diff --git a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs index 7b7ce97..52b7675 100644 --- a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs @@ -185,7 +185,7 @@ namespace Rs.MotionPlat.Flow } } curNozzle = NozzleManager.GetIdelNozzle(); - if (curTask!=null && curNozzle != null && AxisControl.GetAxis($"NozzleR{curNozzle.NozzleIndex}").HomeStatus == EHomeStatus.Finished) + if (curTask!=null && curNozzle != null) { if (XYCanGoLocalArea() || GlobalVar.VirtualAxis) { @@ -807,7 +807,7 @@ namespace Rs.MotionPlat.Flow { imgs = imgs.Reverse().ToArray(); } - if (GlobalVar.RunSpace && GlobalVar.EnableScanBarCodeByDownCamera) + if (GlobalVar.RunSpace) { if(GlobalVar.EnableScanBarCodeByDownCamera) { @@ -1809,208 +1809,220 @@ namespace Rs.MotionPlat.Flow private void ScanBarCode() { SchedulingMessageBox box = new SchedulingMessageBox(); - if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0 && !GlobalVar.VirtualAxis) + if(GlobalVar.RunSpace) { - if (GlobalVar.GRR) + List slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have); + foreach (var slot in slots) { - scanNum++; + LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code); } - if (scanNum == 1 || !GlobalVar.GRR) + } + else + { + if (LoadAndUnloadTask.Instance.GetUndealedLoadToTurnoverTask().Count == 0) { - if (GlobalVar.EnableVirtuleBarCode) + if (GlobalVar.GRR) { - List slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have); - foreach (var slot in slots) - { - LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code); - } + scanNum++; } - else + if (scanNum == 1 || !GlobalVar.GRR) { - //没有需要给周转盘上料的任务后，就开始上相机扫码 - //判断周转盘第一行有没有产品,如果有产品则拍第一行 - if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One)) - { - //找拍照起点和终点 - SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1); - SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8); - UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false); - List result = UpCameraScanBarCodeFlow.Instance.Wait(); - foreach (var vr in result) + if (GlobalVar.EnableVirtuleBarCode) + { + List slots = TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have); + foreach (var slot in slots) + { + LoadAndUnloadTask.Instance.CopyBarcodeToTask(slot.Index - 1, VirtualBarCode.Code); + } + } + else + { + //没有需要给周转盘上料的任务后，就开始上相机扫码 + //判断周转盘第一行有没有产品,如果有产品则拍第一行 + if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.One)) { - if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct) + //找拍照起点和终点 + SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 1); + SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 8); + UpCameraScanBarCodeFlow.Instance.ScanMulti(1, false); + List result = UpCameraScanBarCodeFlow.Instance.Wait(); + foreach (var vr in result) { - if (vr.SearchModelOK)//定位成功 + if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct) { - if (!GlobalVar.EnableScanBarCodeByDownCamera) + if (vr.SearchModelOK)//定位成功 { - if (GlobalVar.RunSpace) - { - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code); - } - else + if (!GlobalVar.EnableScanBarCodeByDownCamera) { - if (vr.ScanBarCodeOK) + if (GlobalVar.RunSpace) { - OnShowGrabResult?.Invoke(vr, true); - //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN); - TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vr.SN; + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code); } else { - int failNum = 1; - while (true) + if (vr.ScanBarCodeOK) { - if (failNum < 4) - { - //如果扫码失败再重扫一次 - UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true); - VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle(); - if (vrsigle.ScanBarCodeOK) - { - OnShowGrabResult?.Invoke(vrsigle, true); - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN); - TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vrsigle.SN; - break; - } - else - { - failNum++; - OnShowGrabResult?.Invoke(vrsigle, true); - //复制二维码 - //LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); - Thread.Sleep(1000); - } - } - else + OnShowGrabResult?.Invoke(vr, true); + //复制二维码 + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN); + TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vr.SN; + } + else + { + int failNum = 1; + while (true) { - alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex); - box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel); - if (box.Button == ETipButton.Retry) + if (failNum < 4) { - failNum = 1; + //如果扫码失败再重扫一次 + UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true); + VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle(); + if (vrsigle.ScanBarCodeOK) + { + OnShowGrabResult?.Invoke(vrsigle, true); + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN); + TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vrsigle.SN; + break; + } + else + { + failNum++; + OnShowGrabResult?.Invoke(vrsigle, true); + //复制二维码 + //LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); + Thread.Sleep(1000); + } } else { - //OnShowGrabResult?.Invoke(vrsigle, true); - //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); - TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = ""; - break; + alarmInfo = string.Format(AlarmCollection.GetAlarm(AlarmConstID.扫码失败), vr.SlotIndex); + box = MsgBox.ShowDialog(AlarmConstID.扫码失败, alarmInfo, ETipButton.Retry | ETipButton.Cancel); + if (box.Button == ETipButton.Retry) + { + failNum = 1; + } + else + { + //OnShowGrabResult?.Invoke(vrsigle, true); + //复制二维码 + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); + TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = ""; + break; + } } } } } } } + else + { + //定位失败,或者超出指定范围 + } } else { - //定位失败,或者超出指定范围 + OnShowGrabResult?.Invoke(vr, false); } } - else - { - OnShowGrabResult?.Invoke(vr, false); - } + //OnUpCameraGrabResult?.Invoke(result); } - //OnUpCameraGrabResult?.Invoke(result); - } - //判断周转盘第三行有没有产品,如果有产品则拍第三行 - if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three)) - { - //找拍照起点和终点 - SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17); - SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24); - UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true); - List result = UpCameraScanBarCodeFlow.Instance.Wait(); - foreach (var vr in result) + //判断周转盘第三行有没有产品,如果有产品则拍第三行 + if (TurnoverTrayManager.Instance.HasProduct(ETrayRow.Three)) { - if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct) + //找拍照起点和终点 + SlotPoint grabStartPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 17); + SlotPoint grabEndPoint = TrayPointManager.GetSlotPoint(ETrayType.Turnover, 24); + UpCameraScanBarCodeFlow.Instance.ScanMulti(24, true); + List result = UpCameraScanBarCodeFlow.Instance.Wait(); + foreach (var vr in result) { - - if (vr.SearchModelOK)//定位成功 + if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct) { - if (!GlobalVar.EnableScanBarCodeByDownCamera) + + if (vr.SearchModelOK)//定位成功 { - if (GlobalVar.RunSpace) - { - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code); - } - else + if (!GlobalVar.EnableScanBarCodeByDownCamera) { - if (vr.ScanBarCodeOK) + if (GlobalVar.RunSpace) { - OnShowGrabResult?.Invoke(vr, true); - //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN); - TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vr.SN; + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, VirtualBarCode.Code); } else { - int failNum = 1; - while (true) + if (vr.ScanBarCodeOK) { - if (failNum < 4) + OnShowGrabResult?.Invoke(vr, true); + //复制二维码 + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vr.SN); + TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vr.SN; + } + else + { + int failNum = 1; + while (true) { - - //如果扫码失败再重扫一次 - UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true); - VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle(); - if (vrsigle.ScanBarCodeOK) + if (failNum < 4) { - OnShowGrabResult?.Invoke(vrsigle, true); - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN); - TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vrsigle.SN; - break; + + //如果扫码失败再重扫一次 + UpCameraScanBarCodeFlow.Instance.ScanSingle(vr.SlotIndex, true); + VisionResult vrsigle = UpCameraScanBarCodeFlow.Instance.WaitSingle(); + if (vrsigle.ScanBarCodeOK) + { + OnShowGrabResult?.Invoke(vrsigle, true); + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, vrsigle.SN); + TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = vrsigle.SN; + break; + } + else + { + failNum++; + OnShowGrabResult?.Invoke(vrsigle, true); + //复制二维码 + //LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); + Thread.Sleep(1000); + } } else { - failNum++; - OnShowGrabResult?.Invoke(vrsigle, true); - //复制二维码 - //LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); - Thread.Sleep(1000); - } - } - else - { - box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip); - if (box.Button == ETipButton.Retry) - { - failNum = 1; - } - else if (box.Button == ETipButton.Skip) - { - //OnShowGrabResult?.Invoke(vrsigle, true); - //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); - TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = ""; - break; + box = MsgBox.ShowDialog(AlarmConstID.ScanBarCodeFailAlarm, $"{vr.SlotIndex}穴位扫码失败", ETipButton.Retry | ETipButton.Skip); + if (box.Button == ETipButton.Retry) + { + failNum = 1; + } + else if (box.Button == ETipButton.Skip) + { + //OnShowGrabResult?.Invoke(vrsigle, true); + //复制二维码 + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex - 1, ""); + TurnoverTrayManager.Instance.Slot(vr.SlotIndex).SN = ""; + break; + } } } } } } } + else + { + //定位失败,或者超出指定范围 + } } else { - //定位失败,或者超出指定范围 + OnShowGrabResult?.Invoke(vr, false); } } - else - { - OnShowGrabResult?.Invoke(vr, false); - } - } - //OnUpCameraGrabResult?.Invoke(result); + //OnUpCameraGrabResult?.Invoke(result); + } } } } } + } /// diff --git a/Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs b/Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs index bf39c45..f3473fc 100644 --- a/Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/StockTrayFlow.cs @@ -200,7 +200,7 @@ namespace Rs.AutoDischarge.V3.Flow return false; } IAxis StockZ = AxisControl.GetAxis($"StockZ{(int)m_stockType}"); - if(StockZ.HomeStatus!= EHomeStatus.Finished) + if(StockZ.HomeStatus!= EHomeStatus.Finished && !GlobalVar.VirtualAxis) { MsgBox.ShowAxisAlarmDialog(StockZ, ErrorCode.AxisNotHome); return false; @@ -453,7 +453,7 @@ namespace Rs.AutoDischarge.V3.Flow return false; } IAxis StockZ = AxisControl.GetAxis($"StockZ{(int)m_stockType}"); - if (StockZ.HomeStatus != EHomeStatus.Finished) + if (StockZ.HomeStatus != EHomeStatus.Finished && !GlobalVar.VirtualAxis) { MsgBox.ShowAxisAlarmDialog(StockZ, ErrorCode.AxisNotHome); return false; diff --git a/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs b/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs index a1a6c49..2b126a6 100644 --- a/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs @@ -142,7 +142,7 @@ namespace Rs.MotionPlat.Flow case ETakeTrayFlowStep.等待到取料盘上方: if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.LoadX,AxisControl.LoadY)) + if(Ops.IsArrived(AxisControl.LoadX,AxisControl.LoadY) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到{m_fromTray}料仓取料盘位上方"; MessageQueue.Instance.Insert(logInfo); @@ -312,7 +312,7 @@ namespace Rs.MotionPlat.Flow case ETakeTrayFlowStep.等待到放料盘上方: if (Ops.IsStop("LoadX", "LoadY") || GlobalVar.VirtualAxis) { - if (Ops.IsArrived(AxisControl.LoadX, AxisControl.LoadY)) + if (Ops.IsArrived(AxisControl.LoadX, AxisControl.LoadY) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到{toTray}料仓放料盘上方"; MessageQueue.Instance.Insert(logInfo); @@ -381,7 +381,7 @@ namespace Rs.MotionPlat.Flow case ETakeTrayFlowStep.等待夹爪气缸张开: if(stopwatch.ElapsedMilliseconds<5000) { - if(Ops.IsOn("夹爪气缸原位")) + if(Ops.IsOn("夹爪气缸原位") || GlobalVar.RunSpace) { step = ETakeTrayFlowStep.放料盘完成后抬起; } diff --git a/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs b/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs index 3c1f640..ade3703 100644 --- a/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/TurnoverFlow.cs @@ -238,7 +238,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待运动到周转盘取料位上方: if (Ops.IsStop(AxisControl.TurnoverX,AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY)) + if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到周转盘取料位上方"; MessageQueue.Instance.Insert(logInfo); @@ -384,7 +384,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待运动到周转盘下方取料位2: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到周转盘下方取料位2 TurnoverZ at:{Ops.GetCurPosition(AxisAlias.TurnoverZ)}"; MessageQueue.Instance.Insert(logInfo); @@ -456,7 +456,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待周转盘取料完成抬起: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"周转盘取料完成已抬起"; MessageQueue.Instance.Insert(logInfo); @@ -532,7 +532,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待运动到测试放料位上方: if (Ops.IsStop(AxisControl.TurnoverX,AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverX,AxisControl.TurnoverY)) + if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { if (turnoverTakeFinishe == false && TurnoverTrayManager.Instance.GetSlots(ETurnoverTraySlotType.WaitTest, ETurnoverTraySlotStatus.Have).Count() == 0) { @@ -724,7 +724,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待运动到到测试放料位下方2: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { //获取需要放料的吸嘴 hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles(); @@ -771,7 +771,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待测试位放料完成抬起1: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { //获取需要放料的吸嘴 //hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles(); @@ -805,7 +805,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待测试位放料完成抬起2: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if (Ops.IsArrived(AxisControl.TurnoverZ)) + if (Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { //获取需要放料的吸嘴 //hasProductNozzles = TransitNozzleManager.Instance.GetHasProductNozzles(); @@ -1018,7 +1018,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待到测试保压位上方: if (Ops.IsStop(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverX,AxisControl.TurnoverY)) + if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { if (TestTrayManager.Instance.GetSlots(ETestTraySlotStatus.Have).Count > 0) { @@ -1087,7 +1087,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待到测试保压位下方2: if (Ops.IsStop(AxisControl.PressZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.PressZ)) + if(Ops.IsArrived(AxisControl.PressZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已到测试保压位下方2 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}"; MessageQueue.Instance.Insert(logInfo); @@ -1193,7 +1193,7 @@ namespace Rs.MotionPlat.Flow //AxisControl.PressZ.Get_Target_Position(out double pos); //double tpos = Ops.GetCurPosition(AxisControl.PressZ); //AxisControl.PressZ.IsArrived(out bool isArrived); - if (Ops.IsArrived(AxisAlias.PressZ)) + if (Ops.IsArrived(AxisAlias.PressZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"测试完成已抬起到安全位 PressZ at:{Ops.GetCurPosition(AxisAlias.PressZ)}"; MessageQueue.Instance.Insert(logInfo); @@ -1271,7 +1271,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待到测试取料位上方: if (Ops.IsStop(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverX,AxisControl.TurnoverY)) + if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到测试取料位上方 TurnoverY at:{Ops.GetCurPosition(AxisAlias.TurnoverY)}"; MessageQueue.Instance.Insert(logInfo); @@ -1411,7 +1411,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待到测试取料位下方2: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到测试取料位下方2 TurnoverZ at:{Ops.GetCurPosition("TurnoverZ")}"; MessageQueue.Instance.Insert(logInfo); @@ -1486,7 +1486,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待测试位取料完成抬起: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"测试位取料完成已抬起"; MessageQueue.Instance.Insert(logInfo); @@ -1599,7 +1599,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待到周转盘放料位上方: if (Ops.IsStop(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverX,AxisControl.TurnoverY)) + if(Ops.IsArrived(AxisControl.TurnoverX, AxisControl.TurnoverY) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到周转盘放料位上方"; MessageQueue.Instance.Insert(logInfo); @@ -1742,7 +1742,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待到周转盘放料位下方2: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"已运动到周转盘放料位下方2"; MessageQueue.Instance.Insert(logInfo); @@ -1818,7 +1818,7 @@ namespace Rs.MotionPlat.Flow case ETurnoverFlowStep.等待周转盘放料完成抬起2: if (Ops.IsStop(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { - if(Ops.IsArrived(AxisControl.TurnoverZ)) + if(Ops.IsArrived(AxisControl.TurnoverZ) || GlobalVar.VirtualAxis) { logInfo = GetClassName() + $"周转盘放料完成已抬起2"; MessageQueue.Instance.Insert(logInfo);