入库料盘未抓起30秒报警并送入NG

source/DeviceLibrary/deviceLibrary/halcon/CodeManager.cs

@@ -128,7 +128,6 @@ namespace OnlineStore.DeviceLibrary
                         continue;
                     }
                     ScanCount++;
-                    DateTime startTime = DateTime.Now;
                     if (deviceName != "")
                     {
                         LogUtil.info(deviceName + " 【" + cameraName + "】开始取图片");
@@ -146,9 +145,8 @@ namespace OnlineStore.DeviceLibrary
                             LoadCamera(true);
                             continue;
                         }
-
+                        DateTime startTime = DateTime.Now;
                         LogUtil.info(deviceName + "  【" + cameraName + "】取图片完成，开始扫码");
-
                         string r = "";
                         if (!isPreScan)
                         {

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -20,7 +20,6 @@ namespace OnlineStore.DeviceLibrary
         public bool IsDebug = false;
         public bool MoveStop = false;
         public bool AxisAlarmFlag = false;//轴报警异常标识
-
         protected void SetAllTimer(bool open)
         {
             IoCheckTimer.Enabled = open;

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs

@@ -22,6 +22,10 @@ namespace OnlineStore.DeviceLibrary
         public string WarnMsg = "";
         public BatchMoveConfig Config = null;
         public int ShelfType = 0;
+        /// <summary>
+        /// 机器人抓取料盘失败
+        /// </summary>
+        public bool ReelNotTakeOk = false;
         private InputEquip Robot
         {
             get { return StoreManager.XLRStore.inputEquip; }

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -367,7 +367,7 @@ 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
                 {
                     scanTask = Task.Factory.StartNew(delegate
@@ -377,7 +377,7 @@ namespace OnlineStore.DeviceLibrary
                        codes = CodeManager.CameraScan(Config.CameraName, Name);
                        if (codes.Count <= 0)
                        {
-                           LogUtil.error($"{Name} 第一次解码失败：{string.Join("|",codes)}，重新解码");
+                           LogUtil.error($"{Name} 第一次解码失败：{string.Join("|", codes)}，重新解码");
                            codes = CodeManager.CameraScan(Config.CameraName, Name);
                        }
                        //TODO 需要判断是否和上次的条码重复，重复的条码不可用
@@ -534,9 +534,13 @@ namespace OnlineStore.DeviceLibrary
                 buchongStr = "(最后一盘料已补充5)";
                 height += 5;
             }
-
+            if (ReelNotTakeOk)
+            {
+                LastHeight = 1000;
+                ReelNotTakeOk=false;
+            }
             //如果检测出<=15,都按照8计算
-            if (height <= 15)
+            else if (height <= 15)
             {
                 LastHeight = 8;
             }

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

 using Asa;
+using CodeLibrary;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
@@ -155,12 +156,33 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else
                 {
-                    II05_WaitAxisCheck();
+                    if (IOValue(IO_Type.Shelf_ReelCheck).Equals(IO_VALUE.LOW))
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.II06_WaitHeight);
+                        BatchMove.GetTrayOK();
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.II05_WaitAxisCheck);
+                        MoveLog($"入库取料,  等待定位料盘信号消失");
+                        //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shelf_ReelCheck, IO_VALUE.LOW));
+                    }
+
                 }
             }
             else if (MoveInfo.IsStep(StepEnum.II05_WaitAxisCheck))
             {
-                II05_WaitAxisCheck();
+                if (IOValue(IO_Type.Shelf_ReelCheck).Equals(IO_VALUE.LOW))
+                {
+                    MoveInfo.NextMoveStep(StepEnum.II06_WaitHeight);
+                    BatchMove.GetTrayOK();
+                }
+                else if(MoveInfo.IsTimeOut(30))
+                {
+                    BatchMove.ReelNotTakeOk = true;
+                    WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] 等待" + IO_Type.Shelf_ReelCheck + "=HIGH 超时 " + Math.Round((DateTime.Now-MoveInfo.LastSetpTime).TotalSeconds, 1) + "秒";
+                    LogUtil.error(WarnMsg);
+                }
             }
             else if (MoveInfo.IsStep(StepEnum.II06_WaitHeight))
             {
@@ -176,13 +198,12 @@ namespace OnlineStore.DeviceLibrary
                     //}
                     MoveInfo.MoveParam.PosInfo.PlateH = Height;
                     MoveInfo.MoveParam.PosInfo.PlateW = width;
-
                     MoveLog($"入库取料{shelf}{MoveInfo.SLog}:  料盘尺寸{width}X{Height}");
                     II13_GetPosId();
                 }
                 else if (MoveInfo.IsTimeOut(60))
                 {
-                    MoveTimeOut(MoveInfo, "" + moveBean.Name + "获取料盘高度完成");
+                    MoveTimeOut(MoveInfo, "" + moveBean.Name + "获取料盘高度完成超时");
                 }
             }
             else if (MoveInfo.IsStep(StepEnum.II08_GetPosId))
@@ -533,22 +554,6 @@ namespace OnlineStore.DeviceLibrary
 
             });
         }
-        private void II05_WaitAxisCheck()
-        {
-            MoveInfo.NextMoveStep(StepEnum.II05_WaitAxisCheck);
-            MoveLog($"入库取料,  等待定位料盘信号消失,通知料串料盘已离开");
-
-            if (IOValue(IO_Type.Shelf_ReelCheck).Equals(IO_VALUE.LOW))
-            {
-                MoveInfo.NextMoveStep(StepEnum.II06_WaitHeight);
-                BatchMove.GetTrayOK();
-            }
-            else
-            {
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Shelf_ReelCheck, IO_VALUE.LOW));
-            }
-
-        }
         #endregion
     }
 }