) public bool AxisIsInShelfUp(int shelfType)
{ {
int middleP = MiddleAxis.GetAclPosition(); //int middleP = MiddleAxis.GetAclPosition();
int middleWucha = 20000; //int middleWucha = 20000;
//旋转轴在A暂存区 ////旋转轴在A暂存区
if (MiddleAxis.IsInPosition(Config.Middle_P2_ATake, middleWucha)) //if (MiddleAxis.IsInPosition(Config.Middle_P2_ATake, middleWucha))
{ //{
if (shelfType.Equals(1)) // if (shelfType.Equals(1))
{ // {
return true; // return true;
} // }
} //}
else if (MiddleAxis.IsInPosition(Config.Middle_P3_BTake, middleWucha)) //else if (MiddleAxis.IsInPosition(Config.Middle_P3_BTake, middleWucha))
{ //{
if (shelfType.Equals(2)) // if (shelfType.Equals(2))
{ // {
return true; // return true;
} // }
} //}
return false; return false;
} }
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
...@@ -459,11 +459,11 @@ namespace OnlineStore.DeviceLibrary ...@@ -459,11 +459,11 @@ namespace OnlineStore.DeviceLibrary
//需要等A侧料串不扫码时再过去 //需要等A侧料串不扫码时再过去
if (!BatchMove_B.IsInScanCode()) if (!BatchMove_B.IsInScanCode())
{ {
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue; // int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II67_MiddleToP1); MoveInfo.NextMoveStep(StepEnum.II67_MiddleToP1);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5(偏移点){targetValue}"); MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5{Config.Middle_P5_BUpper}");
MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P1_Speed); MiddleAxis.AbsMove(MoveInfo, Config.Middle_P5_BUpper, Config.Middle_P5_Speed);
//MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}"); //MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
//MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed); //MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
} }
...@@ -654,7 +654,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -654,7 +654,6 @@ namespace OnlineStore.DeviceLibrary
private void II61_MiddleToP5() private void II61_MiddleToP5()
{ {
int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
MoveInfo.NextMoveStep(StepEnum.II61_MiddleToP5); MoveInfo.NextMoveStep(StepEnum.II61_MiddleToP5);
MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}， 旋转轴 到P5位置,等待暂存区无料"); MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}， 旋转轴 到P5位置,等待暂存区无料");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
...@@ -1034,13 +1033,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -1034,13 +1033,19 @@ namespace OnlineStore.DeviceLibrary
MoveLog($"出库->A料串 {MoveInfo.SLog}: 料盘已离开，进出轴到P4（A料口取料点）{Config.Inout_P4}"); MoveLog($"出库->A料串 {MoveInfo.SLog}: 料盘已离开，进出轴到P4（A料口取料点）{Config.Inout_P4}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P4, Config.Inout_P4_Speed); InOutAxis.AbsMove(MoveInfo, Config.Inout_P4, Config.Inout_P4_Speed);
} }
else if (MoveInfo.IsStep(StepEnum.IO24_InoutToP4))
{
MoveInfo.NextMoveStep(StepEnum.IO25_UpdownToP2);
MoveLog($"出库->A料串 {MoveInfo.SLog}:升降轴到P2（A料口取料点）{Config.Updown_P2_ATake}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2_ATake, Config.Updown_P2_Speed);
}
else if (MoveInfo.IsStep(StepEnum.IO27_MiddleToP3)) else if (MoveInfo.IsStep(StepEnum.IO27_MiddleToP3))
{ {
MoveInfo.NextMoveStep(StepEnum.IO28_InoutToP5); MoveInfo.NextMoveStep(StepEnum.IO28_InoutToP5);
MoveLog($"出库->B料串 {MoveInfo.SLog}: 料盘已离开，进出轴到P5（B料口取料点）{Config.Inout_P5}"); MoveLog($"出库->B料串 {MoveInfo.SLog}: 料盘已离开，进出轴到P5（B料口取料点）{Config.Inout_P5}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P5, Config.Inout_P5_Speed); InOutAxis.AbsMove(MoveInfo, Config.Inout_P5, Config.Inout_P5_Speed);
} }
else if (MoveInfo.IsStep(StepEnum.IO24_InoutToP4)) else if (MoveInfo.IsStep(StepEnum.IO25_UpdownToP2))
{ {
MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax); MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax);
MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松 判断到位"); MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松 判断到位");
...@@ -1048,6 +1053,12 @@ namespace OnlineStore.DeviceLibrary ...@@ -1048,6 +1053,12 @@ namespace OnlineStore.DeviceLibrary
} }
else if (MoveInfo.IsStep(StepEnum.IO28_InoutToP5)) else if (MoveInfo.IsStep(StepEnum.IO28_InoutToP5))
{ {
MoveInfo.NextMoveStep(StepEnum.IO29_UpdownToP3);
MoveLog($"出库->B料串 {MoveInfo.SLog}: 升降轴到P3（B料口取料点）{Config.Updown_P3_BTake}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3_BTake, Config.Updown_P3_Speed);
}
else if(MoveInfo.IsStep(StepEnum.IO29_UpdownToP3))
{
MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax); MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax);
MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松 判断到位"); MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松 判断到位");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode); ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
...@@ -1065,17 +1076,22 @@ namespace OnlineStore.DeviceLibrary ...@@ -1065,17 +1076,22 @@ namespace OnlineStore.DeviceLibrary
SServerManager.ShelfFinish(BatchMove_B.CurrShelf.ShelfRfid, MoveInfo.MoveParam.PosInfo.barcode); SServerManager.ShelfFinish(BatchMove_B.CurrShelf.ShelfRfid, MoveInfo.MoveParam.PosInfo.barcode);
} }
MoveInfo.NextMoveStep(StepEnum.IO32_UpdownToP1); MoveInfo.NextMoveStep(StepEnum.IO32_UpdownToP1);
MoveLog($"出库->料串 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}");//升降轴到P1（待机点）{Config.Updown_P1}, MoveLog($"出库->料串 {MoveInfo.SLog}: 升降轴到P1（待机点）{Config.Updown_P1}");
//UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
} }
else if (MoveInfo.IsStep(StepEnum.IO32_UpdownToP1)) else if (MoveInfo.IsStep(StepEnum.IO32_UpdownToP1))
{ {
MoveInfo.NextMoveStep(StepEnum.IO33_MiddleToP1); MoveInfo.NextMoveStep(StepEnum.IO33_InoutToP1);
MoveLog($"出库->料串 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
}
else if(MoveInfo.IsStep(StepEnum.IO33_InoutToP1))
{
MoveInfo.NextMoveStep(StepEnum.IO34_MiddleToP1);
MoveLog($"出库->料串 {MoveInfo.SLog}: 旋转轴 到P1（待机点） {Config.Middle_P1}"); MoveLog($"出库->料串 {MoveInfo.SLog}: 旋转轴 到P1（待机点） {Config.Middle_P1}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed); MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
} }
else if (MoveInfo.IsStep(StepEnum.IO33_MiddleToP1)) else if (MoveInfo.IsStep(StepEnum.IO34_MiddleToP1))
{ {
MoveInfo.EndMove(); MoveInfo.EndMove();
runStatus = RunStatus.Runing; runStatus = RunStatus.Runing;
...@@ -1097,9 +1113,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -1097,9 +1113,9 @@ namespace OnlineStore.DeviceLibrary
ClearTimeoutAlarm("等待料串可放料"); ClearTimeoutAlarm("等待料串可放料");
MoveInfo.NextMoveStep(StepEnum.IO23_MiddleToP2); MoveInfo.NextMoveStep(StepEnum.IO23_MiddleToP2);
MoveLog($"出库->A料串 {MoveInfo.SLog}: 清除暂存区。旋转轴到P2（A料口取料点）{Config.Middle_P2_ATake}，升降轴到P2（A料口取料点）{Config.Updown_P2_ATake}");//，等待{IO_Type.MAxis_Check_A}信号亮 MoveLog($"出库->A料串 {MoveInfo.SLog}: 清除暂存区。旋转轴到P2（A料口取料点）{Config.Middle_P2_ATake}，升降轴到P1(待机点){Config.Updown_P1}");//，等待{IO_Type.MAxis_Check_A}信号亮
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P2_ATake, Config.Middle_P2_Speed); MiddleAxis.AbsMove(MoveInfo, Config.Middle_P2_ATake, Config.Middle_P2_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2_ATake, Config.Updown_P2_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
//清空暂存区 //清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType(); int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1)) if (startp.Equals(1))
...@@ -1121,9 +1137,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -1121,9 +1137,9 @@ namespace OnlineStore.DeviceLibrary
{ {
ClearTimeoutAlarm("等待料串可放料"); ClearTimeoutAlarm("等待料串可放料");
MoveInfo.NextMoveStep(StepEnum.IO27_MiddleToP3); MoveInfo.NextMoveStep(StepEnum.IO27_MiddleToP3);
MoveLog($"出库->B料串 {MoveInfo.SLog}:清除暂存区。 旋转轴到P3（B料口取料点）{Config.Middle_P3_BTake},升降轴到P3（B料口取料点）{Config.Updown_P3_BTake}");//，等待{IO_Type.MAxis_Check_B}信号亮 MoveLog($"出库->B料串 {MoveInfo.SLog}:清除暂存区。 旋转轴到P3（B料口取料点）{Config.Middle_P3_BTake},升降轴到P1（待机点）{Config.Updown_P1}");//，等待{IO_Type.MAxis_Check_B}信号亮
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P3_BTake, Config.Middle_P3_Speed); MiddleAxis.AbsMove(MoveInfo, Config.Middle_P3_BTake, Config.Middle_P3_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3_BTake, Config.Updown_P3_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P1, Config.Updown_P1_Speed);
//清空暂存区 //清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType(); int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1)) if (startp.Equals(1))
......
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