入库取料失败（升降气缸下降超）时禁用托盘

source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs

@@ -253,7 +253,7 @@ namespace OnlineStore.DeviceLibrary
             }
 
             #endregion
-        }
+        } 
         private void MO_55_CylinderUp()
         {
             MoveInfo.NextMoveStep(LineMoveStep.MO_55_CylinderUp);
@@ -327,11 +327,31 @@ namespace OnlineStore.DeviceLibrary
             {
                 CheckWait(SecondMoveInfo);
             }
+            string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
             if (MoveInfo.IsInWait)
             {
+                if (!UseAxis)
+                {
+                    if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_03_CylinderDown)&&MoveInfo.IsTimeOut(20))
+                    {
+                        //顶升气缸上升到位，升降气缸下降不到位
+                        if(CylinderIsOk(IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP)&&
+                            IOValue(IO_Type.UpDownCylinder_Up).Equals(IO_VALUE.LOW) &&
+                            IOValue(IO_Type.UpDownCylinder_Down).Equals(IO_VALUE.LOW))
+                        {
+                            LogUtil.error(Name + "入库 [" + posId + "]，升降气缸下降到托盘[" + currTrayNum + "]取料失败，升降轴上升，禁用托盘，同时放行托盘");
+                            MoveInfo.NextMoveStep(LineMoveStep.MI_18_UpdownUp);
+                            LogInfo("入库 [" + posId + "]" + MoveInfo.SLog + ":  升降轴上升，禁用托盘，同时放行托盘，顶升气缸1下降");
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
+                            CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up); 
+                            TrayDisableManager.AddDisable(currTrayNum, Name, "入库取料失败"); 
+                            SecondMoveInfo.NextMoveStep(LineMoveStep.MO_14_TopDown);
+                            CylinderMove(SecondMoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
+                        }
+                    }
+                }
                 return;
             }
-            string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosId : "";
             if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_02_ToLineUp))
             {
                 MoveInfo.NextMoveStep(LineMoveStep.MI_03_CylinderDown);
@@ -482,6 +502,10 @@ namespace OnlineStore.DeviceLibrary
             {
                 LogInfo("入库【" + posId + "】处理（移栽）全部完成！");
                 MoveEndS();
+            }else if (MoveInfo.MoveStep.Equals(LineMoveStep.MI_18_UpdownUp))
+            {
+                LogInfo("入库【" + posId + "】失败，自动复位完成");
+                MoveEndS();
             }
         }
 

source/DeviceLibrary/model/StoreStep.cs

@@ -260,7 +260,10 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         MI_16_SendEnd = 3016,
      
-
+        /// <summary>
+        ///入库：升降轴下降取料盘失败，升降轴上升，托盘禁用，托盘放行
+        /// </summary>
+        MI_18_UpdownUp=3018,
         #endregion
 
         #region 移栽装置出入库共同模块 3080-3100