避让气缸离开后升降轴再取料、红灯时伴随蜂鸣器

Common/Setting_Init.cs

@@ -190,7 +190,8 @@ namespace OnlineStore.Common
         public static MyConfig<bool> Enable_UploadVideo = false;
         [MyConfigComment("启用折叠门提示音")]
         public static MyConfig<bool> Enable_DoorSound = true;
-
+        [MyConfigComment("启用红灯亮伴随蜂鸣器")]
+        public static MyConfig<bool> Enable_RedColorWithBuzzer = true;
         [MyConfigComment("启用料串按Reset按钮流出")]
         public static MyConfig<bool> Enable_StringAutoOut = false;
         [MyConfigComment("启用料串到位折叠门自动关闭")]

DeviceLibrary/theMachine/MainMachine _LedProcess.cs

@@ -248,6 +248,20 @@ namespace DeviceLibrary
             {
                 lastiovalue = iovalue;
                 IOManager.WriteSingleDO("", 0x00, ledio, iovalue);
+                if (LedColor.red == Color)
+                {
+                    if (Setting_Init.Enable_RedColorWithBuzzer)
+                    {
+                        if (lastiovalue == IO_VALUE.HIGH)
+                        {
+                            AlarmBuzzer.ON();
+                        }
+                        else
+                        {
+                            AlarmBuzzer.OFF();
+                        }
+                    }
+                }
             }
         }
     }

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -265,13 +265,32 @@ namespace DeviceLibrary
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
                     StringMoveInfo.log($"料串下降到x13信号灭");
                     BatchAxisToTagLow(StringMoveInfo);
-
                     break;
                 case MoveStep.StringLoad_04b:
-                    StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
+                    StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05a);
+                    var targetPosition = Batch_Axis.GetAclPosition() - 15 * Config.Batch_PoToMM;
+                    StringMoveInfo.log($"批量轴下降15mm");
+                    if (targetPosition < 0)
+                        targetPosition = 0;
+                    Batch_Axis.AbsMove(StringMoveInfo, targetPosition, Config.Batch_P2_speed);
+                    break;
+
+                case MoveStep.StringLoad_05a:
+                    StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05b);
                     StringMoveInfo.log($"检测阻挡避让");
                     CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
                     break;
+
+                case MoveStep.StringLoad_05b:
+                    StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
+                    var ac = Batch_Axis.GetAclPosition();
+                    if (ac > 0)
+                    {
+                        targetPosition = ac + 15 * Config.Batch_PoToMM;
+                        StringMoveInfo.log($"批量轴再上升15mm");
+                        Batch_Axis.AbsMove(StringMoveInfo, targetPosition, Config.Batch_P2_speed);
+                    }
+                    break;
                 case MoveStep.StringLoad_05:
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_06);
                     if (!newreel)

DeviceLibrary/theMachine/MoveStep.cs

@@ -104,6 +104,8 @@ namespace DeviceLibrary
         StringLoad_04,
         StringLoad_04a,
         StringLoad_04b,
+        StringLoad_05a,
+        StringLoad_05b,
         StringLoad_05,
         StringLoad_06,
         StringReadyGet,