库位调试添加抽屉到位检测

source/DeviceLibrary/storeBean/boxBean/BoxEquip_PosDebug.cs

@@ -299,7 +299,18 @@ namespace OnlineStore.DeviceLibrary
 
                 case StepEnum.SP_23_PutDrawerDown:
                     MoveInfo.NextMoveStep(StepEnum.SP_24_InoutBack);
-                    LogInfo($"库位调试 {MoveInfo.SLog}：进出轴返回拍照点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    if (CheckASide())
+                    {
+                        LogInfo($"库位调试 {MoveInfo.SLog}：进出轴返回拍照点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                        if (!GetShieldState(sheidAColmns[GetPosColumn()]))
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.HIGH));
+                    }
+                    else
+                    {
+                        LogInfo($"库位调试 {MoveInfo.SLog}：进出轴返回拍照点,同时检测{trayBColumns[GetPosColumn()]} = 1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                        if (!GetShieldState(sheidBColmns[GetPosColumn()]))
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.HIGH));
+                    }
                     PullAxis_Inout_To_Cam(true);
                     break;
 

source/XLRStoreClient/inputForm/FrmInputEquip.cs

@@ -806,6 +806,7 @@ namespace OnlineStore.XLRStore
                 }
                 cnt++;
                 LogUtil.info($"夹爪释放夹紧{cnt}次");
+                Thread.Sleep(8000);
             }
 
         }