顶升之后等待2秒再转动横移电机

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -325,20 +325,20 @@ namespace OnlineStore.DeviceLibrary
                 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 + "：升降盘定位气缸第【"+TrayLCyResetCount+"】次前进 ");
+                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);
                 }
             }
@@ -399,16 +399,16 @@ namespace OnlineStore.DeviceLibrary
                 UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_21_UpdownToP3))
-            { 
+            {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_22_WaitTime);
                 InLog("料盘移栽" + MoveInfo.SLog + "：等待1000ms后夹紧");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_22_WaitTime))
-            { 
+            {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_23_CylinderTighten);
                 InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构夹紧");
-                ClampJwa.Push(MoveInfo,true,LastCodeList.ToArray());
+                ClampJwa.Push(MoveInfo, true, LastCodeList.ToArray());
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_23_CylinderTighten))
             {
@@ -429,7 +429,7 @@ namespace OnlineStore.DeviceLibrary
                         MoveInfo.WaitList.Add(WaitResultInfo.WaitClampHasReel());
                     }
                     else
-                    { 
+                    {
                         InLog("料盘移栽" + MoveInfo.SLog + "：等待  SL_AxisLocationCheck=LOW 不需要验证夹爪有料");
                     }
                 }
@@ -443,7 +443,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(LineMoveStep.FI_25_CheckTray))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_26_BatchAxisToP3);
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000)); 
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，横移气缸上升 ");
                 CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
                 BatchAxisToP3(false);
@@ -453,7 +453,7 @@ namespace OnlineStore.DeviceLibrary
 
                 MoveInfo.NextMoveStep(LineMoveStep.FI_28_CylinderGive);
                 InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
-                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give); 
+                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                 LastHeight = GetHeight();
                 MoveInfo.MoveParam.PlateH = LastHeight;
@@ -507,7 +507,7 @@ namespace OnlineStore.DeviceLibrary
             //else if (MoveInfo.IsStep(LineMoveStep.FI_31_GetPosID))
             //{
             //    FI_32_WaitTray();
-               
+
             //}
             else if (MoveInfo.IsStep(LineMoveStep.FI_32_WaitTray))//TODO
             {
@@ -519,7 +519,7 @@ namespace OnlineStore.DeviceLibrary
                     int targetPositon = Config.GetUpdownP2Detial(LastHeight, LastWidth);
                     UpdownAxis.AbsMove(MoveInfo, targetPositon, Config.UpdownAxis_P2Speed);
                     LastPosParam.TrayNumber = currTrayNum;
-                    InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P2: [" + targetPositon + "]  暂不更新托盘["+currTrayNum+"]信息");
+                    InLog("料盘移栽" + MoveInfo.SLog + "：升降轴到P2: [" + targetPositon + "]  暂不更新托盘[" + currTrayNum + "]信息");
 
                     if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
                     {
@@ -586,7 +586,7 @@ namespace OnlineStore.DeviceLibrary
                 //如果批量轴还在运动中，停止运动
                 AxisManager.instance.SuddenStop(BatchAxis.Config.DeviceName, BatchAxis.Config.GetAxisValue());
 
-                InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位 ,料盘耗时["+FormUtil.GetSpanStr(newTrayWatch.Elapsed)+"] ");
+                InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位 ,料盘耗时[" + FormUtil.GetSpanStr(newTrayWatch.Elapsed) + "] ");
                 CheckHasTray();
 
             }
@@ -643,6 +643,12 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(LineMoveStep.FI_56_TopUp))
             {
+                MoveInfo.NextMoveStep(LineMoveStep.FI_57_WaitTime);
+                InLog("上料完成" + MoveInfo.SLog + "， 顶升上升之后等待2秒");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+            }
+            else if(MoveInfo.IsStep(LineMoveStep.FI_57_WaitTime))
+            { 
                 //TODO 
                 MoveInfo.NextMoveStep(LineMoveStep.FI_57_SideWayLineRun);
                 InLog("上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开上料工位");

source/DeviceLibrary/model/StoreStep.cs

@@ -666,6 +666,11 @@ namespace OnlineStore.DeviceLibrary
         FI_56_TopUp,
 
         /// <summary>
+        /// 上料完成，顶升上升到位之后等待2秒再转动电机
+        /// </summary>
+        FI_57_WaitTime,
+
+        /// <summary>
         ///上料完成， 线体横移电机运转，等待料架到达出口
         /// </summary>
         FI_57_SideWayLineRun,