1

DeviceLibrary/theMachine/BoxTransport.cs

@@ -180,7 +180,7 @@ namespace DeviceLibrary
                     if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
                     {
                         Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
-                        //RobotManage.UserPause("出库时料叉X30没有检测到有物料无法继续,请检查");
+                        //RobotManage.UserPause(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."));
                     }
                     else
                     {
@@ -237,7 +237,7 @@ namespace DeviceLibrary
                     reelStatusInFix = VisionHelper.ReelStatusCheck();
                     break;
                 case MoveStep.StoreFIX04_02_CheckLocation:
-                    if(reelStatusInFix)
+                    if (reelStatusInFix)
                     {
                         MoveInfo.NextMoveStep(MoveStep.StoreFIX04_04_InoutToPos);
                         MoveInfo.log($"{storeMoveType}:料盘放置正常");
@@ -245,7 +245,9 @@ namespace DeviceLibrary
                     else
                     {
                         MoveInfo.NextMoveStep(MoveStep.StoreFIX04_03_ReloadPos);
-                        MoveInfo.log($"{storeMoveType}:料盘放置异常，准备送到NG口");
+                        mainMachine.CloseFlipDoor(MoveInfo);
+                        Comp_Axis.AbsMove(MoveInfo, 0, Config.Comp_P1_speed);
+                        MoveInfo.log($"{storeMoveType}:料盘放置异常，翻板关闭，压紧轴到零点，准备送到NG口");
                     }
                     break;
                 case MoveStep.StoreFIX04_03_ReloadPos:
@@ -254,7 +256,7 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:更改料盘目的地为NG口,关闭翻板门");
                     mainMachine.StoreMoveInfo.MoveParam.IsNg = true;
                     MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
-                    mainMachine.CloseFlipDoor(MoveInfo);
+                    Msg.add(crc.GetString("reel_not_in_right_status", "料盘放置异常"), MsgLevel.alarm);
                     RobotManage.UserPause(crc.GetString("reel_not_in_right_status", "料盘放置异常"), true);
                     break;
                 case MoveStep.StoreFIX04_04_InoutToPos:
@@ -272,10 +274,25 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}");
                     break;
                 case MoveStep.StoreFIX06:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS10);
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX07);
                     InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
+                    IgnoreX09 = false;
                     MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
                     break;
+                case MoveStep.StoreFIX07:
+                    if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
+                    {
+                        Msg.add(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                        //RobotManage.UserPause(crc.GetString(L.out_store_not_detect_material, "取料前料叉X30没有检测到有物料无法继续,请检查."));
+                    }
+                    else
+                    {
+                        Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
+                        IgnoreX09 = false;
+                        MoveInfo.NextMoveStep(MoveStep.StoreTS10);
+                        MoveInfo.log($"{storeMoveType}:X30取到料");
+                    }
+                    break;
                 case MoveStep.StoreTS10:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS11);
                     RobotManage.ClearReelInFixPos();
@@ -283,6 +300,7 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
                     UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
                     MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{To.UpDown_PH}");
+
                     break;
                 case MoveStep.StoreTS11:
                     if (To.posid == BoxStorePosition.strings)

DeviceLibrary/theMachine/MoveStep.cs

@@ -144,6 +144,7 @@ namespace DeviceLibrary
         StoreFIX04_04_InoutToPos,
         StoreFIX05,
         StoreFIX06,
+        StoreFIX07,
         StoreTS10,
         StoreTS11,
         StoreTS12,