1

Common/Setting_Init.cs

@@ -20,7 +20,8 @@ namespace OnlineStore.Common
         public static MyConfig<string> App_Title="出库机构";
 
         [MyConfigComment("服务器地址")]
-        public static MyConfig<string> Device_Server_Address = "http://192.168.1.243/smf-core";
+        public static MyConfig<string> Device_Server_Address = "";
+        //public static MyConfig<string> Device_Server_Address = "http://192.168.1.243/smf-core";
 
         [MyConfigComment("设备界面语言")]
         public static MyConfig<string> Device_Default_Language = "zh-CN";
@@ -66,8 +67,9 @@ namespace OnlineStore.Common
 
 
 
-        public static MyConfig<bool> Runtime_IsInStore;
-        public static MyConfig<string> Runtime_PosID;
+        public static MyConfig<bool> Runtime_IsPutReel;
+        public static MyConfig<string> Runtime_StartPosID;
+        public static MyConfig<string> Runtime_TargetPosID;
         public static MyConfig<string> Runtime_WareCode;
         public static MyConfig<int> Runtime_PlateW;
         public static MyConfig<int> Runtime_PlateH;

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -253,7 +253,7 @@ namespace DeviceLibrary
                             }
                             else
                             {
-                                bitmapfilename = SaveImageToFile("mimo", cameraName, bmp);
+                                bitmapfilename = SaveImageToFile("outBound", cameraName, bmp);
                             }
                             LogUtil.info(" 【" + cameraName + "】" + " 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
                         }
@@ -325,9 +325,16 @@ namespace DeviceLibrary
                 {
                     Directory.CreateDirectory(dire);
                 }
+                if (!canSavePic(dire))
+                {
+                   CodeManager. DeleteOldFiles(dire,7);
+                }
+                if (canSavePic(dire))
+                {
                     bitmap.Save(dire + iamgeName, ImageFormat.Bmp);
                     //bitmap.Dispose();
                     LogUtil.info(deviceName + "  【" + cameraName + "】扫码完成，保存图片到【" + dire + iamgeName + "】成功");
+                }
 
             }
             catch (Exception ex)
@@ -399,5 +406,78 @@ namespace DeviceLibrary
                 return "";
             }
         }
+        //public static bool record = false;//是否保存结果图片
+        public static bool canSavePic(string path = "")
+        {
+            if (path == "")
+            {
+                path = "D:\\CameraDebug\\";
+            }
+            if (!Directory.Exists(path))
+            {
+                Directory.CreateDirectory(path);
+            }
+            string volume = path.Substring(0, path.IndexOf(':'));
+            long freespace = GetHardDiskSpace(volume);
+            int zhao = (int)(freespace / 1024);
+            if (zhao < 5)
+            {
+                LogUtil.error(volume + "盘剩余空间：" + freespace + "G, 不再保存识别图片");
+                return false;
+            }
+            return true;
+        }
+        private static long GetHardDiskSpace(string str_HardDiskName)
+        {
+            long totalSize = 0;
+            str_HardDiskName = str_HardDiskName + ":\\";
+            System.IO.DriveInfo[] drives = System.IO.DriveInfo.GetDrives();
+            foreach (System.IO.DriveInfo drive in drives)
+            {
+                if (drive.Name == str_HardDiskName)
+                {
+                    totalSize = drive.TotalFreeSpace / (1024 * 1024);
+                }
+            }
+            return totalSize;
+        }
+
+        /// <summary>
+        /// 删除文件夹strDir中nDays天以前的文件
+        /// </summary>
+        /// <param name="dir"></param>
+        /// <param name="days"></param>
+        static void DeleteOldFiles(string path = "", int days = 7)
+        {
+            if (path == "")
+            {
+                path = "D:\\CameraDebug\\";
+            }
+            try
+            {
+                LogUtil.info($"DeleteOldFiles 开始删除文件夹[{path}][{days}]天前的文件");
+                if (!Directory.Exists(path) || days < 1) return;
+
+                var now = DateTime.Now;
+                foreach (var f in Directory.GetFileSystemEntries(path).Where(f => File.Exists(f)))
+                {
+                    DateTime createTime = File.GetCreationTime(f);
+
+                    var elapsedTicks = now.Ticks - createTime.Ticks;
+                    var elapsedSpan = new TimeSpan(elapsedTicks);
+
+                    if (elapsedSpan.TotalDays > days)
+                    {
+                        File.Delete(f);
+
+                        LogUtil.info($"DeleteOldFiles 删除文件： {f} ");
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"DeleteOldFiles {path} {days} error :" + ex.ToString());
+            }
+        }
     }
 }

DeviceLibrary/DeviceLibrary/HttpServer.cs

@@ -144,7 +144,14 @@ namespace DeviceLibrary
             }
             return -1;
         }
-
+        /// <summary>
+        /// 放料到料架完成通知
+        /// </summary>
+        /// <param name="rfid"></param>
+        /// <param name="barcode"></param>
+        /// <param name="rfidLoc"></param>
+        /// <param name="robotIndex"></param>
+        /// <returns></returns>
         public static ShelfTaskInfo ShelfFinish(string rfid, string barcode = "", string rfidLoc = "", string robotIndex = "1")
         {
             ShelfTaskInfo task = new ShelfTaskInfo();
@@ -193,7 +200,13 @@ namespace DeviceLibrary
             return task;
         }
 
-
+        /// <summary>
+        /// 根据条码获取位置
+        /// </summary>
+        /// <param name="barcode"></param>
+        /// <param name="currRFID"></param>
+        /// <param name="msg"></param>
+        /// <returns></returns>
         public static TrayInfo GetLocation(string barcode, string currRFID, out string msg)
         {
             //getLocation这个接口传入barcode和rfid列表会分配料架

DeviceLibrary/DeviceLibrary/ReelParam.cs

@@ -74,25 +74,25 @@ public class ReelParam
     /// 物料编码
     /// </summary>
     public string PN { get; set; }
-    /// <summary>
-    /// 数量
-    /// </summary>
-    public int QTY { get; set; } = 0;
-    /// <summary>
-    /// 厂家代码
-    /// </summary>
-    public string FC { get; set; }
-    /// <summary>
-    /// 唯一序列号
-    /// </summary>
-    public string RI { get; set; }
-    public string DC { get; set; }
-    /// <summary>
-    /// 批次号
-    /// </summary>
-    public string Batch { get; set; }
-    public string cid { get; set; }
-    public string SubCID { get; set; }
+    ///// <summary>
+    ///// 数量
+    ///// </summary>
+    //public int QTY { get; set; } = 0;
+    ///// <summary>
+    ///// 厂家代码
+    ///// </summary>
+    //public string FC { get; set; }
+    ///// <summary>
+    ///// 唯一序列号
+    ///// </summary>
+    //public string RI { get; set; }
+    //public string DC { get; set; }
+    ///// <summary>
+    ///// 批次号
+    ///// </summary>
+    //public string Batch { get; set; }
+    //public string cid { get; set; }
+    //public string SubCID { get; set; }
 
 
 
@@ -145,18 +145,14 @@ public class ReelParam
             if (!File.Exists(countfile))
             {
                 StreamWriter sw1 = new StreamWriter(countfile, true, Encoding.GetEncoding("GB2312"));
-                sw1.WriteLine($"WareCode,SN,PN,Date,NgMsg");
+                sw1.WriteLine($"WareCode,StartPos,TargetPos,TargetOutShelf,TargetLoc,Date,NgMsg");
                 sw1.Close();
                 sw1.Dispose();
             }
             try
             {
                 var sw = new StreamWriter(countfile, true, Encoding.GetEncoding("GB2312"));
-                //var sw = File.Open(countfile, FileMode.Append, FileAccess.Write);
-                // string s = $"\r\n{ReeID},{PN},{PlateW}x{PlateH},{ReelDest},{NgMsg},{QTY},{WareCode}";
-                //var b = Encoding.GetEncoding("gb2312").GetBytes(s);
-                //sw.Write(b, 0, b.Length);
-                sw.WriteLine($"{WareCode},{RI},{PN},{datetime:yyyy/MM/dd HH:mm:ss},{NgMsg}");
+                sw.WriteLine($"{WareCode},{StartPos},{TargetPos},{TargetOutShelf},{TargetLoc},{datetime:yyyy/MM/dd HH:mm:ss},{NgMsg}");
                 sw.Close();
                 sw.Dispose();
             }

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -45,6 +45,7 @@ namespace DeviceLibrary
         }
         private void ServerConnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
+            return;
             //if (!Monitor.TryEnter(serverConnectTimer))
             //{
             //    LogUtil.error("ServerConnectTimer_Elapsed locked");

DeviceLibrary/theMachine/Common.cs

@@ -216,81 +216,81 @@ namespace DeviceLibrary
             pnreglist = File.ReadAllLines("config\\pn.list").ToList().FindAll((s) => { return !string.IsNullOrWhiteSpace(s); }).ToArray();
             qtyreglist = File.ReadAllLines("config\\qty.list").ToList().FindAll((s) => { return !string.IsNullOrWhiteSpace(s); }).ToArray();
         }
-        public static bool codeProcess(ReelParam labelParam,out string debugmsg) {
-            if (pnreglist == null)
-                LoadMatchList();
-
-            debugmsg = "";
-            List<CodeInfo> newcodeInfos = new List<CodeInfo>();
-            labelParam.PN = "";
-            foreach (var ci in labelParam.codeInfos.ToArray())
-            {
-                //string[] pnreglist = new string[] {
-                //    @"^P([1-9]\d+)$",
-                //    @"^(\d+)$%Code 128",
-                //    @"^([1-9]\d{7,9})$"
-                //};
-                foreach (var qtyreg in pnreglist)
-                {
-                    var partrules = qtyreg.Split('%');
-                    if (partrules.Length == 2) {
-                        if (ci.CodeType != partrules[1])
-                            break;
-                    }
-                    var m = Regex.Match(ci.CodeStr, partrules[0]);
-                    if (m.Success)
-                    {
-                        newcodeInfos.Add(ci);
-                        //labelParam.codeInfos.Remove(ci);
-                        labelParam.PN = m.Groups[1].Value;
-
-                        debugmsg += $"匹配到PN:{labelParam.PN}\r\n命中规则:{qtyreg}\r\n";
-                        break;
-                    }
-                }
-                if (!string.IsNullOrEmpty(labelParam.PN))
-                    break;
-            }
-
-            labelParam.QTY = 0;
-            foreach (var ci in labelParam.codeInfos.ToArray())
-            {
-                //string[] qtyreglist = new string[] {
-                //    @"Q(\d{3,5})[^\d]", 
-                //    @"^Q(\d{3,5})$",
-                //    @"^\w+\.\d([1-9]+0+)[1-9]+\d*$",
-                //    @"^.+?;.+?;.+?;(\d{3,5}?);.+?;.+?$",
-                //    @"^QUANTITY:(\d*)",
-                //    @"^(\d{6})\s",
-                //    @"\(\w*\s+(\d+)[a-zA-Z]",
-                //};
-                foreach (var qtyreg in qtyreglist)
-                {
-                    var m = Regex.Match(ci.CodeStr, qtyreg);
-                    if (m.Success)
-                    {
-                        newcodeInfos.Add(ci);
-                        //labelParam.codeInfos.Remove(ci);
-                        labelParam.QTY = int.Parse(m.Groups[1].Value);
-                        debugmsg += $"匹配到QTY:{labelParam.QTY}\r\n命中规则:{qtyreg}\r\n";
-                        break;
-                    }
-                }
-                if (labelParam.QTY > 0)
-                    break;
-            }
-
-            if (string.IsNullOrEmpty(labelParam.PN) || labelParam.QTY == 0)
-                return false;
-
-            //labelParam.codeInfos = newcodeInfos;
-            labelParam.FC = "985022";
-            labelParam.RI = "AL"+DateTime.Now.ToString("yyMMddHHmmssf");
-            labelParam.Batch = DateTime.Now.ToString("MMdd");
-            labelParam.WareCode = labelParam.RI;
-            LogUtil.info($"匹配成功:{labelParam.PN},{labelParam.QTY},{labelParam.RI}");
-            return true;
-        }
+        //public static bool codeProcess(ReelParam labelParam,out string debugmsg) {
+        //    if (pnreglist == null)
+        //        LoadMatchList();
+
+        //    debugmsg = "";
+        //    List<CodeInfo> newcodeInfos = new List<CodeInfo>();
+        //    labelParam.PN = "";
+        //    foreach (var ci in labelParam.codeInfos.ToArray())
+        //    {
+        //        //string[] pnreglist = new string[] {
+        //        //    @"^P([1-9]\d+)$",
+        //        //    @"^(\d+)$%Code 128",
+        //        //    @"^([1-9]\d{7,9})$"
+        //        //};
+        //        foreach (var qtyreg in pnreglist)
+        //        {
+        //            var partrules = qtyreg.Split('%');
+        //            if (partrules.Length == 2) {
+        //                if (ci.CodeType != partrules[1])
+        //                    break;
+        //            }
+        //            var m = Regex.Match(ci.CodeStr, partrules[0]);
+        //            if (m.Success)
+        //            {
+        //                newcodeInfos.Add(ci);
+        //                //labelParam.codeInfos.Remove(ci);
+        //                labelParam.PN = m.Groups[1].Value;
+
+        //                debugmsg += $"匹配到PN:{labelParam.PN}\r\n命中规则:{qtyreg}\r\n";
+        //                break;
+        //            }
+        //        }
+        //        if (!string.IsNullOrEmpty(labelParam.PN))
+        //            break;
+        //    }
+
+        //    labelParam.QTY = 0;
+        //    foreach (var ci in labelParam.codeInfos.ToArray())
+        //    {
+        //        //string[] qtyreglist = new string[] {
+        //        //    @"Q(\d{3,5})[^\d]", 
+        //        //    @"^Q(\d{3,5})$",
+        //        //    @"^\w+\.\d([1-9]+0+)[1-9]+\d*$",
+        //        //    @"^.+?;.+?;.+?;(\d{3,5}?);.+?;.+?$",
+        //        //    @"^QUANTITY:(\d*)",
+        //        //    @"^(\d{6})\s",
+        //        //    @"\(\w*\s+(\d+)[a-zA-Z]",
+        //        //};
+        //        foreach (var qtyreg in qtyreglist)
+        //        {
+        //            var m = Regex.Match(ci.CodeStr, qtyreg);
+        //            if (m.Success)
+        //            {
+        //                newcodeInfos.Add(ci);
+        //                //labelParam.codeInfos.Remove(ci);
+        //                labelParam.QTY = int.Parse(m.Groups[1].Value);
+        //                debugmsg += $"匹配到QTY:{labelParam.QTY}\r\n命中规则:{qtyreg}\r\n";
+        //                break;
+        //            }
+        //        }
+        //        if (labelParam.QTY > 0)
+        //            break;
+        //    }
+
+        //    if (string.IsNullOrEmpty(labelParam.PN) || labelParam.QTY == 0)
+        //        return false;
+
+        //    //labelParam.codeInfos = newcodeInfos;
+        //    labelParam.FC = "985022";
+        //    labelParam.RI = "AL"+DateTime.Now.ToString("yyMMddHHmmssf");
+        //    labelParam.Batch = DateTime.Now.ToString("MMdd");
+        //    labelParam.WareCode = labelParam.RI;
+        //    LogUtil.info($"匹配成功:{labelParam.PN},{labelParam.QTY},{labelParam.RI}");
+        //    return true;
+        //}
         public T DeepClone<T>(T _object)
         {
             T dstobject;

DeviceLibrary/theMachine/InReelBean.cs

@@ -151,8 +151,21 @@ namespace DeviceLibrary
                     {
                         cameraName = Setting_Init.CameraScan_IN_1;
                     }
-                     LastCode= CodeManager.CameraScan(cameraName.ToList());
-                    MoveInfo.log("扫码完成：");
+                    //循环扫码，扫到条码才进入下一步
+                    while (MoveInfo.MoveStep.Equals(MoveStep.IN02_ScanCode))
+                    {
+                        LastCode = CodeManager.CameraScan(cameraName.ToList());
+                        if (LastCode.Count > 0)
+                        { 
+                            MoveInfo.log("扫码完成："+CodeManager.ProcessCode(LastCode));
+                        }
+                        else
+                        {
+                            SetWarnMsg($"{Name}： 扫码失败");
+                            MoveInfo.errlog("扫码失败 , 等待3秒后重新扫码");
+                            Thread.Sleep(1000);
+                        }
+                    }
                 });
             }
             catch (Exception ex)

DeviceLibrary/theMachine/LabelParam.cs

@@ -70,7 +70,7 @@ namespace DeviceLibrary
             Reel = reel.clone();
             LogUtil.info($"BSP:{posid},Comp_PH:{Comp_PH}={Config.Comp_P2}-({BagHigh}-{70}+{Config.Comp_PH_MM})*{Config.Comp_PoToMM},Comp_PL:{Comp_PL}={ReelHeight},{JsonHelper.SerializeObject(this)}");
         }
-        public const string ngdoor = "单料口";
+        //public const string ngdoor = "单料口";
 
         public static BoxStorePosition GetFixPos(Robot_Config Config, ReelParam reel) {
             var fixpos = "fix#" + reel.PlateW.ToString();

DeviceLibrary/theMachine/MainMachine _AutoInOutTest.cs

@@ -242,7 +242,7 @@ namespace DeviceLibrary
                 case MoveStep.A07_NextPos:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn08); 
+                        AIOTMoveInfo.NextMoveStep(MoveStep.A8_WaitPosEnd); 
                         if (CurrentPosIndex - 2 < 0 || StopAutoInOut)
                         {
                             AIOTMoveInfo.log($"A已达到最后一个库位:{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将料盘送至出口");
@@ -263,7 +263,7 @@ namespace DeviceLibrary
                         AIOTMoveInfo.log($"开始交替：【{ac1.PositionNum}】->【{ac2.PositionNum}】");
                     }
                     break;
-                case MoveStep.StoreIn08:
+                case MoveStep.A8_WaitPosEnd:
                     if (boxTransport.IsComplateOrFree)
                     {
                         AIOTMoveInfo.log($"料盘已到达目的地");
@@ -279,7 +279,7 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.A10_LastPos:
-                    AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut11);
+                    AIOTMoveInfo.NextMoveStep(MoveStep.A11_R1StartBack);
                     CurrentPosIndex--;
                     CurrStartPos = GetAutoStartPos(1);
                     ACStorePosition start1 = RobotManage.allPositionMap[CurrStartPos];
@@ -294,24 +294,24 @@ namespace DeviceLibrary
                     }
                     AIOTMoveInfo.log($"开始运送料盘【{ac.PositionNum}】->【{start1.PositionNum}】");
                     break;
-                case MoveStep.StoreOut11:
+                case MoveStep.A11_R1StartBack:
                     if (boxTransport.IsPutOnOut)
                     {
-                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut12);
+                        AIOTMoveInfo.NextMoveStep(MoveStep.A12_WR1End);
                         AIOTMoveInfo.log($"料盘已到达目的地");
                         //AutoInOutTest = false;
                     }
                     break;
-                case MoveStep.StoreOut12:
+                case MoveStep.A12_WR1End:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut13);
+                        AIOTMoveInfo.NextMoveStep(MoveStep.A13_R1End);
                         AIOTMoveInfo.log($"料盘已到取走");
                         //AutoInOutTest = false;
                     }
                     break; 
-                case MoveStep.StoreOut13:
-                    AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut15);
+                case MoveStep.A13_R1End:
+                    AIOTMoveInfo.NextMoveStep(MoveStep.A15_StartR2Back);
                     CurrStartPos = GetAutoStartPos(2);
                     ACStorePosition start2 = RobotManage.allPositionMap[CurrStartPos];
                     ac = RobotManage.allPositionMap.Values.ToArray()[CurrentPosIndex - 1];
@@ -325,14 +325,14 @@ namespace DeviceLibrary
                     }
                     AIOTMoveInfo.log($"开始运送料盘【{ac.PositionNum}】->【{start2.PositionNum}】");
                     break;
-                case MoveStep.StoreOut15:
+                case MoveStep.A15_StartR2Back:
                     if (boxTransport.IsPutOnOut)
                     {
                         AIOTMoveInfo.log($"料盘已到达目的地");
-                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut16);
+                        AIOTMoveInfo.NextMoveStep(MoveStep.A15_R2End);
                     }
                     break;
-                case MoveStep.StoreOut16:
+                case MoveStep.A15_R2End:
                     if (boxTransport.IsComplateOrFree)
                     {
                         AIOTMoveInfo.log($"料盘已取走");

DeviceLibrary/theMachine/MainMachine _LedProcess.cs

@@ -121,7 +121,6 @@ namespace DeviceLibrary
             //回原 绿闪
             if (runStatus == RunStatus.HomeReset)
             { 
-                //RunningLed.LedState = LedState.blink;
                 ProcessLefCfg(MachineLedStateE.HomeReset);
             }
             //正常 绿亮
@@ -131,15 +130,11 @@ namespace DeviceLibrary
                 //出入库 绿闪 黄闪
                 if ( StoreMoveInfo.MoveStep > MoveStep.Wait)
                 { 
-                    //RunningLed.LedState = LedState.blink;
-                    //StandbyLed.LedState = LedState.blink;
                     ProcessLefCfg(MachineLedStateE.InOut);
                 }               
                 //系统暂停,说明书未定义, 绿闪, 红闪
                 if (!canRunning || UserPause)
                 { 
-                    //RunningLed.LedState = LedState.blink;
-                    //AlarmLed.LedState = LedState.blink;
                     ProcessLefCfg(MachineLedStateE.SystemPause);
                 }
             }
@@ -148,23 +143,13 @@ namespace DeviceLibrary
                 //系统停止时有报警, 红亮
                 if (hasAlarm)
                 { 
-                    //RunningLed.LedState = LedState.off;
-                    //StandbyLed.LedState = LedState.off;
-                    //AlarmLed.LedState = LedState.on;
                     ProcessLefCfg(MachineLedStateE.AlarmStop);
                 }
             }
             //系统运行时报警, 绿亮,红闪
             if (runStatus != RunStatus.Stop && hasAlarm)
             { 
-                //RunningLed.LedState = LedState.on;
-                //StandbyLed.LedState = LedState.off;
-                //AlarmLed.LedState = LedState.blink;
                 ProcessLefCfg(MachineLedStateE.Alarm); 
-                //if (UserPause) {
-                //    RunningLed.LedState = LedState.blink;
-                //    StandbyLed.LedState = LedState.blink;
-                //}
             }
             Led.LedGroup.ForEach((x) => { x.run(); });
         }

DeviceLibrary/theMachine/MainMachine.cs

@@ -338,7 +338,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.H03_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
-                    ResetMoveInfo.log("旋转轴,升降轴,回原,料叉P1待机点");
+                    ResetMoveInfo.log($"旋转轴,升降轴,回原,进出轴到P1{Config.InOut_P1}待机点");
                     InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                     Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
                     UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
@@ -348,7 +348,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.H05_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H06_HomeReset);
-                    ResetMoveInfo.log("旋转轴,升降轴,到P1待机点");
+                    ResetMoveInfo.log($"旋转轴到P1{Config.Middle_P1},升降轴到P1{Config.UpDown_P1}");
                     Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
                     UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
                     break;
@@ -359,7 +359,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.H07_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
-                    ResetMoveInfo.log("旋转轴,升降轴,到P2,压紧轴p1");
+                    ResetMoveInfo.log($" 压紧轴P1{Config.Comp_P1}");
                     Comp_Axis.AbsMove(ResetMoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
                     break;
                 case MoveStep.H08_HomeReset:
@@ -514,7 +514,7 @@ namespace DeviceLibrary
             }
             else if (isInSuddenDown)
             {
-                //Alarm(AlarmType.SuddenStop);
+                Alarm(AlarmType.SuddenStop);
                 Msg.add(crc.GetString(L.in_suddenstop, "急停中"), MsgLevel.alarm, ErrInfo.SuddenStop);
                 ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
                 lastSafeCheckStatus = false;
@@ -602,6 +602,13 @@ namespace DeviceLibrary
 
         private string getNextNgPos(int size = 7)
         {
+
+            if (size == 0)
+            {
+                //默认返回7寸库位
+                size = 7;
+            }
+
             string ngType = "NG_" + size;
             List<string> allPosList = CSVPositionReader<ACStorePosition>.getPositionKeyList();
             List<string> leftNgPos = (from m in allPosList where m.StartsWith(ngType) select m).ToList();
@@ -702,18 +709,26 @@ namespace DeviceLibrary
                 {
                     if (obj.IsRightShelf(tray, out targetPosName))
                     {
+
+                        //料架对应位置存在的话使用料架对应位置
+                        string pName = targetPosName + "_" + tray.realRFID;
+                        ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(pName);
+                        if (position == null)
+                        {
                             //判断库位号是否存在
-                        ACStorePosition position = CSVPositionReader<ACStorePosition>.GetPositon(targetPosName);
+                              position = CSVPositionReader<ACStorePosition>.GetPositon(targetPosName);
                             if (position == null)
                             {
-                            LogUtil.error(Name + " " + tray.ToStr() + " 找到匹配料架，但未找到库位号：" + position) ;
-                            WarnMsg = tray.barcode+"未找到库位号："+position;
+                                LogUtil.error(Name + " " + tray.ToStr() + " 找到匹配料架，但未找到库位号：" + position);
+                                WarnMsg = tray.barcode + "未找到库位号：" + position;
                                 targetPosName = "";
                                 break;
                             }
 
-                        obj.StartPutReel();
+                        }
+                        targetPosName = position.PositionNum;
                         LogUtil.info(Name + " " + tray.ToStr() + " 使用料架：" + targetPosName + "，更改料架为忙碌状态，开始放料");
+                        obj.StartPutReel();
                         break;
                     }
                 }

DeviceLibrary/theMachine/MainMachine_PutReel.cs

@@ -43,7 +43,7 @@ namespace DeviceLibrary
                                 //NG门关上再放料
                                 if (IOManager.IOValue(IO_Type.Left_NGDoor_Close_Check).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Right_NGDoor_Close_Check).Equals(IO_VALUE.HIGH))
                                 {
-                                    string ngPos = getNextNgPos();
+                                    string ngPos = getNextNgPos(tray.plateW);
                                     if (ngPos == "")
                                     {
                                         //暂无NG空位
@@ -75,7 +75,7 @@ namespace DeviceLibrary
                                 else
                                 {
                                     //暂无NG空位
-                                    Msg.add("[" + inReel.Name + "]获取库位号失败", MsgLevel.warning, ErrInfo.Empty);
+                                    Msg.add("[" + inReel.Name + "]未找到匹配库位", MsgLevel.warning, ErrInfo.Empty);
                                     ProcessMsgEvent?.Invoke(Msg.get());
                                 }
                             }

DeviceLibrary/theMachine/MoveStep.cs

@@ -32,86 +32,86 @@ namespace DeviceLibrary
         HEND_HomeReset,
 
         
-        StringLoad_01,
-        StringLoad_01a,
-        StringLoad_02,
-        StringLoad_02a,
-        StringLoad_02b,
-        StringLoad_03,
-        StringLoad_04,
-        StringLoad_05,
-        StringLoad_06,
-        StringLoad_07,
-        StringReadyGet,
-        StringReelGet,
-        StringReelGetFail,
-        StringReelGetFail_02,
-        StringReadyPut,
-        StringReelPut,
-        StringReelPut_01,
-        StringReelPut_02,
-        StringReelPut_03,
-        StringReelPut_04,
-        StringOut_01,
-        StringOut_02,
-        StringOut_03,
-        StringOut_Released,
-        StringOut_05,
-        StringOut_06,
-        StringOut_07,
+        //StringLoad_01,
+        //StringLoad_01a,
+        //StringLoad_02,
+        //StringLoad_02a,
+        //StringLoad_02b,
+        //StringLoad_03,
+        //StringLoad_04,
+        //StringLoad_05,
+        //StringLoad_06,
+        //StringLoad_07,
+        //StringReadyGet,
+        //StringReelGet,
+        //StringReelGetFail,
+        //StringReelGetFail_02,
+        //StringReadyPut,
+        //StringReelPut,
+        //StringReelPut_01,
+        //StringReelPut_02,
+        //StringReelPut_03,
+        //StringReelPut_04,
+        //StringOut_01,
+        //StringOut_02,
+        //StringOut_03,
+        //StringOut_Released,
+        //StringOut_05,
+        //StringOut_06,
+        //StringOut_07,
 
-        ReelClamp_01,
-        ReelClamp_02,
-        ReelClamp_03,
-        ReelClamp_04,
-        ReelClamp_05,
-        ReelClamp_WaitGaugeHeight,
-        ReelClamp_GetHeight,
-        ReelClamp_06,
-        ReelClamp_07,
-        ReelClamp_08,
-        ReelClamp_09,
-        ReelClamp_10,
-        ReelClamp_11,
-        InWaitServerCallback,
-        WaitInStore,
-        ReelTaked,
-        NGOUT_00,
-        NGOUT_01,
-        NGOUT_02,
-        NGOUT_03,
-        NGOUT_04,
-        NGOUT_05,
-        NGOUT_06,
-        NGOUT_07,
-        NGOUT_08,
-        NGOUT_09,
-        NGOUT_10,
-        NGOUT_11,
-        SingleIn,
-        SingleIn_01,
-        SingleIn_02,
-        SingleInReady,
-        SingleInRun,
-        SingleInRun_01,
-        SingleInRun_02,
-        SingleInRun_03,
-        SingleInRun_04,
-        SingleInRun_05,
+        //ReelClamp_01,
+        //ReelClamp_02,
+        //ReelClamp_03,
+        //ReelClamp_04,
+        //ReelClamp_05,
+        //ReelClamp_WaitGaugeHeight,
+        //ReelClamp_GetHeight,
+        //ReelClamp_06,
+        //ReelClamp_07,
+        //ReelClamp_08,
+        //ReelClamp_09,
+        //ReelClamp_10,
+        //ReelClamp_11,
+        //InWaitServerCallback,
+        //WaitInStore,
+        //ReelTaked,
+        //NGOUT_00,
+        //NGOUT_01,
+        //NGOUT_02,
+        //NGOUT_03,
+        //NGOUT_04,
+        //NGOUT_05,
+        //NGOUT_06,
+        //NGOUT_07,
+        //NGOUT_08,
+        //NGOUT_09,
+        //NGOUT_10,
+        //NGOUT_11,
+        //SingleIn,
+        //SingleIn_01,
+        //SingleIn_02,
+        //SingleInReady,
+        //SingleInRun,
+        //SingleInRun_01,
+        //SingleInRun_02,
+        //SingleInRun_03,
+        //SingleInRun_04,
+        //SingleInRun_05,
 
-        OutBoxPutOn,
-        Out01,
-        Out02,
-        Out03,
-        Out04,
-        Out05,
-        Out06,
-        Out07,
-        Out08,
-        Out09,
-        Out10,
-        Out11,
-        OutReset,
+        //OutBoxPutOn,
+        //Out01,
+        //Out02,
+        //Out03,
+        //Out04,
+        //Out05,
+        //Out06,
+        //Out07,
+        //Out08,
+        //Out09,
+        //Out10,
+        //Out11,
+        //OutReset,
 
         //放料，准备放料
         PutReel01_Ready,
@@ -124,56 +124,97 @@ namespace DeviceLibrary
         //放料：放料全部结束
         PutReel05_End,
 
+
+        /// <summary>
+        /// 自动测试：等待放入料盘
+        /// </summary>
         A01_WaitReel,
-        A01_Ready,  //入库
+        /// <summary>
+        /// 自动测试: 料盘已放入
+        /// </summary>
+        A01_Ready,
+        /// <summary>
+        /// 自动测试: 开始放第一盘料
+        /// </summary>
         A02_StartPutOne,
+        /// <summary>
+        /// 自动测试: 等待第二盘料放入入口
+        /// </summary>
         A03_WaitRee2,
+        /// <summary>
+        /// 自动测试: 等待第一盘料放料完成
+        /// </summary>
         A04_WaitOneComplate,
+        /// <summary>
+        /// 自动测试: 开始放第二盘料
+        /// </summary>
         A05_StartPutTwo,
+        /// <summary>
+        /// 自动测试: 等待第二盘料完成
+        /// </summary>
         A06_WaitTwoEnd,
+        /// <summary>
+        /// 自动测试: 开始下一盘物料放料
+        /// </summary>
         A07_NextPos,
-        StoreIn08,
-        StoreIn09,
-        A10_LastPos,  //出库
-        StoreOut_NGPre,
-        StoreOut11,
-        StoreOut12,
-        StoreOut13,
-        StoreOut14,
-        StoreOut15,
-        StoreOut16,
+        /// <summary>
+        /// 自动测试: 等待放料完成
+        /// </summary>
+        A8_WaitPosEnd,
+        /// <summary>
+        /// 自动测试: 到达最后一盘物料
+        /// </summary>
+        A10_LastPos,
+       
+        /// <summary>
+        /// 自动测试: 开始将料盘放回入口
+        /// </summary>
+        A11_R1StartBack,
+        /// <summary>
+        /// 自动测试: 等待料盘1返回入口
+        /// </summary>
+        A12_WR1End,
+        /// <summary>
+        /// 自动测试:料盘1返回入口完成
+        /// </summary>
+        A13_R1End, 
+        /// <summary>
+        /// 自动测试：开始第二盘料返回入口
+        /// </summary>
+        A15_StartR2Back,
+        /// <summary>
+        /// 自动测试：第二盘料放回入口完成
+        /// </summary>
+        A15_R2End,
         StoreOut17,
         StoreOut18,
         StoreOut_WaitMT,
 
-        StoreTS01,
-        StoreTS02,
-        StoreTS03,
-        StoreTS04,
-        StoreTS05,
-        StoreTS06,
-        StoreTS07,
-        StoreTS08,
-        StoreTS09,
-        StoreFIX01,
-        StoreFIX02,
-        StoreFIX03,
-        StoreFIX04,
-        StoreFIX05,
-        StoreTS10,
-        StoreTS11,
-        StoreTS12,
-        StoreTS13,
-        StoreTS14,
-        StoreTS15,
-        StoreTS16,
-        StoreTS17,
-        StoreTS_WaitOutProcess,
-        StoreTS_Continue,
+
+
+        TS01,
+        TS02_Check,
+        TS03_InoutTP1,
+        TS04_TSPos, 
+        TS06_InoutTP2, 
+        TS08_GetReel,
+        TS09_InoutTP1,
+        TS10_IOCheck,
+
+
+        TS11_ToTPos, 
+        TS13_InoutTP2,
+        TS14_PutReel,
+        TS15_InoutTP1,
+        TS16_Check,
+        TS17_AxisBack,
+        TS_WaitOutProcess,
+        TS_Continue,
+
+
 
         //复位：定位气缸下降
         SR01_LocationDown,
-
         //出料口：AGV检测到小车
         S01_AgvDetect,
         //电机正传
@@ -209,20 +250,25 @@ namespace DeviceLibrary
         S28_WaitTime,
 
 
-        //料盘：等待信号检测
+        /// <summary>
+        /// 料盘：等待信号检测
+        /// </summary>
         IN01_WaitCheck,
-
-        //料盘：扫码
+        /// <summary>
+        /// 料盘：扫码
+        /// </summary>
         IN02_ScanCode,
-
-        //料盘：获取库位号
+        /// <summary>
+        /// 料盘：获取库位号
+        /// </summary>
         IN03_GetPos,
-
-
-        //料盘：料盘已准备好，等待取料
+        /// <summary>
+        /// 料盘：料盘已准备好，等待取料
+        /// </summary>
         IN05_ReelReady,
-
-        //料盘：料盘已拿走
+        /// <summary>
+        /// 料盘：料盘已拿走
+        /// </summary>
         IN06_ReelLeave,
     }
 

DeviceLibrary/theMachine/OutShelfBean.cs

@@ -386,19 +386,14 @@ namespace DeviceLibrary
         #region IO操作
         //agv小车检测
         private string Agv_Detect = "Agv_Detect";
-
         //出料口前端料格检测
         private string Shelf_Front_Check = "Shelf_Front_Check";
-
         //出料口后端料格检测
         private string Shelf_Back_Check = "Shelf_Back_Check";
-
         //出料口定位上升端
         private string Location_Up = "Location_Up";
-
         //出料口定位下降端,
         private string Location_Down = "Location_Down";
-
         //电机正传
         private static string Moto_Fwd = "Moto_Fwd";
         //电机反转

DeviceLibrary/theMachine/ReelTransport.cs

 using OnlineStore; 
-using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System; 
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
@@ -17,7 +11,6 @@ namespace DeviceLibrary
         public BoxStorePosition To;
         BoxStorePosition Fix;
         MainMachine mainMachine; 
-        //using static mainMachine;
         AxisBean Middle_Axis;
         AxisBean UpDown_Axis;
         AxisBean InOut_Axis;
@@ -29,15 +22,15 @@ namespace DeviceLibrary
 
         public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
         public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait && !movelock; }
-        public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
-        public bool IsPutOnOut { get => MoveInfo.MoveStep >= MoveStep.StoreTS16; }
+        public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.TS10_IOCheck; }
+        public bool IsPutOnOut { get => MoveInfo.MoveStep >= MoveStep.TS16_Check; }
 
 
         public ReelTransport(Robot_Config _Config, MainMachine _mainMachine)
         {
             Config = _Config;
             mainMachine = _mainMachine;
-            MoveInfo = new MoveInfo(crc.GetString("Res0123", "出入库轴"), false);
+            MoveInfo = new MoveInfo(crc.GetString("Res0123", "取放料机构"), false);
             To = null;
             From = null;
             #region 初始化伺服轴
@@ -74,7 +67,7 @@ namespace DeviceLibrary
                 WareCode = "NG";
                 plateH = 56;
                 To = to.clone();
-                MoveInfo.NewMove(MoveStep.StoreTS10);
+                MoveInfo.NewMove(MoveStep.TS10_IOCheck);
                 MoveInfo.log($"{storeMoveType}:开始运输料盘,直接到:{to.posid}");
                 MoveInfo.MoveParam.TargetPos = $"NA=>{To.posid}";
             }
@@ -85,29 +78,18 @@ namespace DeviceLibrary
                 From = from.clone();
                 To = to.clone();
 
-                MoveInfo.NewMove(MoveStep.StoreTS01);
+                MoveInfo.NewMove(MoveStep.TS01);
                 MoveInfo.log($"{storeMoveType}:开始运输料盘,从:{from.posid},到:{to.posid}");
                 MoveInfo.MoveParam.TargetPos = $"{From.posid}=>{To.posid}";
                 MoveInfo.MoveParam.ReelOnFixture = From.Reel.ReelOnFixture;
             }
-            if (To.posid == BoxStorePosition.ngdoor)
-            {
-                Fix = BoxStorePosition.GetFixPos(Config, To.Reel);
-            }
+          
             MoveInfo.MoveParam.WareCode = WareCode;
 
             ErrMsgTxt = "";
             return true;
         }
          
-        public bool ReadyToTakeBox()
-        {
-            if (MoveInfo.MoveStep != MoveStep.StoreTS05)
-                return false;
-
-            MoveInfo.NextMoveStep(MoveStep.StoreTS06);
-            return true;
-        }
         bool pause = false;
         public void Pause()
         {
@@ -128,7 +110,7 @@ namespace DeviceLibrary
             {
                 case MoveStep.Wait:
                     break;
-                case MoveStep.StoreTS01:
+                case MoveStep.TS01:
                     if (!IgnoreX09 && !MoveInfo.MoveParam.ReelOnFixture && IOManager.IOValue(IO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.HIGH))
                     {
                         if (!IgnoreX09 && IOMonitor.IODebound(IO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
@@ -138,62 +120,51 @@ namespace DeviceLibrary
                     {
                         Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                         IgnoreX09 = false;
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS02);
+                        MoveInfo.NextMoveStep(MoveStep.TS02_Check);
                         MoveInfo.log($"{storeMoveType}:检查安全状态");
                     }
                     break;
-                case MoveStep.StoreTS02:
+                case MoveStep.TS02_Check:
                     if (MoveInfo.MoveParam.ReelOnFixture)
                     {
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS08);
+                        MoveInfo.NextMoveStep(MoveStep.TS08_GetReel);
                         MoveInfo.log($"{storeMoveType}:料盘已在料叉上,压紧轴压紧,Comp_PL:{From.Comp_PL}");
                         Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
                     }
                     else
                     {
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS03);
+                        MoveInfo.NextMoveStep(MoveStep.TS03_InoutTP1);
                         InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                         Comp_Axis.AbsMove(MoveInfo, From.Comp_PH, Config.Comp_P2_speed);
-                        MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1");
+                        MoveInfo.log($"{storeMoveType}:进出轴返回待机点P1{Config.InOut_P1}，压紧轴到高点{From.Comp_PH}");
                     }
                     break;
-                case MoveStep.StoreTS03:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS04);
+                case MoveStep.TS03_InoutTP1:
+                    MoveInfo.NextMoveStep(MoveStep.TS04_TSPos);
                     UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PL, Config.UpDown_P1_speed); 
-                    MoveInfo.log($"{storeMoveType}:上下轴到达取料低点{From.UpDown_PL}");
                     Middle_Axis.AbsMove(MoveInfo, From.Middle_P2, Config.Middle_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:行走轴到达取料点{From.Middle_P2}");
+                    MoveInfo.log($"{storeMoveType}:升降轴到取料低点{From.UpDown_PL}，旋转轴到取料点{From.Middle_P2}");
                     break;
-                case MoveStep.StoreTS04:
-                    if (From.posid == BoxStorePosition.ngdoor)
-                    {
+                case MoveStep.TS04_TSPos:
                   
-                    }
-                    else
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS05);
-                    break;
-                case MoveStep.StoreTS05:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS06);
+                    MoveInfo.NextMoveStep(MoveStep.TS06_InoutTP2);
                     InOut_Axis.AbsMove(MoveInfo, From.InOut_P2, Config.InOut_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:进出轴到达取料点{From.InOut_P2}");
+                    MoveInfo.log($"{storeMoveType}:进出轴到取料点P2{From.InOut_P2}");
                     break;
-                case MoveStep.StoreTS06:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS07);
-                    break;
-                case MoveStep.StoreTS07:
+                case MoveStep.TS06_InoutTP2: 
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS08);
+                    MoveInfo.NextMoveStep(MoveStep.TS08_GetReel);
                     UpDown_Axis.AbsMove(MoveInfo, From.UpDown_PH, Config.UpDown_P1_speed);
                     Comp_Axis.AbsMove(MoveInfo, From.Comp_PL, Config.Comp_P2_speed);
-                    MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
+                    MoveInfo.log($"{storeMoveType}:升降轴到取料高点{From.UpDown_PH}，压紧轴到低点{From.Comp_PL}");
                     break;
-                case MoveStep.StoreTS08:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS09);
-                    MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
+                case MoveStep.TS08_GetReel:
+                    MoveInfo.NextMoveStep(MoveStep.TS09_InoutTP1);
+                    MoveInfo.log($"{storeMoveType}:进出轴到待机点P1{Config.InOut_P1}");
                     InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                     IgnoreX09 = false;
                     break;
-                case MoveStep.StoreTS09:
+                case MoveStep.TS09_InoutTP1:
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
                     if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.LOW))
                     {
@@ -203,44 +174,36 @@ namespace DeviceLibrary
                     {
                         Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                         IgnoreX09 = false;
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS10);
+                        MoveInfo.NextMoveStep(MoveStep.TS10_IOCheck) ;
                         MoveInfo.log($"{storeMoveType}:TrayCheck_Fixture取到料");
                         InOutEndProcess(StoreMoveType.OutStore, From.posid);
                     }
                     break;                
-                case MoveStep.StoreTS10:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS11);
+                case MoveStep.TS10_IOCheck:
+                    MoveInfo.NextMoveStep(MoveStep.TS11_ToTPos);
                     Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:行走轴到达目的地:{To.Middle_P2}");
+                    MoveInfo.log($"{storeMoveType}");
                     UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{To.UpDown_PH}");
-                    break;
-                case MoveStep.StoreTS11:
-                    if (To.posid == BoxStorePosition.ngdoor)
-                    {
-
-                    }
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS12);
+                    MoveInfo.log($"{storeMoveType}::旋转轴到目的地P2{To.Middle_P2}升降轴到目的地高点:{To.UpDown_PH}");
                     break;
-                case MoveStep.StoreTS12:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS13);
-                    MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
+                case MoveStep.TS11_ToTPos: 
+                    MoveInfo.NextMoveStep(MoveStep.TS13_InoutTP2);
+                    MoveInfo.log($"{storeMoveType}:进出轴到P2{To.InOut_P2}");
                     InOut_Axis.AbsMove(MoveInfo, To.InOut_P2, Config.InOut_P1_speed);
                     break;
-                case MoveStep.StoreTS13:
+                case MoveStep.TS13_InoutTP2:
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS14);
+                    MoveInfo.NextMoveStep(MoveStep.TS14_PutReel);
                     Comp_Axis.AbsMove(MoveInfo, To.Comp_PH, Config.Comp_P2_speed);
                     UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PL, Config.UpDown_S1_Speed);
-                    MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{To.Comp_PH}");
-                    MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点:{To.UpDown_PL}");
+                    MoveInfo.log($"{storeMoveType}:压紧轴到压紧前点:{To.Comp_PH}，升降轴到目的地低点:{To.UpDown_PL}"); 
                     break;
-                case MoveStep.StoreTS14:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS15);
+                case MoveStep.TS14_PutReel:
+                    MoveInfo.NextMoveStep(MoveStep.TS15_InoutTP1);
                     InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                     MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
                     break;
-                case MoveStep.StoreTS15:
+                case MoveStep.TS15_InoutTP1:
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
                     if (!IgnoreX09 && IOManager.IOValue(IO_Type.TrayCheck_Fixture, Config).Equals(IO_VALUE.HIGH))
                     {
@@ -250,32 +213,32 @@ namespace DeviceLibrary
                     {
                         Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                         IgnoreX09 = false;
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS16);
+                        MoveInfo.NextMoveStep(MoveStep.TS16_Check);
                         MoveInfo.log($"{storeMoveType}:安全检查");
                         InOutEndProcess(StoreMoveType.PutReel, To.posid);
                     }
                     break;
-                case MoveStep.StoreTS16:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS17);
-                    if (From != null && From.posid != BoxStorePosition.ngdoor && From.posid != BoxStorePosition.ngdoor)
+                case MoveStep.TS16_Check:
+                    MoveInfo.NextMoveStep(MoveStep.TS17_AxisBack); 
+                    if (RobotManage.mainMachine.AutoInOutTest)
                     {
-                        MoveInfo.log($"{storeMoveType}:库位测试模式,上下轴,旋转不返回待机点");
+                        MoveInfo.log($"{storeMoveType}:库位测试模式,升降轴,旋转不返回待机点");
                         break;
                     }
                     UpDown_Axis.AbsMove(MoveInfo, Config.UpDown_P1, Config.UpDown_P1_speed);
                     Middle_Axis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:上下轴,旋转返回待机点P1");
+                    MoveInfo.log($"{storeMoveType}:升降轴回P1{Config.UpDown_P1},旋转返回待机点P1{Config.Middle_P1}");
                     ErrMsgTxt = "";
                     break;
-                case MoveStep.StoreTS17:
+                case MoveStep.TS17_AxisBack:
                     MoveInfo.log($"{storeMoveType}:转移料盘完成");
                     MoveInfo.EndMove();
                     ErrMsgTxt = "";
                     To.posid = "";
                     storeMoveType = StoreMoveType.None;
                     break;
-                case MoveStep.StoreTS_Continue:
-                    MoveInfo.NextMoveStep(MoveStep.StoreTS17);
+                case MoveStep.TS_Continue:
+                    MoveInfo.NextMoveStep(MoveStep.TS17_AxisBack);
                     MoveInfo.log($"{storeMoveType}:继续运行进出轴到达待机点");
                     InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                     break;

LoadCVSLibrary/Config/Config.csv

@@ -69,7 +69,7 @@ PRO,0,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
 PRO,15,旋转轴待机点P1,Middle_P1,168460,,,50000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,16,升降轴待机点P1,UpDown_P1,1006626,,,500000,,,,,,,,,
-PRO,16,升降轴每毫米脉冲,UpDown_PoToMM,1000,,,,,,,,,,,,
+,16,升降轴每毫米脉冲,UpDown_PoToMM,1000,,,,,,,,,,,,
 PRO,16,升降轴低速,UpDown_S1_Speed,1006626,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,17,进出轴待机点P1,InOut_P1,0,,,500000,,,,,,,,,

LoadCVSLibrary/Config/Magzine.csv

 位置,类型,备注,优先级,高度,宽度,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3
-U1_A1,0,出口1_A1,0,24,7,99198,417323,379066,227002
-U1_A2,0,出口1_A2,0,24,7,219347,91377,80569,206929
-U1_A3,0,出口1_A3,0,24,7,99198,417323,-99999999,227002
-U1_A4,0,出口1_A4,0,24,7,219347,91377,-99999999,206929
-U1_A5,0,出口1_A5,0,24,7,219347,91377,123,206929
-U1_A6,0,出口1_A6,0,24,7,219347,91377,1231,206929
-U1_A7,0,出口1_A7,0,24,7,219347,91377,23,206929
+U1_1,0,出口1_1,0,24,7,99198,417323,379066,227002
+U1_2,0,出口1_2,0,24,7,219347,91377,80569,206929
+U1_3,0,出口1_3,0,24,7,99198,417323,-99999999,227002
+U1_4,0,出口1_4,0,24,7,219347,91377,-99999999,206929
+U1_5,0,出口1_5,0,24,7,219347,91377,123,206929
+U1_6,0,出口1_6,0,24,7,219347,91377,1231,206929
+U1_7,0,出口1_7,0,24,7,219347,91377,23,206929
 ,,,,,,,,,
+U2_1,0,出口2_1,0,24,7,99198,417323,379066,227002
+U2_2,0,出口2_2,0,24,7,219347,91377,80569,206929
+U2_3,0,出口2_3,0,24,7,99198,417323,-99999999,227002
+U2_4,0,出口2_4,0,24,7,219347,91377,-99999999,206929
+U2_5,0,出口2_5,0,24,7,219347,91377,123,206929
+U2_6,0,出口2_6,0,24,7,219347,91377,1231,206929
+U2_7,0,出口2_7,0,24,7,219347,91377,23,206929
 ,,,,,,,,,
-U2_A1,0,出口2_A1,0,24,7,99198,417323,379066,227002
-U2_A2,0,出口2_A2,0,24,7,219347,91377,80569,206929
-U2_A3,0,出口2_A3,0,24,7,99198,417323,-99999999,227002
-U2_A4,0,出口2_A4,0,24,7,219347,91377,-99999999,206929
-U2_A5,0,出口2_A5,0,24,7,219347,91377,123,206929
-U2_A6,0,出口2_A6,0,24,7,219347,91377,1231,206929
-U2_A7,0,出口2_A7,0,24,7,219347,91377,23,206929
+U3_1,0,出口3_1,0,24,7,99198,417323,379066,227002
+U3_2,0,出口3_2,0,24,7,219347,91377,80569,206929
+U3_3,0,出口3_3,0,24,7,99198,417323,-99999999,227002
+U3_4,0,出口3_4,0,24,7,219347,91377,-99999999,206929
+U3_5,0,出口3_5,0,24,7,219347,91377,123,206929
+U3_6,0,出口3_6,0,24,7,219347,91377,1231,206929
+U3_7,0,出口3_7,0,24,7,219347,91377,23,206929
+,,,,,,,,,
+U4_1,0,出口4_1,0,24,7,99198,417323,379066,227002
+U4_2,0,出口4_2,0,24,7,219347,91377,80569,206929
+U4_3,0,出口4_3,0,24,7,99198,417323,-99999999,227002
+U4_4,0,出口4_4,0,24,7,219347,91377,-99999999,206929
+U4_5,0,出口4_5,0,24,7,219347,91377,123,206929
+U4_6,0,出口4_6,0,24,7,219347,91377,1231,206929
+U4_7,0,出口4_7,0,24,7,219347,91377,23,206929
+

LoadCVSLibrary/storeConfig/config/Robot_Config.cs

@@ -83,11 +83,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("UpDown_P1")]
         public int UpDown_P1 { get; set; }
-        /// <summary>
-        ///  PRO,16,升降轴每毫米脉冲,UpDown_PoToMM,1000,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("UpDown_PoToMM")]
-        public int UpDown_PoToMM { get; set; }
+        ///// <summary>
+        /////  PRO,16,升降轴每毫米脉冲,UpDown_PoToMM,1000,,,,,,,,,,,,
+        ///// </summary>
+        //[ConfigProAttribute("UpDown_PoToMM")]
+        //public int UpDown_PoToMM { get; set; }
         /// <summary>
         ///  PRO,16,升降轴低速,UpDown_S1_Speed,1006626,,,,,,,,,,,,
         /// </summary>

TheMachine/TheMachine.csproj

@@ -253,6 +253,7 @@
     </PreBuildEvent>
   </PropertyGroup>
   <PropertyGroup>
-    <PostBuildEvent>start $(TargetDir)</PostBuildEvent>
+    <PostBuildEvent>
+    </PostBuildEvent>
   </PropertyGroup>
 </Project>
\ No newline at end of file

TheMachine/UC/uc_boxdebug.cs

@@ -178,7 +178,7 @@ namespace TheMachine
             dataGridView1.Rows.Clear();
             LoadPosCheck();
 
-            int colcount = 9;
+            int colcount = 6;
 
             for (int i = 0; i < colcount; i++)
             {

TheMachine/app.manifest

@@ -15,7 +15,8 @@
             如果你的应用程序需要此虚拟化来实现向后兼容性，则删除此
             元素。
         -->
-        <requestedExecutionLevel level="requireAdministrator" uiAccess="false" />
+        <!--<requestedExecutionLevel level="requireAdministrator" uiAccess="false" />-->
+        <requestedExecutionLevel  level="asInvoker" uiAccess="false" />
       </requestedPrivileges>
     </security>
   </trustInfo>