入料口机器人取完料顶升延时下降问题以及出料口延长3秒转动

source/DeviceLibrary/clientEquip/inletEquip/InletEquip_InStore.cs

@@ -165,7 +165,7 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 NextMoveStep(StepEnum.Inlet_09_WaitRobotInSafe, "料盘离开入料口，等待机器人到安全位置");
                 NextMoveStep(StepEnum.Inlet_09_WaitRobotInSafe, "料盘离开入料口，等待机器人到安全位置");
                 AddWaitRobotInSafe();
                 AddWaitRobotInSafe();
-                AddWaitTime(10000);
+                AddWaitTime(5000);
                 MoveInfo.OneWaitCanEndStep = true;
                 MoveInfo.OneWaitCanEndStep = true;
             }
             }
             else if (MoveInfo.IsStep(StepEnum.Inlet_09_WaitRobotInSafe))
             else if (MoveInfo.IsStep(StepEnum.Inlet_09_WaitRobotInSafe))

source/DeviceLibrary/clientEquip/outletEquip/OutletEquip_OutStore.cs

@@ -78,6 +78,7 @@ namespace OnlineStore.DeviceLibrary
                 AddWaitTrayCheck1(false);
                 AddWaitTrayCheck1(false);
                 AddWaitTrayCheck2(false);
                 AddWaitTrayCheck2(false);
                 AddWaitAllowFeedOut(false);
                 AddWaitAllowFeedOut(false);
+                AddWaitTime(3000);
             }
             }
             else if (MoveInfo.IsStep(StepEnum.Outlet_04_WaitTrayLeave))
             else if (MoveInfo.IsStep(StepEnum.Outlet_04_WaitTrayLeave))
             {
             {

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_InExecute.cs

@@ -161,6 +161,7 @@ namespace OnlineStore.DeviceLibrary
         }
         }
         private void InStore_06_CompressTray()
         private void InStore_06_CompressTray()
         {
         {
+            insafeAtInlet = false;
             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));
             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.HIGH));

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_OutExecute.cs

@@ -127,6 +127,7 @@ namespace OnlineStore.DeviceLibrary
         }
         }
         private void OutStore_11_ReleaseTray()
         private void OutStore_11_ReleaseTray()
         {
         {
+            insafeAtOutlet = false;
             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));
             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.RobotArm_ClampingSig, IO_VALUE.LOW));

source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs

@@ -108,23 +108,26 @@ namespace OnlineStore.DeviceLibrary
                 if (!cmdResponse.Equals(bean.RobotData.RecvMsg) && !bean.RobotData.RecvMsg.Equals(""))
                 if (!cmdResponse.Equals(bean.RobotData.RecvMsg) && !bean.RobotData.RecvMsg.Equals(""))
                 {
                 {
                     cmdResponse = bean.RobotData.RecvMsg;
                     cmdResponse = bean.RobotData.RecvMsg;
-                    if ((cmdResponse.Contains(GetCmd_InletUp()))
-                        && cmdResponse.Contains("done"))
+                    if ((cmdResponse.Contains(GetCmd_InletUp())))
                     {
                     {
-                        insafeAtInlet = true;
+                        if (cmdResponse.Contains("done"))
+                            insafeAtInlet = true;
+                        else
+                        {
+                            insafeAtInlet = false;
+                        }
                     }
                     }
-                    else//if ((cmdResponse.Contains(GetCmd_Standby()) && cmdResponse.Contains("done")))
-                    {
-                        insafeAtInlet = false;
-                    }
-                    if ((cmdResponse.Contains(GetCmd_OutletDown())) && cmdResponse.Contains("done"))
-                    {
-                        insafeAtOutlet = true;
-                    }
-                    else
+
+                    if ((cmdResponse.Contains(GetCmd_OutletDown())))
                     {
                     {
-                        insafeAtOutlet = false;
+                        if (cmdResponse.Contains("done"))
+                            insafeAtOutlet = true;
+                        else
+                        {
+                            insafeAtOutlet = false;
+                        }
                     }
                     }
+
                     LogUtil.info($"RobotMove Cmd Response:【{cmdResponse}】");
                     LogUtil.info($"RobotMove Cmd Response:【{cmdResponse}】");
                 }
                 }
                 string[] recv = bean.RobotData.RecvMsg.Split(',');
                 string[] recv = bean.RobotData.RecvMsg.Split(',');
@@ -318,13 +321,14 @@ namespace OnlineStore.DeviceLibrary
         /// <param name="start"></param>
         /// <param name="start"></param>
         public void StartProg(bool start)
         public void StartProg(bool start)
         {
         {
+            insafeAtOutlet = false;
+            insafeAtInlet = false;
             if (GetRobotInfo(out JAKA.JAKABean bean))
             if (GetRobotInfo(out JAKA.JAKABean bean))
             {
             {
                 if (start)
                 if (start)
                 {
                 {
                     bean.Run();
                     bean.Run();
                 }
                 }
-
                 else
                 else
                     bean.Abort();
                     bean.Abort();
             }
             }