上料模块批量轴上升时最多上升100mm

source/AssemblyLineClient/记录.txt

-20200324
+20200403
+紧急出料不放太慢。
+rfid不需要格式化。
+上料模块批量轴上升时，如果不是第一次上升，最多上升100mm
+
+
+20200324
 1.入库逻辑修改：提升轴先上升后需要下降到料盘不溢出的位置，横移气缸才能动作。
 2.出料模块取料条件修改：随意放时需要等皮带线空闲。
 3.移栽模块出库过程中或还有出库任务，不能入库，完全出库完成再入库

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -151,7 +151,7 @@ namespace OnlineStore.DeviceLibrary
             ClientAction currA = GetAction(id);
             if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
             {
-                SetStatus(id, shelfId, ClientAction.NeedEnter);
+                SetStatus(id, shelfId, ClientAction.NeedEnter,ClientLevel.Low);
                 return true;
             }
             return false;
@@ -161,7 +161,7 @@ namespace OnlineStore.DeviceLibrary
             ClientAction currA = GetAction(id);
             if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
             {
-                SetStatus(id, shelfId, ClientAction.NeedLeave);
+                SetStatus(id, shelfId, ClientAction.NeedLeave,ClientLevel.High);
                 return true;
             }
             return false;

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -733,6 +733,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_18_WaitNoLocationCheck))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_19_BatchAxisToP3);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 LastWidth = GetWidth();
                 InLog("料盘移栽" + MoveInfo.SLog + "：提升伺服运动到P3，盘宽【" + LastWidth + "】，横移气缸上升 ");
                 if (!CylinderIsOk(IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up))
@@ -743,7 +744,7 @@ namespace OnlineStore.DeviceLibrary
                 { 
                     CylinderMove(null, IO_Type.SL_MoveCylinder_Take, IO_Type.SL_MoveCylinder_Give);
                 }
-                BatchAxisToP3();
+                BatchAxisToP3(false );
             }
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_19_BatchAxisToP3))
             {
@@ -885,11 +886,12 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_25_CylinderRelax))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_26_CylinderUp);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
                 if (IOValue(IO_Type.SL_AxisLocationCheck).Equals(IO_VALUE.LOW) && MoveInfo.ShelfNoTray.Equals(false))
                 {
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料横移机构上升，上料轴开始慢速上升到P3点，等待检测到料盘"); 
-                    BatchAxisToP3();
+                    BatchAxisToP3(false );
                 }
                 else
                 {
@@ -1143,7 +1145,7 @@ namespace OnlineStore.DeviceLibrary
                         MoveInfo.NextMoveStep(LineMoveStep.FI_10_AxisUpMove);
                         InLog("料架入库" + MoveInfo.SLog + "：CheckHasTray：上料轴开始慢速上升到P3点，等待检测到料盘");
                         MoveInfo.ShelfNoTray = false;
-                        BatchAxisToP3();
+                        BatchAxisToP3(false  );
                         return;
                     }
                 }
@@ -1157,15 +1159,25 @@ namespace OnlineStore.DeviceLibrary
             }
         }
 
-        private void BatchAxisToP3()
+        private void BatchAxisToP3(bool isFirstMove = true)
         {
+            int targetP3 = Config.BatchAxisP3;
+            if (!isFirstMove)
+            {
+                int currPosition = BatchAxis.GetAclPosition();
+                if (currPosition != -1)
+                {
+                    targetP3 = currPosition + Config.Height_ChangeValue * 100;
+                    LogUtil.info(Name + " BatchAxisToP3 目标P3: " + targetP3 + "(" + currPosition + ")");
+                }
+            }
             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, Config.BatchAxisP3, Config.BatchAxis_P3Speed));
-            Config.Batch_Axis.TargetPosition = Config.BatchAxisP3;
-            BatchAxis.AbsMove( null, Config.BatchAxisP3, Config.BatchAxis_P3Speed);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitBatchAxis(Config.Batch_Axis, targetP3, Config.BatchAxis_P3Speed));
+            Config.Batch_Axis.TargetPosition = targetP3;
+            BatchAxis.AbsMove(null, targetP3, Config.BatchAxis_P3Speed);
             //开始检测信号
             BatchAxisStartCheck();
         }

source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs

@@ -554,7 +554,7 @@ namespace OnlineStore.DeviceLibrary
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
                     //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))
+                    if (currPosition <= (Config.BatchAxisP2 + Config.Height_ChangeValue * 40))
                     {
                         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();
@@ -577,8 +577,8 @@ namespace OnlineStore.DeviceLibrary
                 //    bool isNeedSendShelf = false;
                 //判断料架是否满了
                 int currPositon = BatchAxis.GetAclPosition();
-                int tp = currPositon - Config.Height_ChangeValue * 16;
-                if (tp < Config.BatchAxisP2)
+                int tp = currPositon - Config.Height_ChangeValue * 40;
+                if (tp <= Config.BatchAxisP2)
                 {
                     SendOutShelfOut("当前提升轴位置：" + currPositon + ",料架已满，需要送出料架");
                 }

source/DeviceLibrary/assemblymanager/RFIDManagercs.cs

@@ -231,7 +231,7 @@ namespace OnlineStore.DeviceLibrary
         }
         public string NumStr()
         {
-            return "" + RFType + "" + Num.ToString().PadLeft(2, '0') + "";
+            return "" + RFType + "" + Num.ToString() + "";
         }
     }
 }