出库等待改为可以配置。叉子伸出时判断门口没有料盘

source/ACSingleStore/App.config

@@ -33,6 +33,8 @@
     <add key ="AI_ConvertPosition" value ="55"/>
     <add key ="InOutDefaultPosition" value ="3000"/>
     <add key ="Config_Pwd" value ="123456"/>
+    <!--出库等待料盘拿走的时间，秒-->
+    <add key ="OutStoreWaitSeconds" value ="600"/>
   </appSettings>
   <log4net>
     <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">

source/ACSingleStore/记录.txt

@@ -7,13 +7,10 @@
 
 
 20181107 
-
 1.出库时等待10秒钟，或等待拿走料盘（高度=0）才算出库结束
 
 
 20181108  
-
-
             //                机器状态 顶灯显示 
             //                                              绿 黄  红
             //机器复位中                             闪 灭   灭
@@ -25,10 +22,16 @@
             //机器设备故障(非温湿度)报警    亮   灭 闪
 
 20181115 
-
 界面显示增加密码框
 旋转轴和升降轴移动时，叉子需要在待机位
  
+20181128
+1.出库时叉子伸出门之前先判断门口没有料盘。
+2.出库等待盘拿走的时间改为可以配置，LDACSingleStore.exe.config增加配置： 
+    <!--出库等待料盘拿走的时间，秒-->
+    <add key ="OutStoreWaitSeconds" value ="600"/>
+
+
 
 
 

source/Common/Setting_Init.cs

@@ -71,5 +71,9 @@ namespace OnlineStore.Common
         public static string InOutDefaultPosition = "InOutDefaultPosition";
 
         public static string Config_Pwd = "Config_Pwd";
+        /// <summary>
+        /// 出库等待料盘拿走的时间，秒
+        /// </summary>
+        public static string OutStoreWaitSeconds = "OutStoreWaitSeconds";
     }
 }

source/DeviceLibrary/PanasonicServo/ACCMDManager.cs

@@ -11,7 +11,8 @@ namespace OnlineStore.DeviceLibrary
         ///  0132h  原点接近传感器输入 (HOME)        状态 ReadOnly 0： 输入 OFF 1： 输入 ON
         /// </summary>
         public static string Home_Single = "0132";
-
+    // 0022h 负方向驱动禁止输入(NOT) ReadOnly 0： 输入 OFF、 1： 输入 ON
+    // 0023h 正方向驱动禁止输入(POT) ReadOnly 0： 输入 OFF、 1： 输入 ON
         /// <summary>
         ///速度 4601
         /// </summary>

source/DeviceLibrary/ShuoKe/ShuoKeControls.cs

@@ -181,11 +181,13 @@ namespace OnlineStore.DeviceLibrary
 
         #region 流水线逻辑判断
 
-        public static bool IsMoveEnd(int slvAddr,DateTime time)
+        public static bool IsMoveEnd(int slvAddr,DateTime time, out ShuoKeInfo shuokeInfo)
         {
+            shuokeInfo = null;
             if (shuokeMap.ContainsKey(slvAddr))
             {
                 ShuoKeInfo info = shuokeMap[slvAddr];
+                shuokeInfo = info;
                 if (info.IsInMove == 0 && info.UpdateTime > time)
                 {
                     return true;
@@ -193,11 +195,13 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
-        public static bool IsHomeMoveEnd(int slvAddr, DateTime time)
+        public static bool IsHomeMoveEnd(int slvAddr, DateTime time,out ShuoKeInfo shuokeInfo)
         {
+            shuokeInfo = null;
             if (shuokeMap.ContainsKey(slvAddr))
             {
                 ShuoKeInfo info = shuokeMap[slvAddr];
+                shuokeInfo = info;
                 if (info.IsInMove == 0 && info.UpdateTime > time&&info.Org==0)
                 {
                     return true;
@@ -487,5 +491,10 @@ namespace OnlineStore.DeviceLibrary
         public int En { get; set; }
 
         public DateTime  UpdateTime { get; set; }
+
+        public string ToShowStr()
+        {
+            return "运动[" + IsInMove + "]左限位[" + LLimit + "]右限位[" + RLimit + "]原点[" + Org + "]使能[" + En + "]["+UpdateTime.ToShortTimeString()+"]";
+        }
     }
 }

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -173,16 +173,25 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else if (wait.WaitType == 5)
                 {
+                    ShuoKeInfo info = null;
                     if (wait.IsHomeMove)
                     {
-                        wait.IsEnd = ShuoKeControls.IsHomeMoveEnd(wait.SlvAddr, StoreMove.LastSetpTime);
+                        wait.IsEnd = ShuoKeControls.IsHomeMoveEnd(wait.SlvAddr, StoreMove.LastSetpTime,out info);
                     }
                     else
                     {
-                        wait.IsEnd = ShuoKeControls.IsMoveEnd(wait.SlvAddr, StoreMove.LastSetpTime);
+                        wait.IsEnd = ShuoKeControls.IsMoveEnd(wait.SlvAddr, StoreMove.LastSetpTime, out info);
                     }
                     if (!wait.IsEnd)
                     {
+                        if (info == null) {
+
+                            NotOkMsg += "info=null;";
+                        } else
+                        {
+
+                            NotOkMsg += "" +info.ToShowStr();
+                        }
                         ShuoKeControls.GetStatus(wait.SlvAddr);
                     }
                 }
@@ -637,6 +646,7 @@ namespace OnlineStore.DeviceLibrary
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
                 //此处需要等待box门口没有盘
                 StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
+                StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
                 //打开舱门
                 OpenDoorAndWait();
                 //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_2, IO_VALUE.LOW));
@@ -692,9 +702,15 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (StoreMove.MoveStep == StoreMoveStep.SO_13_GoBack)
             {
+                int OutStoreWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.OutStoreWaitSeconds);
+                if (OutStoreWaitSeconds <= 0)
+                {
+                    OutStoreWaitSeconds = 600;
+                }
+                int ms = OutStoreWaitSeconds * 1000;
                 StoreMove.NextMoveStep(StoreMoveStep.SO_14_WaitTake);
-                OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待600000");
-                StoreMove.WaitList.Add(WaitResultInfo.WaitTime(600000));
+                OutStoreLog("出库：SO_14_WaitTake 等待拿走物品，最多等待"+OutStoreWaitSeconds+"秒");
+                StoreMove.WaitList.Add(WaitResultInfo.WaitTime(ms));
                 //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Door, IO_VALUE.LOW));
                 StoreMove.WaitList.Add(WaitResultInfo.WaitHeight(0));
                 StoreMove.OneWaitCanEndStep = true;