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Commit 66be7140 由 张东亮
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动作优化

1 个父辈 b9941654
内嵌 并排
正在显示 6 个修改的文件 包含 317 行增加 和 14 行删除
source/DeviceLibrary/DeviceLibrary.csproj
......@@ -86,6 +86,7 @@
<Compile Include="storeBean\boxBean\BoxEquip_ConnectServerTimer.cs" />
<Compile Include="storeBean\boxBean\AutoInoutInfo.cs" />
<Compile Include="storeBean\boxBean\BoxEquip_InExecute.cs" />
<Compile Include="storeBean\boxBean\BoxEquip_InExecute_Partial.cs" />
<Compile Include="storeBean\boxBean\BoxEquip_OutExecute.cs" />
<Compile Include="storeBean\boxBean\BoxEquip_PosDebug.cs" />
<Compile Include="storeBean\boxBean\Humiture\HumitureBean.cs" />
......
source/DeviceLibrary/manager/model/DeviceStep.cs
......@@ -458,6 +458,55 @@ namespace OnlineStore.DeviceLibrary
/// 料仓入库:如果上料机构入料口有料，则去待机点
/// </summary>
SI_20_ToStandby,
#region 两侧同时进行取料
SIB_00_StartInstore,
/// <summary>
///料仓入库：料斗拉取进出轴先运动到P1
/// </summary>
SIB_01_PullAxis_Ready,
/// <summary>
///料仓入库：未在安全位置，行走机构先运动到P1
/// </summary>
SIB_01_MoveAxis_Ready,
/// <summary>
///料仓入库：移栽升降轴到上暂存区取料低点P3/P9
/// </summary>
SIB_01_Pull_Updown_ToPosition,
/// <summary>
/// 料仓入库：到料盘暂存区
/// 1. 行走机构到P2（进出料机构取放点）
/// 2. 移栽升降轴到P3(A上暂存区取料低点)
/// 3. A/B面移栽压紧轴到P2（压紧前点）
/// 4. A面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X02=1
/// 或者 B面移栽旋转轴到P2（进出料暂存区取放料水平点），同时检测X03=1
/// </summary>
SIB_02_ToBufferArea,
/// <summary>
/// 料仓入库：确保暂存区有料盘
/// 如果无料盘则报警
/// </summary>
SIB_03_VerifyBufferState,
/// <summary>
/// 料仓入库：A/B面移栽X轴到P2（A/B进出料暂存区取放点）
/// </summary>
SIB_04_InOutToBuff,
/// <summary>
/// 料仓入库：取料盘
/// 1. 移栽升降轴到P2（A上暂存区取料高点）
/// 2. A/B面移栽压紧轴到P3压紧点
/// </summary>
SIB_05_GetReel,
/// <summary>
/// 料仓入库：A/B面移栽X轴到P1
/// </summary>
SIB_06_InOutBackToP1FromBuff,
/// <summary>
/// 料仓入库：清除缓存
/// </summary>
SIB_06_ClearBuffInfo,
#endregion
#endregion
#region 存储机构自动对位功能 400开始
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs
......@@ -313,9 +313,9 @@ namespace OnlineStore.DeviceLibrary
}
private void StartReset()
{
if(HasDrawerInHook())
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" );
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())
......@@ -746,11 +746,21 @@ namespace OnlineStore.DeviceLibrary
ClearSpecifiedAlarm("B下出料暂存区有料盘，但信号未亮");
errUnderB = DateTime.Now;
}
if (IOValue(IO_Type.FeedingA_Instore_UpperArea_ReelCheck).Equals(IO_VALUE.HIGH) && BufferDataManager.AInStoreInfo != null
&& IOValue(IO_Type.FeedingB_Instore_UpperArea_ReelCheck).Equals(IO_VALUE.HIGH) && BufferDataManager.BInStoreInfo != null)
{
StartInstore(new InOutParam() { PosInfo = BufferDataManager.AInStoreInfo, PosInfoBack = BufferDataManager.BInStoreInfo });
return;
}
//检测A上暂存区是否有料盘
if (IOValue(IO_Type.FeedingA_Instore_UpperArea_ReelCheck).Equals(IO_VALUE.HIGH))
{
if (timeSpanA.TotalSeconds >= SigLastTime)
{
StartInstore(new InOutParam(BufferDataManager.AInStoreInfo));
return;
}
}
else
{
......@@ -761,7 +771,10 @@ namespace OnlineStore.DeviceLibrary
if (IOValue(IO_Type.FeedingB_Instore_UpperArea_ReelCheck).Equals(IO_VALUE.HIGH))
{
if (timeSpanB.TotalSeconds >= SigLastTime)
{
StartInstore(new InOutParam(BufferDataManager.BInStoreInfo));
return;
}
}
else
{
......@@ -784,7 +797,7 @@ namespace OnlineStore.DeviceLibrary
bool result = waitAOutStoreList.TryDequeue(out param);
if (result && param != null)
{
LogInfo("执行A面排队的出库【" + param.PosInfo.ToStr() + "】");
//LogInfo("执行A面排队的出库【" + param.PosInfo.ToStr() + "】");
StartExecuctOut(param);
return;
}
......@@ -795,7 +808,7 @@ namespace OnlineStore.DeviceLibrary
bool result = waitAOutStoreList.TryDequeue(out param);
if (result && param != null)
{
LogInfo("执行A面排队的出库【" + param.PosInfo.ToStr() + "】");
//LogInfo("执行A面排队的出库【" + param.PosInfo.ToStr() + "】");
StartExecuctOut(param);
return;
}
......@@ -1013,7 +1026,7 @@ namespace OnlineStore.DeviceLibrary
if (StoreManager.DisBoxSecurityAccess)
{
}
else if (IOManager.IOValue(IO_Type.Air_OpenValve,1).Equals(IO_VALUE.HIGH))
else if (IOManager.IOValue(IO_Type.Air_OpenValve, 1).Equals(IO_VALUE.HIGH))
{
SecurityAccessStop("空气阀打开,设备暂停");
}
......@@ -1036,7 +1049,7 @@ namespace OnlineStore.DeviceLibrary
IOValue(IO_Type.RightDoor_Limit).Equals(IO_VALUE.HIGH) &&
IOValue(IO_Type.BackDoor_Limit).Equals(IO_VALUE.HIGH))
{
IOManager.IOMove(IO_Type.SafeDoor_Close, IO_VALUE.HIGH,1);
IOManager.IOMove(IO_Type.SafeDoor_Close, IO_VALUE.HIGH, 1);
SecurityAccessReset();
}
}
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
......@@ -89,6 +89,18 @@ namespace OnlineStore.DeviceLibrary
{
ClearSpecifiedAlarm("入库验证失败");
}
if (param.PosInfoBack != null)
{
if (!ReviceInStoreCMD(param.PosInfoBack.PosId, param.PosInfoBack.PlateH, param.PosInfoBack.PlateW, param.PosInfoBack.barcode))
{
SetWarnMsg($" 入库验证失败:{param.PosInfoBack.ToStr()}");
return false;
}
else
{
ClearSpecifiedAlarm("入库验证失败");
}
}
}
return true;
}
......@@ -200,7 +212,8 @@ namespace OnlineStore.DeviceLibrary
UpdownAxisTo_P3_P9();
ComAxis_To_P2();
MiddleAxis_To_P2();
XAxis_To_P1();
//XAxis_To_P1();
BothXAxis_To_P1();
break;
case StepEnum.SI_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SI_02_ToBufferArea);
......@@ -451,7 +464,7 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
LogInfo($"入库 {MoveInfo.SLog}：从{MoveInfo.MoveParam.PosInfo.GetPosSide()}面切换到另一面入库[{MoveInfo.MoveParam.PosInfoBack.barcode}]");
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
MoveInfo.MoveParam.PosInfo = MoveInfo.MoveParam.PosInfoBack.ToCopy();
MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
MoveInfo.MoveParam.PosInfoBack = null;
......
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute_Partial.cs 0 → 100644
using CodeLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms.VisualStyles;
namespace OnlineStore.DeviceLibrary
{
partial class BoxEquip
{
#region 入库,两侧都有料
private void BothComAxis_To_P2(bool isdebugSpeed = false)
{
if (isdebugSpeed)
{
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_FindPosSpeed);
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_FindPosSpeed);
}
else
{
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
}
}
private void BothMiddleAxis_To_P2(bool isdebugSpeed = false)
{
MiddleAxis_A.AbsMove(MoveInfo, Config.MiddleAxis_A_P2, Config.MiddleAxis_A_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.AHorizontal_Check, IO_VALUE.HIGH));
MiddleAxis_B.AbsMove(MoveInfo, Config.MiddleAxis_B_P2, Config.MiddleAxis_B_P2_Speed);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.BHorizontal_Check, IO_VALUE.HIGH));
}
private void BothXAxis_To_P1(bool isdebugSpeed = false)
{
if (!XAxis_A.IsInPosition(Config.XAxis_A_P1))
{
if (isdebugSpeed)
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_FindPosSpeed);
else
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
}
if (!XAxis_B.IsInPosition(Config.XAxis_B_P1))
{
if (isdebugSpeed)
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_FindPosSpeed);
else
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed);
}
}
private bool InDoorBothCheck(InOutParam param)
{
if (param.PosInfo == null)
return false;
if (param.PosInfoBack == null)
return false;
if (param.PosInfo != null)
{
if (param.PosInfoBack != null)
{
return true;
}
}
return false;
}
private void BothXAxis_To_P2(bool isdebugSpeed = false)
{
if (isdebugSpeed)
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_FindPosSpeed);
else
XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed);
if (isdebugSpeed)
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_FindPosSpeed);
else
XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
}
private void AddBothReelCheck(bool hasReel)
{
//if (CheckASide())
//{
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ForkA_Tray_Check, hasReel ? IO_VALUE.HIGH : IO_VALUE.LOW));
//}
//else
//{
// MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ForkB_Tray_Check, hasReel ? IO_VALUE.HIGH : IO_VALUE.LOW));
//}
}
private void BothComAxis_To_P3(bool isdebugSpeed = false)
{
LineMoveP movep = new LineMoveP(Config, MoveInfo.MoveParam.PosInfoBack.PosId);
if (isdebugSpeed)
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_FindPosSpeed);
else
ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P3, Config.ComAxis_A_P3_Speed);
if (isdebugSpeed)
ComAxis_B.AbsMove(MoveInfo, movep.ComAxis_AB_P3, Config.ComAxis_FindPosSpeed);
else
ComAxis_B.AbsMove(MoveInfo, movep.ComAxis_AB_P3, Config.ComAxis_B_P3_Speed);
}
private void BothXAxis_To_P3(bool isdebugSpeed = false)
{
if (isdebugSpeed)
XAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_FindPosSpeed);
else
XAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_A_P3_Speed);
if (isdebugSpeed)
XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_FindPosSpeed);
else
XAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.XAxis_AB_P3, Config.XAxis_B_P3_Speed);
}
private void ClearInDoorBothBuffer()
{
BufferDataManager.AInStoreInfo = null;
BufferDataManager.BInStoreInfo = null;
LogInfo($"入库 {MoveInfo.SLog}：取料完成，清除该暂存区的料盘信息[barcode={MoveInfo.MoveParam.PosInfo.barcode}][barcode={MoveInfo.MoveParam.PosInfoBack.barcode}]");
}
private void InstoreBothSideExecute()
{
switch (MoveInfo.MoveStep)
{
case StepEnum.SIB_00_StartInstore:
PullAxisToP1("入库");
break;
case StepEnum.SIB_01_PullAxis_Ready:
SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
MoveInfo.NextMoveStep(StepEnum.SIB_01_Pull_Updown_ToPosition);
if (!IsMoveAxisInSafePos())
{
MoveAxisToSafePos();
LogInfo($"入库 {MoveInfo.SLog}：行走机构不在安全位置，先到安全位置={Config.MoveAxis_SafePos}。当前位置{MoveAxis.GetAclPosition()}");
}
break;
case StepEnum.SIB_01_Pull_Updown_ToPosition:
MoveInfo.NextMoveStep(StepEnum.SIB_01_MoveAxis_Ready);
LogInfo($"入库 {MoveInfo.SLog}：到暂存区入料口，" +
$"行走机构到待机点P1，料斗升降轴到P1点,移栽升降轴到上暂存区入库取料低点P3/P9，移栽压紧轴到压紧前点P2，移栽旋转轴到取放料水平点P2,移栽X轴到P1,料斗升降轴到P1点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
MoveAxisToP1();
PullAxis_UpdownToP1();
UpdownAxisTo_P3_P9();
BothComAxis_To_P2();
BothMiddleAxis_To_P2();
BothXAxis_To_P1();
break;
case StepEnum.SIB_01_MoveAxis_Ready:
MoveInfo.NextMoveStep(StepEnum.SIB_02_ToBufferArea);
startTime = DateTime.Now;
break;
case StepEnum.SIB_02_ToBufferArea:
if (!InDoorBothCheck(MoveInfo.MoveParam))
{
BuffAreaInstoreDoor(false);
SetWarnMsg($"入库 {MoveInfo.SLog}：AB入口料盘无入库信息, 任务取消");
LogInfo($"入库 {MoveInfo.SLog}：AB入口料盘因无入库信息，结束入库");
SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
MoveInfo.EndMove();
}
else
{
MoveInfo.NextMoveStep(StepEnum.SIB_03_VerifyBufferState);
BuffAreaInstoreDoor(true);
LogInfo($"入库 {MoveInfo.SLog}：AB入料口入库信息确认,[barcode={MoveInfo.MoveParam.PosInfo.barcode},posId={MoveInfo.MoveParam.PosInfo.PosId}][barcode={MoveInfo.MoveParam.PosInfoBack.barcode},posId={MoveInfo.MoveParam.PosInfoBack.PosId}]，开始取料");
}
break;
case StepEnum.SIB_03_VerifyBufferState:
if (!CheckInputMiddleAxisInBuff())
{
MoveInfo.NextMoveStep(StepEnum.SIB_04_InOutToBuff);
LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到暂存区取放点P2,行走机构到取放点P2");
BothXAxis_To_P2();
MoveAxisToP2();
}
else if (MoveInfo.IsTimeOut())
{
SetWarnMsg($"等待上料机构旋转轴离开暂存区超时");
}
break;
case StepEnum.SIB_04_InOutToBuff:
MoveInfo.NextMoveStep(StepEnum.SIB_05_GetReel);
LogInfo($"入库 {MoveInfo.SLog}：取料盘，移栽升降轴到上暂存区入库取料高点P2/P8，移栽压紧轴到压紧点P3");
AddBothReelCheck(true);
UpdownAxisTo_P2_P8();
BothComAxis_To_P3();
break;
case StepEnum.SIB_05_GetReel:
MoveInfo.NextMoveStep(StepEnum.SIB_06_InOutBackToP1FromBuff);
LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到库位取放点P3，行走机构到待机点P1");
// XAxis_To_P1();
BothXAxis_To_P3();
MoveAxisToP1();
break;
case StepEnum.SIB_06_InOutBackToP1FromBuff:
MoveInfo.NextMoveStep(StepEnum.SIB_06_ClearBuffInfo);
//LogInfo($"入库 {MoveInfo.SLog}：移栽X轴到料屉库位取放料点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
//清空暂存区料盘信息
ClearInDoorBothBuffer();
break;
case StepEnum.SIB_06_ClearBuffInfo:
{
MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
//MiddleAxis_To_P3();
BuffAreaInstoreDoor(false);
LogInfo($"入库 {MoveInfo.SLog}：对两侧料盘进行入库");//移栽旋转轴到料屉库位垂直取放料点P3
}
break;
}
}
#endregion
}
}
source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs
......@@ -899,6 +899,10 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StepEnum.SI_01_PullAxis_Ready);
}
if (MoveInfo.MoveStep.Equals(StepEnum.SIB_00_StartInstore))
{
MoveInfo.NextMoveStep(StepEnum.SIB_01_PullAxis_Ready);
}
else if (MoveInfo.MoveStep.Equals(StepEnum.SO_00_StartOutstore))
{
MoveInfo.NextMoveStep(StepEnum.SO_01_PullAxis_Ready);
......@@ -908,10 +912,10 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.NextMoveStep(StepEnum.SP_00_2_PullAxisReady);
}
if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1))
{
PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
}
//if (!PullAxis_Updown.IsInPosition(Config.PullAxis_Updown_P1))
//{
// PullAxis_Updown.AbsMove(MoveInfo, Config.PullAxis_Updown_P1, Config.PullAxis_Updown_P1_Speed);
//}
if (PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_CamA) || PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_CamB)
|| PullAxis_Inout.IsInPosition(Config.PullAxis_Inout_P1))
{
......@@ -928,7 +932,7 @@ namespace OnlineStore.DeviceLibrary
PullAxis_Inout.AbsMove(MoveInfo, Config.PullAxis_Inout_CamB, Config.PullAxis_Inout_P1_Speed);
}
}
LogInfo($"{InOutType} {MoveInfo.SLog}：料屉拉取升降轴到待机点P1、料屉拉取进出轴到拍照点");
LogInfo($"{InOutType} {MoveInfo.SLog}：料屉拉取进出轴到拍照点");//料屉拉取升降轴到待机点P1、
}
/// <summary>
/// 判断行走机构是否在安全位置
......@@ -966,7 +970,10 @@ namespace OnlineStore.DeviceLibrary
///开始记录
StartRecord();
SetBoxStatus(DeviceStatus.InStoreExecute, RunStatus.Busy, param.PosInfo.PosId, param.PosInfo.barcode);
MoveInfo.NextMoveStep(StepEnum.SI_00_StartInstore);
if (param.PosInfoBack != null)
MoveInfo.NextMoveStep(StepEnum.SIB_00_StartInstore);
else
MoveInfo.NextMoveStep(StepEnum.SI_00_StartInstore);
AxisAlarmFlag = false;
return true;
}
......@@ -1036,6 +1043,7 @@ namespace OnlineStore.DeviceLibrary
{
return;
}
InstoreBothSideExecute();
InstoreExecute();
}
/// <summary>
......
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