1

Common/Setting_Init.cs

@@ -55,6 +55,8 @@ namespace OnlineStore.Common
         public static MyConfig<string[]> Device_Ignore_FixtureCheck = new string[] { };
         [MyConfigComment("屏蔽出入库时料叉检测")]
         public static MyConfig<bool> Device_Disable_INOUT_FixtureCheck = false;
+        [MyConfigComment("出库时料串检测料盘高度")]
+        public static MyConfig<bool> Device_OutStoreStringReelCheck = false;
 
         [MyConfigComment("管理员密码")]
         public static MyConfig<string> User_AdminPassword = "123456";

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -9,7 +9,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    public class LiftMonitor
+    public class LiftMonitor :ISafetyDevice
     {
         string up;
         string down;
@@ -28,6 +28,7 @@ namespace DeviceLibrary
             if (downspeed == 0) {
                 downspeed = upspeed;
             }
+            SafetyDevice.AddDevice(this);
         }
         public bool isAtTOP {
             get {
@@ -123,5 +124,15 @@ namespace DeviceLibrary
             }
             return false;
         }
+
+        public void Pause()
+        {
+            axisBean.SuddenStop();
+        }
+
+        public void Resume()
+        {
+           // throw new NotImplementedException();
+        }
     }
 }

DeviceLibrary/theMachine/MainMachine_Clamp.cs

@@ -175,7 +175,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.WaitInStore:
                     if (ClampMoveInfo.MoveParam.IsNg)
-                        Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.info);
+                        Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
                     else
                         Msg.add(crc.GetString(L.reel_wait_in_store, "料盘等待入库"), MsgLevel.info);
                     break;

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -104,6 +104,11 @@ namespace DeviceLibrary
         Task TestHeightTask = null;
 
         const bool oldtestheight = true;
+
+        /// <summary>
+        /// 出库下降对射触发位置高度
+        /// </summary>
+        int LastOutDownPosition = 0;
         void StringProcess()
         {
             if (CheckWait(StringMoveInfo))
@@ -217,20 +222,20 @@ namespace DeviceLibrary
                     else if (StringState == StringStateE.OutStore)
                     {
                         StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
-                                            
-                        var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
-                        if (tpos3 < 0)
+                        LastOutDownPosition = Batch_Axis.GetAclPosition();
+                        var tpos4 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutStoreDownMM;
+                        if (tpos4 < 0)
                         {
-                            tpos3 = 0;
+                            tpos4 = 0;
                         }
-                        StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,{tpos3},{Batch_Axis.GetAclPosition()}");
-                        if (tpos3 < Config.Batch_P1)
+                        StringMoveInfo.log($"料串出库模式,下降{Config.Batch_OutStoreDownMM}mm,{tpos4},{Batch_Axis.GetAclPosition()}");
+                        if (tpos4 < Config.Batch_P1)
                         {
                             StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                             StringState = StringStateE.Full;
                             StringMoveInfo.log($"料串已满,无法出库,开始送出");
                         }
-                        Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1_speed);
+                        Batch_Axis.AbsMove(StringMoveInfo, tpos4, Config.Batch_P1_speed);
                     }
                     break;
                 case MoveStep.StringLoad_07:                    
@@ -304,7 +309,13 @@ namespace DeviceLibrary
                         StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
                     }
                     break;
-                case MoveStep.StringReelPut:                    
+                case MoveStep.StringReelPut:
+                    if (Setting_Init.Device_OutStoreStringReelCheck) {
+                        StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_03);
+                        BatchAxisToP2(StringMoveInfo,true);
+                        return;
+                    }
+
                     var tpos = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * (StringMoveInfo.MoveParam.PlateH+Config.Batch_OutPlateDownMM);
                     if (tpos < 0)
                         tpos = 0;
@@ -348,6 +359,33 @@ namespace DeviceLibrary
                     StringMoveInfo.log($"批量轴到顶部检测点");
                     BatchAxisToP2(StringMoveInfo);
                     break;
+                case MoveStep.StringReelPut_03:
+                    StringMoveInfo.NextMoveStep(MoveStep.StringReelPut_04);
+                    var heightcheck = (LastOutDownPosition - Batch_Axis.GetAclPosition()) / Config.Batch_PoToMM;
+                    StringMoveInfo.log($"LastOutDownPosition={LastOutDownPosition},CurrentPosition={Batch_Axis.GetAclPosition()},heightcheck={heightcheck}");
+                    if (heightcheck <= 5) {
+                        Msg.add("出库时料盘未成功放入料串,请检查", MsgLevel.alarm);
+                        RobotManage.UserPause("出库时料盘未成功放入料串,请检查");
+                    }
+                    break;
+                case MoveStep.StringReelPut_04:
+                    LastOutDownPosition = Batch_Axis.GetAclPosition();
+                    var tpos3 = Batch_Axis.GetAclPosition() - Config.Batch_PoToMM * Config.Batch_OutPlateDownMM;
+                    if (tpos3 < 0)
+                        tpos3 = 0;
+                    if (tpos3 > Config.Batch_P1)
+                    {
+                        StringMoveInfo.NextMoveStep(MoveStep.StringReadyPut);
+                        StringMoveInfo.log($"料盘放入料串,下降{Config.Batch_OutPlateDownMM}cm");
+                        Batch_Axis.AbsMove(StringMoveInfo, tpos3, Config.Batch_P1_speed);
+                    }
+                    else
+                    {
+                        StringMoveInfo.NextMoveStep(MoveStep.StringOut_01);
+                        StringState = StringStateE.Full;
+                        StringMoveInfo.log($"料串已满可以送出");
+                    }
+                    break;
                 case MoveStep.StringOut_01:
                     StringMoveInfo.NextMoveStep(MoveStep.StringOut_Released);
                     StringMoveInfo.log($"料串下降到P1点");

DeviceLibrary/theMachine/MoveStep.cs

@@ -50,6 +50,8 @@ namespace DeviceLibrary
         StringReelPut,
         StringReelPut_01,
         StringReelPut_02,
+        StringReelPut_03,
+        StringReelPut_04,
         StringOut_01,
         StringOut_02,
         StringOut_03,

TheMachine/App.config

@@ -10,7 +10,7 @@
 	</appSettings>
 	<log4net>
 		<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
-			<file value="logs/AutoScanAndLabel.log"/>
+			<file value="logs/TheMachine.log"/>
 			<param name="Encoding" value="UTF-8"/>
 			<appendToFile value="true"/>
 			<rollingStyle value="Date"/>