1

source/DeviceLibrary/DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs

@@ -211,7 +211,7 @@ namespace OnlineStore.DeviceLibrary
             int length = 2;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
             SendData(portName, dataArray);
-            System.Threading.Thread.Sleep(1000);
+            System.Threading.Thread.Sleep(500);
             data = "0000";
             dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
             SendData(portName, dataArray);

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -5,6 +5,7 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
@@ -515,6 +516,7 @@ namespace OnlineStore.DeviceLibrary
                 StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
                 ComMoveToPosition(moveP.ComPress_P3, true);
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
+                Thread.Sleep(100);
             }
             else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
             {
@@ -691,17 +693,16 @@ namespace OnlineStore.DeviceLibrary
             else if (StoreMove.MoveStep == StoreMoveStep.SO_02_DeviceBack)
             {
                 StoreMove.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
+                bool BatchNeedMove = false;
+                int targetValue = -1;
+                int outDownPosition = StoreMove.MoveParam.MoveP.BatchAxis_DownValue;
                 if (StoreMove.IsBatchInOutStore)
                 {
-                    //上下料机构下降的距离=料盘最低高度+默认的高度
-                    int outDownPosition = StoreMove.MoveParam.MoveP.BatchAxis_DownValue;
-
-                    int targetValue = GetBatchTargetValue(outDownPosition);
+                    //上下料机构下降的距离=料盘最低高度+默认的高度 
+                    targetValue = GetBatchTargetValue(outDownPosition);
                     if (targetValue >= 1000)
                     {
-                        StoreMove.TimeOutSeconds = 120;
-                        ACAxisMove(Config.Batch_Axis, targetValue, Config.BatchAxis_P1_Speed);
-                        OutStoreLog("出库：SO_03  批量轴下降【" + outDownPosition + "】目标【" + targetValue + "】 ");
+                        BatchNeedMove = true;
                     }
                     else
                     {
@@ -720,10 +721,17 @@ namespace OnlineStore.DeviceLibrary
                 }
                 OutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
 
-                ComMoveToPosition(moveP.ComPress_P3); 
+                ComMoveToPosition(moveP.ComPress_P3);
                 ACAxisMove(Config.Middle_Axis, StoreMove.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
-
+                Thread.Sleep(100);
+                if (BatchNeedMove)
+                {
+                    StoreMove.TimeOutSeconds = 120;
+                    ACAxisMove(Config.Batch_Axis, targetValue, Config.BatchAxis_P1_Speed);
+                    OutStoreLog("出库：SO_03  批量轴下降【" + outDownPosition + "】目标【" + targetValue + "】 ");
+                    Thread.Sleep(100);
+                }
             }
             else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
             {
@@ -802,6 +810,7 @@ namespace OnlineStore.DeviceLibrary
                     ACAxisMove(Config.UpDown_Axis, StoreMove.MoveParam.MoveP.UpDown_OutLow_P8, Config.UpDownAxis_P8_Speed);
                     AutomaticBaiting.BatchOutStoreHeight += StoreMove.MoveParam.PlateH;
                     AutomaticBaiting.BatchOutStoreCount++;
+                    Thread.Sleep(100);
                 }
                 else if (IOManager.IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
                 {