|
|
|
@ -3,6 +3,7 @@ using Rs.Framework;
|
|
|
|
|
using Rs.MotionPlat.Commom;
|
|
|
|
|
using Rs.MotionPlat.Entitys;
|
|
|
|
|
using Rs.MotionPlat.Flow.Common;
|
|
|
|
|
using Rs.MotionPlat.Flow.SafePosFlow;
|
|
|
|
|
using System;
|
|
|
|
|
using System.Collections.Generic;
|
|
|
|
|
using System.Linq;
|
|
|
|
@ -104,6 +105,11 @@ namespace Rs.MotionPlat.Flow.SubFlow
|
|
|
|
|
targetPosition.Y2 += result.OffsetY;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
double curLoadX = Ops.GetCurPosition(AxisControl.LoadX);
|
|
|
|
|
if (curLoadX - GlobalVar.FixtureSafePosX > 50)
|
|
|
|
|
{
|
|
|
|
|
DischargeModuleGoSafePosFlow.Instance.GoSafePostion(ESafePosSide.PlaceToStock);
|
|
|
|
|
}
|
|
|
|
|
if (GroupAxisMove.XY1Y2MovePos(targetPosition, GlobalVar.WholeSpeed))
|
|
|
|
|
{
|
|
|
|
|
AxisPosPrint.PrintXY1Y2TargetPos($"到料仓{waitTakeProductSlot.Index}号穴位取料位上方,", targetPosition, GetClassName());
|
|
|
|
|