X21信号亮后等待1秒再停线体。增加配置ShelfWaitTime

source/DeviceLibrary/bean/MoveStep.cs

@@ -177,6 +177,10 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         S1_C04_DToLeft,
         /// <summary>
+        /// C料架->S1：:料架到达后再等待2秒
+        /// </summary>
+        S1_C04_DToLeft_Wait,
+        /// <summary>
         /// C料架->S1：判断S1是否有料架
         /// </summary>
         S1_C05_CheckS1,
@@ -218,6 +222,11 @@ namespace OnlineStore.DeviceLibrary
         /// D料架->S1：:等待料架到达左侧
         /// </summary>
         S1_D16_CToLeft,
+
+        /// <summary>
+        /// D料架->S1：:等待料架到达左侧后等待1秒
+        /// </summary>
+        S1_D16_CToLeft_Wait,
         /// <summary>
         /// D料架->S1：判断S1是否有料架
         /// </summary>

source/DeviceLibrary/deviceLibrary/IO/IOManager.cs

@@ -28,9 +28,10 @@ namespace OnlineStore.DeviceLibrary
                 //IO重写功能，过滤掉线体运转信号，其他信号重写
                 //判断是否是线体运转信号
                 string Line = "Line";
-                if (ioType.Contains(Line))
+                string HddLed = "HddLed";
+                if (ioType.Contains(Line) || ioType.Contains(HddLed))
                 {
-
+                    //线体和灯信号不重写
                 }
                 else
                 {

source/DeviceLibrary/doubleLine/DoubleLineBean.cs

@@ -58,6 +58,10 @@ namespace OnlineStore.DeviceLibrary
             Thread.Sleep(300);
             IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
             IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
+            if (ShelfWaitTime <= 0)
+            {
+                ShelfWaitTime = 2000;
+            } 
         }
 
 

source/DeviceLibrary/doubleLine/DoubleLineBean_S1Shelf.cs

@@ -13,6 +13,7 @@ namespace OnlineStore.DeviceLibrary
 {
     partial class DoubleLineBean
     {
+        private int ShelfWaitTime = ConfigAppSettings.GetIntValue("ShelfWaitTime");
         #region 料架切换处理
         /// <summary>
         /// 工位S2是否可以放行左侧的料架
@@ -310,6 +311,20 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C04_DToLeft))
             {
+                SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_Wait); 
+                S1Log("料架已到达左侧，"+ ShelfWaitTime + "后 再次等待 X21");
+                SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
+                SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH)); 
+            }
+            else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C04_DToLeft_Wait))
+            {
+                if (IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.LOW))
+                {
+                    SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_Wait);
+                    S1Log("料架已到达左侧，"+ ShelfWaitTime + "后 再次等待 X21");
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
+                }
                 if (S1_CurrShelfId.Equals(""))
                 {
                     SOneMoveInfo.NextMoveStep(MoveStep.S1_C06_SaveLeft);
@@ -482,9 +497,23 @@ namespace OnlineStore.DeviceLibrary
                 S1LineRun(SOneMoveInfo);
                 SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.M_LeftStopCheck, IO_VALUE.LOW));
                 SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
+            }else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D16_CToLeft))
+            {
+                SOneMoveInfo.NextMoveStep(MoveStep.S1_D16_CToLeft_Wait);
+                S1Log("料架已到达左侧，"+ ShelfWaitTime + " 后 再次等待 X21");
+                SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
+                SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
+
             }
-            else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D16_CToLeft))
+            else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_D16_CToLeft_Wait))
             {
+                if (IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.LOW))
+                {
+                    SOneMoveInfo.NextMoveStep(MoveStep.S1_D16_CToLeft_Wait);
+                    S1Log("料架已到达左侧，"+ ShelfWaitTime + " 后 再次等待 X21");
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.PreS1_PosStopCheck, IO_VALUE.HIGH));
+                }
                 if (S1_CurrShelfId.Equals(""))
                 {
                     SOneMoveInfo.NextMoveStep(MoveStep.S1_D18_SaveLeft);
@@ -613,18 +642,35 @@ namespace OnlineStore.DeviceLibrary
                 else
                 {
                     SOneMoveInfo.NextMoveStep(MoveStep.S1_33_LeftOnS1);
-                    S1Log(" 左->S1切换 ：" + LeftSName + "到达S1，停止链条转动，等待500后顶升");
+                    S1Log(" 左->S1切换 ：" + LeftSName + "到达S1，继续转动链条，等待 "+ ShelfWaitTime + " 后顶升");
                     S1_CurrShelfId = S1_LeftShelfId;
                     S1_LeftShelfId = "";
-                    S1LineStop(SOneMoveInfo);
-                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    //S1LineStop(SOneMoveInfo);
+                    S1LineRun();
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
                 }
 
             }
             else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_33_LeftOnS1))
             {
-                S1Log(" 左->S1切换 ：" + LeftSName + "到达S1");
-                S1_WaitTopUp();
+                //判断料架是否到位
+                if (IOValue(IO_Type.S1_PosStopCheck).Equals(IO_VALUE.LOW))
+                {
+                    SOneMoveInfo.NextMoveStep(MoveStep.S1_33_LeftOnS1);
+                    S1Log(" 左->S1切换 ：" + LeftSName + "到达S1，继续转动链条，等待 "+ ShelfWaitTime + " 后顶升");
+                    S1_CurrShelfId = S1_LeftShelfId;
+                    S1_LeftShelfId = "";
+                    //S1LineStop(SOneMoveInfo);
+                    S1LineRun();
+                    SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(ShelfWaitTime));
+                }
+                else
+                {
+                    S1Log(" 左->S1切换 ：" + LeftSName + "到达S1,链条停止转动");
+                    S1LineStop();
+                    S1_WaitTopUp();
+                }
+              
 
             }
             else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_40_WaitS1ToLeft))

source/DoubleLineClient_3D/App.config

@@ -27,6 +27,7 @@
     <!--ABB机器人服务器-->
     <add key="ABBServerPort" value="10021"/>
     <add key="DefaultSpeed" value="1000"/>
+    <add key="ShelfWaitTime" value="2000"/>
   </appSettings>
   <log4net>
     <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">