取料失败自动回原

Rs.DeweyTester/Flow/NormalFlow/DischargeFlow.cs

@@ -452,7 +452,8 @@ namespace Rs.MotionPlat.Flow
                                         else if (fixtureret != null && fixtureret.Result == EOneGrabSixteenResult.LocationOkScanBarcodeFail)
                                         {
                                             Nozzle idleNozzle = NozzleManager.GetIdelNozzle();
-                                            if (!GlobalVar.ScanFailToTest)
+                                            //if (!GlobalVar.ScanFailToTest)
+                                            if(false)
                                             {
                                                 StockTakeFlow.Instance.Take(ETrayType.Input, ret.SlotIndex, idleNozzle.NozzleIndex);
                                                 //放料

Rs.DeweyTester/Flow/SubFlow/FixtureTakeFlow.cs

@@ -1,5 +1,6 @@
 using Rs.Controls;
 using Rs.Framework;
+using Rs.Motion.Base;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Entitys;
 using Rs.MotionPlat.Flow.Common;
@@ -32,6 +33,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
     }
     public class FixtureTakeFlow
     {
+        int takeNum = 1;
         bool finished = true;
         EFixtureTakeFlowStep flowStep = EFixtureTakeFlowStep.待触发;
         public FixtureTakeFlow()
@@ -58,6 +60,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
         AlarmEntity alarmEntity = new AlarmEntity();
         public void Take(int fixtureIndex,int nozzleIndex=-1,bool btest=false, bool needStop = true)
         {
+            takeNum = 1;
             if (finished)
                 finished = false;
             else
@@ -245,6 +248,27 @@ namespace Rs.MotionPlat.Flow.SubFlow
                             
                         }
                         else
+                        {
+                            if (takeNum < 2)
+                            {
+                                takeNum++;
+                                IAxis homeAxis = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}");
+                                if (homeAxis != null)
+                                {
+                                    homeAxis.Home();
+                                    Thread.Sleep(500);
+                                    while (true)
+                                    {
+                                        if (homeAxis.HomeStatus == Motion.EHomeStatus.Finished)
+                                        {
+                                            break;
+                                        }
+                                        Thread.Sleep(100);
+                                    }
+                                }
+                                flowStep = EFixtureTakeFlowStep.到治具取料位上方;
+                            }
+                            else
                             {
                                 alarmEntity = AlarmCollection.Get(AlarmConstID.治具取料失败真空报警).Transform(curNozzle.NozzleIndex, curFixture.Index);
                                 if (alarmEntity != null)
@@ -279,6 +303,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
                                     Msg.ShowError("Translated document cann't find item 治具取料失败真空报警");
                                 }
                             }
+                        }
 
                         break;
                     default:

Rs.DeweyTester/Flow/SubFlow/StockTakeFlow.cs

@@ -1,5 +1,6 @@
 using Rs.Controls;
 using Rs.Framework;
+using Rs.Motion.Base;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Entitys;
 using Rs.MotionPlat.Flow.Common;
@@ -36,6 +37,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
     /// </summary>
     public class StockTakeFlow
     {
+        int takeNum = 1;
         bool finished = true;
         Nozzle curNozzle = null;
         TraySlot waitTakeProductSlot = null;
@@ -68,7 +70,7 @@ namespace Rs.MotionPlat.Flow.SubFlow
         /// <param name="className"></param>
         public void Take(ETrayType trayType, int slotIndex,int nozzleIndex, EStockScanBarcodeMode scanBarCodeMode= EStockScanBarcodeMode.Multi, ProductLocationResult locaResult=null,bool needStop=true)
         {
-            
+            takeNum = 1;
             if (finished)
                 finished = false;
             else
@@ -252,6 +254,28 @@ namespace Rs.MotionPlat.Flow.SubFlow
                         }
                         else
                         {
+                            if(takeNum<2)
+                            {
+                                takeNum++;
+                                IAxis homeAxis = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}");
+                                if (homeAxis != null)
+                                {
+                                    homeAxis.Home();
+                                    Thread.Sleep(500);
+                                    while (true)
+                                    {
+                                        if (homeAxis.HomeStatus == Motion.EHomeStatus.Finished)
+                                        {
+                                            break;
+                                        }
+                                        Thread.Sleep(100);
+                                    }
+                                }
+                                flowStep = EStockTakeFlowStep.到料仓取料位上方;
+                            }
+                            else
+                            {
+                                
                                 if (GlobalVar.BinTakeFailSkip && trayType == ETrayType.Input)
                                 {
                                     logInfo = GetClassName() + $"{trayType} bin {waitTakeProductSlot.Index} take fail auto skip";
@@ -301,6 +325,8 @@ namespace Rs.MotionPlat.Flow.SubFlow
                                             break;
                                     }
                                 }
+                            }
+                            
                             
                         }
                         break;