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1、上料盘时增加检测工作位是否有料盘，解决重复上料盘的问题

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2、搬运料盘时增加是否搬运成功的判断，解决搬运空料盘过去问题
master
lhiven 1 year ago
parent 106c60471c
commit e03733e773
5 changed files with 59 additions and 36 deletions
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7
Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs
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@ -191,6 +191,11 @@ namespace Rs.AutoDischarge.V3.Flow
public bool Load(EStockTrayLoadMode loadMode,Action loadFinishedEvent) public bool Load(EStockTrayLoadMode loadMode,Action loadFinishedEvent)
{ {
if(HasTray())
{
MessageQueue.Instance.Warn($"{GetTrayName()}工作位有料盘，不能重复上料盘");
return false;
}
logInfo = GetClassName() + $"{GetTrayName()} 料仓收到上料任务"; logInfo = GetClassName() + $"{GetTrayName()} 料仓收到上料任务";
LogHelper.Debug(logInfo); LogHelper.Debug(logInfo);
if (!isRunning) if (!isRunning)
@ -219,8 +224,6 @@ namespace Rs.AutoDischarge.V3.Flow
finished = false; finished = false;
} }
actionFinishedEvent.Reset(); actionFinishedEvent.Reset();
logInfo =GetClassName()+ $"{GetTrayName()} 料仓收到上料任务";
MessageQueue.Instance.Insert(logInfo);
Ops.Off($"{(int)m_stockType}号料仓斜推气缸"); Ops.Off($"{(int)m_stockType}号料仓斜推气缸");
Thread.Sleep(50); Thread.Sleep(50);
logInfo = GetClassName() + $"{(int)m_stockType}号料仓斜推气缸收回"; logInfo = GetClassName() + $"{(int)m_stockType}号料仓斜推气缸收回";

50
Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs
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@ -25,7 +25,7 @@ namespace Rs.MotionPlat.Flow
等待运动到取料位下方, 等待运动到取料位下方,
取料盘完成抬起, 取料盘完成抬起,
等待取料盘完成抬起, 等待取料盘完成抬起,
取料盘后真空检测, 料盘是否抓起检测,
到放料盘上方, 到放料盘上方,
等待到放料盘上方, 等待到放料盘上方,
等待放料仓准备就绪, 等待放料仓准备就绪,
@ -217,14 +217,15 @@ namespace Rs.MotionPlat.Flow
{ {
logInfo = $"检测到上下气缸原位OK"; logInfo = $"检测到上下气缸原位OK";
stopwatch.Restart(); stopwatch.Restart();
if(GlobalVar.TakeTrayDisableVac) //if(GlobalVar.TakeTrayDisableVac)
{ //{
step = ETakeTrayFlowStep.到放料盘上方; // step = ETakeTrayFlowStep.到放料盘上方;
} //}
else //else
{ //{
step = ETakeTrayFlowStep.取料盘后真空检测;
} //}
step = ETakeTrayFlowStep.料盘是否抓起检测;
} }
} }
else else
@ -237,25 +238,36 @@ namespace Rs.MotionPlat.Flow
stopwatch.Restart(); stopwatch.Restart();
} }
break; break;
case ETakeTrayFlowStep.取料盘后真空检测: case ETakeTrayFlowStep.料盘是否抓起检测:
if (stopwatch.ElapsedMilliseconds < 5000 || GlobalVar.VirtualAxis) //if (stopwatch.ElapsedMilliseconds < 5000 || GlobalVar.VirtualAxis)
{ //{
if (Ops.IsOn("夹爪真空吸检测") || (GlobalVar.VirtualAxis)) // if (Ops.IsOn("夹爪真空吸检测") || (GlobalVar.VirtualAxis))
// {
// logInfo = GetClassName()+$"夹爪真空吸检测 OK";
// MessageQueue.Instance.Insert(logInfo);
// step = ETakeTrayFlowStep.到放料盘上方;
// }
//}
if (Ops.IsOff($"{(int)fromTray}号料仓料盘到位光电检测") || (GlobalVar.VirtualAxis))
{ {
logInfo = GetClassName()+$"夹爪真空吸检测 OK"; logInfo = GetClassName() + $"料盘已被抓起 OK";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
step = ETakeTrayFlowStep.到放料盘上方; step = ETakeTrayFlowStep.到放料盘上方;
} }
}
else else
{ {
logInfo = "夹爪真空吸检测异常，请处理后点击确定"; logInfo = $"{(int)fromTray}号料仓料盘到位光电检测OK,料盘未抓起";
MessageQueue.Instance.Warn(GetClassName()+ logInfo); MessageQueue.Instance.Warn(GetClassName()+ logInfo);
TestCenterMessageBox.Show(AlarmConstID.UpDownCylinderExceptionAlarm, logInfo, ETipButton.Ok); TestCenterMessageBox.Show(AlarmConstID.UpDownCylinderExceptionAlarm, logInfo, ETipButton.Ok);
TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm); TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm);
stopwatch.Stop(); stopwatch.Stop();
stopwatch.Restart(); stopwatch.Restart();
//打开夹爪
Ops.Off("夹爪气缸电磁阀");
logInfo = GetClassName() + $"夹爪气缸off";
MessageQueue.Instance.Insert(logInfo);
Thread.Sleep(1000);
Ops.On("上下气缸电磁阀动位"); Ops.On("上下气缸电磁阀动位");
logInfo = GetClassName() + "上下气缸电磁阀动位on"; logInfo = GetClassName() + "上下气缸电磁阀动位on";
MessageQueue.Instance.Insert(logInfo); MessageQueue.Instance.Insert(logInfo);
@ -283,10 +295,10 @@ namespace Rs.MotionPlat.Flow
{ {
speed = GlobalVar.TakeTrayFromNg2InputSpeed; speed = GlobalVar.TakeTrayFromNg2InputSpeed;
} }
ErrorCode errCode = AxisControl.LoadX.MovePos(targetX + cameraCenterX, GlobalVar.TakeTraySpeed); ErrorCode errCode = AxisControl.LoadX.MovePos(targetX + cameraCenterX, speed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{ {
errCode = AxisControl.LoadY.MovePos(targetY + cameraCenterY - 2, GlobalVar.TakeTraySpeed); errCode = AxisControl.LoadY.MovePos(targetY + cameraCenterY - 2, speed);
if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis)
{ {
if (GlobalVar.VirtualAxis) if (GlobalVar.VirtualAxis)

2
Rs.SkyLine/Properties/AssemblyInfo.cs
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@ -31,6 +31,6 @@ using System.Runtime.InteropServices;
// //
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示: //通过使用 "*"，如下所示:
[assembly: AssemblyVersion("2.20.24.19")] [assembly: AssemblyVersion("2.20.24.21")]
//[assembly: AssemblyVersion("1.0.0.0")] //[assembly: AssemblyVersion("1.0.0.0")]
//[assembly: AssemblyFileVersion("1.0.0.0")] //[assembly: AssemblyFileVersion("1.0.0.0")]

27
Rs.SkyLine/SysConfig/CommonConfig.Designer.cs generated
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@ -452,7 +452,7 @@
// cboxLocationFailAutoSkip // cboxLocationFailAutoSkip
// //
this.cboxLocationFailAutoSkip.AutoSize = true; this.cboxLocationFailAutoSkip.AutoSize = true;
this.cboxLocationFailAutoSkip.Location = new System.Drawing.Point(361, 274); this.cboxLocationFailAutoSkip.Location = new System.Drawing.Point(361, 262);
this.cboxLocationFailAutoSkip.Name = "cboxLocationFailAutoSkip"; this.cboxLocationFailAutoSkip.Name = "cboxLocationFailAutoSkip";
this.cboxLocationFailAutoSkip.Size = new System.Drawing.Size(144, 16); this.cboxLocationFailAutoSkip.Size = new System.Drawing.Size(144, 16);
this.cboxLocationFailAutoSkip.TabIndex = 53; this.cboxLocationFailAutoSkip.TabIndex = 53;
@ -594,7 +594,7 @@
// cboxVirtualAxis // cboxVirtualAxis
// //
this.cboxVirtualAxis.AutoSize = true; this.cboxVirtualAxis.AutoSize = true;
this.cboxVirtualAxis.Location = new System.Drawing.Point(294, 274); this.cboxVirtualAxis.Location = new System.Drawing.Point(294, 262);
this.cboxVirtualAxis.Name = "cboxVirtualAxis"; this.cboxVirtualAxis.Name = "cboxVirtualAxis";
this.cboxVirtualAxis.Size = new System.Drawing.Size(60, 16); this.cboxVirtualAxis.Size = new System.Drawing.Size(60, 16);
this.cboxVirtualAxis.TabIndex = 8; this.cboxVirtualAxis.TabIndex = 8;
@ -604,7 +604,7 @@
// cboxCheckSafeEnable // cboxCheckSafeEnable
// //
this.cboxCheckSafeEnable.AutoSize = true; this.cboxCheckSafeEnable.AutoSize = true;
this.cboxCheckSafeEnable.Location = new System.Drawing.Point(202, 274); this.cboxCheckSafeEnable.Location = new System.Drawing.Point(202, 262);
this.cboxCheckSafeEnable.Name = "cboxCheckSafeEnable"; this.cboxCheckSafeEnable.Name = "cboxCheckSafeEnable";
this.cboxCheckSafeEnable.Size = new System.Drawing.Size(72, 16); this.cboxCheckSafeEnable.Size = new System.Drawing.Size(72, 16);
this.cboxCheckSafeEnable.TabIndex = 8; this.cboxCheckSafeEnable.TabIndex = 8;
@ -624,7 +624,7 @@
// cboxEnableVirtuleBarCode // cboxEnableVirtuleBarCode
// //
this.cboxEnableVirtuleBarCode.AutoSize = true; this.cboxEnableVirtuleBarCode.AutoSize = true;
this.cboxEnableVirtuleBarCode.Location = new System.Drawing.Point(439, 295); this.cboxEnableVirtuleBarCode.Location = new System.Drawing.Point(349, 295);
this.cboxEnableVirtuleBarCode.Name = "cboxEnableVirtuleBarCode"; this.cboxEnableVirtuleBarCode.Name = "cboxEnableVirtuleBarCode";
this.cboxEnableVirtuleBarCode.Size = new System.Drawing.Size(60, 16); this.cboxEnableVirtuleBarCode.Size = new System.Drawing.Size(60, 16);
this.cboxEnableVirtuleBarCode.TabIndex = 8; this.cboxEnableVirtuleBarCode.TabIndex = 8;
@ -634,7 +634,7 @@
// cboxGRR // cboxGRR
// //
this.cboxGRR.AutoSize = true; this.cboxGRR.AutoSize = true;
this.cboxGRR.Location = new System.Drawing.Point(391, 295); this.cboxGRR.Location = new System.Drawing.Point(301, 295);
this.cboxGRR.Name = "cboxGRR"; this.cboxGRR.Name = "cboxGRR";
this.cboxGRR.Size = new System.Drawing.Size(42, 16); this.cboxGRR.Size = new System.Drawing.Size(42, 16);
this.cboxGRR.TabIndex = 8; this.cboxGRR.TabIndex = 8;
@ -644,7 +644,7 @@
// cboxEnableTestFixtureFiberCheck // cboxEnableTestFixtureFiberCheck
// //
this.cboxEnableTestFixtureFiberCheck.AutoSize = true; this.cboxEnableTestFixtureFiberCheck.AutoSize = true;
this.cboxEnableTestFixtureFiberCheck.Location = new System.Drawing.Point(294, 295); this.cboxEnableTestFixtureFiberCheck.Location = new System.Drawing.Point(204, 295);
this.cboxEnableTestFixtureFiberCheck.Name = "cboxEnableTestFixtureFiberCheck"; this.cboxEnableTestFixtureFiberCheck.Name = "cboxEnableTestFixtureFiberCheck";
this.cboxEnableTestFixtureFiberCheck.Size = new System.Drawing.Size(96, 16); this.cboxEnableTestFixtureFiberCheck.Size = new System.Drawing.Size(96, 16);
this.cboxEnableTestFixtureFiberCheck.TabIndex = 8; this.cboxEnableTestFixtureFiberCheck.TabIndex = 8;
@ -654,7 +654,7 @@
// cboxEnableTwoSpeed // cboxEnableTwoSpeed
// //
this.cboxEnableTwoSpeed.AutoSize = true; this.cboxEnableTwoSpeed.AutoSize = true;
this.cboxEnableTwoSpeed.Location = new System.Drawing.Point(202, 295); this.cboxEnableTwoSpeed.Location = new System.Drawing.Point(112, 295);
this.cboxEnableTwoSpeed.Name = "cboxEnableTwoSpeed"; this.cboxEnableTwoSpeed.Name = "cboxEnableTwoSpeed";
this.cboxEnableTwoSpeed.Size = new System.Drawing.Size(84, 16); this.cboxEnableTwoSpeed.Size = new System.Drawing.Size(84, 16);
this.cboxEnableTwoSpeed.TabIndex = 8; this.cboxEnableTwoSpeed.TabIndex = 8;
@ -664,12 +664,13 @@
// cboxEnableScanBarCodeByDownCamera // cboxEnableScanBarCodeByDownCamera
// //
this.cboxEnableScanBarCodeByDownCamera.AutoSize = true; this.cboxEnableScanBarCodeByDownCamera.AutoSize = true;
this.cboxEnableScanBarCodeByDownCamera.Location = new System.Drawing.Point(112, 295); this.cboxEnableScanBarCodeByDownCamera.Location = new System.Drawing.Point(510, 228);
this.cboxEnableScanBarCodeByDownCamera.Name = "cboxEnableScanBarCodeByDownCamera"; this.cboxEnableScanBarCodeByDownCamera.Name = "cboxEnableScanBarCodeByDownCamera";
this.cboxEnableScanBarCodeByDownCamera.Size = new System.Drawing.Size(84, 16); this.cboxEnableScanBarCodeByDownCamera.Size = new System.Drawing.Size(84, 16);
this.cboxEnableScanBarCodeByDownCamera.TabIndex = 8; this.cboxEnableScanBarCodeByDownCamera.TabIndex = 8;
this.cboxEnableScanBarCodeByDownCamera.Text = "下相机扫码"; this.cboxEnableScanBarCodeByDownCamera.Text = "下相机扫码";
this.cboxEnableScanBarCodeByDownCamera.UseVisualStyleBackColor = true; this.cboxEnableScanBarCodeByDownCamera.UseVisualStyleBackColor = true;
this.cboxEnableScanBarCodeByDownCamera.Visible = false;
// //
// cboxEnableExceptionHandlingNozzle // cboxEnableExceptionHandlingNozzle
// //
@ -685,7 +686,7 @@
// cboxRunSpace // cboxRunSpace
// //
this.cboxRunSpace.AutoSize = true; this.cboxRunSpace.AutoSize = true;
this.cboxRunSpace.Location = new System.Drawing.Point(112, 273); this.cboxRunSpace.Location = new System.Drawing.Point(112, 261);
this.cboxRunSpace.Name = "cboxRunSpace"; this.cboxRunSpace.Name = "cboxRunSpace";
this.cboxRunSpace.Size = new System.Drawing.Size(48, 16); this.cboxRunSpace.Size = new System.Drawing.Size(48, 16);
this.cboxRunSpace.TabIndex = 8; this.cboxRunSpace.TabIndex = 8;
@ -721,7 +722,7 @@
this.cboxCurRecipe.FormattingEnabled = true; this.cboxCurRecipe.FormattingEnabled = true;
this.cboxCurRecipe.Items.AddRange(new object[] { this.cboxCurRecipe.Items.AddRange(new object[] {
"Default"}); "Default"});
this.cboxCurRecipe.Location = new System.Drawing.Point(112, 238); this.cboxCurRecipe.Location = new System.Drawing.Point(112, 226);
this.cboxCurRecipe.Name = "cboxCurRecipe"; this.cboxCurRecipe.Name = "cboxCurRecipe";
this.cboxCurRecipe.Size = new System.Drawing.Size(348, 20); this.cboxCurRecipe.Size = new System.Drawing.Size(348, 20);
this.cboxCurRecipe.TabIndex = 1; this.cboxCurRecipe.TabIndex = 1;
@ -729,7 +730,7 @@
// label4 // label4
// //
this.label4.AutoSize = true; this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(57, 241); this.label4.Location = new System.Drawing.Point(57, 229);
this.label4.Name = "label4"; this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(35, 12); this.label4.Size = new System.Drawing.Size(35, 12);
this.label4.TabIndex = 0; this.label4.TabIndex = 0;
@ -939,6 +940,7 @@
this.txtControlCenterPort.TabIndex = 42; this.txtControlCenterPort.TabIndex = 42;
this.txtControlCenterPort.Text = "2048"; this.txtControlCenterPort.Text = "2048";
this.txtControlCenterPort.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtControlCenterPort.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtControlCenterPort.Visible = false;
// //
// label27 // label27
// //
@ -948,6 +950,7 @@
this.label27.Size = new System.Drawing.Size(59, 12); this.label27.Size = new System.Drawing.Size(59, 12);
this.label27.TabIndex = 0; this.label27.TabIndex = 0;
this.label27.Text = "中控端口:"; this.label27.Text = "中控端口:";
this.label27.Visible = false;
// //
// txtControlCenterIP // txtControlCenterIP
// //
@ -961,6 +964,7 @@
this.txtControlCenterIP.TabIndex = 42; this.txtControlCenterIP.TabIndex = 42;
this.txtControlCenterIP.Text = "127.0.0.1"; this.txtControlCenterIP.Text = "127.0.0.1";
this.txtControlCenterIP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; this.txtControlCenterIP.TextAlign = System.Windows.Forms.HorizontalAlignment.Center;
this.txtControlCenterIP.Visible = false;
// //
// label26 // label26
// //
@ -970,6 +974,7 @@
this.label26.Size = new System.Drawing.Size(47, 12); this.label26.Size = new System.Drawing.Size(47, 12);
this.label26.TabIndex = 0; this.label26.TabIndex = 0;
this.label26.Text = "中控IP:"; this.label26.Text = "中控IP:";
this.label26.Visible = false;
// //
// CommonConfig // CommonConfig
// //

3
Rs.SkyLine/SysConfig/CommonConfig.cs
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@ -100,6 +100,9 @@ namespace Rs.MotionPlat.SysConfig
private void btnSaveSpeedParam_Click(object sender, EventArgs e) private void btnSaveSpeedParam_Click(object sender, EventArgs e)
{ {
QifuManager.Instance.Write(float.Parse(txtQifuValue.Text));
SysConfigParam.Update(txtQifuValue.Name.Replace("txt", ""), txtQifuValue.Text);
foreach (var con in groupBox1.Controls) foreach (var con in groupBox1.Controls)
{ {
if(con is TextBox) if(con is TextBox)

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