线体转动修改

source/DeviceLibrary/bean/WorkStation.cs

@@ -124,19 +124,39 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else
                     {
-                        SR_03_LocationUp();
+                        SR_04_LocationUp();
                     }
                 }
                 else
                 {
                     SR_02_LineRun();
                 }
+            }else if (MoveInfo.IsStep(MoveStep.SR_02_LineRun))
+            {
+                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 ");
+                }
+                else if (CheckShelf(IO_VALUE.LOW))
+                {
+                    ClearShelfId();
+                    LogUtil.info(Name + "复位完成，当前无料架");
+                    MoveInfo.EndMove();
+                }
+                else
+                {
+                    //有一个信号亮，再次转动链条
+                    SR_02_LineRun();
+                }
             }
-            else if (MoveInfo.IsStep(MoveStep.SR_02_LineRun))
+            else if (MoveInfo.IsStep(MoveStep.SR_03_LineRunWait))
             {
                 if (CheckShelf(IO_VALUE.HIGH))
                 {
-                    SR_03_LocationUp();
+                    SR_04_LocationUp();
                 }
                 else if (CheckShelf(IO_VALUE.LOW))
                 {
@@ -150,13 +170,13 @@ namespace OnlineStore.DeviceLibrary
                     SR_02_LineRun();
                 }
             }
-            else if (MoveInfo.IsStep(MoveStep.SR_03_LocationUp))
+            else if (MoveInfo.IsStep(MoveStep.SR_04_LocationUp))
             {
                 LogUtil.info(Name + "复位："+ CurrShelf.ToStr() + "准备完成，可以放料 ");
                 MoveInfo.EndMove();                
             }
         }
-        private void SR_03_LocationUp()
+        private void SR_04_LocationUp()
         {
             MoveInfo.NewMove(StoreMoveType.StoreReset);
             ReadShelfId();
@@ -169,7 +189,7 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             { 
-                MoveInfo.NextMoveStep(MoveStep.SR_03_LocationUp);
+                MoveInfo.NextMoveStep(MoveStep.SR_04_LocationUp);
                 LocationUp(MoveInfo);
                 LogUtil.info(Name + "复位：读取到新料架：" + CurrShelf.ToStr() + "，顶升上升 "); 
             }

source/DeviceLibrary/model/StoreStep.cs

@@ -296,14 +296,19 @@ namespace OnlineStore.DeviceLibrary
         SR_02_LineRun,
 
         /// <summary>
+        /// 工位复位：线体转到位时再转动2秒
+        /// </summary>
+        SR_03_LineRunWait,
+
+        /// <summary>
         /// 工位复位：料架到位，定位气缸上升
         /// </summary>
-        SR_03_LocationUp,
+        SR_04_LocationUp,
 
         /// <summary>
         /// 工位复位：料架准备完成
         /// </summary>
-        SR_04_ShelfReady,
+        SR_05_ShelfReady,
          
 
         #endregion