1

DeviceLibrary/theMachine/MainMachine_AGV.cs

@@ -205,7 +205,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.AGV_In04:
                     AGVMoveInfo.NextMoveStep(MoveStep.AGV_In05);
-                    Line.LineRun("n", false, 10);
+                    Line.LineRun("n", false, 30);
                     AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，允许进料");
                     break;
                 case MoveStep.AGV_In05:
@@ -216,6 +216,7 @@ namespace DeviceLibrary
                             AGVMoveInfo.NextMoveStep(MoveStep.AGV_In06);
                             RobotManage.mainMachine.SetStatus(NodeStatus.FinishEnter);
                             AGVMoveInfo.log($"料串到位");
+                            Line.LineRun("n", true, 3);
                             AGVMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
                         }
                         else
@@ -271,7 +272,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.AGV_Out04:
                     AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
-                    Line.LineRun("n", true, 10);
+                    Line.LineRun("n", true, 30);
                     AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
                     break;
                 case MoveStep.AGV_Out05:
@@ -303,7 +304,7 @@ namespace DeviceLibrary
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
                         RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
                         CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
-                        Line.LineRun("n", false, 30);
+                        Line.LineRun("n", false, 2);
                         AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
                     }
                     else if (curnode.status == NodeStatus.RequestLeave)
@@ -311,7 +312,7 @@ namespace DeviceLibrary
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
                         RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
                         CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
-                        Line.LineRun("n", true, 20);
+                        Line.LineRun("n", true, 2);
                         AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
                     }
                     else if (curnode.status.Equals(NodeStatus.RequsetDock))
@@ -327,12 +328,14 @@ namespace DeviceLibrary
                     {
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
                         CloseDoor(AGVMoveInfo);
+                        Line.LineRun("n", true, 3);
                         AGVMoveInfo.log($"收到脱离脱离信号，关闭折叠门");
                     }
                     else if (AGVMoveInfo.IsTimeOut())
                     {
                         if (StringDoor.isAtBOTTOM)
                         {
+                            Line.LineRun("n", true, 3);
                             AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
                             CloseDoor(AGVMoveInfo);
                             AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");