出库从暂存区拿走料盘后，需要等待检测信号消失

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -932,6 +932,10 @@ namespace OnlineStore.DeviceLibrary
         /// A侧出料：取料升降轴SVD12   运动到P6（A下暂存区取料高点）
         /// A侧出料：取料升降轴SVD12   运动到P6（A下暂存区取料高点）
         /// </summary>
         /// </summary>
         IO06_UpdownToP6,
         IO06_UpdownToP6,
+        /// <summary>
+        /// A侧出料: 等待等待 X54（A出料下暂存区料盘检测）=0
+        /// </summary>
+        IO07_WaitReelCheckLow,
 
 
         #endregion
         #endregion
 
 
@@ -966,13 +970,18 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         /// </summary>
         IO16_UpdownToP6,
         IO16_UpdownToP6,
 
 
+        /// <summary>
+        /// B侧出料：等待 X56（A出料下暂存区料盘检测）=0
+        /// </summary>
+        IO17_WaitReelCheckLow,
+
         #endregion
         #endregion
 
 
         #region 出库到料串
         #region 出库到料串
         /// <summary>
         /// <summary>
         /// 出库：判断到那个料串，等待料串准备完成
         /// 出库：判断到那个料串，等待料串准备完成
         /// </summary>
         /// </summary>
-        IO21_WaitShelfReady=1221,
+        IO21_WaitShelfReady =1221,
 
 
         /// <summary>
         /// <summary>
         /// 出库->A料串：批量轴运动到位
         /// 出库->A料串：批量轴运动到位

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -814,13 +814,30 @@ namespace OnlineStore.DeviceLibrary
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
             }
             }
             else if (MoveInfo.IsStep(StepEnum.IO06_UpdownToP6))
             else if (MoveInfo.IsStep(StepEnum.IO06_UpdownToP6))
-            { 
+            {
+                //判断料盘信号是否消失 
+                if (IOValue(IO_Type.UnderArea_Check_A).Equals(IO_VALUE.LOW))
+                {
+                    if (!MiddleToShelf())
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
+                        MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 等待料串可放料");
+                    }
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(StepEnum.IO07_WaitReelCheckLow);
+                    MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 料盘已拿走，等待料盘检测信号=0");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UnderArea_Check_A, IO_VALUE.LOW)); 
+                } 
+            }
+            else if (MoveInfo.IsStep(StepEnum.IO07_WaitReelCheckLow))
+            {
                 if (!MiddleToShelf())
                 if (!MiddleToShelf())
                 {
                 {
                     MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
                     MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
                     MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 等待料串可放料");
                     MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 等待料串可放料");
                 }
                 }
-
             }
             }
             #endregion
             #endregion
 
 
@@ -859,7 +876,25 @@ namespace OnlineStore.DeviceLibrary
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed);
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed);
             }
             }
             else if (MoveInfo.IsStep(StepEnum.IO16_UpdownToP6))
             else if (MoveInfo.IsStep(StepEnum.IO16_UpdownToP6))
-            { 
+            {
+                //判断料盘信号是否消失
+                if (IOValue(IO_Type.UnderArea_Check_B).Equals(IO_VALUE.LOW))
+                {
+                    if (!MiddleToShelf())
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
+                        MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 等待料串可放料");
+                    }
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(StepEnum.IO17_WaitReelCheckLow);
+                    MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 料盘已拿走，等待料盘检测信号=0");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UnderArea_Check_B, IO_VALUE.LOW));
+                }
+            }
+            else if (MoveInfo.IsStep(StepEnum.IO17_WaitReelCheckLow))
+            {
                 if (!MiddleToShelf())
                 if (!MiddleToShelf())
                 {
                 {
                     MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
                     MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
@@ -918,7 +953,7 @@ namespace OnlineStore.DeviceLibrary
                 if (shelf.Equals(1))
                 if (shelf.Equals(1))
                 {
                 {
                     BatchMove_A.ReelPutOk();
                     BatchMove_A.ReelPutOk();
-                    SServerManager.ShelfFinish(BatchMove_A.CurrShelf.ShelfRfid,MoveInfo.MoveParam.PosInfo.barcode);
+                    SServerManager.ShelfFinish(BatchMove_A.CurrShelf.ShelfRfid, MoveInfo.MoveParam.PosInfo.barcode);
                 }
                 }
                 else
                 else
                 {
                 {