Merge branch 'master' of http://106.15.194.121:8083/liutao/1069_MIMO_PlUS

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -86,6 +86,11 @@ namespace DeviceLibrary
         /// 出库下降对射触发位置高度
         /// 出库下降对射触发位置高度
         /// </summary>
         /// </summary>
         int LastOutDownPosition = 0;
         int LastOutDownPosition = 0;
+        /// <summary>
+        /// 入库料盘拿走后，料串下降一段距离
+        /// </summary>
+        int batchDownDistance = ConfigHelper.Config.Get("Batch_ReelGetedDownMM", 8);
+        int RealPulse = 0;
         void StringProcess()
         void StringProcess()
         {
         {
             if (CheckWait(StringMoveInfo))
             if (CheckWait(StringMoveInfo))
@@ -281,6 +286,17 @@ namespace DeviceLibrary
                     Msg.add(crc.GetString(L.string_ready_for_get, "料串取料准备就绪"), MsgLevel.info);
                     Msg.add(crc.GetString(L.string_ready_for_get, "料串取料准备就绪"), MsgLevel.info);
                     break;
                     break;
                 case MoveStep.StringReelGet:
                 case MoveStep.StringReelGet:
+                    StringMoveInfo.log($"料已取走,料串下降{batchDownDistance}mm");
+                    StringMoveInfo.NextMoveStep(MoveStep.StringReelGet_01);
+                    tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * batchDownDistance;
+                    if (tpos2 < 0)
+                    {
+                        tpos2 = 0;
+                    }
+                    RealPulse = Batch_Axis.GetAclPosition() - tpos2;
+                    Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
+                    break;
+                case MoveStep.StringReelGet_01:
                     StringMoveInfo.log($"料已取走,开始测高");
                     StringMoveInfo.log($"料已取走,开始测高");
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_03);
                     CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
                     CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.HIGH);
@@ -547,7 +563,7 @@ namespace DeviceLibrary
             int AxisChangeValue = Config.Batch_PoToMM;
             int AxisChangeValue = Config.Batch_PoToMM;
             //计算高度
             //计算高度
             int EndMovePosition = Batch_Axis.GetAclPosition();
             int EndMovePosition = Batch_Axis.GetAclPosition();
-
+            StartMovePosition += RealPulse;
             float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
             float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
             string buchongStr = "";
             string buchongStr = "";
             if (Batch_Axis.IsInPosition(Config.Batch_P2))
             if (Batch_Axis.IsInPosition(Config.Batch_P2))

DeviceLibrary/theMachine/MoveStep.cs

@@ -45,6 +45,7 @@ namespace DeviceLibrary
         StringLoad_06,
         StringLoad_06,
         StringReadyGet,
         StringReadyGet,
         StringReelGet,
         StringReelGet,
+        StringReelGet_01,
         StringReelGetFail,
         StringReelGetFail,
         StringReadyPut,
         StringReadyPut,
         StringReelPut,
         StringReelPut,

TheMachine/TheMachine.csproj

@@ -244,6 +244,7 @@
   </ItemGroup>
   </ItemGroup>
   <ItemGroup>
   <ItemGroup>
     <Content Include="icon.ico" />
     <Content Include="icon.ico" />
+    <Content Include="更新记录.txt" />
   </ItemGroup>
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <PropertyGroup>
   <PropertyGroup>

TheMachine/更新记录.txt

+20230817 
+转臂旋转前，料串先下降一段距离，然后转臂转过来。避免料盘翘边转臂碰到
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