夹爪入料时等待200ms再抓料

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -346,7 +346,7 @@ namespace OnlineStore.DeviceLibrary
                     if (!LineManager.DisGetWare)
                     if (!LineManager.DisGetWare)
                     {
                     {
                         ClearTimeoutAlarm("启用抓料超时");
                         ClearTimeoutAlarm("启用抓料超时");
-                        MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderTake);
+                        MoveInfo.NextMoveStep(LineMoveStep.FI_20_CylinderTake);
                         InLog("料盘移栽" + MoveInfo.SLog + "：上料横移取料端");
                         InLog("料盘移栽" + MoveInfo.SLog + "：上料横移取料端");
                         CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
                         CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
                     }
                     }
@@ -360,18 +360,23 @@ namespace OnlineStore.DeviceLibrary
                     MoveTimeOut(MoveInfo, "扫码结束超时");
                     MoveTimeOut(MoveInfo, "扫码结束超时");
                 }
                 }
             }
             }
-            else if (MoveInfo.IsStep(LineMoveStep.FI_21_CylinderTake))
+            else if (MoveInfo.IsStep(LineMoveStep.FI_20_CylinderTake))
             {
             {
-                MoveInfo.NextMoveStep(LineMoveStep.FI_22_UpdownToP3);
+                MoveInfo.NextMoveStep(LineMoveStep.FI_21_UpdownToP3);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                 InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P3[" + Config.UpDownAxisP3 + "]");
                 InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P3[" + Config.UpDownAxisP3 + "]");
                 UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
                 UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
             }
             }
-            else if (MoveInfo.IsStep(LineMoveStep.FI_22_UpdownToP3))
+            else if (MoveInfo.IsStep(LineMoveStep.FI_21_UpdownToP3))
+            { 
+                MoveInfo.NextMoveStep(LineMoveStep.FI_22_WaitTime);
+                InLog("料盘移栽" + MoveInfo.SLog + "：等待200ms后夹紧");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
+            }
+            else if (MoveInfo.IsStep(LineMoveStep.FI_22_WaitTime))
             { 
             { 
                 MoveInfo.NextMoveStep(LineMoveStep.FI_23_CylinderTighten);
                 MoveInfo.NextMoveStep(LineMoveStep.FI_23_CylinderTighten);
                 InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构夹紧");
                 InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构夹紧");
-                //CylinderMove(MoveInfo, IO_Type.SL_ClampCylinder_Relax, IO_Type.SL_ClampCylinder_Work);
                 ClampJwa.Push(MoveInfo);
                 ClampJwa.Push(MoveInfo);
             }
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_23_CylinderTighten))
             else if (MoveInfo.IsStep(LineMoveStep.FI_23_CylinderTighten))
@@ -931,7 +936,7 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
                     LastCodeList = new List<string>(NextCodeList);
                     LastCodeList = new List<string>(NextCodeList);
                     NextCodeList = new List<string>();
                     NextCodeList = new List<string>();
-                    MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderTake);
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_20_CylinderTake);
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料横移取料端");
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料横移取料端");
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
                 }
                 }

source/DeviceLibrary/model/StoreStep.cs

@@ -557,14 +557,18 @@ namespace OnlineStore.DeviceLibrary
         /// <summary> 
         /// <summary> 
         /// 料盘移栽：有料盘：上料横移机构取料
         /// 料盘移栽：有料盘：上料横移机构取料
         /// </summary>
         /// </summary>
-        FI_21_CylinderTake,
+        FI_20_CylinderTake,
 
 
         /// <summary>
         /// <summary>
         ///  料盘移栽：升降轴到P3
         ///  料盘移栽：升降轴到P3
         /// </summary>
         /// </summary>
-        FI_22_UpdownToP3,
+        FI_21_UpdownToP3,
 
 
         /// <summary>
         /// <summary>
+        ///  料盘移栽：等待200ms后再抓，防止抓不到
+        /// </summary>
+        FI_22_WaitTime,
+        /// <summary>
         ///  料盘移栽：上料横移机构夹紧
         ///  料盘移栽：上料横移机构夹紧
         /// </summary>
         /// </summary>
         FI_23_CylinderTighten,
         FI_23_CylinderTighten,