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

@@ -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>();
+                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