1.出料时料串多下降。2.入库旋转和上升可以一起动作。3.增加复位键启动功能

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -32,7 +32,6 @@ namespace OnlineStore.DeviceLibrary
          
         protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            AutoStartProcess();
             TimerProcess();
         }
 
@@ -130,7 +129,7 @@ namespace OnlineStore.DeviceLibrary
             }
         }
 
-        protected void AutoStartProcess()
+        internal void AutoStartProcess()
         {
             DateTime time = DateTime.Now;
             if (runStatus.Equals(RunStatus.Wait))

source/DeviceLibrary/storeBean/XLRStoreBean.cs

@@ -294,6 +294,9 @@ namespace OnlineStore.DeviceLibrary
                             break;
                         default: break;
                     }
+
+                    inputEquip.AutoStartProcess();
+                    boxEquip.AutoStartProcess();
                 }
                 catch (Exception ex)
                 {

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -556,8 +556,16 @@ namespace OnlineStore.DeviceLibrary
                 UpdateShelf(2, xnRfid);
                 MoveInfo.NextMoveStep(StepEnum.IS12_AxisDown);
                 MoveInfo.MoveParam.PosInfo = posInfo;
+
+                //如果料盘检测信号亮或者是上料目标位置，需要多下降20mm
+                int downValueMM = 4;
+                if (Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH) || BatchAxis.IsInPosition(Config.BatchAxisP2))
+                {
+                    downValueMM = 20;
+                }
+
                 int currPositon = BatchAxis.GetAclPosition();
-                int downValue = Robot.Config.Height_ChangeValue * (posInfo.PlateH + 2);
+                int downValue = Robot.Config.Height_ChangeValue * (posInfo.PlateH + downValueMM);
                 int batchTP = currPositon - downValue;
                 if (batchTP <= Config.BatchAxisP1)
                 {
@@ -588,9 +596,9 @@ namespace OnlineStore.DeviceLibrary
         }
 
         private void CheckShelfIsFull()
-        {
+        {            
             int currPositon = BatchAxis.GetAclPosition();
-            int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 2);
+            int nextP = currPositon - Robot.Config.Height_ChangeValue * (8 + 20);
             if (nextP <= Config.BatchAxisP1)
             {
                 if (Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH))

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

@@ -340,7 +340,6 @@ namespace OnlineStore.DeviceLibrary
             AgvClient.SetStatus(Config.AgvName_A);
             AgvClient.SetStatus(Config.AgvName_B);
 
-            runStatus = RunStatus.Wait;
             MoveInfo.EndMove();
 
             BatchMove_A.StopMove();

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -244,11 +244,19 @@ namespace OnlineStore.DeviceLibrary
                 }
             }
             else if (MoveInfo.IsStep(StepEnum.II41_MiddleTWaitP4))
-            { 
-                TrayHasLeave();
-                MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel);
-                MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  等待A上暂存区无料");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW));
+            {
+                if (UpdownAxis.IsInPosition(Config.Updown_P4_AUpperH))
+                {
+                    TrayHasLeave();
+                    MoveInfo.NextMoveStep(StepEnum.II42_WaitNoReel);
+                    MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  等待A上暂存区无料");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_A, IO_VALUE.LOW));
+                }
+                else
+                {
+                    II41_MiddleTWaitP4();
+                }
+            
             }
             else if (MoveInfo.IsStep(StepEnum.II42_WaitNoReel))
             {
@@ -333,10 +341,17 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(StepEnum.II61_MiddleToWaitP5))
             {
-                TrayHasLeave();
-                MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
-                MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待B上暂存区无料");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW));
+                if (UpdownAxis.IsInPosition(Config.Updown_P10_BUpperH))
+                {
+                    TrayHasLeave();
+                    MoveInfo.NextMoveStep(StepEnum.II62_WaitNoReel);
+                    MoveLog($"入库取料{shelf}{MoveInfo.SLog}: 等待B上暂存区无料");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_Check_B, IO_VALUE.LOW));
+                }
+                else
+                {
+                    II61_MiddleToWaitP5();
+                }
             }
             else if (MoveInfo.IsStep(StepEnum.II62_WaitNoReel))
             {
@@ -499,20 +514,40 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (lastPosInfo.GetPosSide().Equals("A"))
             {
-                MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4);
-                MoveLog($" 入料->A侧 {MoveInfo.SLog}:  A侧入库料{lastPosInfo.ToStr()}, 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
-                UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
-
+                //MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4);
+                //MoveLog($" 入料->A侧 {MoveInfo.SLog}:  A侧入库料{lastPosInfo.ToStr()}, 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);
+                II41_MiddleTWaitP4();
+               
             }
             else
             {
-                MoveInfo.NextMoveStep(StepEnum.II60_UpdownToP10);
-                MoveLog($" 入料->B侧 {MoveInfo.SLog}:  B侧入库料{lastPosInfo.ToStr()} ，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
-                UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
-
+                //MoveInfo.NextMoveStep(StepEnum.II60_UpdownToP10);
+                //MoveLog($" 入料->B侧 {MoveInfo.SLog}:  B侧入库料{lastPosInfo.ToStr()} ，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
+                //UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
+                II61_MiddleToWaitP5(); 
             }
         }
 
+        private void II61_MiddleToWaitP5()
+        {
+            int targetValue = Config.Middle_P5_BUpper + Config.MiddleOffsetValue;
+            MoveInfo.NextMoveStep(StepEnum.II61_MiddleToWaitP5);
+            MoveLog($" 入料->B侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}， 旋转轴 到P5{Config.Middle_P5_BUpper}-{Config.MiddleOffsetValue}=目标{targetValue}位置等待暂存区无料");
+            UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
+            MiddleAxis.AbsMove(MoveInfo, targetValue, Config.Middle_P5_Speed);
+        }
+
+        private void II41_MiddleTWaitP4()
+        {
+            int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
+            MoveInfo.NextMoveStep(StepEnum.II41_MiddleTWaitP4);
+            UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
+            MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}， 旋转轴 到P4{Config.Middle_P4_AUpper}-{Config.MiddleOffsetValue}=目标{targetV}位置等待暂存区无料");
+            UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
+            MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P4_Speed);
+        }
+
         private Task getPosTask = null;
         private InOutPosInfo LastPosInfo = null;
         private int LastResult = 0;

source/XLRStoreClient/inputForm/FrmInputEquip.cs

@@ -186,6 +186,7 @@ namespace OnlineStore.XLRStore
                 clampJawControl1.UpdateSta();
                 ReadIOList();
                 lblName.BackColor = inputEquip.GetShowColor();
+                lblStoreStatus.Text = inputEquip.GetRunStr();
                 if (inputEquip.runStatus > RunStatus.Wait)
                 {
                     if (btnStart.Enabled)