上料模块优化。

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -21,8 +21,11 @@ namespace OnlineStore.DeviceLibrary
                 if (IOValue(TargetIoType).Equals(TargetIoValue))
                 {
                     LogUtil.debug(Name+"CheckWaitResult 检测到" + TargetIoType + "=" + TargetIoValue + ",停止运行");
-                    BatchAxis.SuddenStop();
                     BatchAxisStopCheck();
+                    if (ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(1))
+                    {
+                        BatchAxis.SuddenStop();
+                    }
                     return true;
                 }
                 else
@@ -730,16 +733,40 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_WaitNoLocationCheck))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_19_BatchAxisToP3);
-                InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，横移气缸上升");
-                CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+                InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，横移气缸上升 或到放料端");
+                if (CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
+                {
+                    CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
+                }
+                else
+                {
+                    CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+                }
                 BatchAxisToP3();
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3))
             {
-                MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
-                LastHeight = GetHeight();
+                //    MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
+                if (MoveCylineCanTakeOrGive())
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_21_CylinderGive);
+                    InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL");
+                    CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(LineMoveStep.FI_20_SaveSize);
+                    InLog("料盘移栽" + MoveInfo.SLog + "：上料横移气缸放料SOL前先上升横移气缸");
+                    CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+                }
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                 LastWidth = GetWidth();
-
+                LastHeight = GetHeight();
+                if (LastWidth.Equals(7) && LastHeight > 16)
+                {
+                    LogUtil.error(Name + "计算后高度" + LastWidth + "X" + LastHeight + "，七寸盘默认最高盘高=16，修改高度为16");
+                    LastHeight = 16;
+                }
                 //判断是否还有料盘
                 if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW))
                 {
@@ -1120,7 +1147,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 isLast = true;
             }
-            float height = (float)Math.Ceiling(1F * (EndMovePosition - StartMovePosition) / AxisChangeValue);
+            float height = (float)Math.Ceiling(1F * Math.Abs(EndMovePosition - StartMovePosition) / AxisChangeValue);
             string buchongStr = "";
             if (isLast)
             {

source/DeviceLibrary/deviceLibrary/PanasonicServo/ACServerManager_Partial.cs

@@ -393,7 +393,7 @@ namespace OnlineStore.DeviceLibrary
         {
             return GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
         }
-        public static int GetActualtPosition(string portName, int slvAddr,int rGetCount=2)
+        public static int GetActualtPosition(string portName, int slvAddr,int rGetCount=3)
         {
             PreReadAddr = ACCMDManager.ActualPosition;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadRegisters, ACCMDManager.ActualPosition, "0000", 2);
@@ -412,7 +412,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     LogUtil.error("第" + i + "次获取" + portName + "_" + slvAddr + "的实时位置" + result);
                 }
-                Thread.Sleep(100);
+                Thread.Sleep(180);
             }
             return result;
         }