仓门口的料没抓起时重抓一次。

source/DeviceLibrary/assemblyLine/EquipBase.cs

@@ -656,18 +656,27 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.info(Name + "  " + posId + msg);
             }
         }
-        protected void OutLog(string msg)
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="msg"></param>
+        /// <param name="levle">-1是默认值，0时打印debug,1打印info</param>
+        protected void OutLog(string msg, int levle = -1)
         {
-            string posId = MoveInfo.MoveParam != null ? "["+currTrayNum+"][" + MoveInfo.MoveParam.PosId + "][" + MoveInfo.MoveParam.WareCode + "]" : "";
-            //baseConfig.DType.Equals(DeviceType.HYEquip)  
-            if (baseConfig.DType.Equals(DeviceType.MoveEquip))
+            string posId = MoveInfo.MoveParam != null ? "[" + currTrayNum + "][" + MoveInfo.MoveParam.PosId + "][" + MoveInfo.MoveParam.WareCode + "]" : "";
+           
+            if (levle.Equals(-1) && baseConfig.DType.Equals(DeviceType.MoveEquip))
             {
-                LogUtil.debug(Name + "  " + posId + msg);
-            }
-            else
+                levle = 0;
+            } 
+            if (levle.Equals(1))
             {
                 LogUtil.info(Name + "  " + posId + msg);
             }
+            else if (levle.Equals(0))
+            {
+                LogUtil.debug(Name + "  " + posId + msg);
+            } 
         }
 
         public virtual string GetMoveStr()

source/DeviceLibrary/assemblyLine/LineBean_Partial.cs

@@ -311,11 +311,11 @@ namespace OnlineStore.DeviceLibrary
                 //前进后退气缸后退以后才可以出库
                 else if (move.runStatus.Equals(LineRunStatus.Busy) && move.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
                 {
-                    if (move.MoveInfo.MoveStep >= (LineMoveStep.MO_58_CylinderDown))
+                    if (move.MoveInfo.MoveStep >= (LineMoveStep.MO_60_CylinderDown))
                     {
                         return true;
                     }
-                    else if (move.MoveInfo.IsStep(LineMoveStep.MO_57_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
+                    else if (move.MoveInfo.IsStep(LineMoveStep.MO_59_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
                         && move.CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
                     {
                         return true;

source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs

@@ -15,6 +15,8 @@ namespace OnlineStore.DeviceLibrary
     {
 
         #region 出库 
+
+        private int ClampCount = 0;
         public override bool StartOutStoreMove(InOutParam param)
         {
             string posId = param != null ? param.PosId : "";
@@ -76,6 +78,8 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(LineMoveStep.MO_51_CylinderBefore))
             {
+                //重置夹料次数=0
+                ClampCount = 0;
                 if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.MO_52_CylinderDown);
@@ -114,23 +118,43 @@ namespace OnlineStore.DeviceLibrary
                 UpdownUpMove();
                 //   CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
 
+            }else if (MoveInfo.IsStep(LineMoveStep.MO_56_ResetClamp))
+            {
+                MoveInfo.NextMoveStep(LineMoveStep.MO_52_CylinderDown);
+                OutLog("出库 " + MoveInfo.SLog + ": 上下气缸下降 ");
+                UpdownDownP3Move(MoveInfo.MoveParam.PlateH);
             }
             else if (MoveInfo.IsStep(LineMoveStep.MO_55_CylinderUp))
             {
-                MoveInfo.NextMoveStep(LineMoveStep.MO_56_ClampCheck);
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
-                OutLog("出库 " + MoveInfo.SLog + ":  检测夹爪料盘检测=HIGH");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
+                MoveInfo.NextMoveStep(LineMoveStep.MO_57_ClampCheck);
+                if (ClampCount.Equals(0))
+                {
+                    OutLog("出库 " + MoveInfo.SLog + ":  检测夹爪料盘检测=HIGH,超时1000");
+                    MoveInfo.OneWaitCanEndStep = true;
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
+                }
+                else
+                {
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
+                    OutLog("出库 " + MoveInfo.SLog + ":  检测夹爪料盘检测=HIGH");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampCylinder_Check, IO_VALUE.HIGH));
+                }
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MO_56_ClampCheck))
+            else if (MoveInfo.IsStep(LineMoveStep.MO_57_ClampCheck))
             {
                 if (UpdownIsUp())
-                {
-                    if (IsBigStore())
-                    {
-                        if (TrayIsOk())
+                { 
+                    if (IOValue(IO_Type.ClampCylinder_Check).Equals(IO_VALUE.HIGH))
+                    { 
+                        if (IsBigStore())
+                        {
+                            MoveInfo.NextMoveStep(LineMoveStep.MO_58_WaitTray);
+                            OutLog("出库 " + MoveInfo.SLog + ":  等待托盘到达"); 
+                        }
+                        else
                         {
-                            MoveInfo.NextMoveStep(LineMoveStep.MO_57_CylinderAfter);
+                            MoveInfo.NextMoveStep(LineMoveStep.MO_59_CylinderAfter);
                             MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
                             OutLog("出库 " + MoveInfo.SLog + ":  前后气缸后退");
                             CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
@@ -138,10 +162,10 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else
                     {
-                        MoveInfo.NextMoveStep(LineMoveStep.MO_57_CylinderAfter);
-                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
-                        OutLog("出库 " + MoveInfo.SLog + ":  前后气缸后退");
-                        CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
+                        MoveInfo.NextMoveStep(LineMoveStep.MO_56_ResetClamp);
+                        ClampCount = 1;
+                        OutLog("出库 " + MoveInfo.SLog + ":  第一次未抓到料，重新抓一次，夹爪先放松",1);
+                        CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
                     }
                 }
                 else
@@ -150,11 +174,20 @@ namespace OnlineStore.DeviceLibrary
                     OutLog("出库 " + MoveInfo.SLog + ":  上下气缸上升");
                     UpdownUpMove();
                 }
+            }else if (MoveInfo.IsStep(LineMoveStep.MO_58_WaitTray))
+            {
+                if (TrayIsOk())
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.MO_59_CylinderAfter);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
+                    OutLog("出库 " + MoveInfo.SLog + ":  前后气缸后退");
+                    CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
+                }
             }
             #endregion
 
             #region 移载装置，放物品到流水线操作
-            else if (MoveInfo.IsStep(LineMoveStep.MO_57_CylinderAfter))
+            else if (MoveInfo.IsStep(LineMoveStep.MO_59_CylinderAfter))
             {
                 if (CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
                 {
@@ -162,7 +195,7 @@ namespace OnlineStore.DeviceLibrary
                     {
                         int trayNum = SecondMoveInfo.MoveParam.TrayNumber;
                         //去掉直接丢盘处理
-                        MoveInfo.NextMoveStep(LineMoveStep.MO_58_CylinderDown);
+                        MoveInfo.NextMoveStep(LineMoveStep.MO_60_CylinderDown);
                         OutLog("出库 " + MoveInfo.SLog + ": 夹具检测编码完成， 上下气缸下降 ,更新料盘位置【" + MoveInfo.MoveParam.WareCode + "】【INLINE】【" + trayNum + "】,顶升气缸上升");
                         if (MoveInfo.MoveParam != null)
                         {
@@ -180,25 +213,25 @@ namespace OnlineStore.DeviceLibrary
                     }
                 }
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MO_58_CylinderDown))
+            else if (MoveInfo.IsStep(LineMoveStep.MO_60_CylinderDown))
             {
                 OutLog("出库 " + MoveInfo.SLog + ":    夹料气缸放松，更新托盘【" + MoveInfo.MoveParam.TrayNumber + "】，有料盘，OutStore，【" + MoveInfo.MoveParam.ToStr() + "】");
-            
+
                 TrayManager.UpdateTrayInfo(MoveInfo.MoveParam.TrayNumber, true, ReelType.OutStore, MoveInfo.MoveParam.Clone());
                 TrayInfo tray = TrayManager.GetTrayInfo(MoveInfo.MoveParam.TrayNumber);
-                LogInfo("出库 " + MoveInfo.SLog + ":    夹料气缸放松，更新托盘信息 " +tray.ToStr()+ "");
+                LogInfo("出库 " + MoveInfo.SLog + ":    夹料气缸放松，更新托盘信息 " + tray.ToStr() + "");
                 //出库全部完成  
-                MoveInfo.NextMoveStep(LineMoveStep.MO_59_CylinderRelax);
+                MoveInfo.NextMoveStep(LineMoveStep.MO_61_CylinderRelax);
                 CylinderMove(MoveInfo, IO_Type.ClampCylinder_Work, IO_Type.ClampCylinder_Relax);
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MO_59_CylinderRelax))
+            else if (MoveInfo.IsStep(LineMoveStep.MO_61_CylinderRelax))
             {
-                this.MoveInfo.NextMoveStep(LineMoveStep.MO_60_CylinderUp);
+                this.MoveInfo.NextMoveStep(LineMoveStep.MO_62_CylinderUp);
                 OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升，同时顶升气缸先下降");
                 UpdownUpMove();
                 CylinderMove(null, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MO_60_CylinderUp))
+            else if (MoveInfo.IsStep(LineMoveStep.MO_62_CylinderUp))
             {
                 //  减去需要的盘数
                 //  TrayManager.DelNeedEmptyTrayNum();
@@ -499,9 +532,9 @@ namespace OnlineStore.DeviceLibrary
             {
                 return false;
             }
-            bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_56_ClampCheck && MoveInfo.IsInWait.Equals(false)) || MoveInfo.MoveStep >= LineMoveStep.MO_57_CylinderAfter;
+            bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_58_WaitTray  ) || MoveInfo.MoveStep >= LineMoveStep.MO_59_CylinderAfter;
             if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
-                 && (!MoveInfo.IsStep(LineMoveStep.MO_60_CylinderUp)))
+                 && (!MoveInfo.IsStep(LineMoveStep.MO_62_CylinderUp)))
             {
                 if (isFull.Equals(false))
                 {
@@ -518,9 +551,9 @@ namespace OnlineStore.DeviceLibrary
             {
                 return false;
             }
-            bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_56_ClampCheck && MoveInfo.IsInWait.Equals(false)) || MoveInfo.MoveStep >= LineMoveStep.MO_57_CylinderAfter;
+            bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_58_WaitTray) || MoveInfo.MoveStep >= LineMoveStep.MO_59_CylinderAfter;
             if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
-                 && (!MoveInfo.IsStep(LineMoveStep.MO_60_CylinderUp)))
+                 && (!MoveInfo.IsStep(LineMoveStep.MO_62_CylinderUp)))
             {
                 return true;
             }

source/DeviceLibrary/model/StoreStep.cs

@@ -303,7 +303,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 移栽装置出库处理，开始出库
         /// </summary>
-        MO_50_StartOutProcess=1250,
+        MO_50_StartOutProcess = 1250,
         /// <summary>
         /// 移栽装置出库处理。。前后气缸1前进 
         /// </summary>
@@ -327,26 +327,34 @@ namespace OnlineStore.DeviceLibrary
         MO_55_CylinderUp,
 
         /// <summary>
-        /// 移栽装置出库处理。 夹料气缸检测
+        /// 移栽出库：开始重抓一次
         /// </summary>
-        MO_56_ClampCheck,
+        MO_56_ResetClamp,
+        /// <summary>
+        /// 移栽出库。 夹料气缸检测
+        /// </summary>
+        MO_57_ClampCheck,
+        /// <summary>
+        /// 移栽出库：开始等待托盘
+        /// </summary>
+        MO_58_WaitTray,
         /// <summary>
         /// 移栽装置出库处理。 前后气缸1后退 
         /// </summary>
-        MO_57_CylinderAfter,
+        MO_59_CylinderAfter,
 
         /// <summary>
         /// 移载（流水线）装置出库处理，上下气缸1下降 
         /// </summary>
-        MO_58_CylinderDown,
+        MO_60_CylinderDown,
         /// <summary>
         /// 移载（流水线）装置出库处理，夹料气缸1放松 
         /// </summary>
-        MO_59_CylinderRelax,
+        MO_61_CylinderRelax,
         /// <summary>
         /// 移载（流水线）装置出库处理，上下气缸1上升 
         /// </summary>
-        MO_60_CylinderUp,
+        MO_62_CylinderUp,
 
 
         #region 入料模块，紧急出料移栽处理