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

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -22,7 +22,7 @@ namespace DeviceLibrary
         string down;
         string saftylight;
         string axisbreak;
-        AxisBean axisBean;
+        public AxisBean axisBean;
         int upspeed;
         int downspeed;
         int StrokeLength = 270000;

DeviceLibrary/theMachine/MainMachine.cs

@@ -643,8 +643,8 @@ namespace DeviceLibrary
                     //    lastStringSafetyStatus = false;
                     //  StringDoor.Pause();
                     //}
-                    ok = false;
-                    DeviceSuddenStop();
+                    //ok = false;
+                    StringDoorSuddenStop();
                 }
                 //else if (!lastStringSafetyStatus)
                 //{
@@ -711,7 +711,20 @@ namespace DeviceLibrary
                 }
             }
         }
+        void StringDoorSuddenStop()
+        {
+            //if (lastSafeCheckStatus)
+            {
+                AxisBean axis = StringDoor.axisBean;
+                AxisBean.StopMultiAxis(new List<AxisBean> { axis });
+                StringDoor.Pause();
 
+                if (runStatus == RunStatus.HomeReset)
+                {
+                    ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
+                }
+            }
+        }
         /// <summary>
         /// 最后一次气压检测变为0的时间
         /// </summary>

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -245,11 +245,13 @@ namespace DeviceLibrary
                     {
                         tpos2 = 0;
                     }
-                    if (StringState == StringStateE.OutStore && tpos2 - Config.Batch_PoToMM * 60 < 0)
+                    int maxReelHeight = ConfigHelper.Config.Get("ReelMaxHeightMM", 60);
+                    int minPos1 = tpos2 - Config.Batch_PoToMM * maxReelHeight;
+                    if (StringState == StringStateE.OutStore && minPos1 < 0)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                         StringState = StringStateE.Full;
-                        StringMoveInfo.log($"料串已满可以送出");
+                        StringMoveInfo.log($"料串已满可以送出，提升轴当前={Batch_Axis.GetAclPosition()},最小脉冲值={minPos1}");
                     }
                     Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
                     break;
@@ -331,6 +333,7 @@ namespace DeviceLibrary
                     var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH + Config.Batch_OutPlateDownMM);
                     if (tpos < 0)
                         tpos = 0;
+                    maxReelHeight = ConfigHelper.Config.Get("ReelMaxHeightMM", 60);
                     if (tpos < Config.Batch_P2 * 0.3 && !downCheck1)
                     {
                         StringMoveInfo.log($"料串下降到30%位置,重新上升");
@@ -343,7 +346,7 @@ namespace DeviceLibrary
                         StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_01);
                         downCheck2 = true;
                     }
-                    else if (tpos > Config.Batch_P1+ Config.Batch_PoToMM * 60)
+                    else if (tpos > Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
                         StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}cm");
@@ -359,7 +362,7 @@ namespace DeviceLibrary
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                         StringState = StringStateE.Full;
-                        StringMoveInfo.log($"料串已满可以送出");
+                        StringMoveInfo.log($"料串已满可以送出,提升轴当前位置={Batch_Axis.GetAclPosition()},最小脉冲值={tpos}");
                     }
                     break;
                 case MoveStep.StringReelPut_01:
@@ -389,10 +392,12 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StringReelPut_05:
                     LastOutDownPosition = Batch_Axis.GetAclPosition();
+                    maxReelHeight = ConfigHelper.Config.Get("ReelMaxHeightMM", 60);
                     var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutPlateDownMM;
                     if (tpos3 < 0)
                         tpos3 = 0;
-                    if (tpos3 > Config.Batch_P1+Config.Batch_PoToMM * 60)
+                    int minPos = Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight;
+                    if (tpos3 > minPos)//料盘最大高度
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
                     }
@@ -401,7 +406,7 @@ namespace DeviceLibrary
                         StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                         StringState = StringStateE.Full;
                         Batch_Axis.AbsMove(StringMoveInfo, Config.Batch_P1, Config.Batch_P1_speed);
-                        StringMoveInfo.log($"料串已满可以送出");
+                        StringMoveInfo.log($"料串已满可以送出,提升轴当前={tpos3},最小脉冲值={minPos}");
                     }
                     break;
                 case MoveStep.StringOut_01: