1

DeviceLibrary/theMachine/MoveInfo.cs

@@ -33,6 +33,7 @@ namespace DeviceLibrary
         public bool OneWaitCanEndStep = false;
 
         public ReelParam MoveParam { get; set; }
+        public RemoteLoad remoteLoad { get; set; }
 
         public bool IsInWait { get; set; }
 

DeviceLibrary/theMachine/sub/SideMove.cs

@@ -91,8 +91,12 @@ namespace DeviceLibrary
             else if (DeviceState == DeviceStateE.Run)
             {
                 if (LS_Type == LS_TypeE.NoRfid)
+                {
                     NoRfidProcess();
-                else {
+                    NoRfidProcessB();
+                }
+                else
+                {
                     OneWayProcess(LSAMoveInfo);
                     OneWayProcess(LSBMoveInfo);
                 }
@@ -125,7 +129,7 @@ namespace DeviceLibrary
                     {
                         LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
                         Location_A.ToLow(LSAMoveInfo);
-                        Location_B.ToLow(LSAMoveInfo);
+                        //Location_B.ToLow(LSAMoveInfo);
 
                         IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
 
@@ -158,9 +162,16 @@ namespace DeviceLibrary
                             LSAMoveInfo.log("托盘进入失败");
                         }
                     }                    
-                    
                     break;
                 case MoveStep.SideMove_04:
+                    if (LSBMoveInfo.MoveStep==MoveStep.Wait)
+                    {
+                        LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06);
+                        Location_A.ToHigh(LSAMoveInfo);
+                        Location_B.ToHigh(LSAMoveInfo);
+                    }
+                    break;
+                case MoveStep.SideMove_05:
                     LSAMoveInfo.NextMoveStep(MoveStep.SideMove_06);
                     Location_A.ToHigh(LSAMoveInfo);
                     Location_B.ToHigh(LSAMoveInfo);
@@ -175,24 +186,39 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.SideMove_08:
                     LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09);
-                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
                     break;
                 case MoveStep.SideMove_09:
                     LSAMoveInfo.NextMoveStep(MoveStep.SideMove_10);
                     Line.LineStop("n");
                     Location_A.ToLow(LSAMoveInfo);
                     Location_B.ToLow(LSAMoveInfo);
+                    LSBMoveInfo.NextMoveStep(MoveStep.SideMove_01);
                     break;
                 case MoveStep.SideMove_10:
-                    LSAMoveInfo.NextMoveStep(MoveStep.SideMove_11);
-                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.LOW));
+                    LSAMoveInfo.NextMoveStep(MoveStep.SideMove_01);
                     break;
-                case MoveStep.SideMove_11:
-                    LSAMoveInfo.NextMoveStep(MoveStep.SideMove_12);
-                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+            }
+        }
+        public void NoRfidProcessB()
+        {
+            if (CheckWait(LSBMoveInfo))
+                return;
+
+            switch (LSBMoveInfo.MoveStep)
+            {
+                case MoveStep.Wait:
                     break;
-                case MoveStep.SideMove_12:
-                    LSAMoveInfo.NewMove(MoveStep.SideMove_01);
+                case MoveStep.SideMove_01:
+                    LSBMoveInfo.NextMoveStep(MoveStep.SideMove_02);
+                    LSBMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Ls_B_Tray_Check, IO_VALUE.LOW));
+                    break;
+                case MoveStep.SideMove_02:
+                    LSBMoveInfo.NextMoveStep(MoveStep.SideMove_03);
+                    LSBMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    break;
+                case MoveStep.SideMove_03:
+                    LSBMoveInfo.NewMove(MoveStep.Wait);
                     break;                
             }
         }

DeviceLibrary/theMachine/sub/TransplantMove.cs

@@ -252,11 +252,14 @@ namespace DeviceLibrary
                     axis.AbsMove(MoveInfo, AMH_TS_P2, Config.AMH_TS_P1_speed);
                     IOMove(IO_Type.AMH_Sucker, IO_VALUE.HIGH);
                     MoveInfo.log($"PlateH:{MoveInfo.MoveParam.PlateH},AMH_TS_P2:{AMH_TS_P2},ReelHeight:{ReelHeight},MetrialGetRetry:{MetrialGetRetry}");
+
                     break;
                 case MoveStep.TransplantMove_12:
                     MoveInfo.NextMoveStep(MoveStep.TransplantMove_13);
                     axis.AbsMove(MoveInfo, Config.AMH_TS_P1, Config.AMH_TS_P1_speed);
                     MoveInfo.log("取料轴到P1");
+                    if (MoveInfo.MoveParam.PlateH == 120 && MoveInfo.MoveParam.PlateW == 330)
+                        Location.ToLow(MoveInfo);
                     break;
                 case MoveStep.TransplantMove_13:
                     if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
@@ -271,6 +274,8 @@ namespace DeviceLibrary
                             RobotManage.UserPause($"{MoveInfo.Name}取料失败");
                         }
                         MoveInfo.NextMoveStep(MoveStep.TransplantMove_11);
+                        if (MoveInfo.MoveParam.PlateH == 120 && MoveInfo.MoveParam.PlateW == 330)
+                            Location.ToHigh(MoveInfo);
                     }
                     break;
                 case MoveStep.TransplantMove_14:

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -165,7 +165,8 @@ namespace DeviceLibrary
                             {
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
                                 //抵达了一个有物料的托盘等待处理
-                            }
+                            }else
+                                MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
                             return;
                         }
                         #endregion
@@ -179,6 +180,8 @@ namespace DeviceLibrary
                             if (trayInfo.TrayParam!=null)
                                 remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
                             remoteLoad.RequestLoadInfo.IsEmpty = true;
+
+                            MoveInfo.remoteLoad = remoteLoad;
                             if (RemoteService.SendAndWait(GroupName, remoteLoad)!=RemoteResult.True)
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
 
@@ -196,6 +199,7 @@ namespace DeviceLibrary
                             remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
                             remoteLoad.RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
                             remoteLoad.RequestLoadInfo.IsEmpty = false;
+                            MoveInfo.remoteLoad = remoteLoad;
                             var result = RemoteService.SendAndWait(GroupName, remoteLoad);
                             if (result != RemoteResult.True)
                             {