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Commit 7dc12ba0 由 张东亮
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agv对接滚筒停止根据停止接口，不按照信号

1 个父辈 62275c92
内嵌 并排
正在显示 4 个修改的文件 包含 26 行增加 和 19 行删除
DeviceLibrary/AGVService/Controllers/stopRollerController.cs
using DeviceLibrary; using DeviceLibrary;
using OnlineStore; using OnlineStore;
using OnlineStore.Common; using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Security.Cryptography; using System.Security.Cryptography;
using System.Web.Http; using System.Web.Http;
...@@ -56,6 +57,8 @@ namespace WebApi.Controllers ...@@ -56,6 +57,8 @@ namespace WebApi.Controllers
} }
else else
{ {
RobotManage.mainMachine.IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500);
RobotManage.mainMachine.RightMoveInfo.log($"电滚停止");
result.status = "IDLE"; result.status = "IDLE";
} }
break; break;
...@@ -72,6 +75,8 @@ namespace WebApi.Controllers ...@@ -72,6 +75,8 @@ namespace WebApi.Controllers
} }
else else
{ {
RobotManage.mainMachine.IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500);
RobotManage.mainMachine.LeftMoveInfo.log($"电滚停止");
result.status = "IDLE"; result.status = "IDLE";
} }
break; break;
......
DeviceLibrary/AutoScanAndLabel/MainMachine _Common_.cs
...@@ -12,10 +12,10 @@ namespace DeviceLibrary ...@@ -12,10 +12,10 @@ namespace DeviceLibrary
{ {
partial class MainMachine partial class MainMachine
{ {
public void StopMove(bool ServoOff=false) public void StopMove(bool ServoOff = false)
{ {
runStatus = RunStatus.Stop; runStatus = RunStatus.Stop;
MoveInfo.List.ForEach((m)=> { m.EndMove(); }); MoveInfo.List.ForEach((m) => { m.EndMove(); });
AxisBean.StopMultiAxis(AxisBean.List); AxisBean.StopMultiAxis(AxisBean.List);
if (ServoOff) if (ServoOff)
...@@ -76,7 +76,7 @@ namespace DeviceLibrary ...@@ -76,7 +76,7 @@ namespace DeviceLibrary
else if (wait.WaitType.Equals(WaitEnum.W002_IOValue)) else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
{ {
ConfigIO io = RobotManage.Config.getWaitIO(wait.IoType); ConfigIO io = RobotManage.Config.getWaitIO(wait.IoType);
NotOkMsg = crc.GetString("Res0104","等待")+"【" + io.DisplayStr + "】=【" + wait.IoValue + "】"; NotOkMsg = crc.GetString("Res0104", "等待") + "【" + io.DisplayStr + "】=【" + wait.IoValue + "】";
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue); wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
if (!wait.IsEnd) if (!wait.IsEnd)
{ {
...@@ -84,8 +84,8 @@ namespace DeviceLibrary ...@@ -84,8 +84,8 @@ namespace DeviceLibrary
if (span.TotalMilliseconds > timeOutMs && NoAlarm()) if (span.TotalMilliseconds > timeOutMs && NoAlarm())
{ {
WarnMsg = Name + "[" + MoveInfo.MoveStep + "] "+crc.GetString("Res0104","等待")+"(" + io.DisplayStr + "=" + wait.IoValue + ") "+crc.GetString("Res0105","超时"); WarnMsg = Name + "[" + MoveInfo.MoveStep + "] " + crc.GetString("Res0104", "等待") + "(" + io.DisplayStr + "=" + wait.IoValue + ") " + crc.GetString("Res0105", "超时");
Msg.add(WarnMsg, MsgLevel.warning); Msg.add(WarnMsg, MsgLevel.warning);
if (NoAlarm()) if (NoAlarm())
{ {
...@@ -128,7 +128,7 @@ namespace DeviceLibrary ...@@ -128,7 +128,7 @@ namespace DeviceLibrary
{ {
axisBean.SuddenStop(); axisBean.SuddenStop();
} }
wait.IsEnd=true; wait.IsEnd = true;
} }
else else
{ {
...@@ -151,7 +151,7 @@ namespace DeviceLibrary ...@@ -151,7 +151,7 @@ namespace DeviceLibrary
} }
} }
if (wait.IsEnd) if (wait.IsEnd)
{ {
if (MoveInfo.OneWaitCanEndStep) if (MoveInfo.OneWaitCanEndStep)
{ {
isOk = true; isOk = true;
...@@ -175,7 +175,7 @@ namespace DeviceLibrary ...@@ -175,7 +175,7 @@ namespace DeviceLibrary
else if (span.TotalSeconds > MoveInfo.TimeOutSeconds) else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
{ {
LogUtil.error($"MoveInfo.MoveStep:{span.TotalSeconds}>{MoveInfo.TimeOutSeconds}"); LogUtil.error($"MoveInfo.MoveStep:{span.TotalSeconds}>{MoveInfo.TimeOutSeconds}");
WarnMsg = Name + "[" + MoveInfo.MoveStep + "]"+crc.GetString("Res0104","等待") + NotOkMsg + crc.GetString("Res0105","超时")+"[" + Math.Round(span.TotalSeconds, 1) + "]"+crc.GetString("Res0106","秒"); WarnMsg = Name + "[" + MoveInfo.MoveStep + "]" + crc.GetString("Res0104", "等待") + NotOkMsg + crc.GetString("Res0105", "超时") + "[" + Math.Round(span.TotalSeconds, 1) + "]" + crc.GetString("Res0106", "秒");
int second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10; int second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
if (second > 120) if (second > 120)
...@@ -188,7 +188,7 @@ namespace DeviceLibrary ...@@ -188,7 +188,7 @@ namespace DeviceLibrary
} }
LogUtil.error(WarnMsg, logType + 100, second); LogUtil.error(WarnMsg, logType + 100, second);
//MoveInfo.errlog(WarnMsg); //MoveInfo.errlog(WarnMsg);
Alarm(AlarmType.IoSingleTimeOut, WarnMsg); Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
Msg.add(WarnMsg, MsgLevel.alarm); Msg.add(WarnMsg, MsgLevel.alarm);
} }
return true; return true;
...@@ -213,7 +213,8 @@ namespace DeviceLibrary ...@@ -213,7 +213,8 @@ namespace DeviceLibrary
LogUtil.error(Name + " 报警，报警类型：" + _alarmType); LogUtil.error(Name + " 报警，报警类型：" + _alarmType);
if (this.alarmType == AlarmType.SuddenStop && _alarmType == AlarmType.None) { if (this.alarmType == AlarmType.SuddenStop && _alarmType == AlarmType.None)
{
clampTool.Close(); clampTool.Close();
clampTool.Open(); clampTool.Open();
} }
...@@ -258,10 +259,11 @@ namespace DeviceLibrary ...@@ -258,10 +259,11 @@ namespace DeviceLibrary
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
} }
} }
public IO_VALUE IOValue(string ioType) { public IO_VALUE IOValue(string ioType)
{
return IOManager.IOValue(ioType); return IOManager.IOValue(ioType);
} }
void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0) public void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0)
{ {
if (msTime <= 0) if (msTime <= 0)
{ {
...@@ -273,7 +275,7 @@ namespace DeviceLibrary ...@@ -273,7 +275,7 @@ namespace DeviceLibrary
} }
else else
{ {
Task.Run(()=> Task.Run(() =>
{ {
IOManager.IOMove(IoType, value); IOManager.IOMove(IoType, value);
Thread.Sleep(msTime); Thread.Sleep(msTime);
......
DeviceLibrary/AutoScanAndLabel/MainMachine _LeftProcess.cs
...@@ -29,7 +29,7 @@ namespace DeviceLibrary ...@@ -29,7 +29,7 @@ namespace DeviceLibrary
{ {
int hight = 0; int hight = 0;
//if (Uppre != -1000 && Uplast != -1000&&step==3) //if (Uppre != -1000 && Uplast != -1000&&step==3)
if (Uppre != -1000 && Uplast != -1000 && step == 2) if (Uppre != -1000 && Uplast != -1000 && step == 2)
{ {
hight = Math.Abs(Uplast - Uppre) + 2000; hight = Math.Abs(Uplast - Uppre) + 2000;
RightMoveInfo.log($"料盘高度计算：hight：{hight}，Uppre:{Uppre},Uplast:{Uplast}"); RightMoveInfo.log($"料盘高度计算：hight：{hight}，Uppre:{Uppre},Uplast:{Uplast}");
...@@ -201,8 +201,8 @@ namespace DeviceLibrary ...@@ -201,8 +201,8 @@ namespace DeviceLibrary
break; break;
case MoveStep.L55: case MoveStep.L55:
LeftMoveInfo.NextMoveStep(MoveStep.LEND); LeftMoveInfo.NextMoveStep(MoveStep.LEND);
IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500); // IOMove(IO_Type.LeftMoto_Reverse, IO_VALUE.HIGH, false, 500);
LeftMoveInfo.log($"电滚停止"); // LeftMoveInfo.log($"电滚停止");
break; break;
//} //}
//料串入料流程，轴下降到p1，挡停下降，滚筒正转到后端检测高电平后再转60秒，再转1秒，再转0.5秒停止，进入上料流程 //料串入料流程，轴下降到p1，挡停下降，滚筒正转到后端检测高电平后再转60秒，再转1秒，再转0.5秒停止，进入上料流程
...@@ -332,7 +332,7 @@ namespace DeviceLibrary ...@@ -332,7 +332,7 @@ namespace DeviceLibrary
if (PlwHight > 5000) if (PlwHight > 5000)
{ {
int currpoint = Left_Batch_Axis.GetAclPosition(); int currpoint = Left_Batch_Axis.GetAclPosition();
int countPleHight= PlwHight / Config.Right_Batch_ChangeValue * Config.Left_Batch_ChangeValue; int countPleHight = PlwHight / Config.Right_Batch_ChangeValue * Config.Left_Batch_ChangeValue;
targetP1 = currpoint - countPleHight; targetP1 = currpoint - countPleHight;
LeftMoveInfo.log($"出料提升机构，获取到料盘高度脉冲{PlwHight},当前位置{currpoint},计算盘高{countPleHight}"); LeftMoveInfo.log($"出料提升机构，获取到料盘高度脉冲{PlwHight},当前位置{currpoint},计算盘高{countPleHight}");
} }
......
DeviceLibrary/AutoScanAndLabel/MainMachine _RightProcess.cs
...@@ -210,8 +210,8 @@ namespace DeviceLibrary ...@@ -210,8 +210,8 @@ namespace DeviceLibrary
break; break;
case MoveStep.R34: case MoveStep.R34:
RightMoveInfo.NextMoveStep(MoveStep.REND); RightMoveInfo.NextMoveStep(MoveStep.REND);
IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500); ////IOMove(IO_Type.RightMoto_Reverse, IO_VALUE.HIGH, false, 500);
RightMoveInfo.log($"电滚停止"); //RightMoveInfo.log($"电滚停止");
break; break;
//} //}
//料串入料流程，轴下降到P1点，阻挡下降，滚筒正转，等待后端到位检测高电平延时5秒，0.5秒后滚筒正转停，阻挡上升，进入上料料流程 //料串入料流程，轴下降到P1点，阻挡下降，滚筒正转，等待后端到位检测高电平延时5秒，0.5秒后滚筒正转停，阻挡上升，进入上料料流程
......
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