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Commit 007a0c22 由 LN
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左右侧出入库测试修改

1 个父辈 b6325a73
内嵌 并排
正在显示 5 个修改的文件 包含 153 行增加 和 96 行删除
source/ACSquareStore/FrmStoreBox.Designer.cs
......@@ -154,6 +154,7 @@
this.btnTempInit = new System.Windows.Forms.Button();
this.tabControl2 = new System.Windows.Forms.TabControl();
this.tabPage4 = new System.Windows.Forms.TabPage();
this.chbUseTrayCheck = new System.Windows.Forms.CheckBox();
this.btnStoreExit = new System.Windows.Forms.Button();
this.btnStoreHome = new System.Windows.Forms.Button();
this.btnSotreReset = new System.Windows.Forms.Button();
......@@ -170,7 +171,6 @@
this.button4 = new System.Windows.Forms.Button();
this.btnClearL = new System.Windows.Forms.Button();
this.btnLogDebug = new System.Windows.Forms.Button();
this.chbUseTrayCheck = new System.Windows.Forms.CheckBox();
this.groupAxis.SuspendLayout();
this.groupBox1.SuspendLayout();
this.groupInout.SuspendLayout();
......@@ -1004,6 +1004,7 @@
this.btnInOutP3.Text = "Y-进出轴右侧点P3:";
this.btnInOutP3.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.btnInOutP3.UseVisualStyleBackColor = false;
this.btnInOutP3.Click += new System.EventHandler(this.btnInOutP3_Click);
//
// lblTemp
//
......@@ -1466,7 +1467,7 @@
this.btnInOutP4.Text = "Y-进出轴库位点P4:";
this.btnInOutP4.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
this.btnInOutP4.UseVisualStyleBackColor = false;
this.btnInOutP4.Click += new System.EventHandler(this.btnInOutP3_Click);
this.btnInOutP4.Click += new System.EventHandler(this.btnInOutP4_Click);
//
// btnMiddleP2
//
......@@ -1880,6 +1881,19 @@
this.tabPage4.Text = " 料仓操作 ";
this.tabPage4.UseVisualStyleBackColor = true;
//
// chbUseTrayCheck
//
this.chbUseTrayCheck.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.chbUseTrayCheck.AutoSize = true;
this.chbUseTrayCheck.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbUseTrayCheck.Location = new System.Drawing.Point(699, 12);
this.chbUseTrayCheck.Name = "chbUseTrayCheck";
this.chbUseTrayCheck.Size = new System.Drawing.Size(112, 24);
this.chbUseTrayCheck.TabIndex = 272;
this.chbUseTrayCheck.Text = "启用物料检测";
this.chbUseTrayCheck.UseVisualStyleBackColor = true;
this.chbUseTrayCheck.CheckedChanged += new System.EventHandler(this.chbUseTrayCheck_CheckedChanged);
//
// btnStoreExit
//
this.btnStoreExit.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
......@@ -2076,19 +2090,6 @@
this.btnLogDebug.UseVisualStyleBackColor = true;
this.btnLogDebug.Click += new System.EventHandler(this.开启DEBUGToolStripMenuItem_Click);
//
// chbUseTrayCheck
//
this.chbUseTrayCheck.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.chbUseTrayCheck.AutoSize = true;
this.chbUseTrayCheck.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbUseTrayCheck.Location = new System.Drawing.Point(699, 12);
this.chbUseTrayCheck.Name = "chbUseTrayCheck";
this.chbUseTrayCheck.Size = new System.Drawing.Size(112, 24);
this.chbUseTrayCheck.TabIndex = 272;
this.chbUseTrayCheck.Text = "启用物料检测";
this.chbUseTrayCheck.UseVisualStyleBackColor = true;
this.chbUseTrayCheck.CheckedChanged += new System.EventHandler(this.chbUseTrayCheck_CheckedChanged);
//
// FrmStoreBox
//
this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
......
source/ACSquareStore/FrmStoreBox.cs
......@@ -172,14 +172,14 @@ namespace OnlineStore.ACSquareStore
lblTemp.Text = store.currTempStr;
if (store.StoreMove.MoveType.Equals(StoreMoveType.InStore) || store.StoreMove.MoveType.Equals(StoreMoveType.OutStore))
{
lblMoveEquipInfo.Text = store.StoreMove.MoveParam.PosInfo.ToStr()+ "";
lblMoveEquipInfo.Text = store.StoreMove.MoveParam.PosInfo.ToStr() + "";
}
else
{
lblMoveEquipInfo.Text = "";
}
// lblMoveEquipInfo.Text = "移栽状态：" + (LineConnect.CanStartOut() ? "可出库" : "不可出库") + " " + LineConnect.LastUpdateTime.ToLongTimeString();
// lblMoveEquipInfo.Text = "移栽状态：" + (LineConnect.CanStartOut() ? "可出库" : "不可出库") + " " + LineConnect.LastUpdateTime.ToLongTimeString();
//忙碌状态不读取状态
if (!store.storeRunStatus.Equals(StoreRunStatus.Busy))
{
......@@ -224,16 +224,16 @@ namespace OnlineStore.ACSquareStore
}
lblWarnMsg.Text = store.WarnMsg;
if (IOManager.IOValue(IO_Type.DoorLimit_L).Equals(IO_VALUE.LOW))
{
lblWarnMsg.Text = lblWarnMsg.Text + " 前门未关";
}
if (IOManager.IOValue(IO_Type.DoorLimit_B).Equals(IO_VALUE.LOW))
{
lblWarnMsg.Text = lblWarnMsg.Text + " 后门未关";
}
if (IOManager.IOValue(IO_Type.DoorLimit_L).Equals(IO_VALUE.LOW))
{
lblWarnMsg.Text = lblWarnMsg.Text + " 前门未关";
}
if (IOManager.IOValue(IO_Type.DoorLimit_B).Equals(IO_VALUE.LOW))
{
lblWarnMsg.Text = lblWarnMsg.Text + " 后门未关";
}
//如果不在出入库中，且叉子上有信号，需要提示检查叉子
if (store.storeRunStatus.Equals(StoreRunStatus.Runing) && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
{
......@@ -247,7 +247,7 @@ namespace OnlineStore.ACSquareStore
{
lblWarnMsg.Text = lblWarnMsg.Text + " 温湿度报警[" + store.TempAlarmTime.ToLongTimeString() + "]";
}
if (store.autoNext)
{
string msg = store.autoMsg;
......@@ -290,8 +290,8 @@ namespace OnlineStore.ACSquareStore
btnOpenLDoor.BackColor = Color.Aqua;
}
else
{
btnOpenLDoor.Text = "左侧门锁-打开";
{
btnOpenLDoor.Text = "左侧门锁-打开";
btnOpenLDoor.BackColor = Color.White;
}
if (IOManager.IOValue(IO_Type.RightDoor_Close).Equals(IO_VALUE.HIGH))
......@@ -412,7 +412,12 @@ namespace OnlineStore.ACSquareStore
{
LineMoveP ktk = new LineMoveP();
ktk.InOut_P1 = FormUtil.GetIntValue(txtInOutP1);
ktk.InOut_P2 = FormUtil.GetIntValue(txtInOutP2);
if (rdbRight.Checked)
{
ktk.InOut_P2 = FormUtil.GetIntValue(txtInOutP3);
}
ktk.InOut_P4 = FormUtil.GetIntValue(txtInOutP4);
ktk.Middle_P1 = FormUtil.GetIntValue(txtMiddleP1);
ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2);
......@@ -791,7 +796,7 @@ namespace OnlineStore.ACSquareStore
private void btnInOutP3_Click(object sender, EventArgs e)
{
int value = FormUtil.GetIntValue(txtInOutP4);
int value = FormUtil.GetIntValue(txtInOutP3);
AxisABSMove(store.Config.InOut_Axis, value, store.Config.InOutAxis_P3_Speed);
}
......@@ -1305,5 +1310,11 @@ namespace OnlineStore.ACSquareStore
ConfigAppSettings.SaveValue(Setting_Init.UseTrayCheck, chbUseTrayCheck.Checked ? 1 : 0);
LogUtil.info("点击：启用物料检测 = " + chbUseTrayCheck.Checked);
}
private void btnInOutP4_Click(object sender, EventArgs e)
{
int value = FormUtil.GetIntValue(txtInOutP4);
AxisABSMove(store.Config.InOut_Axis, value, store.Config.InOutAxis_P4_Speed);
}
}
}
source/DeviceLibrary/acSquareStore/Square_BoxBean.cs
......@@ -113,6 +113,24 @@ namespace OnlineStore.DeviceLibrary
Alarm(StoreAlarmType.SuddenStop, "1", WarnMsg, StoreMoveType.None);
}
}
else if (IOManager.IOValue(IO_Type.DoorLimit_L).Equals(IO_VALUE.LOW))
{
isInSuddenDown = true;
LogUtil.error(LOGGER, StoreName + "前门打开 ,报警急停");
WarnMsg = StoreName + "前门打开，报警急停";
//报警时会关闭所有轴
Alarm(StoreAlarmType.SuddenStop, "1", WarnMsg, StoreMoveType.None);
}
else if (IOManager.IOValue(IO_Type.DoorLimit_B).Equals(IO_VALUE.LOW))
{
isInSuddenDown = true;
LogUtil.error(LOGGER, StoreName + "后门打开,报警急停");
WarnMsg = StoreName + "后门打开，报警急停";
//报警时会关闭所有轴
Alarm(StoreAlarmType.SuddenStop, "1", WarnMsg, StoreMoveType.None);
}
}
}
......@@ -149,22 +167,24 @@ namespace OnlineStore.DeviceLibrary
IO_VALUE suddenBtn = IOManager.IOValue(IO_Type.SuddenStop_BTN);
IO_VALUE airCheck = IOManager.IOValue(IO_Type.Airpressure_Check);
//if (suddenBtn == IO_VALUE.HIGH)
//if (suddenBtn == IO_VALUE.HIGH)
if (suddenBtn.Equals(IO_VALUE.HIGH) && (airCheck.Equals(IO_VALUE.HIGH) || Config.HasDoor.Equals(0)))
{
//lastAirValue = airCheck;
lastAirCloseTime = DateTime.Now;
if (!RunAxis(true))
{
return false;
}
string doorMsg = DoorIsClose();
if (!String.IsNullOrEmpty(doorMsg))
{
WarnMsg = "启动失败：" + doorMsg;
LogUtil.error(StoreName + WarnMsg);
return false;
}
if (!RunAxis(true))
{
return false;
}
//TODO 启动时先所有轴远点返回，测试暂时关闭
storeRunStatus = StoreRunStatus.HomeMoving;
storeStatus = StoreStatus.ResetMove;
......@@ -421,6 +441,14 @@ namespace OnlineStore.DeviceLibrary
{
return "右侧门未关";
}
if (!IOManager.IOValue(IO_Type.DoorLimit_L).Equals(IO_VALUE.HIGH))
{
return "前门未关";
}
if (!IOManager.IOValue(IO_Type.DoorLimit_B).Equals(IO_VALUE.HIGH))
{
return "后门未关";
}
return "";
}
public void OpenDoor(int type=1,StoreMoveInfo moveInfo=null)
......
source/DeviceLibrary/acSquareStore/Square_BoxBean_Partial.cs
......@@ -176,10 +176,10 @@ namespace OnlineStore.DeviceLibrary
{
wait.IsEnd = IOManager.IOValue(wait.IoType).Equals(wait.IoValue);
int timeOutMs = Config.IOSingle_TimerOut;
if (StoreMove.MoveStep.Equals(StoreMoveStep.SO_15_WaitTake))
{
timeOutMs = 650000;
}
//if (StoreMove.MoveStep.Equals(StoreMoveStep.SO_15_WaitTake))
//{
// timeOutMs = 650000;
//}
if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
{
ConfigIO io = Config.getWaitIO(wait.IoType);
......@@ -360,7 +360,7 @@ namespace OnlineStore.DeviceLibrary
InStoreLog("入库：SI_07 叉子 从入料口抽出，进出轴至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SI_07_InoutBack);
InOutBackToP1(moveP.InOut_P1);
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_07_InoutBack)
{
InStoreLog("入库：SI_08 判断是否拿到物料");
......@@ -376,15 +376,15 @@ namespace OnlineStore.DeviceLibrary
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RightShelf_Check, IO_VALUE.LOW));
}
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.HIGH));
}
}
}
}
//判断是否拿到料
else if (StoreMove.MoveStep == StoreMoveStep.SI_08_WaitShelfDI)
{
InStoreLog("入库：SI_09 移动到库位点，前后轴至P2(库位点),");
StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_09_MoveToBag)
{
......@@ -432,13 +432,22 @@ namespace OnlineStore.DeviceLibrary
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_14_CheckTrayIsGo)
{
InStoreLog("入库：SI_15 升降轴，前后轴返回待机点 ，托架前进");
StoreMove.NextMoveStep(StoreMoveStep.SI_15_GoBack);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
InStoreLog("入库：SI_15 升降轴 返回待机点 ，托架前进");
StoreMove.NextMoveStep(StoreMoveStep.SI_15_UpdownBack);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
ShelfForward(StoreMove.MoveParam.PosInfo.ShelfType);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_15_GoBack)
else if (StoreMove.MoveStep == StoreMoveStep.SI_15_UpdownBack)
{
InStoreLog("入库：SI_15 前后轴 返回待机点 ");
StoreMove.NextMoveStep(StoreMoveStep.SI_16_GoBack);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
// ShelfForward(StoreMove.MoveParam.PosInfo.ShelfType);
}
else if (StoreMove.MoveStep == StoreMoveStep.SI_16_GoBack)
{
TimeSpan span = DateTime.Now - startInStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
......@@ -573,18 +582,26 @@ namespace OnlineStore.DeviceLibrary
LogUtil.error(CodeMsg);
}
StoreMove.NextMoveStep(StoreMoveStep.SO_08_ToDoorPosition);
OutStoreLog("出库：SO_08 走到料门口，前后轴至P1(待机点)升降轴至P2(进料口出料前点), 托架后退 ");
StoreMove.NextMoveStep(StoreMoveStep.SO_08_UpdownBack);
OutStoreLog("出库：SO_08 升降轴至P2(进料口出料前点), 托架后退 ");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
// ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
ShelfBack(StoreMove.MoveParam.PosInfo.ShelfType, StoreMove);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_ToDoorPosition)
else if (StoreMove.MoveStep == StoreMoveStep.SO_08_UpdownBack)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_09_ToDoorPosition);
OutStoreLog("出库：SO_09 前后轴至P1(待机点) ");
// ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
// ShelfBack(StoreMove.MoveParam.PosInfo.ShelfType, StoreMove);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_09_ToDoorPosition)
{
//SO_10_DeviceToDoorPro();
StoreMove.NextMoveStep(StoreMoveStep.SO_09_WaitNoTray);
OutStoreLog("出库：SO_09_WaitNoTray 等待托架无料 ");
StoreMove.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
OutStoreLog("出库：SO_10_WaitNoTray 等待托架无料 ");
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(1))
{
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LeftShelf_Check, IO_VALUE.LOW));
......@@ -595,26 +612,28 @@ namespace OnlineStore.DeviceLibrary
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_09_WaitNoTray)
{
SO_10_DeviceToDoorPro();
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_WaitNoTray)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DeviceToDoor);
OutStoreLog("出库：SO_11 叉子进出料口，进出轴至P2(进料口取料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_10_DeviceToDoor)
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DeviceToDoor)
{
OutStoreLog("出库：SO_11 放下物品，升降轴至P8(进料口出料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_11_DevicePutWare);
OutStoreLog("出库：SO_12 放下物品，升降轴至P8(进料口出料缓冲点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_12_DevicePutWare);
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P8, Config.UpDownAxis_P8_Speed);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_11_DevicePutWare)
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_DevicePutWare)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_12_DeviceOutFromDoor);
OutStoreLog("出库：SO_12 叉子从出料口返回，，进出轴动作至P1(待机点) ");
StoreMove.NextMoveStep(StoreMoveStep.SO_13_DeviceOutFromDoor);
OutStoreLog("出库：SO_13 叉子从出料口返回，，进出轴动作至P1(待机点) ");
InOutBackToP1(moveP.InOut_P1);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_12_DeviceOutFromDoor)
else if (StoreMove.MoveStep == StoreMoveStep.SO_13_DeviceOutFromDoor)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_13_CheckShelfDI);
OutStoreLog("出库：SO_13 判断物料信号是否正确 ");
StoreMove.NextMoveStep(StoreMoveStep.SO_14_CheckShelfDI);
OutStoreLog("出库：SO_14 判断物料信号是否正确 ");
if (StoreManager.UseShelfCheck)
{
if (StoreMove.MoveParam.PosInfo.ShelfType.Equals(1))
......@@ -628,15 +647,15 @@ namespace OnlineStore.DeviceLibrary
StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW));
}
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_13_CheckShelfDI)
else if (StoreMove.MoveStep == StoreMoveStep.SO_14_CheckShelfDI)
{
StoreMove.NextMoveStep(StoreMoveStep.SO_14_GoBack);
OutStoreLog("出库：SO_14 升降轴到P1(待机点) ,托架前进，打开门锁");
StoreMove.NextMoveStep(StoreMoveStep.SO_15_GoBack);
OutStoreLog("出库：SO_15 升降轴到P1(待机点) ,托架前进，打开门锁");
ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
OpenDoor(StoreMove.MoveParam.PosInfo.ShelfType);
ShelfForward(StoreMove.MoveParam.PosInfo.ShelfType, StoreMove);
}
else if (StoreMove.MoveStep == StoreMoveStep.SO_14_GoBack)
else if (StoreMove.MoveStep == StoreMoveStep.SO_15_GoBack)
{
TimeSpan span = DateTime.Now - startOutStoreTime;
string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PosInfo.PosId : "";
......@@ -653,17 +672,7 @@ namespace OnlineStore.DeviceLibrary
}
}
private void SO_10_DeviceToDoorPro()
{
//判断仓门是否打开
LineMoveP moveP = StoreMove.MoveParam.MoveP;
StoreMove.NextMoveStep(StoreMoveStep.SO_10_DeviceToDoor);
OutStoreLog("出库：SO_10 叉子进出料口，进出轴至P2(进料口取料点) ");
ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
}
#endregion
public List<InOutPosInfo> waitOutStoreList = new List<InOutPosInfo>();
public object waitOutListLock = "";
......
source/DeviceLibrary/store/StoreStep.cs
......@@ -195,40 +195,44 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 出库：叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点）
/// /// </summary>
SO_08_UpdownBack = 108,
/// <summary>
/// 出库：所有设备运行到门，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P2（ 进料口出料前点）
/// </summary>
SO_08_ToDoorPosition = 108,
SO_09_ToDoorPosition = 109,
/// <summary>
/// 等待门口无料盘
/// </summary>
SO_09_WaitNoTray = 109,
SO_10_WaitNoTray = 110,
/// <summary>
/// 出库：叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点）
/// /// </summary>
SO_10_DeviceToDoor = 110,
SO_11_DeviceToDoor = 111,
/// <summary>
/// 出库：把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)
/// </summary>
SO_11_DevicePutWare = 111,
SO_12_DevicePutWare = 112,
/// <summary>
/// 出库：叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）
/// </summary>
SO_12_DeviceOutFromDoor = 112,
SO_13_DeviceOutFromDoor = 113,
/// <summary>
/// 出库：判断物料信号
/// </summary>
SO_13_CheckShelfDI = 113,
SO_14_CheckShelfDI = 114,
/// <summary>
/// 出库：升降轴返回，， 轴2至P1（ 待机点）
/// </summary>
SO_14_GoBack = 114,
/// <summary>
/// 等待拿走物品
/// </summary>
SO_15_WaitTake = 115,
SO_15_GoBack = 115,
///// <summary>
///// 等待拿走物品
///// </summary>
//SO_15_WaitTake = 115,
#endregion
......@@ -293,9 +297,13 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
SI_14_CheckTrayIsGo = 214,
/// <summary>
/// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
/// 入库。。升降轴返回
/// </summary>
SI_15_UpdownBack = 215,
/// <summary>
/// 入库。。进出轴返回
/// </summary>
SI_15_GoBack = 215,
SI_16_GoBack = 216,
#endregion
......
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