夹爪修改：1：复位时清除报警同时调用停止方法。2.抓料时必须到位才能继续。

source/DeviceLibrary/assemblyLine/EquipBase.cs

@@ -556,7 +556,7 @@ namespace OnlineStore.DeviceLibrary
                         wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
                         wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
                     } else if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
                     } else if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
                     {
                     {
-                        if (ClampJwa != null)
+                        if ((ClampJwa != null) && (span.TotalSeconds > 1))
                         {
                         {
                             if (ClampJwa.IsReached())
                             if (ClampJwa.IsReached())
                             {
                             {
@@ -566,13 +566,24 @@ namespace OnlineStore.DeviceLibrary
                                     wait.IsEnd = true;
                                     wait.IsEnd = true;
                                 }
                                 }
                             }
                             }
+                            int code = ClampJwa.GetErrorCode();
+                            if (code > 0)
+                            {
+                                string msg = ClampJwa.config.Explain + " 错误码=" + code+"，运动到位="+ ClampJwa.IsReached();
+                                LogUtil.error(Name + msg, 999, 2);
+                            }
                         }
                         }
                     } else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
                     } else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
                     {
                     {
-                        if (ClampJwa != null)
+                        if ((ClampJwa != null )&& (span.TotalSeconds > 1))
                         {
                         {
                             wait.IsEnd = ClampJwa.HasReel();
                             wait.IsEnd = ClampJwa.HasReel();
-
+                            if (wait.IsEnd && (ClampJwa.IsReached().Equals(false)))
+                            {
+                                string msg = ClampJwa.config.Explain + "  有料，但未到达目标，不能结束抓料";
+                                LogUtil.error(Name + msg);
+                                wait.IsEnd = false;
+                            }
                             if ((!wait.IsEnd) && IsNoReelAlarm() && ClampEmptyMove)
                             if ((!wait.IsEnd) && IsNoReelAlarm() && ClampEmptyMove)
                             {
                             {
                                 LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作");
                                 LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作");
@@ -584,6 +595,12 @@ namespace OnlineStore.DeviceLibrary
                                 LogUtil.info(Name + "  无料，但在运动中，且运动到位，认为有料");
                                 LogUtil.info(Name + "  无料，但在运动中，且运动到位，认为有料");
                                 wait.IsEnd = true;
                                 wait.IsEnd = true;
                             }
                             }
+                            int code = ClampJwa.GetErrorCode();
+                            if (code > 0)
+                            {
+                                string msg = ClampJwa.config.Explain + " 错误码=" + code + "，运动到位=" + ClampJwa.IsReached();
+                                LogUtil.error(Name + msg,999,2);
+                            }
                             ////如果出力>=0.3，且已等待5秒
                             ////如果出力>=0.3，且已等待5秒
                             //float torque = ClampJwa.GetTorque();
                             //float torque = ClampJwa.GetTorque();
                             //if ((!wait.IsEnd) && torque > 0.25 && span.TotalSeconds > 5)
                             //if ((!wait.IsEnd) && torque > 0.25 && span.TotalSeconds > 5)
@@ -799,11 +816,11 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 if (baseConfig.DType.Equals(DeviceType.MoveEquip))
                 if (baseConfig.DType.Equals(DeviceType.MoveEquip))
                 {
                 {
-                    if (MoveInfo.MoveType.Equals(LineMoveType.InStore) && MoveInfo.MoveStep.Equals(LineMoveStep.MI_07_WaitHasReel))
+                    if (MoveInfo.MoveType.Equals(LineMoveType.InStore) && MoveInfo.MoveStep.Equals(LineMoveStep.MI_08_WaitHasReel))
                     { 
                     { 
                         return true;
                         return true;
                     }
                     }
-                    else if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && MoveInfo.MoveStep.Equals(LineMoveStep.MO_57_WaitHasReel))
+                    else if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && MoveInfo.MoveStep.Equals(LineMoveStep.MO_58_WaitHasReel))
                     {
                     {
                         return true;
                         return true;
                     }
                     }
@@ -821,5 +838,6 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             return false;
             return false;
         }
         }
+
     }
     }
 }
 }

source/DeviceLibrary/baan/ClampJawBean.cs

@@ -226,6 +226,7 @@ namespace OnlineStore.DeviceLibrary
             if (rmaxis != null && rmaxis.IsPortOpen)
             if (rmaxis != null && rmaxis.IsPortOpen)
             {
             {
                 rmaxis.ResetError();
                 rmaxis.ResetError();
+                rmaxis.StopAxis();
             }
             }
         }
         }
         public int GetErrorCode()
         public int GetErrorCode()