1、修复整体回原失败后不能再回原。

2、料盘未抓起确定改为重试
3、取料盘时增加对XY位置的检测，不在位置时重新走位。
4、扫码界面二维码放到图片的下方。
5、修复当治具9-16真空吸报警时，安全位没有移动到9-16的安全位。

Rs.SkyLine/Commom/GlobalVar.cs

@@ -1793,5 +1793,9 @@ namespace Rs.Framework
                 return SysConfigParam.GetValue<bool>(nameof(EnableIndexTimeStatistics));
             }
         }
+        /// <summary>
+        /// 设备是否是自动状态
+        /// </summary>
+        public static bool DeviceIsAuto { get; set; } = true;
     }
 }

Rs.SkyLine/Commom/Ops.cs

@@ -260,6 +260,7 @@ namespace Rs.MotionPlat.Commom
                 || MachineManage.Instance.MachineStatus == EMachineStatus.NotInit
                 || MachineManage.Instance.MachineStatus == EMachineStatus.NotHomed
                 || MachineManage.Instance.MachineStatus == EMachineStatus.Stop
+                || MachineManage.Instance.MachineStatus== EMachineStatus.HomeFail
                 )
             {
                 if(SafeDoorCheck.Check())

Rs.SkyLine/Flow/BaseFlow.cs

@@ -35,7 +35,7 @@ namespace Rs.MotionPlat.Flow
         private void task() {
             while (b_IsRun)
             {
-                if(b_IsStop)
+                if(b_IsStop || !GlobalVar.DeviceIsAuto)
                 {
                     Thread.Sleep(stopWaitTime);
                     continue;

Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs

@@ -265,7 +265,7 @@ namespace Rs.AutoDischarge.V3.Flow
                             logInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓缺料盘), m_stockType.ToString());
                             //TestCenterMessageBox.Show(AlarmConstID.StockLackTrayAlarm +(int)m_stockType, logInfo, ETipButton.Ok);
                             //msgBox = TestCenterMessageBox.WaitResult(AlarmConstID.StockLackTrayAlarm + (int)m_stockType);
-                            PromptMessageBox.ShowDialog(AlarmConstID.料仓缺料盘, logInfo, ETipButton.Ok);
+                            PromptMessageBox.ShowDialog(AlarmConstID.料仓缺料盘, logInfo, ETipButton.Retry);
                         }
                         break;
                     case EStockTrayLoadFlowStep.到上料接料盘位:

Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs

@@ -168,6 +168,8 @@ namespace Rs.MotionPlat.Flow
                         break;
                     case ETakeTrayFlowStep.等待料盘准备就绪:
                         if (StockManager.Instance.GetStock(m_fromTray).Status == EStockTrayStatus.Loaded)
+                        {
+                            if (AxisArrived.LoadXYIsArrived(targetX, targetY))
                             {
                                 logInfo = GetClassName() + $"{m_fromTray}料仓料盘准备就绪";
                                 MessageQueue.Instance.Insert(logInfo);
@@ -181,8 +183,15 @@ namespace Rs.MotionPlat.Flow
                                 step = ETakeTrayFlowStep.等待运动到取料位下方;
                                 stopwatch.Restart();
                             }
+                            else
+                            {
+                                step = ETakeTrayFlowStep.到取料盘上方;
+                            }
+                            
+                        }
                         break;
                     case ETakeTrayFlowStep.等待运动到取料位下方:
+
                         if ((Ops.IsOn("上下气缸动位") && stopwatch.ElapsedMilliseconds < 5000) || (GlobalVar.VirtualAxis))
                         {
                             logInfo = GetClassName() + $"检测上下气缸动位OK";
@@ -217,7 +226,8 @@ namespace Rs.MotionPlat.Flow
                             if (alarmEntity != null)
                             {
                                 LogHelper.Debug(GetClassName() + alarmEntity.CN);
-                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
+                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Retry, null);
+                                step = ETakeTrayFlowStep.等待料盘准备就绪;
                             }
                             else
                             {
@@ -225,6 +235,7 @@ namespace Rs.MotionPlat.Flow
                             }
                             stopwatch.Restart();
                         }
+                        
                         break;
                     case ETakeTrayFlowStep.取料盘完成抬起:
                         Ops.Off("上下气缸电磁阀动位");
@@ -299,7 +310,7 @@ namespace Rs.MotionPlat.Flow
                             alarmEntity = AlarmCollection.Get(AlarmConstID.抓料盘未抓起).Transform(fromTray.ToString());
                             if(alarmEntity!=null)
                             {
-                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Ok, null);
+                                AlarmMessageBox.ShowDialog(alarmEntity, ETipButton.Retry, null);
                                 stopwatch.Stop();
                                 stopwatch.Restart();
                                 //打开夹爪

Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs

@@ -571,7 +571,7 @@ namespace Rs.MotionPlat.Flow
                                 VacManager.TurnoverTrayVacSuction(EVacOperator.Close, true, undealTasks.Select(t => t.FromIndex + 1).ToArray());
                                 /*打开周转盘真空破*/
                                 VacManager.TurnoverTrayVacBreak(EVacOperator.Open, true, undealTasks.Select(t => t.FromIndex + 1).ToArray());
-                                ActionEnd("关闭周转盘真空吸,打开周转盘真空破");
+                                ActionEnd("关闭周转盘真空吸-打开周转盘真空破");
                                 Step = ETurnoverFlowStep.周转盘取料完成抬起1;
                             }
                             else
@@ -1036,7 +1036,7 @@ namespace Rs.MotionPlat.Flow
                                 VacManager.TransitNozzleVacBreak(ETurnoverNozzlePosition.Socket, EVacOperator.Close, true, hasProductNozzles.Select(n => n.NozzleIndex).ToArray());
                                 //在这里更新产品状态
                                 //TransitNozzleManager.Instance.Transi
-                                ActionEnd("关闭周转吸头真空吸,打开周转吸头真空破,关闭周转吸头真空破");
+                                ActionEnd("关闭周转吸头真空吸-打开周转吸头真空破-关闭周转吸头真空破");
                                 Step = ETurnoverFlowStep.测试位放料完成抬起1;
                             }
                             else
@@ -1135,8 +1135,8 @@ namespace Rs.MotionPlat.Flow
                             /*关闭周转吸头真空破*/
                             //VacManager.TransitNozzleVacBreak(EVacOperator.Close, true, hasProductNozzles.Select(n => n.NozzleIndex).ToArray());
 
-                            //logInfo = GetClassName() + $"测试位放料完成抬起完成2";
-                            //MessageQueue.Instance.Insert(logInfo);
+                            logInfo = GetClassName() + $"测试位放料完成抬起完成2,cz:{Ops.GetCurPosition(AxisControl.TurnoverZ)}";
+                            MessageQueue.Instance.Insert(logInfo);
                             Step = ETurnoverFlowStep.测试位放料完成粘料检测;
                         }
                         else
@@ -1271,10 +1271,12 @@ namespace Rs.MotionPlat.Flow
                                                     VacManager.TestTrayVacSuction(EVacOperator.Close, true, nozzle.NozzleIndex);
                                                     if (nozzle.NozzleIndex < 9)
                                                     {
+                                                        LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}光钎异常");
                                                         TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.Socket);
                                                     }
                                                     else
                                                     {
+                                                        LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}光钎异常");
                                                         TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.SocketFrom9ToSixteen);
                                                     }
                                                     break;
@@ -1299,10 +1301,12 @@ namespace Rs.MotionPlat.Flow
                                                     VacManager.TestTrayVacSuction(EVacOperator.Close, true, nozzle.NozzleIndex);
                                                     if (nozzle.NozzleIndex < 9)
                                                     {
+                                                        LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}光钎异常");
                                                         TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.Socket);
                                                     }
                                                     else
                                                     {
+                                                        LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}光钎异常");
                                                         TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.SocketFrom9ToSixteen);
                                                     }
                                                     break;
@@ -1359,7 +1363,16 @@ namespace Rs.MotionPlat.Flow
                                                 break;
                                             case ETipButton.Yes://移动到安全位
                                                 VacManager.TestTrayVacSuction(EVacOperator.Close, true, nozzle.NozzleIndex);
+                                                if (nozzle.NozzleIndex < 9)
+                                                {
+                                                    LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}真空异常");
                                                     TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.Socket);
+                                                }
+                                                else
+                                                {
+                                                    LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}真空异常");
+                                                    TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.SocketFrom9ToSixteen);
+                                                }
                                                 break;
                                         }
                                     }
@@ -1379,7 +1392,16 @@ namespace Rs.MotionPlat.Flow
                                                 break;
                                             case ETipButton.Yes://移动到安全位
                                                 VacManager.TestTrayVacSuction(EVacOperator.Close, true, nozzle.NozzleIndex);
+                                                if (nozzle.NozzleIndex < 9)
+                                                {
+                                                    LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}真空异常");
                                                     TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.Socket);
+                                                }
+                                                else
+                                                {
+                                                    LogHelper.Debug($"治具穴位{nozzle.NozzleIndex}真空异常");
+                                                    TransitModuleSafePosFlow.Instance.GoSafePostion(EExceptionSafePos.SocketFrom9ToSixteen);
+                                                }
                                                 break;
                                         }
                                     }
@@ -2242,7 +2264,7 @@ namespace Rs.MotionPlat.Flow
                                 VacManager.TestTrayVacSuction(EVacOperator.Close, true, undealTasks.Select(t => t.FromIndex + 1).ToArray());
                                 /*打开测试穴位真空破*/
                                 VacManager.TestTrayVacBreak(EVacOperator.Open, true, undealTasks.Select(t => t.FromIndex + 1).ToArray());
-                                ActionEnd("关闭测试穴位真空吸,打开测试穴位真空破");
+                                ActionEnd("关闭测试穴位真空吸-打开测试穴位真空破");
                                 Step = ETurnoverFlowStep.测试位取料完成抬起1;
                             }
                             else
@@ -2669,7 +2691,7 @@ namespace Rs.MotionPlat.Flow
                                 VacManager.TransitNozzleVacBreak(ETurnoverNozzlePosition.TurnoverTray, EVacOperator.Open, true, hasProductNozzles.Select(n => n.FromIndex + 1).ToArray());
                                 /*关闭周转吸头真空破*/
                                 VacManager.TransitNozzleVacBreak(ETurnoverNozzlePosition.TurnoverTray, EVacOperator.Close, true, hasProductNozzles.Select(n => n.FromIndex + 1).ToArray());
-                                ActionEnd("关闭周转吸头真空吸,打开周转吸头真空破,关闭周转吸头真空破");
+                                ActionEnd("关闭周转吸头真空吸-打开周转吸头真空破-关闭周转吸头真空破");
                                 Step = ETurnoverFlowStep.周转盘放料完成抬起1;
                             }
                             else
@@ -3178,6 +3200,7 @@ namespace Rs.MotionPlat.Flow
 
         private void ActionStart()
         {
+            if (GlobalVar.EnableIndexTimeStatistics)
                 timeStatistics.Restart();
         }
 

Rs.SkyLine/Flow/SafePosFlow/TransitModuleSafePosFlow.cs

@@ -117,6 +117,8 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
                             {
                                 if(AxisArrived.PressZIsInTargetPos(targetPressZ))
                                 {
+                                    logInfo = $"轴已抬起,cturnoverz:{Ops.GetCurPosition(AxisControl.TurnoverZ)},cpressz:{Ops.GetCurPosition(AxisControl.PressZ)}";
+                                    MessageQueue.Instance.Insert("");
                                     step = ETransitModuleSafePosFlowStep.到安全位;
                                 }
                                 else
@@ -180,7 +182,7 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
                                 {
                                     Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
                                 }
-                                logInfo = GetClassName() + $"到安全位";
+                                logInfo = GetClassName() + $"到安全位,tx:{targetPosition.X},ty:{targetPosition.Y}";
                                 MessageQueue.Instance.Insert(logInfo);
                                 step = ETransitModuleSafePosFlowStep.等待运动到安全位;
                             }
@@ -201,11 +203,18 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
                     case ETransitModuleSafePosFlowStep.等待运动到安全位:
                         if (Ops.IsStop("TurnoverX", "TurnoverY") || GlobalVar.VirtualAxis)
                         {
-                            logInfo = GetClassName()+ $"已运动到安全位";
+                            if(AxisArrived.TurnoverXYIsInTargetPos(targetPosition.X,targetPosition.Y))
+                            {
+                                logInfo = GetClassName() + $"已运动到安全位,cx:{Ops.GetCurPosition(AxisControl.TurnoverX)},cy:{Ops.GetCurPosition(AxisControl.TurnoverY)}";
                                 MessageQueue.Instance.Insert(logInfo);
                                 finished = true;
                                 taskFinishedEvent.Set();
                             }
+                            else
+                            {
+                                step = ETransitModuleSafePosFlowStep.到安全位;
+                            }
+                        }
                         break;
                     default:
                         break;

Rs.SkyLine/FormMain.cs

@@ -269,6 +269,7 @@ namespace Rs.MotionPlat
             //StockManager.Instance.Start();
             LoadStockStatus();
             HOperatorSet.ReadImage(out defaultImage, "default.bmp");
+            switchButton1.Checked = GlobalVar.DeviceIsAuto;
         }
         
         /// <summary>
@@ -382,19 +383,22 @@ namespace Rs.MotionPlat
                     {
                         string SN = matchResult.SN;
                         hwin.HobjectToHimage(matchResult.SourceImage);
-                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"sn:{SN}", 20, 20, "green");
+                        HOperatorSet.GetImageSize(matchResult.SourceImage, out HTuple w, out HTuple h);
+                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"sn:{SN}", h-200, 20, "green");
                     }
                     else
                     {
                         hwin.HobjectToHimage(matchResult.SourceImage);
-                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
+                        HOperatorSet.GetImageSize(matchResult.SourceImage, out HTuple w, out HTuple h);
+                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", h-200, 20, "red");
                     }
                 }
                 else
                 {
                     //加载默认图片
                     hwin.HobjectToHimage(defaultImage);
-                    HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "no product", 20, 20, "red");
+                    HOperatorSet.GetImageSize(defaultImage, out HTuple w, out HTuple h);
+                    HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "no product", h-200, 20, "red");
                 }
             }
             
@@ -646,5 +650,10 @@ namespace Rs.MotionPlat
                 }
             }
         }
+
+        private void switchButton1_Click(object sender, EventArgs e)
+        {
+            GlobalVar.DeviceIsAuto = switchButton1.Checked;
+        }
     }
 }

Rs.SkyLine/FormMain.designer.cs

@@ -494,6 +494,7 @@ namespace Rs.MotionPlat
         "Manual"};
             this.switchButton1.TrueColor = System.Drawing.Color.Blue;
             this.switchButton1.TrueTextColr = System.Drawing.Color.White;
+            this.switchButton1.Click += new System.EventHandler(this.switchButton1_Click);
             // 
             // panelEx3
             // 

Rs.SkyLine/Properties/AssemblyInfo.cs

@@ -31,6 +31,6 @@ using System.Runtime.InteropServices;
 //
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
- [assembly: AssemblyVersion("3.20.24.10")]
+ [assembly: AssemblyVersion("3.20.24.13")]
 //[assembly: AssemblyVersion("1.0.0.0")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]