逻辑优化

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

@@ -63,9 +63,9 @@ namespace OnlineStore.DeviceLibrary
                 return false;
             }
 
-            if(SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling)&&SecMoveInfo.MoveStep<= StepEnum.OL11_XYToP3)
+            if(SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling)&&SecMoveInfo.MoveStep<= StepEnum.OL03_PrintLabel)
             {
-                LogUtil.error(MoveInfo.Name + "StartWorking 失败 , SecMoveInfo 上个贴标还在等待中 " + SecMoveInfo.MoveType + "_" + SecMoveInfo.MoveStep,203);
+                LogUtil.error(MoveInfo.Name + "StartWorking 失败 , SecMoveInfo 上个贴标还打印中 " + SecMoveInfo.MoveType + "_" + SecMoveInfo.MoveStep,203);
                 return false;
             }
 
@@ -496,6 +496,11 @@ namespace OnlineStore.DeviceLibrary
                         SecMoveInfo.NextMoveStep(StepEnum.OL05_TakeBack);
                         SecWorkLog("贴标:  打印结束[" + RobotManager.LastPrintStatus + "][" + (isTimeOut ? "超时120秒" : "") + "], ");
                         //CylinderMove(SecMoveInfo, IO_Type.TakeCode_Forward, IO_Type.TakeCode_Back);
+
+                        printTask = null;
+                        SecMoveInfo.NextMoveStep(StepEnum.OL06_ZToP2);
+                        SecWorkLog("贴标:  Z轴到取标签点P2");
+                        LabelZAxis.AbsMove(SecMoveInfo, Config.LabelZ_P2, Config.LabelZ_P2Speed);
                     }
                 }
                 else if (MoveInfo.IsTimeOut(120))
@@ -551,7 +556,7 @@ namespace OnlineStore.DeviceLibrary
             else if (SecMoveInfo.IsStep(StepEnum.OL10_WaitCanLabel))
             {
                 bool canLabel = MoveInfo.MoveType.Equals(RobotMoveType.None) ||
-                 ((MoveInfo.MoveType.Equals(RobotMoveType.Working) && MoveInfo.MoveStep <= StepEnum.OT05_GetImage));
+                 ((MoveInfo.MoveType.Equals(RobotMoveType.Working) && MoveInfo.MoveStep <= StepEnum.OT11_WaitShelfOk));
                 bool isTest = ShelfMoveInfo.MoveType.Equals(RobotMoveType.None) && MoveInfo.MoveType.Equals(RobotMoveType.None) && SecMoveInfo.MoveParam.IsTest;
 
                 if (canLabel && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel))
@@ -621,9 +626,12 @@ namespace OnlineStore.DeviceLibrary
             else if (SecMoveInfo.IsStep(StepEnum.OL17_ZToP1))
             {
                 SecMoveInfo.NextMoveStep(StepEnum.OL18_LableBack);
-                SecWorkLog("贴标:  贴标气缸后退", 0);
+                SecWorkLog("贴标:  贴标气缸后退，X轴R轴返回待机点P2，Y轴返回待机点P1, ", 0);
                 CylinderMove(SecMoveInfo, IO_Type.LablePaste_Forward, IO_Type.PasteCode_Back);
 
+                LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
+                LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
+                LabelRAxis.AbsMove(SecMoveInfo, Config.LabelR_P2, Config.LabelR_P2Speed);
                 bool canLabel = ShelfMoveInfo.MoveType.Equals(RobotMoveType.ShelfPro) && ShelfMoveInfo.IsStep(StepEnum.OS_25_WaitLabel);
                 if (canLabel)
                 {
@@ -633,15 +641,15 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (SecMoveInfo.IsStep(StepEnum.OL18_LableBack))
             {
-                SecMoveInfo.NextMoveStep(StepEnum.OL19_XYRBackToP2);
-                SecWorkLog("贴标:  X轴R轴返回待机点P2，Y轴返回待机点P1, ");
-                LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
-                LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
-                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_XYRBackToP2))
-            {
+            //    SecMoveInfo.NextMoveStep(StepEnum.OL19_XYRBackToP2);
+            //    SecWorkLog("贴标:  X轴R轴返回待机点P2，Y轴返回待机点P1, ");
+            //    LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
+            //    LabelYAxis.AbsMove(SecMoveInfo, Config.LabelY_P1, Config.LabelY_P1Speed);
+            //    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_XYRBackToP2))
+            //{
                 TimeSpan span = DateTime.Now - SecMoveInfo.MoveStartTime;
                 LogUtil.info(SecMoveInfo.Name + " 贴标结束, 耗时（" + FormUtil.GetSpanStr(span) + "）");
                 SecMoveInfo.EndMove();

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

@@ -358,7 +358,7 @@ namespace OnlineStore.DeviceLibrary
             }
             MoveInfo.NextMoveStep(StepEnum.XW15_GetResult);
             //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300000));
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
 
             GetResultTask = Task.Factory.StartNew(delegate {
             try