防撞检测时机放在压紧轴释放前

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -437,19 +437,14 @@ namespace OnlineStore.DeviceLibrary
                         return;
                         return;
                     }
                     }
                     SetWarnMsg("");
                     SetWarnMsg("");
-                    MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
+                    MoveInfo.NextMoveStep(StepEnum.SI_13_CheckPos);
                     ignoreCurFork = false;
                     ignoreCurFork = false;
                     checkForkCnt = 0;
                     checkForkCnt = 0;
                     LogInfo($"入库 {MoveInfo.SLog}：进入库位中，移栽升降轴到抽屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     LogInfo($"入库 {MoveInfo.SLog}：进入库位中，移栽升降轴到抽屉取放点P7/P13[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     UpdownAxisToP7_P13();
                     UpdownAxisToP7_P13();
                     break;
                     break;
-                case StepEnum.SI_13_GetReel:
-                    MoveInfo.NextMoveStep(StepEnum.SI_13_CheckPos);
-                    LogInfo($"入库 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
-                    ComAxis_To_P2();
-                    break;
                 case StepEnum.SI_13_CheckPos:
                 case StepEnum.SI_13_CheckPos:
-                    MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
+                    MoveInfo.NextMoveStep(StepEnum.SI_13_GetReel);
                     var inpos = isReelInpos(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.PlateW);
                     var inpos = isReelInpos(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.PlateW);
                     if (!inpos)
                     if (!inpos)
                     {
                     {
@@ -459,6 +454,11 @@ namespace OnlineStore.DeviceLibrary
                     }
                     }
                     LogInfo($"入库 {MoveInfo.SLog}：料盘到位检测完成[{inpos}]:{MoveInfo.MoveParam.PosInfo.PosId},{MoveInfo.MoveParam.PosInfo.PlateW}");
                     LogInfo($"入库 {MoveInfo.SLog}：料盘到位检测完成[{inpos}]:{MoveInfo.MoveParam.PosInfo.PosId},{MoveInfo.MoveParam.PosInfo.PlateW}");
                     break;
                     break;
+                case StepEnum.SI_13_GetReel:
+                    MoveInfo.NextMoveStep(StepEnum.SI_14_ReleaseCompress);
+                    LogInfo($"入库 {MoveInfo.SLog}：压紧轴开始缓慢释放，移栽压紧轴到压紧前点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    ComAxis_To_P2();
+                    break;
                 case StepEnum.SI_14_ReleaseCompress:
                 case StepEnum.SI_14_ReleaseCompress:
                     if (!StoreManager.XLRStore.boxEquip.SendStoreState(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode, DeviceStatus.InStoreEnd))
                     if (!StoreManager.XLRStore.boxEquip.SendStoreState(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode, DeviceStatus.InStoreEnd))
                         return;
                         return;