1

Common/Setting_Init.cs

@@ -44,17 +44,24 @@ namespace OnlineStore.Common
 
         [MyConfigComment("URRobot_MI1_IP")]
         public static MyConfig<string> URRobot_MI1_IP;
+
+        [MyConfigComment("URRobot_MI1_监听端口")]
+        public static MyConfig<int> URRobot_MI1_ListenPort = 21;
+
         [MyConfigComment("URRobot_MI1_速度倍率")]
         public static MyConfig<int> URRobot_MI1_Speed_Rate = 50;
         [MyConfigComment("URRobot_MI2_IP")]
         public static MyConfig<string> URRobot_MI2_IP;
+        [MyConfigComment("URRobot_MI2_监听端口")]
+        public static MyConfig<int> URRobot_MI2_ListenPort = 41;
         [MyConfigComment("URRobot_MI2_速度倍率")]
         public static MyConfig<int> URRobot_MI2_Speed_Rate = 50;
         [MyConfigComment("URRobot_CI_IP")]
         public static MyConfig<string> URRobot_CI_IP;
         [MyConfigComment("URRobot_CI_速度倍率")]
         public static MyConfig<int> URRobot_CI_Speed_Rate = 50;
-
+        [MyConfigComment("URRobot_CI_监听端口")]
+        public static MyConfig<int> URRobot_CI_ListenPort = 31;
 
 
 

DeviceLibrary/DeviceLibrary/RobotMoveHelper.cs

@@ -45,7 +45,7 @@ namespace DeviceLibrary
                 {
                     robot.SendCMD("unlock protective stop", 0);
                     lastWeight = lastWeight + 1;
-                    if (lastWeight > 4)
+                    if (lastWeight > 3)
                         lastWeight = 1;
                     robot.log("触发保护性停止,调节负载重量:" + lastWeight);
                     return;
@@ -110,19 +110,20 @@ namespace DeviceLibrary
         }
 
         public bool IsMoveOk(WaitResultInfo waitResultInfo) {
-            if (robot.CurCmdReponse.Contains($"{lastMoveCmd},done"))
+            //if (robot.CurCmdReponse.Contains($"{lastMoveCmd},done"))
+            if (robot.CurCmdReponse.StartsWith(lastMoveCmd.ToString()) && robot.CurCmdReponse.EndsWith("done"))
                 return true;
             else if (robot.CurCmdReponse.Contains($"done") || retrytime>1)
             {
                 retrytime = 0;
-                LogUtil.error($"机器人没有移动到位,重新移动:{lastMoveCmd},{lastWeight}");
+                robot.log($"机器人没有移动到位,重新移动:{lastMoveCmd},{lastWeight},{robot.CurCmdReponse}");
                 robot.SendMoveCmd(lastMoveCmd, lastSpeedRate, false, LoadRateParam[lastWeight]);
                 return false;
             }
             else if ((DateTime.Now - LastMoveTime).TotalSeconds>30) {
                 retrytime++;
                 LastMoveTime = DateTime.Now;
-                LogUtil.error($"机器人超过30秒没有反馈,停止程序重试");
+                robot.log($"机器人超过30秒没有反馈,停止程序重试");
                 robot.StopProgram();
                 return false;
             }
@@ -141,12 +142,12 @@ namespace DeviceLibrary
         /// key=load kg, value = load lb,x,y,z
         /// </summary>
         public static Dictionary<int, float[]> LoadRateParam = new Dictionary<int, float[]>() {
-            { 0, new float[] { 4.5f, 0, 37 / 100f, 100 / 100f } },
-            { 1, new float[] { 5.5f, 0, 37 / 100f, 146 / 100f } },
-            { 2, new float[] { 6.5f, 0, 37 / 100f, 174 / 100f } },
-            { 3, new float[] { 7.5f, 0, 37 / 100f, 204 / 100f } },
-            { 4, new float[] { 8.5f, 0, 37 / 100f, 212 / 100f } },
-            { 5, new float[] { 9.5f, 0, 37 / 100f, 224 / 100f } }
+            { 0, new float[] { 4.5f, 0, 37 / 1000f, 100 / 1000f } },
+            { 1, new float[] { 5.5f, 0, 37 / 1000f, 146 / 1000f } },
+            { 2, new float[] { 6.5f, 0, 37 / 1000f, 174 / 1000f } },
+            { 3, new float[] { 7.5f, 0, 37 / 1000f, 204 / 1000f } },
+            { 4, new float[] { 8.5f, 0, 37 / 1000f, 212 / 1000f } },
+            { 5, new float[] { 9.5f, 0, 37 / 1000f, 224 / 1000f } }
         };
 
         //public static Dictionary<int, float[]> LoadRateParam = new Dictionary<int, float[]>() {

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -344,6 +344,15 @@ namespace DeviceLibrary
 
         public Dictionary<string, string> data { get; set; }
     }
+    public class ResultData2
+    {
+        //{"code":0,"msg":"ok","data":"7"} 
+        public int code { get; set; }
+
+        public string msg { get; set; }
+
+        public object data { get; set; }
+    }
     /// <summary>
     ///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
     ///2=急停，3=故障，4=警告，5=调试

DeviceLibrary/VirtuallyStore/VServerComm.cs

@@ -424,7 +424,17 @@ namespace DeviceLibrary
                 }
                 else
                 {
+                    var ngReel = false;
+                    var ngMsg = "";
+                    if (data.ContainsKey("ngReel") && data["ngReel"].ToLower() == "true")
+                    {
+                        ngReel = true;
+                        data.TryGetValue("ngMsg", out ngMsg);
+                    }
+
                     JobInfo jobInfo = new JobInfo(code, posIdStr, plateW, plateH);
+                    jobInfo.isNG = ngReel;
+                    jobInfo.NgMsg = ngMsg;
                     OutStoreEvent?.Invoke(crc.GetString("Res0064","服务器"), jobInfo);
                 }
 
@@ -455,7 +465,7 @@ namespace DeviceLibrary
                 string resultStr = HttpHelper.Post(server, "");
                 VLog.Info("cancelPutInTask    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
 
-                ResultData data = JsonHelper.DeserializeJsonToObject<ResultData>(resultStr);
+                ResultData2 data = JsonHelper.DeserializeJsonToObject<ResultData2>(resultStr);
 
                 if (data == null)
                 {
@@ -546,6 +556,8 @@ namespace DeviceLibrary
             lock (VStoreCollection.OutStoreReelInfo)
             {
                 VStoreCollection.OutStoreReelInfo[jobInfo.WareNum] = new JobInfo(jobInfo.WareNum, "", reelinfo.Diameter, reelinfo.Height);
+                VStoreCollection.OutStoreReelInfo[jobInfo.WareNum].isNG = jobInfo.isNG;
+                VStoreCollection.OutStoreReelInfo[jobInfo.WareNum].NgMsg = jobInfo.NgMsg;
                 Setting_Init.Runtime_OutStoreReelInfo = JsonConvert.SerializeObject(VStoreCollection.OutStoreReelInfo);
             }
             vLog.Info("出库时获取到料盘数据:" + VStoreCollection.OutStoreReelInfo[jobInfo.WareNum].ToStr());
@@ -562,22 +574,25 @@ namespace DeviceLibrary
             }
             return true;
         }
-        public bool BeginInStore(string towerid, JobInfo jobInfo, VLog vLog)
+        public bool BeginInStore(string towerid, JobInfo jobInfo)
         {
             if (!SendCommand(VCmd.SimulateStartButton, true, out string data, towerid, jobInfo.WareNum))
             {
-                vLog.Error(data);
+                VLog.Error(data);
                 return false;
             }
             var result = XmlCommandSerializer.DeserializeResult(data);
             if (result.Errorcode != 0)
             {
-                vLog.Error(data);
+                VLog.Error(data);
                 return false;
             }
             return true;
         }
         MydataWcfServiceTest.ServiceReference2.TowerAppWSClient towerAppWSClient;
+        /// <summary>
+        /// 存储MyCronic料仓的剩余容量 7X8=1000;7X12=345;13X32=100;
+        /// </summary>
         internal string capacity;
 
         public bool SendCommand(string command, bool needlog, out string msg, params string[] arg)

DeviceLibrary/VirtuallyStore/VStore.cs

@@ -59,6 +59,7 @@ namespace DeviceLibrary
                 ServerCM.storeStatus = StoreStatus.None;
                 CurrentTowerStatusText = "Disable";
                 RTStoreStatus = RTStoreStatus.Offline;
+                TerminalError=false;
                 return;
             }
 
@@ -161,7 +162,7 @@ namespace DeviceLibrary
                             VLog.Info("物料已在舱口");
                             RTStoreStatus = RTStoreStatus.InStoreReady;
 
-                            if (!ServerCM.BeginInStore(CID, InStoreJobInfo, VLog))
+                            if (!ServerCM.BeginInStore(CID, InStoreJobInfo))
                             {
                                 RTStoreStatus = RTStoreStatus.LockToInStore;
                                 //Msg.add(CID + crc.GetString("Res0051", "无法入库"), MsgLevel.alarm);
@@ -179,14 +180,13 @@ namespace DeviceLibrary
                             VLog.Info("出库执行中");
                         RTStoreStatus = RTStoreStatus.OutMoveExecute;
                     }
-                    else if (ti.StatusCode == 1041)
+                    else if (ti.StatusCode == 1041) //出库到舱门口
                     {
-                        if (InStoreJobInfo == null)
+                        if (InStoreJobInfo == null) //没有入库信息,判断是正常出库
                         {
                             if (RTStoreStatus != RTStoreStatus.OutStoreReady)
                             {
                                 VLog.Info("出库物料已到舱门口:" + CurrentTerminalReelID);
-                                InStoreJobInfo = null;
                                 OutStoreEnd(CurrentTerminalReelID, CID);
                             }
 
@@ -319,7 +319,9 @@ namespace DeviceLibrary
             
             return crc.GetString("Res0070","空闲中");
         }
-
+        /// <summary>
+        /// 当前入库任务信息
+        /// </summary>
         public volatile JobInfo InStoreJobInfo;
         StoreJobList OutStoreJobList;
         public void RequestInStore(JobInfo jobInfo) {

DeviceLibrary/theMachine/JobList.cs

@@ -84,6 +84,9 @@ namespace DeviceLibrary
         public int plateH { get; set; }
         public string CID { get; set; }
 
+        public bool isNG { get; set; }
+        public string NgMsg { get; set; }
+
         public string ToStr()
         {
             return "TrayCode【" + TrayCode + "】,WareNum=【" + WareNum + "】,PosId=【" + PosId + "】,plateW=【" + plateW + "】,plateH=【" + plateH + "】,CID=【" + CID + "】";

DeviceLibrary/theMachine/RobotManage.cs

@@ -67,13 +67,13 @@ namespace DeviceLibrary
                 MI2Postion = CSVPositionReader<RobotPosition>.LoadCSVFile(MI2PostionFile);
                 CIPostion = CSVPositionReader<RobotPosition>.LoadCSVFile(CIPostionFile);
 
-                Robot_MI1 = new URRobotControl(Setting_Init.URRobot_MI1_IP, "Robot-R1");
+                Robot_MI1 = new URRobotControl(Setting_Init.URRobot_MI1_IP, "Robot-R1", Setting_Init.URRobot_MI1_ListenPort);
                 Robot_MI1.Name = "R1";
                 Robot_MI1.SetSpeedRate(Setting_Init.URRobot_MI1_Speed_Rate);
-                Robot_MI2 = new URRobotControl(Setting_Init.URRobot_MI2_IP, "Robot-R2");
+                Robot_MI2 = new URRobotControl(Setting_Init.URRobot_MI2_IP, "Robot-R2", Setting_Init.URRobot_MI2_ListenPort);
                 Robot_MI2.Name = "R2";
                 Robot_MI2.SetSpeedRate(Setting_Init.URRobot_MI2_Speed_Rate);
-                Robot_CI = new URRobotControl(Setting_Init.URRobot_CI_IP, "Robot-CI");
+                Robot_CI = new URRobotControl(Setting_Init.URRobot_CI_IP, "Robot-CI", Setting_Init.URRobot_CI_ListenPort);
                 Robot_CI.SetSpeedRate(Setting_Init.URRobot_CI_Speed_Rate);
 
                 VStoreCollection = new VStoreCollection();

DeviceLibrary/theMachine/TrayManager.cs

@@ -142,14 +142,6 @@ namespace DeviceLibrary
         public static bool CalcNeedTrans(int curaddr1, int destaddr1, bool hasload,TrayTypeE trayType) {
             if (!hasload)
             {
-                if (curaddr1 == 19 && RobotManage.mainMachine.ServerCM.OutMaterialTaskCount > Setting_Init.Device_LS3_MTP2_OutTaskMaxCount && trayType== TrayTypeE.MTP2)
-                {
-                    return true;
-                }
-                if (curaddr1 == 19 && RobotManage.mainMachine.ServerCM.OutReelTaskCount > Setting_Init.Device_LS3_MTP1_OutTaskMaxCount && trayType == TrayTypeE.MTP1)
-                {
-                    return true;
-                }
                 var addrs = TrayRequest.Values.Where(x=>x.TrayType==trayType.ToString()).Select(x => new { TaryType = x.GetTrayType, Addr = GetAddrByGroupName(x.DeviceGroupName) }).ToList();
                 foreach (var a in addrs)
                 {
@@ -168,7 +160,15 @@ namespace DeviceLibrary
                     var ts = dis(a.Addr, ttt);
                     return !(trayaddrs.Where(t1 => dis(a.Addr, t1) < ts).Count() > 0);
                 };
-                
+                //ls3处判断,出库任务数量大于值时治具托盘全部从LS3转移走
+                if (curaddr1 == 19 && RobotManage.mainMachine?.ServerCM.OutMaterialTaskCount > Setting_Init.Device_LS3_MTP2_OutTaskMaxCount && trayType == TrayTypeE.MTP2)
+                {
+                    return true;
+                }
+                if (curaddr1 == 19 && RobotManage.mainMachine?.ServerCM.OutReelTaskCount > Setting_Init.Device_LS3_MTP1_OutTaskMaxCount && trayType == TrayTypeE.MTP1)
+                {
+                    return true;
+                }
                 return false;
             }
             else
@@ -453,9 +453,15 @@ namespace DeviceLibrary
         /// </summary>
         /// <returns></returns>
         public static int GetAddrByGroupName(string groupname) {
-            var addr = AddrDesc.Where(a => a.Value == groupname).First();
-
-            return addr.Key;
+            try
+            {
+                var addr = AddrDesc.Where(a => a.Value == groupname).First();
+                return addr.Key;
+            }
+            catch (Exception ex) {
+                LogUtil.error($"GetAddrByGroupName: " + groupname + "," + ex);
+                return -1;
+            }
         }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/sub/MI.cs

@@ -154,6 +154,11 @@ namespace DeviceLibrary
             switch (MoveInfo.MoveStep)
             {
                 case MoveStep.Wait:
+                    if (IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.HIGH)) {
+                        Msg.add(crc.GetString("Res0106.217fe7b7","待机时机械手上检测到物料,请检查"), MsgLevel.alarm);
+                        MoveInfo.log("待机时机械手上检测到物料,请检查");
+                        return;
+                    }
                     //判断有无出库任务
                     var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs=>vs.TowerInfo.DeviceGroupName==GroupName).ToList().Find(vs => vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
                     var hasoutjob = false;
@@ -260,8 +265,8 @@ namespace DeviceLibrary
                             CurrentJobInfo = new JobInfo(InStoreError.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
                             InStoreError.InStoreJobInfo = null;
                             MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
-                            MoveInfo.MoveParam.IsNg = true;
-                            MoveInfo.MoveParam.NgMsg = InStoreError.CID + "-" + InStoreError.CurrentTowerStatusText;
+                            CurrentJobInfo.isNG = true;
+                            CurrentJobInfo.NgMsg = InStoreError.CID + "-" + InStoreError.CurrentTowerStatusText;
                             MoveInfo.log("检测到有料仓入库NG:" + MoveInfo.MoveParam.NgMsg);
                             
                         }
@@ -318,6 +323,8 @@ namespace DeviceLibrary
                     MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
                     MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
                     MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
+                    MoveInfo.MoveParam.IsNg = CurrentJobInfo.isNG;
+                    MoveInfo.MoveParam.NgMsg = CurrentJobInfo.NgMsg;
                     MoveInfo.MoveParam.cid = CurrntOutReadyStore.CID;
                     FromPos = GetMIPosition(GroupName, TowerList.List[MoveInfo.MoveParam.cid].PosID);
                     ToPos = GetMIPosition(GroupName, POS_Start + "_MT");
@@ -348,6 +355,7 @@ namespace DeviceLibrary
                             MoveInfo.log($"当前出库料仓[{CurrntOutReadyStore.CID}]存在状态错误:" + CurrntOutReadyStore.RTStoreStatus);
                             CurrntOutReadyStore.RTStoreStatus = RTStoreStatus.Busy;
                         }
+                        MoveInfo.log($"机器人抓取状态:MI_Robot_Reel_Check:{IOValue(IO_Type.MI_Robot_Reel_Check)}, MI_Robot_Clamp_Check:{IOValue(IO_Type.MI_Robot_Clamp_Check)}");
                         if ((MoveInfo.MoveParam.IsNg || CurrntOutReadyStore.TerminalError) && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
                             && IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
                         {
@@ -364,20 +372,21 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.MI_53:
-                    if (!TrayStop.DeviceList["AMH-" + POS_Start].IsFree())
+                    if (!TrayStop.DeviceList[GroupName].IsFree())
                     {
                         MoveInfo.NextMoveStep(MoveStep.MI_54);
                         RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
                         MoveInfo.log("机器人开始放料");
                     }
                     else {
-                        //RemoteLoad remoteLoad = new RemoteLoad();
-                        //remoteLoad.Action = "SetTrayRequest";
-                        //remoteLoad.GroupName= "AMH-" + POS_Start;
-                        //remoteLoad.RequestLoadInfo = new RequestLoadInfo();
-                        //remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
-                        //remoteLoad.RequestLoadInfo.IsEmpty = true;
-                        //TrayManager.SetTrayRequest(remoteLoad);
+                        RemoteLoad remoteLoad = new RemoteLoad();
+                        remoteLoad.Action = "SetTrayRequest";
+                        remoteLoad.GroupName = GroupName;
+                        remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                        remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+                        remoteLoad.RequestLoadInfo.IsEmpty = true;
+                        remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
+                        TrayManager.SetTrayRequest(remoteLoad);
                         Msg.add(crc.GetString("Res0097.b5a12101","等待空托盘"), MsgLevel.info);
                     }
                     break;
@@ -386,7 +395,7 @@ namespace DeviceLibrary
                     {                        
                         MoveInfo.log("机器人完成放料");
                         RemoteLoad remoteLoad = new RemoteLoad();
-                        remoteLoad.GroupName = "AMH-" + POS_Start;
+                        remoteLoad.GroupName = GroupName;
                         remoteLoad.RequestLoadInfo = new RequestLoadInfo();
                         remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-ML5-2";
                         remoteLoad.RequestLoadInfo.IsEmpty = false;
@@ -394,7 +403,7 @@ namespace DeviceLibrary
                         remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();// 填充料盘信息
                         TrayManager.TrayRelease(remoteLoad); //这条会自动放行托盘并且写入托盘目的地
                         TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
-
+                        TrayManager.ClearTrayRequest(GroupName);
                         MoveInfo.NextMoveStep(MoveStep.MI_55);
                     }
                     break;
@@ -429,7 +438,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.MI_02:
                     RoboMoveInfo.NextMoveStep(MoveStep.MI_03);
-                    robotHelper.Move(RoboMoveInfo, FromPos.Take_P5,0);
+                    robotHelper.Move(RoboMoveInfo, FromPos.Take_P5,1);
                     RoboMoveInfo.log("机器人到Take_P5");
                     break;
                 case MoveStep.MI_03:
@@ -442,7 +451,7 @@ namespace DeviceLibrary
                     if (!Comp.IsBusy)
                     {
                         RoboMoveInfo.NextMoveStep(MoveStep.MI_05);
-                        robotHelper.Move(RoboMoveInfo, FromPos.Take_P6,0);
+                        robotHelper.Move(RoboMoveInfo, FromPos.Take_P6,1);
                         RoboMoveInfo.log("压紧轴到位");
                         RoboMoveInfo.log("机器人到Take_P6");
                     }
@@ -487,12 +496,12 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.MI_42:
                     RoboMoveInfo.NextMoveStep(MoveStep.MI_43);
-                    robotHelper.Move(RoboMoveInfo, ToPos.Put_P4,0);
+                    robotHelper.Move(RoboMoveInfo, ToPos.Put_P4,1);
                     RoboMoveInfo.log("机器人到Put_P4");
                     break;
                 case MoveStep.MI_43:
                     RoboMoveInfo.NextMoveStep(MoveStep.MI_44);
-                    robotHelper.Move(RoboMoveInfo, ToPos.P1, 0);
+                    robotHelper.Move(RoboMoveInfo, ToPos.P1, 1);
                     RoboMoveInfo.log("机器人到P1");
                     break;
                 case MoveStep.MI_44:
@@ -807,9 +816,9 @@ namespace DeviceLibrary
         int GetWeight(ReelParam reelParam) {
             int w = 0;
             if (reelParam == null)
-                w = 0;
+                w = 1;
             else if (reelParam.PlateW==7)
-                w= 1;
+                w= 2;
             else if (reelParam.PlateW == 13 && reelParam.PlateH==8)
                 w= 2;
             else if(reelParam.PlateW == 13)

DeviceLibrary/theMachine/sub/TransplantMove.cs

@@ -179,7 +179,7 @@ namespace DeviceLibrary
                             }
                             else
                             {
-                                Msg.add(crc.GetString("Res0034","托盘没有检测到物料"), MsgLevel.warning);
+                                Msg.add(crc.GetString("Res0034","托盘没有检测到物料"), MsgLevel.alarm);
                                 return;
                             }
                             

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -149,7 +149,7 @@ namespace DeviceLibrary
                         TrayManager.Process(MoveInfo, CurrrentRFID, DeviceGroup.addr_1, IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH)?1:0, out TrayInfo trayInfo);
                         var stop = TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID, out _);
                         MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
-                        #region 
+                        #region MI1,Mi2的情况判断
                         if ((GroupName == "AMH-MI1" || GroupName == "AMH-MI2") && trayInfo.TrayType== TrayTypeE.MTP1)
                         {
                             /*
@@ -192,8 +192,12 @@ namespace DeviceLibrary
                                     device.StartOutStore();
                                 }
                             }
-                            else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH))
+                            else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
                             {
+                                if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW)) {
+                                    Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
+                                    return;
+                                }
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
                                 //抵达了一个有物料的托盘等待处理
                                 var device = MI.DeviceList[GroupName];
@@ -227,8 +231,13 @@ namespace DeviceLibrary
                             SRec.info(crc.GetString("Res0042","托盘挡停"), GroupName, crc.GetString("Res0030","空托盘"), crc.GetString("Res0043","准备接料"), CurrrentRFID);
                             return;
                         }
-                        else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH))
+                        else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
                         {
+                            if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
+                            {
+                                Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
+                                return;
+                            }
                             //有物料
                             MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
                             RemoteLoad remoteLoad = new RemoteLoad();

TheMachine/Program.cs

 using ConfigHelper;
+using DeviceLibrary;
 using log4net.Config;
 using Microsoft.Win32.TaskScheduler;
 using OnlineStore.Common;
@@ -23,6 +24,8 @@ namespace TheMachine
         [STAThread]
         static void Main(string[] args)
         {
+
+
             if (args.ToList().FindIndex(a=>a.Contains("simulate"))>=0)
             OnlineStore.G.simulate = true;
 
@@ -59,6 +62,15 @@ namespace TheMachine
             }
             AddOrUpdateStartupTask();
             Config.LoadMyConfig(new Setting_Init().GetType());
+            //RemoteLoad remoteLoad = new RemoteLoad();
+            //remoteLoad.Action = "SetTrayRequest";
+            //remoteLoad.GroupName = "AMH-MI2";
+            //remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+            //remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+            //remoteLoad.RequestLoadInfo.IsEmpty = true;
+            //remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-MI2";
+            //TrayManager.SetTrayRequest(remoteLoad);
+            //TrayManager.CalcNeedTrans(19, 20, false, TrayTypeE.MTP1);
             Application.ThreadException += Application_ThreadException;
             Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
             AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;

TheMachine/UC/RobotPosControl.cs

@@ -37,6 +37,7 @@ namespace TheMachine
             crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
             tableLayoutPanel1.GetType().GetProperty("DoubleBuffered", System.Reflection.BindingFlags.Instance | System.Reflection.BindingFlags.NonPublic)
 .SetValue(tableLayoutPanel1, true, null);
+            cb_loadweight.SelectedIndex = 0;
         }
 
         private void Crc_LanguageChangeEvent(object sender, EventArgs e)
@@ -190,8 +191,8 @@ namespace TheMachine
 
             var axis = getConfigMoveAxis((int)((Button)sender).Tag);
             var targetpos = int.Parse(cc[1].Text);
-            axis.SendMoveCmd(targetpos, axis.SpeedRate,false, RobotHelper.LoadRateParam[1]);
-            LogUtil.info("手动点击机器人移动命令:" + axis.RobotIp + " - " + targetpos);
+            axis.SendMoveCmd(targetpos, axis.SpeedRate,false, RobotHelper.LoadRateParam[cb_loadweight.SelectedIndex]);
+            LogUtil.info("手动点击机器人移动命令:" + axis.RobotIp + " - " + targetpos+ "-"+ cb_loadweight.SelectedIndex);
         }
         URRobotControl getConfigMoveAxis(int Axisid)
         {

TheMachine/UC/RobotPosControl.designer.cs

@@ -32,6 +32,8 @@ namespace TheMachine
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.btnSavePos = new System.Windows.Forms.Button();
+            this.cb_loadweight = new System.Windows.Forms.ComboBox();
+            this.label_loadweight = new System.Windows.Forms.Label();
             this.groupBox3.SuspendLayout();
             this.SuspendLayout();
             // 
@@ -81,19 +83,48 @@ namespace TheMachine
             this.btnSavePos.UseVisualStyleBackColor = true;
             this.btnSavePos.Click += new System.EventHandler(this.btnSavePos_Click);
             // 
-            // StorePosControl
+            // cb_loadweight
+            // 
+            this.cb_loadweight.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.cb_loadweight.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cb_loadweight.FormattingEnabled = true;
+            this.cb_loadweight.Items.AddRange(new object[] {
+            "0",
+            "1",
+            "2",
+            "3",
+            "4"});
+            this.cb_loadweight.Location = new System.Drawing.Point(104, 308);
+            this.cb_loadweight.Name = "cb_loadweight";
+            this.cb_loadweight.Size = new System.Drawing.Size(73, 20);
+            this.cb_loadweight.TabIndex = 110;
+            // 
+            // label_loadweight
+            // 
+            this.label_loadweight.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
+            this.label_loadweight.AutoSize = true;
+            this.label_loadweight.Location = new System.Drawing.Point(8, 311);
+            this.label_loadweight.Name = "label_loadweight";
+            this.label_loadweight.Size = new System.Drawing.Size(77, 12);
+            this.label_loadweight.TabIndex = 111;
+            this.label_loadweight.Text = "Load weight:";
+            // 
+            // RobotPosControl
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.label_loadweight);
+            this.Controls.Add(this.cb_loadweight);
             this.Controls.Add(this.btnSavePos);
             this.Controls.Add(this.groupBox3);
             this.Font = new System.Drawing.Font("宋体", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.Margin = new System.Windows.Forms.Padding(4);
-            this.Name = "StorePosControl";
+            this.Name = "RobotPosControl";
             this.Size = new System.Drawing.Size(598, 346);
             this.Load += new System.EventHandler(this.ConfigControl_Load);
             this.groupBox3.ResumeLayout(false);
             this.ResumeLayout(false);
+            this.PerformLayout();
 
         }
 
@@ -102,5 +133,7 @@ namespace TheMachine
         private System.Windows.Forms.GroupBox groupBox3;
         private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
         private System.Windows.Forms.Button btnSavePos;
+        private System.Windows.Forms.ComboBox cb_loadweight;
+        private System.Windows.Forms.Label label_loadweight;
     }
 }

TheMachine/UC/UCURRobot.cs

@@ -119,7 +119,7 @@ namespace URRobot
 
         public void SendMoveCmd(int CmdIdx,int rate=50)
         {
-            robotControl?.SendMoveCmd(CmdIdx, rate, true,RobotHelper.LoadRateParam[1]);
+            robotControl?.SendMoveCmd(CmdIdx, rate, true,RobotHelper.LoadRateParam[0]);
         }
         public bool IsSendCmdOk(int cmdIdx)
         {

TheMachine/device/Other/MycronicControl.cs

@@ -65,7 +65,7 @@ namespace TheMachine.device.Other
                 CheckBox checkBox = new CheckBox();
                 checkBox.Text = tower.TowerName;
                 checkBox.Checked = tower.Enable;
-
+                checkBox.Width = 150;
                 // 添加一个 Tag 属性，用于保存对应的 TowerInfo 对象
                 checkBox.Tag = tower;