空料架进入时 等待O_ELine_InCheck检测到料架转动10分钟

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

@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary
         {
             if (ProcessShelfOut || ProcessShelfEnter)
             {
-                return false ;
+                return false;
             }
             if (!Robot.CanStartWork())
             {
@@ -179,14 +179,14 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StepEnum.IB10_ScanOK);
                 MoveInfo.MoveParam.WareCode = CodeManager.GetValidCode(LastCodeList);
-                WorkLog("料串入料 ：扫码结束【"+ MoveInfo.MoveParam.WareCode + "】，等待取料机构来取料");
+                WorkLog("料串入料 ：扫码结束【" + MoveInfo.MoveParam.WareCode + "】，等待取料机构来取料");
             }
             else if (MoveInfo.IsStep(StepEnum.IB11_TrayLeave))
             {
                 MoveInfo.NextMoveStep(StepEnum.IB12_BatchAxisToP3);
                 WorkLog("料串入料 ：料盘已拿走，批量轴到P3,测盘高 ");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                BatchAxisToP3( );
+                BatchAxisToP3();
             }
             else if (MoveInfo.IsStep(StepEnum.IB12_BatchAxisToP3))
             {
@@ -278,7 +278,7 @@ namespace OnlineStore.DeviceLibrary
                     Task<List<string>> scanTask = Task.Factory.StartNew(delegate
                     {
                         Robot.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
-                        NextCodeList = CodeManager.CameraScan(Name, CameraName );
+                        NextCodeList = CodeManager.CameraScan(Name, CameraName);
                         if (NextCodeList.Count <= 0)
                         {
                             NextCodeList = CodeManager.CameraScan(Name, CameraName);
@@ -362,7 +362,7 @@ namespace OnlineStore.DeviceLibrary
                         MoveInfo.NextMoveStep(StepEnum.IB07_AxisUpMove);
                         WorkLog("料串入料 ：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
                         MoveInfo.ShelfNoTray = false;
-                        BatchAxisToP3( );
+                        BatchAxisToP3();
                         return;
                     }
                 }
@@ -371,15 +371,15 @@ namespace OnlineStore.DeviceLibrary
                 SendShelfOut(" 未检测到料盘 ");
             }
         }
-        private void SendShelfOut(string msg="")
+        private void SendShelfOut(string msg = "")
         {
             MoveInfo.NextMoveStep(StepEnum.IB21_BatchToP1);
             MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
-            WorkLog("送出料串 ："+msg+"，提升伺服到P1点");
+            WorkLog("送出料串 ：" + msg + "，提升伺服到P1点");
             BatchAxis.SuddenStop(true);
             BatchAxis.AbsMove(MoveInfo, BatchAxisP1, Robot.Config.BatchAxis_P1Speed);
         }
-        private void BatchAxisToP3( )
+        private void BatchAxisToP3()
         {
             int targetP3 = BatchAxisP3;
             int targetSpeed = Robot.Config.BatchAxis_P3Speed;
@@ -392,7 +392,7 @@ namespace OnlineStore.DeviceLibrary
             BatchAxis.Config.TargetPosition = targetP3;
             BatchAxis.AbsMove(null, targetP3, targetSpeed);
             //开始检测信号
-            BatchAxis.BatchAxisStartCheck(IO_AxisTrayCheck,IO_VALUE.HIGH);
+            BatchAxis.BatchAxisStartCheck(IO_AxisTrayCheck, IO_VALUE.HIGH);
         }
         #endregion
 
@@ -469,7 +469,7 @@ namespace OnlineStore.DeviceLibrary
         {
             Task.Factory.StartNew(delegate
             {
-                string logName = Name + "料串 "+rfid+" [AGV->" + AgvName + "] ";
+                string logName = Name + "料串 " + rfid + " [AGV->" + AgvName + "] ";
                 try
                 {
                     if (Robot.IOValue(IO_LineIn_Check).Equals(IO_VALUE.LOW) && Robot.IOValue(IO_LineEnd_Check).Equals(IO_VALUE.LOW))
@@ -483,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
 
                         if (!result)
                         {
-                            LogUtil.info(logName + " 等待 IO_LineIn_Check=High 超时， 等待 IO_LineEnd_Check 信号");
+                            LogUtil.error(logName + " 等待 IO_LineIn_Check=High 超时， 等待 IO_LineEnd_Check 信号");
                         }
                         else
                         {
@@ -493,7 +493,7 @@ namespace OnlineStore.DeviceLibrary
 
                         if (!result)
                         {
-                            LogUtil.info(logName + " 等待 IO_LineEnd_Check=High 超时，等待3000后停止转动，发送  FinishEnter");
+                            LogUtil.error(logName + " 等待 IO_LineEnd_Check=High 超时，等待3000后停止转动，发送  FinishEnter");
                         }
                         else
                         {
@@ -541,7 +541,7 @@ namespace OnlineStore.DeviceLibrary
             //AGV已到达，将料串送入AGV中
             Task.Factory.StartNew(delegate
             {
-                string logName = Name + "料串"+rfid+"[" + AgvName + "->AGV ]  ";
+                string logName = Name + "料串" + rfid + "[" + AgvName + "->AGV ]  ";
                 try
                 {
                     AgvClient.SetStatus(AgvName, CurrShelfId, ClientAction.None, ClientLevel.High, true);
@@ -552,7 +552,7 @@ namespace OnlineStore.DeviceLibrary
                         bool result = Robot.WaitIo(IO_LineIn_Check, IO_VALUE.LOW, 60000);
                         if (!result)
                         {
-                            LogUtil.info(logName + "  等待 IO_LineIn_Check=LOW超时，等待8000后停止转动，发送FinishLeave");
+                            LogUtil.error(logName + "  等待 IO_LineIn_Check=LOW超时，等待8000后停止转动，发送FinishLeave");
                         }
                         else
                         {

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

@@ -419,11 +419,13 @@ namespace OnlineStore.DeviceLibrary
                         IOMove(IO_Type.O_ELine_Run, IO_VALUE.HIGH);
 
                         //等待进料检测信号
-                        bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 60000);
+                        bool result = WaitIo(IO_Type.O_ELine_InCheck, IO_VALUE.HIGH, 600000, logName + "等待O_ELine_InCheck检测到料架");
 
                         if (!result)
                         {
-                            LogUtil.info(logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run");
+                            WarnMsg = logName + "等待O_ELine_InCheck检测到料架 超时";
+                            LogUtil.error(WarnMsg);
+                            LogUtil.error (logName + " 等待 O_ELine_InCheck=High 超时， 等待 5000 后停止 O_ELine_Run");
                         }
                         else
                         {
@@ -484,7 +486,7 @@ namespace OnlineStore.DeviceLibrary
                         bool result = WaitIo(IO_Type.O_WLine_OutCheck, IO_VALUE.LOW, 60000);
                         if (!result)
                         {
-                            LogUtil.info(logName + "  等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 ");
+                            LogUtil.error(logName + "  等待 O_WLine_OutCheck=LOW超时，等待8000后停止转动 ");
                         }
                         else
                         {