1.入料失败只重试3次

2.出料抓料失败后直接手动扔ng把， 打出来的标签会抛弃掉
3.限制了出料顶升每次升幅的最大值，防止一升过头

RC1266-AutoCountMachine/source/AutoCountClient/FrmEquipBase.cs

@@ -110,16 +110,16 @@ namespace OnlineStore.AutoCountClient
             try
             {
                 if (equipBase.runStatus.Equals(RobotRunStatus.Wait))
-            {
-                bool result = equipBase.StartRun();
-                if (result)
                 {
-                    FormStatus(true);
+                    bool result = equipBase.StartRun();
+                    if (result)
+                    {
+                        FormStatus(true);
+                    }
                 }
-            }
-            else
-            {
-                equipBase.Reset();
+                else
+                {
+                    equipBase.Reset();
                 }
             }
             catch (Exception ex)

RC1266-AutoCountMachine/source/AutoCountClient/FrmOutputEquip.cs

@@ -24,6 +24,9 @@ namespace OnlineStore.AutoCountClient
     {
         private bool IsLoad = false;
         private OutputEquip equipBean;
+
+        public event resetButtonClickdelegate resetButtonClick;
+        public delegate void resetButtonClickdelegate();
         internal FrmOutputEquip(OutputEquip moveEquip)
         {
             equipBase = moveEquip;
@@ -326,6 +329,7 @@ namespace OnlineStore.AutoCountClient
         private void btnStart_Click(object sender, EventArgs e)
         {
             StartDebug(btnStart);
+            resetButtonClick?.Invoke();
         }
         private void btnStop_Click(object sender, EventArgs e)
         {
@@ -829,6 +833,7 @@ namespace OnlineStore.AutoCountClient
             if (equipBase.runStatus > (RobotRunStatus.Wait))
             {
                 equipBean.MoveReset();
+                resetButtonClick?.Invoke();
             }
         }
 

RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.cs

@@ -56,10 +56,18 @@ namespace OnlineStore.AutoCountClient
 
             FrmOutputEquip frm2 = new FrmOutputEquip(robot.outputEquip);
             AddForm(" " + robot.outputEquip.Name + " ", frm2);
+            frm2.resetButtonClick += Frm2_resetButtonClick;
             robot.XrayBean.GetImageEvent += EquipBean_GetImageEvent;
 
 
         }
+
+        private void Frm2_resetButtonClick()
+        {
+            robot.XrayBean.MoveStop = true;
+            robot.inputEquip.MoveStop = true;
+        }
+
         private void AddForm(string text, Form form)
         {
             text = text.PadLeft(10, ' ');
@@ -495,6 +503,10 @@ namespace OnlineStore.AutoCountClient
                 robot.XrayBean.MoveStop = true;
                 lblXrayWork.Text = "图像平板失效，请及时处理。";
                 lblXrayWork.Visible = true;
+                robot.XrayBean.Alarm(AlarmType.SuddenStop);
+            }
+            else {
+                lblXrayWork.Text = "警告：点料过程中，请勿开门";
             }
 
 

RC1266-AutoCountMachine/source/DeviceLibrary/RobotConfig/Config_InputEquip.csv

@@ -26,6 +26,8 @@ PRO,0,取料升降轴取料点P2_右侧,UpdownAxis_P2_R,204000,,,,,
 PRO,0,取料升降轴XRay入库放料点P3,UpdownAxis_P3,324990,,,,,
 PRO,0,取料升降轴工位放料点P4_高,UpdownAxis_P4_H,187900,,,,,
 PRO,0,取料升降轴工位放料点P4_低,UpdownAxis_P4_L,512090,,,,,
+PRO,0,取料升降轴回放点P5_左侧,UpdownAxis_P5_L,199740,,,,,
+PRO,0,取料升降轴回放点P5_右侧,UpdownAxis_P5_R,199740,,,,,
 ,,,,,,,,,
 PRO,0,取料升降轴P1速度,UpdownAxis_P1Speed,1550,,,,, 
 PRO,0,取料升降轴P2速度,UpdownAxis_P2Speed,1550,,,,, 

RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean.cs

@@ -20,8 +20,8 @@ namespace OnlineStore.DeviceLibrary
         private string CameraName = "";
         private string AgvName = "";
         private string RfidIP = "";
-        private int BatchAxisP1 = 0;
-        private int BatchAxisP3 = 0;
+        public int BatchAxisP1 = 0;
+        public int BatchAxisP3 = 0;
         private InputEquip Robot
         {
             get { return RobotManager.robot.inputEquip; }

RC1266-AutoCountMachine/source/DeviceLibrary/bean/BatchMoveBean_Partial.cs

@@ -443,7 +443,7 @@ namespace OnlineStore.DeviceLibrary
             //  需要增加定时器，获取验证信号并停止伺服
             StartMovePosition = BatchAxis.GetAclPosition();
             if (!first)
-            {   
+            {
                 //如果不是第一次取盘，则每次最多上升16mm
                 targetP3 = StartMovePosition+Robot.Config.Height_ChangeValue*60;
                 if (targetP3 > BatchAxisP3)

RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip_InStore.cs

@@ -85,14 +85,13 @@ namespace OnlineStore.DeviceLibrary
         private void IW04_InoutToP2()
         {
             //MoveInfo.NextMoveStep(StepEnum.IW04_InoutToP2);
-            WorkLog("取料： 进出轴前进到P2",0);
-            InOutAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Inout_P2(Config), Config.InoutAxis_P2Speed);
-
+            WorkLog("取料： 进出轴前进到P2 ，升降轴下降到P2");
             MoveInfo.NextMoveStep(StepEnum.IW05_UpdownToP2);
-            WorkLog("取料： 升降轴下降到P2", 1);
+            InOutAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Inout_P2(Config), Config.InoutAxis_P2Speed);
             UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_P2(Config), Config.UpdownAxis_P2Speed);
         }
-       private  Task GetTargetPTask = null;
+        //private  Task GetTargetPTask = null;
+        int getretry = 0;
         protected override void WorkingProcess()
         {
             if (MoveInfo.IsInWait)
@@ -116,12 +115,13 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StepEnum.IW03_MiddleToP2))
             {
                 IW04_InoutToP2();
+
             }
-            else if (MoveInfo.IsStep(StepEnum.IW04_InoutToP2))
+            else if (MoveInfo.IsStep(StepEnum.IW04_ReTry))
             {
                 //MoveInfo.NextMoveStep(StepEnum.IW05_UpdownToP2);
-                //WorkLog("取料： 升降轴下降到P2",1);
-                //UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_P2(Config), Config.UpdownAxis_P2Speed);
+                //CylinderMove(MoveInfo,IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
+                //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
             }
             else if (MoveInfo.IsStep(StepEnum.IW05_UpdownToP2))
             {
@@ -150,24 +150,37 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(StepEnum.IW07_UpdownToP1))
             {
-                MoveInfo.NextMoveStep(StepEnum.IW08_WaitAxisCheck);
                 WorkLog("取料： 等待伺服检测信号消失");
                 //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_7, IO_VALUE.HIGH));
-
+                string it = IO_Type.R_AxisTrayCheck;
                 if (MoveInfo.MoveParam.InPosType.Equals(1))
+                    it = IO_Type.L_AxisTrayCheck;
+                if (IOValue(it).Equals(IO_VALUE.LOW))
                 {
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.L_AxisTrayCheck, IO_VALUE.LOW));
-                    //
+                    getretry = 0;
+                    MoveInfo.NextMoveStep(StepEnum.IW08_WaitAxisCheck);
                 }
-                else
+                else if (getretry>3){
+                    WorkLog("取料： 重试失败");
+                    MoveInfo.NextMoveStep(StepEnum.IW08_WaitAxisCheck);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(it, IO_VALUE.LOW));
+                }
+                else if (MoveInfo.IsTimeOut(4))
                 {
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.R_AxisTrayCheck, IO_VALUE.LOW));
+                    getretry++;
+                    MoveInfo.NextMoveStep(StepEnum.IW50_InOutToP2);
+                    WorkLog("取料： 开始复位 第"+ getretry+"次");                    
+                    var b = LeftBatchMove;
+                    if (MoveInfo.MoveParam.InPosType.Equals(2))
+                        b = RightBatchMove;
+                    int xpos = b.BatchAxis.GetAclPosition() - Config.Height_ChangeValue * 50;
+                    if (xpos < b.BatchAxisP1)
+                        xpos = b.BatchAxisP1;
+                    b.BatchAxis.AbsMove(MoveInfo, xpos, Config.BatchAxis_P3Speed);
                 }
             }
             else if (MoveInfo.IsStep(StepEnum.IW08_WaitAxisCheck))
             {
-                //MoveInfo.NextMoveStep(StepEnum.IW09_InoutToP1);
-                //MoveInfo.NextMoveStep(StepEnum.IW10_SaveSize);
 
                 MoveInfo.NextMoveStep(StepEnum.IW11_GetTargetPosition);
                 if (MoveInfo.MoveParam.InPosType.Equals(1))
@@ -203,63 +216,14 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(StepEnum.IW10_SaveSize))
             {
-                //GetTargetPTask = null;
                 WorkLog(" IW10_SaveSize");
                 MoveInfo.NextMoveStep(StepEnum.IW11_GetTargetPosition);
-                return;
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
-                if (String.IsNullOrEmpty(MoveInfo.MoveParam.WareCode))
-                {
-                    MoveInfo.MoveParam.IsNgReel = true;
-                    MoveInfo.MoveParam.NgMsg = "无有效条码";
-                    MoveInfo.MoveParam.TargetPosType = 1;
-                    WorkLog(" 无有效条码，从XRay放到NG箱：" + MoveInfo.MoveParam.ToStr(), 1);
-                    string outF = "无有效条码NG.";
-                    RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, outF);
-                }
-                else if (SServerManager.CanConnect())
-                {
-                    GetTargetPTask = Task.Factory.StartNew(delegate
-                    {
-                        int needPosition = 0;
-                        string msg = SServerManager.Get_VMICheckRLC(Name, MoveInfo.MoveParam.WareCode, out needPosition);
-
-                        if (needPosition >= 1 && needPosition <= 3)
-                        {
-                            MoveInfo.MoveParam.TargetPosType = needPosition;
-                            WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】通过接口获取目标位置：" + needPosition, 1);
-                            //if (needPosition>1)
-                            //    RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, msg);
-                        }
-                        //   else if (!msg.Equals("") || needPosition.Equals(0))
-                        else
-                        {
-                            WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】获取是否测值失败：" + msg, 1);
-                            MoveInfo.MoveParam.TargetPosType = 1;
-                            MoveInfo.MoveParam.IsNgReel = true;
-                            MoveInfo.MoveParam.NgMsg = msg;
-
-                            RobotManager.robot.sQLite.Insert(MoveInfo.MoveParam.WareCode, MoveInfo.MoveParam.PlateW, MoveInfo.MoveParam.PlateH, 0, msg);
-                        }
-                    });
-                }
-                else
-                {
-                    if (MoveInfo.MoveParam.TargetPosType.Equals(0))
-                    {
-                        if (DefautTargetP > 0)
-                        {
-                            MoveInfo.MoveParam.TargetPosType = DefautTargetP;
-                        }
-                    }
-                    WorkLog(" 根据条码获取目标位置：" + MoveInfo.MoveParam.ToStr(), 1);
-                }
             }
             #endregion
 
             else if (MoveInfo.IsStep(StepEnum.IW11_GetTargetPosition))
             {
-                WorkLog(" IW11_GetTargetPosition");
+                WorkLog(" IW11_GetTargetPosition, TrayCheck_7=" + IOValue(IO_Type.TrayCheck_7));
                 if (MoveInfo.MoveParam.TargetPosType.Equals(0))
                 {
                     WorkLog(" TargetPosType：0");
@@ -399,9 +363,8 @@ namespace OnlineStore.DeviceLibrary
                 //可下合并
                 //MoveInfo.NextMoveStep(StepEnum.IW42_InoutToP1);
                 MoveInfo.NextMoveStep(StepEnum.IW43_UpdownToP1);
-                WorkLog("放料完成：进出轴返回P1");
+                WorkLog("放料完成：进出轴返回P1,升降轴返回P1");
                 InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
-                WorkLog("放料完成：升降轴返回P1");
                 UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
             }
             else if (MoveInfo.IsStep(StepEnum.IW42_InoutToP1))
@@ -425,6 +388,42 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.EndMove();
 
             }
+            else if (MoveInfo.IsStep(StepEnum.IW50_InOutToP2))
+            {
+                MoveInfo.NextMoveStep(StepEnum.IW51_Clamping_Relax);
+                WorkLog("取料： 复位 进出轴上下轴到P2");
+                InOutAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Inout_P2(Config), Config.InoutAxis_P2Speed);
+                UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_P5(Config), Config.UpdownAxis_P2Speed);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
+            }
+            else if (MoveInfo.IsStep(StepEnum.IW51_Clamping_Relax))
+            {
+                MoveInfo.NextMoveStep(StepEnum.IW52_InOutToP1);
+                WorkLog("取料： 复位 气缸放松,UpdownAxisPos=" + UpdownAxis.GetAclPosition());
+                CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+            }
+            else if (MoveInfo.IsStep(StepEnum.IW52_InOutToP1))
+            {
+                WorkLog("取料： 复位 升降轴到待机点P1,进出轴返回P1");
+                MoveInfo.NextMoveStep(StepEnum.IW53_ResetFinish);
+                UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
+                InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                if (MoveInfo.MoveParam.InPosType.Equals(1))
+                {
+                    LeftBatchMove.MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
+                }
+                else
+                {
+                    RightBatchMove.MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
+                }
+            }
+            else if (MoveInfo.IsStep(StepEnum.IW53_ResetFinish))
+            {
+                WorkLog("放料复位完成");
+                MoveInfo.EndMove();
+            }
         }
 
         public int GetWidth()

RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs

@@ -152,6 +152,8 @@ namespace OnlineStore.DeviceLibrary
         {
             MoveInfo.NextMoveStep(StepEnum.OMR01_MoveZHome);
             MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+            WorkLog("取料夹爪气缸释放");
+            CylinderMove(MoveInfo, IO_Type.TakeT_Clamping_Work, IO_Type.TakeT_Clamping_Relax);
             WorkLog("取料Z轴原点返回");
             MoveZAxis.HomeMove(MoveInfo);
         }

RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Shelf.cs

@@ -212,13 +212,19 @@ namespace OnlineStore.DeviceLibrary
             {
                 ShelfMoveInfo.NextMoveStep(StepEnum.OS_19_BatchAxisToP3);
                 ShelfWorkLog("批量轴匀速到P3点，清空出料信息=0");
-                BatchAxisToP3(ShelfMoveInfo);
+                BatchAxisToP3(ShelfMoveInfo,true);
                 OutReelHeight = 0;
                 OutReelCount = 0;
             }
             else if (ShelfMoveInfo.IsStep(StepEnum.OS_19_BatchAxisToP3))
             {
                 ShelfMoveInfo.NextMoveStep(StepEnum.OS_20_ShelfReady);
+                if (IOValue(IO_Type.O_WLine_TrayCheck_OverHead).Equals(IO_VALUE.HIGH))
+                {
+                    ShelfWorkLog("批量提升过头重新下降");
+                    BatchAxis.SuddenStop();
+                    BatchAxisToP1(ShelfMoveInfo);
+                }
                 ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
                 ShelfWorkLog("料串准备完成");
             }
@@ -250,12 +256,36 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (ShelfMoveInfo.IsStep(StepEnum.OS_23_TrayOK))
             {
-                ShelfMoveInfo.NextMoveStep(StepEnum.OS_24_BatchToP3);
-                ShelfWorkLog("批量轴匀速到P3或信号亮,O_WLine_TrayCheck=" + IOValue(IO_Type.O_WLine_TrayCheck).ToString()); ;
-                BatchAxisToP3(ShelfMoveInfo);
+                if (IOValue(IO_Type.O_WLine_TrayCheck_OverHead).Equals(IO_VALUE.HIGH))
+                {
+                    ShelfWorkLog("批量提升过头重新下降");
+                    ShelfMoveInfo.NextMoveStep(StepEnum.OS_24_BatchToP3);
+                    BatchAxisToP1(ShelfMoveInfo);
+                }
+                else
+                {
+                    ShelfMoveInfo.NextMoveStep(StepEnum.OS_24_BatchToP3);
+                    ShelfWorkLog("批量轴匀速到P3或信号亮,O_WLine_TrayCheck=" + IOValue(IO_Type.O_WLine_TrayCheck).ToString()); ;
+                    BatchAxisToP3(ShelfMoveInfo);
+                }
+                if (!SecMoveInfo.MoveType.Equals(RobotMoveType.None)
+                    && SecMoveInfo.MoveParam != null
+                    && MoveInfo.MoveParam != null
+                    && SecMoveInfo.MoveParam.WareCode != MoveInfo.MoveParam.WareCode)
+                {
+                    ShelfWorkLog("标签错位，放弃当前标签");
+                    SecMoveInfo.NextMoveStep(StepEnum.OL20_LableCancel);
+                }
             }
             else if (ShelfMoveInfo.IsStep(StepEnum.OS_24_BatchToP3))
             {
+                if (IOValue(IO_Type.O_WLine_TrayCheck_OverHead).Equals(IO_VALUE.HIGH))
+                {
+                    BatchAxis.SuddenStop();
+                    ShelfMoveInfo.NextMoveStep(StepEnum.OS_23_TrayOK);
+                    ShelfWorkLog("批量提升运动过度");
+                    return;
+                }
                 if (RobotManager.UseLabel)
                 {
                     ShelfMoveInfo.NextMoveStep(StepEnum.OS_25_WaitLabel);
@@ -395,20 +425,45 @@ namespace OnlineStore.DeviceLibrary
         }
 
         private int StartMovePosition = 0;
-        private void BatchAxisToP3(RobotMoveInfo moveInfo)
+        private void BatchAxisToP3(RobotMoveInfo moveInfo,bool isFirst=false)
         {
             int targetP3 = Config.BatchAxisP3;
             int targetSpeed = Config.BatchAxis_P3Speed; 
             moveInfo.TimeOutSeconds = 200;
             moveInfo.CanWhileCount = 0;
+
+
             //  需要增加定时器，获取验证信号并停止伺服
             StartMovePosition = BatchAxis.GetAclPosition();
+
+            if (!isFirst)
+            {
+                targetP3 = StartMovePosition+Config.Height_ChangeValue * 40;
+                if (targetP3 > Config.BatchAxisP3) {
+                    targetP3 = Config.BatchAxisP3;
+                }
+            }
+
             moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(BatchAxis.Config, targetP3, targetSpeed));
             BatchAxis.Config.TargetPosition = targetP3;
             BatchAxis.AbsMove(null, targetP3, targetSpeed);
             //开始检测信号
             BatchAxis.BatchAxisStartCheck(IO_Type.O_WLine_TrayCheck,IO_VALUE.HIGH);
         }
+        private void BatchAxisToP1(RobotMoveInfo moveInfo)
+        {
+            int targetP3 = Config.BatchAxisP2;
+            int targetSpeed = Config.BatchAxis_P2Speed;
+            moveInfo.TimeOutSeconds = 200;
+            moveInfo.CanWhileCount = 0;
+            //  需要增加定时器，获取验证信号并停止伺服
+            StartMovePosition = BatchAxis.GetAclPosition();
+            moveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(BatchAxis.Config, targetP3, targetSpeed));
+            BatchAxis.Config.TargetPosition = targetP3;
+            BatchAxis.AbsMove(null, targetP3, targetSpeed);
+            //开始检测信号
+            BatchAxis.BatchAxisStartCheck(IO_Type.O_WLine_TrayCheck_OverHead, IO_VALUE.LOW);
+        }
         #endregion
 
         #region AGV

RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs

@@ -60,7 +60,9 @@ namespace OnlineStore.DeviceLibrary
 
         }
 
-
+        /// <summary>
+        /// 图像平板报错
+        /// </summary>
         public bool carerayImageError = false;
         private void XRayLoad()
         {
@@ -170,6 +172,7 @@ namespace OnlineStore.DeviceLibrary
         {
             //TimerMaxSeconds = 10;
             SetWarnMsg("");
+            carerayImageError = false;
             alarmType = AlarmType.None;
             isInSuddenDown = false;
             isNoAirCheck = false;

RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs

@@ -494,30 +494,38 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
+        int Get48bImageErrorCount = 0;
         public string CapImage()
         {
             try
             {
                 string lastData = DateTime.Now.ToString("yyyy-MM-dd");
-                ConfigAppSettings.SaveValue(Setting_Init.XRay_Data, lastData);
+                if (ConfigAppSettings.GetValue(Setting_Init.XRay_Data)!= lastData)
+                {
+                    ConfigAppSettings.SaveValue(Setting_Init.XRay_Data, lastData);
+                }
 
                 ClearFilePath();
 
                 //取图失败关掉重开。
-                bool imgResult = carerayImage.GetImage();
+                bool imgResult = carerayImage.GetImage(5,3000);
 
                 if (!imgResult)
                 {
                     bool closeR = carerayImage.Close();
-                    if (closeR)
+                    if (!closeR)
+                        LogUtil.error(Name + "carerayImage.GetImage 获取图片失败 = " + imgResult + ", carerayImage.Close 失败");
+
+                    Thread.Sleep(500);
+                    bool openR = carerayImage.Open();
+                    Thread.Sleep(500);
+                    if (openR)
                     {
-                        bool openR = carerayImage.Open();
-                        LogUtil.error(Name + "carerayImage.GetImage 获取图片失败 = " + imgResult + ", carerayImage.Close 成功 ，重新打开并获取图片");
-                        imgResult = carerayImage.GetImage();
+                        imgResult = carerayImage.GetImage(5, 3000);
+                        LogUtil.error(Name + "carerayImage.GetImage 第2次获取图片 = " + imgResult + "");
                     }
-                    else
-                    {
-                        LogUtil.error(Name + "carerayImage.GetImage 获取图片失败 = " + imgResult + ", carerayImage.Close 失败");
+                    else {
+                        LogUtil.error(Name + "carerayImage.Open 第2次open = " + openR + "");
                     }
                 }
                 carerayImageError = !imgResult;
@@ -528,7 +536,7 @@ namespace OnlineStore.DeviceLibrary
                     Bitmap bmp = carerayImage.Get48bImage();
                     if (bmp != null)
                     {
-
+                        Get48bImageErrorCount = 0;
                         lastFileName = Work_ReelInfo.GetImgName();
                         string fileP = path1_tif + @"\" + lastFileName;
                         bmp.Save(fileP, System.Drawing.Imaging.ImageFormat.Png);
@@ -552,6 +560,9 @@ namespace OnlineStore.DeviceLibrary
                         WorkLog("点料：获取X射线图形，获取图片失败，carerayImage.Get48bImage()=null");
                         LogUtil.error(Name + " 获取图片失败，carerayImage.Get48bImage()=null");
                         lastFileName = "";
+                        Get48bImageErrorCount++;
+                        if (Get48bImageErrorCount>3)
+                            carerayImageError = true;
                     }
                 }
                 else
@@ -570,7 +581,6 @@ namespace OnlineStore.DeviceLibrary
                     {
                         LogUtil.error(" xRay.Stop()失败：" + result);
                     }
-
                 }
             }
             catch (Exception ex)
@@ -580,7 +590,6 @@ namespace OnlineStore.DeviceLibrary
             return lastFileName;
         }
 
-
         private void ClearFilePath()
         {
             try

RC1266-AutoCountMachine/source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs

@@ -169,7 +169,7 @@ namespace OnlineStore.DeviceLibrary
                                 }
                             }
                         }
-                        if (!findRightCode && !nosave)
+                        if (!findRightCode || !nosave)
                         {
                             SaveImageToFile(deviceName, cameraName, ho_Image);
                         }

RC1266-AutoCountMachine/source/DeviceLibrary/model/AxisBean.cs

@@ -100,7 +100,7 @@ namespace OnlineStore.DeviceLibrary
             Config.TargetPosition = 0;
             LogUtil.info(AxisName + "speed[" + Config.TargetSpeed + "]开始原点返回");
             MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
-            ACServerManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed);
+            ACServerManager.HomeMove(Config.DeviceName, Config.GetAxisValue(), Config.HomeHighSpeed);
         }
 
         public void AbsMove(RobotMoveInfo MoveInfo, int targetPosition, int targetSpeed)
@@ -141,6 +141,12 @@ namespace OnlineStore.DeviceLibrary
                     ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
                     MoveInfo.CanWhileCount--;
                 }
+                else if (MoveInfo.CanWhileCount == -1) {
+                    msg = " " + MoveInfo.MoveStep + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount
+                        + "]，误差过大，配置为忽略";
+                    LogUtil.error(msg, MoveInfo.ErrorLogType);
+                    return true;
+                }
                 else
                 {
                     msg = " " + MoveInfo.MoveStep + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount
@@ -214,16 +220,20 @@ namespace OnlineStore.DeviceLibrary
             ACServerManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed);
 
         }
-        public void SuddenStop(bool needCheck = false )
+        public void SuddenStop(bool needCheck = false)
         {
             if (needCheck)
             {
-                if(ACServerManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()).Equals(0))
+                if (ACServerManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()).Equals(0))
                 {
                     return;
                 }
             }
             ACServerManager.SuddenStop(Config.DeviceName, Config.GetAxisValue());
+            if (ACServerManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()).Equals(1))
+            {
+                LogUtil.info(Config.DisplayStr + " 停止失败");
+            }
         }
 
 

RC1266-AutoCountMachine/source/DeviceLibrary/model/MoveStep.cs

@@ -109,9 +109,9 @@ namespace OnlineStore.DeviceLibrary
         IW03_MiddleToP2,
 
         /// <summary>
-        /// 入料模块取放料：进出轴前进到P2
+        /// 入料模块取放料：重试
         /// </summary>
-        IW04_InoutToP2,
+        IW04_ReTry,
         /// <summary>
         /// 入料模块取放料：升降轴下降到P2
         /// </summary>
@@ -195,6 +195,13 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         IW44_MiddleToP2,
 
+        /// <summary>
+        /// 放料完成：旋转轴直接返回P2
+        /// </summary>
+        IW50_InOutToP2,
+        IW51_Clamping_Relax,
+        IW52_InOutToP1,
+        IW53_ResetFinish,
         #endregion
 
         #region 入料模块批量轴开始复位 1500 开始
@@ -576,6 +583,7 @@ namespace OnlineStore.DeviceLibrary
         /// 取料:  取料气缸夹紧
         /// </summary>
         OT08_Clamping_Work,
+        OT08_2_Wait_Out_TrayCheck,
         /// <summary>
         /// 取料:  取料Z轴返回P1
         /// </summary>
@@ -745,6 +753,8 @@ namespace OnlineStore.DeviceLibrary
         /// 贴标:  XYR返回待机点P1
         /// </summary>
         OL19_XYRBackToP2,
+        OL20_LableCancel,
+        OL21_LableCancel2,
         #endregion
 
         #region 出料模块料串处理 3701 开始

RC1266-AutoCountMachine/source/DeviceLibrary/model/RobotMoveInfo.cs

@@ -62,6 +62,8 @@ namespace OnlineStore.DeviceLibrary
 
         /// <summary>
         /// 可以循环运动的次数（轴卡运动才需要）
+        /// 0 = 不循环
+        /// -1 = 不检查运动是否到位
         /// </summary>
         internal int CanWhileCount = 0;
 

RC1266-AutoCountMachine/source/DeviceLibrary/model/WorkParam.cs

@@ -116,6 +116,17 @@ namespace OnlineStore.DeviceLibrary
                 return config.UpdownAxis_P2_R;
             }
         }
+        public int Get_Updown_P5(InputEquip_Config config)
+        {
+            if (InPosType.Equals(1))
+            {
+                return config.UpdownAxis_P5_L;
+            }
+            else
+            {
+                return config.UpdownAxis_P5_R;
+            }
+        }
         public int Get_Updown_PutP(InputEquip_Config config)
         {
             if (TargetPosType.Equals(1))

RC1266-AutoCountMachine/source/LoadCVSLibrary/storeConfig/config/AIO_Type.cs

@@ -269,9 +269,9 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         public static string NGCylinder_Back = "NGCylinder_Back";
         /// <summary>
-        ///  DI,3,NG料料盘检测,NG_TrayCheck,9,PRO_AOI_IP_4,X60,,,,,,,,,,
+        ///  DI,3,提升机构高度过头,NG_TrayCheck,9,PRO_AOI_IP_4,X60,,,,,,,,,,
         /// </summary>
-        public static string NG_TrayCheck = "NG_TrayCheck";
+        public static string O_WLine_TrayCheck_OverHead = "O_WLine_TrayCheck_OverHead";
         /// <summary>
         ///  DI,3,贴标气缸前进端,PasteCode_Forward,10,PRO_AOI_IP_4,X61,,,,,,,,,,
         /// </summary>

RC1266-AutoCountMachine/source/LoadCVSLibrary/storeConfig/config/InputEquip_Config.cs

@@ -132,6 +132,16 @@ namespace OnlineStore.LoadCSVLibrary
         [ConfigProAttribute("UpdownAxis_P2_R")]
         public int UpdownAxis_P2_R { get; set; }
         /// <summary>
+        ///  PRO,0,取料升降轴取料点P2_左侧,UpdownAxis_P2_L,281000,,,,,
+        /// </summary>
+        [ConfigProAttribute("UpdownAxis_P5_L")]
+        public int UpdownAxis_P5_L { get; set; }
+        /// <summary>
+        ///  PRO,0,取料升降轴取料点P2_右侧,UpdownAxis_P2_R,281000,,,,,
+        /// </summary>
+        [ConfigProAttribute("UpdownAxis_P5_R")]
+        public int UpdownAxis_P5_R { get; set; }
+        /// <summary>
         ///  PRO,0,取料升降轴料串上方P3取料/放料位置,UpdownAxis_P3,20000,,,,,
         /// </summary>
         [ConfigProAttribute("UpdownAxis_P3", true)]