放料失败检查

DeviceLibrary/AutoScanAndLabel/MainMachine _LeftProcess.cs

@@ -195,11 +195,12 @@ namespace DeviceLibrary
                     if (enableCheck)
                     {
                         //等待右侧测高完成
-                        var param1 = GetLabelParam(RightMoveInfo.MoveParam.UID);
+                        var param1 = GetLabelParam(LeftMoveInfo.MoveParam.UID);
                         if (param1 == null)
                         {
                             LeftMoveInfo.NextMoveStep(MoveStep.L16);
-                            LeftMoveInfo.log($"未查询到记录：{RightMoveInfo.MoveParam.UID}，不检查");
+                            LeftMoveInfo.MoveParam.RightPulseHeight = 1;
+                            LeftMoveInfo.log($"未查询到记录：{LeftMoveInfo.MoveParam.UID}，认为成功");
                             return;
                         }
                         else //找到记录

DeviceLibrary/AutoScanAndLabel/MainMachine _MiddleProcess.cs

@@ -223,6 +223,12 @@ namespace DeviceLibrary
                     MiddleMoveInfo.log("放料完成,上下轴返回待机点");
                     break;
                 case MoveStep.M_ReturnToP1:
+                    //检查是否在拍照，避免干涉 R06_GettedReelInfo
+                    if (RightMoveInfo.IsStep(MoveStep.R06_GettedReelInfo))
+                    {
+                        MiddleMoveInfo.log("等待右侧拍照完成，避免干涉");
+                        return;
+                    }
                     MiddleMoveInfo.NextMoveStep(MoveStep.M_Standby);
                     Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P1, Config.Take_Middle_P1_speed);
                     MiddleMoveInfo.log("放料完成,旋转轴返回待机点");
@@ -255,6 +261,12 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.M20_1_ToNgBox:
+                    //检查是否在拍照，避免干涉 R06_GettedReelInfo
+                    if(RightMoveInfo.IsStep(MoveStep.R06_GettedReelInfo))
+                    {
+                        MiddleMoveInfo.log("等待右侧拍照完成，避免干涉");
+                        return;
+                    }
                     MiddleMoveInfo.NextMoveStep(MoveStep.M21);
                     Take_Middle_Axis.AbsMove(MiddleMoveInfo, Config.Take_Middle_P5, Config.Take_Middle_P5_speed);
                     MiddleMoveInfo.log("旋转轴转到P5 NG位置");
@@ -269,6 +281,7 @@ namespace DeviceLibrary
                     {
                         MiddleMoveInfo.NextMoveStep(MoveStep.M23);
                         clampTool.Release();
+                        removeParam(MiddleMoveInfo.MoveParam.UID);
                         MiddleMoveInfo.log("取料夹爪放松,放料入NG位置.");
                     }
                     else if (MiddleMoveInfo.IsTimeOut(10))

DeviceLibrary/AutoScanAndLabel/MainMachine _RightProcess.cs

@@ -72,8 +72,11 @@ namespace DeviceLibrary
                 case MoveStep.R04:
                     if (IOValue(IO_Type.RightTop_Check).Equals(IO_VALUE.HIGH) && RightShelfNoTray.Equals(false))
                     {
+                        if(MiddleMoveInfo.MoveStep == MoveStep.M21)//旋转轴正在旋转
+                        {
 
-                        if (MiddleMoveInfo.MoveStep >= MoveStep.M09 || MiddleMoveInfo.MoveStep < MoveStep.M02)
+                        }
+                        else if ((MiddleMoveInfo.MoveStep >= MoveStep.M09) || MiddleMoveInfo.MoveStep < MoveStep.M02)
                         {
                             RightMoveInfo.NextMoveStep(MoveStep.R06_GettedReelInfo);
                             ScanCode();

DeviceLibrary/AutoScanAndLabel/MoveInfo.cs

@@ -113,7 +113,7 @@ namespace DeviceLibrary
         public string lastmsg = "";
         public void log(string msg)
         {
-            msg = $"[{Name}][{moveStep}][{MoveParam.WareCode}]{msg}";
+            msg = $"[{Name}][{moveStep}][{MoveParam.UID}][{MoveParam.WareCode}]{msg}";
 
             if (String.Compare(lastmsg, msg, StringComparison.Ordinal) != 0)
             {