diff --git a/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs b/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs index c52d284..2a433ad 100644 --- a/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs @@ -184,13 +184,15 @@ namespace Rs.MotionPlat.Flow logInfo = GetClassName() + $"上下气缸电磁阀原位 on"; MessageQueue.Instance.Insert(logInfo); stopwatch.Restart(); - step = ETakeTrayFlowStep.取料盘后真空检测; + step = ETakeTrayFlowStep.等待取料盘完成抬起; break; case ETakeTrayFlowStep.等待取料盘完成抬起: if (stopwatch.ElapsedMilliseconds < 5000) { - if ((Ops.IsOn("上下气缸原位")) || (GlobalVar.RunSpace)) + if ((Ops.IsOn("上下气缸原位")) || (GlobalVar.VirtualAxis)) { + logInfo = $"检测到上下气缸原位OK"; + stopwatch.Restart(); step = ETakeTrayFlowStep.取料盘后真空检测; } } @@ -205,9 +207,9 @@ namespace Rs.MotionPlat.Flow } break; case ETakeTrayFlowStep.取料盘后真空检测: - if (stopwatch.ElapsedMilliseconds < 5000 || GlobalVar.RunSpace) + if (stopwatch.ElapsedMilliseconds < 5000 || GlobalVar.VirtualAxis) { - if (Ops.IsOn("夹爪真空吸检测") || (GlobalVar.RunSpace)) + if (Ops.IsOn("夹爪真空吸检测") || (GlobalVar.VirtualAxis)) { logInfo = GetClassName()+$"夹爪真空吸检测 OK"; MessageQueue.Instance.Insert(logInfo); @@ -226,10 +228,10 @@ namespace Rs.MotionPlat.Flow } break; case ETakeTrayFlowStep.到放料盘上方: - if(GlobalVar.RunSpace) - { - Thread.Sleep(2000); - } + //if(GlobalVar.RunSpace) + //{ + // Thread.Sleep(2000); + //} centerX = SysConfigParam.GetValue($"Tray{m_toTray.ToString()}CenterX"); centerY = SysConfigParam.GetValue($"Tray{m_toTray.ToString()}CenterY"); @@ -309,7 +311,7 @@ namespace Rs.MotionPlat.Flow } else { - logInfo = "夹爪真空吸检测异常,请处理后点击确定"; + logInfo = "上下气缸动位检测异常,请处理后点击确定"; MessageQueue.Instance.Warn(GetClassName()+ logInfo); TestCenterMessageBox.Show(AlarmConstID.UpDownCylinderExceptionAlarm, logInfo, ETipButton.Ok); TestCenterMessageBox.WaitResult(AlarmConstID.UpDownCylinderExceptionAlarm);