夹爪增加重抓功能

source/DeviceLibrary/assemblyLine/LineBean_Partial.cs

@@ -286,7 +286,7 @@ namespace OnlineStore.DeviceLibrary
                 //如果正在入库移栽不能操作，其他时候可以
                 if (move.MoveInfo.MoveType.Equals(LineMoveType.InStore))
                 {
-                    if (move.MoveInfo.MoveStep >= LineMoveStep.MI_09_CylinderBefore && move.MoveInfo.MoveStep <= LineMoveStep.MI_14_CylinderAfter)
+                    if (move.MoveInfo.MoveStep >= LineMoveStep.MI_10_CylinderBefore && move.MoveInfo.MoveStep <= LineMoveStep.MI_14_CylinderAfter)
                     {
                         return false;
                     }

source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs

@@ -532,8 +532,7 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error(Name + " 启动一个 入库【" + posId + "】运动失败，当前状态，storeStatus=" + runStatus);
             }
             return false;
-        }
-
+        } 
         protected override void InStoreProcess()
         {
             if (MoveInfo.IsInWait)
@@ -559,6 +558,8 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(LineMoveStep.MI_02_ToLineUp))
             {
+                //重置夹料次数=0
+                ClampCount = 0;
                 MoveInfo.NextMoveStep(LineMoveStep.MI_03_CylinderDown);
                 InLog("入库 " + MoveInfo.SLog + ":  升降下降，顶升上升");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
@@ -600,32 +601,50 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else
                 {
-                    MoveInfo.NextMoveStep(LineMoveStep.MI_07_WaitHasReel);
-                    InLog("入库 " + MoveInfo.SLog + ":  等待夹爪有料");
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel());
-                    MoveInfo.TimeOutSeconds = 5;
+                    //如果是第一次抓料，重复抓料一次
+                    if (ClampCount <= 0)
+                    {
+                        MoveInfo.NextMoveStep(LineMoveStep.MI_07_ResetClamp);
+                        InLog("入库 " + MoveInfo.SLog + ": 第一次未抓到料，重新抓一次，夹爪先放松");
+                        ClampCount = 1;
+                        ClampJwa.Relax(MoveInfo);
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(LineMoveStep.MI_08_WaitHasReel);
+                        InLog("入库 " + MoveInfo.SLog + ":  等待夹爪有料");
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel());
+                        MoveInfo.TimeOutSeconds = 5;
+                    }
                 }
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MI_07_WaitHasReel))
+            else if (MoveInfo.IsStep(LineMoveStep.MI_07_ResetClamp))
+            {
+                MoveInfo.NextMoveStep(LineMoveStep.MI_03_CylinderDown);
+                InLog("入库 " + MoveInfo.SLog + ":  升降下降，顶升上升");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
+                UpdownDownP2Move(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW); 
+            }
+            else if (MoveInfo.IsStep(LineMoveStep.MI_08_WaitHasReel))
             {
                 MI_08_WaitBox();
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MI_08_WaitBox))
+            else if (MoveInfo.IsStep(LineMoveStep.MI_09_WaitBox))
             {
                 if (UpdownIsUp())
                 {
-                    MoveInfo.NextMoveStep(LineMoveStep.MI_09_CylinderBefore);
+                    MoveInfo.NextMoveStep(LineMoveStep.MI_10_CylinderBefore);
                     InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
                     CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
                 }
                 else
                 {
-                    MoveInfo.NextMoveStep(LineMoveStep.MI_08_WaitBox);
+                    MoveInfo.NextMoveStep(LineMoveStep.MI_09_WaitBox);
                     InLog("入库： " + MoveInfo.SLog + " 升降气缸上升");
                     UpdownUpMove();
                 }
             }
-            else if (MoveInfo.IsStep(LineMoveStep.MI_09_CylinderBefore))
+            else if (MoveInfo.IsStep(LineMoveStep.MI_10_CylinderBefore))
             {
                 if (CylinderIsOk(IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before))
                 {
@@ -635,7 +654,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else
                 {
-                    MoveInfo.NextMoveStep(LineMoveStep.MI_09_CylinderBefore);
+                    MoveInfo.NextMoveStep(LineMoveStep.MI_10_CylinderBefore);
                     InLog("入库： " + MoveInfo.SLog + " 前后气缸1前进");
                     CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
                 }
@@ -770,7 +789,7 @@ namespace OnlineStore.DeviceLibrary
             string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
 
             int num = MoveInfo.MoveParam.TrayNumber;
-            MoveInfo.NextMoveStep(LineMoveStep.MI_08_WaitBox);
+            MoveInfo.NextMoveStep(LineMoveStep.MI_09_WaitBox);
             LogInfo("入库【" + posId + "】 " + MoveInfo.SLog + ":  物品已移走，更新托盘【" + num + "】为空盘，删除入库任务");
             MoveInfo.WaitList.Add(WaitResultInfo.WaitBoxCanInstore());
             TrayManager.UpdateTrayInfo(num);

source/DeviceLibrary/model/StoreStep.cs

@@ -162,20 +162,24 @@ namespace OnlineStore.DeviceLibrary
         ///移载装置入库处理，上下气缸1上升
         /// </summary>
         MI_06_CylinderUp,
+        /// <summary>
+        /// 入库处理：重新抓料一次，夹爪放松
+        /// </summary>
+        MI_07_ResetClamp,
 
         /// <summary>
         /// 移载装置入库处理，等待夹爪有料
         /// </summary>
-        MI_07_WaitHasReel,
+        MI_08_WaitHasReel,
 
         /// <summary>
         /// 移载装置入库处理，等待box等待状态才能继续操作
         /// </summary>
-        MI_08_WaitBox,
+        MI_09_WaitBox,
         /// <summary>
         ///移载装置入库处理，,前后气缸1前进
         /// </summary>
-        MI_09_CylinderBefore,
+        MI_10_CylinderBefore,
 
         /// <summary>
         ///移载装置入库处理，上下气缸1下降