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优化测试位取放料的2段速

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master
lhiven 2 years ago
parent 97fa17ce90
commit 697cd9cb5e
1 changed files with 67 additions and 17 deletions
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84
Rs.SkyLine/Flow/TurnoverFlow.cs
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@ -32,8 +32,10 @@ namespace Rs.MotionPlat.Flow
周转盘取料完成真空检测,
到测试放料位上方,
等待运动到测试放料位上方,
到测试放料位下方,
等待运动到到测试放料位下方,
到测试放料位下方1,
等待运动到到测试放料位下方1,
到测试放料位下方2,
等待运动到到测试放料位下方2,
测试位放料完成抬起,
等待测试位放料完成抬起,
测试位放料完成真空检测,
@ -61,8 +63,10 @@ namespace Rs.MotionPlat.Flow
测试位取料完成后真空检测,
到周转盘放料位上方,
等待到周转盘放料位上方,
到周转盘放料位下方,
等待到周转盘放料位下方,
到周转盘放料位下方1,
等待到周转盘放料位下方1,
到周转盘放料位下方2,
等待到周转盘放料位下方2,
周转盘放料完成后真空检测,
周转盘放料完成抬起,
等待周转盘放料完成抬起,
@ -323,25 +327,49 @@ namespace Rs.MotionPlat.Flow
logInfo = $"已运动到测试放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.到测试放料位下方;
Step = ETurnoverFlowStep.到测试放料位下方1;
}
break;
case ETurnoverFlowStep.到测试放料位下方:
targetPos = SysConfigParam.GetValue<double>("PressDumpZ");
case ETurnoverFlowStep.到测试放料位下方1:
targetPos = SysConfigParam.GetValue<double>("PressDumpZ")+GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok)
{
logInfo = $"到测试放料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.等待运动到到测试放料位下方;
Step = ETurnoverFlowStep.等待运动到到测试放料位下方1;
}
else
{
Msg.ShowError($"轴TurnoverZ运动异常 ret:{errCode}");
}
break;
case ETurnoverFlowStep.等待运动到到测试放料位下方1:
if (Ops.IsStop(AxisControl.TurnoverZ))
{
logInfo = $"已运动到到测试放料位下方 at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.到测试放料位下方2;
}
break;
case ETurnoverFlowStep.到测试放料位下方2:
targetPos = SysConfigParam.GetValue<double>("PressDumpZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok)
{
logInfo = $"到测试放料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.等待运动到到测试放料位下方2;
}
else
{
Msg.ShowError($"轴TurnoverZ运动异常 ret:{errCode}");
}
break;
case ETurnoverFlowStep.等待运动到到测试放料位下方:
case ETurnoverFlowStep.等待运动到到测试放料位下方2:
if (Ops.IsStop(AxisControl.TurnoverZ))
{
logInfo = $"已运动到到测试放料位下方 at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}";
@ -697,27 +725,49 @@ namespace Rs.MotionPlat.Flow
logInfo = $"已运动到周转盘放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.到周转盘放料位下方;
Step = ETurnoverFlowStep.到周转盘放料位下方1;
}
break;
case ETurnoverFlowStep.到周转盘放料位下方:
case ETurnoverFlowStep.到周转盘放料位下方1:
//targetPos = SysConfigParam.GetValue<double>("TurnoverDumpZ");
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ");
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ") + GlobalVar.PressLowSpeedOffset;
errCode = AxisControl.TurnoverZ.MovePos(targetPos+1, GlobalVar.WholeSpeed);
if(errCode== Motion.ErrorCode.Ok)
{
logInfo = $"到周转盘放料位下方";
logInfo = $"到周转盘放料位下方1";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.等待到周转盘放料位下方;
Step = ETurnoverFlowStep.等待到周转盘放料位下方1;
}
break;
case ETurnoverFlowStep.等待到周转盘放料位下方:
case ETurnoverFlowStep.等待到周转盘放料位下方1:
if (Ops.IsStop(AxisControl.TurnoverZ))
{
logInfo = $"已运动到周转盘放料位下方";
logInfo = $"已运动到周转盘放料位下方1";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.到周转盘放料位下方2;
}
break;
case ETurnoverFlowStep.到周转盘放料位下方2:
//targetPos = SysConfigParam.GetValue<double>("TurnoverDumpZ");
targetPos = SysConfigParam.GetValue<double>("TurnoverTakeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos + 1, GlobalVar.PressLowSpeed);
if (errCode == Motion.ErrorCode.Ok)
{
logInfo = $"到周转盘放料位下方2";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Step = ETurnoverFlowStep.等待到周转盘放料位下方2;
}
break;
case ETurnoverFlowStep.等待到周转盘放料位下方2:
if (Ops.IsStop(AxisControl.TurnoverZ))
{
logInfo = $"已运动到周转盘放料位下方2";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
//打开周转盘真空吸
foreach (var slot in slots)
{
@ -744,7 +794,7 @@ namespace Rs.MotionPlat.Flow
Step = ETurnoverFlowStep.周转盘放料完成抬起;
}
break;
case ETurnoverFlowStep.周转盘放料完成抬起:
targetPos = SysConfigParam.GetValue<double>("TurnoverSafeZ");
errCode = AxisControl.TurnoverZ.MovePos(targetPos, GlobalVar.WholeSpeed);

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