1

source/DeviceLibrary/DeviceLibrary/PanasonicServo/BatchAxisController.cs

@@ -23,7 +23,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 checkTimer = new System.Timers.Timer();
                 checkTimer.AutoReset = true;
-                checkTimer.Interval += 49;
+                checkTimer.Interval += 20;
                 checkTimer.Elapsed += CheckTimer_Elapsed;
                 checkTimer.Enabled = false;
             }

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -846,9 +846,12 @@ namespace OnlineStore.DeviceLibrary
 
                 if (StoreMove.IsBatchInOutStore)
                 {  //如果料盘检测信号不亮，不需要下降这么多
-                    if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW) && outDownPosition > Config.BatchAxis_OutDownPosition)
+                   //判断是否在P1点 
+                    int acPosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
+                    bool isIn = Math.Abs(acPosition - Config.BatchAxis_P1) < Config.Batch_Axis.CanErrorCountMax;
+                    if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW) && outDownPosition > Config.BatchAxis_OutDownPosition && isIn)
                     {
-                        outDownPosition = outDownPosition - Config.BatchAxis_OutDownPosition; 
+                        outDownPosition = outDownPosition - Config.BatchAxis_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);
@@ -873,17 +876,17 @@ 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,Config.CompAxis_P3_Speed);
+                ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
                 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;
                     Thread.Sleep(1000);
                     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); 
+                    Thread.Sleep(100);
                 }
             }
             else if (StoreMove.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
@@ -969,7 +972,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     StoreMove.NextMoveStep(StoreMoveStep.SO_21_OpenDoor);
                     OutStoreLog("出库：SO_21打开仓门，压紧轴至P3（压紧前点）,定位气缸下降");
-                    ComMoveToPosition(StoreMove.MoveParam.MoveP.ComPress_P3,Config.CompAxis_P3_Speed);
+                    ComMoveToPosition(StoreMove.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
                     OpenDoorAndWait();
                     LocationDownAndWait();
                 }