修正干涉错误

DeviceLibrary/Config/Config.csv

 类型,分类编号,说明,名称,属性值,设备名称,电器定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
-AXIS,,0-行走机构,XAxis,0,HC,,40000,200000,200000,2000,20000,80000,10,300,0,0
-AXIS,,1-升降轴,YAxis,1,HC,,40000,200000,200000,2000,20000,80000,10,300,0,0
-AXIS,,2-伸缩轴,ZAxis,2,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0
+AXIS,,0-行走机构,XAxis,0,HC,,60000,200000,200000,8000,80000,80000,10,300,0,0
+AXIS,,1-升降轴,YAxis,1,HC,,20000,200000,200000,2000,60000,80000,10,300,0,0
+AXIS,,2-伸缩轴,ZAxis,2,HC,,100000,200000,200000,10000,100000,150000,10,300,0,0
 AXIS,,3-入料线体顶升电机,InLift_Moto,3,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0
 AXIS,,4-出料线体顶升电机,OutLift_Moto,4,HC,,40000,200000,200000,1000,4000,15000,10,300,0,0
 ,,,,,,,,,,,,,,,,
 PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,15,,,,,,,,,,,,
 PRO,50,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
-PRO,50,扫码相机,CameraName,asdasdasd,,,,,,,,,,,,
-PRO,40,入料线体顶升电机速度,InLift_Moto_Speed,10,,,,,,,,,,,,
-PRO,40,出料线体顶升电机速度,OutLift_Moto_Speed,10,,,,,,,,,,,,
+PRO,50,扫码相机,CameraName,GigE:MV-CE200-10GC (00G03770732),,,,,,,,,,,,
+PRO,40,入料线体顶升电机速度,InLift_Moto_Speed,30000,,,,,,,,,,,,
+PRO,40,出料线体顶升电机速度,OutLift_Moto_Speed,30000,,,,,,,,,,,,
 PRO,40,称重传感器端口,WeightSensorPort,COM5,,,,,,,,,,,,
-PRO,40,称重传感器皮重,WeightSensorBase,22,,,,,,,,,,,,
+PRO,40,称重传感器皮重,WeightSensorBase,0,,,,,,,,,,,,
 PRO,40,库位最大承重,StoreWeightLimited,30,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,10,行走机构待机点P1,Xaxis_P1,1,,,22,,,,,,,,,
-PRO,10,行走机构取料点A侧P2,Xaxis_P2,1,,,22,,,,,,,,,
-PRO,10,行走机构取料点B侧P3,Xaxis_P3,1,,,22,,,,,,,,,
+PRO,10,行走机构待机点P1,Xaxis_P1,3993729,,,250000,,,,,,,,,
+PRO,10,行走机构取料点A侧P2,Xaxis_P2,4671427,,,250000,,,,,,,,,
+PRO,10,行走机构取料点B侧P3,Xaxis_P3,4684967,,,250000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,11,升降轴待机点P1,Yaxis_P1,2,,,22,,,,,,,,,
-PRO,11,升降取料低点A侧P2/入库速度,Yaxis_P2,2,,,22,,,,,,,,,
-PRO,11,升降取料低点B侧P3,Yaxis_P3,2,,,22,,,,,,,,,
-PRO,11,升降取料高点A侧P4/出库速度,Yaxis_P4,2,,,22,,,,,,,,,
-PRO,11,升降取料高点B侧P5,Yaxis_P5,2,,,22,,,,,,,,,
+PRO,11,升降轴待机点P1,Yaxis_P1,370226,,,60000,,,,,,,,,
+PRO,11,升降取料低点A侧P2/入库速度,Yaxis_P2,370226,,,60000,,,,,,,,,
+PRO,11,升降取料低点B侧P3,Yaxis_P3,370226,,,60000,,,,,,,,,
+PRO,11,升降取料高点A侧P4/出库速度,Yaxis_P4,427555,,,60000,,,,,,,,,
+PRO,11,升降取料高点B侧P5,Yaxis_P5,440000,,,60000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,12,伸缩轴待机点P1,Zaxis_P1,3,,,22,,,,,,,,,
-PRO,12,伸缩轴A面取料点P2,Zaxis_P2,3,,,22,,,,,,,,,
-PRO,12,伸缩轴B面取料点P3,Zaxis_P3,3,,,22,,,,,,,,,
+PRO,12,伸缩轴待机点P1,Zaxis_P1,0,,,800000,,,,,,,,,
+PRO,12,伸缩轴A面取料点P2,Zaxis_P2,2100000,,,800000,,,,,,,,,
+PRO,12,伸缩轴B面取料点P3,Zaxis_P3,-2152700,,,800000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DI,0,急停,SuddenStop_BTN,0,HC,X00,,,,,,,,,,
 DI,0,复位,Reset_BTN,1,HC,X01,,,,,,,,,,

DeviceLibrary/theMachine/BoxTransport.cs

@@ -196,8 +196,10 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
                     break;
                 case MoveStep.StoreTS13:
-                    GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
-                    RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
+                    if (To != null)
+                        GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
+                    if (From!=null)
+                        RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
                     MoveInfo.NextMoveStep(MoveStep.StoreTS14);
                     YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed);
                     MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点");
@@ -209,7 +211,8 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreTS15:
                     GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
-                    RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
+                    if (From != null) 
+                        RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {

DeviceLibrary/theMachine/MainMachine.cs

@@ -167,7 +167,7 @@ namespace DeviceLibrary
             //行走机构目的地小于P1待机点
             if (to > Config.Xaxis_P1+ Config.XAxis.CanErrorCountMax) {
                 //上下周小于上下周待机点
-                if (YAxis.GetAclPosition() < Config.Yaxis_P1 + Config.YAxis.CanErrorCountMax) {
+                if (YAxis.GetAclPosition() < Config.Yaxis_P1 - Config.YAxis.CanErrorCountMax) {
                     return (true, "行走机构托盘与进出库线体干涉,请升高升降轴");
                 }
             }