出料四横移顶升增加延迟。紧急出料优化

LN
Commit e7361cc9 由 LN 编写于 2020-03-25 10:11:28 +0800
source/AssemblyLineClient/记录.txt
source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
source/DeviceLibrary/LineConfig/Config_ProvidingEquip_4.csv
source/DeviceLibrary/LineConfig/MoveEquip/Config_MoveEquip_03.csv
source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
--- a/source/AssemblyLineClient/记录.txt
查看文件 @e7361cc
+++ b/source/AssemblyLineClient/记录.txt
查看文件 @e7361cc
@@ -3,6 +3,11 @@
 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
+紧急出料速度优化
+出料模块伺服速度变慢问题？
+出料四横移顶升增加延迟。
 20200323
 。出库料盘在料仓门口，入库又拿了一盘料。

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv
查看文件 @e7361cc
@@ -11,7 +11,7 @@ AXIS,0,轴二提升上料轴,Batch_Axis,1,COM1,0,,,
 PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,6504500,,,,,
 PRO,0,提升上料轴下降位置P2,BatchAxisP2,-48000,,,,,
 PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,5914000,,,,,
-PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,1500,,,,,
+PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,4000,,,,,
 PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
 PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
 PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,1500,,,,,
@@ -26,7 +26,7 @@ AXIS,0,轴一移栽上下轴,UpDown_Axis,2,COM1,0,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,69200,,,,,
 PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=69200;8=116000;48=29000;12=93000;16=86000;24=74000;32=53000;44=28000;56=11000,,,,,
 PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,281000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv
查看文件 @e7361cc
@@ -11,7 +11,7 @@ AXIS,0,轴二提升上料轴,Batch_Axis,3,COM1,0,,,
 PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,6573000,,,,,
 PRO,0,提升上料轴下降位置P2,BatchAxisP2,-35000,,,,,
 PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,5926000,,,,,
-PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,1500,,,,,
+PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,4000,,,,,
 PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
 PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
 PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,1500,,,,,
@@ -26,7 +26,7 @@ AXIS,0,轴一移栽上下轴,UpDown_Axis,4,COM1,0,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,82000,,,,,
 PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=-25000;8=88000;48=-23150;12=61900;16=63500;24=34880;32=23300;44=-7700,,,,,
 PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,275000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv
查看文件 @e7361cc
@@ -11,7 +11,7 @@ AXIS,0,轴二提升上料轴,Batch_Axis,5,COM1,0,,,
 PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,6495000,,,,,
 PRO,0,提升上料轴下降位置P2,BatchAxisP2,0,,,,,
 PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,6007100,,,,,
-PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,1500,,,,,
+PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,4000,,,,,
 PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,300,,,,,
 PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,300,,,,,
 PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,1500,,,,,
@@ -26,7 +26,7 @@ AXIS,0,轴一移栽上下轴,UpDown_Axis,6,COM1,0,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,126100,,,,,
 PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=138340;8=142000;12=116000;16=108000;24=97000;32=73000;44=49000;48=34800;56=32674,,,,,
 PRO,0,移栽上下轴P3取料位置,UpDownAxisP3,313000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv
查看文件 @e7361cc
@@ -11,7 +11,7 @@ AXIS,0,轴二提升上料轴,Batch_Axis,7,COM1,0,,,
 PRO,0,提升上料轴上升待机点 P1,BatchAxisP1,6508000,,,,,
 PRO,0,提升上料轴下降位置P2,BatchAxisP2,-113800,,,,,
 PRO,0,提升上料缓慢上升目标位置P3,BatchAxisP3,5573900,,,,,
-PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,1500,,,,,
+PRO,0,提升上料轴目标速度,BatchAxis_TargetSpeed,4000,,,,,
 PRO,0,提升上料轴加速度,BatchAxis_AddSpeed,400,,,,,
 PRO,0,提升上料轴减速度,BatchAxis_DelSpeed,400,,,,,
 PRO,0,提升上料轴原点低速度,BatchAxis_HomeLowSpeed,1500,,,,,
@@ -26,7 +26,7 @@ AXIS,0,轴一移栽上下轴,UpDown_Axis,8,COM1,0,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,110000,,,,,
 PRO,0,移栽上下轴P2移栽机构下降位置,UpDownP2List,0=91500;24=98000;12=136120;16=109000;32=75000;44=50000;48=37800;8=149000;56=33000,,,,,
 PRO,0,移栽上下轴P3放料位置,UpDownAxisP3,300000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,

--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_1.csv
查看文件 @e7361cc
@@ -9,13 +9,13 @@ AXIS,0,移栽上下轴,UpDown_Axis,15,COM1,0,,,
 PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=120000;8=203600;12=155000;16=150000;24=153000;32=129000;44=107000;56=95000,,,,,,
 PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=150000;8=150000;12=150000;16=150000;24=150000;32=140000;44=120000;56=100000,,,,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
 PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
 PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
 PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,1500,,,,,
-PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1500,,,,, 
+PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1501,,,,, 
 PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,1200,,,,, 
 PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=8000;,,,,,
--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_2.csv
查看文件 @e7361cc
@@ -9,13 +9,13 @@ AXIS,0,移栽上下轴,UpDown_Axis,16,COM1,0,,,
 PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=120000;8=189200;12=172000;16=165000;24=155000;32=133000;44=115000;56=90000,,,,,,
 PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=150000;8=150000;12=150000;16=150000;24=150000;32=140000;44=115000;56=80000,,,,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
 PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
 PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
 PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,1500,,,,,
-PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1500,,,,, 
+PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1501,,,,, 
 PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,1200,,,,, 
 PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=8000;,,,,,
--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_3.csv
查看文件 @e7361cc
@@ -9,13 +9,13 @@ AXIS,0,移栽上下轴,UpDown_Axis,9,COM1,0,,,
 PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=120000;8=185000;12=183000;16=185000;24=176000;32=154000;44=134000;56=112000,,,,,,
 PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=150000;8=150000;12=150000;16=150000;24=150000;32=150000;44=115000;56=78000,,,,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
 PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
 PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
 PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,1500,,,,,
-PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1500,,,,, 
+PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1501,,,,, 
 PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,1200,,,,, 
 PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=8000;,,,,,
\ No newline at end of file
--- a/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_4.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/Config_ProvidingEquip_4.csv
查看文件 @e7361cc
@@ -6,16 +6,16 @@ PRO,0,设备对应的出料流水线的第几条流水线,DLineLineNum,2,,,,,
 ,,,,,
 PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
 AXIS,0,移栽上下轴,UpDown_Axis,10,COM1,0,,,
-PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=80000;8=223000;12=220000;16=215000;24=206000;32=185000;44=160000;56=140000,,,,,,
+PRO,0,移栽上下轴在移栽上下降的位置,UpDownP2List,0=80000;8=225000;12=220000;16=215000;24=206000;32=185000;44=160000;56=140000,,,,,,
 PRO,0,移栽上下轴在出料线下降的位置,UpDownP3List,0=90000;8=160000;12=160000;16=160000;24=160000;32=160000;44=140000;56=110000,,,,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,1600,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
 PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
 PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
 PRO,0,移栽上下轴走到待机点P1速度,UpdownAxis_P1Speed,1500,,,,,
-PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1500,,,,, 
+PRO,0,移栽上下轴P2速度,UpdownAxis_P2Speed,1501,,,,, 
 PRO,0,移栽上下轴P3速度,UpdownAxis_P3Speed,1200,,,,, 
 PRO,0,移栽上下轴流水线取放料详细位置P2,UpDownP2DetialList,0X0=8000;,,,,,
--- a/source/DeviceLibrary/LineConfig/MoveEquip/Config_MoveEquip_03.csv
查看文件 @e7361cc
+++ b/source/DeviceLibrary/LineConfig/MoveEquip/Config_MoveEquip_03.csv
查看文件 @e7361cc
@@ -7,7 +7,7 @@ AXIS,0,移栽上下轴,UpDown_Axis,11,COM1,0,,,
 PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,-10000,,,,,
 PRO,0,移栽上下轴流水线上方位置P2,UpDownP2List,0=80000;12=108000;48=28680;8=126800;44=42800;16=96800;24=76800;32=64800;56=27800,,,,,
 PRO,0,移栽上下轴料仓门口位置P3,UpDownP3List,0=90000;12=148000;48=90000;8=160000;44=83000;16=140000;24=130000;32=104000;56=70000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
+PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,500,,,,,
 PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
 PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
 PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,

--- a/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @e7361cc
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs
查看文件 @e7361cc
@@ -51,14 +51,31 @@ namespace OnlineStore.DeviceLibrary
            MoveInfo.NewMove(LineMoveType.OutStore, outParam);
            //可以开始出库啦
            MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
-            int targetPosition = BatchAxis.GetAclPosition() - outParam.PlateH * Config.Height_ChangeValue;
+            int height = outParam.PlateH + 8;
+            int targetPosition = BatchAxis.GetAclPosition() - height * Config.Height_ChangeValue;
            if (targetPosition < Config.BatchAxisP2)
            {
                targetPosition = Config.BatchAxisP2;
            }
-            OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降指定的高度，目标："+ targetPosition);
+            OutLog("出库移栽 " + MoveInfo.SLog + " ：提升伺服下降" + height + "mm，目标：" + targetPosition);
            BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
-            return true; 
+            if (MoveCylineIsUp())
+            {
+                if (CylinderIsOk(IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take))
+                {
+                    int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
+                    UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
+                }
+                else
+                {
+                    CylinderMove(null, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
+                }
+            }
+            else
+            {
+                CylinderMove(null, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
+            }
+            return true;
        }
        public void StartOutStoreP()
        {
@@ -355,13 +372,48 @@ namespace OnlineStore.DeviceLibrary
            if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_211_AxisDownMove))
            {
                //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.LOW) || BatchAxis.IsInPosition(Config.BatchAxisP2))
+                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 targetPosition = BatchAxis.GetAclPosition() - height * Config.Height_ChangeValue;
+                    if (targetPosition < Config.BatchAxisP2)
+                    {
+                        targetPosition = Config.BatchAxisP2;
+                    }
+                    OutLog("出库移栽 " + MoveInfo.SLog + " ：TrayOutProcess 伺服检测信号亮并且不再P2点，再次下降" + height + "mm，目标：" + targetPosition);
+                    BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
+                }
+                else
                {
                    if (MoveCylineIsUp())
                    {
-                        MoveInfo.NextMoveStep(LineMoveStep.FO_212_CylinderTake);
+                        if (CylinderIsOk(IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take))
-                        OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构取料端");
+                        {
-                        CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
+                            int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
+                            if (UpdownAxis.IsInPosition(targetP))
+                            {
+                                MoveInfo.NextMoveStep(LineMoveStep.FO_214_CylinderDown);
+                                OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构下降");
+                                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
+                            }
+                            else
+                            {
+                                MoveInfo.NextMoveStep(LineMoveStep.FO_213_UpdownAxisToP2);
+                                OutLog("紧急出料" + MoveInfo.SLog + "：升降伺服下降到P2：" + targetP);
+                                UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
+                            }
+                        }
+                        else
+                        {
+                            MoveInfo.NextMoveStep(LineMoveStep.FO_212_CylinderTake);
+                            OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构取料端");
+                            CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
+                        }
                    }
                    else
                    {
@@ -370,23 +422,12 @@ namespace OnlineStore.DeviceLibrary
                        CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
                    }
                }
-                else
-                {
-                    //可以开始出库啦
-                    MoveInfo.NextMoveStep(LineMoveStep.FO_211_AxisDownMove);
-                    int targetPosition = BatchAxis.GetAclPosition() - MoveInfo.MoveParam.PlateH * Config.Height_ChangeValue;
-                    if (targetPosition < Config.BatchAxisP2)
-                    {
-                        targetPosition = Config.BatchAxisP2;
-                    }
-                    OutLog("出库移栽 " + MoveInfo.SLog + " ：TrayOutProcess 伺服检测信号亮并且不再P2点，再次下降指定的高度，目标：" + targetPosition);
-                    BatchAxis.AbsMove(MoveInfo, targetPosition, Config.BatchAxis_P2Speed);
-                }
            }
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_212_CylinderTake))
            {
                MoveInfo.NextMoveStep(LineMoveStep.FO_213_UpdownAxisToP2);
-                int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH,MoveInfo.MoveParam.PlateW);
+                int targetP = Config.GetUpdownP2Detial(MoveInfo.MoveParam.PlateH, MoveInfo.MoveParam.PlateW);
                OutLog("紧急出料" + MoveInfo.SLog + "：升降伺服下降到P2：" + targetP);
                UpdownAxis.AbsMove(MoveInfo, targetP, Config.UpdownAxis_P2Speed);
            }
@@ -407,11 +448,11 @@ namespace OnlineStore.DeviceLibrary
                MoveInfo.NextMoveStep(LineMoveStep.FO_216_CylinderUp);
                OutLog("紧急出料" + MoveInfo.SLog + "：上料横移机构上升");
                CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up);
-                if (Config.SidesWayNum.Equals(3))
+                if (Config.SidesWayNum.Equals(3)&&MoveInfo.MoveParam.PlateW.Equals(7))
                {
                    InLog(MoveInfo.SLog + "  提前下降顶升气缸  ，环形线定位气缸先下降，顶升气缸同时下降");
                    CylinderMove(null, IO_Type.SW_LocationCylinder_Up, IO_Type.SW_LocationCylinder_Down);
-                    CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down); 
+                    CylinderMove(SecondMoveInfo, IO_Type.SW_TopCylinder_Up, IO_Type.SW_TopCylinder_Down);
                }
            }
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_216_CylinderUp))
@@ -474,12 +515,13 @@ namespace OnlineStore.DeviceLibrary
                });
            }
            else if (MoveInfo.MoveStep.Equals(LineMoveStep.FO_221_UpdownAxisToP1))
-            { 
+            {
                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");
+                    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();
                }
                else
                {
@@ -494,7 +536,7 @@ namespace OnlineStore.DeviceLibrary
                //    bool isNeedSendShelf = false;
                //判断料架是否满了
                int currPositon = BatchAxis.GetAclPosition();
-                int tp = currPositon - Config.Height_ChangeValue * 10;
+                int tp = currPositon - Config.Height_ChangeValue * 16;
                if (tp < Config.BatchAxisP2)
                {
                    SendOutShelfOut("当前提升轴位置：" + currPositon + ",料架已满，需要送出料架");

--- a/source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
查看文件 @e7361cc
+++ b/source/DeviceLibrary/assemblyLine/ProvidingEquip_Partial.cs
查看文件 @e7361cc
@@ -281,15 +281,19 @@ namespace OnlineStore.DeviceLibrary
                //CheckLog("托盘阻挡" + SecondMoveInfo.SLog + "  等待" + TrayManager.SwTrayWaitTime + ",再次检测料盘信号");
                IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
                SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
+                if (Config.SidesWayNum.Equals(4))
+                {
+                    SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(400));
+                }
            }
            else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_03_Stop2Down))
            {
-                //    CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1");
+                CheckLog("托盘阻挡" + SecondMoveInfo.SLog + " ,等待编码信号稳定StopCylinder_Check2=1");
-                //    SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
+                SecondMoveInfo.NextMoveStep(LineMoveStep.MIO_04_Wait);
-                //    SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH)); 
+                SecondMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.StopCylinder_Check2, IO_VALUE.HIGH));
-                //}
+            }
-                //else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
+            else if (SecondMoveInfo.MoveStep.Equals(LineMoveStep.MIO_04_Wait))
-                //{
+            {
                UpdateTrayNum();
                if (TrayManager.RightTrayCode(currTrayNum, preTrayNum, false))
                {