夹紧释放料盘看X12机械臂夹紧信号

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_InExecute.cs

@@ -41,7 +41,7 @@ namespace OnlineStore.DeviceLibrary
                     }
                     }
                     break;
                     break;
                 case StepEnum.InStore_05_ArmToTrayLow:
                 case StepEnum.InStore_05_ArmToTrayLow:
-                    NextMoveStep(StepEnum.InStore_06_CompressTray, "机械臂到入料口取料高点");
+                    NextMoveStep(StepEnum.InStore_06_CompressTray, "夹紧料盘，机械臂到入料口取料高点");
                     InStore_06_CompressTray();
                     InStore_06_CompressTray();
                     break;
                     break;
                 case StepEnum.InStore_06_CompressTray:
                 case StepEnum.InStore_06_CompressTray:
@@ -94,7 +94,6 @@ namespace OnlineStore.DeviceLibrary
                     if (InStore_13_CheckNGBoxState())
                     if (InStore_13_CheckNGBoxState())
                     {
                     {
                         NextMoveStep(StepEnum.InStore_14_ArmToNGBoxHigh, "NG箱可放料，机械臂去NG箱放料高点");
                         NextMoveStep(StepEnum.InStore_14_ArmToNGBoxHigh, "NG箱可放料，机械臂去NG箱放料高点");
-                        BufferDataManager.AddTrayInNGBox(BufferDataManager.TrayInRobotInfo.ToCopy());
                         ClearSpecifiedAlarm($"NG箱中已存在");
                         ClearSpecifiedAlarm($"NG箱中已存在");
                         InStore_14_ArmToNGBoxHigh();
                         InStore_14_ArmToNGBoxHigh();
                     }
                     }
@@ -105,6 +104,8 @@ namespace OnlineStore.DeviceLibrary
                     break;
                     break;
                 case StepEnum.InStore_14_ArmToNGBoxHigh:
                 case StepEnum.InStore_14_ArmToNGBoxHigh:
                     NextMoveStep(StepEnum.InStore_15_ReleaseTray, "机械臂到放料低点，压紧轴张开");
                     NextMoveStep(StepEnum.InStore_15_ReleaseTray, "机械臂到放料低点，压紧轴张开");
+                    BufferDataManager.AddTrayInNGBox(BufferDataManager.TrayInRobotInfo.ToCopy());
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     InStore_15_ReleaseTray();
                     InStore_15_ReleaseTray();
                     break;
                     break;
                 case StepEnum.InStore_15_ReleaseTray:
                 case StepEnum.InStore_15_ReleaseTray:
@@ -162,6 +163,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             SendCmd(GetCmd_InletUp());
             SendCmd(GetCmd_InletUp());
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P4, Config.CompressAxis_P4_Speed);
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P4, Config.CompressAxis_P4_Speed);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.HIGH));
         }
         }
         private void InStore_07_ArmBackToP1()
         private void InStore_07_ArmBackToP1()
         {
         {
@@ -187,6 +189,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             SendCmd(GetCmd_StoreDown());
             SendCmd(GetCmd_StoreDown());
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.LOW));
         }
         }
         private void InStore_12_MoveAxisToNGBox()
         private void InStore_12_MoveAxisToNGBox()
         {
         {
@@ -206,6 +209,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             SendCmd(GetCmd_NGBoxDown());
             SendCmd(GetCmd_NGBoxDown());
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.LOW));
         }
         }
         private void InStore_16_ArmBackToP1()
         private void InStore_16_ArmBackToP1()
         {
         {

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_OutExecute.cs

@@ -100,6 +100,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             SendCmd(GetCmd_StoreUp());
             SendCmd(GetCmd_StoreUp());
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P4, Config.CompressAxis_P4_Speed);
             CompressAxis.AbsMove(MoveInfo, Config.CompressAxis_P4, Config.CompressAxis_P4_Speed);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.HIGH));
         }
         }
         private void OutStore_07_ArmBackToP1()
         private void OutStore_07_ArmBackToP1()
         {
         {
@@ -128,6 +129,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             SendCmd(GetCmd_OutletDown());
             SendCmd(GetCmd_OutletDown());
             CompressAxis.AbsMove(MoveInfo,Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
             CompressAxis.AbsMove(MoveInfo,Config.CompressAxis_P2, Config.CompressAxis_P2_Speed);
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.LOW));
         }
         }
         private void OutStore_12_ArmBackToP1()
         private void OutStore_12_ArmBackToP1()
         {
         {