project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

调整液体操作中Z轴丝杠导程

master
zhaohe 3 months ago
parent
5a7ac6e5d6
commit
d3efa282c7
4 changed files with 66 additions and 50 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java
  2. 18
      src/main/java/a8k/extui/page/driver/HbotCtrlPage.java
  3. 46
      src/main/resources/db/zapp_a8k_pos_parameter.csv
  4. 50
      src/main/resources/db/zapp_sub_module_reg_initial_value.csv

2
src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java
View File

@ -30,7 +30,7 @@ import org.springframework.stereotype.Component;
@Component
@Slf4j
public class LiquidOperationCtrlService {
static public final Integer helicalPitch = 20;
static public final Integer helicalPitch = 80;
static public final Integer lldZmotorVmax = 50 * 80 / helicalPitch;
static public final Integer lldGunPumpVmax = 40;

18
src/main/java/a8k/extui/page/driver/HbotCtrlPage.java
View File

@ -147,12 +147,19 @@ public class HbotCtrlPage {
hbotDriver.setReg(reg, val);
}
public Object readAllRegs() throws AppException {
public Object readAllRegs() {
ZJsonNode node = new ZJsonNode();
for (HbotRegIndex regIndex : HbotRegIndex.values()) {
Integer regVal = hbotDriver.getReg(regIndex);
log.info("reg {}: {}", regIndex, regVal);
node.get(regIndex.name()).set(regVal);
Integer regVal = null;
try {
regVal = hbotDriver.getReg(regIndex);
log.info("reg {}: {}", regIndex, regVal);
node.get(regIndex.name()).set(regVal);
} catch (AppException e) {
log.warn("read reg {} error {}", regIndex, e.getError().code);
node.get(regIndex.name()).set("ERROR");
}
}
return node.get();
}
@ -203,7 +210,8 @@ public class HbotCtrlPage {
page.addFunction("移动到", this::measurementMoveTo).setParamVal("x", () -> readPosNoEx().x).setParamVal("y", () -> readPosNoEx().y).setParamVal("z", () -> readPosNoEx().z);
page.newGroup("读写寄存器");
page.addFunction("设置偏移", this::setShift).setParamVal("xshift", () -> readRegNoEx(HbotRegIndex.kreg_xyrobot_shift_x)).setParamVal("yshift", () -> readRegNoEx(HbotRegIndex.kreg_xyrobot_shift_y));
page.addFunction("设置偏移", this::setShift).setParamVal("xshift", () -> readRegNoEx(HbotRegIndex.kreg_xyrobot_shift_x)).setParamVal("yshift",
() -> readRegNoEx(HbotRegIndex.kreg_xyrobot_shift_y));
page.addFunction("读所有寄存器", this::readAllRegs);
page.addFunction("设置寄存器", this::setReg);

46
src/main/resources/db/zapp_a8k_pos_parameter.csv
View File

@ -1,5 +1,5 @@
id,service,key,valType,val,chName
1,Hbot2DCodeScanParamMgr,PBScanPos0,Pos2d,"{""x"":1864,""y"":16958}",板夹仓扫码位置0
1,Hbot2DCodeScanParamMgr,PBScanPos0,Pos2d,"{""x"":2220,""y"":16958}",板夹仓扫码位置0
7,Hbot2DCodeScanParamMgr,LittBS0,Pos2d,"{""x"":18715,""y"":22069}",小缓冲液扫码位置0
13,Hbot2DCodeScanParamMgr,LarBS0,Pos2d,"{""x"":51780,""y"":13622}",大缓冲液扫码位置0
19,TubeFeedingModuleParamMgr,TubeHolderEnterXPos,Integer,"{""value"":-125}",入料位置
@ -14,9 +14,9 @@ id,service,key,valType,val,chName
28,HbotFixedPosParamMgr,DropLiquidPos,Pos3d,"{""x"":24746,""y"":4306,""z"":1340}",滴液位置
29,HbotSamplePosParamMgr,EmergencyTubeSamplePos,Pos3d,"{""x"":51892,""y"":33716,""z"":470}",<急诊位>取样位置
30,HbotSamplePosParamMgr,EmergencyTubeSampleEndPos,Integer,"{""value"":620}",<急诊位>取样结束位置
31,HbotSamplePosParamMgr,BloodHTubeSamplePos,Pos3d,"{""x"":25208,""y"":41764,""z"":420}",<全血高试管>取样位置
31,HbotSamplePosParamMgr,BloodHTubeSamplePos,Pos3d,"{""x"":25458,""y"":41764,""z"":420}",<全血高试管>取样位置
32,HbotSamplePosParamMgr,BloodHTubeSampleEndPos,Integer,"{""value"":920}",<全血高试管>取样结束位置
33,HbotSamplePosParamMgr,BloodSTubeSamplePos,Pos3d,"{""x"":25208,""y"":41764,""z"":420}",<全血低试管>取样位置
33,HbotSamplePosParamMgr,BloodSTubeSamplePos,Pos3d,"{""x"":25458,""y"":41764,""z"":420}",<全血低试管>取样位置
34,HbotSamplePosParamMgr,BloodSTubeSampleEndPos,Integer,"{""value"":920}",<全血低试管>取样结束位置
35,HbotSamplePosParamMgr,MiniTubeSamplePos,Pos3d,"{""x"":2331,""y"":3773,""z"":433}",<迷你试管>取样位置
36,HbotSamplePosParamMgr,MinitubeSampleEndPos,Pos3d,"{""x"":2331,""y"":3773,""z"":649}",<迷你试管>取样结束位置
@ -35,18 +35,18 @@ id,service,key,valType,val,chName
56,HbotLargeBottleBSPosMgr,LargeBuffer_0Pos,Pos2d,"{""x"":49048,""y"":15560}",大瓶缓冲液的第1个位置
57,HbotLargeBottleBSPosMgr,LargeBuffer_DX,Double,"{""value"":2840.0}",大瓶缓冲液的X间距
58,HbotLargeBottleBSPosMgr,LargeBuffer_DY,Double,"{""value"":2840.0}",大瓶缓冲液的Y间距
61,HbotTipPosMgr,TipGroup0_000Pos,Pos3d,"{""x"":11680,""y"":1138,""z"":808}",第1组TIP的第1个位置
62,HbotTipPosMgr,TipGroup0_SpaceingX,Double,"{""value"":932.0}",第1组TIP的X间距
63,HbotTipPosMgr,TipGroup0_SpaceingY,Double,"{""value"":932.0}",第1组TIP的Y间距
64,HbotTipPosMgr,TipGroup1_000Pos,Pos3d,"{""x"":27200,""y"":1138,""z"":808}",第2组TIP的第1个位置
65,HbotTipPosMgr,TipGroup1_SpaceingX,Double,"{""value"":932.0}",第2组TIP的X间距
66,HbotTipPosMgr,TipGroup1_SpaceingY,Double,"{""value"":932.0}",第2组TIP的Y间距
67,HbotTipPosMgr,TipGroup2_000Pos,Pos3d,"{""x"":42690,""y"":1138,""z"":807}",第3组TIP的第1个位置
68,HbotTipPosMgr,TipGroup2_SpaceingX,Double,"{""value"":932.0}",第3组TIP的X间距
69,HbotTipPosMgr,TipGroup2_SpaceingY,Double,"{""value"":932.0}",第3组TIP的Y间距
61,HbotTipPosMgr,TipGroup0_000Pos,Pos3d,"{""x"":11680,""y"":1138,""z"":805}",第1组TIP的第1个位置
62,HbotTipPosMgr,TipGroup0_SpaceingX,Double,"{""value"":938.0}",第1组TIP的X间距
63,HbotTipPosMgr,TipGroup0_SpaceingY,Double,"{""value"":937.0}",第1组TIP的Y间距
64,HbotTipPosMgr,TipGroup1_000Pos,Pos3d,"{""x"":27200,""y"":1138,""z"":805}",第2组TIP的第1个位置
65,HbotTipPosMgr,TipGroup1_SpaceingX,Double,"{""value"":938.0}",第2组TIP的X间距
66,HbotTipPosMgr,TipGroup1_SpaceingY,Double,"{""value"":937.0}",第2组TIP的Y间距
67,HbotTipPosMgr,TipGroup2_000Pos,Pos3d,"{""x"":42690,""y"":1138,""z"":805}",第3组TIP的第1个位置
68,HbotTipPosMgr,TipGroup2_SpaceingX,Double,"{""value"":938.0}",第3组TIP的X间距
69,HbotTipPosMgr,TipGroup2_SpaceingY,Double,"{""value"":937.0}",第3组TIP的Y间距
70,HbotTipPosMgr,DropTipPos,Pos3d,"{""x"":51855,""y"":27259,""z"":900}",丢TIP位置
82,TurntablePosParamMgr,PushPos0,Integer,"{""value"":-96}",入板位置
83,TurntablePosParamMgr,PullPos0,Integer,"{""value"":17968}",出板位置
83,TurntablePosParamMgr,PullPos0,Integer,"{""value"":17904}",出板位置
84,TurntablePosParamMgr,DropLiquidPos0,Integer,"{""value"":8968}",滴液位置
85,TurntablePosParamMgr,PosSpacing,Integer,"{""value"":1800}",位置间隔
98,OptModuleExtParamsMgr,FOptScanShift,Integer,"{""value"":2330}",F光学扫描偏移
@ -57,7 +57,7 @@ id,service,key,valType,val,chName
103,OptModuleExtParamsMgr,TOptScanGainVal,Double,"{""value"":0.5}",T光学扫描放大倍数
104,OptModuleParamsMgr,PullerTargetPos,Integer,"{""value"":1251}",拉板目标位置
105,OptModuleParamsMgr,OptScanerDropPos,Integer,"{""value"":-104}",丢板坐标
106,OptModuleParamsMgr,OptScanerScandbyPos,Integer,"{""value"":697}",扫描待机位
106,OptModuleParamsMgr,OptScanerScandbyPos,Integer,"{""value"":597}",扫描待机位
107,TemperatureCtrlParamMgr,IncubatorTCMTempOffset,Double,"{""value"":0.0}",<孵育仓>温度偏移
108,TemperatureCtrlParamMgr,PlatesBoxTCMTempOffset,Double,"{""value"":0.0}",<板夹仓>温度偏移
109,TubePreProcesPosParamMgr,GripperServoOpenPos,Integer,"{""value"":1600}",<抓手>张开位置
@ -70,9 +70,9 @@ id,service,key,valType,val,chName
116,TubePreProcesPosParamMgr,ZMotorTakeHTubePos,Integer,"{""value"":753}",<Z轴>取高试管位置
117,TubePreProcesPosParamMgr,ZMotorTakeSTubePos,Integer,"{""value"":973}",<Z轴>取低试管位置
118,TubePreProcesPosParamMgr,ZMotorShakeTubePos,Integer,"{""value"":800}",<Z轴>摇匀放置位置
119,PlatesBoxPosParamMgr,Ch0YPos,Integer,"{""value"":36}",通道0Y轴位置
120,PlatesBoxPosParamMgr,Ch5YPos,Integer,"{""value"":1362}",通道5Y轴位置
121,PlatesBoxPosParamMgr,PushEndXPos,Integer,"{""value"":1243}",推杆到位坐标
119,PlatesBoxPosParamMgr,Ch0YPos,Integer,"{""value"":30}",通道0Y轴位置
120,PlatesBoxPosParamMgr,Ch5YPos,Integer,"{""value"":1354}",通道5Y轴位置
121,PlatesBoxPosParamMgr,PushEndXPos,Integer,"{""value"":1230}",推杆到位坐标
122,PipetteGunExParamMgr,VOLUME_CALIBRATION_COEFFICIENT,Double,null,体积校准系数
123,PipetteGunExParamMgr,VOLUME_CALIBRATION_COEFFICIENT_A,Double,"{""value"":1.033378}",体积校准系数-A
124,PipetteGunExParamMgr,VOLUME_CALIBRATION_COEFFICIENT_B,Double,"{""value"":2.76625}",体积校准系数-B
@ -96,8 +96,16 @@ id,service,key,valType,val,chName
146,TubeFeedingModuleParamMgr,OutfeedOvertime,Integer,"{""value"":10}",出料超时时间
147,Hbot2DCodeScanParamMgr,PBDY,Double,"{""value"":2650.0}",板夹仓扫码位置Y
148,TubePreProcesPosParamMgr,ShakeModLiftingSVWorkPos,Integer,"{""value"":2343}",<顶升舵机>工作位置
149,Hbot2DCodeScanParamMgr,PBQRCodeDY,Double,"{""value"":2650.0}",板夹仓扫码GROUP间距
149,Hbot2DCodeScanParamMgr,PBQRCodeDY,Double,"{""value"":2692.0}",板夹仓扫码GROUP间距
150,Hbot2DCodeScanParamMgr,LargeBSQRCodeDX,Double,"{""value"":2880.0}",大瓶缓冲液的扫码GROUP间距
151,Hbot2DCodeScanParamMgr,LargeBSQRCodeDY,Double,"{""value"":7500.0}",大瓶缓冲液的扫码GROUP间距
152,Hbot2DCodeScanParamMgr,LittleBQRCodeDX,Double,"{""value"":12300.0}",小瓶缓冲液的GROUP间距
153,Hbot2DCodeScanParamMgr,LittleBQRCodeDY,Double,"{""value"":12540.0}",小瓶缓冲液的GROUP间距
153,Hbot2DCodeScanParamMgr,LittleBQRCodeDY,Double,"{""value"":12540.0}",小瓶缓冲液的GROUP间距
154,PipetteGunLLFParamMgr,EMERGENCY_TUBE_LLF_VEL,Integer,null,<急诊试管>液面跟随速度
155,PipetteGunLLFParamMgr,BLOOD_TUBE_LLF_VEL,Integer,null,<全血试管>液面跟随速度
156,PipetteGunLLFParamMgr,MINI_TUBE_LLF_VEL,Integer,null,<迷你试管>液面跟随速度
157,PipetteGunLLFParamMgr,MINI_BLOOD_LLF_VEL,Integer,null,<阳普管>液面跟随速度
158,PipetteGunLLFParamMgr,BULLET_TUBE_1P5_LLF_VEL,Integer,null,<子弹头试管1.5ML>液面跟随速度
159,PipetteGunLLFParamMgr,BULLET_TUBE_0P5_LLF_VEL,Integer,null,<子弹头试管0.5ML>液面跟随速度
160,PipetteGunLLFParamMgr,STOOL_TEST_TUBE_LLF_VEL,Integer,null,<粪便试管>液面跟随速度
161,PipetteGunLLFParamMgr,LARGE_BS_BOTTLE_LLF_VEL,Integer,null,<大瓶缓冲液>液面跟随速度

50
src/main/resources/db/zapp_sub_module_reg_initial_value.csv
View File

@ -24,8 +24,8 @@ id,mid,regIndex,regInitVal
23,HbotM,kreg_xyrobot_max_y,42580
24,HbotM,kreg_xyrobot_run_to_zero_speed,60
25,HbotM,kreg_xyrobot_look_zero_edge_speed,10
26,HbotM,kreg_xyrobot_shift_x,0
27,HbotM,kreg_xyrobot_shift_y,0
26,HbotM,kreg_xyrobot_shift_x,-90
27,HbotM,kreg_xyrobot_shift_y,62
28,HbotM,kreg_xyrobot_pos_devi_tolerance,50
29,HbotM,kreg_xyrobot_io_trigger_append_distance,10
30,HbotM,kreg_xyrobot_default_velocity,800
@ -57,15 +57,15 @@ id,mid,regIndex,regInitVal
56,PlatesBoxYM,kret_step_motor_pos_devi_tolerance,5
57,PlatesBoxYM,kret_step_motor_io_trigger_append_distance,10
58,PlatesBoxPusherM,kreg_step_motor_shaft,1
59,PlatesBoxPusherM,kreg_step_motor_one_circle_pulse,20
59,PlatesBoxPusherM,kreg_step_motor_one_circle_pulse,80
60,PlatesBoxPusherM,kreg_step_motor_one_circle_pulse_denominator,1
61,PlatesBoxPusherM,kreg_step_motor_default_velocity,2800
61,PlatesBoxPusherM,kreg_step_motor_default_velocity,1200
62,PlatesBoxPusherM,kreg_step_motor_ihold,4
63,PlatesBoxPusherM,kreg_step_motor_irun,15
63,PlatesBoxPusherM,kreg_step_motor_irun,9
64,PlatesBoxPusherM,kreg_step_motor_iholddelay,100
65,PlatesBoxPusherM,kreg_step_motor_iglobalscaler,0
66,PlatesBoxPusherM,kreg_step_motor_mres,0
67,PlatesBoxPusherM,kreg_step_motor_run_to_zero_speed,1200
67,PlatesBoxPusherM,kreg_step_motor_run_to_zero_speed,500
68,PlatesBoxPusherM,kreg_step_motor_look_zero_edge_speed,50
69,PlatesBoxPusherM,kreg_step_motor_max_d,0
70,PlatesBoxPusherM,kreg_step_motor_min_d,0
@ -166,7 +166,7 @@ id,mid,regIndex,regInitVal
165,ShakeModShakeM,kret_step_motor_io_trigger_append_distance,10
166,ShakeModGripperYSV,kreg_mini_servo_pos,115
167,ShakeModGripperYSV,kreg_mini_servo_limit_velocity,10000
168,ShakeModGripperYSV,kreg_mini_servo_limit_torque,800
168,ShakeModGripperYSV,kreg_mini_servo_limit_torque,500
169,ShakeModGripperYSV,kreg_mini_servo_protective_torque,900
170,ShakeModGripperYSV,kreg_mini_servo_target_pos_tolerance,15
171,ShakeModGripperSV,kreg_mini_servo_pos,1503
@ -320,28 +320,28 @@ id,mid,regIndex,regInitVal
319,IncubatorRotateCtrlM,kret_step_motor_pos_devi_tolerance,30
320,IncubatorRotateCtrlM,kret_step_motor_io_trigger_append_distance,10
327,PipetteMod,kreg_pipette_zm_shaft,0
328,PipetteMod,kreg_pipette_zm_one_circle_pulse,20
328,PipetteMod,kreg_pipette_zm_one_circle_pulse,80
329,PipetteMod,kreg_pipette_zm_one_circle_pulse_denominator,1
330,PipetteMod,kreg_pipette_zm_default_velocity,2000
331,PipetteMod,kreg_pipette_zm_ihold,8
332,PipetteMod,kreg_pipette_zm_irun,20
330,PipetteMod,kreg_pipette_zm_default_velocity,1200
331,PipetteMod,kreg_pipette_zm_ihold,7
332,PipetteMod,kreg_pipette_zm_irun,7
333,PipetteMod,kreg_pipette_zm_iholddelay,10
334,PipetteMod,kreg_pipette_zm_iglobalscaler,0
335,PipetteMod,kreg_pipette_zm_run_to_zero_speed,800
335,PipetteMod,kreg_pipette_zm_run_to_zero_speed,600
336,PipetteMod,kreg_pipette_zm_look_zero_edge_speed,100
337,PipetteMod,kreg_pipette_zm_max_d,0
338,PipetteMod,kreg_pipette_zm_min_d,0
339,PipetteMod,kreg_pipette_zm_vstart,100
340,PipetteMod,kreg_pipette_zm_a1,100
341,PipetteMod,kreg_pipette_zm_amax,1200
342,PipetteMod,kreg_pipette_zm_v1,300
343,PipetteMod,kreg_pipette_zm_dmax,300
344,PipetteMod,kreg_pipette_zm_d1,100
345,PipetteMod,kreg_pipette_zm_vstop,100
339,PipetteMod,kreg_pipette_zm_vstart,30
340,PipetteMod,kreg_pipette_zm_a1,200
341,PipetteMod,kreg_pipette_zm_amax,600
342,PipetteMod,kreg_pipette_zm_v1,500
343,PipetteMod,kreg_pipette_zm_dmax,600
344,PipetteMod,kreg_pipette_zm_d1,200
345,PipetteMod,kreg_pipette_zm_vstop,30
346,PipetteMod,kreg_pipette_zm_tzerowait,0
347,PipetteMod,kreg_pipette_zm_enc_resolution,0
348,PipetteMod,kreg_pipette_zm_enable_enc,0
349,PipetteMod,kreg_pipette_zm_dzero,0
349,PipetteMod,kreg_pipette_zm_dzero,92
350,OptModScannerM,kreg_step_motor_shaft,1
351,OptModScannerM,kreg_step_motor_one_circle_pulse,1590000
352,OptModScannerM,kreg_step_motor_one_circle_pulse_denominator,10000
@ -411,9 +411,9 @@ id,mid,regIndex,regInitVal
416,OptMod,kreg_a8k_opt_scan_d1,700
417,OptMod,kreg_a8k_opt_scan_vstop,700
418,OptMod,kreg_a8k_opt_scan_tzerowait,0
419,PipetteMod,kreg_pipette_zm_pos_devi_tolerance,0
420,PipetteMod,kreg_pipette_zm_io_trigger_append_distance,0
421,PipetteMod,kreg_pipette_zm_mres,2
419,PipetteMod,kreg_pipette_zm_pos_devi_tolerance,10
420,PipetteMod,kreg_pipette_zm_io_trigger_append_distance,20
421,PipetteMod,kreg_pipette_zm_mres,0
422,PlatesBoxYM,kreg_step_motor_low_velocity,0
423,PlatesBoxYM,kreg_step_motor_mid_velocity,0
424,PlatesBoxYM,kreg_step_motor_high_velocity,0
@ -483,8 +483,8 @@ id,mid,regIndex,regInitVal
488,ShakeModTubeScanerClampingSV,kreg_mini_servo_servo_protect_time,200
489,ShakeModTubeScanerClampingSV,kreg_mini_servo_servo_overload_torque,80
490,ShakeModTubeScanerClampingSV,kreg_mini_servo_servo_acc,0
491,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_min_angle,20
492,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_angle,1003
491,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_min_angle,0
492,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_angle,0
493,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_temp,70
494,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_max_voltage,90
495,ShakeModTubeScanerRotateSV,kreg_mini_servo_servo_min_voltage,45

Write Preview
Loading…
Cancel
Save