FeedingEquip_OutStore.cs
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using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
partial class FeedingEquip
{
#region 出料流程
private int OutStoreHeight = -1;
private int OutStoreCount = -1;
private ShelfData serverShelfData = null;
internal bool CanStartCheckOut(int trayNum)
{
preTrayNum = currTrayNum;
currTrayNum = trayNum;
if (CurrTrayIsNeed(currTrayNum, true))
{
SecondMoveInfo.NewMove(LineMoveType.CheckFixture, CheckParam);
SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_06_TopUp);
CheckLog("检测到SW_TrayCheck：" + SecondMoveInfo.SLog + "横移顶升气缸上升 ）");
CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
return true;
}
else
{
// currTrayNum = num;
return false;
}
}
private bool StartTrayOut(InOutParam outParam)
{
if (outParam == null || outParam.PosId == null || outParam.PosId.Equals(""))
{
LogUtil.error(Name + "出库失败，参数不完整：");
LogUtil.error(outParam.ToStr());
return false;
}
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.LOW) || OutStoreHeight < 0)
{
LogUtil.error(Name + "出库" + outParam.ToStr() + "失败，未准备好料架");
return false;
}
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore, outParam);
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
int targetPosition = BatchAxis.GetAclPosition() - outParam.PlateH * Config.Height_ChangeValue;
if (targetPosition < Config.BatchAxisP2)
{
targetPosition = Config.BatchAxisP2;
}
OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度，目标："+ targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
return true;
}
public void StartOutStoreP()
{
if (OutStoreHeight >= 0)
{
return;
}
//若定位工位，阻挡工位，有 料架，直接进入定位工位，并上升好位置，若需要出库，直接下降高度即可
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
StartOutStoreMove(null);
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
//小车到达处理
}
else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
{
//线体出口检测到料架，需要通知AGV小车
// AgvClient.NeedLeave(Config.AgvOutName);
}
}
public override bool StartOutStoreMove(InOutParam param)
{
runStatus = LineRunStatus.Busy;
lineStatus = LineStatus.OutStoreExecute;
MoveInfo.NewMove(LineMoveType.OutStore);
MoveInfo.MoveParam = new InOutParam();
serverShelfData = null;
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FO_04_WaitTime();
}
else
{
//如果升降盘在锁紧状态，需要返回P2
if (IsTrayLCylinderAfter())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
OutLog("准备出库料架， " + MoveInfo.SLog + " ：升降盘定位气缸后退");
TrayLCylinderAfter(MoveInfo);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_00_BatchAxisToP2);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
OutLog("准备出库料架，升降盘不在后退端 " + MoveInfo.SLog + " ：提升伺服先回到P2");
}
}
return true;
}
private void FO_04_WaitTime()
{
//定位工位有料架，等待1秒后再次检测
MoveInfo.NextMoveStep(LineMoveStep.FO_04_WaitTime);
OutLog("准备出库料架 " + MoveInfo.SLog + "定位工位检测到料架：进料阻挡上升， 等待1秒再次检测");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
}
private void LineOutStoreProcess()
{
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
//判断是哪个工位有料架
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
FO_04_WaitTime();
}
//阻挡工位有料架，流水线转动一个工位
else if (IOValue(IO_Type.SL_Stop_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 阻挡工位检测有料架，进料阻挡下降，缓冲阻挡下降，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.HIGH);
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.HIGH));
}
else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_03_LineStart);
OutLog("准备出库料架： " + MoveInfo.SLog + " 进料口检测有料架，进料阻挡上升，缓冲阻挡上升，流水线转动 1000");
IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);//进料阻挡上升
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.HIGH);//缓冲阻挡下降
IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
//等待指定时间
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Stop_Check, IO_VALUE.HIGH));
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
OutLog(" 未检测到料架， 准备出库料架结束");
}
}
protected override void OutStoreProcess()
{
if (MoveInfo.IsInWait)
{
CheckWait(MoveInfo);
}
if (MoveInfo.IsInWait)
{
return;
}
if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_00_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_01_TrayLocation_After);
TrayLCylinderAfter(MoveInfo);
OutLog("准备出库料架， " + MoveInfo.SLog + " ：升降盘定位气缸后退");
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_01_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_02_LocationDown);
OutLog("出库： " + MoveInfo.SLog + " 开始：定位气缸下降，提升轴移动到P1");
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_02_LocationDown))
{
LineOutStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_03_LineStart))
{
LineOutStoreProcess();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_04_WaitTime))
{
if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
{
//定位工位有料架，直接开始入料
MoveInfo.NextMoveStep(LineMoveStep.FO_05_LocationUp);
OutLog("定位工位检测到料架： " + MoveInfo.SLog + " 缓冲阻挡下降， 定位气缸上升，读取料架号");
IOMove(IO_Type.SL_Buffer_StopDown, IO_VALUE.LOW);//缓冲阻挡下降
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SW4_LocationCylinder_Up);
UpdateShelfId();
}
else
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
OutLog(" 未检测到料架，料架处理结束");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_05_LocationUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_06_BatchAxisToP2);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：提升轴下降到位P2,定位气缸上升");
IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_06_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_07_TrayLocation_Before);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：升降盘定位气缸前进");
TrayLCylinderBefore(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_07_TrayLocation_Before))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_AxisUpMove);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：上料轴开始慢速上升到P3点，等待检测到料盘");
BatchAxisToP3();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_08_AxisUpMove))
{
//判断信号是否亮
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
{
OutStoreHeight = 0;
OutStoreCount = 0;
//如果再出库中直接出库
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
lineStatus = LineStatus.StoreOnline;
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("准备出库料架完成");
// FO_11_AxisDownMove();
}
else
{
//检测到料盘，需要下降指定高度，此处默认下降1cm
int tp = BatchAxis.GetAclPosition() - Config.Height_ChangeValue * 10;
if (tp < Config.BatchAxisP2)
{
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，下降的目标高度为【" + tp + "】<【" + Config.BatchAxisP2 + "】，料架已满，直接送出料架");
MoveInfo.NextMoveStep(LineMoveStep.FO_30_BatchAxisToP2);
OutLog("出库移栽 " + MoveInfo.SLog + "：提升伺服到P2点");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_08_AxisUpMove);
OutLog("准备出库料架 " + MoveInfo.SLog + " ：检测到料盘，需要下降指定高度，目标位置：" + tp + ",等待检测不到料盘");
MoveInfo.TimeOutSeconds = 200;
MoveInfo.CanWhileCount = 0;
MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, tp, Config.BatchAxis_P3Speed));
Config.Batch_Axis.TargetPosition = tp;
BatchAxis.AbsMove(null, tp, Config.BatchAxis_P3Speed);
//开始检测信号
BatchAxisStartCheck(IO_Type.SL_AxisLocationCheck, IO_VALUE.LOW);
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_30_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_31_TrayLocation_After);
OutLog("送出料串： " + MoveInfo.SLog + "： 升降盘定位气缸后退，重置 OutEndSendShelfOut=fasle ，OutStoreCount = 0");
OutEndSendShelfOut = false;
OutStoreHeight = -1;
OutStoreCount = 0;
TrayLCylinderAfter(MoveInfo);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_31_TrayLocation_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_32_BatchAxisToP1);
OutLog("送出料串： " + MoveInfo.SLog + "：提升伺服到P1点，定位气缸下降");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_32_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_34_OutCheck);
OutLog("送出料串： " + MoveInfo.SLog + "，等待出料线体无料架");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutCheck))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_34_OutTopCylinder_Up);
OutLog("送出料串： " + MoveInfo.SLog + "，出口顶升气缸上升，出料缓冲阻挡上升");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);
IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_34_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FO_35_SideWayLineRun);
OutLog("送出料串： " + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开定位工位");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_35_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_36_WaitShelfGo);
OutLog("送出料串：" + MoveInfo.SLog + "， 线体横移电机运转，等待料架到达出口");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_36_WaitShelfGo))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_37_LineStop);
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，线体横移电机停止 ");
IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.LOW);
IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.LOW);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_37_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_38_TopDown);
OutLog("送出料串： " + MoveInfo.SLog + "， 料架到达出口，出口顶升下降 , ");
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_38_TopDown))
{
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
// MoveInfo.NextMoveStep(LineMoveStep.FO_39_OutLineRun);
OutLog("送出料串： " + MoveInfo.SLog + "， 出口线体运转，料架到达出口处, 通知AGV取空料架, 出料结束");
AgvClient.NeedLeave(Config.AgvOutName);
}
else if (MoveInfo.MoveStep >= LineMoveStep.FO_211_AxisDownMove && MoveInfo.MoveStep < LineMoveStep.FO_30_BatchAxisToP2)
{
TrayOutProcess();
}
else
{
LogUtil.error(Name + " " + MoveInfo.MoveType + MoveInfo.SLog + "未找到相关处理", 19);
}
}
private void TrayOutProcess()
{
if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_211_AxisDownMove))
{
//判断伺服检测信号是否亮
if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) || BatchAxis.IsInPosition(Config.BatchAxisP2))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_212_CylinderTake);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构取料端 前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else
{
//可以开始出库啦
MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
int targetPosition = BatchAxis.GetAclPosition() - MoveInfo.MoveParam.PlateH * Config.Height_ChangeValue;
if (targetPosition < Config.BatchAxisP2)
{
targetPosition = Config.BatchAxisP2;
}
OutLog("出库移栽 " + MoveInfo.SLog + " ：TrayOutProcess 伺服检测信号亮并且不再P2点，再次下降指定的高度，目标：" + targetPosition);
BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_212_CylinderTake))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_213_UpdownAxisToP2);
int targetP = Config.GetUpdownPositionP2(MoveInfo.MoveParam.PlateH);
OutLog("紧急出料" + MoveInfo.SLog + "：升降伺服下降到P2：" + targetP);
UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_213_UpdownAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_214_CylinderDown);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构下降");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_214_CylinderDown))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_215_CylinderTighten);
OutLog("紧急出料" + MoveInfo.SLog + "：上料气缸夹紧");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_215_CylinderTighten))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_216_CylinderUp);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构上升");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_216_CylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_217_UpdownAxisToP1);
OutLog("紧急出料" + MoveInfo.SLog + "：升降伺服到P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
int trayNum = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.TrayNumber : currTrayNum;
//更新此托盘为空托盘
TrayManager.UpdateTrayInfo(trayNum, false);
SecondMoveInfo.NextMoveStep(LineMoveStep.MO_12_MoveOk);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_217_UpdownAxisToP1))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_218_CylinderGive);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构到放料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_217_UpdownAxisToP1);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构到放料端前，先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_218_CylinderGive))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_219_UpdownAxisToP3);
OutLog("紧急出料 " + MoveInfo.SLog + "：移栽伺服到P3");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_219_UpdownAxisToP3))
{
OutStoreHeight += MoveInfo.MoveParam.PlateH;
OutStoreCount++;
MoveInfo.NextMoveStep(LineMoveStep.FO_220_CylinderSlack);
OutLog("紧急出料 " + MoveInfo.SLog + "：出料横移机构放松，累积出库【" + OutStoreCount + "】盘【" + OutStoreHeight + "】mm");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_220_CylinderSlack))
{
MoveInfo.NextMoveStep(LineMoveStep.FO_221_UpdownAxisToP1);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
OutLog("紧急出料 " + MoveInfo.SLog + "：移栽伺服上升到待机点P1，通知服务器PutShelfFinished");
UpdownAxis.AbsMove(MoveInfo, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
Task.Factory.StartNew(delegate
{
string msg = SServerManager.PutShelfFinished(Name, MoveInfo.MoveParam.WareCode, CurrShelfId, OutStoreCount.ToString(), out serverShelfData);
if (String.IsNullOrEmpty(msg).Equals(false))
{
LogUtil.error(Name + "【" + MoveInfo.MoveParam.WareCode + "】【" + CurrShelfId + "】【" + OutStoreCount.ToString() + "】PutShelfFinished 结果：" + msg);
serverShelfData = null;
}
});
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_221_UpdownAxisToP1))
{
if (MoveCylineCanTakeOrGive())
{
MoveInfo.NextMoveStep(LineMoveStep.FO_222_CylinderTake);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构回到取料端");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FO_221_UpdownAxisToP1);
OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构取料端 前先上升横移气缸");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_222_CylinderTake))
{
//出库结束 TODO
// bool isNeedSendShelf = false;
//判断料架是否满了
int currPositon = BatchAxis.GetAclPosition();
int tp = currPositon - Config.Height_ChangeValue * 10;
if (tp < Config.BatchAxisP2)
{
SendOutShelfOut("当前提升轴位置：" + currPositon + ",料架已满，需要送出料架");
}
else if (OutEndSendShelfOut)
{
SendOutShelfOut("当前提升轴位置：" + currPositon + ",OutEndSendShelfOut，需要送出料架");
}
else
{
//判断是否需要送出料架
if (serverShelfData != null && serverShelfData.cutTask <= 0)
{
SendOutShelfOut("服务器返回cutTask=" + serverShelfData.cutTask + "，需要送出料架");
}
else
{
OutLog("紧急出料完成，出料结束");
MoveInfo.EndMove();
runStatus = LineRunStatus.Runing;
}
}
}
}
private void SendOutShelfOut(string msg="")
{
MoveInfo.NextMoveStep(LineMoveStep.FO_30_BatchAxisToP2);
OutStoreHeight = -1;
OutLog("紧急出料完成， " + MoveInfo.SLog + "："+msg+ "，送出料串，提升伺服到P2点，重置OutStoreHeight=-1");
BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
}
#endregion
}
}