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Commit 9b67e065 由 张东亮
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出库存储机构和入料机构夹爪干涉问题、尺寸检测问题

1 个父辈 fb4e7d8a
内嵌 并排
正在显示 3 个修改的文件 包含 33 行增加 和 21 行删除
source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs
...@@ -281,7 +281,6 @@ namespace OnlineStore.DeviceLibrary ...@@ -281,7 +281,6 @@ namespace OnlineStore.DeviceLibrary
MoveAxisToP1(); MoveAxisToP1();
break; break;
case StepEnum.SO_19_InOutBackFromBuff: case StepEnum.SO_19_InOutBackFromBuff:
LogUtil.info("InSO_19");
//出库料盘放置成功，将料盘信息写入对应出料口 //出库料盘放置成功，将料盘信息写入对应出料口
SetReelInfoToBuff(); SetReelInfoToBuff();
if (MoveInfo.MoveParam.PosInfoBack == null) if (MoveInfo.MoveParam.PosInfoBack == null)
......
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
...@@ -387,7 +387,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -387,7 +387,7 @@ namespace OnlineStore.DeviceLibrary
WorkLog("料盘移栽 ：开始扫码"); WorkLog("料盘移栽 ：开始扫码");
MoveInfo.OneWaitCanEndStep = true; MoveInfo.OneWaitCanEndStep = true;
MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode()); MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode());
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000)); MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
try try
{ {
Task<List<string>> scanTask = Task.Factory.StartNew(delegate Task<List<string>> scanTask = Task.Factory.StartNew(delegate
...@@ -556,7 +556,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -556,7 +556,7 @@ namespace OnlineStore.DeviceLibrary
string buchongStr = ""; string buchongStr = "";
if (isLast) if (isLast)
{ {
buchongStr = "(最后一盘料)"; buchongStr = "(最后一盘料)加4";
height += 4; height += 4;
} }
...@@ -565,9 +565,14 @@ namespace OnlineStore.DeviceLibrary ...@@ -565,9 +565,14 @@ namespace OnlineStore.DeviceLibrary
{ {
LastHeight = 8; LastHeight = 8;
} }
else if (height >= 35)
{
LastHeight = (int)height;
}
else if(height>=27) else if(height>=27)
{ {
LastHeight = 28; LastHeight = 28;
buchongStr = ">=27，<=小于32";
} }
else else
{ {
......
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
...@@ -62,7 +62,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -62,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
} }
int getOffset() int getOffset()
{ {
if(reelHeightOffset.ContainsKey(MoveInfo.MoveParam.PosInfo.PlateH)) if (reelHeightOffset.ContainsKey(MoveInfo.MoveParam.PosInfo.PlateH))
{ {
return reelHeightOffset[MoveInfo.MoveParam.PosInfo.PlateH]; return reelHeightOffset[MoveInfo.MoveParam.PosInfo.PlateH];
} }
...@@ -71,10 +71,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -71,10 +71,10 @@ namespace OnlineStore.DeviceLibrary
void II44_UpdownToP5() void II44_UpdownToP5()
{ {
MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5); MoveInfo.NextMoveStep(StepEnum.II44_UpdownToP5);
if (Is7CunReel()) if (Is7CunReel())
{ {
MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区7寸放料低点){Config.Updown_P5_AUpperL7+ getOffset()}"); MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区7寸放料低点){Config.Updown_P5_AUpperL7 + getOffset()}");
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5_AUpperL7 + getOffset(), Config.Updown_P5_Speed); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5_AUpperL7 + getOffset(), Config.Updown_P5_Speed);
} }
else else
...@@ -459,7 +459,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -459,7 +459,7 @@ 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($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5{Config.Middle_P5_BUpper}"); MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5{Config.Middle_P5_BUpper}");
...@@ -888,11 +888,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -888,11 +888,15 @@ namespace OnlineStore.DeviceLibrary
#region 出库A侧取料 #region 出库A侧取料
if (MoveInfo.IsStep(StepEnum.IO01_ReelCheck)) if (MoveInfo.IsStep(StepEnum.IO01_ReelCheck))
{ {
MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6); if (BufferDataManager.AOutStoreInfo != null)
MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH},旋转轴到P7（A下暂存区取料点）{Config.Middle_P7_AUnder}"); {
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed); MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6);
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P7_AUnder, Config.Middle_P7_Speed); MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH},旋转轴到P7（A下暂存区取料点）{Config.Middle_P7_AUnder}");
ShelfBatchAxisDown(); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P7_AUnder, Config.Middle_P7_Speed);
ShelfBatchAxisDown();
}
} }
else if (MoveInfo.IsStep(StepEnum.IO02_UpdownToP6)) else if (MoveInfo.IsStep(StepEnum.IO02_UpdownToP6))
{ {
...@@ -953,11 +957,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -953,11 +957,15 @@ namespace OnlineStore.DeviceLibrary
#region 出库B侧取料 #region 出库B侧取料
else if (MoveInfo.IsStep(StepEnum.IO11_ReelCheck)) else if (MoveInfo.IsStep(StepEnum.IO11_ReelCheck))
{ {
MoveInfo.NextMoveStep(StepEnum.IO12_UpdownToP12); if(BufferDataManager.BOutStoreInfo!=null)
MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 升降轴到P12（B下暂存区取料高点）{Config.Updown_P12_BUnderH}，旋转轴到P8（B下暂存区取料点）{Config.Middle_P8_BUnder}"); {
UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed); MoveInfo.NextMoveStep(StepEnum.IO12_UpdownToP12);
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P8_BUnder, Config.Middle_P8_Speed); MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 升降轴到P12（B下暂存区取料高点）{Config.Updown_P12_BUnderH}，旋转轴到P8（B下暂存区取料点）{Config.Middle_P8_BUnder}");
ShelfBatchAxisDown(); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed);
MiddleAxis.AbsMove(MoveInfo, Config.Middle_P8_BUnder, Config.Middle_P8_Speed);
ShelfBatchAxisDown();
}
} }
else if (MoveInfo.IsStep(StepEnum.IO12_UpdownToP12)) else if (MoveInfo.IsStep(StepEnum.IO12_UpdownToP12))
{ {
...@@ -1054,9 +1062,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -1054,9 +1062,9 @@ namespace OnlineStore.DeviceLibrary
{ {
MoveInfo.NextMoveStep(StepEnum.IO29_UpdownToP3); MoveInfo.NextMoveStep(StepEnum.IO29_UpdownToP3);
MoveLog($"出库->B料串 {MoveInfo.SLog}: 升降轴到P3（B料口取料点）{Config.Updown_P3_BTake}"); MoveLog($"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); UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3_BTake, Config.Updown_P3_Speed);
} }
else if(MoveInfo.IsStep(StepEnum.IO29_UpdownToP3)) 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");
...@@ -1066,7 +1074,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1066,7 +1074,7 @@ namespace OnlineStore.DeviceLibrary
{ {
if (shelf.Equals(1)) if (shelf.Equals(1))
{ {
BatchMove_A.ReelPutOk(); BatchMove_A.ReelPutOk();
SServerManager.ShelfFinish(BatchMove_A.CurrShelf.ShelfRfid, MoveInfo.MoveParam.PosInfo.barcode); SServerManager.ShelfFinish(BatchMove_A.CurrShelf.ShelfRfid, MoveInfo.MoveParam.PosInfo.barcode);
} }
...@@ -1086,7 +1094,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -1086,7 +1094,7 @@ namespace OnlineStore.DeviceLibrary
MoveLog($"出库->料串 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}"); MoveLog($"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); InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
} }
else if(MoveInfo.IsStep(StepEnum.IO33_InoutToP1)) else if (MoveInfo.IsStep(StepEnum.IO33_InoutToP1))
{ {
MoveInfo.NextMoveStep(StepEnum.IO34_MiddleToP1); 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}");
......
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