入料扫码修改。料串缓存修改

LN
Commit 0c7360f9 由 LN 编写于 2021-08-21 15:40:42 +0800
source/DeviceLibrary/Config/Config_BoxEquip.csv
source/DeviceLibrary/Config/Config_InputEquip.csv
source/DeviceLibrary/Config/linePositions.csv
source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
source/DeviceLibrary/manager/BufferDataManager.cs
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs
source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
source/XLRStoreClient/inputForm/FrmBatchMove.Designer.cs
source/XLRStoreClient/inputForm/FrmBatchMove.cs
--- a/source/DeviceLibrary/Config/Config_BoxEquip.csv
查看文件 @0c7360f
+++ b/source/DeviceLibrary/Config/Config_BoxEquip.csv
查看文件 @0c7360f
@@ -10,7 +10,7 @@ AXIS,0,B面移栽X轴,XAxis_B,7,HC,,50000,150000,120000,5000,30000,100000,10,100
 AXIS,0,B面移栽旋转轴,MiddleAxis_B,8,HC,,35000,60000,60000,2000,10000,20000,10,100,0,0
 AXIS,0,B面移栽压紧轴,ComAxis_B,9,HC,,20000,50000,50000,2000,10000,20000,10,100,0,0
 ,,,,,,,,,,,,,,,,
-PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,,,,,,,,
+PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,,,,,,,,
 PRO,0,温湿度端口号,Humiture_Port,0,,,,,,,,,,,,
 PRO,0,抽屉Mark_X坐标,Drawer_X,962.07,,,,,,,,,,,,
 PRO,0,抽屉Mark_Y坐标,Drawer_Y,862.94,,,,,,,,,,,,
@@ -31,18 +31,18 @@ PRO,0,移栽升降轴_待机点P1,Updown_P1,880000,,,,,,,,,,,,
 PRO,0,移栽升降轴_A上暂存区取料高点P2,Updown_P2,1506534,,,,,,,,,,,,
 PRO,0,移栽升降轴_A上暂存区取料低点P3,Updown_P3,1368381,,,,,,,,,,,,
 PRO,0,移栽升降轴_A下暂存区放料高点P4,Updown_P4,827531,,,,,,,,,,,,
-PRO,0,移栽升降轴_A下暂存区放料低点P5,Updown_P5,677217,,,,,,,,,,,,
+PRO,0,移栽升降轴_A下暂存区放料低点P5,Updown_P5,670000,,,,,,,,,,,,
 PRO,0,移栽升降轴_B上暂存区取料高点P8,Updown_P8,1506534,,,,,,,,,,,,
-PRO,0,移栽升降轴_B上暂存区取料低点P9,Updown_P9,1368381,,,,,,,,,,,,
+PRO,0,移栽升降轴_B上暂存区取料低点P9,Updown_P9,1338069,,,,,,,,,,,,
 PRO,0,移栽升降轴_B下暂存区取料高点P10,Updown_P10,827531,,,,,,,,,,,,
-PRO,0,移栽升降轴_B下暂存区取料低点P11,Updown_P11,677217,,,,,,,,,,,,
+PRO,0,移栽升降轴_B下暂存区取料低点P11,Updown_P11,660000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,料斗拉取升降轴_待机点P1,PullAxis_Updown_P1,0,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,A面移栽X轴_待机点P1,XAxis_A_P1,661000,,,,,,,,,,,,
 PRO,0,A面移栽X轴_A进出料暂存区取放料点P2,XAxis_A_P2,1245809,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,A面移栽旋转轴_待机点P1,MiddleAxis_A_P1,1000,,,,,,,,,,,,
+PRO,0,A面移栽旋转轴_待机点P1,MiddleAxis_A_P1,-918,,,,,,,,,,,,
 PRO,0,A面移栽旋转轴_A进出料暂存区取放料水平点P2,MiddleAxis_A_P2,95000,,,,,,,,,,,,
 PRO,0,A面移栽旋转轴_A面料屉库位垂直取放料点P3,MiddleAxis_A_P3,-918,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
@@ -50,13 +50,13 @@ PRO,0,A面移栽压紧轴_待机点P1,ComAxis_A_P1,10000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,B面移栽X轴_待机点P1,XAxis_B_P1,661000,,,,,,,,,,,,
-PRO,0,B面移栽X轴_B进出料暂存区取放料点P2,XAxis_B_P2,1160000,,,,,,,,,,,,
+PRO,0,B面移栽X轴_B进出料暂存区取放料点P2,XAxis_B_P2,1204628,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,B面移栽旋转轴_待机点P1,MiddleAxis_B_P1,1000,,,,,,,,,,,,
+PRO,0,B面移栽旋转轴_待机点P1,MiddleAxis_B_P1,-2000,,,,,,,,,,,,
 PRO,0,B面移栽旋转轴_B进出料暂存区取放料水平点P2,MiddleAxis_B_P2,95000,,,,,,,,,,,,
 PRO,0,B面移栽旋转轴_B面料屉库位垂直取放料点P3,MiddleAxis_B_P3,-2000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,B面移栽压紧轴_待机点P1,ComAxis_B_P1,15000,,,,,,,,,,,,
+PRO,0,B面移栽压紧轴_待机点P1,ComAxis_B_P1,10000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,行走机构_P1速度,MoveAxis_P1_Speed,100000,,,,,,,,,,,,
 PRO,0,行走机构_P2速度,MoveAxis_P2_Speed,100000,,,,,,,,,,,,

--- a/source/DeviceLibrary/Config/Config_InputEquip.csv
查看文件 @0c7360f
+++ b/source/DeviceLibrary/Config/Config_InputEquip.csv
查看文件 @0c7360f
 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,A料口提升轴,BatchAxis_A,10,HC,,30000,80000,80000,2000,10000,30000,10,100,0,0
 AXIS,0,B料口提升轴,BatchAxis_B,11,HC,,30000,80000,80000,2000,10000,30000,10,100,0,0
-AXIS,0,取料升降轴,TakeAxis_Updown,12,HC,,30000,80000,80000,800,10000,30000,10,100,0,0
+AXIS,0,取料升降轴,TakeAxis_Updown,12,HC,,30000,80000,80000,800,10000,30000,10,200,0,0
-AXIS,0,取料旋转轴,TakeAxis_Middle,13,HC,,10000,30000,30000,2000,8000,20000,10,100,0,0
+AXIS,0,取料旋转轴,TakeAxis_Middle,13,HC,,10000,30000,30000,2000,8000,20000,10,200,0,0
 ,,,,,,,,,,,,,,,,
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,0,,,,,,,,,,,,
 PRO,0,是否使用夹爪（1=使用夹爪，0=用吸盘）,UseClampJaw,1,,,,,,,,,,,,
@@ -24,10 +24,10 @@ PRO,0,提升轴上料目标点_B侧,BatchAxisP2_B,428000,,,,,,,,,,,,
 PRO,0,提升上料轴P1速度,BatchAxis_P1Speed,30000,,,,,,,,,,,,
 PRO,0,提升上料轴P2速度,BatchAxis_P2Speed,5000,,,,,,,,,,,,
 PRO,0,提升上料轴P3速度/料盘拿走后提升轴下降速度,BatchAxis_P3Speed,20000,,,,,,,,,,,,
-PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,804,,,,,,,,,,,,
+PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,1250,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,取料升降轴_待机点,Updown_P1,18000,,,,,,,,,,,,
+PRO,0,取料升降轴_待机点,Updown_P1,310000,,,,,,,,,,,,
-PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,386317,,,,,,,,,,,,
+PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,395000,,,,,,,,,,,,
 PRO,0,取料升降轴_B料口取料点,Updown_P3_BTake,386317,,,,,,,,,,,,
 PRO,0,取料升降轴_A上暂存区放料高点,Updown_P4_AUpperH,18000,,,,,,,,,,,,
 PRO,0,取料升降轴_A上暂存区放料低点,Updown_P5_AUpperL,65798,,,,,,,,,,,,
@@ -40,27 +40,27 @@ PRO,0,取料升降轴_B上暂存区放料低点,Updown_P11_BUpperL,65798,,,,,,,,
 PRO,0,取料升降轴_B下暂存区取料高点,Updown_P12_BUnderH,368000,,,,,,,,,,,,
 PRO,0,取料升降轴_B下暂存区取料低点,Updown_P13_BUnderL,112,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,取料升降轴_P1速度,Updown_P1_Speed,40000,,,,,,,,,,,,
+PRO,0,取料升降轴_P1速度,Updown_P1_Speed,30000,,,,,,,,,,,,
-PRO,1,取料升降轴_P2速度,Updown_P2_Speed,40000,,,,,,,,,,,,
+PRO,1,取料升降轴_P2速度,Updown_P2_Speed,30000,,,,,,,,,,,,
-PRO,2,取料升降轴_P3速度,Updown_P3_Speed,40000,,,,,,,,,,,,
+PRO,2,取料升降轴_P3速度,Updown_P3_Speed,30000,,,,,,,,,,,,
-PRO,3,取料升降轴_P4速度,Updown_P4_Speed,40000,,,,,,,,,,,,
+PRO,3,取料升降轴_P4速度,Updown_P4_Speed,30000,,,,,,,,,,,,
-PRO,4,取料升降轴_P5速度,Updown_P5_Speed,40000,,,,,,,,,,,,
+PRO,4,取料升降轴_P5速度,Updown_P5_Speed,30000,,,,,,,,,,,,
-PRO,5,取料升降轴_P6速度,Updown_P6_Speed,40000,,,,,,,,,,,,
+PRO,5,取料升降轴_P6速度,Updown_P6_Speed,30000,,,,,,,,,,,,
-PRO,6,取料升降轴_P7速度,Updown_P7_Speed,40000,,,,,,,,,,,,
+PRO,6,取料升降轴_P7速度,Updown_P7_Speed,30000,,,,,,,,,,,,
-PRO,7,取料升降轴_P8速度,Updown_P8_Speed,40000,,,,,,,,,,,,
+PRO,7,取料升降轴_P8速度,Updown_P8_Speed,30000,,,,,,,,,,,,
-PRO,8,取料升降轴_P9速度,Updown_P9_Speed,40000,,,,,,,,,,,,
+PRO,8,取料升降轴_P9速度,Updown_P9_Speed,30000,,,,,,,,,,,,
-PRO,9,取料升降轴_P10速度,Updown_P10_Speed,40000,,,,,,,,,,,,
+PRO,9,取料升降轴_P10速度,Updown_P10_Speed,30000,,,,,,,,,,,,
-PRO,10,取料升降轴_P11速度,Updown_P11_Speed,40000,,,,,,,,,,,,
+PRO,10,取料升降轴_P11速度,Updown_P11_Speed,30000,,,,,,,,,,,,
-PRO,11,取料升降轴_P12速度,Updown_P12_Speed,40000,,,,,,,,,,,,
+PRO,11,取料升降轴_P12速度,Updown_P12_Speed,30000,,,,,,,,,,,,
-PRO,12,取料升降轴_P13速度,Updown_P13_Speed,40000,,,,,,,,,,,,
+PRO,12,取料升降轴_P13速度,Updown_P13_Speed,30000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,取料旋转轴_待机点,Middle_P1,126912,,,,,,,,,,,,
-PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,160838,,,,,,,,,,,,
+PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,161570,,,,,,,,,,,,
 PRO,0,取料旋转轴_B料口取料点,Middle_P3_BTake,93462,,,,,,,,,,,,
-PRO,0,取料旋转轴_A上暂存区放料点,Middle_P4_AUpper,251022,,,,,,,,,,,,
+PRO,0,取料旋转轴_A上暂存区放料点,Middle_P4_AUpper,250000,,,,,,,,,,,,
 PRO,0,取料旋转轴_B上暂存区放料点,Middle_P5_BUpper,104,,,,,,,,,,,,
 PRO,0,取料旋转轴_NG料区放料点,Middle_P6_NG,214355,,,,,,,,,,,,
-PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,251022,,,,,,,,,,,,
+PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,250000,,,,,,,,,,,,
 PRO,0,取料旋转轴_B下暂存区取料点,Middle_P8_BUnder,107,,,,,,,,,,,,
 PRO,0,取料旋转轴_P1速度,Middle_P1_Speed,20000,,,,,,,,,,,,
 PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,20000,,,,,,,,,,,,

--- a/source/DeviceLibrary/Config/linePositions.csv
查看文件 @0c7360f
+++ b/source/DeviceLibrary/Config/linePositions.csv
查看文件 @0c7360f
--- a/source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
查看文件 @0c7360f
+++ b/source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs
查看文件 @0c7360f
@@ -129,7 +129,7 @@ namespace OnlineStore.DeviceLibrary
                    DateTime startTime = DateTime.Now;
                    if (deviceName != "")
                    {
-                        LogUtil.info(deviceName + " 【" + cameraName + "】开始取图片");
+                        LogUtil.debug(deviceName + " 【" + cameraName + "】开始取图片");
                    }
                    Bitmap bmp = null;
                    HalconDotNet.HObject ho_Image = null;
@@ -144,7 +144,7 @@ namespace OnlineStore.DeviceLibrary
                            continue;
                        }
-                        LogUtil.info(deviceName + "  【" + cameraName + "】取图片完成，开始扫码");
+                        LogUtil.debug(deviceName + "  【" + cameraName + "】取图片完成，开始扫码");
                        string r = "";
                        bool eyemNoCode = false;

--- a/source/DeviceLibrary/manager/BufferDataManager.cs
查看文件 @0c7360f
+++ b/source/DeviceLibrary/manager/BufferDataManager.cs
查看文件 @0c7360f
@@ -96,11 +96,11 @@ namespace OnlineStore.DeviceLibrary
        }
        public static void SaveData<T>(string configStr, T value) where T : class
-        { 
+        {
            string jsonData = "";
            if (!(value == null))
            {
-                JsonHelper.SerializeObject(value);
+                jsonData = JsonHelper.SerializeObject(value);
            }
            ConfigAppSettings.SaveValue(configStr, jsonData);
            LogUtil.info($"保存配置：[{ configStr}]=[{jsonData }]");

--- a/source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs
查看文件 @0c7360f
+++ b/source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs
查看文件 @0c7360f
@@ -113,8 +113,9 @@ namespace OnlineStore.DeviceLibrary
            }
        }
        private Stopwatch shelfWatch = new Stopwatch();
-        public bool Reset(bool needStop = false)
+        public bool Reset(bool needStop = false, bool resetShelf = false)
-        { 
+        {
+            WarnMsg = "";
            if (Robot.CanStartRun())
            {
                if (Robot.runStatus >= RunStatus.HomeMoving)
@@ -134,6 +135,11 @@ namespace OnlineStore.DeviceLibrary
                        WarnMsg = Name + "复位失败：批量轴打开失败:"+msg;
                        return false;
                    }
+                    if (resetShelf)
+                    {
+                        WorkLog("复位前重置料串状态");
+                        UpdateShelf();
+                    }
                    WarnMsg = "";
                    alarmType = AlarmType.None;
                    MoveInfo.NewMove(MoveType.Reset,new InOutParam());

--- a/source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
查看文件 @0c7360f
+++ b/source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs
查看文件 @0c7360f
@@ -273,6 +273,14 @@ namespace OnlineStore.DeviceLibrary
            #endregion
        }
+        public bool IsInScanCode()
+        {
+            if (MoveInfo.MoveType.Equals(MoveType.InStore) && MoveInfo.IsStep(StepEnum.IB09_ScanCode))
+            {
+                return true;
+            }
+            return false;
+        }
        private void IB09_ScanCode()
        {
            MoveInfo.NextMoveStep(StepEnum.IB09_ScanCode);
@@ -811,7 +819,7 @@ namespace OnlineStore.DeviceLibrary
            }
        } 
-        private bool isFastLoad = false;
+        private bool isFastLoad = true;
        private bool UpdateShelf(int state = 0, string xnRfid = "")
        {
            try
@@ -834,16 +842,16 @@ namespace OnlineStore.DeviceLibrary
                    if (isFastLoad)
                    {
                        CurrShelf = BufferDataManager.LoadData<ShelfInfo>(configStr);
-                        isFastLoad = true;
+                        isFastLoad = false;
-                        LogUtil.info(Name + "当前料串信息：" + CurrShelf.ToStr());
+                        LogUtil.info(Name + "首次初始化料串，从配置中加载到当前料串信息：" + CurrShelf.ToStr());
                        return false;
                    }
                    else
                    {
                        RFIDData rfidD = RFIDManager.ReadRFID(Config.RfidIP);
                        CurrShelf = new ShelfInfo(rfidD.StrData, state, xnRfid);
+                        LogUtil.info(Name + "读取到当前料串信息：" + CurrShelf.ToStr());
                        BufferDataManager.SaveData<ShelfInfo>(configStr, CurrShelf);
-                        LogUtil.info(Name + "当前料串信息：" + CurrShelf.ToStr());
                    }
                }

--- a/source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
查看文件 @0c7360f
+++ b/source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
查看文件 @0c7360f
@@ -151,11 +151,11 @@ namespace OnlineStore.DeviceLibrary
            }
            else if (MoveInfo.IsStep(StepEnum.II09_UpdownToP1))
            {
-            //    MoveInfo.NextMoveStep(StepEnum.II09_MiddleToP1);
+                //    MoveInfo.NextMoveStep(StepEnum.II09_MiddleToP1);
-            //    MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  旋转轴到待机点P1 {Config.Middle_P1}");
+                //    MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  旋转轴到待机点P1 {Config.Middle_P1}");
-            //    UpdownAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                //    UpdownAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
-            //}else if (MoveInfo.IsStep(StepEnum.II09_MiddleToP1)) 
+                //}else if (MoveInfo.IsStep(StepEnum.II09_MiddleToP1)) 
-            //{ 
+                //{ 
                //如果是测试，直接开始取目标位置
                if (MoveInfo.MoveParam.PosInfo.barcode.EndsWith("TEST"))
                {
@@ -164,9 +164,9 @@ namespace OnlineStore.DeviceLibrary
                    StrartToTargetP(MoveInfo.MoveParam.PosInfo);
                }
                else
-                { 
+                {
                    II10_WaitAxisCheck();
-                } 
+                }
            }
            else if (MoveInfo.IsStep(StepEnum.II10_WaitAxisCheck))
            {
@@ -191,7 +191,7 @@ namespace OnlineStore.DeviceLibrary
                    MoveInfo.MoveParam.PosInfo.PlateH = Height;
                    MoveInfo.MoveParam.PosInfo.PlateW = width;
-                    MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  料盘尺寸{width}X{Height},开始获取库位号");
+                    MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  料盘尺寸{width}X{Height}");
                    II13_GetPosId();
                }
                else if (MoveInfo.IsTimeOut(60))
@@ -217,8 +217,8 @@ namespace OnlineStore.DeviceLibrary
                    }
                    StrartToTargetP(LastPosInfo);
                }
                else if (MoveInfo.IsTimeOut(15))
                {
@@ -229,16 +229,17 @@ namespace OnlineStore.DeviceLibrary
            #endregion
            #region 入料->A侧上暂存区
-            else if(MoveInfo.IsStep(StepEnum.II41_WaitNoReel))
+            else if (MoveInfo.IsStep(StepEnum.II41_WaitNoReel))
            {
-                if (BufferDataManager.AInStoreInfo == null||BufferDataManager.AInStoreInfo.PosId.Equals(""))
+                if (BufferDataManager.AInStoreInfo == null || BufferDataManager.AInStoreInfo.PosId.Equals(""))
-                { 
+                {
                    ClearTimeoutAlarm("A上暂存区物料拿走");
                    TrayHasLeave();
                    MoveInfo.NextMoveStep(StepEnum.II42_UpdownToP4);
                    MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
-                    UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed); 
+                    UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
-                }else if (MoveInfo.IsTimeOut(20))
+                }
+                else if (MoveInfo.IsTimeOut(20))
                {
                    MoveTimeOut(MoveInfo, "A上暂存区物料拿走");
                }
@@ -259,7 +260,7 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.IsStep(StepEnum.II44_UpdownToP5))
            {
                MoveInfo.NextMoveStep(StepEnum.II45_ClampRelax);
-                MoveLog($" 入料->A侧 {MoveInfo.SLog}: 夹爪放松"); 
+                MoveLog($" 入料->A侧 {MoveInfo.SLog}: 夹爪放松");
                ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
            }
            else if (MoveInfo.IsStep(StepEnum.II45_ClampRelax))
@@ -270,12 +271,20 @@ namespace OnlineStore.DeviceLibrary
            }
            else if (MoveInfo.IsStep(StepEnum.II46_UpdownToP4))
            {
-                MoveInfo.NextMoveStep(StepEnum.II47_MiddleToP1);
+                if (!BatchMove_A.IsInScanCode())
-                MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                {
-                MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                    MoveInfo.NextMoveStep(StepEnum.II47_MiddleToP1);
+                    MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                    MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                }
+                else if (MoveInfo.IsTimeOut(20))
+                {
+                    MoveTimeOut(MoveInfo, "等待" + BatchMove_A.Name + "扫码结束");
+                }
            }
            else if (MoveInfo.IsStep(StepEnum.II47_MiddleToP1))
-            { 
+            {
+                ClearTimeoutAlarm("扫码结束");
                MoveLog($" 入料->A侧放料结束，更新A上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}");
                BufferDataManager.AInStoreInfo = MoveInfo.MoveParam.PosInfo;
                MoveInfo.EndMove();
@@ -302,6 +311,7 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.IsStep(StepEnum.II62_UpdownToP10))
            {
                MoveInfo.NextMoveStep(StepEnum.II63_MiddleToP5);
+                MoveInfo.TimeOutSeconds = 10;
                MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P5 (B上暂存区放料点){Config.Middle_P5_BUpper}，等待{MiddleAxis.AxisName}原点信号亮");
                MiddleAxis.AbsMove(MoveInfo, Config.Middle_P5_BUpper, Config.Middle_P5_Speed);
                MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisOrg(MiddleAxis.Config, IO_VALUE.HIGH));
@@ -326,12 +336,21 @@ namespace OnlineStore.DeviceLibrary
            }
            else if (MoveInfo.IsStep(StepEnum.II66_UpdownToP10))
            {
-                MoveInfo.NextMoveStep(StepEnum.II67_MiddleToP1);
+                //需要等A侧料串不扫码时再过去
-                MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                if (!BatchMove_B.IsInScanCode())
-                MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                {
+                    MoveInfo.NextMoveStep(StepEnum.II67_MiddleToP1);
+                    MoveLog($" 入料->B侧 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                    MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                }
+                else if (MoveInfo.IsTimeOut(20))
+                {
+                    MoveTimeOut(MoveInfo, "等待" + BatchMove_B.Name + "扫码结束");
+                }
            }
            else if (MoveInfo.IsStep(StepEnum.II67_MiddleToP1))
            {
+                ClearTimeoutAlarm("扫码结束");
                MoveLog($" 入料->B侧放料结束，更新B上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}");
                BufferDataManager.BInStoreInfo = MoveInfo.MoveParam.PosInfo;
                MoveInfo.EndMove();
@@ -367,9 +386,19 @@ namespace OnlineStore.DeviceLibrary
            }
            else if (MoveInfo.IsStep(StepEnum.II85_UpdownToP8))
            {
-                MoveInfo.NextMoveStep(StepEnum.II86_MiddleToP1);
+                if (shelf.Equals(1))
-                MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                {
-                MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                    MoveLog($" 入料->NG箱放料结束");
+                    MoveInfo.EndMove();
+                    runStatus = RunStatus.Runing;
+                }
+                else
+                {
+                    //旋转轴暂不回待机点
+                    MoveInfo.NextMoveStep(StepEnum.II86_MiddleToP1);
+                    MoveLog($" 入料->NG箱 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                    MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                }
            }
            else if (MoveInfo.IsStep(StepEnum.II86_MiddleToP1))
            {

--- a/source/XLRStoreClient/inputForm/FrmBatchMove.Designer.cs
查看文件 @0c7360f
+++ b/source/XLRStoreClient/inputForm/FrmBatchMove.Designer.cs
查看文件 @0c7360f
@@ -44,6 +44,7 @@
            this.lblWarnMsg = new System.Windows.Forms.Label();
            this.btnReset = new System.Windows.Forms.Button();
            this.axisMoveControl1 = new OnlineStore.XLRStore.AxisMoveControl();
+            this.btnResetShelf = new System.Windows.Forms.Button();
            this.panel2.SuspendLayout();
            this.groupBox3.SuspendLayout();
            this.groupBox2.SuspendLayout();
@@ -272,6 +273,7 @@
            // panBase
            // 
            this.panBase.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.panBase.Controls.Add(this.btnResetShelf);
            this.panBase.Controls.Add(this.chbDebug);
            this.panBase.Controls.Add(this.btnScanTest);
            this.panBase.Controls.Add(this.lblAgvInfo);
@@ -290,7 +292,7 @@
            this.chbDebug.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
            this.chbDebug.AutoSize = true;
            this.chbDebug.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.chbDebug.Location = new System.Drawing.Point(312, 86);
+            this.chbDebug.Location = new System.Drawing.Point(178, 86);
            this.chbDebug.Name = "chbDebug";
            this.chbDebug.Size = new System.Drawing.Size(84, 24);
            this.chbDebug.TabIndex = 325;
@@ -303,7 +305,7 @@
            this.btnScanTest.BackColor = System.Drawing.Color.White;
            this.btnScanTest.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btnScanTest.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnScanTest.Location = new System.Drawing.Point(690, 78);
+            this.btnScanTest.Location = new System.Drawing.Point(562, 78);
            this.btnScanTest.Name = "btnScanTest";
            this.btnScanTest.Size = new System.Drawing.Size(120, 40);
            this.btnScanTest.TabIndex = 283;
@@ -328,7 +330,7 @@
            this.btnShelfOut.BackColor = System.Drawing.Color.White;
            this.btnShelfOut.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btnShelfOut.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnShelfOut.Location = new System.Drawing.Point(568, 78);
+            this.btnShelfOut.Location = new System.Drawing.Point(438, 78);
            this.btnShelfOut.Name = "btnShelfOut";
            this.btnShelfOut.Size = new System.Drawing.Size(120, 40);
            this.btnShelfOut.TabIndex = 281;
@@ -343,7 +345,7 @@
            this.chbAutoOut.Checked = true;
            this.chbAutoOut.CheckState = System.Windows.Forms.CheckState.Checked;
            this.chbAutoOut.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.chbAutoOut.Location = new System.Drawing.Point(398, 86);
+            this.chbAutoOut.Location = new System.Drawing.Point(266, 86);
            this.chbAutoOut.Name = "chbAutoOut";
            this.chbAutoOut.Size = new System.Drawing.Size(168, 24);
            this.chbAutoOut.TabIndex = 280;
@@ -383,7 +385,7 @@
            this.btnReset.BackColor = System.Drawing.Color.White;
            this.btnReset.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btnReset.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnReset.Location = new System.Drawing.Point(812, 78);
+            this.btnReset.Location = new System.Drawing.Point(810, 78);
            this.btnReset.Name = "btnReset";
            this.btnReset.Size = new System.Drawing.Size(120, 40);
            this.btnReset.TabIndex = 86;
@@ -398,6 +400,20 @@
            this.axisMoveControl1.Size = new System.Drawing.Size(490, 398);
            this.axisMoveControl1.TabIndex = 219;
            // 
+            // btnResetShelf
+            // 
+            this.btnResetShelf.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
+            this.btnResetShelf.BackColor = System.Drawing.Color.White;
+            this.btnResetShelf.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnResetShelf.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnResetShelf.Location = new System.Drawing.Point(686, 78);
+            this.btnResetShelf.Name = "btnResetShelf";
+            this.btnResetShelf.Size = new System.Drawing.Size(120, 40);
+            this.btnResetShelf.TabIndex = 326;
+            this.btnResetShelf.Text = "重置料串";
+            this.btnResetShelf.UseVisualStyleBackColor = false;
+            this.btnResetShelf.Click += new System.EventHandler(this.btnResetShelf_Click);
+            // 
            // FrmBatchMove
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
@@ -451,6 +467,7 @@
        private System.Windows.Forms.Button Shelf_StopUp_A;
        private System.Windows.Forms.Button LineStart_A;
        protected System.Windows.Forms.CheckBox chbDebug;
+        protected System.Windows.Forms.Button btnResetShelf;
    }
 }
--- a/source/XLRStoreClient/inputForm/FrmBatchMove.cs
查看文件 @0c7360f
+++ b/source/XLRStoreClient/inputForm/FrmBatchMove.cs
查看文件 @0c7360f
@@ -283,7 +283,14 @@ namespace OnlineStore.XLRStore
            LogUtil.info(moveBean.Name + "点击：" + LineStop_A.Text);
            moveBean.LineStop();
-        } 
+        }
+        private void btnResetShelf_Click(object sender, EventArgs e)
+        {
+            moveBean.Reset(true);
+            LogUtil.info(moveBean.Name + "点击：" + btnResetShelf.Text);
+        }
    }
 }