原来的出入库增加批量操作的判定

source/ACSingleStore/App.config

@@ -6,7 +6,7 @@
   <appSettings>
     <!--是否开机自动启动料仓-->
     <add key="App_AutoRun" value="1" />
-    <add key="App_Title" value="料仓_自动上下料" />
+    <add key="App_Title" value="料仓_批量上下料" />
     <add key="scanner_start_command" value="S" />
     <!--   开始吹气的判断值（配置值=服务器发送的湿度值-开始吹气值）-->
     <add key="StartBlowValue" value="4" />

source/ACSingleStore/FrmAxisDebug.cs

@@ -33,7 +33,7 @@ namespace OnlineStore.AutoInOutStore
             updown = boxBean.Config.UpDown_Axis;
             compress_Slv = boxBean.Config.CompressAxis_Slv;
             inout = boxBean.Config.InOut_Axis;
-            auto = boxBean.Config.Auto_Axis;
+            auto = boxBean.Config.Batch_Axis;
             InitializeComponent();
             txtComSpeed.Text = boxBean.Config.CompressAxis_EndSpeed.ToString();
             this.Text = boxBean.StoreName + "_轴点动调试";

source/ACSingleStore/FrmIOStatus.cs

@@ -299,14 +299,14 @@ namespace OnlineStore.AutoInOutStore
 
         private void btnDOpen_Click(object sender, EventArgs e)
         {
-            KND.IOMove(IO_Type.AutoDoor_Close, IO_VALUE.LOW);
-            KND.IOMove(IO_Type.AutoDoor_Open, IO_VALUE.HIGH);
+            KND.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.LOW);
+            KND.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.HIGH);
         }
 
         private void btnDClose_Click(object sender, EventArgs e)
         { 
-            KND.IOMove(IO_Type.AutoDoor_Open, IO_VALUE.LOW);
-            KND.IOMove(IO_Type.AutoDoor_Close, IO_VALUE.HIGH);
+            KND.IOMove(IO_Type.BatchDoor_Open, IO_VALUE.LOW);
+            KND.IOMove(IO_Type.BatchDoor_Close, IO_VALUE.HIGH);
         }
 
         private void btnSXi_Click(object sender, EventArgs e)

source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv

@@ -11,8 +11,8 @@ DI,料盘宽度检测1,WidthCheck1,208,192.168.200.10,0,料盘宽度检测1,X09,DI-09,0,
 DI,料盘宽度检测2,WidthCheck2,209,192.168.200.10,0,料盘宽度检测2,X10,DI-10,0,
 DI,料盘检测1（上料机构）,TrayCheck_LoadMaterial ,210,192.168.200.10,0,料盘检测1（上料机构）,X11,DI-11,0,
 DI,上料机构出料检测,OutCheck,211,192.168.200.10,0,上料机构出料检测,X12,DI-12,0,
-DI,门锁气缸打开端,AutoDoor_Open,212,192.168.200.10,0,门锁气缸打开端,X13,DI-13,0,
-DI,门锁气缸关闭端,AutoDoor_Close,213,192.168.200.10,0,门锁气缸关闭端,X14,DI-14,0,
+DI,门锁气缸打开端,BatchDoor_Open,212,192.168.200.10,0,门锁气缸打开端,X13,DI-13,0,
+DI,门锁气缸关闭端,BatchDoor_Close,213,192.168.200.10,0,门锁气缸关闭端,X14,DI-14,0,
 DI,料盘检测2（料叉机构）,TrayCheck_Fixture,214,192.168.200.10,0,料盘检测2（料叉机构）,X15,DI-15,0,
 DI,压紧机构计量检测,CompressAxis_Check,215,192.168.200.10,0,压紧机构计量检测,X16,DI-16,0,
 DO,自动指示灯,AutoRun_HddLed,100,192.168.200.10,0,自动指示灯,Y01,DO-01,0,
@@ -42,13 +42,14 @@ DI,左侧门关闭,DoorColse_Single,203,192.168.200.11,0,左侧门关闭,X20,DI-24,0,
 AXIS,（轴一）旋转轴,Middle_Axis,1,COM4,0,,,,,
 AXIS,（轴二）升降轴轴,UpDown_Axis,1,COM5,0,,,,,
 AXIS,（轴三）进出轴,InOut_Axis,1,COM6,0,,,,,
-AXIS,（轴五）自动上下轴,Auto_Axis,1,COM7,0,,,,,
+AXIS,（轴五）批量上下料轴,Batch_Axis,1,COM7,0,,,,,
 ,,,,,,,,,,
 ,,,,,,,,,,
 PRO,升降轴 进料口取料点 P1,UpDownAxis_DoorOPosition_P1,403000,,,,,,,
 PRO,升降轴 进料口出料前点 P2,UpDownAxis_DoorIPosition_P2,415000,,,,,,,
 PRO,升降轴 进料口取料缓冲点 P7,UpDownAxis_DoorOBPosition_P7,415000,,,,,,,
 PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,403000,,,,,,,
+PRO,升降轴 待机点P1集合,UpDownAxis_P1_List,8#20000;12#22000,,,,,,,
 PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,268093,,,,,,,
 PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,1000,,,,,,,
 PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,-75000,,,,,,,
@@ -125,16 +126,19 @@ PRO,硕科步进电机（压紧轴）控制减速度,CompressAxis_DelSpeed,15000,,,,,,,
 PRO,硕科步进电机（压紧轴）控制归零速度（原点返回速度）,CompressAxis_HomeSpeed,15000,,,,,,,
 PRO,硕科步进电机轴地址（压紧轴),CompressAxis_Slv,1,,,,,, ,
 ,,,,,,,,,,
-PRO,（轴五）自动轴目标速度,AutoAxis_TargetSpeed,50,,,,,,,
-PRO,（轴五）自动轴加速度,AutoAxis_AddSpeed,300,,,,,,,
-PRO,（轴五）自动轴减速度,AutoAxis_DelSpeed,300,,,,,,,
-PRO,（轴五）自动轴原点低速,AutoAxis_HomeLowSpeed,20,,,,,,,
-PRO,（轴五）自动轴原点高速,AutoAxis_HomeHighSpeed,60,,,,,,,
-PRO,（轴五）自动轴原点加速度,AutoAxis_HomeAddSpeed,200,,,,,,,
-PRO,（轴五）自动轴P1点,AutoAxis_P1,200,,,,,, ,
-PRO,（轴五）自动轴停止时可误差的脉冲数的最小值,AutoAxis_ErrorCountMin,10,,,,,,,
-PRO,（轴五）自动轴停止时可误差的脉冲数的最大值,AutoAxis_ErrorCountMax,1000,,,,,,,
-PRO,（轴五）自动轴最小限位,AutoAxis_PositionMin,0,,,,,,,
-PRO,（轴五）自动轴最大限位,AutoAxis_PositionMax,0,,,,,,, 
+PRO,（轴五）上料轴目标速度,BatchAxis_TargetSpeed,50,,,,,,,
+PRO,（轴五）上料轴加速度,BatchAxis_AddSpeed,300,,,,,,,
+PRO,（轴五）上料轴减速度,BatchAxis_DelSpeed,300,,,,,,,
+PRO,（轴五）上料轴原点低速,BatchAxis_HomeLowSpeed,20,,,,,,,
+PRO,（轴五）上料轴原点高速,BatchAxis_HomeHighSpeed,60,,,,,,,
+PRO,（轴五）上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,,,
+PRO,（轴五）上料轴P1点（出库时接料盘的位置）,BatchAxis_P1,200,,,,,, ,
+PRO,（轴五）上料轴停止时可误差的脉冲数的最小值,BatchAxis_ErrorCountMin,10,,,,,,,
+PRO,（轴五）上料轴停止时可误差的脉冲数的最大值,BatchAxis_ErrorCountMax,1000,,,,,,,
+PRO,（轴五）上料轴最小限位,BatchAxis_PositionMin,0,,,,,,,
+PRO,（轴五）上料轴最大限位,BatchAxis_PositionMax,0,,,,,,, 
+PRO,（轴五）上料轴P1速度,BatchAxis_P1_Speed,50,,,,,,,
+,,,,,,,,,,
+,,,,,,,,,,
 PRO,IO模块对应的DI数量,IO_DILength,192.168.200.10#16;192.168.200.11#4,,,,,, ,
 PRO,模块对应的DO数量,IO_DOLength,192.168.200.10#16;192.168.200.11#4,,,,,,,

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs

@@ -144,12 +144,12 @@ namespace OnlineStore.DeviceLibrary
             moveAxisList.Add(Config.Middle_Axis);
             moveAxisList.Add(Config.UpDown_Axis);
             moveAxisList.Add(Config.InOut_Axis);
-            moveAxisList.Add(Config.Auto_Axis);
+            moveAxisList.Add(Config.Batch_Axis);
             this.AxisAlarmCodeMap = new Dictionary<string , AxisAlarmInfo>();
             this.AxisAlarmCodeMap.Add(Config.UpDown_Axis.DeviceName, new AxisAlarmInfo());
             this.AxisAlarmCodeMap.Add(Config.InOut_Axis.DeviceName, new AxisAlarmInfo());
             this.AxisAlarmCodeMap.Add(this.Config.Middle_Axis.DeviceName, new AxisAlarmInfo());
-            this.AxisAlarmCodeMap.Add(this.Config.Auto_Axis.DeviceName, new AxisAlarmInfo());
+            this.AxisAlarmCodeMap.Add(this.Config.Batch_Axis.DeviceName, new AxisAlarmInfo());
         }
 
         /// <summary>
@@ -369,7 +369,7 @@ namespace OnlineStore.DeviceLibrary
                     StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
                     LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
-                    ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
+                    ACAxisMove(Config.UpDown_Axis, Config.GetDefaultUpDownP1(), Config.UpDownAxis_P1_Speed);
                     ComMoveToPosition(Config.CompressAxis_P1_Position);
                     break;
                 case StoreMoveStep.BOX_H_MiddleAxisToP1:
@@ -398,7 +398,7 @@ namespace OnlineStore.DeviceLibrary
                     StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1);
                     LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
-                    ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
+                    ACAxisMove(Config.UpDown_Axis, Config.GetDefaultUpDownP1(), Config.UpDownAxis_P1_Speed);
                     ComMoveToPosition(Config.CompressAxis_P1_Position); 
                     break;
                 case StoreMoveStep.BOX_M_H_TOP1_OtherAxisToP1:
@@ -428,17 +428,33 @@ namespace OnlineStore.DeviceLibrary
         }
         private void OpenDoorAndWait()
         {
-            KND.IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
-            KND.IOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
+            if (StoreMove.MoveType.Equals(StoreMoveType.InStore) || StoreMove.MoveType.Equals(StoreMoveType.OutStore))
+            {
+                //如果是批量出入库，不需要经过此门
+                if (StoreMove.IsBatchInOutStore)
+                {
+                    return;
+                }
+            }
             StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.LOW));
             StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.HIGH));
+            KND.IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
+            KND.IOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
         }
         private void CloseDoorAndWait()
         {
-            KND.IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
-            KND.IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
+            if (StoreMove.MoveType.Equals(StoreMoveType.InStore) || StoreMove.MoveType.Equals(StoreMoveType.OutStore))
+            {
+                //如果是批量出入库，不需要经过此门
+                if (StoreMove.IsBatchInOutStore)
+                {
+                    return;
+                }
+            }
             StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Down, IO_VALUE.HIGH));
             StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Door_Up, IO_VALUE.LOW));
+            KND.IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
+            KND.IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
         }
 
         /// <summary>
@@ -497,7 +513,7 @@ namespace OnlineStore.DeviceLibrary
                     StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
                     LogUtil.info(LOGGER, StoreName + "回原点：旋转轴运动到P1,上下轴到P1,压紧轴到P1！");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
-                    ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
+                    ACAxisMove(Config.UpDown_Axis, Config.GetDefaultUpDownP1(), Config.UpDownAxis_P1_Speed);
                     ComMoveToPosition(Config.CompressAxis_P1_Position);
                     break;
                 case StoreMoveStep.BOX_H_MiddleAxisToP1:
@@ -1121,7 +1137,12 @@ namespace OnlineStore.DeviceLibrary
                         if (currInOutFixture.WareNum.Equals(""))
                         {
                             LogUtil.info(LOGGER, StoreName + "开始执行排队中的出库【" + currInOutFixture.ToStr() + "】");
-                            StartOutStoreMove(new InOutStoreParam("", currInOutFixture.PosId, currInOutFixture.plateH, currInOutFixture.plateW));
+                            bool result = StartOutStoreMove(new InOutStoreParam("", currInOutFixture.PosId, currInOutFixture.plateH, currInOutFixture.plateW),true);
+                            if (!result)
+                            {
+                                LogUtil.info(LOGGER, StoreName + " 执行排队中的出库【" + currInOutFixture.ToStr() + "】失败，重新加入等待队列");
+                                AddWaitOutInfo(currInOutFixture);
+                            }
                         }
                     }
                 }
@@ -1197,7 +1218,7 @@ namespace OnlineStore.DeviceLibrary
             ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
             ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
             ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
-            ACServerManager.SuddenStop(Config.Auto_Axis.DeviceName, Config.Auto_Axis.GetAxisValue());
+            ACServerManager.SuddenStop(Config.Batch_Axis.DeviceName, Config.Batch_Axis.GetAxisValue());
         }
         public override   void StopMove(bool IsCloseAxis)
         { 
@@ -1330,7 +1351,7 @@ namespace OnlineStore.DeviceLibrary
                         IsScanCode = false;
                         InOutStoreParam param = new InOutStoreParam(message, posId, plateH, plateW, 0);
 
-                        StartInStoreMove(param);
+                        StartInStoreMove(param,true);
                         //如果当前正在出入库中，需要记录下来，等待空闲时执行
                         LogUtil.info(LOGGER, StoreName + " 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】 开始入库！");
                     }
@@ -1640,7 +1661,7 @@ namespace OnlineStore.DeviceLibrary
                     {
                         if (CanStarInOut())
                         {
-                            StartOutStoreMove(new InOutStoreParam("", posId, position));
+                            StartOutStoreMove(new InOutStoreParam("", posId, position),true);
                         }
                         else
                         {

source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs

@@ -22,7 +22,13 @@ namespace OnlineStore.DeviceLibrary
             StoreMove.WaitList.Add(WaitResultInfo.WaitAutoAxisStop(moveAxis));  
             ACServerManager.SpeedMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetSpeed);
         }
-
+      
+        private static  void ACAxisRelMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
+        {
+            StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
+            moveAxis.TargetPosition = targetPosition;
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+        }
         private static void ACAxisHomeMove(ConfigMoveAxis moveAxis)
         {
             moveAxis.TargetPosition = 0;
@@ -170,13 +176,46 @@ namespace OnlineStore.DeviceLibrary
                 StoreManager.Store.Alarm(StoreAlarmType.IoSingleTimeOut, "", WarnMsg, StoreMove.MoveType);
             }
         }
-
+        /// <summary>
+        /// 判断AC伺服电机轴是否运动完成
+        /// </summary> 
+        private static bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
+        {
+            msg = ""; 
+            bool isOk = ACServerManager.GetBusyStatus(moveAxis.DeviceName, moveAxis.GetAxisValue()).Equals(0);
+            if (isOk)
+            { 
+                int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
+                int errorCount = Math.Abs(outCount - targetPosition);
+                if (errorCount <= moveAxis.CanErrorCountMax)
+                {
+                    return true;
+                } 
+                //判断是否需要重新运动
+                if (StoreMove.CanWhileCount > 0)
+                {
+                    LogUtil.error(Name + moveAxis.DisplayStr + "目标[" + targetPosition + "]当前[" + outCount +
+                     "]，误差过大，重新运动，剩余[" + StoreMove.CanWhileCount + "]次");
+                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+                    StoreMove.CanWhileCount--;
+                }
+                else
+                {
+                    msg = Name + moveAxis.DisplayStr + "目标[" + targetPosition + "]当前[" + outCount + "]，误差过大，需要报警";
+                    LogUtil.error(msg);
+                }  
+            } 
+            return false;
+        }
         private static bool AxisMoveISEnd(WaitResultInfo wait)
         {
             string msg = "";
             if (wait.IsHomeMove)
             {
                 wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
+            }else
+            {
+                wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
             }
             if (!wait.IsEnd)
             {

source/DeviceLibrary/store/AC_DeviceBase.cs

@@ -92,7 +92,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 开始出库运动
         /// </summary> 
-        public abstract void StartOutStoreMove(InOutStoreParam param);
+        //public abstract bool StartOutStoreMove(InOutStoreParam param);
         protected abstract void OutStoreProcess();
         #endregion
 
@@ -100,17 +100,17 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 开始入库移动移动
         /// </summary> 
-        public abstract void StartInStoreMove(InOutStoreParam param);
+        //public abstract bool StartInStoreMove(InOutStoreParam param);
         protected abstract void InStoreProcess();
         #endregion
 
      
          
-        public string GetRunStr()
+        public string GetRunStr(StoreRunStatus runStatus,bool IsStore)
         {
             string sta = "运行中";
             string aa = "";
-            switch (storeRunStatus)
+            switch (runStatus)
             {
                 case StoreRunStatus.Busy:
                     sta = "忙碌";
@@ -128,7 +128,7 @@ namespace OnlineStore.DeviceLibrary
                     sta = "等待启动";
                     break;
             }
-            if (storeRunStatus > StoreRunStatus.Wait)
+            if (runStatus > StoreRunStatus.Wait)
             {
                 //"0":"急停中",   "1":"设备联机",   "2":"故障中", "3":"入库执行中",  "4":"出库执行中",   5":"料盘入仓位完成",   "6":"料盘出仓位完成",  7":"设备调试中",
                 switch (storeStatus)

source/DeviceLibrary/store/LineMoveP.cs

@@ -79,5 +79,11 @@ namespace OnlineStore.DeviceLibrary
         /// 轴4（ 压紧轴） 压紧前点P3
         /// </summary>
         public int ComPress_P3{ get; set; }
+
+
+        /// <summary>
+        /// 上下料轴需要下降的相对高度
+        /// </summary>
+        public int BatchAxis_DownValue = 0;
     }
 }

source/DeviceLibrary/store/StoreMoveStep.cs

@@ -240,14 +240,42 @@ namespace OnlineStore.DeviceLibrary
         /// 等待拿走物品
         /// </summary>
         SO_14_WaitTake=114,
+         
+
+        /// <summary>
+        /// 料仓出库，批量出库，所有轴运行到吸盘下方，，轴1（ 转盘） 至P1（ 待机点）轴2（ 上下） 至P1
+        /// </summary>
+        SO_58_ToBatchDoorPosition = 158,
 
+        /// <summary>
+        /// 料仓出库，定位气缸退回（有压紧轴的不需要此步骤 
+        /// </summary>
+        SO_59_LocationCylinder_Down = 159,
+
+        /// <summary>
+        /// 料仓出库，，叉子进出料口，，轴3（ 叉子） 至P2（ 进料口取料点）
+        /// /// </summary>
+        SO_60_DeviceToDoor = 160,
+        /// <summary>
+        /// 料仓出库，，把物品放下，，轴2（ 上下） 至P8（ 进料口出料缓冲点）轴4（ 压紧） 至P1（ 待机点)
+        /// </summary>
+        SO_61_DevicePutWare = 161,
+        /// <summary>
+        /// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）
+        /// 批量轴需要下降对应的高度
+        /// </summary>
+        SO_62_DeviceOutFromDoor = 162, 
+        /// <summary>
+        /// 料仓出库，，升降轴返回，，  轴2至P1（ 待机点）
+        /// </summary>
+        SO_63_GoBack = 163, 
         #endregion
 
         #region 料仓内部入库步骤
         /// <summary>
         /// 入库检测
         /// </summary>
-        SI_00_TrayCheck=200,
+        SI_00_TrayCheck =200,
         /// <summary>
         /// 入库，。定位气缸下降
         /// </summary>
@@ -270,6 +298,7 @@ namespace OnlineStore.DeviceLibrary
         SI_05_DeviceToDoor = 205,
         /// <summary>
         /// 入库。。把物品放入叉子上，轴2（ 上下） 至P7（ 进料口取料缓冲点）,压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P2(压紧点)
+        /// 批量入库：此步骤表示吸盘放物品
         /// </summary>
         SI_06_DoorWarToDevice = 206,
          
@@ -383,26 +412,30 @@ namespace OnlineStore.DeviceLibrary
 
         #endregion
 
-        #region 自动上下料出料功能
-        /// <summary>
-        /// 吸盘吸走料盘，同时上料轴开始上升
-        /// </summary>
-        AUTO_O01_SuckingDisc_Work,
-        /// <summary>
-        /// 等待1秒后吸盘下降
-        /// </summary>
-        AUTO_O02_WaitTimeDown,
-
-        /// <summary>
-        /// 吸盘下降
-        /// </summary>
-        AUTO_O03_SuckingDisc_Down,
-        /// <summary>
-        /// 放下料盘
-        /// </summary>
-        AUTO_O04_PutTrayDown,
+        //#region 自动上下料出料功能
+        ///// <summary>
+        ///// 吸盘吸走料盘，同时上料轴开始上升
+        ///// </summary>
+        //AUTO_O01_SuckingDisc_Work,
+        ///// <summary>
+        ///// 等待1秒后吸盘下降
+        ///// </summary>
+        //AUTO_O02_WaitTimeDown,
 
-        #endregion
+        ///// <summary>
+        ///// 吸盘下降
+        ///// </summary>
+        //AUTO_O03_SuckingDisc_Down,
+        ///// <summary>
+        ///// 放下料盘
+        ///// </summary>
+        //AUTO_O04_PutTrayDown,
+        ///// <summary>
+        ///// 吸盘上升
+        ///// </summary>
+        //AUTO_O05_SuckingDisc_Up,
+        //#endregion
+         
     }
 
     public enum StoreAlarmType

source/DeviceLibrary/store/model/StoreMoveInfo.cs

@@ -48,7 +48,7 @@ namespace OnlineStore.DeviceLibrary
             get { return moveType; }
         }
         /// <summary>
-        ///出入库参数
+        ///出入库参数，料仓内部使用
         /// </summary>
         public InOutStoreParam MoveParam { get; set; }
         /// <summary>
@@ -60,6 +60,7 @@ namespace OnlineStore.DeviceLibrary
         /// 是否再当前步骤等待中
         /// </summary>
         public bool IsInWait { get; set; }
+        
         /// <summary>
         /// 上一个执行步骤
         /// </summary>
@@ -79,12 +80,17 @@ namespace OnlineStore.DeviceLibrary
         {
             get { return moveStep; }
         }
- 
+        /// <summary>
+        /// 是否是批量出入库
+        /// </summary>
+       public bool IsBatchInOutStore=true ;
+
+        public List<WaitResultInfo> WaitList = new List<WaitResultInfo>();
         public void NextMoveStep(StoreMoveStep step)
         {
             PreMoveStep = moveStep;
             moveStep = step;
-            LastSetpTime = DateTime.Now; 
+            LastSetpTime = DateTime.Now;
             IsInWait = true;
             WaitList = new List<WaitResultInfo>();
             OneWaitCanEndStep = false;
@@ -124,20 +130,19 @@ namespace OnlineStore.DeviceLibrary
             WaitList = new List<WaitResultInfo>();
             CanWhileCount = 0;
         }
-        public StoreMoveInfo clone()
-        {
-            return (StoreMoveInfo)this.MemberwiseClone();
-        }
+        //public StoreMoveInfo clone()
+        //{
+        //    return (StoreMoveInfo)this.MemberwiseClone();
+        //}
 
-        public List<WaitResultInfo> WaitList = new List<WaitResultInfo>();
-        /// <summary>
-        /// 重置之后继续出入库时，退回上一个步骤执行
-        /// </summary>
-        public void BackStep()
-        {
-            moveStep = PreMoveStep;
-            IsInWait = false;
-        }
+        ///// <summary>
+        ///// 重置之后继续出入库时，退回上一个步骤执行
+        ///// </summary>
+        //public void BackStep()
+        //{
+        //    moveStep = PreMoveStep;
+        //    IsInWait = false;
+        //}
     }
 
     public class WaitResultInfo
@@ -401,11 +406,8 @@ namespace OnlineStore.DeviceLibrary
         /// 高度
         /// </summary>
         public int HeightValue { get; set; }
-
-        internal static WaitResultInfo WaitIO(object trayCheck_Door, IO_VALUE hIGH)
-        {
-            throw new NotImplementedException();
-        }
+         
+         
     }
     public enum StoreMoveType
     {

source/LoadCVSLibrary/position/AutoStorePosition.cs

@@ -59,11 +59,15 @@ namespace OnlineStore.LoadCSVLibrary
         public int CompressAxis_CPosition_P3 { get; set; }
 
         /// <summary>
-        /// 轴3(进出轴） 进料口取料点P2
+        /// 轴3(进出轴） 进料口取料点P2 ，料仓门口取料放料点
         /// </summary> 
-        [CSVAttribute("进出轴进料口取料点P2")]
+        [CSVAttribute("进出轴仓门取料点P2")]
         public int InOutAxis_DoorPosition_P2 { get; set; }
-
+        /// <summary>
+        /// 轴3(进出轴） 进出轴吸盘取料点P2 ，吸盘下方取放料点，批量出入库时使用
+        /// </summary> 
+        [CSVAttribute("进出轴吸盘取料点P2")]
+        public int InOutAxis_Batch_P2 { get; set; }
         public static bool CheckPosition(AutoStorePosition position, AUTO_SA_Config Config)
         { 
             try
@@ -92,6 +96,11 @@ namespace OnlineStore.LoadCSVLibrary
                         LogUtil.error(position.PositionNum + " InOutAxis_Position_P3位置超出" + Config.InOut_Axis.Explain + "上下限（" + iMin + "-" + iMax + "）");
                         return false;
                     }
+                    if (iMin > position.InOutAxis_Batch_P2 || iMax < position.InOutAxis_Batch_P2)
+                    {
+                        LogUtil.error(position.PositionNum + " InOutAxis_Batch_P2位置超出" + Config.InOut_Axis.Explain + "上下限（" + iMin + "-" + iMax + "）");
+                        return false;
+                    }
                 }
                 if (Config.UpDown_Axis.PositionIsHasLimit())
                 {

source/LoadCVSLibrary/position/StorePostionBase.cs

@@ -22,7 +22,7 @@ namespace OnlineStore.LoadCSVLibrary
         /// 高
         /// </summary>
         [CSVAttribute("高度")]
-        public int BagHigh { get; set; }
+        public int BagHeight { get; set; }
         /// <summary>
         /// 宽
         /// </summary>

source/LoadCVSLibrary/storeConfig/config/Store_IO_Type.cs

@@ -138,11 +138,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// <summary>
         ///  门锁气缸打开端 Door_Open	 X13 DI-13
         /// </summary>
-        public static string AutoDoor_Open = "Door_Open";
+        public static string BatchDoor_Open = "Door_Open";
         /// <summary>
         ///  门锁气缸关闭端 Door_Close	 X14 DI-14
         /// </summary>
-        public static string AutoDoor_Close = "Door_Close";
+        public static string BatchDoor_Close = "Door_Close";
         /// <summary>
         ///  料盘检测2（料叉机构）	TrayCheck_Fixture	 	X15 DI-15        
         /// </summary>
@@ -169,5 +169,7 @@ namespace OnlineStore.LoadCSVLibrary
         public static string SuckingDisc_Work = "SuckingDisc_Work";
 
         public static string TrayCheck_Door = "TrayCheck_Door";
+
+        //public static string TrayCheck_Door = "TrayCheck_Door";
     }
 }