托盘定位气缸前进逻辑修改

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -650,7 +650,17 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
- 
+        public bool IsTrayLCylinderBefore()
+        {
+            if (IOValue(IO_Type.SL_TrayLocation1_After).Equals(IO_VALUE.LOW) &&
+                IOValue(IO_Type.SL_TrayLocation1_Before).Equals(IO_VALUE.HIGH) &&
+                IOValue(IO_Type.SL_TrayLocation2_After).Equals(IO_VALUE.LOW) &&
+                IOValue(IO_Type.SL_TrayLocation2_Before).Equals(IO_VALUE.HIGH))
+            {
+                return true;
+            }
+            return false;
+        }
         public bool IsTrayLCylinderAfter()
         { 
             if (IOValue(IO_Type.SL_TrayLocation1_After).Equals(IO_VALUE.HIGH) &&

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -13,7 +13,7 @@ using System.Threading.Tasks;
 namespace OnlineStore.DeviceLibrary
 {
     partial class FeedingEquip
-    {        
+    {
         protected override bool CheckWaitResult(LineMoveInfo moveInfo, WaitResultInfo wait)
         {
             if (wait.WaitType.Equals(WaitEnum.W101_BatchAxisMove))
@@ -60,18 +60,18 @@ namespace OnlineStore.DeviceLibrary
                     NextCodeList = new List<string>();
                 }
             }
-        } 
+        }
 
         #region 托盘检测 
-         
+
         private void CheckFixture()
-        { 
+        {
         }
 
         protected override void FixtureProcess()
-        { 
+        {
         }
-       
+
         #endregion
 
         #region 入料流程
@@ -81,10 +81,10 @@ namespace OnlineStore.DeviceLibrary
         {
             //若定位工位，阻挡工位，有 料架，需要进行处理
             if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
-            { 
+            {
                 //升降盘需要在后退端
                 if (IsTrayLCylinderAfter())
-                { 
+                {
                     StartInStoreMove(null);
                 }
             }
@@ -119,7 +119,7 @@ namespace OnlineStore.DeviceLibrary
                 FI_06_WaitTime();
             }
             else
-            { 
+            {
                 if (IsTrayLCylinderAfter())
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.FI_02_TrayLocation_After);
@@ -131,7 +131,7 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.NextMoveStep(LineMoveStep.FI_01_BatchAxisToP2);
                     OutLog("检测到料架，升降盘不在后退端 " + MoveInfo.SLog + "  ：提升伺服先回到P2");
                     BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
-                } 
+                }
             }
             return true;
         }
@@ -153,7 +153,7 @@ namespace OnlineStore.DeviceLibrary
             IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
             MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
             if (needWaitCheck)
-            { 
+            {
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
             }
         }
@@ -207,7 +207,20 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.info(" 未检测到料架，入料结束");
             }
         }
-
+        private void FI_13_TrayLocation_Back()
+        {
+            MoveInfo.NextMoveStep(LineMoveStep.FI_13_TrayLocation_Back);
+            InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸后退，等待再次前进");
+            TrayLCylinderAfter(MoveInfo);
+        }
+        private void FI_15_AxisUpMove()
+        {
+            MoveInfo.NextMoveStep(LineMoveStep.FI_15_AxisUpMove);
+            InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸已到位，上料轴开始慢速上升到P3点，等待检测到料盘");
+            MoveInfo.ShelfNoTray = false;
+            BatchAxisToP3();
+        }
+        private int TrayLCyResetCount = 0;
         protected override void InStoreProcess()
         {
             if (MoveInfo.IsInWait)
@@ -300,28 +313,45 @@ namespace OnlineStore.DeviceLibrary
                 NextCodeList = new List<string>();
                 TrayLCylinderBefore(null);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                TrayLCyResetCount = 1;
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_12_TrayLocation_Before))
             {
-
-                MoveInfo.NextMoveStep(LineMoveStep.FI_13_TrayLocation_Back);
-                InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸后退，等待再次前进");
-                TrayLCylinderAfter(MoveInfo);
+                //第一次升降盘定位气缸前进如果到位，直接开始入库
+                if (IsTrayLCylinderBefore())
+                {
+                    FI_15_AxisUpMove();
+                }
+                else
+                {
+                    FI_13_TrayLocation_Back();
+                } 
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_13_TrayLocation_Back))
             {
+                TrayLCyResetCount++;
                 MoveInfo.NextMoveStep(LineMoveStep.FI_14_TrayLocation_Before);
-                InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸前进，清空条码信息");
-                LastCodeList = new List<string>();
-                NextCodeList = new List<string>();
-                TrayLCylinderBefore(MoveInfo);
+                InLog("料架入库" + MoveInfo.SLog + "：升降盘定位气缸第【"+TrayLCyResetCount+"】次前进 ");
+                if (TrayLCyResetCount <= 4)
+                {
+                    TrayLCylinderBefore(null);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                }
+                else
+                { 
+                    TrayLCylinderBefore(MoveInfo);
+                }
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_14_TrayLocation_Before))
             {
-                MoveInfo.NextMoveStep(LineMoveStep.FI_15_AxisUpMove);
-                InLog("料架入库" + MoveInfo.SLog + "：上料轴开始慢速上升到P3点，等待检测到料盘");
-                MoveInfo.ShelfNoTray = false;
-                BatchAxisToP3();
+                if (IsTrayLCylinderBefore())
+                {
+                    FI_15_AxisUpMove();
+                }
+                else
+                {
+                    FI_13_TrayLocation_Back();
+                }
             }
             #endregion