压紧步骤修改

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs

@@ -79,20 +79,23 @@ namespace OnlineStore.DeviceLibrary
                 {
                 }
                 else if (wait.WaitType.Equals(WaitEnum.W008_Compress))
-                {
-                    string msg = "";
+                { 
+                    //等待信号亮或者走到绝对位置才停止
                     if (IOValue(TargetIoType).Equals(TargetIoValue))
                     {
-                        wait.IsEnd = true;
+                        LogUtil.info("CheckWait  检测到" + TargetIoType + "=" + TargetIoValue + ",停止压紧轴运行");
+                        wait.IsEnd = true; 
+                        ComAxisStopCheck(); 
                     }
                     else
                     {
-                        bool result = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
-                        if (!result && (!msg.Equals("")))
+                        bool moveOk = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
+                        if (moveOk)
                         {
-                            LogUtil.error(msg);
+                            //TODO 判断是否达到高度，如果未达到，继续上升
+                            wait.IsEnd = true; 
+                            ComAxisStopCheck();
                         }
-                        wait.IsEnd = result;
                     }
                 }
                 else if (wait.WaitType.Equals(WaitEnum.W009_ScanCode))
@@ -354,8 +357,11 @@ namespace OnlineStore.DeviceLibrary
                 ComTargetPosition = currPosition;
                 int targetP = currPosition + Config.CompAxis_Down_Position;
                 LastHeight = Config.GetComP2PlateH(targetP);
-                InOutStoreLog("料架取料 " + MoveInfo.SLog + "：检测到料叉压紧确认信号，向下压紧【" + ComTargetPosition + "】目标【" + targetP + "】，记录料盘高度【" + LastHeight + "】");
-                MoveInfo.MoveParam.MoveP.ComPress_P2 = ComTargetPosition;
+                MoveInfo.MoveParam.MoveP.ComPress_P2 = targetP;
+                MoveInfo.MoveParam.MoveP.ComPress_P3 = targetP + Config.CompAxis_P3_P2_Value;
+                InOutStoreLog("料架取料 " + MoveInfo.SLog + "：检测到料叉压紧确认信号，向下压紧【" + ComTargetPosition + "】目标【" + targetP + 
+                    "】，记录料盘高度【" + LastHeight + "】,ComP2【"+ targetP + "】ComP3【"+ MoveInfo.MoveParam.MoveP.ComPress_P3 + "】"); 
+
                 ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
 
             }
@@ -390,7 +396,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_InOutToP2))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutTrayDown);
-                InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴缓慢下降到P1，压紧轴返回压紧前点P3");
+                InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到扫码低点P1，压紧轴到压紧前点P3");
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
                 ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
             }
@@ -436,8 +442,8 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_27_InoutToP2))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BI_28_GetScanPTray);
-                InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到P1,压紧轴压紧");
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
+                InOutStoreLog("扫码 " + MoveInfo.SLog + "：升降轴到扫码高P2，压紧轴到压紧点P2");
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
                 ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
             }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_28_GetScanPTray))
@@ -949,7 +955,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 axisCheckTimer = new System.Timers.Timer();
                 axisCheckTimer.AutoReset = true;
-                axisCheckTimer.Interval += 30;
+                axisCheckTimer.Interval += 50;
                 axisCheckTimer.Elapsed += CheckTimer_Elapsed;
                 axisCheckTimer.Enabled = false;
             }
@@ -963,6 +969,7 @@ namespace OnlineStore.DeviceLibrary
         {
             if (!(axisCheckTimer == null))
             {
+                ACServerManager.SuddenStop(Config.Comp_Axis);
                 axisCheckTimer.Stop();
             }
             return true;