From a5cfa49d1c1a5693269cc2f319af522abaf8cd5a Mon Sep 17 00:00:00 2001 From: lhiven Date: Mon, 25 Sep 2023 14:17:52 +0900 Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E6=A8=A1=E7=BB=84=E5=A2=9E?= =?UTF-8?q?=E5=8A=A0=E6=97=A5=E5=BF=97=E6=89=93=E5=8D=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Rs.SkyLine/Flow/TakeTrayFlow.cs | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/Rs.SkyLine/Flow/TakeTrayFlow.cs b/Rs.SkyLine/Flow/TakeTrayFlow.cs index adcbeae..03d8ee9 100644 --- a/Rs.SkyLine/Flow/TakeTrayFlow.cs +++ b/Rs.SkyLine/Flow/TakeTrayFlow.cs @@ -60,6 +60,7 @@ namespace Rs.MotionPlat.Flow return intance; } } + string logInfo = ""; Stopwatch stopwatch = new Stopwatch(); ETakeTrayFlowStep step = ETakeTrayFlowStep.等待命令; private EStockType m_fromTray = EStockType.Empty2; @@ -87,7 +88,6 @@ namespace Rs.MotionPlat.Flow case ETakeTrayFlowStep.到取料盘上方: double centerX = SysConfigParam.GetValue($"Tray{m_fromTray.ToString()}CenterX"); double centerY = SysConfigParam.GetValue($"Tray{m_fromTray.ToString()}CenterY"); - double cameraCenterX = SysConfigParam.GetValue("ClampCenter2UpCameraCenterX"); double cameraCenterY = SysConfigParam.GetValue("ClampCenter2UpCameraCenterY"); Motion.ErrorCode errCode = AxisControl.LoadX.MovePos(centerX + cameraCenterX, GlobalVar.TakeTraySpeed); @@ -96,8 +96,17 @@ namespace Rs.MotionPlat.Flow errCode = AxisControl.LoadY.MovePos(centerY + cameraCenterY, GlobalVar.TakeTraySpeed); if (errCode == Motion.ErrorCode.Ok) { + logInfo = $"准备运动{m_fromTray}料仓到取料盘位上方"; step = ETakeTrayFlowStep.等待到取料盘上方; } + else + { + MessageQueue.Instance.Warn($"LoadY move fail ret={errCode}"); + } + } + else + { + MessageQueue.Instance.Warn($"LoadX move fail ret={errCode}"); } break; case ETakeTrayFlowStep.等待到取料盘上方: