复位顺序修改

source/DeviceLibrary/acSingleStore/BoxBean.cs

@@ -266,14 +266,19 @@ namespace OnlineStore.DeviceLibrary
                     ACAxisHomeMove(Config.UpDown_Axis);
                     break;
                 case StoreMoveStep.BOX_H_OtherAxisBack:
-
+                    MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_WaitTime);
+                    LogUtil.info(Name + "" + MoveInfo.MoveType + "：等待200ms后开始走到待机点");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
+                    break;
+                case StoreMoveStep.BOX_H_WaitTime: 
                     MoveInfo.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
-                    LogUtil.info(Name + "" + MoveInfo.MoveType + "：旋转轴运动到P1[" + Config.MiddleAxis_P1_Position + "]，上下轴走到P1[" + Config.UpDownAxis_DoorOPosition_P1 + "]，压紧轴到P1[" + Config.CompressAxis_P1_Position + "]");
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                    ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
+                    LogUtil.info(Name + "" + MoveInfo.MoveType + "：上下轴走到P1[" + Config.UpDownAxis_DoorOPosition_P1 + "]，压紧轴到P1[" + Config.CompressAxis_P1_Position + "]，旋转轴运动到P1[" + Config.MiddleAxis_P1_Position + "]");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                     ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
                     ComMoveToPosition(Config.CompressAxis_P1_Position, Config.CompAxis_P1_Speed);
 
+                    Thread.Sleep(500); 
+                    ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
                     break;
                 case StoreMoveStep.BOX_H_MiddleAxisToP1:
                     LogUtil.info(Name + "" + MoveInfo.MoveType + "完成");

source/DeviceLibrary/bean/StoreStep.cs

@@ -144,6 +144,10 @@ namespace OnlineStore.DeviceLibrary
         ///  料仓原点返回和重置步骤，，升降轴，旋转轴，压紧轴原点返回
         /// </summary>
         BOX_H_OtherAxisBack = 014,
+        /// <summary>
+        /// 旋转轴回好原点等待200
+        /// </summary>
+        BOX_H_WaitTime=015,
         ///// <summary>
         ///// 清理轴位置
         ///// </summary>

source/HCSingleStore/App.config

@@ -20,8 +20,8 @@
     <add key="Box_ConfigPath" value="\StoreConfig\BoxConfig.csv" />
     <add key="Store_Type" value="RC_AC_SA" />
     <add key="Store_CID" value="D1" />
-    <add key="Store_CID_1" value="line-ac-05" />
-    <add key="Store_CID_2" value="line-ac-06" /> 
+    <add key="Store_CID_1" value="line-ac-01" />
+    <add key="Store_CID_2" value="line-ac-02" /> 
     <!--end one store config-->
     <add key="ACBaudRate" value="115200" />
     <add key="InOutDefaultPosition" value="5000" />

source/HCSingleStore/FrmBox.Designer.cs

@@ -314,7 +314,7 @@
             this.groupBox1.Controls.Add(this.label43);
             this.groupBox1.Controls.Add(this.label42);
             this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groupBox1.Location = new System.Drawing.Point(11, 444);
+            this.groupBox1.Location = new System.Drawing.Point(11, 452);
             this.groupBox1.Name = "groupBox1";
             this.groupBox1.Size = new System.Drawing.Size(476, 136);
             this.groupBox1.TabIndex = 217;
@@ -493,7 +493,7 @@
             this.groupBox2.Controls.Add(this.button6);
             this.groupBox2.Controls.Add(this.button3);
             this.groupBox2.Controls.Add(this.button5);
-            this.groupBox2.Location = new System.Drawing.Point(11, 360);
+            this.groupBox2.Location = new System.Drawing.Point(11, 368);
             this.groupBox2.Name = "groupBox2";
             this.groupBox2.Size = new System.Drawing.Size(476, 78);
             this.groupBox2.TabIndex = 276;

source/HuichuanLibrary/HCBoardManager_Axis.cs

@@ -269,12 +269,12 @@ namespace HuichuanLibrary
             UInt32 ret = ImcApi.IMC_SetSingleAxMvPara(nCardHandle, axisNo, ptpVel, ptpAcc, ptpDec);
             if (ret != 0)
             {
-                ShowErrorLog(" Axis[" + axisNo + "] SetSingleAxMvPara FAIL, ErrorCode=0x" + ret.ToString("x8"));
+                ShowErrorLog(" Axis[" + axisNo + "] SetSingleAxMvPara ptpVel ["+ ptpVel + "]  ptpAcc ["+ ptpAcc + "]  ptpDec ["+ptpDec+"] FAIL, ErrorCode=0x" + ret.ToString("x8"));
                 return false;
             }
             else
             {
-                DebugLog(" Axis[" + axisNo + "] SetSingleAxMvPara OK");
+                ShowLog(" Axis[" + axisNo + "] SetSingleAxMvPara ptpVel [" + ptpVel + "]  ptpAcc [" + ptpAcc + "]  ptpDec [" + ptpDec + "] OK");
                 return true;
             }
         }