料架进入时线体转5秒再顶升上升

source/DeviceLibrary/StoreConfig/StoreConfig.csv

 类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速度,减速度,回零低速,回零高速,回零加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
-AXIS,0,（轴一）旋转轴,Middle_Axis,0,HC,,3000,2000,2000,50,400,3000,10,100,0,0
-AXIS,0,（轴二）升降轴,UpDown_Axis,1,HC,,500,3000,3000,20,150,3000,10,100,0,0
-AXIS,0,（轴三）进出轴,InOut_Axis,2,HC,,3000,8000,8000,100,400,3000,10,100,0,0
-AXIS,0,（轴四）压紧轴,Comp_Axis,3,HC,,30000,30000,30000,3000,5000,30000,10,100,0,0
+AXIS,0,（轴一）旋转轴,Middle_Axis,0,HC,,3000,10000,10000,50,400,3000,10,100,0,0
+AXIS,0,（轴二）升降轴,UpDown_Axis,1,HC,,500,8000,8000,20,150,3000,10,100,0,0
+AXIS,0,（轴三）进出轴,InOut_Axis,2,HC,,3000,20000,20000,100,400,3000,10,100,0,0
+AXIS,0,（轴四）压紧轴,Comp_Axis,3,HC,,30000,120000,120000,3000,5000,30000,10,100,0,0
 ,,,,,,,,,,,,,,,,
 PRO,0,升降轴（轴2）进料口取料低点 P1,UpDownAxis_DoorL_P1,2914,,,,,,,,,,,, 
 PRO,0,升降轴（轴2）进料口取料高点 P2,UpDownAxis_DoorH_P2,3200,,,,,,,,,,,, 
@@ -15,22 +15,22 @@ PRO,0,进出轴（轴3）P4/NG口放料点,InOutAxis_P4,4500,,,,,,,,,,,,
 PRO,0,压紧轴（轴4）P1待机原位点,CompressAxis_P1,29200,,,,,,,,,,,,
 PRO,0,压紧轴（轴4）P2压紧点列表,CompAxis_P2_List,8=74800,12=71300,28=59300,36=46800,48=40400,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,3000,,,,,,,,,,,,
-PRO,0,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,500,,,,,,,,,,,,
-PRO,0,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,3000,,,,,,,,,,,,
-PRO,0,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,500,,,,,,,,,,,,
-PRO,0,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,3000,,,,,,,,,,,,
-PRO,0,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,500,,,,,,,,,,,,
+PRO,0,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,4000,,,,,,,,,,,,
+PRO,0,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,2000,,,,,,,,,,,,
+PRO,0,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,4000,,,,,,,,,,,,
+PRO,0,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,2000,,,,,,,,,,,,
+PRO,0,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,4000,,,,,,,,,,,,
+PRO,0,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,2000,,,,,,,,,,,,
 PRO,0,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,5000,,,,,,,,,,,,
 PRO,0,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,5000,,,,,,,,,,,,
 PRO,1,旋转轴（轴1）P3速度,MiddleAxis_P3_Speed,5000,,,,,,,,,,,,
 PRO,0,进出轴（轴3）P1速度,InOutAxis_P1_Speed,8000,,,,,,,,,,,,
-PRO,0,进出轴（轴3）P2速度,InOutAxis_P2_Speed,30000,,,,,,,,,,,,
+PRO,0,进出轴（轴3）P2速度,InOutAxis_P2_Speed,8000,,,,,,,,,,,,
 PRO,0,进出轴（轴3）P3速度,InOutAxis_P3_Speed,8000,,,,,,,,,,,,
 PRO,1,进出轴（轴3）P4速度,InOutAxis_P4_Speed,8000,,,,,,,,,,,,
-PRO,0,压紧轴（轴4）P1速度,CompAxis_P1_Speed,40000,,,,,,,,,,,,
-PRO,0,压紧轴（轴4）P2速度,CompAxis_P2_Speed,20000,,,,,,,,,,,,
-PRO,0,压紧轴（轴4）P3速度,CompAxis_P3_Speed,40000,,,,,,,,,,,,
+PRO,0,压紧轴（轴4）P1速度,CompAxis_P1_Speed,50000,,,,,,,,,,,,
+PRO,0,压紧轴（轴4）P2速度,CompAxis_P2_Speed,50000,,,,,,,,,,,,
+PRO,0,压紧轴（轴4）P3速度,CompAxis_P3_Speed,50000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,上料口工位1料架RFIDIP,RFID_IP1,192.168.103.21,,,,,,,,,,,,
 PRO,0,上料口工位2料架RFIDIP,RFID_IP2,192.168.103.22,,,,,,,,,,,,

source/DeviceLibrary/bean/WorkStation.cs

@@ -158,7 +158,7 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else
                     {
-                        SR_04_LocationUp();
+                        SR_03_LineRunWait();
                     }
                 }
                 else
@@ -169,10 +169,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (CheckShelf(IO_VALUE.HIGH))
                 {
-                    MoveInfo.NextMoveStep(MoveStep.SR_03_LineRunWait);
-                    LineRun(MoveInfo);
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
-                    LogUtil.info(Name + "复位： 检测到料架，继续线体转动2秒 ");
+                    SR_03_LineRunWait();
                 }
                 else if (CheckShelf(IO_VALUE.LOW))
                 {
@@ -241,6 +238,13 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.info(Name + "复位：读取到新料架：" + CurrShelf.ToStr() + "，顶升上升 "); 
             }
         }
+        private void SR_03_LineRunWait()
+        {
+            MoveInfo.NextMoveStep(MoveStep.SR_03_LineRunWait);
+            LineRun(MoveInfo);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
+            LogUtil.info(Name + "复位： 检测到料架，继续线体转动5秒 ");
+        }
         private void SR_02_LineRun()
         {
             MoveInfo.NextMoveStep(MoveStep.SR_02_LineRun);