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Rs.SkyLine
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优化重排时，当取料失败时增加报警处理逻辑

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master
lhiven 1 year ago
parent 643fcd2663
commit 68dca5647a
3 changed files with 175 additions and 185 deletions
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14
Rs.SkyLine/Commom/Ops.cs
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@ -562,5 +562,19 @@ namespace Rs.MotionPlat.Commom
return false;
}
}
/// <summary>
/// 判断轴是否在原点
/// </summary>
/// <param name="axisName"></param>
/// <returns></returns>
public static bool IsInOrg(string axisName)
{
IAxis axis=AxisControl.GetAxis(axisName);
axis.GetOrgStatus(out bool isInOrg);
if (isInOrg)
return true;
return false;
}
}
}

2
Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs
Unescape Escape View File

@ -373,7 +373,7 @@ namespace Rs.MotionPlat.Flow
}
else
{
logInfo = GetClassName()+ $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定";
logInfo = GetClassName()+ $"NozzleZ{curNozzle.NozzleIndex} 轴状态未回原，请手动回原后点击确定";
MessageQueue.Instance.Warn(logInfo);
MsgBox.ShowDialog(AlarmConstID.AxisNotAtHomeAlarm, logInfo, ETipButton.Ok);
}

344
Rs.SkyLine/Flow/RearrangeFlow.cs
Unescape Escape View File

@ -1,8 +1,15 @@
using Rs.Camera;
using Rs.AutoDischarge.V3.Flow;
using Rs.Camera;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Entitys.Trays;
using Rs.MotionPlat.Flow.Camera;
using Rs.MotionPlat.Flow.NgFlow;
using Rs.MotionPlat.Flow.SafePosFlow;
using Rs.MotionPlat.Flow.SubFlow;
using System;
using System.Collections.Generic;
using System.Diagnostics;
@ -11,6 +18,7 @@ using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static Rs.MotionPlat.Commom.SchedulingMessageBox;
namespace Rs.MotionPlat.Flow
{
@ -23,6 +31,7 @@ namespace Rs.MotionPlat.Flow
等待到取料位下方,
开真空,
取料真空检测,
取料失败报警,
取料完成抬起,
等待取料完成抬起,
到放料位上方,
@ -64,6 +73,8 @@ namespace Rs.MotionPlat.Flow
double targetY = 0.0;
int FetchNum = 0;//取料次数
ErrorCode errCode = ErrorCode.Ok;
string alarmInfo = string.Empty;
ETrayType traytype;
public void Rearrange()
{
bool finished = false;
@ -78,7 +89,6 @@ namespace Rs.MotionPlat.Flow
DischargeFlow.Instance.Stop();
logInfo = $"接收重排任务";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.到取料位上方;
}
break;
@ -87,10 +97,10 @@ namespace Rs.MotionPlat.Flow
curNozzle = NozzleManager.GetIdelNozzle(true);
if (curTask != null && curNozzle != null)
{
if (SafeControl.Instance.XYCanMove() || GlobalVar.VirtualAxis)
if (DischargeFlow.Instance.XYCanGoLocalArea() || GlobalVar.VirtualAxis)
{
curSlotPoint = null;
ETrayType traytype = ETrayType.Ok;
traytype = ETrayType.Ok;
switch (curTask.FromType)
{
case TurnoverType.Passed:
@ -107,8 +117,7 @@ namespace Rs.MotionPlat.Flow
}
logInfo = $"吸嘴{curNozzle.NozzleIndex} 去{traytype}盘 {curTask.FromIndex + 1} 号穴位取料";
curSlotPoint = TrayPointManager.GetSlotPoint(traytype, curTask.FromIndex + 1);
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
MessageQueue.Instance.Insert(logInfo);
if (curSlotPoint != null)
{
nozzleDist = TrayPointManager.GetDistToNozzle1(curNozzle.NozzleIndex);
@ -128,9 +137,8 @@ namespace Rs.MotionPlat.Flow
}
else
{
logInfo = "x y move isn't safe";
logInfo = "loady move isn't safe";
Msg.ShowError(logInfo);
LogHelper.Error(logInfo);
MessageQueue.Instance.Warn(logInfo);
}
}
@ -142,63 +150,39 @@ namespace Rs.MotionPlat.Flow
logInfo = "已运动到取料位上方";
Thread.Sleep(100);
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.到取料位下方;
}
break;
case ERearrangeFlowStep.到取料位下方:
if (GlobalVar.VirtualAxis)
if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished || GlobalVar.VirtualAxis)
{
Thread.Sleep(GlobalVar.VirtualAxisMoveTime);
flowStep = ERearrangeFlowStep.等待到取料位下方;
logInfo = "准备运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
flowStep = ERearrangeFlowStep.等待到取料位下方;
}
}
else
{
if (AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished)
{
logInfo = "准备运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(GetVacOffsetHeight(FetchNum) + SysConfigParam.GetValue<double>($"TrayNozzle{curNozzle.NozzleIndex}TakeHeight"), GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok)
{
flowStep = ERearrangeFlowStep.等待到取料位下方;
}
}
else
{
logInfo = $"NozzleZ{curNozzle.NozzleIndex} 不在原点，请手动回原后点击确定";
Msg.ShowError(logInfo);
LogHelper.Error(logInfo);
}
logInfo = $"NozzleZ{curNozzle.NozzleIndex} 轴状态未回原，请手动回原后点击确定";
Msg.ShowError(logInfo);
LogHelper.Error(logInfo);
}
break;
case ERearrangeFlowStep.等待到取料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = "已运动到取料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.开真空;
}
break;
case ERearrangeFlowStep.开真空:
if (GlobalVar.VirtualAxis)
{
flowStep = ERearrangeFlowStep.取料完成抬起;
}
else
{
Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleOpenVacSuctionDelaytime);
logInfo = $"打开{curNozzle.NozzleIndex}号吸嘴真空吸";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.取料完成抬起;
}
VacManager.DischargeVacSuction(EVacOperator.Open, true, curNozzle.NozzleIndex);
flowStep = ERearrangeFlowStep.取料完成抬起;
break;
case ERearrangeFlowStep.取料完成抬起:
@ -207,7 +191,6 @@ namespace Rs.MotionPlat.Flow
{
logInfo = "取料完成准备抬起";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.等待取料完成抬起;
}
break;
@ -216,7 +199,6 @@ namespace Rs.MotionPlat.Flow
{
logInfo = "取料完成已运动到抬起位，准备真空检测";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.取料真空检测;
}
break;
@ -271,111 +253,115 @@ namespace Rs.MotionPlat.Flow
}
else
{
//FetchNum++;
//if (FetchNum == 6)
//{
// //DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel);
// CloseResult cr = new TakeFailMsg().ShowMsg($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定");
// if (cr.Result == ECloseButton.Retry)
// {
// FetchNum = 0;
// flowStep = ERearrangeFlowStep.到取料位下方;
// }
// else if (cr.Result == ECloseButton.Skip)//switch
// {
// FetchNum = 0;
// if (curTask.FromType == TurnoverType.Turnover)
// {
// GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
// }
// else if (curTask.FromType == TurnoverType.ToBeTested)
// {
// GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
// }
// if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
// {
// flowStep = ERearrangeFlowStep.到取料位上方;
// }
// else
// {
// flowStep = ERearrangeFlowStep.到下相机拍照起始位;
// }
// }
// else if (cr.Result == ECloseButton.EndInput)
// {
// FetchNum = 0;
// TestCenter.Instance.EndInput();
// LoadAndUnloadTask.Instance.ClearUndoTask();
// if (NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count > 0)
// {
// flowStep = ERearrangeFlowStep.到下相机拍照起始位;
// }
// else
// {
// flowStep = ERearrangeFlowStep.任务结束到安全位;
// }
// }
// else if (cr.Result == ECloseButton.Continue)
// {
// FetchNum = 0;
// curNozzle.Status = ENozzleStatus.ToUnload;
// curNozzle.FromType = curTask.FromType;
// curNozzle.FromFloor = curTask.FromFloor;
// curNozzle.ToType = curTask.ToType;
// curNozzle.ToIndex = curTask.ToIndex;
// curTask.SuckerNo = curNozzle.NozzleIndex;
// curNozzle.TurnoverGUID = curTask.GUID;
// if (curTask.FromType == TurnoverType.Turnover)
// {
// curNozzle.SN = curTask.SN;
// curNozzle.FromIndex = curTask.FromIndex;
// GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
// }
// else if (curTask.FromType == TurnoverType.ToBeTested)
// {
// curNozzle.FromIndex = GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index;
// GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
// }
// curNozzle.Update();
// curTask.Dealed = true;
// if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
// {
// flowStep = ERearrangeFlowStep.到取料位上方;
// }
// else
// {
// if (GlobalVar.VirtualAxis)
// {
// foreach (Nozzle nl in NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload))
// {
// if (string.IsNullOrEmpty(nl.SN))
// nl.SN = nl.FromIndex.ToString().PadLeft(18, '0');
// //nl.SN = GuidHelper.Create();
// }
// mrs = new List<MatchResult>();
// for (int i = 0; i < needGrabNum; i++)
// {
// mrs.Add(new MatchResult());
// }
// flowStep = ERearrangeFlowStep.到放料位上方;
// }
// else
// {
// flowStep = ERearrangeFlowStep.到下相机拍照起始位;
// }
if (FetchNum == 0)
{
//这个时候Z&R回原一次，然后再重新取料
ZRHomeFlow.Instance.GoHome(curNozzle.NozzleIndex);
}
FetchNum++;
if (FetchNum >= GlobalVar.DischargeRetakeNum)
{
DischargeDumpFlow.Instance.Start(curTask.FromType, curNozzle.NozzleIndex, curNozzle.FromIndex);
alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.料仓tray盘取料报警), curNozzle.NozzleIndex, curNozzle.FromIndex + 1);
flowStep = ERearrangeFlowStep.取料失败报警;
}
else
{
flowStep = ERearrangeFlowStep.到取料位下方;
}
}
break;
//TestCenterMessageBox.Show(AlarmConstID.TrayTakeFailAlarm, alarmInfo, btnText, buttonText);
case ERearrangeFlowStep.取料失败报警:
ETipButton btnText = (ETipButton.Retry | ETipButton.Skip | ETipButton.Yes);
Dictionary<ETipButton, string> buttonText = new Dictionary<ETipButton, string>();
buttonText.Add(ETipButton.Retry, "重试|Retry");
buttonText.Add(ETipButton.Skip, "跳过|Skip");
buttonText.Add(ETipButton.Yes, "移动到安全位|MoveToSafePos");
int alarmid = AlarmConstID.料仓tray盘取料报警;
SchedulingMessageBox box = MsgBox.ShowDialog(alarmid, alarmInfo, btnText, buttonText);
switch (box.Button)
{
case ETipButton.Retry:
logInfo = GetClassName() + $"选择了重试，继续取料";
MessageQueue.Instance.Insert(logInfo);
if (curTask.FromType == TurnoverType.ToBeTested)
{
//检测料盘是否在上料位，在上料位则继续取料，不在上料位，则通知料仓把料盘送到上料位
if (!StockManager.Instance.GetStock(ETrayType.Input).HasTray())
{
logInfo = GetClassName() + $"检测到料盘不在就绪状态，上料盘";
MessageQueue.Instance.Insert(logInfo);
StockManager.Instance.GetStock(ETrayType.Input).Load(EStockTrayLoadMode.AfterBacked, null);//.Load(EStockType.Input, EStockTrayLoadMode.AfterBacked);
}
}
FetchNum = 0;
flowStep = ERearrangeFlowStep.到取料位上方;
break;
case ETipButton.Skip:
SlotProductHasOrNotResult haveProduct = null;
logInfo = GetClassName() + "选择了跳过";
MessageQueue.Instance.Insert(logInfo);
if (!StockManager.Instance.GetStock(traytype).HasTray())
{
logInfo = GetClassName() + $"检测到料盘不在上料位";
MessageQueue.Instance.Insert(logInfo);
StockManager.Instance.GetStock(traytype).Load(EStockTrayLoadMode.AfterBacked, null);//.Load(EStockType.Input, EStockTrayLoadMode.AfterBacked);
logInfo = GetClassName() + $"上料完成,通知相机拍照，检测产品是否已拿走";
MessageQueue.Instance.Insert(logInfo);
}
haveProduct = UpCameraCheckFlow.Instance.CheckStockTrayHasProduct(traytype, curNozzle.FromIndex + 1, true);
if (!haveProduct.HasProduct)
{
logInfo = GetClassName() + "检测到产品已拿走，流程继续";
MessageQueue.Instance.Insert(logInfo);
FetchNum = 0;
//执行料仓Tray取料NG时的处理流程，流程处理结束后，流程继续
GlobalTray.GetTray(traytype).ChangeStatus(curNozzle.FromIndex + 1, ESlotStatus.NotHave);
if (RearrangeTask.HasTask() && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
{
flowStep = ERearrangeFlowStep.到取料位上方;
}
else
{
flowStep = ERearrangeFlowStep.到放料位上方;
}
}
else
{
alarmInfo = $"检测到{curNozzle.FromIndex + 1}号穴位产品未取出，请处理";
flowStep = ERearrangeFlowStep.取料失败报警;
}
// }
// }
//}
//else
//{
// flowStep = ERearrangeFlowStep.到取料位下方;
//}
break;
case ETipButton.Yes://移动到安全位
//通知料仓把料盘退回到安全位
if (curTask.FromType == TurnoverType.ToBeTested)
{
logInfo = GetClassName() + $"通知料仓把料盘退回到安全位";
MessageQueue.Instance.Insert(logInfo);
StockManager.Instance.GetStock(ETrayType.Input).Unload(EStockTrayUnLoadMode.Back, null);//.UnLoad(EStockType.Input, EStockTrayUnLoadMode.Back);
//StockManager.Instance.Wait(EStockType.Input);
logInfo = GetClassName() + $"料仓已退回到安全位";
MessageQueue.Instance.Insert(logInfo);
}
else if (curTask.FromType == TurnoverType.Turnover)
{
logInfo = GetClassName() + $"通知排料头回安全位";
MessageQueue.Instance.Insert(logInfo);
DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
logInfo = GetClassName() + $"排料头已回到安全位";
MessageQueue.Instance.Insert(logInfo);
}
alarmInfo = $"已运动到安全位,{curNozzle.NozzleIndex}号排料吸嘴取{curNozzle.FromIndex}号穴位产品次失败，请处理";
flowStep = ERearrangeFlowStep.取料失败报警;
break;
default:
break;
}
break;
case ERearrangeFlowStep.到放料位上方:
if (SafeControl.Instance.XYCanMove() || GlobalVar.VirtualAxis)
if (DischargeFlow.Instance.XYCanGoLocalArea() || GlobalVar.VirtualAxis)
{
targetX = 0.0;
targetY = 0.0;
@ -408,7 +394,7 @@ namespace Rs.MotionPlat.Flow
}
else
{
Msg.ShowError("x y move isn't safe");
Msg.ShowError("loady move isn't safe");
}
break;
case ERearrangeFlowStep.等待到放料位上方:
@ -417,7 +403,6 @@ namespace Rs.MotionPlat.Flow
Thread.Sleep(100);
logInfo = "已运动到放料位上方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.到放料位下方;
}
@ -425,7 +410,6 @@ namespace Rs.MotionPlat.Flow
case ERearrangeFlowStep.到放料位下方:
logInfo = "到放料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
errCode = AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").MovePos(SysConfigParam.GetValue<double>($"TurnoverNozzle{curNozzle.NozzleIndex}TakeHeight") + 3, GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
@ -435,15 +419,9 @@ namespace Rs.MotionPlat.Flow
case ERearrangeFlowStep.等待到放料位下方:
if (Ops.IsStop($"NozzleZ{curNozzle.NozzleIndex}") || GlobalVar.VirtualAxis)
{
logInfo = "已运动到放料位下方";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空吸电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleCloseVacSuctionDelaytime);
Ops.On($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleOpenVacBreakDelaytime);
Ops.Off($"{curNozzle.NozzleIndex}号吸嘴真空破电磁阀");
Thread.Sleep(GlobalVar.LoadNozzleCloseVacBreakDelaytime);
VacManager.DischargeVacSuction(EVacOperator.Close, true, curNozzle.NozzleIndex);
VacManager.DischargeVacBreak(EVacOperator.Open, true, curNozzle.NozzleIndex);
VacManager.DischargeVacBreak(EVacOperator.Close, false, curNozzle.NozzleIndex);
flowStep = ERearrangeFlowStep.放料完成抬起;
}
@ -454,7 +432,6 @@ namespace Rs.MotionPlat.Flow
{
logInfo = "放料完成抬起";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.等待放料完成抬起;
}
break;
@ -463,7 +440,6 @@ namespace Rs.MotionPlat.Flow
{
logInfo = "放料完成已运动到抬起位，准备真空检测";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
flowStep = ERearrangeFlowStep.放料真空检测;
}
break;
@ -473,7 +449,6 @@ namespace Rs.MotionPlat.Flow
case ERearrangeFlowStep.放料任务完成:
logInfo = "放料任务完成";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
AxisControl.GetAxis($"NozzleZ{curNozzle.NozzleIndex}").Home();
if (curNozzle.ToType == TurnoverType.Passed)
{
@ -510,7 +485,6 @@ namespace Rs.MotionPlat.Flow
case ERearrangeFlowStep.任务结束到安全位:
logInfo = "任务结束到安全位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
if (errCode == ErrorCode.Ok || GlobalVar.VirtualAxis)
{
@ -526,17 +500,14 @@ namespace Rs.MotionPlat.Flow
{
logInfo = "任务结束已回到安全位";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
if (RearrangeTask.ReportCenter() > 0)
{
logInfo = "通知中控任务完成";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
RearrangeTask.RemoveAll();
logInfo = "任务完成，清除任务";
MessageQueue.Instance.Insert(logInfo);
LogHelper.Debug(logInfo);
}
MachineManage.Instance.SetLoadUnloadStatus(ERunState.Waiting);
finished = true;
@ -550,25 +521,24 @@ namespace Rs.MotionPlat.Flow
private double GetVacOffsetHeight(int fetchNum)
{
switch (fetchNum)
if (fetchNum == 0) return 0;
//先判断是奇数还是偶数
int count = 0;
int oddOrEven = fetchNum & 0x01;
double offsetDisct = 0.0;
if (oddOrEven == 1)
{
case 0:
return 0;
case 1:
return -0.1;
case 2:
return -0.2;
case 3:
return -0.3;
case 4:
return 0.1;
case 5:
return 0.2;
case 6:
return 0.3;
default:
return 0;
count = (fetchNum / 2) + 1;
offsetDisct = -0.1 * count;
}
else if (oddOrEven == 0)
{
count = (fetchNum / 2);
offsetDisct = 0.1 * count;
}
return offsetDisct;
}
private SlotPoint GetSlotPoint(TurnoverType trayType)
@ -593,5 +563,11 @@ namespace Rs.MotionPlat.Flow
}
return pt;
}
private string GetClassName()
{
return string.Empty;
}
}
}

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