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Commit 0c465ecf 由 LN
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贴标增加配置。调试bug修改。

1 个父辈 081d831e
内嵌 并排
正在显示 10 个修改的文件 包含 124 行增加 和 95 行删除
RC1266-AutoCountMachine/source/AutoCountClient/App.config
......@@ -45,6 +45,8 @@
<add key ="LabelName" value ="test2"/>
<!--打印机名称-->
<add key ="PrinterName" value ="ZDesigner GT800-300dpi EPL"/>
<!--是否启用打印标签-->
<add key ="NeedPrintLabel" value ="0"/>
</appSettings>
<log4net>
......
RC1266-AutoCountMachine/source/Common/Setting_Init.cs
......@@ -78,5 +78,6 @@ namespace OnlineStore.Common
public static string LabelName = "LabelName";
public static string PrinterName = "PrinterName";
public static string NeedPrintLabel = "NeedPrintLabel";
}
}
RC1266-AutoCountMachine/source/DeviceLibrary/RobotConfig/Config_OutputEquip.csv
......@@ -16,14 +16,14 @@ PRO,0,出料提升轴P3速度,BatchAxis_P3Speed,1500,,,,,
PRO,0,出料提升轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,10446,,,,,
,,,,,,,,,
PRO,0,取料X轴待机点-P1,MoveX_P1,2001,,,,,
PRO,0,取料X轴-取料点-P2集合,MoveX_P2List,0=150000;8=150000;12=150000;16=150000;24=150000;32=140000;44=120000;56=100000;13=4710;15=1350;11=10120;7=15900,,,,,
PRO,0,取料X轴-取料点-P2集合,MoveX_P2List,0=15900;8=150000;12=150000;16=150000;24=150000;32=140000;44=120000;56=100000;13=4710;15=1350;11=10120;7=15900,,,,,
PRO,0,取料X轴-放料点-P3,MoveX_P3,77100,,,,,
PRO,0,取料X轴P1速度,MoveX_P1Speed,500,,,,,
PRO,0,取料X轴P2速度,MoveX_P2Speed,500,,,,,
PRO,0,取料X轴P3速度,MoveX_P3Speed,500,,,,,
,,,,,,,,,
PRO,0,取料Z轴待机点-P1,MoveZ_P1,2000,,,,,
PRO,0,取料Z轴-取料点-P2集合,MoveZ_P2List,0=120000;8=448700;12=443900;16=440000;24=429900;32=420100;44=409000;56=398620,,,,,
PRO,0,取料Z轴-取料点-P2集合,MoveZ_P2List,0=448700;8=448700;12=443900;16=440000;24=429900;32=420100;44=409000;56=398620,,,,,
PRO,0,取料Z轴-放料点-P3集合,MoveZ_P3List,0=108750;8=109700;12=100000;16=99000;24=93000;32=89000;44=74000;56=63500,,,,,
PRO,0,取料Z轴P1速度,MoveZ_P1Speed,1000,,,,,
PRO,0,取料Z轴P2速度,MoveZ_P2Speed,1000,,,,,
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs
......@@ -37,9 +37,10 @@ namespace OnlineStore.DeviceLibrary
this.DeviceID = config.Id;
this.Config = config;
IsDebug = config.IsDebug.Equals(1);
baseConfig = config;
Name = (" " + "出料模块" + " ").ToUpper();
Init();
ledProcessTimer.Elapsed += LedProcess;
IoCheckTimer.Elapsed += IoCheckTimerProcess;
MoveInfo = new RobotMoveInfo(" 取放料 ");
SecMoveInfo = new RobotMoveInfo( " 贴标 ");
ShelfMoveInfo = new RobotMoveInfo(" ShelfMove ");
......@@ -380,14 +381,16 @@ namespace OnlineStore.DeviceLibrary
}
else
{
if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
WorkingProcess();
}
if (SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
{
LabellingProcess();
}
if (MoveInfo.MoveType.Equals(RobotMoveType.Working))
{
WorkingProcess();
}
if (ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro))
{
ShelfMoveProcess();
......@@ -422,7 +425,8 @@ namespace OnlineStore.DeviceLibrary
if (NoErrorAlarm() && IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
{
//料串准备好才能取料
if (OutReelCount >= 0 && SecMoveInfo.MoveType.Equals(RobotMoveType.None))
if (OutReelCount >= 0)
//if (OutReelCount >= 0 && SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
StartWorking(new WorkParam());
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
......@@ -55,12 +55,6 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(MoveInfo.Name + "StartWorking 失败 , MoveInfo 忙碌中=" + MoveInfo.MoveType);
return false;
}
//if (SecMoveInfo.MoveType.Equals(RobotMoveType.None).Equals(false))
//{
// LogUtil.error(MoveInfo.Name + "StartWorking 失败 , 贴标模块忙碌中=" + SecMoveInfo.MoveType);
// return false;
//}
if (IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
{
MoveInfo.NewMove(RobotMoveType.Working, StepEnum.OT01_WaitCheck);
......@@ -118,11 +112,8 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.OT03_MoveXToP2))
{
MoveInfo.NextMoveStep(StepEnum.OT04_CheckNeedImage);
WorkLog("取料：判断是否需要拍照 ");
}
else if (MoveInfo.IsStep(StepEnum.OT04_CheckNeedImage))
{
//MoveInfo.NextMoveStep(StepEnum.OT04_CheckNeedImage);
//WorkLog("取料：判断是否需要拍照 ");
if (MoveInfo.MoveParam.IsNgReel)
{
MoveInfo.NextMoveStep(StepEnum.OT07_MoveZToP2);
......@@ -136,9 +127,12 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
}
//else if (MoveInfo.IsStep(StepEnum.OT04_CheckNeedImage))
//{
//}
else if (MoveInfo.IsStep(StepEnum.OT05_GetImage))
{
//TODO 记录信息，判断贴标模块当前空闲，此时可以打印标签（取码气缸前进，打印标签，取码气缸后退）
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
......@@ -257,11 +251,11 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.IsStep(StepEnum.OT15_MoveZToP1))
{
MoveInfo.NextMoveStep(StepEnum.OT16_MoveXToP1);
WorkLog("放料：取料X轴回到P1 ");
MoveXAxis.AbsMove(MoveInfo, Config.MoveX_P1, Config.MoveX_P1Speed);
MoveInfo.NextMoveStep(StepEnum.OT16_MoveXToP2);
WorkLog("放料：取料X轴回到P2 ");
MoveXAxis.AbsMove(MoveInfo, Config.GetMoveXP2(MoveInfo.MoveParam.PlateW), Config.MoveX_P2Speed);
}
else if (MoveInfo.IsStep(StepEnum.OT16_MoveXToP1))
else if (MoveInfo.IsStep(StepEnum.OT16_MoveXToP2))
{
MoveInfo.EndMove();
WorkLog("放料完成");
......@@ -316,11 +310,21 @@ namespace OnlineStore.DeviceLibrary
}
SecMoveInfo.NewMove(RobotMoveType.Labelling, StepEnum.Wait);
SecMoveInfo.MoveParam = param;
NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
SecMoveInfo.NextMoveStep(StepEnum.OL01_Paste_Back);
SecWorkLog(" 启动贴标: 贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1，取码气缸前进");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
CylinderMove(SecMoveInfo, IO_Type.PasteCode_Forward, IO_Type.PasteCode_Back);
CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
if (!LabelZAxis.IsInPosition(Config.LabelZ_P1))
{
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
}
return true;
}
private bool NeedPrint = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
protected override void LabellingProcess()
{
if (SecMoveInfo.IsInWait)
......@@ -331,47 +335,56 @@ namespace OnlineStore.DeviceLibrary
{
return;
}
if (SecMoveInfo.IsStep(StepEnum.Wait))
{
SecMoveInfo.NextMoveStep(StepEnum.OL01_Paste_Back);
SecWorkLog(" 贴标: 贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
CylinderMove(SecMoveInfo, IO_Type.PasteCode_Forward, IO_Type.PasteCode_Back);
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
}
else if (SecMoveInfo.IsStep(StepEnum.OL01_Paste_Back))
{
SecMoveInfo.NextMoveStep(StepEnum.OL02_TakeForward);
SecWorkLog("贴标: 取码气缸前进，");
CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
}
else if (SecMoveInfo.IsStep(StepEnum.OL02_TakeForward))
//if (SecMoveInfo.IsStep(StepEnum.Wait))
//{
// SecMoveInfo.NextMoveStep(StepEnum.OL01_Paste_Back);
// SecWorkLog(" 启动贴标: 贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1，取码气缸前进");
// IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
// CylinderMove(SecMoveInfo, IO_Type.PasteCode_Forward, IO_Type.PasteCode_Back);
// CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
// if (!LabelZAxis.IsInPosition(Config.LabelZ_P1))
// {
// LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
// }
//}
if (SecMoveInfo.IsStep(StepEnum.OL01_Paste_Back))
{
// SecMoveInfo.NextMoveStep(StepEnum.OL02_TakeForward);
// SecWorkLog("贴标: 取码气缸前进，");
// CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
//}
//else if (SecMoveInfo.IsStep(StepEnum.OL02_TakeForward))
//{
SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel);
RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
SecWorkLog("贴标: 重置状态=Unknown，开始打印标签 ，贴标XYR轴到取标签点P2, 等待2000ms");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
SecWorkLog("贴标: 重置状态=Unknown，开始打印标签["+NeedPrint+"] ，贴标XYR轴到取标签点P2, 等待1s");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (NeedPrint)
{
Task.Factory.StartNew(delegate
{
StartPrintLabel(SecMoveInfo.MoveParam.WareCode, SecMoveInfo.MoveParam.WareCount.ToString());
});
}
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
StartPrintLabel(SecMoveInfo.MoveParam.WareCode, SecMoveInfo.MoveParam.WareCount.ToString());
}
else if (SecMoveInfo.IsStep(StepEnum.OL03_PrintLabel))
{
SecMoveInfo.NextMoveStep(StepEnum.OL04_PrintOk);
SecWorkLog("贴标: 等待 贴标机打码OK信号");
// SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else if (SecMoveInfo.IsStep(StepEnum.OL04_PrintOk))
{
// SecMoveInfo.NextMoveStep(StepEnum.OL04_PrintOk);
// SecWorkLog("贴标: 等待 贴标机打码OK信号");
//}
//else if (SecMoveInfo.IsStep(StepEnum.OL04_PrintOk))
//{
bool isPrintOk = RobotManager.LastPrintStatus.Equals(Asa.PrintLabel.PrinterStatus.Idle);
bool isTimeOut = SecMoveInfo.IsTimeOut(50);
if (isPrintOk || isTimeOut)
bool isTimeOut = SecMoveInfo.IsTimeOut(60);
if (isPrintOk || isTimeOut || (!NeedPrint))
{
SecMoveInfo.NextMoveStep(StepEnum.OL05_TakeBack);
SecWorkLog("贴标: 打印结束["+ RobotManager.LastPrintStatus + "]["+(isTimeOut?"超时50秒":"")+"],取码气缸后退");
SecWorkLog("贴标: 打印结束[" + RobotManager.LastPrintStatus + "][" + (isTimeOut ? "超时60秒" : "") + "],取码气缸后退");
CylinderMove(SecMoveInfo, IO_Type.TakeCode_Forward, IO_Type.TakeCode_Back);
}
}
......@@ -393,20 +406,23 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsStep(StepEnum.OL07_ZToP2))
{
SecMoveInfo.NextMoveStep(StepEnum.OL08_Nozzle_Work);
SecWorkLog("贴标: 标签吸盘取码");
SecWorkLog("贴标: 标签吸盘取码，等待吸盘信号到位 1.5s");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.HIGH);
}
else if (SecMoveInfo.IsStep(StepEnum.OL08_Nozzle_Work))
{
SecMoveInfo.NextMoveStep(StepEnum.OL09_WaitGetLabel);
SecWorkLog("贴标: 等待吸盘信号到位");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Nozzle_Work, IO_VALUE.HIGH));
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
SecMoveInfo.OneWaitCanEndStep = true;
}
else if (SecMoveInfo.IsStep(StepEnum.OL09_WaitGetLabel))
else if (SecMoveInfo.IsStep(StepEnum.OL08_Nozzle_Work))
{
// SecMoveInfo.NextMoveStep(StepEnum.OL09_WaitGetLabel);
// SecWorkLog("贴标: 等待吸盘信号到位");
// SecMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Nozzle_Work, IO_VALUE.HIGH));
// SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
// SecMoveInfo.OneWaitCanEndStep = true;
//}
//else if (SecMoveInfo.IsStep(StepEnum.OL09_WaitGetLabel))
//{
SecMoveInfo.NextMoveStep(StepEnum.OL10_ZToP1);
SecWorkLog("贴标: Z轴到P1点");
LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P1, Config.LabelZ_P1Speed);
......@@ -420,8 +436,10 @@ namespace OnlineStore.DeviceLibrary
}
else if (SecMoveInfo.IsStep(StepEnum.OL11_WaitCanLabel))
{
bool canLabel = MoveInfo.MoveType.Equals(RobotMoveType.None) && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel); ;
bool canLabel = (MoveInfo.MoveType.Equals(RobotMoveType.None)||(MoveInfo.MoveType.Equals(RobotMoveType.Working)&& MoveInfo.MoveStep<=(StepEnum.OT11_WaitShelfOk)))
&& ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel ); ;
bool isTest = ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && MoveInfo.MoveType.Equals(RobotMoveType.None) && SecMoveInfo.MoveParam.IsTest;
if (canLabel || isTest)
{
SecMoveInfo.NextMoveStep(StepEnum.OL12_XYToP3);
......@@ -469,9 +487,9 @@ namespace OnlineStore.DeviceLibrary
else if (SecMoveInfo.IsStep(StepEnum.OL15_ZToP3))
{
SecMoveInfo.NextMoveStep(StepEnum.OL16_Nozzle_Stop);
SecWorkLog("贴标: 放标签到料盘，等待2000");
SecWorkLog("贴标: 放标签到料盘，等待1S");
IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
else if (SecMoveInfo.IsStep(StepEnum.OL16_Nozzle_Stop))
{
......@@ -489,20 +507,21 @@ namespace OnlineStore.DeviceLibrary
if (canLabel)
{
ShelfMoveInfo.NextMoveStep(StepEnum.OS_26_LabelOk);
ShelfWorkLog("贴标完成");
LogUtil.info(SecMoveInfo.Name + " 贴标结束");
}
}
else if (SecMoveInfo.IsStep(StepEnum.OL18_LableBack))
{
SecMoveInfo.NextMoveStep(StepEnum.OL19_XYRBackToP1);
SecWorkLog("贴标: XYR返回待机点P1");
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P1, Config.LabelR_P1Speed);
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P1, Config.LabelX_P1Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
SecMoveInfo.NextMoveStep(StepEnum.OL19_XYRBackToP2);
SecWorkLog("贴标: XYR返回待机点P2,取码气缸前进");
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P2, Config.LabelY_P2Speed);
LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
CylinderMove(SecMoveInfo, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
}
else if (SecMoveInfo.IsStep(StepEnum.OL19_XYRBackToP1))
else if (SecMoveInfo.IsStep(StepEnum.OL19_XYRBackToP2))
{
SecWorkLog("贴标完成");
LogUtil.info(SecMoveInfo.Name + " 贴标结束");
SecMoveInfo.EndMove();
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/RobotBean.cs
......@@ -174,7 +174,7 @@ namespace OnlineStore.DeviceLibrary
//重置通用处理
mainTimer.Interval = 1000;
maxSeconds = 10;
// maxSeconds = 10;
alarmType = AlarmType.None;
mainTimer.Enabled = false;
isInSuddenDown = false;
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs
......@@ -27,6 +27,8 @@ namespace OnlineStore.DeviceLibrary
Name = (" " + "XRay" + " ").ToUpper();
Init();
ledProcessTimer.Elapsed += LedProcess;
IoCheckTimer.Elapsed += IoCheckTimerProcess;
MoveInfo = new RobotMoveInfo(Name);
SecMoveInfo = new RobotMoveInfo( Name.Trim() + "-SMove");
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs
......@@ -49,7 +49,7 @@ namespace OnlineStore.DeviceLibrary
MoveInfo.MoveParam.SetReelInfo(Work_ReelInfo);
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("扫描区有料["+Work_ReelInfo.ToStr()+"]，还未进行点料，开始处理");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
//IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.X_ReelCheck, IO_VALUE.HIGH));
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs
......@@ -536,10 +536,10 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
OT03_MoveXToP2,
/// <summary>
/// 取料: 判断是否需要拍照，
/// </summary>
OT04_CheckNeedImage,
///// <summary>
///// 取料: 判断是否需要拍照，
///// </summary>
//OT04_CheckNeedImage,
/// <summary>
/// 取料: 拍照并开始识别
......@@ -587,7 +587,7 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 取料: 取料X轴回到P1
/// </summary>
OT16_MoveXToP1,
OT16_MoveXToP2,
/// <summary>
/// 取料: NG料，取料X轴到P1
......@@ -642,21 +642,21 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 贴标: 贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1
/// 贴标: 贴标气缸后退，吸盘停止输出，贴标Z轴到待机点P1,取码气缸前进
/// </summary>
OL01_Paste_Back = 3601,
/// <summary>
/// 贴标: 取码气缸前进，贴标XYR都到待机点P2
/// </summary>
OL02_TakeForward,
///// <summary>
///// 贴标: 取码气缸前进，贴标XYR都到待机点P2
///// </summary>
//OL02_TakeForward,
/// <summary>
/// 贴标: 打印标签，
/// </summary>
OL03_PrintLabel,
/// <summary>
/// 贴标: 等待 贴标机打码OK信号
/// </summary>
OL04_PrintOk,
///// <summary>
///// 贴标: 等待 贴标机打码OK信号
///// </summary>
//OL04_PrintOk,
/// <summary>
/// 贴标: 取码气缸后退
/// </summary>
......@@ -673,10 +673,10 @@ namespace OnlineStore.DeviceLibrary
/// 贴标: 标签吸盘取码
/// </summary>
OL08_Nozzle_Work,
/// <summary>
/// 贴标: 等待吸盘信号到位
/// </summary>
OL09_WaitGetLabel,
///// <summary>
///// 贴标: 等待吸盘信号到位
///// </summary>
//OL09_WaitGetLabel,
/// <summary>
/// 贴标: Z轴到P1点
/// </summary>
......@@ -717,8 +717,9 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 贴标: XYR返回待机点P1
/// </summary>
OL19_XYRBackToP1,
OL19_XYRBackToP2,
#endregion
#region 出料模块料串处理 3701 开始
/// <summary>
/// 出料料串：升降盘不在后退端，提升伺服到P2
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/RobotBase.cs
......@@ -230,7 +230,7 @@ namespace OnlineStore.DeviceLibrary
ledProcessTimer.Enabled = false;
IoCheckTimer = new System.Timers.Timer();
IoCheckTimer.Interval = 200;
IoCheckTimer.Interval = 300;
// IoCheckTimer.Elapsed += IoCheckTimerProcess;
IoCheckTimer.AutoReset = true;
IoCheckTimer.Enabled = false;
......
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