复位时增加清料功能

source/ACSingleStore/记录.txt

@@ -159,6 +159,10 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,,
 批量上下料功能修改。
 批量上下料功能修改。
 
 
 
 
+20190508
+复位完成后，增加清料功能。
+
+
 
 
 
 
 
 

source/DeviceLibrary/DeviceLibrary/ShuoKe/ShuoKeController.cs

@@ -358,7 +358,7 @@ namespace OnlineStore.DeviceLibrary
         public static void HomeMove(int slvAddr, byte homeType)
         public static void HomeMove(int slvAddr, byte homeType)
         {
         {
             string fangx = homeType.Equals(0) ? "反方向" : "正方向";
             string fangx = homeType.Equals(0) ? "反方向" : "正方向";
-            LogUtil.info("压紧轴原点返回：" + fangx);
+            LogUtil.debug("压紧轴原点返回：" + fangx);
            byte[] reviceData = SendData(slvAddr, ShuoKeCMD.HomeMove, 0x01, homeType, DReviceLength); 
            byte[] reviceData = SendData(slvAddr, ShuoKeCMD.HomeMove, 0x01, homeType, DReviceLength); 
            
            
         }
         }

source/DeviceLibrary/store/StoreMoveStep.cs

@@ -187,6 +187,25 @@ namespace OnlineStore.DeviceLibrary
         /// 关闭门，旋转轴到P1,升降轴到P1
         /// 关闭门，旋转轴到P1,升降轴到P1
         /// </summary>
         /// </summary>
         BOX_M_H_TOP1_OtherAxisToP1 = 032,
         BOX_M_H_TOP1_OtherAxisToP1 = 032,
+
+        /// <summary>
+        /// 复位时清料：复位时检测到叉子有料， ，进出轴到P4
+        /// </summary>
+        BOX_R41_InoutToP4 = 041,
+        /// <summary>
+        /// 复位时清料：打开仓门
+        /// </summary>
+        BOX_R42_OpenDoor = 042,
+        /// <summary>
+        /// 复位时清料：等待操作人员拿走料盘
+        /// </summary>
+        BOX_R43_WaitTrayGo = 043,
+        /// <summary>
+        /// 复位时清料：叉子后退，关闭舱门 
+        /// </summary> 
+        BOX_R44_GoBack = 044,
+       
+
         #endregion
         #endregion
 
 
 
 
@@ -194,7 +213,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// <summary>
         ///料仓出库，，定位气缸下降
         ///料仓出库，，定位气缸下降
         /// </summary>
         /// </summary>
-        SO_01_LocationCylinderDown=101,
+        SO_01_LocationCylinderDown =101,
         /// <summary>
         /// <summary>
         ///料仓出库：叉子先运动到P1
         ///料仓出库：叉子先运动到P1
         /// </summary>
         /// </summary>