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Commit 50d16e46 由 LN
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料仓出库和料串入库 放料到托盘 时，如果是大于7寸的料盘，夹爪放松后夹紧一次，再放松。

1 个父辈 20c16f74
内嵌 并排
正在显示 6 个修改的文件 包含 129 行增加 和 62 行删除
source/AssemblyLineClient/记录.txt
......@@ -6,6 +6,9 @@
3.启用托盘会清理托盘信息，需拿走托盘上的物料。
4.有托盘被禁用时，发送报警信息到服务器。
5.料仓出库和料串入库 放料到托盘 时，如果是大于7寸的料盘，夹爪放松后夹紧一次，再放松。
20200225
1.托盘增加禁用功能，禁用的托盘可在（设备调试->查看禁用托盘）界面手动启用。
2.进仓界面增加启用托盘检测的勾选配置。
......
source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs
......@@ -677,7 +677,7 @@ namespace OnlineStore.DeviceLibrary
if (CurrShelfId.EndsWith("00"))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1);
MoveInfo.NextMoveStep(LineMoveStep.FI_53_BatchAxisToP1);
InLog("料架号【" + CurrShelfId + "】无效，送出料架，" + 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);
......@@ -977,24 +977,48 @@ namespace OnlineStore.DeviceLibrary
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_27_CylinderRelax))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_28_WaitCylinderUp);
if (LastWidth > 7)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_28_CylinderWork);
InLog("料盘移栽" + MoveInfo.SLog + "：大料，夹爪气缸夹紧");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Slack, IO_Type.SL_MoveCylinder_Tighten);
}
else
{
MoveInfo.NextMoveStep(LineMoveStep.FI_30_WaitCylinderUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_MoveCylinder_Down, IO_VALUE.LOW));
CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
TrayPreMove();
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_28_CylinderWork))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_29_CylinderRelax2);
InLog("料盘移栽" + MoveInfo.SLog + "：大料，上料气缸再次放松");
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_29_CylinderRelax2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_30_WaitCylinderUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_MoveCylinder_Down, IO_VALUE.LOW));
CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
TrayPreMove();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_28_WaitCylinderUp))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_30_WaitCylinderUp))
{
//判断是小盘就直接放行，
if (LastWidth.Equals(7) || (Config.SidesWayNum != 2))
{
TrayMoveOk();
}
FI_29_CylinderUp();
FI_31_CylinderUp();
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_29_CylinderUp))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_31_CylinderUp))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_30_UpDownAxisToP1);
MoveInfo.NextMoveStep(LineMoveStep.FI_32_UpDownAxisToP1);
// InLog("料盘移栽" + MoveInfo.SLog + "：升降伺服到P1点");
TrayMoveOk(true);
if (!UpdownAxis.IsInPosition(Config.UpDownAxisP1))
......@@ -1007,7 +1031,7 @@ namespace OnlineStore.DeviceLibrary
InLog("料盘移栽" + MoveInfo.SLog + "：升降轴已在P1点，托盘放行");
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_30_UpDownAxisToP1))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_32_UpDownAxisToP1))
{
if (getPosTask == null || getPosTask.IsCompleted)
{
......@@ -1031,49 +1055,49 @@ namespace OnlineStore.DeviceLibrary
#region 未检测到托盘或放料完成
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_31_BatchAxisToP2))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_51_BatchAxisToP2))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_32_TrayLocationCylinder_After);
MoveInfo.NextMoveStep(LineMoveStep.FI_52_TrayLocationCylinder_After);
InLog("上料完成" + MoveInfo.SLog + "： 升降盘定位气缸后退, 清理料架信息clearPutInRfid[" + CurrShelfId + "]");
TrayLCylinderAfter(MoveInfo);
SServerManager.clearPutInRfid(Name, CurrShelfId);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_32_TrayLocationCylinder_After))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_52_TrayLocationCylinder_After))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_33_BatchAxisToP1);
MoveInfo.NextMoveStep(LineMoveStep.FI_53_BatchAxisToP1);
InLog("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))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_53_BatchAxisToP1))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_34_OutCheck);
MoveInfo.NextMoveStep(LineMoveStep.FI_54_OutCheck);
InLog("上料完成" + MoveInfo.SLog + "，等待出料线体无料架");
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_Check, IO_VALUE.LOW));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Out_StopDown, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_34_OutCheck))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_54_OutCheck))
{
if (!ProcessShelfOut)
{
MoveInfo.NextMoveStep(LineMoveStep.FI_35_OutTopCylinder_Up);
MoveInfo.NextMoveStep(LineMoveStep.FI_55_OutTopCylinder_Up);
InLog("上料完成" + 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.FI_35_OutTopCylinder_Up))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_55_OutTopCylinder_Up))
{
//TODO
MoveInfo.NextMoveStep(LineMoveStep.FI_36_SideWayLineRun);
MoveInfo.NextMoveStep(LineMoveStep.FI_56_SideWayLineRun);
InLog("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.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Location_Check, IO_VALUE.LOW));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_36_SideWayLineRun))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_56_SideWayLineRun))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_37_WaitShelfGo);
MoveInfo.NextMoveStep(LineMoveStep.FI_57_WaitShelfGo);
InLog("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);
......@@ -1081,24 +1105,24 @@ namespace OnlineStore.DeviceLibrary
//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))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_57_WaitShelfGo))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_38_LineStop);
MoveInfo.NextMoveStep(LineMoveStep.FI_58_LineStop);
InLog("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);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_38_LineStop))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_58_LineStop))
{
MoveInfo.NextMoveStep(LineMoveStep.FI_39_TopDown);
MoveInfo.NextMoveStep(LineMoveStep.FI_59_TopDown);
InLog("上料完成" + MoveInfo.SLog + "， 料架到达出口，出口顶升下降 ，清理缓存料架RFID ");
UpdateLastShelfID();
CylinderMove(MoveInfo, IO_Type.SL_OutTopCylinder_Up, IO_Type.SL_OutTopCylinder_Down);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_39_TopDown))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_59_TopDown))
{
MoveEndS();
// MoveInfo.NextMoveStep(LineMoveStep.FI_39_OutLineRun);
......@@ -1172,9 +1196,9 @@ namespace OnlineStore.DeviceLibrary
});
}
private void FI_29_CylinderUp()
private void FI_31_CylinderUp()
{
MoveInfo.NextMoveStep(LineMoveStep.FI_29_CylinderUp);
MoveInfo.NextMoveStep(LineMoveStep.FI_31_CylinderUp);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
//如果是小料盘，且升降轴需要上升，
......@@ -1374,7 +1398,7 @@ namespace OnlineStore.DeviceLibrary
}
//无料盘
MoveInfo.ShelfNoTray = true;
MoveInfo.NextMoveStep(LineMoveStep.FI_31_BatchAxisToP2);
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");
BatchAxis.SuddenStop();
......
source/DeviceLibrary/assemblyLine/LineBean_Partial.cs
......@@ -1162,11 +1162,11 @@ namespace OnlineStore.DeviceLibrary
//前进后退气缸后退以后才可以出库
else if (move.runStatus.Equals(LineRunStatus.Busy) && move.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
{
if (move.MoveInfo.MoveStep >= (LineMoveStep.MO_58_CylinderDown))
if (move.MoveInfo.MoveStep >= (LineMoveStep.MO_62_CylinderDown))
{
return true;
}
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_57_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
else if (move.MoveInfo.MoveStep.Equals(LineMoveStep.MO_61_CylinderAfter) && move.MoveInfo.IsInWait.Equals(false)
&&move.CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
return true;
......
source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs
......@@ -170,7 +170,7 @@ namespace OnlineStore.DeviceLibrary
#endregion
#region 移载装置，放物品到流水线操作
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_57_CylinderAfter))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_61_CylinderAfter))
{
if (CylinderIsOk(IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After))
{
......@@ -178,7 +178,7 @@ namespace OnlineStore.DeviceLibrary
{
int trayNum = SecondMoveInfo.MoveParam.TrayNumber;
//去掉直接丢盘处理
MoveInfo.NextMoveStep(LineMoveStep.MO_58_CylinderDown);
MoveInfo.NextMoveStep(LineMoveStep.MO_62_CylinderDown);
OutLog("出库 " + MoveInfo.SLog + ": 拦截到空托盘【" + trayNum + "】， 上下气缸下降 ,顶升气缸上升");
if (MoveInfo.MoveParam != null)
{
......@@ -194,7 +194,7 @@ namespace OnlineStore.DeviceLibrary
}
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_58_CylinderDown))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_62_CylinderDown))
{
OutLog("出库 " + MoveInfo.SLog + ": 夹料气缸放松 ");
int trayNum = MoveInfo.MoveParam.TrayNumber;
......@@ -206,17 +206,40 @@ namespace OnlineStore.DeviceLibrary
//出库全部完成
lineStatus = LineStatus.StoreOnline;
MoveInfo.NextMoveStep(LineMoveStep.MO_59_CylinderRelax);
MoveInfo.NextMoveStep(LineMoveStep.MO_63_CylinderRelax);
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_59_CylinderRelax))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_63_CylinderRelax))
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_60_CylinderUp);
if (MoveInfo.MoveParam.PlateW > 7)
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_64_CylinderWork);
OutLog("出库 " + MoveInfo.SLog + ": 夹紧气缸夹紧");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
}
else
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_66_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升，同时顶升气缸先下降");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_64_CylinderWork))
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_65_CylinderRelax2);
OutLog("出库 " + MoveInfo.SLog + ": 夹紧气缸再次放松");
CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_65_CylinderRelax2))
{
this.MoveInfo.NextMoveStep(LineMoveStep.MO_66_CylinderUp);
OutLog("出库 " + MoveInfo.SLog + ": 上下气缸上升，同时顶升气缸先下降");
UpdownUpMove();
CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
}
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_CylinderUp))
else if (MoveInfo.MoveStep.Equals(LineMoveStep.MO_66_CylinderUp))
{
// 减去需要的盘数
// TrayManager.DelNeedEmptyTrayNum();
......@@ -239,7 +262,7 @@ namespace OnlineStore.DeviceLibrary
}
private void MO_57_CylinderAfter()
{
MoveInfo.NextMoveStep(LineMoveStep.MO_57_CylinderAfter);
MoveInfo.NextMoveStep(LineMoveStep.MO_61_CylinderAfter);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
OutLog("出库 " + MoveInfo.SLog + ": 前后气缸后退");
CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
......@@ -542,9 +565,9 @@ namespace OnlineStore.DeviceLibrary
}
bool isFull = TrayManager.TrayIsFull(currTrayNum);
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_55_CylinderUp) || MoveInfo.MoveStep >= LineMoveStep.MO_57_CylinderAfter;
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_55_CylinderUp) || MoveInfo.MoveStep >= LineMoveStep.MO_61_CylinderAfter;
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_CylinderUp)))
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_66_CylinderUp)))
{
if (isFull.Equals(false))
{
......@@ -569,9 +592,9 @@ namespace OnlineStore.DeviceLibrary
{
return false;
}
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_55_CylinderUp) || MoveInfo.MoveStep >= LineMoveStep.MO_57_CylinderAfter;
bool moveOk = (IsBigStore() && MoveInfo.MoveStep >= LineMoveStep.MO_55_CylinderUp) || MoveInfo.MoveStep >= LineMoveStep.MO_61_CylinderAfter;
if (MoveInfo.MoveType.Equals(LineMoveType.OutStore) && moveOk
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_60_CylinderUp)))
&& (!MoveInfo.MoveStep.Equals(LineMoveStep.MO_66_CylinderUp)))
{
return true;
}
......
source/DeviceLibrary/model/KTK_Store.cs
......@@ -494,7 +494,7 @@ namespace OnlineStore.DeviceLibrary
//如果是进仓门口 夹紧
if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Slack)))
{
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
moveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
}
else if (baseConfig.DType.Equals(DeviceType.MoveEquip) && (IoHighType.Equals(IO_Type.ClampCylinder_Tighten)))
......
source/DeviceLibrary/model/StoreStep.cs
......@@ -383,20 +383,28 @@ namespace OnlineStore.DeviceLibrary
/// <summary>
/// 移栽装置出库处理。 前后气缸1后退
/// </summary>
MO_57_CylinderAfter,
MO_61_CylinderAfter,
/// <summary>
/// 移载（流水线）装置出库处理，上下气缸1下降
/// </summary>
MO_58_CylinderDown,
MO_62_CylinderDown,
/// <summary>
/// 移载（流水线）装置出库处理，夹料气缸1放松
/// 移载（流水线）装置出库处理，夹爪放松
/// </summary>
MO_59_CylinderRelax,
MO_63_CylinderRelax,
/// <summary>
/// 移载（流水线）装置出库处理，夹爪夹紧
/// </summary>
MO_64_CylinderWork,
/// <summary>
/// 移载（流水线）装置出库处理，夹爪放松
/// </summary>
MO_65_CylinderRelax2,
/// <summary>
/// 移载（流水线）装置出库处理，上下气缸1上升
/// </summary>
MO_60_CylinderUp,
MO_66_CylinderUp,
#region 入料模块，紧急出料移栽处理
......@@ -751,74 +759,83 @@ namespace OnlineStore.DeviceLibrary
/// </summary>
FI_27_CylinderRelax,
/// <summary>
/// 料盘移栽： 上料气缸夹紧
/// </summary>
FI_28_CylinderWork,
/// <summary>
/// 料盘移栽： 上料气缸再次放松
/// </summary>
FI_29_CylinderRelax2,
/// <summary>
/// 料盘移栽： 上料横移机构上升
/// </summary>
FI_28_WaitCylinderUp,
FI_30_WaitCylinderUp,
/// <summary>
/// 料盘移栽：上料横移机构上升，定位或者顶升可以先下降
/// </summary>
FI_29_CylinderUp,
FI_31_CylinderUp,
/// <summary>
/// 料盘移栽：升降伺服到P1点
/// </summary>
FI_30_UpDownAxisToP1,
FI_32_UpDownAxisToP1,
/// <summary>
/// 上料完成，未检测到料盘，提升伺服到P2点
/// </summary>
FI_31_BatchAxisToP2 = 11031,
FI_51_BatchAxisToP2 = 11051,
/// <summary>
/// 上料完成，升降盘定位气缸后退
/// </summary>
FI_32_TrayLocationCylinder_After,
FI_52_TrayLocationCylinder_After,
/// <summary>
/// 上料完成，提升伺服到P1点
/// </summary>
FI_33_BatchAxisToP1,
FI_53_BatchAxisToP1,
/// <summary>
/// 上料完成，等待出料线体无料架
/// </summary>
FI_34_OutCheck,
FI_54_OutCheck,
/// <summary>
/// 上料完成，出口顶升气缸上升
/// </summary>
FI_35_OutTopCylinder_Up ,
FI_55_OutTopCylinder_Up ,
/// <summary>
///上料完成， 线体横移电机运转，等待料架到达出口
/// </summary>
FI_36_SideWayLineRun ,
FI_56_SideWayLineRun ,
/// <summary>
///上料完成，等待料架到达出口
/// </summary>
FI_37_WaitShelfGo,
FI_57_WaitShelfGo,
/// <summary>
///上料完成， 料架到达出口，线体横移电机停止
/// </summary>
FI_38_LineStop ,
FI_58_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_39_TopDown,
FI_59_TopDown,
/// <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,
FI_61_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,
FI_62_OutLineRun,
/// <summary>
///上料完成， 料架送出,
/// </summary>
FI_41_OutLineRun,
FI_63_OutLineRun,
#endregion
#region 入料装置出料处理，12000开始
......
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