抓取料盘失败处理

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -888,7 +888,7 @@ namespace OnlineStore.DeviceLibrary
         /// 入库料串取料：等待测高完成
         /// 入库料串取料：等待测高完成
         /// </summary>
         /// </summary>
         II11_WaitHeight,
         II11_WaitHeight,
-
+        II12_Handle,
         /// <summary>
         /// <summary>
         /// 入库料串取料：测宽度，记录条码高度宽度，开始下一盘预扫码
         /// 入库料串取料：测宽度，记录条码高度宽度，开始下一盘预扫码
         /// </summary>
         /// </summary>

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -253,6 +253,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StepEnum.II11_WaitHeight))
             else if (MoveInfo.IsStep(StepEnum.II11_WaitHeight))
             {
             {
+                SetWarnMsg("");
                 BatchMoveBean moveBean = BatchMove_A;
                 BatchMoveBean moveBean = BatchMove_A;
                 if (shelf.Equals(2))
                 if (shelf.Equals(2))
                 {
                 {
@@ -318,18 +319,24 @@ namespace OnlineStore.DeviceLibrary
                             MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  信号检测尺寸和AOI不符");
                             MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  信号检测尺寸和AOI不符");
                         }
                         }
                     }
                     }
-                    if (MoveInfo.MoveParam.PosInfo.IsNG)
-                    {
-                        StrartToTargetP();
-                    }
-                    else
-                        II13_GetPosId();
+                    MoveInfo.NextMoveStep(StepEnum.II12_Handle);
+                    MoveLog($"入库{MoveInfo.SLog}:  取完料,进出轴回待机点P1 {Config.Inout_P1}");
+                    InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
                 }
                 }
                 else if (MoveInfo.IsTimeOut(60))
                 else if (MoveInfo.IsTimeOut(60))
                 {
                 {
                     SetWarnMsg(Name + " " + moveBean.Name + "获取料盘高度超时");
                     SetWarnMsg(Name + " " + moveBean.Name + "获取料盘高度超时");
                 }
                 }
             }
             }
+            else if (MoveInfo.IsStep(StepEnum.II12_Handle))
+            {
+                if (MoveInfo.MoveParam.PosInfo.IsNG)
+                {
+                    StrartToTargetP();
+                }
+                else
+                    II13_GetPosId();
+            }
             else if (MoveInfo.IsStep(StepEnum.II13_GetPosId))
             else if (MoveInfo.IsStep(StepEnum.II13_GetPosId))
             {
             {
                 if (getPosTask != null && getPosTask.IsCompleted && LastPosInfo != null)
                 if (getPosTask != null && getPosTask.IsCompleted && LastPosInfo != null)
@@ -856,7 +863,8 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 else
                 else
                 {
                 {
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelCheck_A, IO_VALUE.LOW));
+                    SetWarnMsg("料盘拿走失败，A料口定位料盘检测信号亮");
+                    //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelCheck_A, IO_VALUE.LOW));
                 }
                 }
             }
             }
             else if (shelf.Equals(2))
             else if (shelf.Equals(2))
@@ -868,7 +876,8 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 else
                 else
                 {
                 {
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelCheck_B, IO_VALUE.LOW));
+                    SetWarnMsg("料盘拿走失败，B料口定位料盘检测信号亮");
+                    //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelCheck_B, IO_VALUE.LOW));
                 }
                 }
             }
             }
         }
         }

source/XLRStoreClient/FrmXLRStore.cs

@@ -3,6 +3,7 @@ using DeviceLibrary;
 using log4net;
 using log4net;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.DeviceLibrary;
 using OnlineStore.DeviceLibrary;
+using OnlineStore.DeviceLibrary.deviceLibrary;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
@@ -586,6 +587,15 @@ namespace OnlineStore.XLRStore
                 忽略行走机构运行期间B侧料叉ToolStripMenuItem1.Visible = false;
                 忽略行走机构运行期间B侧料叉ToolStripMenuItem1.Visible = false;
                 忽略行走机构运行期间A侧料叉ToolStripMenuItem.Visible = false;
                 忽略行走机构运行期间A侧料叉ToolStripMenuItem.Visible = false;
             }
             }
+
+            if (StoreManager.XLRStore?.inputEquip?.MoveStop ?? false)
+            {
+                入料机构恢复ToolStripMenuItem.Visible = true;
+            }
+            else
+            {
+                入料机构恢复ToolStripMenuItem.Visible = false;
+            }
         }
         }
         private void SetMenuS(ToolStripMenuItem toolMenu, bool isEn)
         private void SetMenuS(ToolStripMenuItem toolMenu, bool isEn)
         {
         {
@@ -910,5 +920,11 @@ namespace OnlineStore.XLRStore
         {
         {
             StoreManager.XLRStore.boxEquip.UserPause(false, "用户点击恢复");
             StoreManager.XLRStore.boxEquip.UserPause(false, "用户点击恢复");
         }
         }
+
+        private void 入料机构恢复ToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            StoreManager.XLRStore.inputEquip.MoveStop = false;
+            LogUtil.info($"{StoreManager.XLRStore.inputEquip.Name}-用户点击恢复");
+        }
     }
     }
 }
 }

source/XLRStoreClient/inputForm/FrmInputEquip.cs

@@ -139,10 +139,6 @@ namespace OnlineStore.XLRStore
                     btnHlhasReel.Visible = false;
                     btnHlhasReel.Visible = false;
                 }
                 }
                 string text = "";
                 string text = "";
-                if (inputEquip.MoveStop && !chbMoveStop.Checked)
-                {
-                    chbMoveStop.Checked = inputEquip.MoveStop;
-                }
 
 
             }
             }
             catch (Exception ex)
             catch (Exception ex)