1

DeviceLibrary/DeviceLibrary/VisionHelper.cs

@@ -19,7 +19,7 @@ namespace DeviceLibrary
         public static bool ReelStatusCheck(string configName)
         {
             string cameraName = ConfigHelper.Config.Get("MonitorCamName", "cam1");
-            string url = visionUrl + $"/reelStatusCheck/cam?camName={cameraName}&configName={configName}";
+            string url = visionUrl + $"/reelStatusCheck/cam?camName={cameraName}&configName={configName.Replace("#", "%23")}";
             try
             {
                 CheckAndRunServer();

DeviceLibrary/theMachine/BoxTransport.cs

@@ -233,39 +233,51 @@ namespace DeviceLibrary
                     break;
                 #region 料盘放置位置检查
                 case MoveStep.StoreFIX04_01_InoutBackToP1:
-                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_CheckLocation);
-                    var fixpos = "fix#" + MoveInfo.MoveParam.PlateW.ToString();
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04_02_UpToCamLoc);
+                    var fixpos = "fix#" + To.Reel.PlateW.ToString();
+                    int camPos = ConfigHelper.Config.Get($"CamPos_{fixpos}", Fix.UpDown_PL);
+                    UpDown_Axis.AbsMove(MoveInfo, camPos, Config.UpDown_P3_speed/2);
+                    MoveInfo.log($"{storeMoveType}:升降轴到拍照点");
+                    break;
+                case MoveStep.StoreFIX04_02_UpToCamLoc:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_CheckLocation);
+                     fixpos = "fix#" + To.Reel.PlateW.ToString();
                     reelStatusInFix = VisionHelper.ReelStatusCheck(fixpos);
                     break;
-                case MoveStep.StoreFIX04_02_CheckLocation:
+                case MoveStep.StoreFIX04_03_CheckLocation:
                     if (reelStatusInFix)
                     {
-                        MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos);
-                        MoveInfo.log($"{storeMoveType}:料盘放置正常");
+                        MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
+                        UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
+                        MoveInfo.log($"{storeMoveType}:料盘放置正常，升降轴到库位低点");
                     }
                     else
                     {
-                        MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_ReloadPos);
-                        mainMachine.CloseFlipDoor(MoveInfo);
-                        Comp_Axis.AbsMove(MoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
-                        MoveInfo.log($"{storeMoveType}:料盘放置异常，翻板关闭，压紧轴到零点，准备送到NG口");
-                    }
-                    break;
-                case MoveStep.StoreFIX04_03_ReloadPos:
-                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos);
+                        MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_ReloadPos);
                         To = new BoxStorePosition(Config, StoreSide.NGDoor, To.Reel);
-                    MoveInfo.log($"{storeMoveType}:更改料盘目的地为NG口,关闭翻板门");
+                        MoveInfo.log($"{storeMoveType}:料盘放置异常,更改料盘目的地为NG口");
                         mainMachine.StoreMoveInfo.MoveParam.IsNg = true;
                         MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
                         Msg.add(crc.GetString("reel_not_in_right_status", "料盘放置异常"), MsgLevel.alarm);
                         RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true);
+                    }
                     break;
-                case MoveStep.StoreFIX04_04_InoutToPos:
-                    MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
-                    MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
+                case MoveStep.StoreFIX04_04_ReloadPos:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04_05_DownToFixLow);
+                    mainMachine.CloseFlipDoor(MoveInfo);
+                    Comp_Axis.AbsMove(MoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
+                    UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed / 2);
+                    MoveInfo.log($"{storeMoveType}:翻板关闭，压紧轴到待机点，升降轴到库位低点,准备送到NG口");
+                    break;
+                case MoveStep.StoreFIX04_05_DownToFixLow:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04_06_InoutToPos);
                     InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
                     InOut_Axis.MonitorAxisLoadRate();
                     break;
+                case MoveStep.StoreFIX04_06_InoutToPos:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
+                    MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
+                    break;
                 #endregion
                 case MoveStep.StoreFIX05:
                     MoveInfo.NextMoveStep(MoveStep.StoreFIX06);

DeviceLibrary/theMachine/MoveStep.cs

@@ -139,9 +139,11 @@ namespace DeviceLibrary
         StoreFIX03,
         StoreFIX04,
         StoreFIX04_01_InoutBackToP1,
-        StoreFIX04_02_CheckLocation,
-        StoreFIX04_03_ReloadPos,
-        StoreFIX04_04_InoutToPos,
+        StoreFIX04_02_UpToCamLoc,
+        StoreFIX04_03_CheckLocation,
+        StoreFIX04_04_ReloadPos,
+        StoreFIX04_05_DownToFixLow,
+        StoreFIX04_06_InoutToPos,
         StoreFIX05,
         StoreFIX06,
         StoreFIX07,