料架转出修改

source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv

@@ -24,8 +24,8 @@ PRO,0,提升上料轴高度转换系数（1mm对应的脉冲）,Height_ChangeValue,50000,,,,,
 ,,,,,,,,,
 AXIS,0,移栽上下轴,UpDown_Axis,6,COM5,0,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=154010,,,,,
-PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,310000,,,,,
+PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=90000,,,,,
+PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,202040,,,,,
 PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,

source/DeviceLibrary/assemblyLine/FeedingEquip_Partial.cs

@@ -718,8 +718,9 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_32_TrayLocationCylinder_After))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1);
-                InStoreLog(" 上料完成" + MoveInfo.SLog + "：提升伺服到P1点");
+                InStoreLog(" 上料完成" + 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.FI_33_BatchAxisToP1))
             {
@@ -733,29 +734,35 @@ namespace OnlineStore.DeviceLibrary
             {
                 //TODO 
                 MoveInfo.NextMoveStep(LineMoveStep.FI_36_SideWayLineRun);
-                InStoreLog(" 上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待SL1线体出口横移检测");
+                InStoreLog(" 上料完成" + MoveInfo.SLog + "， 线体横移电机运转，等待料架离开上料工位");
                 IOMove(IO_Type.SL_LocationSideWay_Run, IO_VALUE.HIGH);
                 IOMove(IO_Type.SL_OutSideWay_Run, IO_VALUE.HIGH);
-                MoveInfo.OneWaitCanEndStep = true;
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_SideWay_OutCheck, IO_VALUE.HIGH));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_36_SideWayLineRun))
             {
+                MoveInfo.NextMoveStep(LineMoveStep.FI_37_WaitShelfGo);
+                InStoreLog(" 上料完成" + 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.OneWaitCanEndStep = true;
+                //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.HIGH));
+            }
+            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_37_WaitShelfGo))
+            {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_37_LineStop);
 
                 InStoreLog(" 上料完成" + 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.FI_37_LineStop))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_38_TopCylinderDown);
-                InStoreLog(" 上料完成" + MoveInfo.SLog + "， 料架到达出口，出口顶升下降，定位气缸下降, ");
+                InStoreLog(" 上料完成" + 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);
-                CylinderMove(MoveInfo, IO_Type.SL_LocationCylinder_Up, IO_Type.SL_LocationCylinder_Down);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_38_TopCylinderDown))
@@ -766,7 +773,7 @@ namespace OnlineStore.DeviceLibrary
                 InStoreLog("   上料完成，  ，料架到达出口处, 通知AGV取空料架, 入料流程结束");
                 AgvClient.ReadyEmpty(Config.AgvOutName);
             }
-     
+
             #endregion
         }
         private void FI_12_MoveCylinder_Give()

source/DeviceLibrary/model/StoreStep.cs

@@ -696,33 +696,37 @@ namespace OnlineStore.DeviceLibrary
         ///上料完成， 线体横移电机运转，等待料架到达出口
         /// </summary>
         FI_36_SideWayLineRun = 11036,
+        /// <summary>
+        ///上料完成，等待料架到达出口
+        /// </summary>
+        FI_37_WaitShelfGo=11307,
 
         /// <summary>
         ///上料完成， 料架到达出口，线体横移电机停止
         /// </summary>
-        FI_37_LineStop= 11037,
+        FI_37_LineStop ,
         /// <summary>
         ///上料完成， 料架到达出口，出口顶升下降，定位气缸下降, 
         /// </summary>
-        FI_38_TopCylinderDown = 11038,
+        FI_38_TopCylinderDown,
 
         /// <summary>
         ///上料完成， 出口线体运转，料架到达出口处, 通知AGV取空料架
         /// </summary>
-        FI_39_OutLineRun = 11039,
+        FI_39_OutLineRun,
         /// <summary>
         ///上料完成， AGV到达，继续转动出口线体，送走出料料架, 
         /// </summary>
-        FI_40_OutLineRun = 11040,
+        FI_40_OutLineRun,
 
         /// <summary>
         ///上料完成， 料架送出, 
         /// </summary>
-        FI_41_OutLineRun = 11041,
+        FI_41_OutLineRun,
         #endregion
 
         #region 入料装置出料处理，12000开始
-         
+
 
         /// <summary>
         /// 出料流程：升降盘定位气缸后退