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Rs.SkyLine
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增加在保压轴下压时低速运行阶段

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master
lhiven 2 years ago
parent 7bd355f970
commit 1e67c67c00
4 changed files with 152 additions and 59 deletions
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11
Rs.SkyLine/Commom/GlobalVar.cs
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@ -366,5 +366,16 @@ namespace Rs.Framework
return SysConfigParam.GetValue<int>(nameof(DownCameraFlyRegrabNum));
}
}
/// <summary>
/// 保压低速
/// </summary>
public static int PressLowSpeed
{
get
{
return SysConfigParam.GetValue<int> (nameof(PressLowSpeed));
}
}
}
}

47
Rs.SkyLine/Flow/TurnoverFlow.cs
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@ -36,10 +36,12 @@ namespace Rs.MotionPlat.Flow
测试位放料完成真空检测,
到测试保压位上方,
等待到测试保压位上方,
到测试保压位下方,
等待到测试保压位下方,
到测试保压位下方1,
等待到测试保压位下方1,
到测试保压位下方2,
等待到测试保压位下方2,
测试完成抬起,
等待测试完成抬起,
到测试取料位上方,
@ -371,25 +373,52 @@ namespace Rs.MotionPlat.Flow
logInfo = $"已运动到测试保压位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.到测试保压位下方;
Step = ETurnoverFlowStep.到测试保压位下方1;
}
break;
case ETurnoverFlowStep.到测试保压位下方:
case ETurnoverFlowStep.到测试保压位下方1:
targetPos = SysConfigParam.GetValue<double>("PressZ");
targetPos = targetPos + SysConfigParam.GetValue<double>("PressLowSpeedOffset");
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok)
{
logInfo = $"到测试保压位下方";
logInfo = $"到测试保压位下方1";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.等待到测试保压位下方1;
}
break;
case ETurnoverFlowStep.等待到测试保压位下方1:
if (Ops.IsStop(AxisControl.PressZ))
{
logInfo = $"已到测试保压位下方1 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
//ClosePressVac();
//Thread.Sleep(GlobalVar.PresseCloseVacSuctionDelaytime);
//loadOk = true;
Step = ETurnoverFlowStep.到测试保压位下方2;
}
break;
case ETurnoverFlowStep.到测试保压位下方2:
targetPos = SysConfigParam.GetValue<double>("PressZ");
errCode = AxisControl.PressZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok)
{
logInfo = $"到测试保压位下方2";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.等待到测试保压位下方;
Step = ETurnoverFlowStep.等待到测试保压位下方2;
}
break;
case ETurnoverFlowStep.等待到测试保压位下方:
case ETurnoverFlowStep.等待到测试保压位下方2:
if (Ops.IsStop(AxisControl.PressZ))
{
logInfo = $"已到测试保压位下方 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}";
logInfo = $"已到测试保压位下方2 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);

143
Rs.SkyLine/SysConfig/CommonConfig.Designer.cs generated
Unescape Escape View File

@ -30,6 +30,8 @@
{
this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
this.groupBox3 = new System.Windows.Forms.GroupBox();
this.txtDownCameraFlyRegrabNum = new System.Windows.Forms.TextBox();
this.label14 = new System.Windows.Forms.Label();
this.txtFlyGrabGain = new System.Windows.Forms.TextBox();
this.label13 = new System.Windows.Forms.Label();
this.txtFlyGrabExposureTime = new System.Windows.Forms.TextBox();
@ -71,7 +73,7 @@
this.tbarFlyCameraSpeed = new System.Windows.Forms.TrackBar();
this.label7 = new System.Windows.Forms.Label();
this.tbarWholeSpeed = new System.Windows.Forms.TrackBar();
this.label6 = new System.Windows.Forms.Label();
this.lblTakeTraySpeed = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label();
this.lblFlyCameraSpeed = new System.Windows.Forms.Label();
this.label5 = new System.Windows.Forms.Label();
@ -82,8 +84,9 @@
this.label27 = new System.Windows.Forms.Label();
this.txtControlCenterIP = new System.Windows.Forms.TextBox();
this.label26 = new System.Windows.Forms.Label();
this.label14 = new System.Windows.Forms.Label();
this.txtDownCameraFlyRegrabNum = new System.Windows.Forms.TextBox();
this.label20 = new System.Windows.Forms.Label();
this.lblPressLowSpeed = new System.Windows.Forms.Label();
this.tbarPressLowSpeed = new System.Windows.Forms.TrackBar();
this.tableLayoutPanel1.SuspendLayout();
this.groupBox3.SuspendLayout();
this.groupBox2.SuspendLayout();
@ -97,6 +100,7 @@
((System.ComponentModel.ISupportInitialize)(this.tbarTakeTraySpeed)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.tbarFlyCameraSpeed)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.tbarWholeSpeed)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.tbarPressLowSpeed)).BeginInit();
this.SuspendLayout();
//
// tableLayoutPanel1
@ -134,6 +138,29 @@
this.groupBox3.TabStop = false;
this.groupBox3.Text = "参数设定";
//
// txtDownCameraFlyRegrabNum
//
this.txtDownCameraFlyRegrabNum.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16)))));
this.txtDownCameraFlyRegrabNum.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.txtDownCameraFlyRegrabNum.Font = new System.Drawing.Font("宋体", 9F);
this.txtDownCameraFlyRegrabNum.ForeColor = System.Drawing.Color.White;
this.txtDownCameraFlyRegrabNum.Location = new System.Drawing.Point(566, 38);
this.txtDownCameraFlyRegrabNum.Name = "txtDownCameraFlyRegrabNum";
this.txtDownCameraFlyRegrabNum.Size = new System.Drawing.Size(83, 21);
this.txtDownCameraFlyRegrabNum.TabIndex = 42;
this.txtDownCameraFlyRegrabNum.Text = "5";
this.txtDownCameraFlyRegrabNum.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtDownCameraFlyRegrabNum.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp);
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(465, 40);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(95, 12);
this.label14.TabIndex = 0;
this.label14.Text = "下相机重拍次数:";
//
// txtFlyGrabGain
//
this.txtFlyGrabGain.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16)))));
@ -466,13 +493,16 @@
this.groupBox1.Controls.Add(this.label4);
this.groupBox1.Controls.Add(this.cboxUpCameraName);
this.groupBox1.Controls.Add(this.label2);
this.groupBox1.Controls.Add(this.tbarPressLowSpeed);
this.groupBox1.Controls.Add(this.tbarTakeTraySpeed);
this.groupBox1.Controls.Add(this.tbarFlyCameraSpeed);
this.groupBox1.Controls.Add(this.label7);
this.groupBox1.Controls.Add(this.tbarWholeSpeed);
this.groupBox1.Controls.Add(this.label6);
this.groupBox1.Controls.Add(this.lblPressLowSpeed);
this.groupBox1.Controls.Add(this.lblTakeTraySpeed);
this.groupBox1.Controls.Add(this.label8);
this.groupBox1.Controls.Add(this.lblFlyCameraSpeed);
this.groupBox1.Controls.Add(this.label20);
this.groupBox1.Controls.Add(this.label5);
this.groupBox1.Controls.Add(this.lblWholeSpeed);
this.groupBox1.Controls.Add(this.label3);
@ -539,7 +569,7 @@
this.cboxCurRecipe.FormattingEnabled = true;
this.cboxCurRecipe.Items.AddRange(new object[] {
"Default"});
this.cboxCurRecipe.Location = new System.Drawing.Point(112, 297);
this.cboxCurRecipe.Location = new System.Drawing.Point(112, 310);
this.cboxCurRecipe.Name = "cboxCurRecipe";
this.cboxCurRecipe.Size = new System.Drawing.Size(348, 20);
this.cboxCurRecipe.TabIndex = 1;
@ -547,7 +577,7 @@
// cboxDownScanCameraName
//
this.cboxDownScanCameraName.FormattingEnabled = true;
this.cboxDownScanCameraName.Location = new System.Drawing.Point(112, 260);
this.cboxDownScanCameraName.Location = new System.Drawing.Point(112, 273);
this.cboxDownScanCameraName.Name = "cboxDownScanCameraName";
this.cboxDownScanCameraName.Size = new System.Drawing.Size(348, 20);
this.cboxDownScanCameraName.TabIndex = 1;
@ -555,7 +585,7 @@
// cboxDownLocationCameraName
//
this.cboxDownLocationCameraName.FormattingEnabled = true;
this.cboxDownLocationCameraName.Location = new System.Drawing.Point(112, 221);
this.cboxDownLocationCameraName.Location = new System.Drawing.Point(112, 234);
this.cboxDownLocationCameraName.Name = "cboxDownLocationCameraName";
this.cboxDownLocationCameraName.Size = new System.Drawing.Size(348, 20);
this.cboxDownLocationCameraName.TabIndex = 1;
@ -563,7 +593,7 @@
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(39, 300);
this.label4.Location = new System.Drawing.Point(39, 313);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(35, 12);
this.label4.TabIndex = 0;
@ -572,7 +602,7 @@
// cboxUpCameraName
//
this.cboxUpCameraName.FormattingEnabled = true;
this.cboxUpCameraName.Location = new System.Drawing.Point(112, 184);
this.cboxUpCameraName.Location = new System.Drawing.Point(112, 197);
this.cboxUpCameraName.Name = "cboxUpCameraName";
this.cboxUpCameraName.Size = new System.Drawing.Size(348, 20);
this.cboxUpCameraName.TabIndex = 1;
@ -580,7 +610,7 @@
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(39, 263);
this.label2.Location = new System.Drawing.Point(39, 276);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(59, 12);
this.label2.TabIndex = 0;
@ -598,7 +628,7 @@
this.tbarTakeTraySpeed.TabIndex = 1;
this.tbarTakeTraySpeed.TickStyle = System.Windows.Forms.TickStyle.None;
this.tbarTakeTraySpeed.Value = 1;
this.tbarTakeTraySpeed.ValueChanged += new System.EventHandler(this.tbarFlyCameraSpeed_ValueChanged);
this.tbarTakeTraySpeed.ValueChanged += new System.EventHandler(this.tbarTakeTraySpeed_ValueChanged);
//
// tbarFlyCameraSpeed
//
@ -617,7 +647,7 @@
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(27, 224);
this.label7.Location = new System.Drawing.Point(27, 237);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(71, 12);
this.label7.TabIndex = 0;
@ -637,19 +667,19 @@
this.tbarWholeSpeed.Value = 1;
this.tbarWholeSpeed.ValueChanged += new System.EventHandler(this.tbarWholeSpeed_ValueChanged);
//
// label6
// lblTakeTraySpeed
//
this.label6.AutoSize = true;
this.label6.Location = new System.Drawing.Point(490, 99);
this.label6.Name = "label6";
this.label6.Size = new System.Drawing.Size(17, 12);
this.label6.TabIndex = 0;
this.label6.Text = "5%";
this.lblTakeTraySpeed.AutoSize = true;
this.lblTakeTraySpeed.Location = new System.Drawing.Point(490, 99);
this.lblTakeTraySpeed.Name = "lblTakeTraySpeed";
this.lblTakeTraySpeed.Size = new System.Drawing.Size(17, 12);
this.lblTakeTraySpeed.TabIndex = 0;
this.lblTakeTraySpeed.Text = "5%";
//
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(51, 187);
this.label8.Location = new System.Drawing.Point(51, 200);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(47, 12);
this.label8.TabIndex = 0;
@ -667,7 +697,7 @@
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(12, 99);
this.label5.Location = new System.Drawing.Point(17, 99);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(83, 12);
this.label5.TabIndex = 0;
@ -685,7 +715,7 @@
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(39, 69);
this.label3.Location = new System.Drawing.Point(41, 69);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(59, 12);
this.label3.TabIndex = 0;
@ -694,7 +724,7 @@
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(39, 32);
this.label1.Location = new System.Drawing.Point(41, 32);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(59, 12);
this.label1.TabIndex = 0;
@ -706,7 +736,7 @@
this.txtControlCenterPort.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.txtControlCenterPort.Font = new System.Drawing.Font("宋体", 9F);
this.txtControlCenterPort.ForeColor = System.Drawing.Color.White;
this.txtControlCenterPort.Location = new System.Drawing.Point(378, 146);
this.txtControlCenterPort.Location = new System.Drawing.Point(378, 159);
this.txtControlCenterPort.Name = "txtControlCenterPort";
this.txtControlCenterPort.Size = new System.Drawing.Size(93, 21);
this.txtControlCenterPort.TabIndex = 42;
@ -716,7 +746,7 @@
// label27
//
this.label27.AutoSize = true;
this.label27.Location = new System.Drawing.Point(309, 148);
this.label27.Location = new System.Drawing.Point(309, 161);
this.label27.Name = "label27";
this.label27.Size = new System.Drawing.Size(59, 12);
this.label27.TabIndex = 0;
@ -728,7 +758,7 @@
this.txtControlCenterIP.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.txtControlCenterIP.Font = new System.Drawing.Font("宋体", 9F);
this.txtControlCenterIP.ForeColor = System.Drawing.Color.White;
this.txtControlCenterIP.Location = new System.Drawing.Point(112, 144);
this.txtControlCenterIP.Location = new System.Drawing.Point(112, 157);
this.txtControlCenterIP.Name = "txtControlCenterIP";
this.txtControlCenterIP.Size = new System.Drawing.Size(178, 21);
this.txtControlCenterIP.TabIndex = 42;
@ -738,34 +768,43 @@
// label26
//
this.label26.AutoSize = true;
this.label26.Location = new System.Drawing.Point(51, 146);
this.label26.Location = new System.Drawing.Point(51, 159);
this.label26.Name = "label26";
this.label26.Size = new System.Drawing.Size(47, 12);
this.label26.TabIndex = 0;
this.label26.Text = "中控IP:";
//
// label14
//
this.label14.AutoSize = true;
this.label14.Location = new System.Drawing.Point(465, 40);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(95, 12);
this.label14.TabIndex = 0;
this.label14.Text = "下相机重拍次数:";
//
// txtDownCameraFlyRegrabNum
//
this.txtDownCameraFlyRegrabNum.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16)))));
this.txtDownCameraFlyRegrabNum.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.txtDownCameraFlyRegrabNum.Font = new System.Drawing.Font("宋体", 9F);
this.txtDownCameraFlyRegrabNum.ForeColor = System.Drawing.Color.White;
this.txtDownCameraFlyRegrabNum.Location = new System.Drawing.Point(566, 38);
this.txtDownCameraFlyRegrabNum.Name = "txtDownCameraFlyRegrabNum";
this.txtDownCameraFlyRegrabNum.Size = new System.Drawing.Size(83, 21);
this.txtDownCameraFlyRegrabNum.TabIndex = 42;
this.txtDownCameraFlyRegrabNum.Text = "5";
this.txtDownCameraFlyRegrabNum.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtDownCameraFlyRegrabNum.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp);
// label20
//
this.label20.AutoSize = true;
this.label20.Location = new System.Drawing.Point(47, 126);
this.label20.Name = "label20";
this.label20.Size = new System.Drawing.Size(53, 12);
this.label20.TabIndex = 0;
this.label20.Text = "保压低速";
//
// lblPressLowSpeed
//
this.lblPressLowSpeed.AutoSize = true;
this.lblPressLowSpeed.Location = new System.Drawing.Point(490, 126);
this.lblPressLowSpeed.Name = "lblPressLowSpeed";
this.lblPressLowSpeed.Size = new System.Drawing.Size(17, 12);
this.lblPressLowSpeed.TabIndex = 0;
this.lblPressLowSpeed.Text = "5%";
//
// tbarPressLowSpeed
//
this.tbarPressLowSpeed.AutoSize = false;
this.tbarPressLowSpeed.LargeChange = 1;
this.tbarPressLowSpeed.Location = new System.Drawing.Point(105, 122);
this.tbarPressLowSpeed.Maximum = 100;
this.tbarPressLowSpeed.Minimum = 1;
this.tbarPressLowSpeed.Name = "tbarPressLowSpeed";
this.tbarPressLowSpeed.Size = new System.Drawing.Size(379, 24);
this.tbarPressLowSpeed.TabIndex = 1;
this.tbarPressLowSpeed.TickStyle = System.Windows.Forms.TickStyle.None;
this.tbarPressLowSpeed.Value = 1;
this.tbarPressLowSpeed.ValueChanged += new System.EventHandler(this.tbarPressLowSpeed_ValueChanged);
//
// CommonConfig
//
@ -795,6 +834,7 @@
((System.ComponentModel.ISupportInitialize)(this.tbarTakeTraySpeed)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.tbarFlyCameraSpeed)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.tbarWholeSpeed)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.tbarPressLowSpeed)).EndInit();
this.ResumeLayout(false);
}
@ -823,7 +863,7 @@
private System.Windows.Forms.ComboBox cboxCurRecipe;
private System.Windows.Forms.Label label4;
private System.Windows.Forms.TrackBar tbarTakeTraySpeed;
private System.Windows.Forms.Label label6;
private System.Windows.Forms.Label lblTakeTraySpeed;
private System.Windows.Forms.Label label5;
private System.Windows.Forms.CheckBox cboxCheckSafeEnable;
private System.Windows.Forms.GroupBox groupBox2;
@ -857,5 +897,8 @@
private System.Windows.Forms.Label label12;
private System.Windows.Forms.TextBox txtDownCameraFlyRegrabNum;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.TrackBar tbarPressLowSpeed;
private System.Windows.Forms.Label lblPressLowSpeed;
private System.Windows.Forms.Label label20;
}
}

10
Rs.SkyLine/SysConfig/CommonConfig.cs
Unescape Escape View File

@ -107,6 +107,16 @@ namespace Rs.MotionPlat.SysConfig
lblFlyCameraSpeed.Text = $"{tbarFlyCameraSpeed.Value}%";
}
private void tbarTakeTraySpeed_ValueChanged(object sender, EventArgs e)
{
lblTakeTraySpeed.Text = $"{tbarTakeTraySpeed.Value}%";
}
private void tbarPressLowSpeed_ValueChanged(object sender, EventArgs e)
{
lblPressLowSpeed.Text = $"{tbarPressLowSpeed.Value}%";
}
public void txtSysParam_KeyUp(object sender, KeyEventArgs e)
{
UpdateSysParam((TextBox)sender);

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