原点返回时，如果原点信号持续亮5秒以上，伺服报警。

source/DeviceLibrary/acSingleStore/BoxBean_Partial.cs

@@ -160,6 +160,26 @@ namespace OnlineStore.DeviceLibrary
                     if (wait.IsHomeMove)
                     {
                         wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
+
+                        if (!wait.IsEnd && (String.IsNullOrEmpty(msg)))
+                        {
+                            //如果原点没完成，且原点亮超过5秒，需要报警
+                            int org = AxisManager.instance.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
+                            if (org.Equals(1) && wait.AxisOrgValue.Equals(1))
+                            { 
+                                TimeSpan orgSpan = DateTime.Now - wait.LastHasOrgTime;
+                                if (orgSpan.TotalSeconds > 5)
+                                {
+                                    msg = Name + " " + MoveInfo.MoveStep + " " + wait.AxisInfo.DisplayStr + "原点返回，原点信号已持续亮" + orgSpan.ToString() + "秒，需要报警";
+                                    LogUtil.error(msg);
+                                }
+                            }
+                            else
+                            {
+                                wait.AxisOrgValue = org;
+                                wait.LastHasOrgTime = DateTime.Now;
+                            } 
+                        }
                     }
                     else
                     {

source/DeviceLibrary/bean/KTK_Store.cs

@@ -214,8 +214,9 @@ namespace OnlineStore.DeviceLibrary
         protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
         {
             moveAxis.TargetPosition = 0;
-            LogUtil.debug (moveAxis.DisplayStr + "speed[" + moveAxis.HomeHighSpeed + "]开始原点返回");
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
+            LogUtil.debug(moveAxis.DisplayStr + "speed[" + moveAxis.HomeHighSpeed + "]开始原点返回");
+            int org = ACServerManager.instance.GetHomeSingle(moveAxis.DeviceName, moveAxis.GetAxisValue());
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxisHome(moveAxis, org));
             AxisManager.instance.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed);
         }
 

source/DeviceLibrary/bean/model/StoreMoveInfo.cs

@@ -183,7 +183,7 @@ namespace OnlineStore.DeviceLibrary
             wait.IsEnd = false;
             return wait;
         }
-        public static WaitResultInfo WaitAxis(ConfigMoveAxis axis, bool isHomeMove)
+        public static WaitResultInfo WaitAxisHome(ConfigMoveAxis axis, int AxisOrgValue)
         {
             WaitResultInfo wait = new WaitResultInfo();
             wait.CanWhileMoveCount = 0;
@@ -191,40 +191,8 @@ namespace OnlineStore.DeviceLibrary
             wait.AxisInfo = axis;
             wait.IsHomeMove = true;
             wait.IsEnd = false;
-            return wait;
-        }
-        public static WaitResultInfo WaitStell(byte slvAddr, int targetPosition, int speed)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount =10;
-            wait.WaitType = 4;
-            wait.SlvAddr = slvAddr;
-            wait.IsHomeMove = false;
-            wait.TargetPosition = targetPosition;
-            wait.TargetSpeed = speed;
-            wait.IsEnd = false;
-            return wait;
-        }
-         public static WaitResultInfo WaitStellHome(byte slvAddr, int targetPosition, int speed)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 10;
-            wait.WaitType = 4;
-            wait.SlvAddr = slvAddr;
-            wait.IsHomeMove = true;
-            wait.TargetPosition = 0;
-            wait.TargetSpeed = speed;
-            wait.IsEnd = false;
-            return wait;
-        }
-         public static WaitResultInfo WaitShuoKe(int slvAddr, int targetPosition, bool isHome)
-         {
-             WaitResultInfo wait = new WaitResultInfo();
-             wait.CanWhileMoveCount = 0;
-             wait.WaitType = 5;
-             wait.SlvAddr =(byte) slvAddr;
-             wait.TargetPosition = targetPosition;
-             wait.IsHomeMove = isHome;
+            wait.AxisOrgValue = AxisOrgValue;
+            wait.LastHasOrgTime = DateTime.Now;
             return wait;
         } 
         public static WaitResultInfo WaitTime(int MScends)
@@ -346,6 +314,11 @@ namespace OnlineStore.DeviceLibrary
         /// 高度
         /// </summary>
         public int HeightValue { get; set; }
+
+
+        public int AxisOrgValue = 0;
+
+        public DateTime LastHasOrgTime = DateTime.Now;
     }
     public enum StoreMoveType
     {