优化进出库流程

DeviceLibrary/theMachine/BoxTransport.cs

@@ -26,7 +26,7 @@ namespace DeviceLibrary
         public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
         public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; }
         public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
-        public bool IsPutOnOut {get=> To.posid== BoxStorePosition.outdoor && MoveInfo.MoveStep < MoveStep.StoreTS10 && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
+        public bool IsPutOnOut {get=> To.posid== BoxStorePosition.outdoor && MoveInfo.MoveStep >= MoveStep.StoreTS16; }
         public BoxTransport(Robot_Config _Config, MainMachine _mainMachine)
         {
             Config = _Config;
@@ -72,15 +72,29 @@ namespace DeviceLibrary
             //thread = new Thread(new ThreadStart(Run));
             //thread.Start();
         }
-        bool isSameSide(int from)
+
+        bool isNotSameSide(int x_to, int y_to)
         {
             var p = XAxis.GetAclPosition();
             var rtx = p + Config.XAxis.CanErrorCountMax;
-            var ltx = p- Config.XAxis.CanErrorCountMax;
-            if (rtx >= Config.Xaxis_P1 && rtx >= from)
+            var ltx = p - Config.XAxis.CanErrorCountMax;
+
+            var py = YAxis.GetAclPosition();
+            var uty = py + Config.YAxis.CanErrorCountMax;
+            var dty = py - Config.YAxis.CanErrorCountMax;
+
+            //从外侧到内测,判断目标位置是否小于p1
+            if (rtx >= Config.Xaxis_P1 && x_to < Config.Xaxis_P1)
+            {
+                if (y_to < Config.Yaxis_P1)
                     return true;
-            if (ltx <= Config.Xaxis_P1 && ltx <= from)
+            }
+            //从内测到外侧判断当前位置是否小于p1
+            if (ltx <= Config.Xaxis_P1 && x_to > Config.Xaxis_P1)
+            {
+                if (uty < Config.Yaxis_P1)
                     return true;
+            }
 
             return false;
         }
@@ -118,7 +132,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreTS03:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS04);
-                    if (isSameSide(From.Xaxis_P2))
+                    if (isNotSameSide(From.Xaxis_P2,From.Yaxis_PL))
                     {
                         YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
                         XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
@@ -171,7 +185,7 @@ namespace DeviceLibrary
                     {
                         IgnoreX09 = false;
                         MoveInfo.NextMoveStep(MoveStep.StoreTS10);
-                        if (isSameSide(To.Xaxis_P2))
+                        if (isNotSameSide(To.Xaxis_P2, To.Yaxis_PL))
                         {
                             YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
                             XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);

DeviceLibrary/theMachine/LabelParam.cs

@@ -107,15 +107,24 @@ namespace DeviceLibrary
     }
     [Serializable]
     class BoxStorePosition {
-        //行走机构取料点
+        
+        /// <summary>
+        /// 行走机构取料点
+        /// </summary>
         public int Xaxis_P2;
 
-        //升降轴取料高点
+        /// <summary>
+        /// 升降轴取料高点
+        /// </summary>
         public int Yaxis_PH;
-        //升降轴取料低点
+        /// <summary>
+        /// 升降轴取料低点
+        /// </summary>
         public int Yaxis_PL;
 
-        //进出轴取料点
+        /// <summary>
+        /// 进出轴取料点
+        /// </summary>
         public int Zaxis_P2;
 
         public string posid;

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -73,7 +73,7 @@ namespace DeviceLibrary
                         isOk = false;
                         WarnMsg = msg;
                         Alarm(AlarmType.AxisMoveError, WarnMsg);
-                        Msg.add(WarnMsg, MsgLevel.warning);
+                        Msg.add(WarnMsg, MsgLevel.alarm);
                         break;
                     }
                 }

DeviceLibrary/theMachine/MainMachine _Out.cs

@@ -32,14 +32,20 @@ namespace DeviceLibrary
                     if (OutSideLift.isAtBOTTOM)
                     {
                         OutMoveInfo.NextMoveStep(MoveStep.WaitErr);
+                        return;
                     }
-                    else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH) && RobotManage.mainMachine.boxTransport.IsPutOnOut)
+                    else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH) && OutMoveInfo.IsTimeOut(20))
                     {
-                        Msg.add("检测到出料口有周转箱", MsgLevel.warning);
-                        OutMoveInfo.log($"检测到出料口有周转箱,送出");
+                        Msg.add("检测到出料口有周转箱,等待信息超时", MsgLevel.warning);
+                        OutMoveInfo.log($"检测到出料口有周转箱,等待信息超时,送出");
 
                         OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
+                        return;
                     }
+                    else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH))
+                        return;
+
+                    OutMoveInfo.NextMoveStep(MoveStep.Wait);
                     break;
                 case MoveStep.WaitErr:
                     OutMoveInfo.NextMoveStep(MoveStep.Wait);

DeviceLibrary/theMachine/MainMachine _Store.cs

@@ -96,7 +96,7 @@ namespace DeviceLibrary
                     //}
                     break;
                 case MoveStep.StoreOut12:
-                    if (boxTransport.IsComplateOrFree)
+                    if (boxTransport.IsPutOnOut)
                     {
                         OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
                         OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone();

DeviceLibrary/theMachine/MainMachine.cs

@@ -289,6 +289,12 @@ namespace DeviceLibrary
                     ZAxis.HomeMove(ResetMoveInfo, forceHome);
                     break;
                 case MoveStep.H02_HomeReset:
+                    ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
+                    ResetMoveInfo.log("正在回原,料叉P1待机点");
+                    ZAxis.AbsMove(ResetMoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);                    
+                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    break;
+                case MoveStep.H03_HomeReset:
                     if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
     IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
@@ -296,12 +302,6 @@ namespace DeviceLibrary
                         RobotManage.UserPause("回源时料叉上有物料");
                         return;
                     }
-                    ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
-                    ResetMoveInfo.log("正在回原,料叉P1待机点");
-                    ZAxis.AbsMove(ResetMoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);                    
-                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
-                    break;
-                case MoveStep.H03_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                     ResetMoveInfo.log("开始回原,行走机构,回原");
                     XAxis.HomeMove(ResetMoveInfo, forceHome);