动作优化

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -430,13 +430,13 @@ namespace OnlineStore.DeviceLibrary
                 case StepEnum.SI_19_InoutBack:
                 case StepEnum.SI_19_InoutBack:
                     if (!CheckInStoreOtherSideInfo())
                     if (!CheckInStoreOtherSideInfo())
                     {
                     {
-                        if (InDoorSigCheck())
-                        {
-                            MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
-                            LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
-                            MoveAxisToP1();
-                        }
-                        else
+                        //if (InDoorSigCheck())
+                        //{
+                        //    MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
+                        //    LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                        //    MoveAxisToP1();
+                        //}
+                        //else
                         {
                         {
                             SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
                             SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
                             LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                             LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

@@ -216,12 +216,12 @@ namespace OnlineStore.DeviceLibrary
                 IOMove(IO_Type.UpperArea_InstoreDoor_Down, IO_VALUE.LOW);
                 IOMove(IO_Type.UpperArea_InstoreDoor_Down, IO_VALUE.LOW);
                 IOMove(IO_Type.UpperArea_InstoreDoor_Up, IO_VALUE.HIGH);
                 IOMove(IO_Type.UpperArea_InstoreDoor_Up, IO_VALUE.HIGH);
             }
             }
-            else
+            else//关门
             {
             {
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_Up, IO_VALUE.LOW));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_Up, IO_VALUE.LOW));
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_UpCheck, IO_VALUE.LOW));
+                //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_UpCheck, IO_VALUE.LOW));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_Down, IO_VALUE.HIGH));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_Down, IO_VALUE.HIGH));
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_DownCheck, IO_VALUE.HIGH));
+                //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.UpperArea_InstoreDoor_DownCheck, IO_VALUE.HIGH));
                 IOMove(IO_Type.UpperArea_InstoreDoor_Up, IO_VALUE.LOW);
                 IOMove(IO_Type.UpperArea_InstoreDoor_Up, IO_VALUE.LOW);
                 IOMove(IO_Type.UpperArea_InstoreDoor_Down, IO_VALUE.HIGH);
                 IOMove(IO_Type.UpperArea_InstoreDoor_Down, IO_VALUE.HIGH);
             }
             }

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -368,9 +368,9 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 if (!BatchMove_A.IsInScanCode())
                 if (!BatchMove_A.IsInScanCode())
                 {
                 {
-                    int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
+                    int targetV = Config.Middle_P4_AUpper;
                     MoveInfo.NextMoveStep(StepEnum.II47_MiddleToP1);
                     MoveInfo.NextMoveStep(StepEnum.II47_MiddleToP1);
-                    MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4(偏移点){targetV}");
+                    MoveLog($" 入料->A侧 {MoveInfo.SLog}: 旋转轴 到P4{targetV}");
                     MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P1_Speed);
                     MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P1_Speed);
                 }
                 }
                 else if (MoveInfo.IsTimeOut(20))
                 else if (MoveInfo.IsTimeOut(20))
@@ -662,11 +662,10 @@ namespace OnlineStore.DeviceLibrary
 
 
         private void II41_MiddleToP4()
         private void II41_MiddleToP4()
         {
         {
-            int targetV = Config.Middle_P4_AUpper - Config.MiddleOffsetValue;
             MoveInfo.NextMoveStep(StepEnum.II41_MiddleToP4);
             MoveInfo.NextMoveStep(StepEnum.II41_MiddleToP4);
             MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}， 旋转轴 到P4{Config.Middle_P4_AUpper}位置,等待暂存区无料");
             MoveLog($" 入料->A侧 {MoveInfo.SLog}: 暂存区有料，升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}， 旋转轴 到P4{Config.Middle_P4_AUpper}位置,等待暂存区无料");
             UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
             UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
-            MiddleAxis.AbsMove(MoveInfo, targetV, Config.Middle_P4_Speed);
+            MiddleAxis.AbsMove(MoveInfo, Config.Middle_P4_AUpper, Config.Middle_P4_Speed);
         }
         }
 
 
         private Task getPosTask = null;
         private Task getPosTask = null;