左侧料架不到位线体停止修改。右上方放料架时未到位线体停止修改。

source/DeviceLibrary/doubleLine/DoubleLineBean.cs

@@ -117,6 +117,7 @@ namespace OnlineStore.DeviceLibrary
         private void ReturnHome()
         {
             LHighProcess = false;
+            LowProcess = false;
             S1_ShelfTask = new ShelfTaskInfo();
             S2CanGetShelf = true;
             needNewShelf = "";

source/DeviceLibrary/doubleLine/DoubleLineBean_S1Shelf.cs

@@ -414,6 +414,7 @@ namespace OnlineStore.DeviceLibrary
                     IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH);
                     IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
                     IOMove(IO_Type.M_LineBackRun, IO_VALUE.HIGH);
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LineBackRun, IO_VALUE.HIGH, true));
                     SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, true));
                     SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_RightStopCheck, IO_VALUE.HIGH));
                 }

source/DeviceLibrary/doubleLine/DoubleLineBean_lineShelf.cs

@@ -56,6 +56,10 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             {
+                if (LHighProcess)
+                {
+                    KeepLineRun(IO_Type.LHigh_LineRun);
+                }
                 lhighWatch.Stop();
             }
 
@@ -116,6 +120,10 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             {
+                if (LowProcess)
+                {
+                    KeepLineRun(IO_Type.LLown_LineRun);
+                }
                 lowWatch.Stop();
             }
 
@@ -616,6 +624,17 @@ namespace OnlineStore.DeviceLibrary
         }
 
         #endregion
-
+        /// <summary>
+        /// 保持线体持续转动
+        /// </summary>
+        private void KeepLineRun(String lineIoType)
+        {
+            bool isLineStop = IOValue(lineIoType).Equals(IO_VALUE.LOW);
+            if (isLineStop)
+            {
+                IOMove(lineIoType, IO_VALUE.HIGH);
+                LogUtil.info(Name + "   线体[" + lineIoType + "]已停止，重新转动");
+            }
+        }
     }
 }