入料1处托盘还未离开顶升就上升问题修改

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -215,7 +215,7 @@ namespace OnlineStore.DeviceLibrary
                     TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime;
                     TimeSpan span = DateTime.Now - SecondMoveInfo.LastSetpTime;
                     //去掉延迟
                     //去掉延迟
                     SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_FixtureCheck);
                     SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_02_FixtureCheck);
-                    LogUtil.debug(Name + "托盘阻挡：" + SecondMoveInfo.SLog + "阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待SW_TrayCheck=1） "); 
+                    LogUtil.debug(Name + "托盘阻挡：" + SecondMoveInfo.SLog + "阻挡气缸上升，下降耗时（" + FormUtil.GetSpanStr(span) + "），等待SW_TrayCheck=1） ");
                     SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
                     SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.HIGH));
                     //SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
                     //SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
                     //SecondMoveInfo.OneWaitCanEndStep = true;
                     //SecondMoveInfo.OneWaitCanEndStep = true;
@@ -348,7 +348,7 @@ namespace OnlineStore.DeviceLibrary
                         TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
                         TrayInfo tray = TrayManager.GetTrayInfo(currTrayNum);
                         bool isfull = tray.IsFull;
                         bool isfull = tray.IsFull;
                         if (tray!=null&& tray.InoutPar.Corrected)
                         if (tray!=null&& tray.InoutPar.Corrected)
-                        { 
+                        {
                             LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " 入库中，需拦截空托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号");
                             LogInfo(SecondMoveInfo.MoveNum + SecondMoveInfo.SLog + " 入库中，需拦截空托盘【 " + currTrayNum + "】托盘已纠正，不再验证料盘检测信号");
                         }
                         }
                         else
                         else
@@ -468,10 +468,17 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     if (Config.SidesWayNum.Equals(3) || Config.SidesWayNum.Equals(1))
                     if (Config.SidesWayNum.Equals(3) || Config.SidesWayNum.Equals(1))
                     {
                     {
-                        CylinderMove(null, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
+                        //CylinderMove(null, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
+                        SecondMoveInfo.NextMoveStep(LineMoveStep.MO_15_WaitCanGo_2);
+                        CheckLog("托盘放行   " + SecondMoveInfo.SLog + " ，等待托盘离开，再等待2秒并检测SW_TrayCheck=LOW");
+                        SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                        SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW_TrayCheck, IO_VALUE.LOW));
+                    }
+                    else
+                    {
+                        CheckLog("托盘放行  SecondStoreMove：(托盘放行结束）横移顶升先上升 ");
+                        SMoveEnd();
                     }
                     }
-                    CheckLog("托盘放行  SecondStoreMove：(托盘放行结束）横移顶升先上升 ");
-                    SMoveEnd();
                 }
                 }
                 else
                 else
                 {
                 {
@@ -483,6 +490,12 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 //  SecondMoveInfo.EndStepWait();
                 //  SecondMoveInfo.EndStepWait();
             }
             }
+            else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_15_WaitCanGo_2))
+            {
+                CylinderMove(null, IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up); 
+                CheckLog("托盘放行  SecondStoreMove：(托盘放行结束）横移顶升先上升 ");
+                SMoveEnd();
+            }
             else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_Stop2Down))
             else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MO_16_Stop2Down))
             {
             {
                 SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Stop2Check);
                 SecondMoveInfo.NextMoveStep(LineMoveStep.MO_17_Stop2Check);

source/DeviceLibrary/model/StoreStep.cs

@@ -352,6 +352,11 @@ namespace OnlineStore.DeviceLibrary
         [Description("托盘离开_托盘可离开，等待阻挡下降放托盘离开")]
         [Description("托盘离开_托盘可离开，等待阻挡下降放托盘离开")]
         MO_15_WaitCanGo ,
         MO_15_WaitCanGo ,
         /// <summary>
         /// <summary>
+        /// 如果是移栽2需要等待托盘是否可以走,再次等待托盘离开
+        /// </summary>
+        [Description("托盘离开_托盘可离开，再次等待托盘离开")]
+        MO_15_WaitCanGo_2,
+        /// <summary>
         /// 移载（流水线）装置出库处理， 阻挡气缸1-2下降 
         /// 移载（流水线）装置出库处理， 阻挡气缸1-2下降 
         /// </summary>
         /// </summary>
         [Description("托盘离开_阻挡2下降")]
         [Description("托盘离开_阻挡2下降")]