入料模块修改：定位机构不在后退端时不能处理料架。

source/AssemblyLineClient/Program.cs

@@ -120,11 +120,13 @@ namespace OnlineStore.AssemblyLine
             LogUnhandledException("Application_ThreadException", e.ToString() + "" + e.Exception.ToString() + " ");
         }
 
-        static void LogUnhandledException(string type, string  exceptionobj)
+        static void LogUnhandledException(string type, string exceptionobj)
         {
             //这里可以进一步地写日志
             LOGGER.Error("【" + type + "】" + exceptionobj);
             MessageBox.Show(exceptionobj, type);
+
+            LogUtil.error("【" + type + "】" + exceptionobj);
         }
     }
 }

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -83,10 +83,14 @@ namespace OnlineStore.DeviceLibrary
         }
 
         public override bool Reset()
-        {
-            StopMove();
+        { 
+            runStatus = LineRunStatus.Reset; 
+            StopMove(); 
+            MoveInfo.NewMove(LineMoveType.Reset);
+            SecondMoveInfo.EndMove();
             if (RunAxis(true, BatchAxis) && RunAxis(true, UpdownAxis))
             {
+              
                 alarmType = LineAlarmType.None;
                 LogInfo("开始重置： ");
                 runStatus = LineRunStatus.Reset;
@@ -289,8 +293,8 @@ namespace OnlineStore.DeviceLibrary
 
         internal override void StopMove()
         {
-            MoveInfo.EndMove();
-            SecondMoveInfo.EndMove();
+            //MoveInfo.EndMove();
+            //SecondMoveInfo.EndMove();
             BatchAxisStopCheck();
             BatchAxis.SuddenStop();
             UpdownAxis.SuddenStop();
@@ -325,7 +329,8 @@ namespace OnlineStore.DeviceLibrary
                 mainTimer.Enabled = false;
             }
             StopMove();
-
+            MoveInfo.EndMove();
+            SecondMoveInfo.EndMove();
         }
 
 
@@ -613,7 +618,7 @@ namespace OnlineStore.DeviceLibrary
                 lastOkTime = DateTime.Now;
                 if (IOValue(TargetIoType).Equals(TargetIoValue))
                 {
-                    LogUtil.debug(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
+                    LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
                     BatchAxis.SuddenStop();
                     BatchAxisStopCheck();
                 }

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -523,8 +523,12 @@ namespace OnlineStore.DeviceLibrary
         {
             //若定位工位，阻挡工位，有 料架，需要进行处理
             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))
-            {
-                StartInStoreMove(null);
+            { 
+                //升降盘需要在后退端
+                if (IsTrayLCylinderAfter())
+                { 
+                    StartInStoreMove(null);
+                }
             }
             else if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.HIGH))
             {
@@ -553,9 +557,17 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             {
-                MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
-                InLog("检测到料架， " + MoveInfo.MoveStep + "  ：升降盘定位气缸下降");
-                TrayLCylinderAfter(MoveInfo);
+                if (IsTrayLCylinderAfter())
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
+                    InLog("检测到料架， " + MoveInfo.MoveStep + "  ：升降盘定位气缸下降");
+                    TrayLCylinderAfter(MoveInfo);
+                }else
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_00_BatchAxisToP2);
+                    OutLog("检测到料架，升降盘不在后退端 " + MoveInfo.SLog + "  ：提升伺服先回到P2");
+                    BatchAxis.AbsMove(MoveInfo, Config.BatchAxisP2, Config.BatchAxis_P2Speed);
+                }
             }
             return true;
         }
@@ -621,11 +633,11 @@ namespace OnlineStore.DeviceLibrary
                 return;
             }
             #region 入料：料架进入并开始检测托盘
-            if (MoveInfo.MoveStep.Equals(LineMoveStep.Wait))
+            if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_00_BatchAxisToP2))
             {
-                //MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
-                //InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸下降");
-                //TrayLCylinderAfter(MoveInfo);
+                MoveInfo.NextMoveStep(LineMoveStep.FI_01_TrayLocation_After);
+                InLog("料架入库" + MoveInfo.SLog + " ：升降盘定位气缸下降");
+                TrayLCylinderAfter(MoveInfo);
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_01_TrayLocation_After))
             {
@@ -1189,26 +1201,28 @@ namespace OnlineStore.DeviceLibrary
         private void BatchAxisToP3(bool isFirstMove = true)
         {
             int targetP3 = Config.BatchAxisP3;
+            int targetSpeed = Config.BatchAxis_P3Speed;
             if (!isFirstMove)
             {
                 int currPosition = BatchAxis.GetAclPosition();
                 if (currPosition != -1)
                 {
-                    targetP3 = currPosition + Config.Height_ChangeValue * 100;
+                    targetP3 = currPosition + Config.Height_ChangeValue * 80;
                     if (targetP3 > Config.BatchAxisP3)
                     {
                         targetP3 = Config.BatchAxisP3;
                     }
                     LogUtil.info(Name + " BatchAxisToP3 目标P3: " + targetP3 + "(" + currPosition + ")");
                 }
+                targetSpeed = Config.BatchAxis_P3Speed / 2;
             }
             MoveInfo.TimeOutSeconds = 200;
             MoveInfo.CanWhileCount = 0;
             //  需要增加定时器，获取验证信号并停止伺服
             StartMovePosition = BatchAxis.GetAclPosition();
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, Config.BatchAxis_P3Speed));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, targetSpeed));
             Config.Batch_Axis.TargetPosition = targetP3;
-            BatchAxis.AbsMove(null, targetP3, Config.BatchAxis_P3Speed);
+            BatchAxis.AbsMove(null, targetP3, targetSpeed);
             //开始检测信号
             BatchAxisStartCheck();
         }

source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs

@@ -175,7 +175,7 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.NewMove(LineMoveType.OutStore);
             MoveInfo.MoveParam = new InOutParam();
             taskData = null;
-            if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH))
+            if (IOValue(IO_Type.SL_Location_Check).Equals(IO_VALUE.HIGH)&& IsTrayLCylinderAfter())
             {
                 FO_04_WaitTime();
             }