1

Common/StringList.cs

@@ -144,6 +144,7 @@ namespace OnlineStore.Common
         before_FrmPositionTool_stopmuchine,
         wait_ngdoor_close,
         out_string,
-        InOut_Axis_interference_01
+        InOut_Axis_interference_01,
+        string_manual_takeout
     }
 }

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -297,9 +297,10 @@ namespace DeviceLibrary
         public enum StringStateE
         {
             None=0,
-            OutStore,
             InStore,
-            Full
+            OutStore,            
+            Full,
+            ManualOut
         }
         public enum StringTypeE
         {

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -20,7 +20,7 @@ namespace DeviceLibrary
                 Msg.add(crc.GetString(L.not_detect_airpressure, "未检测到气压信号."), MsgLevel.warning);
             }
 
-            if ((StringState == StringStateE.OutStore || StringState == StringStateE.Full) && IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.LOW)) {
+            if ((StringState >= StringStateE.OutStore) && IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.LOW)) {
                 StringState = StringStateE.None;
             }
 

DeviceLibrary/theMachine/MainMachine_Clamp.cs

@@ -81,7 +81,10 @@ namespace DeviceLibrary
             switch (ClampMoveInfo.MoveStep)
             {
                 case MoveStep.Wait:
-                    if (IsGetReelReady) {
+                    if (OutSingleJobList.Count > 0 || StoreMoveInfo.MoveStep>= MoveStep.StoreOut10) {
+                        ClampMoveInfo.log($"优先单盘出库,当单盘出库结束后继续");
+                    }
+                    else if (IsGetReelReady) {
                         ClampMoveInfo.NewMove(MoveStep.ReelClamp_01);
                         ClampMoveInfo.MoveParam = StringMoveInfo.MoveParam.clone();
                     }

DeviceLibrary/theMachine/MainMachine_ServerControl.cs

@@ -32,12 +32,14 @@ namespace DeviceLibrary
             var clampstep = RobotManage.mainMachine.ClampMoveInfo.MoveStep;
             if (step == MoveStep.StringReadyGet && clampstep >= MoveStep.ReelClamp_GetHeight)
             {
-                RobotManage.mainMachine.StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);                
+                RobotManage.mainMachine.StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
+                StringState = StringStateE.ManualOut;
                 return crc.GetString(L.string_begin_release, "开始释放料串");
             }
             if (step == MoveStep.StringReadyPut)
             {
                 RobotManage.mainMachine.StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
+                StringState = StringStateE.ManualOut;
                 return crc.GetString(L.string_begin_release, "开始释放料串");
             }
             LogUtil.info($"料串无法释放,料仓正在出入库中:{StringMoveInfo.MoveStep}");

DeviceLibrary/theMachine/MainMachine_Store.cs

@@ -48,6 +48,8 @@ namespace DeviceLibrary
                     //}
                     ////判断有没有料盘等待入库
                     //else 
+
+
                     if (IsWaitInStore)
                     {
                         StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
@@ -57,6 +59,20 @@ namespace DeviceLibrary
                     //判断有没有单盘出库任务, 需要入库空闲, 出口空闲
                     else if (OutSingleJobList.Count > 0 && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait)
                     {
+                        if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                        {
+
+                            if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
+                            {
+                                Msg.add("收到出库任务,但料叉上有料,无法启动,请检查", MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                                //RobotManage.UserPause("收到出库任务,但料叉上有料,无法启动,请检查");
+                            }
+                            else
+                                Msg.add("收到出库任务,但料叉上有料,无法启动,请检查", MsgLevel.warning);
+                            return;
+                        }
+                        else
+                            boxTransport.IgnoreX09 = false;
                         if (OutSingleJobList.Dequeue(out JobInfo jobInfo))
                         {
                             StoreMoveInfo.NewMove(MoveStep.StoreOut10);
@@ -75,6 +91,19 @@ namespace DeviceLibrary
                     //判断有没有出库任务, 需要入库空闲, 出口空闲
                     else if (OutStoreJobList.Count > 0 && boxTransport.IsComplateOrFree)
                     {
+                        if (!boxTransport.IgnoreX09 && IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                        {
+                            if (!boxTransport.IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
+                            {
+                                Msg.add("收到出库任务,但料叉上有料,无法启动,请检查", MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                                
+                            }
+                            else
+                                Msg.add("收到出库任务,但料叉上有料,无法启动,请检查", MsgLevel.warning);
+                            return;
+                        }
+                        else
+                            boxTransport.IgnoreX09 = false;
                         TurnToOut();
                         if (IsPutReelReady && OutStoreJobList.Dequeue(out JobInfo jobInfo))
                         {

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -63,7 +63,7 @@ namespace DeviceLibrary
             if (!IsBatchDoorClosed) {
                 return false;
             }
-            if (StringState== StringStateE.Full)
+            if (StringState>= StringStateE.Full)
             {
                 return false;
             }
@@ -114,12 +114,14 @@ namespace DeviceLibrary
                 case MoveStep.Wait:
                     if (StringState == StringStateE.Full)
                         Msg.add(crc.GetString(L.string_full_takeout, "料串已满请取出"), MsgLevel.warning);//0704
+                    else if (StringState == StringStateE.ManualOut)
+                        Msg.add(crc.GetString(L.string_manual_takeout, "手动请求取出料串"), MsgLevel.warning);//0704
                     else if (StringState == StringStateE.OutStore)
                     {
                         Msg.add(crc.GetString(L.out_store_free, "舱内有出库料盘"), MsgLevel.warning);//0704
                     }
                     
-                    if (StringState != StringStateE.Full && StoreMoveInfo.MoveStep >= MoveStep.StoreOut10 && IsBatchDoorClosed)
+                    if (StringState < StringStateE.Full && StoreMoveInfo.MoveStep >= MoveStep.StoreOut10 && IsBatchDoorClosed)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringLoad_01);
                         StringState = StringStateE.OutStore;
@@ -161,9 +163,9 @@ namespace DeviceLibrary
                         if (Batch_Axis.IsInPosition(Config.Batch_P2) && IOValue(IO_Type.TrayCheck).Equals(IO_VALUE.LOW))
                         {
                             StringMoveInfo.log($"料串检测为空");
-                            if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0)
+                            if (ConfigHelper.Config.Get("Device_String_StandbyAtBottom", true) && OutStoreJobList.Count == 0 && StoreMoveInfo.MoveStep < MoveStep.StoreOut10)
                             {
-                                StringMoveInfo.log($"当钱空料串, 并且没有出库任务, 料串下降待机");
+                                StringMoveInfo.log($"当前空料串, 并且没有出库任务, 料串下降待机");
                                 StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                             }
                         }
@@ -360,7 +362,7 @@ namespace DeviceLibrary
 
             if (StringState == StringStateE.OutStore)
                 state = crc.GetString(L.out_string, "出库料串");
-            else if (StringState == StringStateE.Full)
+            else if (StringState >= StringStateE.Full)
             {                
                 state = crc.GetString(L.full_reel, "满料串");
             }