From d48920bbc82807a0a6c456eb205f2441d1e019af Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Thu, 21 Dec 2023 17:35:50 +0900
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E6=96=99=E7=9B=98=E6=8A=AC?=
 =?UTF-8?q?=E8=B5=B7=E5=90=8E=E6=B2=A1=E6=9C=89=E6=A3=80=E6=B5=8B=E5=8E=9F?=
 =?UTF-8?q?=E4=BD=8D?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

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<double>($"Tray{m_toTray.ToString()}CenterX");
                         centerY = SysConfigParam.GetValue<double>($"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);