1、料叉信号检测等到抽屉推入后检查，以便出现问题不好复位

2、复位结束后，料叉上有料当作NG处理，将料放到出料缓存区,送到NG料箱

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -215,6 +215,10 @@ namespace OnlineStore.DeviceLibrary
         BOX_R04_OtherAxisToP1,
         #endregion
 
+        #region 清空料叉上的料
+
+        #endregion
+
         #region 出库步骤  200开始
         /// <summary>
         /// 料仓出库:开始出库

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -187,7 +187,7 @@ namespace OnlineStore.DeviceLibrary
                         return;
                     }
                     //若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
-                    if (MoveInfo.MoveType.Equals(MoveType.None))
+                    if (MoveInfo.IsInWait.Equals(false) && NoErrorAlarm())
                     {
                         LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
                         alarmType = AlarmType.None;
@@ -541,10 +541,6 @@ namespace OnlineStore.DeviceLibrary
                 {
                     isNeedAlarmLed = true;
                 }
-                else if (alarmType.Equals(AlarmType.None).Equals(false))
-                {
-                    yellowMove = true;
-                }
 
 
 

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -6,6 +6,8 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using System.Drawing;
 using System.Linq;
+using System.Security.Cryptography;
+using System.Security.Policy;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -669,11 +671,52 @@ namespace OnlineStore.DeviceLibrary
                     break;
 
                 case StepEnum.BOX_R04_OtherAxisToP1:
-                    LogInfo($"复位 {MoveInfo.SLog}：所有轴到达待机位完成");
-                    BuffAreaInstoreDoor(false);
-                    BuffAreaOutstoreDoor(false);
-                    SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
-                    MoveInfo.EndMove();
+                    if (IOValue(IO_Type.ForkA_Tray_Check).Equals(IO_VALUE.HIGH))
+                    {
+                        string posId = $"{CID}AA{1.ToString().PadLeft(2, '0')}{1.ToString().PadLeft(2, '0')}0101";
+                        MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("ResetNG_A", posId));
+                        MoveInfo.MoveParam.PosInfo.IsNG = true;
+                        MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
+                        if (IOValue(IO_Type.ForkB_Tray_Check).Equals(IO_VALUE.HIGH))
+                        {
+                            posId = $"{CID}BB{1.ToString().PadLeft(2, '0')}{1.ToString().PadLeft(2, '0')}0101";
+                            MoveInfo.MoveParam.PosInfoBack = new InOutPosInfo("ResetNG_B",posId);
+                            MoveInfo.MoveParam.PosInfoBack.IsNG = true;
+                        }
+                        MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
+                        MoveAxisToP1();
+                        PullAxis_UpdownToP1();
+                        UpdownAxisTo_P4_P10();
+                        if (MoveInfo.MoveParam.PosInfoBack == null)
+                            LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]准备送往出料口。行走机构到待机点P1，料屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
+                        else
+                            LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]，准备送往出料口。行走机构到待机点P1，抽屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
+                    }
+                    else if (IOValue(IO_Type.ForkB_Tray_Check).Equals(IO_VALUE.HIGH))
+                    {
+                        string posId = $"{CID}BB{1.ToString().PadLeft(2, '0')}{1.ToString().PadLeft(2, '0')}0101";
+                        MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("ResetNG_B", posId));
+                        MoveInfo.MoveParam.PosInfo.IsNG = true;
+                        MoveInfo.MoveParam.MoveP = new LineMoveP(Config, MoveInfo.MoveParam.PosInfo.PosId);
+                        MoveInfo.NextMoveStep(StepEnum.SO_14_GetReels_Ready);
+                        MoveAxisToP1();
+                        PullAxis_UpdownToP1();
+                        UpdownAxisTo_P4_P10();
+                        //BuffAreaOutstoreDoor(true);
+                        if (MoveInfo.MoveParam.PosInfoBack == null)
+                            LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.barcode}]，准备送往出料口。行走机构到待机点P1，料屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
+                        else
+                            LogInfo($"复位完成 {MoveInfo.SLog}：[{MoveInfo.MoveParam.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfoBack.ToStr()}]，准备送往出料口。行走机构到待机点P1，抽屉升降轴到P1点，移栽升降轴到下暂存区出库放料高点P4/P10");
+                    }
+                    else
+                    {
+                        LogInfo($"复位 {MoveInfo.SLog}：所有轴到达待机位完成");
+                        BuffAreaInstoreDoor(false);
+                        BuffAreaOutstoreDoor(false);
+                        SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
+                        MoveInfo.EndMove();
+                    }
+
                     break;
             }
         }
@@ -809,7 +852,7 @@ namespace OnlineStore.DeviceLibrary
                         bool result = waitAOutStoreList.TryPeek(out param);
                         if (result && param != null)
                         {
-                            bool rtn=StartExecuctOut(param);
+                            bool rtn = StartExecuctOut(param);
                             if (rtn) waitAOutStoreList.TryDequeue(out _);
                             return;
                         }

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -376,7 +376,6 @@ namespace OnlineStore.DeviceLibrary
                     //入库完成
                     SetBoxStatus(DeviceStatus.InStoreEnd, RunStatus.Busy, MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
                     executeTime = (DateTime.Now - startTime).TotalSeconds.ToString("f2");
-                    AddReelCheck(false);
                     UpdownAxisTo_P6_P12();
                     break;
                 case StepEnum.SI_15_UpDownBack:
@@ -428,7 +427,8 @@ namespace OnlineStore.DeviceLibrary
                     break;
                 case StepEnum.SI_18_PutTrayDown:
                     MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack);
-                    LogInfo($"入库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    AddReelCheck(false);
+                    LogInfo($"入库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,检测料叉信号,同时检测{trayAColumns[GetPosColumn()]}=1[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     if (CheckASide())
                     {
                         if (!GetShieldState(sheidAColmns[GetPosColumn()]))

source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs

@@ -101,7 +101,6 @@ namespace OnlineStore.DeviceLibrary
                 case StepEnum.SO_07_GetReel:
                     MoveInfo.NextMoveStep(StepEnum.SO_08_StartCompress);
                     LogInfo($"出库 {MoveInfo.SLog}：压紧轴开始缓慢夹取，移栽压紧轴到压紧点P3[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
-                    AddReelCheck(true);
                     ComAxis_To_P3();
                     break;
                 case StepEnum.SO_08_StartCompress:
@@ -159,7 +158,8 @@ namespace OnlineStore.DeviceLibrary
                     break;
                 case StepEnum.SO_12_PutTrayDown:
                     MoveInfo.NextMoveStep(StepEnum.SO_13_InoutBack);
-                    LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    AddReelCheck(true);
+                    LogInfo($"出库 {MoveInfo.SLog}：抽屉拉取进出轴到拍照点,检测料叉信号，同时检测{trayAColumns[GetPosColumn()]}=1 [{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     if (CheckASide())
                     {
                         if (!GetShieldState(sheidAColmns[GetPosColumn()]))

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

@@ -542,6 +542,13 @@ namespace OnlineStore.DeviceLibrary
                         StartOutstore(param);
                         return true;
                     }
+                    else if(posInfo.IsNG)
+                    {
+                        InOutParam param = new InOutParam(posInfo.ToCopy());
+                        LogInfo($"{posType}物料{param.PosInfo.ToStr()}，准备出库到NG箱");
+                        StartOutstore(param);
+                        return true;
+                    }
                     if (moveBean.MoveInfo.MoveType == MoveType.None)
                     {
                         doorinfo = moveBean.doorInfo;

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -483,7 +483,7 @@ namespace OnlineStore.DeviceLibrary
             }
             #endregion
 
-            #region 入料->NG箱上暂存区
+            #region 入料->NG箱
             else if (MoveInfo.IsStep(StepEnum.II81_MiddleToNg))
             {
                 MoveInfo.NextMoveStep(StepEnum.II82_InoutToP6);
@@ -793,6 +793,14 @@ namespace OnlineStore.DeviceLibrary
         #endregion
 
         #region 出库
+
+        private void ToNG()
+        {
+            MoveInfo.NextMoveStep(StepEnum.II81_MiddleToNg);
+            MoveLog($"出库{MoveInfo.SLog}:  NG料 升降轴到P8（NG料区放料高点）{Config.Updown_P8_NGH}，旋转轴到P6（NG料区放料点）{Config.Middle_P6_NG}");
+            MiddleAxis.AbsMove(MoveInfo, Config.Middle_P6_NG, Config.Middle_P6_Speed);
+            UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
+        }
         private DateTime startOutTime = DateTime.Now;
         public override bool StartOutstore(InOutParam param)
         {
@@ -890,7 +898,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (BufferDataManager.AOutStoreInfo != null)
                 {
-                    if(BufferDataManager.AOutStoreInfo.barcode.Equals(MoveInfo.MoveParam.PosInfo.barcode))
+                    if (BufferDataManager.AOutStoreInfo.barcode.Equals(MoveInfo.MoveParam.PosInfo.barcode))
                     {
                         MoveInfo.NextMoveStep(StepEnum.IO02_UpdownToP6);
                         MoveLog($"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}");
@@ -1017,6 +1025,11 @@ namespace OnlineStore.DeviceLibrary
                 //判断料盘信号是否消失
                 if (IOValue(IO_Type.FeedingB_Outstore_UnderArea_ReelCheck).Equals(IO_VALUE.LOW))
                 {
+                    if(MoveInfo.MoveParam.PosInfo.IsNG)
+                    {
+                        ToNG();
+                        return;
+                    }
                     if (!MiddleToShelf())
                     {
                         MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
@@ -1032,6 +1045,11 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.IsStep(StepEnum.IO17_WaitReelCheckLow))
             {
+                if (MoveInfo.MoveParam.PosInfo.IsNG)
+                {
+                    ToNG();
+                    return;
+                }
                 if (!MiddleToShelf())
                 {
                     MoveInfo.NextMoveStep(StepEnum.IO21_WaitShelfReady);
@@ -1127,6 +1145,63 @@ namespace OnlineStore.DeviceLibrary
             }
 
             #endregion
+
+            #region 出库->NG箱
+            else if (MoveInfo.IsStep(StepEnum.II81_MiddleToNg))
+            {
+                MoveInfo.NextMoveStep(StepEnum.II82_InoutToP6);
+                MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 进出轴到P6（NG料区放料点）{Config.Inout_P6}");
+                InOutAxis.AbsMove(MoveInfo, Config.Inout_P6, Config.Inout_P6_Speed);
+            }
+            else if (MoveInfo.IsStep(StepEnum.II82_InoutToP6))
+            {
+                TrayHasLeave();
+                MoveInfo.NextMoveStep(StepEnum.II83_UpdownToP9);
+                MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 升降轴到P9（NG料区放料低点）{Config.Updown_P9_NGL}");
+                UpdownAxis.AbsMove(MoveInfo, Config.Updown_P9_NGL, Config.Updown_P9_Speed);
+            }
+            else if (MoveInfo.IsStep(StepEnum.II83_UpdownToP9))
+            {
+                MoveInfo.NextMoveStep(StepEnum.II84_ClampRelax);
+                MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 夹爪放松");
+                ClampRelax(MoveInfo, MoveInfo.MoveParam.PosInfo.barcode);
+            }
+            else if (MoveInfo.IsStep(StepEnum.II84_ClampRelax))
+            {
+                MoveInfo.NextMoveStep(StepEnum.II85_UpdownToP8);
+                MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 升降轴到P8（NG料区放料高点）{Config.Updown_P8_NGH}");
+                UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
+            }
+            else if (MoveInfo.IsStep(StepEnum.II85_UpdownToP8))
+            {
+                MoveInfo.NextMoveStep(StepEnum.II86_1_InoutToP1);
+                MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 进出轴到P1（待机点）{Config.Inout_P1}");
+                InOutAxis.AbsMove(MoveInfo, Config.Inout_P1, Config.Inout_P1_Speed);
+            }
+            else if (MoveInfo.IsStep(StepEnum.II86_1_InoutToP1))
+            {
+                if (shelf.Equals(1))
+                {
+                    MoveLog($" 出料->NG箱放料结束");
+                    MoveInfo.EndMove();
+                    runStatus = RunStatus.Runing;
+                }
+                else
+                {
+                    //旋转轴暂不回待机点
+                    MoveInfo.NextMoveStep(StepEnum.II86_MiddleToP1);
+                    MoveLog($" 出料->NG箱 {MoveInfo.SLog}: 旋转轴 到P1(待机点){Config.Middle_P1}");
+                    MiddleAxis.AbsMove(MoveInfo, Config.Middle_P1, Config.Middle_P1_Speed);
+                }
+            }
+            else if (MoveInfo.IsStep(StepEnum.II86_MiddleToP1))
+            {
+                TimeSpan span = DateTime.Now - startInTime;
+                MoveLog($" 出料->NG箱放料结束，耗时【{FormUtil.GetSpanStr(span)}】");
+                MoveInfo.EndMove();
+                runStatus = RunStatus.Runing;
+            }
+            #endregion
         }
         private bool MiddleToShelf()
         {

source/XLRStoreClient/记录.txt

@@ -34,3 +34,7 @@ PRO,0,提升轴上料扫码点_A侧,BatchAxisP4_A,0,,,,,,,,,,,,
 PRO,0,提升轴上料扫码点_B侧,BatchAxisP4_B,0,,,,,,,,,,,,
 PRO,0,提升上料轴P4速度/运动到扫码点速度,BatchAxis_P4Speed,5000,,,,,,,,,,,,
 
+2023/8/8
+1、料叉信号检测等到抽屉推入后检查，以便出现问题不好复位
+2、复位结束后，料叉上有料当作NG处理，将料放到出料缓存区,送到NG料箱
+