增加光栅处理。出入库增加耗时打印

LN
Commit b92723d4 由 LN 编写于 2021-08-23 10:13:26 +0800
source/Common/Setting_Init.cs
source/DeviceLibrary/Config/Config_BoxEquip.csv
source/DeviceLibrary/Config/Config_InputEquip.csv
source/DeviceLibrary/Config/linePositions - 副本.csv
source/DeviceLibrary/Config/linePositions.csv
source/DeviceLibrary/manager/StoreManager.cs
source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
source/XLRStoreClient/FrmXLRStore.Designer.cs
source/XLRStoreClient/FrmXLRStore.cs
--- a/source/Common/Setting_Init.cs
查看文件 @b92723d
+++ b/source/Common/Setting_Init.cs
查看文件 @b92723d
@@ -113,5 +113,6 @@ namespace OnlineStore.Common
        public static string AShelfInfo = "AShelfInfo";
        public static string BShelfInfo = "BShelfInfo";
+        public static string UseSecurityAccess = "UseSecurityAccess";
    }
 }
--- a/source/DeviceLibrary/Config/Config_BoxEquip.csv
查看文件 @b92723d
+++ b/source/DeviceLibrary/Config/Config_BoxEquip.csv
查看文件 @b92723d
 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,行走机构,MoveAxis,0,HC,,15000,300000,200000,5000,30000,60000,10,100,0,0
 AXIS,0,料斗拉取进出轴,PullAxis_Inout,1,HC,,50000,130000,130000,5000,50000,100000,10,100,0,0
 AXIS,0,移栽升降轴,UpdownAxis,2,HC,,150000,1000000,800000,2000,20000,50000,10,100,0,0
@@ -12,10 +12,10 @@ AXIS,0,B面移栽压紧轴,ComAxis_B,9,HC,,20000,50000,50000,2000,10000,20000,10
 ,,,,,,,,,,,,,,,,
 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_X坐标,Drawer_X,999.91,,,,,,,,,,,,
-PRO,0,抽屉Mark_Y坐标,Drawer_Y,862.94,,,,,,,,,,,,
+PRO,0,抽屉Mark_Y坐标,Drawer_Y,876.22,,,,,,,,,,,,
-PRO,0,抽屉Mark_X方向误差范围,Drawer_X_Error,3,,,,,,,,,,,,
+PRO,0,抽屉Mark_X方向误差范围,Drawer_X_Error,20000,,,,,,,,,,,,
-PRO,0,抽屉Mark_Y方向误差范围,Drawer_Y_Error,3,,,,,,,,,,,,
+PRO,0,抽屉Mark_Y方向误差范围,Drawer_Y_Error,20000,,,,,,,,,,,,
 PRO,0,抽屉行间距,Row_Spacing,850000,,,,,,,,,,,,
 PRO,0,抽屉列间距,Column_Spacing,333300,,,,,,,,,,,,
 PRO,0,抽屉层数,Drawer_Rows,15,,,,,,,,,,,,
@@ -35,7 +35,7 @@ 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_P9,1338069,,,,,,,,,,,,
 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_P11,660000,,,,,,,,,,,,
+PRO,0,移栽升降轴_B下暂存区取料低点P11,Updown_P11,651000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,料斗拉取升降轴_待机点P1,PullAxis_Updown_P1,0,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
@@ -46,7 +46,7 @@ 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,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,A面移栽压紧轴_待机点P1,ComAxis_A_P1,10000,,,,,,,,,,,,
+PRO,0,A面移栽压紧轴_待机点P1,ComAxis_A_P1,9000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,B面移栽X轴_待机点P1,XAxis_B_P1,661000,,,,,,,,,,,,
@@ -56,7 +56,7 @@ 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_P1,10000,,,,,,,,,,,,
+PRO,0,B面移栽压紧轴_待机点P1,ComAxis_B_P1,8000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 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,,,,,,,,,,,,
@@ -64,9 +64,9 @@ PRO,0,行走机构_P3速度,MoveAxis_P3_Speed,100000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,料斗拉取进出轴_P1速度,PullAxis_Inout_P1_Speed,100000,,,,,,,,,,,,
 PRO,0,料斗拉取进出轴_P2速度,PullAxis_Inout_P2_Speed,100000,,,,,,,,,,,,
-PRO,0,料斗拉取进出轴_P3速度,PullAxis_Inout_P3_Speed,80000,,,,,,,,,,,,
+PRO,0,料斗拉取进出轴_P3速度,PullAxis_Inout_P3_Speed,120000,,,,,,,,,,,,
 PRO,0,料斗拉取进出轴_P4速度,PullAxis_Inout_P4_Speed,100000,,,,,,,,,,,,
-PRO,0,料斗拉取进出轴_P5速度,PullAxis_Inout_P5_Speed,80000,,,,,,,,,,,,
+PRO,0,料斗拉取进出轴_P5速度,PullAxis_Inout_P5_Speed,100000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,移栽升降轴_P1速度,Updown_P1_Speed,200000,,,,,,,,,,,,
 PRO,0,移栽升降轴_P2速度,Updown_P2_Speed,100000,,,,,,,,,,,,
@@ -79,7 +79,7 @@ PRO,0,移栽升降轴_P8速度,Updown_P8_Speed,100000,,,,,,,,,,,,
 PRO,0,移栽升降轴_P9速度,Updown_P9_Speed,150000,,,,,,,,,,,,
 PRO,0,移栽升降轴_P10速度,Updown_P10_Speed,100000,,,,,,,,,,,,
 PRO,0,移栽升降轴_P11速度,Updown_P11_Speed,150000,,,,,,,,,,,,
-PRO,0,移栽升降轴_P12速度,Updown_P12_Speed,200000,,,,,,,,,,,,
+PRO,0,移栽升降轴_P12速度,Updown_P12_Speed,300000,,,,,,,,,,,,
 PRO,0,移栽升降轴_P13速度,Updown_P13_Speed,150000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,料斗拉取升降轴_P1速度,PullAxis_Updown_P1_Speed,200000,,,,,,,,,,,,
@@ -87,9 +87,9 @@ PRO,0,料斗拉取升降轴_P2速度,PullAxis_Updown_P2_Speed,400000,,,,,,,,,,,,
 PRO,0,料斗拉取升降轴_P3速度,PullAxis_Updown_P3_Speed,400000,,,,,,,,,,,,
 PRO,0,料斗拉取升降轴_P4速度,PullAxis_Updown_P4_Speed,400000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,A面移栽X轴_P1速度,XAxis_A_P1_Speed,100000,,,,,,,,,,,,
+PRO,0,A面移栽X轴_P1速度,XAxis_A_P1_Speed,400000,,,,,,,,,,,,
-PRO,0,A面移栽X轴_P2速度,XAxis_A_P2_Speed,100000,,,,,,,,,,,,
+PRO,0,A面移栽X轴_P2速度,XAxis_A_P2_Speed,400000,,,,,,,,,,,,
-PRO,0,A面移栽X轴_P3速度,XAxis_A_P3_Speed,100000,,,,,,,,,,,,
+PRO,0,A面移栽X轴_P3速度,XAxis_A_P3_Speed,400000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,A面移栽旋转轴_P1速度,MiddleAxis_A_P1_Speed,20000,,,,,,,,,,,,
 PRO,0,A面移栽旋转轴_P2速度,MiddleAxis_A_P2_Speed,60000,,,,,,,,,,,,
@@ -99,17 +99,17 @@ PRO,0,A面移栽压紧轴_P1速度,ComAxis_A_P1_Speed,20000,,,,,,,,,,,,
 PRO,0,A面移栽压紧轴_P2速度,ComAxis_A_P2_Speed,20000,,,,,,,,,,,,
 PRO,0,A面移栽压紧轴_P3速度,ComAxis_A_P3_Speed,20000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,B面移栽X轴_P1速度,XAxis_B_P1_Speed,400000,,,,,,,,,,,,
+PRO,0,B面移栽X轴_P1速度,XAxis_B_P1_Speed,800000,,,,,,,,,,,,
-PRO,0,B面移栽X轴_P2速度,XAxis_B_P2_Speed,400000,,,,,,,,,,,,
+PRO,0,B面移栽X轴_P2速度,XAxis_B_P2_Speed,800000,,,,,,,,,,,,
-PRO,0,B面移栽X轴_P3速度,XAxis_B_P3_Speed,400000,,,,,,,,,,,,
+PRO,0,B面移栽X轴_P3速度,XAxis_B_P3_Speed,800000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,B面移栽旋转轴_P1速度,MiddleAxis_B_P1_Speed,80000,,,,,,,,,,,,
+PRO,0,B面移栽旋转轴_P1速度,MiddleAxis_B_P1_Speed,120000,,,,,,,,,,,,
-PRO,0,B面移栽旋转轴_P2速度,MiddleAxis_B_P2_Speed,80000,,,,,,,,,,,,
+PRO,0,B面移栽旋转轴_P2速度,MiddleAxis_B_P2_Speed,120000,,,,,,,,,,,,
-PRO,0,B面移栽旋转轴_P3速度,MiddleAxis_B_P3_Speed,80000,,,,,,,,,,,,
+PRO,0,B面移栽旋转轴_P3速度,MiddleAxis_B_P3_Speed,120000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,0,B面移栽压紧轴_P1速度,ComAxis_B_P1_Speed,40000,,,,,,,,,,,,
+PRO,0,B面移栽压紧轴_P1速度,ComAxis_B_P1_Speed,60000,,,,,,,,,,,,
-PRO,0,B面移栽压紧轴_P2速度,ComAxis_B_P2_Speed,40000,,,,,,,,,,,,
+PRO,0,B面移栽压紧轴_P2速度,ComAxis_B_P2_Speed,60000,,,,,,,,,,,,
-PRO,0,B面移栽压紧轴_P3速度,ComAxis_B_P3_Speed,40000,,,,,,,,,,,,
+PRO,0,B面移栽压紧轴_P3速度,ComAxis_B_P3_Speed,60000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,0,A面料屉拉取进出轴_拍照点,PullAxis_Inout_CamA,10000,,,,,,,,,,,,
 PRO,0,B面料屉拉取进出轴_拍照点,PullAxis_Inout_CamB,10000,,,,,,,,,,,,

--- a/source/DeviceLibrary/Config/Config_InputEquip.csv
查看文件 @b92723d
+++ b/source/DeviceLibrary/Config/Config_InputEquip.csv
查看文件 @b92723d
@@ -2,7 +2,7 @@
 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,,30000,80000,80000,800,10000,30000,10,200,0,0
-AXIS,0,取料旋转轴,TakeAxis_Middle,13,HC,,10000,30000,30000,2000,8000,20000,10,200,0,0
+AXIS,0,取料旋转轴,TakeAxis_Middle,13,HC,,20000,80000,80000,2000,8000,20000,10,200,0,0
 ,,,,,,,,,,,,,,,,
 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,,,,,,,,,,,,
@@ -28,7 +28,7 @@ PRO,0,提升上料轴P3速度/料盘拿走后提升轴下降速度,BatchAxis_P3S
 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_P1,310000,,,,,,,,,,,,
-PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,395000,,,,,,,,,,,,
+PRO,0,取料升降轴_A料口取料点,Updown_P2_ATake,394000,,,,,,,,,,,,
 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,,,,,,,,,,,,
@@ -38,8 +38,8 @@ PRO,0,取料升降轴_NG料区放料高点,Updown_P8_NGH,310000,,,,,,,,,,,,
 PRO,0,取料升降轴_NG料区放料低点,Updown_P9_NGL,310000,,,,,,,,,,,,
 PRO,0,取料升降轴_B上暂存区放料高点,Updown_P10_BUpperH,18000,,,,,,,,,,,,
 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下暂存区取料高点,Updown_P12_BUnderH,310000,,,,,,,,,,,,
-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_B下暂存区取料低点,Updown_P13_BUnderL,370000,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 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,30000,,,,,,,,,,,,
@@ -56,18 +56,18 @@ 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,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,161570,,,,,,,,,,,,
+PRO,0,取料旋转轴_A料口取料点,Middle_P2_ATake,161988,,,,,,,,,,,,
 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,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_B上暂存区放料点,Middle_P5_BUpper,107,,,,,,,,,,,,
 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,250000,,,,,,,,,,,,
+PRO,0,取料旋转轴_A下暂存区取料点,Middle_P7_AUnder,250100,,,,,,,,,,,,
 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,0,取料旋转轴_P1速度,Middle_P1_Speed,80000,,,,,,,,,,,,
-PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,20000,,,,,,,,,,,,
+PRO,1,取料旋转轴_P2速度,Middle_P2_Speed,80000,,,,,,,,,,,,
-PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,20000,,,,,,,,,,,,
+PRO,2,取料旋转轴_P3速度,Middle_P3_Speed,80000,,,,,,,,,,,,
-PRO,3,取料旋转轴_P4速度,Middle_P4_Speed,20000,,,,,,,,,,,,
+PRO,3,取料旋转轴_P4速度,Middle_P4_Speed,80000,,,,,,,,,,,,
-PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,20000,,,,,,,,,,,,
+PRO,4,取料旋转轴_P5速度,Middle_P5_Speed,80000,,,,,,,,,,,,
-PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,20000,,,,,,,,,,,,
+PRO,5,取料旋转轴_P6速度,Middle_P6_Speed,80000,,,,,,,,,,,,
-PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,20000,,,,,,,,,,,,
+PRO,6,取料旋转轴_P7速度,Middle_P7_Speed,80000,,,,,,,,,,,,
-PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,20000,,,,,,,,,,,,
+PRO,7,取料旋转轴_P8速度,Middle_P8_Speed,80000,,,,,,,,,,,,
--- a/source/DeviceLibrary/Config/linePositions - 副本.csv 0 → 100644
查看文件 @b92723d
+++ b/source/DeviceLibrary/Config/linePositions - 副本.csv 0 → 100644
查看文件 @b92723d
--- a/source/DeviceLibrary/Config/linePositions.csv
查看文件 @b92723d
+++ b/source/DeviceLibrary/Config/linePositions.csv
查看文件 @b92723d
--- a/source/DeviceLibrary/manager/StoreManager.cs
查看文件 @b92723d
+++ b/source/DeviceLibrary/manager/StoreManager.cs
查看文件 @b92723d
@@ -18,6 +18,7 @@ namespace OnlineStore.DeviceLibrary
        public static int OutMoveId = 7;
        public static bool TrayToOutLineTest = false;
+        public static bool UseSecurityAccess = ConfigAppSettings.GetIntValue(Setting_Init.UseSecurityAccess).Equals(1);
        public static bool DisGetWare = false;
        public static bool UseBuzzer = ConfigAppSettings.GetIntValue(Setting_Init.UseBuzzer).Equals(1);

--- a/source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
查看文件 @b92723d
+++ b/source/DeviceLibrary/storeBean/inputBean/InputEquip.cs
查看文件 @b92723d
@@ -43,8 +43,8 @@ namespace OnlineStore.DeviceLibrary
            MiddleAxis = new AxisBean(config.TakeAxis_Middle, Name, false);
            UpdownAxis = new AxisBean(config.TakeAxis_Updown, Name, false);
-            BatchAxis_A = new AxisBean(config.BatchAxis_A, Name,true);
+            BatchAxis_A = new AxisBean(config.BatchAxis_A, Name, true);
-            BatchAxis_B = new AxisBean(config.BatchAxis_B, Name,true);
+            BatchAxis_B = new AxisBean(config.BatchAxis_B, Name, true);
            moveAxisArray = new AxisBean[] { MiddleAxis, UpdownAxis };
            if (config.UseClampJaw.Equals(1))
            {
@@ -62,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
            {
                config.MiddleOffsetValue = 40000;
            }
-            runStatus = RunStatus.Wait; 
+            runStatus = RunStatus.Wait;
        }
        #region 启动，复位，停止 处理
@@ -84,7 +84,7 @@ namespace OnlineStore.DeviceLibrary
            LogInfo("StartRun ： 开始启动 ");
            runStatus = RunStatus.HomeMoving;
-            MoveInfo.NewMove(MoveType.RHome,new InOutParam());
+            MoveInfo.NewMove(MoveType.RHome, new InOutParam());
            if (!BatchMove_A.Reset())
            {
@@ -121,7 +121,7 @@ namespace OnlineStore.DeviceLibrary
            }
            LogInfo("Reset  开始重置  ");
            runStatus = RunStatus.Reset;
-            MoveInfo.NewMove(MoveType.Reset,new InOutParam());
+            MoveInfo.NewMove(MoveType.Reset, new InOutParam());
            if (!BatchMove_A.Reset())
            {
                SetWarnMsg("复位失败：A料口复位失败");
@@ -178,21 +178,21 @@ namespace OnlineStore.DeviceLibrary
                int updownP = UpdownAxis.GetAclPosition();
                int middleP = MiddleAxis.GetAclPosition();
                int middleWucha = 20000;
                int updownWucha = 20000;
-                 //旋转轴在A暂存区
+                //旋转轴在A暂存区
-                  if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha))
+                if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha))
                {
                    //如果升降轴低于下方高点
-                    if(updownP> Config.Updown_P6_AUnderH- updownWucha)
+                    if (updownP > Config.Updown_P6_AUnderH - updownWucha)
-                    { 
+                    {
                        MoveInfo.NextMoveStep(StepEnum.IR02_UpdownUpMove);
                        LogInfo($"复位 {MoveInfo.SLog}：当前旋转轴在 A侧暂存区{middleP}，升降轴当前位置{updownP}，低于下方高点，升降轴先到P6:{Config.Updown_P6_AUnderH}");
                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
                    }
                    //升降轴高于上方低点
-                    else if(updownP<Config.Updown_P5_AUpperL+ updownWucha)
+                    else if (updownP < Config.Updown_P5_AUpperL + updownWucha)
                    {
                        MoveInfo.NextMoveStep(StepEnum.IR02_UpdownUpMove);
                        LogInfo($"复位 {MoveInfo.SLog}：当前旋转轴在 A侧暂存区{middleP}，升降轴当前位置{updownP}，高于上方低点，升降轴到上方高点P4:{Config.Updown_P4_AUpperH}");
@@ -203,18 +203,18 @@ namespace OnlineStore.DeviceLibrary
                        SetWarnMsg($"复位失败，当前旋转轴位置{middleP}，升降轴位置{updownP}，无法判断位于A侧暂存区上方或下方");
                        Alarm(AlarmType.SuddenStop);
                    }
-                } 
+                }
                else if (MiddleAxis.IsInPosition(Config.Middle_P5_BUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P8_BUnder, middleWucha))
                {
                    //如果升降轴低于下方高点
                    if (updownP > Config.Updown_P12_BUnderH - updownWucha)
-                    { 
+                    {
                        MoveInfo.NextMoveStep(StepEnum.IR02_UpdownUpMove);
                        LogInfo($"复位 {MoveInfo.SLog}：当前旋转轴在 B侧暂存区{middleP}，升降轴当前位置{updownP}，低于下方高点，升降轴先到12:{Config.Updown_P12_BUnderH}");
                        UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_BUnderH);
                    }
                    //升降轴高于上方低点
-                    else if (updownP<Config.Updown_P11_BUpperL+ updownWucha)
+                    else if (updownP < Config.Updown_P11_BUpperL + updownWucha)
                    {
                        MoveInfo.NextMoveStep(StepEnum.IR02_UpdownUpMove);
                        LogInfo($"复位 {MoveInfo.SLog}：当前旋转轴在 B侧暂存区{middleP}，升降轴当前位置{updownP}，高于上方低点，升降轴到上方高点P10:{Config.Updown_P10_BUpperH}");
@@ -225,7 +225,7 @@ namespace OnlineStore.DeviceLibrary
                        SetWarnMsg($"复位失败，当前旋转轴位置{middleP}，升降轴位置{updownP}，无法判断位于A侧暂存区上方或下方");
                        Alarm(AlarmType.SuddenStop);
                    }
-                } 
+                }
                else
                {
                    if (MiddleAxis.IsNeedHome)
@@ -366,6 +366,7 @@ namespace OnlineStore.DeviceLibrary
            {
                return;
            }
+            SecurityAccessProcess();
            BusyMoveProcess();
            IOTimeOutProcess();
            //判断流水线打开了才可以运行  
@@ -377,7 +378,7 @@ namespace OnlineStore.DeviceLibrary
                {
                    if (moveBean.MoveInfo.MoveType.Equals(MoveType.InStore) && moveBean.MoveInfo.IsStep(StepEnum.IB10_ScanOK))
                    {
-                        LogInfo(moveBean.Name + "开始取料:"+moveBean.GetInstoreParam().PosInfo.ToStr());
+                        LogInfo(moveBean.Name + "开始取料:" + moveBean.GetInstoreParam().PosInfo.ToStr());
                        StartInstore(moveBean.GetInstoreParam());
                        break;
                    }
@@ -552,10 +553,10 @@ namespace OnlineStore.DeviceLibrary
            }
        }
-        public  bool IsNoReelAlarm()
+        public bool IsNoReelAlarm()
        {
            if (runStatus.Equals(RunStatus.Busy) && alarmType.Equals(AlarmType.IoSingleTimeOut))
-            { 
+            {
                if (MoveInfo.MoveType.Equals(MoveType.InStore) && MoveInfo.MoveStep.Equals(StepEnum.II08_ClampWork))
                {
                    return true;
@@ -594,7 +595,7 @@ namespace OnlineStore.DeviceLibrary
                    //在A下暂存区
                    if (areaNum == 2)
                    {
-                        return true ;
+                        return true;
                    }
                }
                //升降轴高于上方低点
@@ -649,17 +650,17 @@ namespace OnlineStore.DeviceLibrary
        /// <returns></returns>
        public bool AxisIsInShelfUp(int shelfType)
        {
-            int middleP = MiddleAxis.GetAclPosition(); 
+            int middleP = MiddleAxis.GetAclPosition();
-            int middleWucha = 20000; 
+            int middleWucha = 20000;
            //旋转轴在A暂存区
-            if (MiddleAxis.IsInPosition(Config.Middle_P2_ATake, middleWucha) )
+            if (MiddleAxis.IsInPosition(Config.Middle_P2_ATake, middleWucha))
            {
                if (shelfType.Equals(1))
                {
                    return true;
                }
            }
-            else if (MiddleAxis.IsInPosition(Config.Middle_P3_BTake, middleWucha)  )
+            else if (MiddleAxis.IsInPosition(Config.Middle_P3_BTake, middleWucha))
            {
                if (shelfType.Equals(2))
                {
@@ -668,6 +669,84 @@ namespace OnlineStore.DeviceLibrary
            }
            return false;
        }
+        //光栅状态：0正常。1=安全门禁打开，已停止运动
+        private int CurrSecurityAccess = 0;
+        protected void SecurityAccessProcess()
+        {
+            try
+            {
+                if (!baseConfig.DIList.ContainsKey(IO_Type.SafetyRasterSignal))
+                {
+                    return;
+                }
+                if (CurrSecurityAccess.Equals(0) && StoreManager.UseSecurityAccess)
+                {
+                    if (BatchMove_A.ProcessShelfEnter || BatchMove_A.ProcessShelfOut)
+                    {
+                        return; 
+                    }
+                    if (BatchMove_B.ProcessShelfEnter || BatchMove_B.ProcessShelfOut)
+                    {
+                        return;
+                    }
+                    if (IOValue(IO_Type.SafetyRasterSignal).Equals(IO_VALUE.LOW))
+                    {
+                        SecurityAccessStop();
+                    }
+                }
+                else if (CurrSecurityAccess.Equals(1))
+                {
+                    if (IOValue(IO_Type.SafetyRasterSignal).Equals(IO_VALUE.HIGH))
+                    {
+                        SecurityAccessReset();
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + " 出错 ：" + ex.ToString());
+            }
+        }
+        private void SecurityAccessStop()
+        {
+            if (!baseConfig.DIList.ContainsKey(IO_Type.SafetyRasterSignal))
+            {
+                return;
+            }
+            CurrSecurityAccess = 1;
+            if (alarmType > (AlarmType.IoSingleTimeOut))
+            {
+                return;
+            }
+            ConfigIO di = baseConfig.DIList[IO_Type.SafetyRasterSignal];
+            LogUtil.info($"{Name }光栅被遮挡，停止当前运动{MoveInfo.MoveType},MoveStop={MoveStop}，报警急停");
+            SetWarnMsg("光栅被遮挡，报警急停");
+            Alarm(AlarmType.SuddenStop);
+        }
+        private void SecurityAccessReset()
+        {
+            if (!baseConfig.DIList.ContainsKey(IO_Type.SafetyRasterSignal))
+            {
+                return;
+            }
+            CurrSecurityAccess = 0;
+            MoveStop = false;
+            ConfigIO di = baseConfig.DIList[IO_Type.SafetyRasterSignal];
+            if (alarmType > (AlarmType.IoSingleTimeOut))
+            {
+                return;
+            }
+            //光栅恢复处理
+        }
    }
 }
--- a/source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
查看文件 @b92723d
+++ b/source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs
查看文件 @b92723d
@@ -56,6 +56,7 @@ namespace OnlineStore.DeviceLibrary
        }
        #region 入库
+        private DateTime startInTime = DateTime.Now;
        public override bool StartInstore(InOutParam param)
        {
            if (!NoAlarm())
@@ -68,6 +69,7 @@ namespace OnlineStore.DeviceLibrary
            {
                runStatus = RunStatus.Busy;
                MoveInfo.NewMove(MoveType.InStore, param);
+                startInTime = DateTime.Now;
                //if (MiddleAxis.IsInPosition(Config.Middle_P1))
                //{
                if (UpdownAxis.IsInPosition(Config.Updown_P1))
@@ -315,7 +317,8 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.IsStep(StepEnum.II47_MiddleToP1))
            {
                ClearTimeoutAlarm("扫码结束");
-                MoveLog($" 入料->A侧放料结束，更新A上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}");
+                TimeSpan span = DateTime.Now - startInTime;
+                MoveLog($" 入料->A侧放料结束，更新A上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}，耗时【{FormUtil.GetSpanStr(span)}】");
                BufferDataManager.AInStoreInfo = MoveInfo.MoveParam.PosInfo;
                MoveInfo.EndMove();
                runStatus = RunStatus.Runing;
@@ -401,7 +404,8 @@ namespace OnlineStore.DeviceLibrary
            else if (MoveInfo.IsStep(StepEnum.II67_MiddleToP1))
            {
                ClearTimeoutAlarm("扫码结束");
-                MoveLog($" 入料->B侧放料结束，更新B上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}");
+                TimeSpan span = DateTime.Now - startInTime;
+                MoveLog($" 入料->B侧放料结束，更新B上暂存区物料{MoveInfo.MoveParam.PosInfo.ToStr()}，耗时【{FormUtil.GetSpanStr(span)}】");
                BufferDataManager.BInStoreInfo = MoveInfo.MoveParam.PosInfo;
                MoveInfo.EndMove();
                runStatus = RunStatus.Runing;
@@ -452,7 +456,8 @@ namespace OnlineStore.DeviceLibrary
            }
            else if (MoveInfo.IsStep(StepEnum.II86_MiddleToP1))
            {
-                MoveLog($" 入料->NG箱放料结束");
+                TimeSpan span = DateTime.Now - startInTime;
+                MoveLog($" 入料->NG箱放料结束，耗时【{FormUtil.GetSpanStr(span)}】");
                MoveInfo.EndMove();
                runStatus = RunStatus.Runing;
            }
@@ -655,6 +660,7 @@ namespace OnlineStore.DeviceLibrary
        #endregion
        #region 出库
+        private DateTime startOutTime = DateTime.Now;
        public override bool StartOutstore(InOutParam param)
        {
            if (!NoAlarm())
@@ -671,6 +677,7 @@ namespace OnlineStore.DeviceLibrary
                {
                    runStatus = RunStatus.Busy;
                    MoveInfo.NewMove(MoveType.OutStore, param);
+                    startOutTime = DateTime.Now;
                    MoveInfo.NextMoveStep(StepEnum.IO01_ReelCheck);
                    if (!MiddleAxis.IsInPosition(Config.Middle_P1))
                    {
@@ -688,6 +695,7 @@ namespace OnlineStore.DeviceLibrary
                {
                    runStatus = RunStatus.Busy;
                    MoveInfo.NewMove(MoveType.OutStore, param);
+                    startOutTime = DateTime.Now;
                    MoveInfo.NextMoveStep(StepEnum.IO11_ReelCheck);
                    if (!MiddleAxis.IsInPosition(Config.Middle_P1))
                    {
@@ -900,7 +908,8 @@ namespace OnlineStore.DeviceLibrary
            {
                MoveInfo.EndMove();
                runStatus = RunStatus.Runing;
-                MoveLog($"出库->料串 {MoveInfo.SLog}: 放料完成");
+                TimeSpan span = DateTime.Now - startOutTime;
+                MoveLog($"出库->料串 {MoveInfo.SLog}: 放料完成，耗时【{FormUtil.GetSpanStr(span)}】");
            }
            #endregion

--- a/source/XLRStoreClient/FrmXLRStore.Designer.cs
查看文件 @b92723d
+++ b/source/XLRStoreClient/FrmXLRStore.Designer.cs
查看文件 @b92723d
@@ -83,6 +83,7 @@
            this.toolStripSeparator25 = new System.Windows.Forms.ToolStripSeparator();
            this.aGVCancelStateToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.toolStripSeparator17 = new System.Windows.Forms.ToolStripSeparator();
+            this.启用安全光栅ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.tabControl1.SuspendLayout();
            this.tabPage1.SuspendLayout();
            this.tabPage2.SuspendLayout();
@@ -137,7 +138,7 @@
            this.tabPage2.Controls.Add(this.panel1);
            this.tabPage2.Location = new System.Drawing.Point(4, 29);
            this.tabPage2.Name = "tabPage2";
-            this.tabPage2.Size = new System.Drawing.Size(988, 605);
+            this.tabPage2.Size = new System.Drawing.Size(192, 67);
            this.tabPage2.TabIndex = 1;
            this.tabPage2.Text = " 设备状态  ";
            this.tabPage2.UseVisualStyleBackColor = true;
@@ -148,7 +149,7 @@
            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
            this.panel1.Location = new System.Drawing.Point(0, 0);
            this.panel1.Name = "panel1";
-            this.panel1.Size = new System.Drawing.Size(988, 605);
+            this.panel1.Size = new System.Drawing.Size(192, 67);
            this.panel1.TabIndex = 1;
            // 
            // tableLayoutPanel1
@@ -173,7 +174,7 @@
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 14.28571F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 19.04762F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 19.04762F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(988, 605);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(192, 67);
            this.tableLayoutPanel1.TabIndex = 0;
            // 
            // InputControl
@@ -184,10 +185,10 @@
            this.tableLayoutPanel1.SetColumnSpan(this.InputControl, 2);
            this.InputControl.Dock = System.Windows.Forms.DockStyle.Fill;
            this.InputControl.EquipText = "上料机构";
-            this.InputControl.Location = new System.Drawing.Point(3, 376);
+            this.InputControl.Location = new System.Drawing.Point(3, 43);
            this.InputControl.MoveInfo = "暂无出入库";
            this.InputControl.Name = "InputControl";
-            this.InputControl.Size = new System.Drawing.Size(982, 109);
+            this.InputControl.Size = new System.Drawing.Size(186, 6);
            this.InputControl.TabIndex = 5;
            this.InputControl.WorkStatus = "暂未启动";
            // 
@@ -197,10 +198,10 @@
            this.ReelControlA1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.ReelControlA1.ColorStatus = System.Drawing.Color.White;
            this.ReelControlA1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlA1.Location = new System.Drawing.Point(3, 204);
+            this.ReelControlA1.Location = new System.Drawing.Point(3, 25);
            this.ReelControlA1.Name = "ReelControlA1";
            this.ReelControlA1.ReelText = "暂存区物料";
-            this.ReelControlA1.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlA1.Size = new System.Drawing.Size(90, 3);
            this.ReelControlA1.TabIndex = 0;
            // 
            // ReelControlA2
@@ -209,10 +210,10 @@
            this.ReelControlA2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.ReelControlA2.ColorStatus = System.Drawing.Color.White;
            this.ReelControlA2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlA2.Location = new System.Drawing.Point(3, 290);
+            this.ReelControlA2.Location = new System.Drawing.Point(3, 34);
            this.ReelControlA2.Name = "ReelControlA2";
            this.ReelControlA2.ReelText = "暂存区物料";
-            this.ReelControlA2.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlA2.Size = new System.Drawing.Size(90, 3);
            this.ReelControlA2.TabIndex = 1;
            // 
            // ReelControlB1
@@ -221,10 +222,10 @@
            this.ReelControlB1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.ReelControlB1.ColorStatus = System.Drawing.Color.White;
            this.ReelControlB1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlB1.Location = new System.Drawing.Point(497, 204);
+            this.ReelControlB1.Location = new System.Drawing.Point(99, 25);
            this.ReelControlB1.Name = "ReelControlB1";
            this.ReelControlB1.ReelText = "暂存区物料";
-            this.ReelControlB1.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlB1.Size = new System.Drawing.Size(90, 3);
            this.ReelControlB1.TabIndex = 2;
            // 
            // ReelControlB2
@@ -233,10 +234,10 @@
            this.ReelControlB2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
            this.ReelControlB2.ColorStatus = System.Drawing.Color.White;
            this.ReelControlB2.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.ReelControlB2.Location = new System.Drawing.Point(497, 290);
+            this.ReelControlB2.Location = new System.Drawing.Point(99, 34);
            this.ReelControlB2.Name = "ReelControlB2";
            this.ReelControlB2.ReelText = "暂存区物料";
-            this.ReelControlB2.Size = new System.Drawing.Size(488, 80);
+            this.ReelControlB2.Size = new System.Drawing.Size(90, 3);
            this.ReelControlB2.TabIndex = 3;
            // 
            // BoxControl
@@ -250,7 +251,7 @@
            this.BoxControl.Location = new System.Drawing.Point(3, 3);
            this.BoxControl.MoveInfo = "暂无出入库";
            this.BoxControl.Name = "BoxControl";
-            this.BoxControl.Size = new System.Drawing.Size(982, 195);
+            this.BoxControl.Size = new System.Drawing.Size(186, 16);
            this.BoxControl.TabIndex = 4;
            this.BoxControl.WorkStatus = "暂未启动";
            // 
@@ -261,10 +262,10 @@
            this.ShelfAControl.ColorStatus = System.Drawing.Color.White;
            this.ShelfAControl.Dock = System.Windows.Forms.DockStyle.Fill;
            this.ShelfAControl.EquipText = "A料口";
-            this.ShelfAControl.Location = new System.Drawing.Point(3, 491);
+            this.ShelfAControl.Location = new System.Drawing.Point(3, 55);
            this.ShelfAControl.MoveInfo = "暂无出入库";
            this.ShelfAControl.Name = "ShelfAControl";
-            this.ShelfAControl.Size = new System.Drawing.Size(488, 111);
+            this.ShelfAControl.Size = new System.Drawing.Size(90, 9);
            this.ShelfAControl.TabIndex = 6;
            this.ShelfAControl.WorkStatus = "暂未启动";
            // 
@@ -275,10 +276,10 @@
            this.ShelfBControl.ColorStatus = System.Drawing.Color.White;
            this.ShelfBControl.Dock = System.Windows.Forms.DockStyle.Fill;
            this.ShelfBControl.EquipText = "B料口";
-            this.ShelfBControl.Location = new System.Drawing.Point(497, 491);
+            this.ShelfBControl.Location = new System.Drawing.Point(99, 55);
            this.ShelfBControl.MoveInfo = "暂无出入库";
            this.ShelfBControl.Name = "ShelfBControl";
-            this.ShelfBControl.Size = new System.Drawing.Size(488, 111);
+            this.ShelfBControl.Size = new System.Drawing.Size(90, 9);
            this.ShelfBControl.TabIndex = 7;
            this.ShelfBControl.WorkStatus = "暂未启动";
            // 
@@ -533,7 +534,8 @@
            this.启用蜂鸣器ToolStripMenuItem,
            this.toolStripSeparator25,
            this.aGVCancelStateToolStripMenuItem,
-            this.toolStripSeparator17});
+            this.toolStripSeparator17,
+            this.启用安全光栅ToolStripMenuItem});
            this.运行参数ToolStripMenuItem.Name = "运行参数ToolStripMenuItem";
            this.运行参数ToolStripMenuItem.Size = new System.Drawing.Size(86, 25);
            this.运行参数ToolStripMenuItem.Text = "运行参数";
@@ -576,6 +578,13 @@
            this.toolStripSeparator17.Size = new System.Drawing.Size(203, 6);
            this.toolStripSeparator17.Visible = false;
            // 
+            // 启用安全光栅ToolStripMenuItem
+            // 
+            this.启用安全光栅ToolStripMenuItem.Name = "启用安全光栅ToolStripMenuItem";
+            this.启用安全光栅ToolStripMenuItem.Size = new System.Drawing.Size(206, 26);
+            this.启用安全光栅ToolStripMenuItem.Text = "启用安全光栅";
+            this.启用安全光栅ToolStripMenuItem.Click += new System.EventHandler(this.启用安全光栅ToolStripMenuItem_Click);
+            // 
            // FrmXLRStore
            // 
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -664,6 +673,7 @@
        private EquipControl BoxControl;
        private EquipControl ShelfAControl;
        private EquipControl ShelfBControl;
+        private System.Windows.Forms.ToolStripMenuItem 启用安全光栅ToolStripMenuItem;
    }
 }
--- a/source/XLRStoreClient/FrmXLRStore.cs
查看文件 @b92723d
+++ b/source/XLRStoreClient/FrmXLRStore.cs
查看文件 @b92723d
@@ -53,6 +53,14 @@ namespace OnlineStore.XLRStore
            this.notifyIcon1.Visible = false;
            this.ShowInTaskbar = true;
            this.Cursor = Cursors.Default;
+            if (StoreManager.UseSecurityAccess)
+            {
+                启用安全光栅ToolStripMenuItem.Text = gouStr + "启用安全光栅";
+            }
+            else
+            {
+                启用安全光栅ToolStripMenuItem.Text = "启用安全光栅";
+            }
            //tabControl1.TabPages.Remove(tabPage5);
            timer1.Start();
        }
@@ -695,5 +703,30 @@ namespace OnlineStore.XLRStore
                inputEquip.FrmInputEquip_VisibleChanged(null, null);
            }
        }
+        private void 启用安全光栅ToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            if (!LoadOk)
+            {
+                return;
+            }
+            bool result = !启用安全光栅ToolStripMenuItem.Text.Contains(gouStr);
+            if (result.Equals(StoreManager.UseSecurityAccess))
+            {
+                return;
+            }
+            StoreManager.UseSecurityAccess = result;
+            ConfigAppSettings.SaveValue(Setting_Init.UseSecurityAccess, (StoreManager.UseSecurityAccess ? 1 : 0));
+            if (result)
+            {
+                启用安全光栅ToolStripMenuItem.Text = gouStr + " 启用安全光栅";
+            }
+            else
+            {
+                启用安全光栅ToolStripMenuItem.Text = "启用安全光栅";
+            }
+            LogUtil.info(Name + " 点击：" + 启用安全光栅ToolStripMenuItem.Text);
+        }
    }
 }