修正压紧轴定期回原是被打断后无法再次回原的问题

DeviceLibrary/DeviceLibrary/AxisBean.cs

 using HuichuanLibrary;
 using HuichuanLibrary;
+using OnlineStore;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
@@ -241,14 +242,14 @@ namespace DeviceLibrary
         public static bool HomeMoveIsEnd(MoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
         public static bool HomeMoveIsEnd(MoveInfo MoveInfo, ConfigMoveAxis axis, out string msg)
         {
         {
             msg = "";
             msg = "";
-            if (AxisManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))// || AxisManager.AxisStsINP(axis.DeviceName, axis.GetAxisValue()).Equals(1))
+            var HomeLowSpeed = axis.HomeLowSpeed > 0 ? axis.HomeLowSpeed : axis.HomeHighSpeed / 10;
+            var HomeAddSpeed = axis.HomeAddSpeed > 0 ? axis.HomeAddSpeed : axis.HomeHighSpeed * 5;
+
+
+            if (AxisManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()) || AxisManager.GetBusyStatus(axis.DeviceName, axis.GetAxisValue()).Equals(0))// || AxisManager.AxisStsINP(axis.DeviceName, axis.GetAxisValue()).Equals(1))
             {
             {
                 //原点完成并且位置=0
                 //原点完成并且位置=0
-                //编码器位置
                 int outCount = AxisManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
                 int outCount = AxisManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
-                //规划位置
-                int outTarget = AxisManager.GetTargetPosition(axis.DeviceName, axis.GetAxisValue());
-                AxisSts axisS = HCBoardManager.GetAxisSts(axis.GetAxisValue());
                 int errorCount = Math.Abs(outCount);
                 int errorCount = Math.Abs(outCount);
                 if (errorCount <= axis.CanErrorCountMax)
                 if (errorCount <= axis.CanErrorCountMax)
                 {
                 {
@@ -257,18 +258,14 @@ namespace DeviceLibrary
                 //判断是否需要重新运动
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 if (MoveInfo.CanWhileCount > 0)
                 {
                 {
-                    string msg1 = $"{MoveInfo.Name} {axis.DisplayStr} 收到原点完成信号，当前位置{outCount}，规划位置{outTarget}，重新回原点，剩余[{MoveInfo.CanWhileCount}]]次。{axisS.ToStr()}";
-                    LogUtil.error(msg1);
+                    LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
                     //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
                     //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
-                    var HomeLowSpeed = axis.HomeLowSpeed > 0 ? axis.HomeLowSpeed : axis.HomeHighSpeed / 10;
-                    var HomeAddSpeed = axis.HomeAddSpeed > 0 ? axis.HomeAddSpeed : axis.HomeHighSpeed * 5;
-
-                    AxisManager.HomeMove(axis.DeviceName, (short)axis.GetAxisValue(), axis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
+                    AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
                     MoveInfo.CanWhileCount--;
                     MoveInfo.CanWhileCount--;
                 }
                 }
                 else
                 else
                 {
                 {
-                    msg = $"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr} ,收到原点完成信号，当前位置[{outCount}]，规划位置{outTarget}，误差过大，需要报警。{axisS.ToStr()}";
+                    msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + crc.GetString("Res0006.405c5a9e", ",收到原点完成信号，当前位置[") + outCount + crc.GetString("Res0007.6658614e", "]，误差过大，需要报警");
                     LogUtil.error(msg);
                     LogUtil.error(msg);
                 }
                 }
             }
             }