上料机构bug修改

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -747,8 +747,9 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_09_TrayLocation_Before))
             {
+                LoopCount = 0;
                 MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
-                InLog("料架入库" + MoveInfo.SLog + "：上料轴开始慢速上升到P3点，等待检测到料盘");
+                InLog("料架入库" + MoveInfo.SLog + "：上料轴开始慢速上升到P3点，等待检测到料盘，设置LoopCount = 0");
                 MoveInfo.ShelfNoTray = false;
                 BatchAxisToP3();
             }
@@ -1067,7 +1068,8 @@ namespace OnlineStore.DeviceLibrary
                     //如果批量轴还在运动中，停止运动
                     ACServerManager.SuddenStop(BatchAxis.Config);
 
-                    InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位  ");
+                    LoopCount = 0;
+                    InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升已到位，设置LoopCount = 0  ");
                     CheckHasTray();
                 }
                 else
@@ -1430,6 +1432,7 @@ namespace OnlineStore.DeviceLibrary
                 FI_12_MoveCylinder_Give();
             }
         }
+        private int LoopCount = 0;
         private void CheckHasTray()
         {
             if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) && MoveInfo.ShelfNoTray.Equals(false))
@@ -1445,18 +1448,38 @@ namespace OnlineStore.DeviceLibrary
                     int chaz = Math.Abs(currP - Config.BatchAxisP3);
                     if (chaz > BatchAxis.Config.CanErrorCountMax)
                     {
-                        MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
-                        InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
-                        MoveInfo.ShelfNoTray = false;
-                        BatchAxisToP3(false  );
+                        if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_10_AxisUpMove))
+                        {
+                            //如果是循环运动，记录次数，超过次数时报警
+                            LoopCount++;
+                        }
+                        else
+                        {
+                            LoopCount = 0;
+                        }
+
+                        if (LoopCount < 10)
+                        { 
+                            MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
+                            InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘，LoopCount="+LoopCount);
+                            MoveInfo.ShelfNoTray = false;
+                            BatchAxisToP3(false);
+                        }
+                        else
+                        {
+                            WarnMsg = Name + "提升轴运动报警。上升到P3点已重复" + LoopCount + "次，仍未检测到料盘信号";
+                            LogUtil.error(WarnMsg);
+                            Alarm(LineAlarmType.AxisMoveError);
+                        }
                         return;
                     }
                 }
                 //无料盘
                 MoveInfo.ShelfNoTray = true;
+                LoopCount = 0;
                 MoveInfo.NextMoveStep(LineMoveStep.FI_51_BatchAxisToP2);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
-                InLog("料盘移栽" + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点");
+                InLog("料盘移栽" + MoveInfo.SLog + "：未检测到料盘，提升伺服到P2点，设置 LoopCount = 0");
                 BatchAxis.SuddenStop();
                 BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
             }