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Rs.DeweyTester
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优化empty料仓上下料盘逻辑

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1、初始化和上料盘完成时，先夹住再松开
2、当取料盘时，先夹住，抓住料盘之后再松开
3、放料盘完成后，夹一下然后分开
master
lhiven 11 months ago
parent ed93576c44
commit 726bba1296
3 changed files with 38 additions and 25 deletions
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1
Rs.DeweyTester/Flow/NormalFlow/Stock3Flow.cs
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@ -84,6 +84,7 @@ namespace Rs.MotionPlat.Flow.NormalFlow
if (HasTray())
{
HoldTray();
LooseTray();
Status = EStockStatus.Ready;
MessageQueue.Instance.Insert("ready");
return;

6
Rs.DeweyTester/Flow/NormalFlow/StockFlowBase.cs
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@ -98,7 +98,8 @@ namespace Rs.MotionPlat.Flow.NormalFlow
switch (outStockStep)
{
case EOutStockFlowStep.松开定位销:
StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex,GetClassName());
//StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex,GetClassName());
StockManager.OpenTray(StockIndex);
stopwatch.Restart();
outStockStep = EOutStockFlowStep.等待松开定位销完成;
break;
@ -198,7 +199,8 @@ namespace Rs.MotionPlat.Flow.NormalFlow
switch (inStockStep)
{
case EInStockFlowStep.松开定位销:
StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex, GetClassName());
//StockModule.ClampTrayCylinder(EIoOperate.Open, StockIndex, GetClassName());
StockManager.OpenTray(StockIndex);
stopwatch.Restart();
inStockStep = EInStockFlowStep.等待松开定位销完成;
break;

56
Rs.DeweyTester/Flow/NormalFlow/TakeTrayFlow.cs
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@ -26,7 +26,7 @@ namespace Rs.MotionPlat.Flow
等待到取料盘上方,
等待料盘准备就绪,
等待运动到取料位下方,
等待夹磁气缸松开,
//等待夹磁气缸松开,
取料盘完成抬起,
等待取料盘完成抬起,
料盘是否抓起检测,
@ -171,6 +171,10 @@ namespace Rs.MotionPlat.Flow
case ETakeTrayFlowStep.等待到取料盘上方:
if (Ops.IsStop("TakeTrayX") || GlobalVar.VirtualAxis)
{
if(fromTray== ETrayType.Empty)
{
StockManager.CloseTray(fromStockIndex);
}
AxisPosPrint.PrintTakeTrayXCurrentPos($"已运动到料仓{m_fromTray}取料盘位上方", GetClassName());
step = ETakeTrayFlowStep.等待料盘准备就绪;
}
@ -199,9 +203,10 @@ namespace Rs.MotionPlat.Flow
//打开真空
TakeTrayModule.VacOperation(EIoOperate.Open,GetClassName());
//松开夹爪
StockModule.ClampTrayCylinder(EIoOperate.Open, fromStockIndex,GetClassName());
//StockModule.ClampTrayCylinder(EIoOperate.Open, fromStockIndex,GetClassName());
StockManager.OpenTray(fromStockIndex);
stopwatch.Restart();
step = ETakeTrayFlowStep.等待夹磁气缸松开;
step = ETakeTrayFlowStep.取料盘完成抬起;
}
else if (stopwatch.ElapsedMilliseconds > 5000)
{
@ -219,26 +224,26 @@ namespace Rs.MotionPlat.Flow
}
break;
case ETakeTrayFlowStep.等待夹磁气缸松开:
if(Ops.IsOn($"料仓夹磁气缸{fromStockIndex}原位"))
{
step = ETakeTrayFlowStep.取料盘完成抬起;
}
else if(stopwatch.ElapsedMilliseconds>5000)
{
alarmEntity = AlarmCollection.Get($"料仓{fromStockIndex}夹磁气缸原位异常");
if (alarmEntity != null)
{
Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
step = ETakeTrayFlowStep.等待夹磁气缸松开;
}
else
{
Msg.ShowError($"料仓{fromStockIndex}夹磁气缸原位异常");
}
stopwatch.Restart();
}
break;
//case ETakeTrayFlowStep.等待夹磁气缸松开:
// if(Ops.IsOn($"料仓夹磁气缸{fromStockIndex}原位"))
// {
// step = ETakeTrayFlowStep.取料盘完成抬起;
// }
// else if(stopwatch.ElapsedMilliseconds>5000)
// {
// alarmEntity = AlarmCollection.Get($"料仓{fromStockIndex}夹磁气缸原位异常");
// if (alarmEntity != null)
// {
// Msgbox.ShowDialog(alarmEntity, EButtonType.Retry);
// step = ETakeTrayFlowStep.等待夹磁气缸松开;
// }
// else
// {
// Msg.ShowError($"料仓{fromStockIndex}夹磁气缸原位异常");
// }
// stopwatch.Restart();
// }
// break;
case ETakeTrayFlowStep.取料盘完成抬起:
TakeTrayModule.CylinderGoUp(GetClassName());
stopwatch.Restart();
@ -525,6 +530,11 @@ namespace Rs.MotionPlat.Flow
logInfo = GetClassName() + $"放料盘完成";
MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.到待机位;
if(toTray== ETrayType.Empty)
{
StockManager.CloseTray(toStockIndex);
StockManager.OpenTray(toStockIndex);
}
//if (mLoadUnloadType == ELoadUnloadType.Load)
//{
// StockManager.Instance.Load(m_toTray, EStockTrayLoadMode.AfterTakeTray);

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