添加打印回原完成后轴的状态

DeviceLibrary/DeviceLibrary/AxisBean.cs

-using OnlineStore.Common;
+using HuichuanLibrary;
+using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
@@ -21,7 +22,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 干涉检测回调 from, to
         /// </summary>
-        public event Func<int,int,(bool,string)> interference;
+        public event Func<int, int, (bool, string)> interference;
         public string AxisName;
         public bool ForceSafeCheck = false;
         public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
@@ -112,7 +113,7 @@ namespace DeviceLibrary
             LogUtil.info("ServoOff【" + AxisName + "】");
             AxisManager.ServoOff(Config.DeviceName, Config.GetAxisValue());
         }
-        public void HomeMove(MoveInfo MoveInfo,bool force=true)
+        public void HomeMove(MoveInfo MoveInfo, bool force = true)
         {
             if (!force && AxisManager.GetHomeEndStatus(Config.DeviceName, (short)Config.GetAxisValue()) == 3)
             {
@@ -121,7 +122,7 @@ namespace DeviceLibrary
             }
             Config.TargetPosition = 0;
             LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
-            if (MoveInfo!=null)
+            if (MoveInfo != null)
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
             var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
             var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
@@ -140,7 +141,7 @@ namespace DeviceLibrary
                 return;
             }
 
-            if (ForceSafeCheck && !IsSafe(targetPosition,out string msg))
+            if (ForceSafeCheck && !IsSafe(targetPosition, out string msg))
             {
                 Msg.add(msg, MsgLevel.alarm);
                 RobotManage.UserPause(msg);
@@ -208,7 +209,7 @@ namespace DeviceLibrary
                         AxisManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
                         Thread.Sleep(100);
                     }
-                    LogUtil.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
+                    LogUtil.error($"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
                     var AddSpeed = axis.AddSpeed > 0 ? axis.AddSpeed : targetSpeed * 4;
                     var DelSpeed = axis.DelSpeed > 0 ? axis.DelSpeed : targetSpeed * 4;
                     AxisManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// , axis.AddSpeed, axis.DelSpeed);
@@ -229,7 +230,11 @@ namespace DeviceLibrary
             if (AxisManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))// || AxisManager.AxisStsINP(axis.DeviceName, axis.GetAxisValue()).Equals(1))
             {
                 //原点完成并且位置=0
+                //编码器位置
                 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);
                 if (errorCount <= axis.CanErrorCountMax)
                 {
@@ -238,14 +243,15 @@ namespace DeviceLibrary
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 {
-                    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");
+                    msg = $"{MoveInfo.Name} {axis.DisplayStr} 收到原点完成信号，当前位置{outCount}，规划位置{outTarget}，重新回原点，剩余[{MoveInfo.CanWhileCount}]]次。{axisS.ToStr()}";
+                    LogUtil.error(msg);
                     //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
                     AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
                     MoveInfo.CanWhileCount--;
                 }
                 else
                 {
-                    msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
+                    msg =$"{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()}";
                     LogUtil.error(msg);
                 }
             }
@@ -316,7 +322,8 @@ namespace DeviceLibrary
             AxisManager.RelMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, AddSpeed, DelSpeed);// , Config.AddSpeed, Config.DelSpeed);
 
         }
-        public bool IsBusy {
+        public bool IsBusy
+        {
             get => AxisManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()) == 1;
         }
         public bool IsServeoOn
@@ -332,22 +339,26 @@ namespace DeviceLibrary
         /// 判断轴运动是否安全
         /// </summary>
         /// <returns></returns>
-        public bool IsSafe(int Targetpos,out string msg) {
+        public bool IsSafe(int Targetpos, out string msg)
+        {
             msg = "";
             if (interference == null)
                 return true;
             bool result;
             var from = GetAclPosition();
-            (result,msg) = interference.Invoke(from, Targetpos);
+            (result, msg) = interference.Invoke(from, Targetpos);
 
-            if (result) {
+            if (result)
+            {
                 LogUtil.info(AxisName + $" 干涉:{msg},From:{from},To:{Targetpos}");
             }
 
             return !result;
         }
-        public void MonitorAxisLoadRate(float maxloadrate) {
-            Task.Run(() => {
+        public void MonitorAxisLoadRate(float maxloadrate)
+        {
+            Task.Run(() =>
+            {
                 Task.Delay(200).Wait();
                 LogUtil.info($"{AxisName}-开始负载监控,最大负载阈值:{maxloadrate}");
                 List<float> loadrate = new List<float>();
@@ -355,15 +366,17 @@ namespace DeviceLibrary
                 {
                     var loadval = ((HCAxisManager)AxisManager.instance).GetAxisLoadRate(Config.DeviceName, Config.GetAxisValue());
                     loadrate.Add(loadval);
-                    if (loadval > maxloadrate) {
+                    if (loadval > maxloadrate)
+                    {
                         LogUtil.info($"{AxisName}-{loadval}>{maxloadrate}超过负载,系统急停");
                         SuddenStop();
-                        Msg.add(AxisName+"-超过负载,系统急停", MsgLevel.alarm,ErrInfo.SuddenStop);
+                        Msg.add(AxisName + "-超过负载,系统急停", MsgLevel.alarm, ErrInfo.SuddenStop);
                         break;
                     }
                     Task.Delay(50).Wait();
                 }
-                if (loadrate.Count > 5) {
+                if (loadrate.Count > 5)
+                {
                     loadrate.Sort();
                     int middleIndex = loadrate.Count / 2;
                     LogUtil.info($"{AxisName}-本次负载监控:最小值:{loadrate.Min()}, 平均值:{loadrate.Average()}, 最大值{loadrate.Max()},中位数:{loadrate[middleIndex]}, 最大阈值:{maxloadrate}");
@@ -456,7 +469,7 @@ namespace DeviceLibrary
         public static void CloseMultiAxis(List<AxisBean> axisArray)
         {
             foreach (AxisBean axis in axisArray)
-            {                
+            {
                 axis.ServoOff();
                 Thread.Sleep(10);
             }

DeviceLibrary/theMachine/BoxTransport.cs

@@ -423,6 +423,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreTS17:
                     //MoveInfo.NextMoveStep(MoveStep.StoreTS16);
+                    Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                     MoveInfo.log($"{storeMoveType}:转移料盘完成");
                     MoveInfo.EndMove();
                     ErrMsgTxt = "";