左下放行料架添加重放行流程

source/DeviceLibrary/bean/MoveStep.cs

@@ -180,6 +180,7 @@ namespace OnlineStore.DeviceLibrary
         /// C料架->S1：:等待料架到达中间升降机
         /// </summary>
         S1_C04_DToLeft,
+        S1_C04_DToLeft_1,
         /// <summary>
         /// C料架->S1：:料架到达后再等待2秒
         /// </summary>

source/DeviceLibrary/doubleLine/DoubleLineBean_S1Shelf.cs

@@ -294,7 +294,7 @@ namespace OnlineStore.DeviceLibrary
             else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C03_MStopDown))
             {
                 IOMove(IO_Type.LLow_StopCylinder2, IO_VALUE.LOW);
-                SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft);
+                SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_1);
                 SOneMoveInfo.TimeOutSeconds = 20;
                 S1Log("等待料架到达左侧工位，S1阻挡1上升，S1正转");
 
@@ -307,9 +307,32 @@ namespace OnlineStore.DeviceLibrary
                 S1LineRun(SOneMoveInfo);
                 //IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
                 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_C04_DToLeft_1))
+            {
+                if(IOValue(IO_Type.PreS1_PosStopCheck).Equals(IO_VALUE.HIGH))
+                {
+                    SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft);
+                    S1Log("放行料架完成");
+                }
+                else
+                {
+                    if (SOneMoveInfo.IsTimeOut(30))
+                    {
+                        if (MUpdownCanMove())
+                        {
+                            SOneMoveInfo.NextMoveStep(MoveStep.S1_C02_MDown);
+                            S1Log("放料架超时30秒，重新放行");
+                            CylinderMove(SOneMoveInfo, IO_Type.M_Updown_Up, IO_Type.M_Updown_Down);
+                            CheckAndMove(IO_Type.S1_PosStopCylinder, IO_VALUE.LOW);
+                            CheckAndMove(IO_Type.PreS1_PosStopCylinder, IO_VALUE.LOW);
+                            CheckAndMove(IO_Type.PreS1_NegStopCylinder, IO_VALUE.HIGH);
+                            // CheckAndMove(IO_Type.S1_StopCylinder4, IO_VALUE.HIGH);
+                        }
+                    }
+                }
+            }
             else if (SOneMoveInfo.MoveStep.Equals(MoveStep.S1_C04_DToLeft))
             {
                 SOneMoveInfo.NextMoveStep(MoveStep.S1_C04_DToLeft_Wait);