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Commit 8e40f615 由 张东亮
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紧急出库到紧急箱子

1 个父辈 cb317e8b
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内嵌 并排
正在显示 15 个修改的文件 包含 289 行增加 和 49 行删除
source/DeviceLibrary/Config/Config_InputEquip.csv
......@@ -48,6 +48,8 @@ PRO,0,取料升降轴_A上暂存区13寸放料低点,Updown_P14_AUpperL13,65798,
PRO,0,取料升降轴_A下暂存区13寸取料低点,Updown_P15_AUnderL13,368000,,,,,,,,,,,,
PRO,0,取料升降轴_B上暂存区13寸放料低点,Updown_P16_BUpperL13,65798,,,,,,,,,,,,
PRO,0,取料升降轴_B下暂存区13寸取料低点,Updown_P17_BUnderL13,370000,,,,,,,,,,,,
PRO,0,取料升降轴_紧急料区放料高点,Updown_P18_NGH,310000,,,,,,,,,,,,
PRO,0,取料升降轴_紧急料区放料低点,Updown_P19_NGL,310000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料升降轴_P1速度,Updown_P1_Speed,45000,,,,,,,,,,,,
PRO,1,取料升降轴_P2速度,Updown_P2_Speed,45000,,,,,,,,,,,,
......@@ -66,6 +68,8 @@ PRO,13,取料升降轴_P14速度,Updown_P14_Speed,45000,,,,,,,,,,,,
PRO,14,取料升降轴_P15速度,Updown_P15_Speed,45000,,,,,,,,,,,,
PRO,15,取料升降轴_P16速度,Updown_P16_Speed,45000,,,,,,,,,,,,
PRO,16,取料升降轴_P17速度,Updown_P17_Speed,45000,,,,,,,,,,,,
PRO,17,取料升降轴_P18速度,Updown_P18_Speed,45000,,,,,,,,,,,,
PRO,18,取料升降轴_P19速度,Updown_P19_Speed,45000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料旋转轴_待机点,Middle_P1,126912,,,,,,,,,,,,
PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,161600,,,,,,,,,,,,
......@@ -75,6 +79,7 @@ PRO,0,取料旋转轴_B上暂存区放料点,Middle_P5_BUpper,107,,,,,,,,,,,,
PRO,0,取料旋转轴_NG料区放料点,Middle_P6_NG,214355,,,,,,,,,,,,
PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,250330,,,,,,,,,,,,
PRO,0,取料旋转轴_B下暂存区取料点,Middle_P8_BUnder,107,,,,,,,,,,,,
PRO,0,取料旋转轴_紧急料区放料点,Middle_P9_NG,214355,,,,,,,,,,,,
PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,100000,,,,,,,,,,,,
PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,100000,,,,,,,,,,,,
PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,100000,,,,,,,,,,,,
......@@ -83,6 +88,7 @@ PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,100000,,,,,,,,,,,,
PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,100000,,,,,,,,,,,,
PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,100000,,,,,,,,,,,,
PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,100000,,,,,,,,,,,,
PRO,8,取料旋转轴_P9速度,Middle_P9_Speed,100000,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
PRO,0,取料旋转轴_反向间隙补偿值,MiddleAxis_Reverse_Offset,300,,,,,,,,,,,,
,,,,,,,,,,,,,,,,
......@@ -92,9 +98,11 @@ PRO,0,取料进出轴_B缓存区点,Inout_P3,126912,,,,,,,,,,,,
PRO,0,取料进出轴_A上料区点,Inout_P4,126912,,,,,,,,,,,,
PRO,0,取料进出轴_B上料区点,Inout_P5,126912,,,,,,,,,,,,
PRO,0,取料进出轴_NG区点,Inout_P6,126912,,,,,,,,,,,,
PRO,0,取料进出轴_紧急料区点,Inout_P7,126912,,,,,,,,,,,,
PRO,0,取料进出轴_P1速度,Inout_P1_Speed,100000,,,,,,,,,,,,
PRO,1,取料进出轴_P2速度,Inout_P2_Speed,100000,,,,,,,,,,,,
PRO,2,取料进出轴_P3速度,Inout_P3_Speed,100000,,,,,,,,,,,,
PRO,3,取料进出轴_P4速度,Inout_P4_Speed,100000,,,,,,,,,,,,
PRO,4,取料进出轴_P5速度,Inout_P5_Speed,100000,,,,,,,,,,,,
PRO,5,取料进出轴_P6速度,Inout_P6_Speed,100000,,,,,,,,,,,,
\ No newline at end of file
PRO,5,取料进出轴_P6速度,Inout_P6_Speed,100000,,,,,,,,,,,,
PRO,6,取料进出轴_P7速度,Inout_P7_Speed,100000,,,,,,,,,,,,
\ No newline at end of file
source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
......@@ -165,8 +165,8 @@ namespace OnlineStore.DeviceLibrary
}
}
});
//最多等待60秒
bool taskResult = eyemtask.Wait(60000);
//最多等待15秒
bool taskResult = eyemtask.Wait(15000);
if (!taskResult)
{
LogUtil.error(deviceName + " 【" + cameraName + "】eyem扫码超时");
......
source/DeviceLibrary/manager/model/DeviceStep.cs
......@@ -1140,6 +1140,37 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 出库->紧急箱
/// <summary>
/// 出库->紧急箱：取料旋转轴SVD13 运动到P6（NG料区放料点）
/// </summary>
I035_MiddleToUrgentBox,
/// <summary>
/// 出库->紧急箱：取料进出轴SVD12 运动到P6（NG料区放料点）
/// </summary>
I036_InoutToP7,
/// <summary>
/// 出库->紧急箱：取料升降轴SVD12 运动到P9（NG料区放料低点）
/// </summary>
I037_UpdownToP19,
/// <summary>
/// 出库->紧急箱：电卡爪放松
/// </summary>
I038_ClampRelax,
/// <summary>
/// 出库->紧急箱：取料升降轴SVD12 运动到P8（NG料区放料高点）
/// </summary>
I039_UpdownToP18,
/// <summary>
/// 出库->紧急箱：取料进出轴SVD 运动到P1（待机点）
/// </summary>
I040_1_InoutToP1,
/// <summary>
/// 出库->紧急箱：取料旋转轴SVD13 运动到P1（待机点）
/// </summary>
I041_MiddleToP1,
#endregion
#endregion
#region 料串批量轴复位 1500 开始
......
source/DeviceLibrary/manager/model/InOutParam.cs
......@@ -133,7 +133,7 @@ namespace OnlineStore.DeviceLibrary
public bool singleOut = false;
public string ToStr()
{
return " [" + barcode + "] [" + PosId + "] [" + PlateW + "x" + PlateH + "]，urgentReel [" + urgentReel
return " [" + barcode + "] [" + PosId + "] [" + PlateW + "x" + PlateH + "]"+ $",hSerial[{hSerial}]" + "，urgentReel [" + urgentReel
+ "],cutReel [" + cutReel + "],smallReel [" + smallReel + "],rfid [" + rfid + "],rfidLoc [" + rfidLoc + "],singleOut[" + singleOut + "]";
}
......
source/DeviceLibrary/storeBean/XLRStoreBean.cs
......@@ -60,8 +60,13 @@ namespace OnlineStore.DeviceLibrary
HCBoardManager.InitConfig();
IOManager.Init();
AxisManager.Init();
AxisManager.instance.OpenCard();
bool rtn = AxisManager.instance.OpenCard();
//if (!rtn)
//{
// rtn = AxisManager.instance.CloseCard();
// if (rtn)
// AxisManager.instance.OpenCard();
//}
//初始化摄像机配置
CodeManager.LoadConfig();
......@@ -73,7 +78,7 @@ namespace OnlineStore.DeviceLibrary
canStart = true;
AgvClient.Init();
}
#endregion
public string CanStart()
......@@ -148,7 +153,7 @@ namespace OnlineStore.DeviceLibrary
public override bool Reset()
{
{
bool isNeedAllReset = false;
if (isInSuddenDown || isNoAirpressure_Check)
{
......@@ -158,7 +163,7 @@ namespace OnlineStore.DeviceLibrary
}
else if ((runStatus == RunStatus.HomeMoving || runStatus == RunStatus.Reset) && NoAlarm())
{
LogUtil.error(Name + "收到复位信号，已经在复位或原点返回中，且当前无报警，不处理复位");
LogUtil.error(Name + "收到复位信号，已经在复位或原点返回中，且当前无报警，不处理复位");
return false;
}
......@@ -169,7 +174,7 @@ namespace OnlineStore.DeviceLibrary
//重置通用处理
mainTimer.Interval = 1000;
// maxSeconds = 10;
// maxSeconds = 10;
alarmType = AlarmType.None;
mainTimer.Enabled = false;
isInSuddenDown = false;
......@@ -234,7 +239,7 @@ namespace OnlineStore.DeviceLibrary
isOk = false;
break;
}
}
}
......@@ -254,7 +259,7 @@ namespace OnlineStore.DeviceLibrary
Alarm(AlarmType.IoSingleTimeOut);
}
}
}
}
#endregion
private bool busyPro = false;
......@@ -297,7 +302,7 @@ namespace OnlineStore.DeviceLibrary
catch (Exception ex)
{
LogUtil.error(Name + "LineTimerPro 出错：", ex);
}
}
busyPro = false;
}
catch (Exception ex)
......@@ -306,7 +311,7 @@ namespace OnlineStore.DeviceLibrary
}
Thread.Sleep(1);
}
#region 停止运动
......@@ -408,7 +413,7 @@ namespace OnlineStore.DeviceLibrary
ConfigIO io = baseConfig.getWaitIO(wait.IoType);
WarnMsg = Name + "[" + checkWaitInfo.MoveStep + "]等待" + NotOkMsg + " 超时";
Alarm(AlarmType.IoSingleTimeOut);
LogUtil.error( WarnMsg, checkWaitInfo.ErrorLogType);
LogUtil.error(WarnMsg, checkWaitInfo.ErrorLogType);
}
//超过报警时长
else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < StoreManager.Config.IOSingle_TimerOut * 2)
......@@ -481,8 +486,8 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 忙碌处理
public override bool StartInstore(InOutParam param)
{
return true;
......@@ -533,6 +538,6 @@ namespace OnlineStore.DeviceLibrary
}
}
}
}
\ No newline at end of file
source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs
......@@ -456,6 +456,8 @@ namespace OnlineStore.DeviceLibrary
if (!rtn)
{
InOutParam inOut = new InOutParam(MoveInfo.MoveParam.PosInfo.ToCopy());
inOut.PosInfo.IsNG = true;
inOut.PosInfo.NgMsg = "验证入库完成失败";
LogInfo($"入库 {MoveInfo.SLog}：验证入库完成失败，将该库位出库[{inOut.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
// if (CheckASide())
{
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
using Asa;
using HalconDotNet;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
......@@ -577,7 +578,7 @@ namespace OnlineStore.DeviceLibrary
{
LastHeight = (int)height;
}
else if(height>=27)
else if (height >= 27)
{
LastHeight = 28;
buchongStr = ">=27，<=小于32";
......@@ -655,7 +656,13 @@ namespace OnlineStore.DeviceLibrary
}
else
{
if (SServerManager.GetOutTaskCount(MoveInfo.MoveParam.PosInfo.hSerial) == 0)
if (string.IsNullOrEmpty(MoveInfo.MoveParam.PosInfo.hSerial))
{
doorInfo.status = doorStatusE.outStore;
MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (SServerManager.GetOutTaskCount(MoveInfo.MoveParam.PosInfo.hSerial) == 0)
{
SendOutShelfLeave("检测到工单已结束:" + MoveInfo.MoveParam.PosInfo.hSerial);
}
......
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
......@@ -473,10 +473,15 @@ namespace OnlineStore.DeviceLibrary
IOTimeOutProcess();
//判断流水线打开了才可以运行
List<BatchMoveBean> BatchMoveList = new List<BatchMoveBean>() { BatchMove_A, BatchMove_B };
foreach (BatchMoveBean moveBean in BatchMoveList)
{
//LogUtil.debug($"{moveBean.Name} 处理");
moveBean.TimerProcess();
}
if (!MoveStop)
{
if (MoveInfo.MoveType.Equals(MoveType.None) && NoErrorAlarm())
// if (MoveInfo.MoveType.Equals(MoveType.None) && NoErrorAlarm())
{
if (CheckStartOutPos("A下暂存区", BufferDataManager.AOutStoreInfo, IO_Type.FeedingA_Outstore_UnderArea_ReelCheck, BatchMoveList))
{
......@@ -502,7 +507,7 @@ namespace OnlineStore.DeviceLibrary
CheckStartOutPos("B下暂存区", BufferDataManager.BOutStoreInfo, IO_Type.FeedingB_Outstore_UnderArea_ReelCheck, BatchMoveList, true);
}
}
LogUtil.debug($"入料机构出库检查");
}
if (MoveInfo.MoveType.Equals(MoveType.None) && NoErrorAlarm())
......@@ -520,10 +525,6 @@ namespace OnlineStore.DeviceLibrary
}
}
foreach (BatchMoveBean moveBean in BatchMoveList)
{
moveBean.TimerProcess();
}
if (NoErrorAlarm())
{
CheckAxisAlarm();
......@@ -534,12 +535,22 @@ namespace OnlineStore.DeviceLibrary
DoorInfo doorinfo = null;
if (posInfo != null && ioval.Equals(IO_VALUE.HIGH))
{
if (!posInfo.IsNG && string.IsNullOrEmpty(posInfo.hSerial))
{
InOutParam param = new InOutParam(posInfo.ToCopy());
LogInfo($"{posType} 紧急物料{param.PosInfo.ToStr()}，准备出库到紧急箱");
StartOutstore(param);
return true;
}
foreach (BatchMoveBean moveBean in BatchMoveList)
{
var curhSerial = moveBean.MoveInfo.MoveParam?.PosInfo?.hSerial;
if (moveBean.MoveInfo.MoveType.Equals(MoveType.Reset) || moveBean.MoveInfo.MoveType.Equals(MoveType.RHome))
continue;
LogUtil.debug($"{moveBean.Name} CheckStartOutPos 处理");
var curhSerial = moveBean.MoveInfo.MoveParam?.PosInfo?.hSerial??"";
if (!string.IsNullOrEmpty(curhSerial) && curhSerial != posInfo.hSerial)
{
LogInfo($"{posType}当前料串的 hSerial:{curhSerial}，与准备出库到料串 hSerial:{posInfo.hSerial} 不符");
LogInfo($"{posType}当前料串的 hSerial:{curhSerial}，与准备出库的 hSerial:{posInfo.hSerial} 不符");
moveBean.ShelfNeedLeave = true;
}
else if (moveBean.MoveInfo.MoveType == MoveType.InStore && moveBean.MoveInfo.MoveStep == StepEnum.IS23_WaitAgv)
......@@ -556,7 +567,7 @@ namespace OnlineStore.DeviceLibrary
StartOutstore(param);
return true;
}
else if(posInfo.IsNG)
else if (posInfo.IsNG)
{
InOutParam param = new InOutParam(posInfo.ToCopy());
LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到NG箱");
......@@ -580,12 +591,26 @@ namespace OnlineStore.DeviceLibrary
private bool CheckStartOutPos(string posType, InOutPosInfo posInfo, String ioType, List<BatchMoveBean> BatchMoveList, bool shelfAutoLeave = false)
{
LogUtil.debug($"CheckStartOutPos 【{posType}】,【{posInfo?.ToStr()}】，【{ioType}】");
DoorInfo doorinfo = null;
if (posInfo != null && IOValue(ioType).Equals(IO_VALUE.HIGH))
{
LogUtil.debug($"CheckStartOutPos 处理0");
if (!posInfo.IsNG && string.IsNullOrEmpty(posInfo.hSerial))
{
InOutParam param = new InOutParam(posInfo.ToCopy());
LogInfo($"{posType} 紧急物料{param.PosInfo.ToStr()}，准备出库到紧急箱");
StartOutstore(param);
LogUtil.debug($"CheckStartOutPos 处理1");
return true;
}
foreach (BatchMoveBean moveBean in BatchMoveList)
{
var curhSerial = moveBean.MoveInfo.MoveParam?.PosInfo?.hSerial;
LogUtil.debug($"{moveBean.Name} CheckStartOutPos {moveBean.MoveInfo.MoveType}");
if (moveBean.MoveInfo.MoveType.Equals(MoveType.Reset) || moveBean.MoveInfo.MoveType.Equals(MoveType.RHome))
continue;
LogUtil.debug($"{moveBean.Name} CheckStartOutPos 处理");
var curhSerial = moveBean.MoveInfo.MoveParam?.PosInfo?.hSerial ?? "";
if (!string.IsNullOrEmpty(curhSerial) && curhSerial != posInfo.hSerial)
{
LogInfo($"{posType}当前料串的 hSerial:{curhSerial}，与准备出库到料串 hSerial:{posInfo.hSerial} 不符");
......@@ -617,6 +642,11 @@ namespace OnlineStore.DeviceLibrary
}
}
else
{
LogUtil.debug($"CheckStartOutPos 处理-1");
}
LogUtil.debug($"CheckStartOutPos 处理-2");
return false;
}
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
......@@ -10,6 +10,7 @@ using System.Text.RegularExpressions;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Windows.Forms.AxHost;
namespace OnlineStore.DeviceLibrary
{
......@@ -373,10 +374,10 @@ namespace OnlineStore.DeviceLibrary
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4{targetV}");
MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P1_Speed);
}
else if (MoveInfo.IsTimeOut(20))
{
MoveTimeOut(MoveInfo, "等待" + BatchMove_A.Name + "扫码结束");
}
//else if (MoveInfo.IsTimeOut())
//{
// MoveTimeOut(MoveInfo, "等待" + BatchMove_A.Name + "扫码结束");
//}
}
else if (MoveInfo.IsStep(StepEnum.II47_MiddleToP1))
{
......@@ -801,6 +802,23 @@ namespace OnlineStore.DeviceLibrary
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P6_NG, Config.Middle_P6_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
}
private void ToUrgentBox()
{
MoveInfo.NextMoveStep(StepEnum.I035_MiddleToUrgentBox);
//清空暂存区
int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
if (startp.Equals(1))
{
BufferDataManager.AOutStoreInfo = null;
}
else
{
BufferDataManager.BOutStoreInfo = null;
}
MoveLog($"出库{MoveInfo.SLog}: 紧急料 升降轴到P18（紧急料区放料高点）{Config.Updown_P18_NGH}，旋转轴到P9（紧急料区放料点）{Config.Middle_P9_NG}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P9_NG, Config.Middle_P9_Speed);
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P18_NGH, Config.Updown_P18_Speed);
}
private DateTime startOutTime = DateTime.Now;
public override bool StartOutstore(InOutParam param)
{
......@@ -947,6 +965,16 @@ namespace OnlineStore.DeviceLibrary
//判断料盘信号是否消失
if (IOValue(IO_Type.FeedingA_Outstore_UnderArea_ReelCheck).Equals(IO_VALUE.LOW))
{
if (MoveInfo.MoveParam.PosInfo.IsNG)
{
ToNG();
return;
}
else if(string.IsNullOrEmpty(MoveInfo.MoveParam.PosInfo.hSerial))
{
ToUrgentBox();
return;
}
if (!MiddleToShelf())
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
......@@ -962,6 +990,16 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.IO07_WaitReelCheckLow))
{
if (MoveInfo.MoveParam.PosInfo.IsNG)
{
ToNG();
return;
}
else if (string.IsNullOrEmpty(MoveInfo.MoveParam.PosInfo.hSerial))
{
ToUrgentBox();
return;
}
if (!MiddleToShelf())
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
......@@ -1030,6 +1068,11 @@ namespace OnlineStore.DeviceLibrary
ToNG();
return;
}
else if (string.IsNullOrEmpty(MoveInfo.MoveParam.PosInfo.hSerial))
{
ToUrgentBox();
return;
}
if (!MiddleToShelf())
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
......@@ -1050,6 +1093,11 @@ namespace OnlineStore.DeviceLibrary
ToNG();
return;
}
else if (string.IsNullOrEmpty(MoveInfo.MoveParam.PosInfo.hSerial))
{
ToUrgentBox();
return;
}
if (!MiddleToShelf())
{
MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
......@@ -1202,6 +1250,65 @@ namespace OnlineStore.DeviceLibrary
runStatus = RunStatus.Runing;
}
#endregion
#region 出库->紧急箱
else if (MoveInfo.IsStep(StepEnum.I035_MiddleToUrgentBox))
{
MoveInfo.NextMoveStep(StepEnum.I036_InoutToP7);
MoveLog($" 出料->紧急箱 {MoveInfo.SLog}: 进出轴到P7（紧急料区放料点）{Config.Inout_P7}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P7, Config.Inout_P7_Speed);
}
else if (MoveInfo.IsStep(StepEnum.I036_InoutToP7))
{
TrayHasLeave();
MoveInfo.NextMoveStep(StepEnum.I037_UpdownToP19);
MoveLog($" 出料->紧急箱 {MoveInfo.SLog}: 升降轴到P19（紧急料区放料低点）{Config.Updown_P19_NGL}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P19_NGL, Config.Updown_P19_Speed);
}
else if (MoveInfo.IsStep(StepEnum.I037_UpdownToP19))
{
MoveInfo.NextMoveStep(StepEnum.I038_ClampRelax);
MoveLog($" 出料->紧急箱 {MoveInfo.SLog}: 夹爪放松");
ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
}
else if (MoveInfo.IsStep(StepEnum.I038_ClampRelax))
{
if (!StoreManager.XLRStore.boxEquip.SendStoreState(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode, DeviceStatus.OutStoreEnd))
return;
MoveInfo.NextMoveStep(StepEnum.I039_UpdownToP18);
MoveLog($" 出料->紧急箱 {MoveInfo.SLog}: 升降轴到P18（紧急料区放料高点）{Config.Updown_P18_NGH}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P18_NGH, Config.Updown_P18_Speed);
}
else if (MoveInfo.IsStep(StepEnum.I039_UpdownToP18))
{
MoveInfo.NextMoveStep(StepEnum.I040_1_InoutToP1);
MoveLog($" 出料->紧急箱 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}");
InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
}
else if (MoveInfo.IsStep(StepEnum.I040_1_InoutToP1))
{
if (shelf.Equals(1))
{
MoveLog($" 出料->紧急箱放料结束");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
else
{
//旋转轴暂不回待机点
MoveInfo.NextMoveStep(StepEnum.I041_MiddleToP1);
MoveLog($" 出料->紧急箱 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
}
}
else if (MoveInfo.IsStep(StepEnum.I041_MiddleToP1))
{
TimeSpan span = DateTime.Now - startInTime;
MoveLog($" 出料->紧急箱放料结束，耗时【{FormUtil.GetSpanStr(span)}】");
MoveInfo.EndMove();
runStatus = RunStatus.Runing;
}
#endregion
}
private bool MiddleToShelf()
{
......
source/LoadCVSLibrary/storeConfig/config/InputEquip_Config.cs
......@@ -221,6 +221,16 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("Updown_P17_BUnderL13")]
public int Updown_P17_BUnderL13 { get; set; }
/// <summary>
/// PRO,0,取料升降轴_紧急料区放料高点,Updown_P18_NGH,310000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Updown_P18_NGH")]
public int Updown_P18_NGH { get; set; }
/// <summary>
/// PRO,0,取料升降轴_紧急料区放料低点,Updown_P19_NGL,310000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Updown_P19_NGL")]
public int Updown_P19_NGL { get; set; }
/// <summary>
/// PRO,0,取料升降轴_P1速度,Updown_P1_Speed,108,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Updown_P1_Speed")]
......@@ -306,6 +316,16 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("Updown_P17_Speed")]
public int Updown_P17_Speed { get; set; }
/// <summary>
/// PRO,17,取料升降轴_P18速度,Updown_P18_Speed,45000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Updown_P18_Speed")]
public int Updown_P18_Speed { get; set; }
/// <summary>
/// PRO,18,取料升降轴_P19速度,Updown_P19_Speed,45000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Updown_P19_Speed")]
public int Updown_P19_Speed { get; set; }
/// <summary>
/// PRO,0,取料升降轴_待机点,Middle_P1,100,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Middle_P1")]
......@@ -346,6 +366,12 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("Middle_P8_BUnder")]
public int Middle_P8_BUnder { get; set; }
/// <summary>
/// PRO,0,取料旋转轴_紧急料区放料点,Middle_P9_NG,214355,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Middle_P9_NG")]
public int Middle_P9_NG { get; set; }
/// <summary>
/// PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,108,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Middle_P1_Speed")]
......@@ -385,7 +411,11 @@ namespace OnlineStore.LoadCSVLibrary
/// </summary>
[ConfigProAttribute("Middle_P8_Speed")]
public int Middle_P8_Speed { get; set; }
/// <summary>
/// PRO,8,取料旋转轴_P9速度,Middle_P9_Speed,100000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Middle_P9_Speed")]
public int Middle_P9_Speed { get; set; }
/// <summary>
/// PRO,0,取料旋转轴_反向间隙补偿值,MiddleAxis_Reverse_Offset,300,,,,,,,,,,,,
/// </summary>
......@@ -439,6 +469,12 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("Inout_P6", false)]
public int Inout_P6 { get; set; }
/// <summary>
/// PRO,0,取料进出轴_紧急料区点,Inout_P7,126912,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Inout_P7", false)]
public int Inout_P7 { get; set; }
/// <summary>
/// PRO,0,取料进出轴_P1速度,Inout_P1_Speed,100000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Inout_P1_Speed", false)]
......@@ -469,6 +505,12 @@ namespace OnlineStore.LoadCSVLibrary
[ConfigProAttribute("Inout_P6_Speed", false)]
public int Inout_P6_Speed { get; set; }
/// <summary>
/// PRO,6,取料进出轴_P7速度,Inout_P7_Speed,100000,,,,,,,,,,,,
/// </summary>
[ConfigProAttribute("Inout_P7_Speed", false)]
public int Inout_P7_Speed { get; set; }
private List<string> CameraList = null;
......
source/XLRStoreClient/inputForm/FrmBatchMove.Designer.cs
......@@ -82,7 +82,7 @@
this.panel2.Dock = System.Windows.Forms.DockStyle.Fill;
this.panel2.Location = new System.Drawing.Point(0, 0);
this.panel2.Name = "panel2";
this.panel2.Size = new System.Drawing.Size(949, 546);
this.panel2.Size = new System.Drawing.Size(949, 506);
this.panel2.TabIndex = 324;
//
// groupBox3
......@@ -308,9 +308,9 @@
this.chbMoveStop.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.chbMoveStop.AutoSize = true;
this.chbMoveStop.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbMoveStop.Location = new System.Drawing.Point(322, 86);
this.chbMoveStop.Location = new System.Drawing.Point(302, 86);
this.chbMoveStop.Name = "chbMoveStop";
this.chbMoveStop.Size = new System.Drawing.Size(84, 24);
this.chbMoveStop.Size = new System.Drawing.Size(104, 28);
this.chbMoveStop.TabIndex = 327;
this.chbMoveStop.Text = "暂停运动";
this.chbMoveStop.UseVisualStyleBackColor = true;
......@@ -349,9 +349,9 @@
this.chbDebug.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.chbDebug.AutoSize = true;
this.chbDebug.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbDebug.Location = new System.Drawing.Point(213, 86);
this.chbDebug.Location = new System.Drawing.Point(193, 86);
this.chbDebug.Name = "chbDebug";
this.chbDebug.Size = new System.Drawing.Size(84, 24);
this.chbDebug.Size = new System.Drawing.Size(104, 28);
this.chbDebug.TabIndex = 325;
this.chbDebug.Text = "调试状态";
this.chbDebug.UseVisualStyleBackColor = true;
......@@ -377,7 +377,7 @@
this.lblAgvInfo.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblAgvInfo.Location = new System.Drawing.Point(5, 62);
this.lblAgvInfo.Name = "lblAgvInfo";
this.lblAgvInfo.Size = new System.Drawing.Size(61, 17);
this.lblAgvInfo.Size = new System.Drawing.Size(75, 20);
this.lblAgvInfo.TabIndex = 282;
this.lblAgvInfo.Text = "AGV 状态";
//
......@@ -435,9 +435,9 @@
this.chbAutoOut.Checked = true;
this.chbAutoOut.CheckState = System.Windows.Forms.CheckState.Checked;
this.chbAutoOut.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbAutoOut.Location = new System.Drawing.Point(502, 510);
this.chbAutoOut.Location = new System.Drawing.Point(458, 510);
this.chbAutoOut.Name = "chbAutoOut";
this.chbAutoOut.Size = new System.Drawing.Size(168, 24);
this.chbAutoOut.Size = new System.Drawing.Size(212, 28);
this.chbAutoOut.TabIndex = 280;
this.chbAutoOut.Text = "入料完成自动开始出库";
this.chbAutoOut.UseVisualStyleBackColor = true;
......@@ -445,9 +445,9 @@
//
// FrmBatchMove
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 20F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(949, 546);
this.ClientSize = new System.Drawing.Size(949, 506);
this.Controls.Add(this.panel2);
this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
this.MaximizeBox = false;
......
source/XLRStoreClient/inputForm/FrmBatchMove.cs
......@@ -302,9 +302,8 @@ namespace OnlineStore.XLRStore
private void btnResetShelf_Click(object sender, EventArgs e)
{
moveBean.UpdateShelf();
moveBean.Reset(true);
LogUtil.info(moveBean.Name + "点击：" + btnResetShelf.Text);
moveBean.Reset(true,true);
}
private void chbMoveStop_CheckedChanged(object sender, EventArgs e)
......
source/XLRStoreClient/inputForm/uc/Input_AxisControl.cs
......@@ -22,7 +22,7 @@ namespace OnlineStore.XLRStore.inputForm.uc
this.inputEquip = inputEquip;
LoadPoint();
LoadAxis();
PointEditEnable(false);
PointEditEnable(false);
IsLoad = true;
}
private InputEquip inputEquip;
......@@ -64,6 +64,10 @@ namespace OnlineStore.XLRStore.inputForm.uc
inoutAxisP5.SetMoveData(inputEquip.InOutAxis, config.Inout_P5_Speed, config.Inout_P5);
inoutAxisP6.SetMoveData(inputEquip.InOutAxis, config.Inout_P6_Speed, config.Inout_P6);
updownAxisP18.SetMoveData(inputEquip.UpdownAxis, config.Updown_P18_Speed, config.Updown_P18_NGH);
updownAxisP19.SetMoveData(inputEquip.UpdownAxis, config.Updown_P19_Speed, config.Updown_P19_NGL);
mideleAxisP9.SetMoveData(inputEquip.MiddleAxis, config.Middle_P9_Speed, config.Middle_P9_NG);
inoutAxisP7.SetMoveData(inputEquip.InOutAxis, config.Inout_P7_Speed, config.Inout_P7);
}
private void LoadAxis()
{
......@@ -87,7 +91,7 @@ namespace OnlineStore.XLRStore.inputForm.uc
groupBox9.Enabled = enable;
groupBox10.Enabled = enable;
groupBox11.Enabled = enable;
groupBox1.Enabled = enable;
}
private void btnSave_Click(object sender, EventArgs e)
......@@ -125,6 +129,11 @@ namespace OnlineStore.XLRStore.inputForm.uc
inputEquip.Config.Inout_P4 = inoutAxisP4.PointValue;
inputEquip.Config.Inout_P5 = inoutAxisP5.PointValue;
inputEquip.Config.Inout_P6 = inoutAxisP6.PointValue;
inputEquip.Config.Updown_P18_NGH = updownAxisP18.PointValue;
inputEquip.Config.Updown_P19_NGL = updownAxisP19.PointValue;
inputEquip.Config.Middle_P9_NG = mideleAxisP9.PointValue;
inputEquip.Config.Inout_P7 = inoutAxisP7.PointValue;
StoreManager.SaveInputEquipConfig(inputEquip.Config);
MessageBox.Show("保存成功");
}
......
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