出库存储机构和入料机构夹爪干涉问题、尺寸检测问题

source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs

@@ -281,7 +281,6 @@ namespace OnlineStore.DeviceLibrary
                     MoveAxisToP1();
                     break;
                 case StepEnum.SO_19_InOutBackFromBuff:
-                    LogUtil.info("InSO_19");
                     //出库料盘放置成功，将料盘信息写入对应出料口
                     SetReelInfoToBuff();
                     if (MoveInfo.MoveParam.PosInfoBack == null)

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -387,7 +387,7 @@ namespace OnlineStore.DeviceLibrary
                 WorkLog("料盘移栽 ：开始扫码");
                 MoveInfo.OneWaitCanEndStep = true;
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitFeedScanCode());
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(6000));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(60000));
                 try
                 {
                     Task<List<string>> scanTask = Task.Factory.StartNew(delegate
@@ -556,7 +556,7 @@ namespace OnlineStore.DeviceLibrary
             string buchongStr = "";
             if (isLast)
             {
-                buchongStr = "(最后一盘料)";
+                buchongStr = "(最后一盘料)加4";
                 height += 4;
             }
 
@@ -565,9 +565,14 @@ namespace OnlineStore.DeviceLibrary
             {
                 LastHeight = 8;
             }
+            else if (height >= 35)
+            {
+                LastHeight = (int)height;
+            }
             else if(height>=27)
             {
                 LastHeight = 28;
+                buchongStr = ">=27，<=小于32";
             }
             else
             {

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -62,7 +62,7 @@ namespace OnlineStore.DeviceLibrary
         }
         int getOffset()
         {
-            if(reelHeightOffset.ContainsKey(MoveInfo.MoveParam.PosInfo.PlateH))
+            if (reelHeightOffset.ContainsKey(MoveInfo.MoveParam.PosInfo.PlateH))
             {
                 return reelHeightOffset[MoveInfo.MoveParam.PosInfo.PlateH];
             }
@@ -74,7 +74,7 @@ namespace OnlineStore.DeviceLibrary
 
             if (Is7CunReel())
             {
-                MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区7寸放料低点){Config.Updown_P5_AUpperL7+ getOffset()}");
+                MoveLog($" 入料->A侧 {MoveInfo.SLog}: 升降轴 到P5(A上暂存区7寸放料低点){Config.Updown_P5_AUpperL7 + getOffset()}");
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P5_AUpperL7 + getOffset(), Config.Updown_P5_Speed);
             }
             else
@@ -888,12 +888,16 @@ namespace OnlineStore.DeviceLibrary
             #region 出库A侧取料
             if (MoveInfo.IsStep(StepEnum.IO01_ReelCheck))
             {
+                if (BufferDataManager.AOutStoreInfo != null)
+                {
                     MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6);
                     MoveLog($"出库A->{shelf}料串 {MoveInfo.SLog}: 升降轴到P6（A下暂存区取料高点）{Config.Updown_P6_AUnderH},旋转轴到P7（A下暂存区取料点）{Config.Middle_P7_AUnder}");
                     UpdownAxis.AbsMove(MoveInfo, Config.Updown_P6_AUnderH, Config.Updown_P6_Speed);
                     MiddleAxis.AbsMove(MoveInfo, Config.Middle_P7_AUnder, Config.Middle_P7_Speed);
                     ShelfBatchAxisDown();
                 }
+
+            }
             else if (MoveInfo.IsStep(StepEnum.IO02_UpdownToP6))
             {
                 MoveInfo.NextMoveStep(StepEnum.IO03_InoutToP2);
@@ -953,12 +957,16 @@ namespace OnlineStore.DeviceLibrary
             #region 出库B侧取料
             else if (MoveInfo.IsStep(StepEnum.IO11_ReelCheck))
             {
+                if(BufferDataManager.BOutStoreInfo!=null)
+                {
                     MoveInfo.NextMoveStep(StepEnum.IO12_UpdownToP12);
                     MoveLog($"出库B->{shelf}料串 {MoveInfo.SLog}: 升降轴到P12（B下暂存区取料高点）{Config.Updown_P12_BUnderH}，旋转轴到P8（B下暂存区取料点）{Config.Middle_P8_BUnder}");
                     UpdownAxis.AbsMove(MoveInfo, Config.Updown_P12_BUnderH, Config.Updown_P12_Speed);
                     MiddleAxis.AbsMove(MoveInfo, Config.Middle_P8_BUnder, Config.Middle_P8_Speed);
                     ShelfBatchAxisDown();
                 }
+
+            }
             else if (MoveInfo.IsStep(StepEnum.IO12_UpdownToP12))
             {
                 MoveInfo.NextMoveStep(StepEnum.IO13_InoutToP3);
@@ -1056,7 +1064,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveLog($"出库->B料串 {MoveInfo.SLog}: 升降轴到P3（B料口取料点）{Config.Updown_P3_BTake}");
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P3_BTake, Config.Updown_P3_Speed);
             }
-            else if(MoveInfo.IsStep(StepEnum.IO29_UpdownToP3))
+            else if (MoveInfo.IsStep(StepEnum.IO29_UpdownToP3))
             {
                 MoveInfo.NextMoveStep(StepEnum.IO31_ClampRelax);
                 MoveLog($"出库->料串 {MoveInfo.SLog}: 电卡爪放松   判断到位");
@@ -1086,7 +1094,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveLog($"出库->料串 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}");
                 InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
             }
-            else if(MoveInfo.IsStep(StepEnum.IO33_InoutToP1))
+            else if (MoveInfo.IsStep(StepEnum.IO33_InoutToP1))
             {
                 MoveInfo.NextMoveStep(StepEnum.IO34_MiddleToP1);
                 MoveLog($"出库->料串 {MoveInfo.SLog}: 旋转轴 到P1（待机点） {Config.Middle_P1}");