紧急出料修改

source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs

@@ -51,7 +51,7 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.NewMove(LineMoveType.OutStore, outParam);
             //可以开始出库啦
             MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
-            int height = outParam.PlateH + 8;
+            int height = outParam.PlateH + 4;
             int targetPosition = BatchAxis.GetAclPosition() - height * Config.Height_ChangeValue;
             if (targetPosition < Config.BatchAxisP2)
             {
@@ -373,11 +373,11 @@ namespace OnlineStore.DeviceLibrary
             {
                 //判断伺服检测信号是否亮
                 //if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) || BatchAxis.IsInPosition(Config.BatchAxisP2))
-                if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) || BatchAxis.IsInPosition(Config.BatchAxisP2).Equals(false))
+                if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.HIGH) && BatchAxis.IsInPosition(Config.BatchAxisP2).Equals(false))
                 {
                     //可以开始出库啦
                     MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
-                    int height = MoveInfo.MoveParam.PlateH + 8;
+                    int height = MoveInfo.MoveParam.PlateH + 4;
                     int targetPosition = BatchAxis.GetAclPosition() - height * Config.Height_ChangeValue;
                     if (targetPosition < Config.BatchAxisP2)
                     {
@@ -519,9 +519,18 @@ namespace OnlineStore.DeviceLibrary
                 if (MoveCylineIsUp())
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.FO_222_CylinderTake);
-                    OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构回到取料端，提升轴到P3");
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
-                    BatchAxisToP3();
+                    //只有提升轴位置过低时才需要到P3
+                    int currPosition = BatchAxis.GetAclPosition();
+                    if (currPosition <= (Config.BatchAxisP2 + Config.Height_ChangeValue * 20))
+                    {
+                        OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构回到取料端，提升轴[" + currPosition + "]需要到P3");
+                        BatchAxisToP3();
+                    }
+                    else
+                    {
+                        OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构回到取料端，提升轴[" + currPosition + "]不需要到P3");
+                    }
                 }
                 else
                 {