添加空料串到P2点与料盘定位信号补偿值 OffsetEmptyToTrayCheck

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -202,7 +202,8 @@ namespace DeviceLibrary
                     break;
                     break;
                 case MoveStep.StringLoad_04:
                 case MoveStep.StringLoad_04:
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_04b);
-                    LastOutDownPosition = Batch_Axis.GetAclPosition();
+                    //OffsetEmptyToTrayCheck 空料串到P2点与料盘定位信号补偿值
+                    LastOutDownPosition = Batch_Axis.GetAclPosition()+ConfigHelper.Config.Get("OffsetEmptyToTrayCheck",10)* Config.Batch_PoToMM;
                     if (LastStringState == StringStateE.OutStore)
                     if (LastStringState == StringStateE.OutStore)
                     {
                     {
                         StringMoveInfo.log($"恢复上次料串信息为出库料串");
                         StringMoveInfo.log($"恢复上次料串信息为出库料串");
@@ -239,7 +240,7 @@ namespace DeviceLibrary
                         SetReelHeight(GetHeight(ClampMoveInfo));
                         SetReelHeight(GetHeight(ClampMoveInfo));
                     newreel = false;
                     newreel = false;
 
 
-                    StringMoveInfo.log($"料串有盘下降5mm");
+                    StringMoveInfo.log($"料串有盘下降{Config.Batch_DetectDownMM}mm");
                     var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
                     var tpos2 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_DetectDownMM;
                     if (tpos2 < 0)
                     if (tpos2 < 0)
                     {
                     {
@@ -264,7 +265,7 @@ namespace DeviceLibrary
                     if (StringState == StringStateE.InStore)
                     if (StringState == StringStateE.InStore)
                     {
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyGet);
-                        StringMoveInfo.log($"料串有盘上升5mm");
+                        StringMoveInfo.log($"料串有盘上升{Config.Batch_DetectDownMM + 2}mm");
                         var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
                         var tpos4 = Batch_Axis.GetAclPosition() + Config.Batch_PoToMM * (Config.Batch_DetectDownMM + 2);
                         Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
                         Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
                         CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
                         CylinderMove(StringMoveInfo, IO_Type.Clamping_Relax, IO_Type.Clamping_Work, IO_VALUE.LOW);
@@ -279,7 +280,7 @@ namespace DeviceLibrary
                         {
                         {
                             tpos2 = 0;
                             tpos2 = 0;
                         }
                         }
-                        StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}cm,={tpos2},{Batch_Axis.GetAclPosition()}");
+                        StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,={tpos2},{Batch_Axis.GetAclPosition()}");
                         Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
                         Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
                         StringType = StringTypeE.Out;
                         StringType = StringTypeE.Out;
                     }
                     }
@@ -349,7 +350,7 @@ namespace DeviceLibrary
                     else if (tpos > Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight)
                     else if (tpos > Config.Batch_P1 + Config.Batch_PoToMM * maxReelHeight)
                     {
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
-                        StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}cm");
+                        StringMoveInfo.log($"料盘放入料串,下降{StringMoveInfo.MoveParam.PlateH}+{3}mm");
                         Batch_Axis.AbsMove(StringMoveInfo, tpos, Config.Batch_P1_speed);
                         Batch_Axis.AbsMove(StringMoveInfo, tpos, Config.Batch_P1_speed);
                     }
                     }
                     else if (!downCheck3)
                     else if (!downCheck3)