汇川伺服稳定版本

source/ACSingleStore/App.config

@@ -50,24 +50,19 @@
         <conversionPattern value="[%date][%t]%-5p %m%n"/>
         <conversionPattern value="[%date][%t]%-5p %m%n"/>
       </layout>
       </layout>
     </appender>
     </appender>
-    <appender name="AIOBOX" type="log4net.Appender.RollingFileAppender">
-      <file type="log4net.Util.PatternString"  value="logs/aio/AIOBOX.log"/>
-      <param name="Encoding" value="UTF-8"/>
-      <appendToFile value="true"/>
-      <rollingStyle value="Date"/>
-      <datePattern value="yyyy-MM-dd"/>
-      <layout type="log4net.Layout.PatternLayout">
-        <conversionPattern value="[%date][%t]%-5p %m%n"/>
-      </layout>
-    </appender>
+
     <logger name="RollingLogFileAppender">
     <logger name="RollingLogFileAppender">
       <level value="Info" />
       <level value="Info" />
       <appender-ref ref="RollingLogFileAppender" />
       <appender-ref ref="RollingLogFileAppender" />
     </logger>
     </logger>
-    <logger name="AIOBOX">
-      <level value="Info" />
-      <appender-ref ref="AIOBOX" />
-    </logger>
+	  <logger name="HIK.IPCamera" additivity="false">
+		  <level value="All" />
+		  <appender-ref ref="Camera" />
+	  </logger>
+	  <logger name="HCBOARD" additivity="false">
+		  <level value="All" />
+		  <appender-ref ref="Camera" />
+	  </logger>
     <root>
     <root>
       <level value="Info"/>
       <level value="Info"/>
       <appender-ref ref="RollingLogFileAppender"/>
       <appender-ref ref="RollingLogFileAppender"/>

source/ACSingleStore/FrmAxisDebug.cs

-using DeviceLib;
-using log4net;
+using log4net;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.DeviceLibrary;
 using OnlineStore.DeviceLibrary;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;

source/ACSingleStore/FrmBase.cs

@@ -44,12 +44,10 @@ namespace OnlineStore.TinPasteStore
             }
             }
             return str;
             return str;
         }
         }
-        internal static string GetCodeNum(string codeName = "TinPasteStore")
+        internal static string GetCodeNum(string codeName = "SO852-ACSingleStore")
         {
         {
-            byte[] byteArray = System.Text.Encoding.ASCII.GetBytes(codeName);
-            string result = "";
-            result = AcSerialBean.ByteToString(byteArray);
-            return result;
+            var xx = (System.Reflection.AssemblyProductAttribute)System.Reflection.Assembly.GetExecutingAssembly().GetCustomAttributes(typeof(System.Reflection.AssemblyProductAttribute), false)[0];
+            return xx.Product;
         }
         }
         public FrmBase()
         public FrmBase()
         {
         {

source/ACSingleStore/FrmDeviceDebug.Designer.cs

@@ -56,8 +56,14 @@
             this.label8 = new System.Windows.Forms.Label();
             this.label8 = new System.Windows.Forms.Label();
             this.btnWDis = new System.Windows.Forms.Button();
             this.btnWDis = new System.Windows.Forms.Button();
             this.btnWInit = new System.Windows.Forms.Button();
             this.btnWInit = new System.Windows.Forms.Button();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.btnColdInit = new System.Windows.Forms.Button();
+            this.btnColddis = new System.Windows.Forms.Button();
+            this.btnColdState = new System.Windows.Forms.Button();
+            this.textBox1 = new System.Windows.Forms.TextBox();
             this.groupBox7.SuspendLayout();
             this.groupBox7.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.groupBox1.SuspendLayout();
+            this.groupBox2.SuspendLayout();
             this.SuspendLayout();
             this.SuspendLayout();
             // 
             // 
             // groupBox7
             // groupBox7
@@ -386,11 +392,66 @@
             this.btnWInit.UseVisualStyleBackColor = true;
             this.btnWInit.UseVisualStyleBackColor = true;
             this.btnWInit.Click += new System.EventHandler(this.btnWInit_Click);
             this.btnWInit.Click += new System.EventHandler(this.btnWInit_Click);
             // 
             // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.textBox1);
+            this.groupBox2.Controls.Add(this.btnColdInit);
+            this.groupBox2.Controls.Add(this.btnColdState);
+            this.groupBox2.Controls.Add(this.btnColddis);
+            this.groupBox2.Location = new System.Drawing.Point(559, 12);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(476, 201);
+            this.groupBox2.TabIndex = 275;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "制冷系统参数";
+            // 
+            // btnColdInit
+            // 
+            this.btnColdInit.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnColdInit.Location = new System.Drawing.Point(24, 26);
+            this.btnColdInit.Name = "btnColdInit";
+            this.btnColdInit.Size = new System.Drawing.Size(106, 33);
+            this.btnColdInit.TabIndex = 88;
+            this.btnColdInit.Text = "初始化";
+            this.btnColdInit.UseVisualStyleBackColor = true;
+            this.btnColdInit.Click += new System.EventHandler(this.btnColdInit_Click);
+            // 
+            // btnColddis
+            // 
+            this.btnColddis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnColddis.Location = new System.Drawing.Point(24, 148);
+            this.btnColddis.Name = "btnColddis";
+            this.btnColddis.Size = new System.Drawing.Size(106, 33);
+            this.btnColddis.TabIndex = 89;
+            this.btnColddis.Text = "断开";
+            this.btnColddis.UseVisualStyleBackColor = true;
+            this.btnColddis.Click += new System.EventHandler(this.btnColddis_Click);
+            // 
+            // btnColdState
+            // 
+            this.btnColdState.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnColdState.Location = new System.Drawing.Point(24, 67);
+            this.btnColdState.Name = "btnColdState";
+            this.btnColdState.Size = new System.Drawing.Size(106, 33);
+            this.btnColdState.TabIndex = 262;
+            this.btnColdState.Text = "查询状态";
+            this.btnColdState.UseVisualStyleBackColor = true;
+            this.btnColdState.Click += new System.EventHandler(this.btnColdState_Click);
+            // 
+            // textBox1
+            // 
+            this.textBox1.Location = new System.Drawing.Point(164, 26);
+            this.textBox1.Multiline = true;
+            this.textBox1.Name = "textBox1";
+            this.textBox1.Size = new System.Drawing.Size(250, 155);
+            this.textBox1.TabIndex = 263;
+            // 
             // FrmDeviceDebug
             // FrmDeviceDebug
             // 
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(800, 490);
+            this.ClientSize = new System.Drawing.Size(1180, 490);
+            this.Controls.Add(this.groupBox2);
             this.Controls.Add(this.groupBox1);
             this.Controls.Add(this.groupBox1);
             this.Controls.Add(this.groupBox7);
             this.Controls.Add(this.groupBox7);
             this.Name = "FrmDeviceDebug";
             this.Name = "FrmDeviceDebug";
@@ -400,6 +461,8 @@
             this.groupBox7.PerformLayout();
             this.groupBox7.PerformLayout();
             this.groupBox1.ResumeLayout(false);
             this.groupBox1.ResumeLayout(false);
             this.groupBox1.PerformLayout();
             this.groupBox1.PerformLayout();
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
             this.ResumeLayout(false);
             this.ResumeLayout(false);
 
 
         }
         }
@@ -434,5 +497,10 @@
         private System.Windows.Forms.TextBox txtW;
         private System.Windows.Forms.TextBox txtW;
         private System.Windows.Forms.Label label3;
         private System.Windows.Forms.Label label3;
         private System.Windows.Forms.Label label4;
         private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.TextBox textBox1;
+        private System.Windows.Forms.Button btnColdInit;
+        private System.Windows.Forms.Button btnColdState;
+        private System.Windows.Forms.Button btnColddis;
     }
     }
 }
 }
\ No newline at end of file

source/ACSingleStore/FrmDeviceDebug.cs

@@ -44,11 +44,12 @@ namespace OnlineStore.TinPasteStore
         private void FrmDeviceDebug_Load(object sender, EventArgs e)
         private void FrmDeviceDebug_Load(object sender, EventArgs e)
         {
         {
             cmbHum.Items.Clear();
             cmbHum.Items.Clear();
-            cmbHum.Items.Add(StoreManager.Store.Config.Humiture_Colding_Port);
+            //cmbHum.Items.Add(StoreManager.Store.Config.Humiture_Colding_Port);
             cmbHum.Items.Add(StoreManager.Store.Config.Humiture_Warming_Port);
             cmbHum.Items.Add(StoreManager.Store.Config.Humiture_Warming_Port);
             cmbHum.SelectedIndex = 0;
             cmbHum.SelectedIndex = 0;
 
 
-            lblTempInfo.Text = "冷藏区温湿度端口号：" + StoreManager.Store.Config.Humiture_Colding_Port + "\r\n回温区温湿度端口号：" + StoreManager.Store.Config.Humiture_Warming_Port;
+            //lblTempInfo.Text = "冷藏区温湿度端口号：" + StoreManager.Store.Config.Humiture_Colding_Port + "\r\n回温区温湿度端口号：" + StoreManager.Store.Config.Humiture_Warming_Port;
+            lblTempInfo.Text = "回温区温湿度端口号：" + StoreManager.Store.Config.Humiture_Warming_Port;
             cmbOKLE.Items.Clear();
             cmbOKLE.Items.Clear();
             cmbOKLE.Items.Add(StoreManager.Store.Config.Weight_Left_Port);
             cmbOKLE.Items.Add(StoreManager.Store.Config.Weight_Left_Port);
             cmbOKLE.Items.Add(StoreManager.Store.Config.Weight_Right_Port);
             cmbOKLE.Items.Add(StoreManager.Store.Config.Weight_Right_Port);
@@ -150,5 +151,31 @@ namespace OnlineStore.TinPasteStore
         {
         {
 
 
         }
         }
+
+        private void btnColdInit_Click(object sender, EventArgs e)
+        {
+            string port = StoreManager.Store.Config.Refrigerator_Port;
+            if (RefrigeratorController.IsRun(port))
+            {
+                RefrigeratorController.Release(port);
+            }
+            bool result = RefrigeratorController.Init(port);
+            if (!result)
+            {
+                MessageBox.Show("打开" + port + "失败");
+            }
+        }
+
+        private void btnColdState_Click(object sender, EventArgs e)
+        {
+            string port = StoreManager.Store.Config.Refrigerator_Port;
+            RefrigeratorController.queryData(port,out string state,out _, out _);
+            textBox1.Text = state;
+        }
+
+        private void btnColddis_Click(object sender, EventArgs e)
+        {
+            RefrigeratorController.Release();
+        }
     }
     }
 }
 }

source/ACSingleStore/FrmIOStatus.Designer.cs

@@ -18,10 +18,10 @@
             this.components = new System.ComponentModel.Container();
             this.components = new System.ComponentModel.Container();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.btnUNU = new System.Windows.Forms.Button();
+            this.btnULi = new System.Windows.Forms.Button();
             this.btn_Warming_Stop = new System.Windows.Forms.Button();
             this.btn_Warming_Stop = new System.Windows.Forms.Button();
             this.btn_Warming_Start = new System.Windows.Forms.Button();
             this.btn_Warming_Start = new System.Windows.Forms.Button();
-            this.btn_Colding_Stop = new System.Windows.Forms.Button();
-            this.btn_Colding_Start = new System.Windows.Forms.Button();
             this.btn_ColdDoor_Close = new System.Windows.Forms.Button();
             this.btn_ColdDoor_Close = new System.Windows.Forms.Button();
             this.btn_ColdDoor_Open = new System.Windows.Forms.Button();
             this.btn_ColdDoor_Open = new System.Windows.Forms.Button();
             this.btn_StirLocation_Up = new System.Windows.Forms.Button();
             this.btn_StirLocation_Up = new System.Windows.Forms.Button();
@@ -32,9 +32,6 @@
             this.btn_Door_Up = new System.Windows.Forms.Button();
             this.btn_Door_Up = new System.Windows.Forms.Button();
             this.btnOpenLed = new System.Windows.Forms.Button();
             this.btnOpenLed = new System.Windows.Forms.Button();
             this.btn_Door_Down = new System.Windows.Forms.Button();
             this.btn_Door_Down = new System.Windows.Forms.Button();
-            this.btnCloseAxisBreak = new System.Windows.Forms.Button();
-            this.btnOpenAxisBreak = new System.Windows.Forms.Button();
-            this.button1 = new System.Windows.Forms.Button();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.btnOpenDo = new System.Windows.Forms.Button();
             this.btnOpenDo = new System.Windows.Forms.Button();
             this.btnWriteSingleDO = new System.Windows.Forms.Button();
             this.btnWriteSingleDO = new System.Windows.Forms.Button();
@@ -49,12 +46,14 @@
             this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
             this.tableLayoutPanel2 = new System.Windows.Forms.TableLayoutPanel();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.groupBox3 = new System.Windows.Forms.GroupBox();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
             this.tableLayoutPanel1 = new System.Windows.Forms.TableLayoutPanel();
-            this.btnULi = new System.Windows.Forms.Button();
-            this.btnUNU = new System.Windows.Forms.Button();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.btn_openDeviceLed = new System.Windows.Forms.Button();
+            this.btn_closeDeviceLed = new System.Windows.Forms.Button();
             this.groupBox2.SuspendLayout();
             this.groupBox2.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.groupBox4.SuspendLayout();
             this.groupBox4.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.groupBox3.SuspendLayout();
+            this.panel1.SuspendLayout();
             this.SuspendLayout();
             this.SuspendLayout();
             // 
             // 
             // timer1
             // timer1
@@ -64,39 +63,58 @@
             // 
             // 
             // groupBox2
             // groupBox2
             // 
             // 
-            this.groupBox2.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
-            | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
             this.groupBox2.Controls.Add(this.btnUNU);
             this.groupBox2.Controls.Add(this.btnUNU);
             this.groupBox2.Controls.Add(this.btnULi);
             this.groupBox2.Controls.Add(this.btnULi);
             this.groupBox2.Controls.Add(this.btn_Warming_Stop);
             this.groupBox2.Controls.Add(this.btn_Warming_Stop);
             this.groupBox2.Controls.Add(this.btn_Warming_Start);
             this.groupBox2.Controls.Add(this.btn_Warming_Start);
-            this.groupBox2.Controls.Add(this.btn_Colding_Stop);
-            this.groupBox2.Controls.Add(this.btn_Colding_Start);
             this.groupBox2.Controls.Add(this.btn_ColdDoor_Close);
             this.groupBox2.Controls.Add(this.btn_ColdDoor_Close);
             this.groupBox2.Controls.Add(this.btn_ColdDoor_Open);
             this.groupBox2.Controls.Add(this.btn_ColdDoor_Open);
             this.groupBox2.Controls.Add(this.btn_StirLocation_Up);
             this.groupBox2.Controls.Add(this.btn_StirLocation_Up);
             this.groupBox2.Controls.Add(this.btn_StirLocation_Down);
             this.groupBox2.Controls.Add(this.btn_StirLocation_Down);
             this.groupBox2.Controls.Add(this.btn_Clamping_Tighten);
             this.groupBox2.Controls.Add(this.btn_Clamping_Tighten);
             this.groupBox2.Controls.Add(this.btn_Clamping_Relax);
             this.groupBox2.Controls.Add(this.btn_Clamping_Relax);
+            this.groupBox2.Controls.Add(this.btn_closeDeviceLed);
             this.groupBox2.Controls.Add(this.btnCloseLed);
             this.groupBox2.Controls.Add(this.btnCloseLed);
             this.groupBox2.Controls.Add(this.btn_Door_Up);
             this.groupBox2.Controls.Add(this.btn_Door_Up);
+            this.groupBox2.Controls.Add(this.btn_openDeviceLed);
             this.groupBox2.Controls.Add(this.btnOpenLed);
             this.groupBox2.Controls.Add(this.btnOpenLed);
             this.groupBox2.Controls.Add(this.btn_Door_Down);
             this.groupBox2.Controls.Add(this.btn_Door_Down);
-            this.groupBox2.Controls.Add(this.btnCloseAxisBreak);
-            this.groupBox2.Controls.Add(this.btnOpenAxisBreak);
             this.groupBox2.Location = new System.Drawing.Point(482, 163);
             this.groupBox2.Location = new System.Drawing.Point(482, 163);
             this.groupBox2.Name = "groupBox2";
             this.groupBox2.Name = "groupBox2";
-            this.groupBox2.Size = new System.Drawing.Size(335, 429);
+            this.groupBox2.Size = new System.Drawing.Size(336, 402);
             this.groupBox2.TabIndex = 255;
             this.groupBox2.TabIndex = 255;
             this.groupBox2.TabStop = false;
             this.groupBox2.TabStop = false;
             this.groupBox2.Text = "操作测试";
             this.groupBox2.Text = "操作测试";
             // 
             // 
+            // btnUNU
+            // 
+            this.btnUNU.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnUNU.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnUNU.Location = new System.Drawing.Point(173, 348);
+            this.btnUNU.Name = "btnUNU";
+            this.btnUNU.Size = new System.Drawing.Size(120, 34);
+            this.btnUNU.TabIndex = 268;
+            this.btnUNU.Text = "关闭门禁功能屏蔽";
+            this.btnUNU.UseVisualStyleBackColor = true;
+            this.btnUNU.Click += new System.EventHandler(this.btnUNU_Click);
+            // 
+            // btnULi
+            // 
+            this.btnULi.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnULi.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnULi.Location = new System.Drawing.Point(172, 311);
+            this.btnULi.Name = "btnULi";
+            this.btnULi.Size = new System.Drawing.Size(120, 34);
+            this.btnULi.TabIndex = 267;
+            this.btnULi.Text = "启用门禁功能屏蔽";
+            this.btnULi.UseVisualStyleBackColor = true;
+            this.btnULi.Click += new System.EventHandler(this.btnULi_Click);
+            // 
             // btn_Warming_Stop
             // btn_Warming_Stop
             // 
             // 
             this.btn_Warming_Stop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Warming_Stop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Warming_Stop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_Warming_Stop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Warming_Stop.Location = new System.Drawing.Point(173, 152);
+            this.btn_Warming_Stop.Location = new System.Drawing.Point(173, 59);
             this.btn_Warming_Stop.Name = "btn_Warming_Stop";
             this.btn_Warming_Stop.Name = "btn_Warming_Stop";
             this.btn_Warming_Stop.Size = new System.Drawing.Size(120, 34);
             this.btn_Warming_Stop.Size = new System.Drawing.Size(120, 34);
             this.btn_Warming_Stop.TabIndex = 266;
             this.btn_Warming_Stop.TabIndex = 266;
@@ -108,7 +126,7 @@
             // 
             // 
             this.btn_Warming_Start.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Warming_Start.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Warming_Start.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_Warming_Start.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Warming_Start.Location = new System.Drawing.Point(173, 115);
+            this.btn_Warming_Start.Location = new System.Drawing.Point(173, 22);
             this.btn_Warming_Start.Name = "btn_Warming_Start";
             this.btn_Warming_Start.Name = "btn_Warming_Start";
             this.btn_Warming_Start.Size = new System.Drawing.Size(120, 34);
             this.btn_Warming_Start.Size = new System.Drawing.Size(120, 34);
             this.btn_Warming_Start.TabIndex = 265;
             this.btn_Warming_Start.TabIndex = 265;
@@ -116,35 +134,11 @@
             this.btn_Warming_Start.UseVisualStyleBackColor = true;
             this.btn_Warming_Start.UseVisualStyleBackColor = true;
             this.btn_Warming_Start.Click += new System.EventHandler(this.btn_Warming_Start_Click);
             this.btn_Warming_Start.Click += new System.EventHandler(this.btn_Warming_Start_Click);
             // 
             // 
-            // btn_Colding_Stop
-            // 
-            this.btn_Colding_Stop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btn_Colding_Stop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Colding_Stop.Location = new System.Drawing.Point(34, 152);
-            this.btn_Colding_Stop.Name = "btn_Colding_Stop";
-            this.btn_Colding_Stop.Size = new System.Drawing.Size(120, 34);
-            this.btn_Colding_Stop.TabIndex = 264;
-            this.btn_Colding_Stop.Text = "冷气机停止";
-            this.btn_Colding_Stop.UseVisualStyleBackColor = true;
-            this.btn_Colding_Stop.Click += new System.EventHandler(this.btn_Colding_Stop_Click);
-            // 
-            // btn_Colding_Start
-            // 
-            this.btn_Colding_Start.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btn_Colding_Start.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Colding_Start.Location = new System.Drawing.Point(34, 115);
-            this.btn_Colding_Start.Name = "btn_Colding_Start";
-            this.btn_Colding_Start.Size = new System.Drawing.Size(120, 34);
-            this.btn_Colding_Start.TabIndex = 263;
-            this.btn_Colding_Start.Text = "冷气机启动";
-            this.btn_Colding_Start.UseVisualStyleBackColor = true;
-            this.btn_Colding_Start.Click += new System.EventHandler(this.btn_Colding_Start_Click);
-            // 
             // btn_ColdDoor_Close
             // btn_ColdDoor_Close
             // 
             // 
             this.btn_ColdDoor_Close.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_ColdDoor_Close.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_ColdDoor_Close.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_ColdDoor_Close.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_ColdDoor_Close.Location = new System.Drawing.Point(173, 298);
+            this.btn_ColdDoor_Close.Location = new System.Drawing.Point(173, 220);
             this.btn_ColdDoor_Close.Name = "btn_ColdDoor_Close";
             this.btn_ColdDoor_Close.Name = "btn_ColdDoor_Close";
             this.btn_ColdDoor_Close.Size = new System.Drawing.Size(120, 34);
             this.btn_ColdDoor_Close.Size = new System.Drawing.Size(120, 34);
             this.btn_ColdDoor_Close.TabIndex = 261;
             this.btn_ColdDoor_Close.TabIndex = 261;
@@ -156,7 +150,7 @@
             // 
             // 
             this.btn_ColdDoor_Open.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_ColdDoor_Open.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_ColdDoor_Open.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_ColdDoor_Open.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_ColdDoor_Open.Location = new System.Drawing.Point(173, 335);
+            this.btn_ColdDoor_Open.Location = new System.Drawing.Point(173, 257);
             this.btn_ColdDoor_Open.Name = "btn_ColdDoor_Open";
             this.btn_ColdDoor_Open.Name = "btn_ColdDoor_Open";
             this.btn_ColdDoor_Open.Size = new System.Drawing.Size(120, 34);
             this.btn_ColdDoor_Open.Size = new System.Drawing.Size(120, 34);
             this.btn_ColdDoor_Open.TabIndex = 262;
             this.btn_ColdDoor_Open.TabIndex = 262;
@@ -168,7 +162,7 @@
             // 
             // 
             this.btn_StirLocation_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_StirLocation_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_StirLocation_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_StirLocation_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_StirLocation_Up.Location = new System.Drawing.Point(34, 298);
+            this.btn_StirLocation_Up.Location = new System.Drawing.Point(34, 220);
             this.btn_StirLocation_Up.Name = "btn_StirLocation_Up";
             this.btn_StirLocation_Up.Name = "btn_StirLocation_Up";
             this.btn_StirLocation_Up.Size = new System.Drawing.Size(120, 34);
             this.btn_StirLocation_Up.Size = new System.Drawing.Size(120, 34);
             this.btn_StirLocation_Up.TabIndex = 259;
             this.btn_StirLocation_Up.TabIndex = 259;
@@ -180,7 +174,7 @@
             // 
             // 
             this.btn_StirLocation_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_StirLocation_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_StirLocation_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_StirLocation_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_StirLocation_Down.Location = new System.Drawing.Point(34, 335);
+            this.btn_StirLocation_Down.Location = new System.Drawing.Point(34, 257);
             this.btn_StirLocation_Down.Name = "btn_StirLocation_Down";
             this.btn_StirLocation_Down.Name = "btn_StirLocation_Down";
             this.btn_StirLocation_Down.Size = new System.Drawing.Size(120, 34);
             this.btn_StirLocation_Down.Size = new System.Drawing.Size(120, 34);
             this.btn_StirLocation_Down.TabIndex = 260;
             this.btn_StirLocation_Down.TabIndex = 260;
@@ -192,7 +186,7 @@
             // 
             // 
             this.btn_Clamping_Tighten.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Clamping_Tighten.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Clamping_Tighten.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_Clamping_Tighten.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Clamping_Tighten.Location = new System.Drawing.Point(173, 207);
+            this.btn_Clamping_Tighten.Location = new System.Drawing.Point(173, 129);
             this.btn_Clamping_Tighten.Name = "btn_Clamping_Tighten";
             this.btn_Clamping_Tighten.Name = "btn_Clamping_Tighten";
             this.btn_Clamping_Tighten.Size = new System.Drawing.Size(120, 34);
             this.btn_Clamping_Tighten.Size = new System.Drawing.Size(120, 34);
             this.btn_Clamping_Tighten.TabIndex = 257;
             this.btn_Clamping_Tighten.TabIndex = 257;
@@ -204,7 +198,7 @@
             // 
             // 
             this.btn_Clamping_Relax.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Clamping_Relax.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Clamping_Relax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_Clamping_Relax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Clamping_Relax.Location = new System.Drawing.Point(173, 244);
+            this.btn_Clamping_Relax.Location = new System.Drawing.Point(173, 166);
             this.btn_Clamping_Relax.Name = "btn_Clamping_Relax";
             this.btn_Clamping_Relax.Name = "btn_Clamping_Relax";
             this.btn_Clamping_Relax.Size = new System.Drawing.Size(120, 34);
             this.btn_Clamping_Relax.Size = new System.Drawing.Size(120, 34);
             this.btn_Clamping_Relax.TabIndex = 258;
             this.btn_Clamping_Relax.TabIndex = 258;
@@ -216,11 +210,11 @@
             // 
             // 
             this.btnCloseLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCloseLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCloseLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnCloseLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnCloseLed.Location = new System.Drawing.Point(173, 62);
+            this.btnCloseLed.Location = new System.Drawing.Point(34, 59);
             this.btnCloseLed.Name = "btnCloseLed";
             this.btnCloseLed.Name = "btnCloseLed";
             this.btnCloseLed.Size = new System.Drawing.Size(120, 34);
             this.btnCloseLed.Size = new System.Drawing.Size(120, 34);
             this.btnCloseLed.TabIndex = 256;
             this.btnCloseLed.TabIndex = 256;
-            this.btnCloseLed.Text = "关闭照明";
+            this.btnCloseLed.Text = "关闭相机照明";
             this.btnCloseLed.UseVisualStyleBackColor = true;
             this.btnCloseLed.UseVisualStyleBackColor = true;
             this.btnCloseLed.Click += new System.EventHandler(this.btnCloseLed_Click);
             this.btnCloseLed.Click += new System.EventHandler(this.btnCloseLed_Click);
             // 
             // 
@@ -228,7 +222,7 @@
             // 
             // 
             this.btn_Door_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Door_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Door_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_Door_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Door_Up.Location = new System.Drawing.Point(34, 207);
+            this.btn_Door_Up.Location = new System.Drawing.Point(34, 129);
             this.btn_Door_Up.Name = "btn_Door_Up";
             this.btn_Door_Up.Name = "btn_Door_Up";
             this.btn_Door_Up.Size = new System.Drawing.Size(120, 34);
             this.btn_Door_Up.Size = new System.Drawing.Size(120, 34);
             this.btn_Door_Up.TabIndex = 248;
             this.btn_Door_Up.TabIndex = 248;
@@ -240,11 +234,11 @@
             // 
             // 
             this.btnOpenLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnOpenLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnOpenLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnOpenLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnOpenLed.Location = new System.Drawing.Point(173, 25);
+            this.btnOpenLed.Location = new System.Drawing.Point(34, 22);
             this.btnOpenLed.Name = "btnOpenLed";
             this.btnOpenLed.Name = "btnOpenLed";
             this.btnOpenLed.Size = new System.Drawing.Size(120, 34);
             this.btnOpenLed.Size = new System.Drawing.Size(120, 34);
             this.btnOpenLed.TabIndex = 255;
             this.btnOpenLed.TabIndex = 255;
-            this.btnOpenLed.Text = "打开照明";
+            this.btnOpenLed.Text = "打开相机照明";
             this.btnOpenLed.UseVisualStyleBackColor = true;
             this.btnOpenLed.UseVisualStyleBackColor = true;
             this.btnOpenLed.Click += new System.EventHandler(this.btnOpenLed_Click);
             this.btnOpenLed.Click += new System.EventHandler(this.btnOpenLed_Click);
             // 
             // 
@@ -252,7 +246,7 @@
             // 
             // 
             this.btn_Door_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Door_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btn_Door_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btn_Door_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_Door_Down.Location = new System.Drawing.Point(34, 244);
+            this.btn_Door_Down.Location = new System.Drawing.Point(34, 166);
             this.btn_Door_Down.Name = "btn_Door_Down";
             this.btn_Door_Down.Name = "btn_Door_Down";
             this.btn_Door_Down.Size = new System.Drawing.Size(120, 34);
             this.btn_Door_Down.Size = new System.Drawing.Size(120, 34);
             this.btn_Door_Down.TabIndex = 249;
             this.btn_Door_Down.TabIndex = 249;
@@ -260,45 +254,8 @@
             this.btn_Door_Down.UseVisualStyleBackColor = true;
             this.btn_Door_Down.UseVisualStyleBackColor = true;
             this.btn_Door_Down.Click += new System.EventHandler(this.btnCloseDoor_Click);
             this.btn_Door_Down.Click += new System.EventHandler(this.btnCloseDoor_Click);
             // 
             // 
-            // btnCloseAxisBreak
-            // 
-            this.btnCloseAxisBreak.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnCloseAxisBreak.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnCloseAxisBreak.Location = new System.Drawing.Point(34, 62);
-            this.btnCloseAxisBreak.Name = "btnCloseAxisBreak";
-            this.btnCloseAxisBreak.Size = new System.Drawing.Size(120, 34);
-            this.btnCloseAxisBreak.TabIndex = 253;
-            this.btnCloseAxisBreak.Text = "关闭刹车";
-            this.btnCloseAxisBreak.UseVisualStyleBackColor = true;
-            this.btnCloseAxisBreak.Click += new System.EventHandler(this.btnCloseAxisBreak_Click);
-            // 
-            // btnOpenAxisBreak
-            // 
-            this.btnOpenAxisBreak.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnOpenAxisBreak.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnOpenAxisBreak.Location = new System.Drawing.Point(34, 25);
-            this.btnOpenAxisBreak.Name = "btnOpenAxisBreak";
-            this.btnOpenAxisBreak.Size = new System.Drawing.Size(120, 34);
-            this.btnOpenAxisBreak.TabIndex = 252;
-            this.btnOpenAxisBreak.Text = "打开刹车";
-            this.btnOpenAxisBreak.UseVisualStyleBackColor = true;
-            this.btnOpenAxisBreak.Click += new System.EventHandler(this.btnOpenAxisBreak_Click);
-            // 
-            // button1
-            // 
-            this.button1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
-            this.button1.Location = new System.Drawing.Point(683, 598);
-            this.button1.Name = "button1";
-            this.button1.Size = new System.Drawing.Size(126, 37);
-            this.button1.TabIndex = 254;
-            this.button1.Text = "关闭";
-            this.button1.UseVisualStyleBackColor = true;
-            this.button1.Click += new System.EventHandler(this.button1_Click);
-            // 
             // groupBox1
             // groupBox1
             // 
             // 
-            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
             this.groupBox1.Controls.Add(this.btnOpenDo);
             this.groupBox1.Controls.Add(this.btnOpenDo);
             this.groupBox1.Controls.Add(this.btnWriteSingleDO);
             this.groupBox1.Controls.Add(this.btnWriteSingleDO);
             this.groupBox1.Controls.Add(this.btnCloseAll);
             this.groupBox1.Controls.Add(this.btnCloseAll);
@@ -309,9 +266,9 @@
             this.groupBox1.Controls.Add(this.label5);
             this.groupBox1.Controls.Add(this.label5);
             this.groupBox1.Controls.Add(this.cmbWriteIO);
             this.groupBox1.Controls.Add(this.cmbWriteIO);
             this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             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(482, 8);
+            this.groupBox1.Location = new System.Drawing.Point(481, 8);
             this.groupBox1.Name = "groupBox1";
             this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Size = new System.Drawing.Size(335, 149);
+            this.groupBox1.Size = new System.Drawing.Size(336, 149);
             this.groupBox1.TabIndex = 105;
             this.groupBox1.TabIndex = 105;
             this.groupBox1.TabStop = false;
             this.groupBox1.TabStop = false;
             this.groupBox1.Text = "DO写入";
             this.groupBox1.Text = "DO写入";
@@ -430,7 +387,7 @@
             this.groupBox4.Controls.Add(this.tableLayoutPanel2);
             this.groupBox4.Controls.Add(this.tableLayoutPanel2);
             this.groupBox4.Location = new System.Drawing.Point(247, 8);
             this.groupBox4.Location = new System.Drawing.Point(247, 8);
             this.groupBox4.Name = "groupBox4";
             this.groupBox4.Name = "groupBox4";
-            this.groupBox4.Size = new System.Drawing.Size(229, 629);
+            this.groupBox4.Size = new System.Drawing.Size(229, 563);
             this.groupBox4.TabIndex = 104;
             this.groupBox4.TabIndex = 104;
             this.groupBox4.TabStop = false;
             this.groupBox4.TabStop = false;
             this.groupBox4.Text = "DO列表";
             this.groupBox4.Text = "DO列表";
@@ -447,7 +404,7 @@
             this.tableLayoutPanel2.RowCount = 2;
             this.tableLayoutPanel2.RowCount = 2;
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
             this.tableLayoutPanel2.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
-            this.tableLayoutPanel2.Size = new System.Drawing.Size(218, 609);
+            this.tableLayoutPanel2.Size = new System.Drawing.Size(218, 543);
             this.tableLayoutPanel2.TabIndex = 103;
             this.tableLayoutPanel2.TabIndex = 103;
             // 
             // 
             // groupBox3
             // groupBox3
@@ -457,7 +414,7 @@
             this.groupBox3.Controls.Add(this.tableLayoutPanel1);
             this.groupBox3.Controls.Add(this.tableLayoutPanel1);
             this.groupBox3.Location = new System.Drawing.Point(12, 8);
             this.groupBox3.Location = new System.Drawing.Point(12, 8);
             this.groupBox3.Name = "groupBox3";
             this.groupBox3.Name = "groupBox3";
-            this.groupBox3.Size = new System.Drawing.Size(229, 629);
+            this.groupBox3.Size = new System.Drawing.Size(229, 563);
             this.groupBox3.TabIndex = 103;
             this.groupBox3.TabIndex = 103;
             this.groupBox3.TabStop = false;
             this.groupBox3.TabStop = false;
             this.groupBox3.Text = "DI列表";
             this.groupBox3.Text = "DI列表";
@@ -474,43 +431,53 @@
             this.tableLayoutPanel1.RowCount = 2;
             this.tableLayoutPanel1.RowCount = 2;
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 17F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(218, 609);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(218, 543);
             this.tableLayoutPanel1.TabIndex = 102;
             this.tableLayoutPanel1.TabIndex = 102;
             // 
             // 
-            // btnULi
-            // 
-            this.btnULi.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnULi.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnULi.Location = new System.Drawing.Point(34, 389);
-            this.btnULi.Name = "btnULi";
-            this.btnULi.Size = new System.Drawing.Size(120, 34);
-            this.btnULi.TabIndex = 267;
-            this.btnULi.Text = "启用门禁功能屏蔽";
-            this.btnULi.UseVisualStyleBackColor = true;
-            this.btnULi.Click += new System.EventHandler(this.btnULi_Click);
-            // 
-            // btnUNU
-            // 
-            this.btnUNU.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnUNU.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnUNU.Location = new System.Drawing.Point(173, 389);
-            this.btnUNU.Name = "btnUNU";
-            this.btnUNU.Size = new System.Drawing.Size(120, 34);
-            this.btnUNU.TabIndex = 268;
-            this.btnUNU.Text = "关闭门禁功能屏蔽";
-            this.btnUNU.UseVisualStyleBackColor = true;
-            this.btnUNU.Click += new System.EventHandler(this.btnUNU_Click);
+            // panel1
+            // 
+            this.panel1.AutoScroll = true;
+            this.panel1.Controls.Add(this.groupBox2);
+            this.panel1.Controls.Add(this.groupBox3);
+            this.panel1.Controls.Add(this.groupBox1);
+            this.panel1.Controls.Add(this.groupBox4);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Location = new System.Drawing.Point(0, 0);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(1033, 581);
+            this.panel1.TabIndex = 256;
+            // 
+            // btn_openDeviceLed
+            // 
+            this.btn_openDeviceLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_openDeviceLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_openDeviceLed.Location = new System.Drawing.Point(34, 311);
+            this.btn_openDeviceLed.Name = "btn_openDeviceLed";
+            this.btn_openDeviceLed.Size = new System.Drawing.Size(120, 34);
+            this.btn_openDeviceLed.TabIndex = 255;
+            this.btn_openDeviceLed.Text = "打开设备照明";
+            this.btn_openDeviceLed.UseVisualStyleBackColor = true;
+            this.btn_openDeviceLed.Click += new System.EventHandler(this.btn_openDeviceLed_Click);
+            // 
+            // btn_closeDeviceLed
+            // 
+            this.btn_closeDeviceLed.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_closeDeviceLed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_closeDeviceLed.Location = new System.Drawing.Point(34, 348);
+            this.btn_closeDeviceLed.Name = "btn_closeDeviceLed";
+            this.btn_closeDeviceLed.Size = new System.Drawing.Size(120, 34);
+            this.btn_closeDeviceLed.TabIndex = 256;
+            this.btn_closeDeviceLed.Text = "关闭设备照明";
+            this.btn_closeDeviceLed.UseVisualStyleBackColor = true;
+            this.btn_closeDeviceLed.Click += new System.EventHandler(this.btn_closeDeviceLed_Click);
             // 
             // 
             // FrmIOStatus
             // FrmIOStatus
             // 
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(828, 647);
-            this.Controls.Add(this.groupBox2);
-            this.Controls.Add(this.button1);
-            this.Controls.Add(this.groupBox1);
-            this.Controls.Add(this.groupBox4);
-            this.Controls.Add(this.groupBox3);
+            this.AutoScroll = true;
+            this.ClientSize = new System.Drawing.Size(1033, 581);
+            this.Controls.Add(this.panel1);
             this.MaximizeBox = false;
             this.MaximizeBox = false;
             this.MinimizeBox = false;
             this.MinimizeBox = false;
             this.Name = "FrmIOStatus";
             this.Name = "FrmIOStatus";
@@ -523,6 +490,7 @@
             this.groupBox1.PerformLayout();
             this.groupBox1.PerformLayout();
             this.groupBox4.ResumeLayout(false);
             this.groupBox4.ResumeLayout(false);
             this.groupBox3.ResumeLayout(false);
             this.groupBox3.ResumeLayout(false);
+            this.panel1.ResumeLayout(false);
             this.ResumeLayout(false);
             this.ResumeLayout(false);
 
 
         }
         }
@@ -543,9 +511,6 @@
         private System.Windows.Forms.TextBox txtDoName;
         private System.Windows.Forms.TextBox txtDoName;
         private System.Windows.Forms.Button btn_Door_Down;
         private System.Windows.Forms.Button btn_Door_Down;
         private System.Windows.Forms.Button btn_Door_Up;
         private System.Windows.Forms.Button btn_Door_Up;
-        private System.Windows.Forms.Button btnCloseAxisBreak;
-        private System.Windows.Forms.Button btnOpenAxisBreak;
-        private System.Windows.Forms.Button button1;
         private System.Windows.Forms.Button btnCloseLed;
         private System.Windows.Forms.Button btnCloseLed;
         private System.Windows.Forms.Button btnOpenLed;
         private System.Windows.Forms.Button btnOpenLed;
         private System.Windows.Forms.GroupBox groupBox2;
         private System.Windows.Forms.GroupBox groupBox2;
@@ -556,14 +521,15 @@
         private System.Windows.Forms.Button btn_Clamping_Relax;
         private System.Windows.Forms.Button btn_Clamping_Relax;
         private System.Windows.Forms.Button btn_Warming_Stop;
         private System.Windows.Forms.Button btn_Warming_Stop;
         private System.Windows.Forms.Button btn_Warming_Start;
         private System.Windows.Forms.Button btn_Warming_Start;
-        private System.Windows.Forms.Button btn_Colding_Stop;
-        private System.Windows.Forms.Button btn_Colding_Start;
         private System.Windows.Forms.Button btn_ColdDoor_Close;
         private System.Windows.Forms.Button btn_ColdDoor_Close;
         private System.Windows.Forms.Button btn_ColdDoor_Open;
         private System.Windows.Forms.Button btn_ColdDoor_Open;
         private System.Windows.Forms.Button btn_StirLocation_Up;
         private System.Windows.Forms.Button btn_StirLocation_Up;
         private System.Windows.Forms.Button btn_StirLocation_Down;
         private System.Windows.Forms.Button btn_StirLocation_Down;
         private System.Windows.Forms.Button btnUNU;
         private System.Windows.Forms.Button btnUNU;
         private System.Windows.Forms.Button btnULi;
         private System.Windows.Forms.Button btnULi;
+        private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.Button btn_closeDeviceLed;
+        private System.Windows.Forms.Button btn_openDeviceLed;
     }
     }
 }
 }
 
 

source/ACSingleStore/FrmIOStatus.cs

@@ -49,7 +49,7 @@ namespace OnlineStore.TinPasteStore
             this.tableLayoutPanel1.RowCount = boxBean.Config.StoreDIList.Count;
             this.tableLayoutPanel1.RowCount = boxBean.Config.StoreDIList.Count;
             foreach (ConfigIO ioValue in boxBean.Config.StoreDIList.Values)
             foreach (ConfigIO ioValue in boxBean.Config.StoreDIList.Values)
             {
             {
-                this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
+                this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
                 IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain,   ioValue.ProName);
                 IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain,   ioValue.ProName);
                 control.Click += Control_Click;
                 control.Click += Control_Click;
                 this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                 this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
@@ -62,7 +62,7 @@ namespace OnlineStore.TinPasteStore
             roleindex = 0;
             roleindex = 0;
             foreach (ConfigIO ioValue in boxBean.Config.StoreDOList.Values)
             foreach (ConfigIO ioValue in boxBean.Config.StoreDOList.Values)
             {
             {
-                this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
+                this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
                 IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain,   ioValue.ProName);
                 IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain,   ioValue.ProName);
                 control.Click += Control_Click;
                 control.Click += Control_Click;
                 this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
                 this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
@@ -166,10 +166,6 @@ namespace OnlineStore.TinPasteStore
             }
             }
         } 
         } 
 
 
-        private void btnReadIO_Click(object sender, EventArgs e)
-        {
-            ReadIOList();
-        }
 
 
         private void ReadIOList()
         private void ReadIOList()
         {
         {
@@ -214,21 +210,6 @@ namespace OnlineStore.TinPasteStore
             timer1.Start();
             timer1.Start();
         }
         }
 
 
-        private void btnOpenAxisBreak_Click(object sender, EventArgs e)
-        {
-            IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.HIGH);
-        }
-
-        private void btnCloseAxisBreak_Click(object sender, EventArgs e)
-        { 
-            IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
-        }
-
-        private void button1_Click(object sender, EventArgs e)
-        {
-            this.Close();
-        }
-
         private void btnOpenLed_Click(object sender, EventArgs e)
         private void btnOpenLed_Click(object sender, EventArgs e)
         { 
         { 
             IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
             IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
@@ -264,16 +245,6 @@ namespace OnlineStore.TinPasteStore
             WriteDO(IO_VALUE.LOW);
             WriteDO(IO_VALUE.LOW);
         }
         }
 
 
-        private void btn_Colding_Start_Click(object sender, EventArgs e)
-        { 
-            IOManager.IOMove(IO_Type.Colding_Start, IO_VALUE.HIGH);
-        }
-
-        private void btn_Colding_Stop_Click(object sender, EventArgs e)
-        { 
-            IOManager.IOMove(IO_Type.Colding_Start, IO_VALUE.LOW);
-        }
-
         private void btn_Warming_Start_Click(object sender, EventArgs e)
         private void btn_Warming_Start_Click(object sender, EventArgs e)
         {
         {
 
 
@@ -282,7 +253,6 @@ namespace OnlineStore.TinPasteStore
 
 
         private void btn_Warming_Stop_Click(object sender, EventArgs e)
         private void btn_Warming_Stop_Click(object sender, EventArgs e)
         {
         {
-
             IOManager.IOMove(IO_Type.Warming_Start, IO_VALUE.LOW);
             IOManager.IOMove(IO_Type.Warming_Start, IO_VALUE.LOW);
         }
         }
 
 
@@ -293,7 +263,6 @@ namespace OnlineStore.TinPasteStore
 
 
         private void btn_Clamping_Relax_Click(object sender, EventArgs e)
         private void btn_Clamping_Relax_Click(object sender, EventArgs e)
         {
         {
-
             StoreManager.Store.CylinderMove(null, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
             StoreManager.Store.CylinderMove(null, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
         }
         }
 
 
@@ -319,14 +288,22 @@ namespace OnlineStore.TinPasteStore
 
 
         private void btnULi_Click(object sender, EventArgs e)
         private void btnULi_Click(object sender, EventArgs e)
         {
         {
-
             IOManager.IOMove(IO_Type.Door_Limit, IO_VALUE.HIGH);
             IOManager.IOMove(IO_Type.Door_Limit, IO_VALUE.HIGH);
         }
         }
 
 
         private void btnUNU_Click(object sender, EventArgs e)
         private void btnUNU_Click(object sender, EventArgs e)
         {
         {
-
             IOManager.IOMove(IO_Type.Door_Limit, IO_VALUE.LOW);
             IOManager.IOMove(IO_Type.Door_Limit, IO_VALUE.LOW);
         }
         }
+
+        private void btn_openDeviceLed_Click(object sender, EventArgs e)
+        {
+            IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
+        }
+
+        private void btn_closeDeviceLed_Click(object sender, EventArgs e)
+        {
+            IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.LOW);
+        }
     }
     }
 }
 }

source/ACSingleStore/FrmStoreBox.Designer.cs

@@ -42,12 +42,9 @@
             this.tabPage5 = new System.Windows.Forms.TabPage();
             this.tabPage5 = new System.Windows.Forms.TabPage();
             this.btnUpdown = new System.Windows.Forms.Button();
             this.btnUpdown = new System.Windows.Forms.Button();
             this.btnDebug = new System.Windows.Forms.Button();
             this.btnDebug = new System.Windows.Forms.Button();
-            this.btnAxisOff = new System.Windows.Forms.Button();
-            this.btnAxisOn = new System.Windows.Forms.Button();
             this.btnScanCode = new System.Windows.Forms.Button();
             this.btnScanCode = new System.Windows.Forms.Button();
             this.btnAxisP = new System.Windows.Forms.Button();
             this.btnAxisP = new System.Windows.Forms.Button();
             this.btnCodeLearn = new System.Windows.Forms.Button();
             this.btnCodeLearn = new System.Windows.Forms.Button();
-            this.btnIO = new System.Windows.Forms.Button();
             this.tabPage6 = new System.Windows.Forms.TabPage();
             this.tabPage6 = new System.Windows.Forms.TabPage();
             this.button4 = new System.Windows.Forms.Button();
             this.button4 = new System.Windows.Forms.Button();
             this.btnClearL = new System.Windows.Forms.Button();
             this.btnClearL = new System.Windows.Forms.Button();
@@ -55,6 +52,7 @@
             this.chbAutoWork = new System.Windows.Forms.CheckBox();
             this.chbAutoWork = new System.Windows.Forms.CheckBox();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage3 = new System.Windows.Forms.TabPage();
             this.tabPage3 = new System.Windows.Forms.TabPage();
+            this.pictureBox1 = new System.Windows.Forms.PictureBox();
             this.lblOutMsg = new System.Windows.Forms.Label();
             this.lblOutMsg = new System.Windows.Forms.Label();
             this.btnCloseDoor = new System.Windows.Forms.Button();
             this.btnCloseDoor = new System.Windows.Forms.Button();
             this.btnUNU = new System.Windows.Forms.Button();
             this.btnUNU = new System.Windows.Forms.Button();
@@ -68,15 +66,8 @@
             this.lblThisSta = new System.Windows.Forms.Label();
             this.lblThisSta = new System.Windows.Forms.Label();
             this.richTextBox1 = new System.Windows.Forms.RichTextBox();
             this.richTextBox1 = new System.Windows.Forms.RichTextBox();
             this.tabPage7 = new System.Windows.Forms.TabPage();
             this.tabPage7 = new System.Windows.Forms.TabPage();
-            this.groStir = new System.Windows.Forms.GroupBox();
-            this.cmbWeight = new System.Windows.Forms.ComboBox();
-            this.label1 = new System.Windows.Forms.Label();
-            this.numTime = new System.Windows.Forms.NumericUpDown();
-            this.btnStirTest = new System.Windows.Forms.Button();
-            this.groWarm = new System.Windows.Forms.GroupBox();
-            this.label2 = new System.Windows.Forms.Label();
-            this.btnBackwarm = new System.Windows.Forms.Button();
-            this.cmbTargetPos = new System.Windows.Forms.ComboBox();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.btnDoorPSave = new System.Windows.Forms.Button();
             this.groupInout = new System.Windows.Forms.GroupBox();
             this.groupInout = new System.Windows.Forms.GroupBox();
             this.lblPosType = new System.Windows.Forms.Label();
             this.lblPosType = new System.Windows.Forms.Label();
             this.btnInOutP1 = new System.Windows.Forms.Button();
             this.btnInOutP1 = new System.Windows.Forms.Button();
@@ -121,6 +112,16 @@
             this.txtUpdownP101 = new System.Windows.Forms.TextBox();
             this.txtUpdownP101 = new System.Windows.Forms.TextBox();
             this.txtStirP2 = new System.Windows.Forms.TextBox();
             this.txtStirP2 = new System.Windows.Forms.TextBox();
             this.btnStirP1 = new System.Windows.Forms.Button();
             this.btnStirP1 = new System.Windows.Forms.Button();
+            this.groStir = new System.Windows.Forms.GroupBox();
+            this.cmbWeight = new System.Windows.Forms.ComboBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.numTime = new System.Windows.Forms.NumericUpDown();
+            this.btnStirTest = new System.Windows.Forms.Button();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.txtColdP1 = new System.Windows.Forms.TextBox();
+            this.txtWarmP1 = new System.Windows.Forms.TextBox();
+            this.btnWarmP1 = new System.Windows.Forms.Button();
+            this.btnColdP1 = new System.Windows.Forms.Button();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.txtInOutP22 = new System.Windows.Forms.TextBox();
             this.txtInOutP22 = new System.Windows.Forms.TextBox();
             this.btnInOutP22 = new System.Windows.Forms.Button();
             this.btnInOutP22 = new System.Windows.Forms.Button();
@@ -150,15 +151,13 @@
             this.txtUpDownP8 = new System.Windows.Forms.TextBox();
             this.txtUpDownP8 = new System.Windows.Forms.TextBox();
             this.txtUpDownP2 = new System.Windows.Forms.TextBox();
             this.txtUpDownP2 = new System.Windows.Forms.TextBox();
             this.txtUpDownP1 = new System.Windows.Forms.TextBox();
             this.txtUpDownP1 = new System.Windows.Forms.TextBox();
-            this.btnDoorPSave = new System.Windows.Forms.Button();
-            this.groupBox2 = new System.Windows.Forms.GroupBox();
-            this.txtColdP1 = new System.Windows.Forms.TextBox();
-            this.txtWarmP1 = new System.Windows.Forms.TextBox();
-            this.btnWarmP1 = new System.Windows.Forms.Button();
-            this.btnColdP1 = new System.Windows.Forms.Button();
+            this.groWarm = new System.Windows.Forms.GroupBox();
+            this.label2 = new System.Windows.Forms.Label();
+            this.btnBackwarm = new System.Windows.Forms.Button();
+            this.cmbTargetPos = new System.Windows.Forms.ComboBox();
             this.tabPage1 = new System.Windows.Forms.TabPage();
             this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.axisMoveControl1 = new OnlineStore.DUOStore.AxisMoveControl();
             this.lblText = new System.Windows.Forms.Label();
             this.lblText = new System.Windows.Forms.Label();
-            this.axisMoveControl1 = new OnlineStore.ACPackingStore.AxisMoveControl();
             this.contextMenuStrip1.SuspendLayout();
             this.contextMenuStrip1.SuspendLayout();
             this.tabControl2.SuspendLayout();
             this.tabControl2.SuspendLayout();
             this.tabPage4.SuspendLayout();
             this.tabPage4.SuspendLayout();
@@ -166,15 +165,17 @@
             this.tabPage6.SuspendLayout();
             this.tabPage6.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage3.SuspendLayout();
             this.tabPage3.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
             this.groupBox3.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.tabPage7.SuspendLayout();
             this.tabPage7.SuspendLayout();
-            this.groStir.SuspendLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.numTime)).BeginInit();
-            this.groWarm.SuspendLayout();
+            this.panel1.SuspendLayout();
             this.groupInout.SuspendLayout();
             this.groupInout.SuspendLayout();
             this.groupBox4.SuspendLayout();
             this.groupBox4.SuspendLayout();
-            this.groupBox1.SuspendLayout();
+            this.groStir.SuspendLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.numTime)).BeginInit();
             this.groupBox2.SuspendLayout();
             this.groupBox2.SuspendLayout();
+            this.groupBox1.SuspendLayout();
+            this.groWarm.SuspendLayout();
             this.tabPage1.SuspendLayout();
             this.tabPage1.SuspendLayout();
             this.SuspendLayout();
             this.SuspendLayout();
             // 
             // 
@@ -230,7 +231,7 @@
             this.tabControl2.Location = new System.Drawing.Point(6, 4);
             this.tabControl2.Location = new System.Drawing.Point(6, 4);
             this.tabControl2.Name = "tabControl2";
             this.tabControl2.Name = "tabControl2";
             this.tabControl2.SelectedIndex = 0;
             this.tabControl2.SelectedIndex = 0;
-            this.tabControl2.Size = new System.Drawing.Size(1173, 80);
+            this.tabControl2.Size = new System.Drawing.Size(997, 80);
             this.tabControl2.TabIndex = 271;
             this.tabControl2.TabIndex = 271;
             // 
             // 
             // tabPage4
             // tabPage4
@@ -245,7 +246,7 @@
             this.tabPage4.Location = new System.Drawing.Point(4, 29);
             this.tabPage4.Location = new System.Drawing.Point(4, 29);
             this.tabPage4.Name = "tabPage4";
             this.tabPage4.Name = "tabPage4";
             this.tabPage4.Padding = new System.Windows.Forms.Padding(3);
             this.tabPage4.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage4.Size = new System.Drawing.Size(1165, 47);
+            this.tabPage4.Size = new System.Drawing.Size(989, 47);
             this.tabPage4.TabIndex = 0;
             this.tabPage4.TabIndex = 0;
             this.tabPage4.Text = "     料仓操作     ";
             this.tabPage4.Text = "     料仓操作     ";
             this.tabPage4.UseVisualStyleBackColor = true;
             this.tabPage4.UseVisualStyleBackColor = true;
@@ -255,7 +256,7 @@
             this.chbBuzzer.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.chbBuzzer.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.chbBuzzer.AutoSize = true;
             this.chbBuzzer.AutoSize = true;
             this.chbBuzzer.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.chbBuzzer.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.chbBuzzer.Location = new System.Drawing.Point(910, 12);
+            this.chbBuzzer.Location = new System.Drawing.Point(734, 12);
             this.chbBuzzer.Name = "chbBuzzer";
             this.chbBuzzer.Name = "chbBuzzer";
             this.chbBuzzer.Size = new System.Drawing.Size(98, 24);
             this.chbBuzzer.Size = new System.Drawing.Size(98, 24);
             this.chbBuzzer.TabIndex = 271;
             this.chbBuzzer.TabIndex = 271;
@@ -290,7 +291,7 @@
             this.chbAuto.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.chbAuto.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.chbAuto.AutoSize = true;
             this.chbAuto.AutoSize = true;
             this.chbAuto.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.chbAuto.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.chbAuto.Location = new System.Drawing.Point(1047, 12);
+            this.chbAuto.Location = new System.Drawing.Point(871, 12);
             this.chbAuto.Name = "chbAuto";
             this.chbAuto.Name = "chbAuto";
             this.chbAuto.Size = new System.Drawing.Size(112, 24);
             this.chbAuto.Size = new System.Drawing.Size(112, 24);
             this.chbAuto.TabIndex = 270;
             this.chbAuto.TabIndex = 270;
@@ -335,16 +336,13 @@
             // 
             // 
             this.tabPage5.Controls.Add(this.btnUpdown);
             this.tabPage5.Controls.Add(this.btnUpdown);
             this.tabPage5.Controls.Add(this.btnDebug);
             this.tabPage5.Controls.Add(this.btnDebug);
-            this.tabPage5.Controls.Add(this.btnAxisOff);
-            this.tabPage5.Controls.Add(this.btnAxisOn);
             this.tabPage5.Controls.Add(this.btnScanCode);
             this.tabPage5.Controls.Add(this.btnScanCode);
             this.tabPage5.Controls.Add(this.btnAxisP);
             this.tabPage5.Controls.Add(this.btnAxisP);
             this.tabPage5.Controls.Add(this.btnCodeLearn);
             this.tabPage5.Controls.Add(this.btnCodeLearn);
-            this.tabPage5.Controls.Add(this.btnIO);
             this.tabPage5.Location = new System.Drawing.Point(4, 29);
             this.tabPage5.Location = new System.Drawing.Point(4, 29);
             this.tabPage5.Name = "tabPage5";
             this.tabPage5.Name = "tabPage5";
             this.tabPage5.Padding = new System.Windows.Forms.Padding(3);
             this.tabPage5.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage5.Size = new System.Drawing.Size(1165, 47);
+            this.tabPage5.Size = new System.Drawing.Size(989, 47);
             this.tabPage5.TabIndex = 1;
             this.tabPage5.TabIndex = 1;
             this.tabPage5.Text = "     设备调试     ";
             this.tabPage5.Text = "     设备调试     ";
             this.tabPage5.UseVisualStyleBackColor = true;
             this.tabPage5.UseVisualStyleBackColor = true;
@@ -352,7 +350,7 @@
             // btnUpdown
             // btnUpdown
             // 
             // 
             this.btnUpdown.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnUpdown.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnUpdown.Location = new System.Drawing.Point(805, 4);
+            this.btnUpdown.Location = new System.Drawing.Point(402, 4);
             this.btnUpdown.Name = "btnUpdown";
             this.btnUpdown.Name = "btnUpdown";
             this.btnUpdown.Size = new System.Drawing.Size(132, 39);
             this.btnUpdown.Size = new System.Drawing.Size(132, 39);
             this.btnUpdown.TabIndex = 272;
             this.btnUpdown.TabIndex = 272;
@@ -363,7 +361,7 @@
             // btnDebug
             // btnDebug
             // 
             // 
             this.btnDebug.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnDebug.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnDebug.Location = new System.Drawing.Point(939, 4);
+            this.btnDebug.Location = new System.Drawing.Point(535, 4);
             this.btnDebug.Name = "btnDebug";
             this.btnDebug.Name = "btnDebug";
             this.btnDebug.Size = new System.Drawing.Size(132, 39);
             this.btnDebug.Size = new System.Drawing.Size(132, 39);
             this.btnDebug.TabIndex = 12;
             this.btnDebug.TabIndex = 12;
@@ -371,32 +369,10 @@
             this.btnDebug.UseVisualStyleBackColor = true;
             this.btnDebug.UseVisualStyleBackColor = true;
             this.btnDebug.Click += new System.EventHandler(this.btnDebug_Click);
             this.btnDebug.Click += new System.EventHandler(this.btnDebug_Click);
             // 
             // 
-            // btnAxisOff
-            // 
-            this.btnAxisOff.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnAxisOff.Location = new System.Drawing.Point(672, 4);
-            this.btnAxisOff.Name = "btnAxisOff";
-            this.btnAxisOff.Size = new System.Drawing.Size(132, 39);
-            this.btnAxisOff.TabIndex = 11;
-            this.btnAxisOff.Text = "料仓运转OFF";
-            this.btnAxisOff.UseVisualStyleBackColor = true;
-            this.btnAxisOff.Click += new System.EventHandler(this.料仓运转OFFToolStripMenuItem_Click);
-            // 
-            // btnAxisOn
-            // 
-            this.btnAxisOn.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnAxisOn.Location = new System.Drawing.Point(539, 4);
-            this.btnAxisOn.Name = "btnAxisOn";
-            this.btnAxisOn.Size = new System.Drawing.Size(132, 39);
-            this.btnAxisOn.TabIndex = 10;
-            this.btnAxisOn.Text = "料仓运转ON";
-            this.btnAxisOn.UseVisualStyleBackColor = true;
-            this.btnAxisOn.Click += new System.EventHandler(this.料仓运转ONToolStripMenuItem_Click);
-            // 
             // btnScanCode
             // btnScanCode
             // 
             // 
             this.btnScanCode.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnScanCode.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnScanCode.Location = new System.Drawing.Point(140, 4);
+            this.btnScanCode.Location = new System.Drawing.Point(3, 4);
             this.btnScanCode.Name = "btnScanCode";
             this.btnScanCode.Name = "btnScanCode";
             this.btnScanCode.Size = new System.Drawing.Size(132, 39);
             this.btnScanCode.Size = new System.Drawing.Size(132, 39);
             this.btnScanCode.TabIndex = 9;
             this.btnScanCode.TabIndex = 9;
@@ -407,7 +383,7 @@
             // btnAxisP
             // btnAxisP
             // 
             // 
             this.btnAxisP.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisP.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnAxisP.Location = new System.Drawing.Point(406, 4);
+            this.btnAxisP.Location = new System.Drawing.Point(269, 4);
             this.btnAxisP.Name = "btnAxisP";
             this.btnAxisP.Name = "btnAxisP";
             this.btnAxisP.Size = new System.Drawing.Size(132, 39);
             this.btnAxisP.Size = new System.Drawing.Size(132, 39);
             this.btnAxisP.TabIndex = 8;
             this.btnAxisP.TabIndex = 8;
@@ -418,7 +394,7 @@
             // btnCodeLearn
             // btnCodeLearn
             // 
             // 
             this.btnCodeLearn.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCodeLearn.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnCodeLearn.Location = new System.Drawing.Point(273, 4);
+            this.btnCodeLearn.Location = new System.Drawing.Point(136, 4);
             this.btnCodeLearn.Name = "btnCodeLearn";
             this.btnCodeLearn.Name = "btnCodeLearn";
             this.btnCodeLearn.Size = new System.Drawing.Size(132, 39);
             this.btnCodeLearn.Size = new System.Drawing.Size(132, 39);
             this.btnCodeLearn.TabIndex = 7;
             this.btnCodeLearn.TabIndex = 7;
@@ -426,17 +402,6 @@
             this.btnCodeLearn.UseVisualStyleBackColor = true;
             this.btnCodeLearn.UseVisualStyleBackColor = true;
             this.btnCodeLearn.Click += new System.EventHandler(this.btnCodeLearn_Click);
             this.btnCodeLearn.Click += new System.EventHandler(this.btnCodeLearn_Click);
             // 
             // 
-            // btnIO
-            // 
-            this.btnIO.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnIO.Location = new System.Drawing.Point(7, 4);
-            this.btnIO.Name = "btnIO";
-            this.btnIO.Size = new System.Drawing.Size(132, 39);
-            this.btnIO.TabIndex = 5;
-            this.btnIO.Text = "查看IO";
-            this.btnIO.UseVisualStyleBackColor = true;
-            this.btnIO.Click += new System.EventHandler(this.btnIO_Click);
-            // 
             // tabPage6
             // tabPage6
             // 
             // 
             this.tabPage6.Controls.Add(this.button4);
             this.tabPage6.Controls.Add(this.button4);
@@ -444,7 +409,7 @@
             this.tabPage6.Controls.Add(this.btnLogDebug);
             this.tabPage6.Controls.Add(this.btnLogDebug);
             this.tabPage6.Location = new System.Drawing.Point(4, 29);
             this.tabPage6.Location = new System.Drawing.Point(4, 29);
             this.tabPage6.Name = "tabPage6";
             this.tabPage6.Name = "tabPage6";
-            this.tabPage6.Size = new System.Drawing.Size(1165, 47);
+            this.tabPage6.Size = new System.Drawing.Size(989, 47);
             this.tabPage6.TabIndex = 2;
             this.tabPage6.TabIndex = 2;
             this.tabPage6.Text = "       其他       ";
             this.tabPage6.Text = "       其他       ";
             this.tabPage6.UseVisualStyleBackColor = true;
             this.tabPage6.UseVisualStyleBackColor = true;
@@ -488,7 +453,7 @@
             this.chbAutoWork.Checked = true;
             this.chbAutoWork.Checked = true;
             this.chbAutoWork.CheckState = System.Windows.Forms.CheckState.Checked;
             this.chbAutoWork.CheckState = System.Windows.Forms.CheckState.Checked;
             this.chbAutoWork.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.chbAutoWork.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.chbAutoWork.Location = new System.Drawing.Point(903, 14);
+            this.chbAutoWork.Location = new System.Drawing.Point(802, 19);
             this.chbAutoWork.Name = "chbAutoWork";
             this.chbAutoWork.Name = "chbAutoWork";
             this.chbAutoWork.Size = new System.Drawing.Size(168, 24);
             this.chbAutoWork.Size = new System.Drawing.Size(168, 24);
             this.chbAutoWork.TabIndex = 272;
             this.chbAutoWork.TabIndex = 272;
@@ -507,11 +472,12 @@
             this.tabControl1.Location = new System.Drawing.Point(6, 90);
             this.tabControl1.Location = new System.Drawing.Point(6, 90);
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.Name = "tabControl1";
             this.tabControl1.SelectedIndex = 0;
             this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(1173, 628);
+            this.tabControl1.Size = new System.Drawing.Size(997, 608);
             this.tabControl1.TabIndex = 272;
             this.tabControl1.TabIndex = 272;
             // 
             // 
             // tabPage3
             // tabPage3
             // 
             // 
+            this.tabPage3.Controls.Add(this.pictureBox1);
             this.tabPage3.Controls.Add(this.lblOutMsg);
             this.tabPage3.Controls.Add(this.lblOutMsg);
             this.tabPage3.Controls.Add(this.btnCloseDoor);
             this.tabPage3.Controls.Add(this.btnCloseDoor);
             this.tabPage3.Controls.Add(this.btnUNU);
             this.tabPage3.Controls.Add(this.btnUNU);
@@ -522,11 +488,22 @@
             this.tabPage3.Controls.Add(this.richTextBox1);
             this.tabPage3.Controls.Add(this.richTextBox1);
             this.tabPage3.Location = new System.Drawing.Point(4, 29);
             this.tabPage3.Location = new System.Drawing.Point(4, 29);
             this.tabPage3.Name = "tabPage3";
             this.tabPage3.Name = "tabPage3";
-            this.tabPage3.Size = new System.Drawing.Size(1165, 595);
+            this.tabPage3.Size = new System.Drawing.Size(989, 575);
             this.tabPage3.TabIndex = 2;
             this.tabPage3.TabIndex = 2;
             this.tabPage3.Text = "     运行日志      ";
             this.tabPage3.Text = "     运行日志      ";
             this.tabPage3.UseVisualStyleBackColor = true;
             this.tabPage3.UseVisualStyleBackColor = true;
             // 
             // 
+            // pictureBox1
+            // 
+            this.pictureBox1.Location = new System.Drawing.Point(7, 196);
+            this.pictureBox1.Name = "pictureBox1";
+            this.pictureBox1.Size = new System.Drawing.Size(510, 329);
+            this.pictureBox1.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
+            this.pictureBox1.TabIndex = 276;
+            this.pictureBox1.TabStop = false;
+            this.pictureBox1.DoubleClick += new System.EventHandler(this.pictureBox1_DoubleClick);
+            this.pictureBox1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.pictureBox1_MouseDown);
+            // 
             // lblOutMsg
             // lblOutMsg
             // 
             // 
             this.lblOutMsg.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.lblOutMsg.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
@@ -543,7 +520,7 @@
             this.btnCloseDoor.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnCloseDoor.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnCloseDoor.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCloseDoor.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCloseDoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnCloseDoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnCloseDoor.Location = new System.Drawing.Point(910, 151);
+            this.btnCloseDoor.Location = new System.Drawing.Point(734, 151);
             this.btnCloseDoor.Name = "btnCloseDoor";
             this.btnCloseDoor.Name = "btnCloseDoor";
             this.btnCloseDoor.Size = new System.Drawing.Size(121, 39);
             this.btnCloseDoor.Size = new System.Drawing.Size(121, 39);
             this.btnCloseDoor.TabIndex = 274;
             this.btnCloseDoor.TabIndex = 274;
@@ -556,7 +533,7 @@
             this.btnUNU.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnUNU.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnUNU.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnUNU.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnUNU.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnUNU.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnUNU.Location = new System.Drawing.Point(652, 151);
+            this.btnUNU.Location = new System.Drawing.Point(476, 151);
             this.btnUNU.Name = "btnUNU";
             this.btnUNU.Name = "btnUNU";
             this.btnUNU.Size = new System.Drawing.Size(121, 39);
             this.btnUNU.Size = new System.Drawing.Size(121, 39);
             this.btnUNU.TabIndex = 270;
             this.btnUNU.TabIndex = 270;
@@ -569,7 +546,7 @@
             this.btnOpendoor.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnOpendoor.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnOpendoor.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnOpendoor.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnOpendoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnOpendoor.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnOpendoor.Location = new System.Drawing.Point(781, 151);
+            this.btnOpendoor.Location = new System.Drawing.Point(605, 151);
             this.btnOpendoor.Name = "btnOpendoor";
             this.btnOpendoor.Name = "btnOpendoor";
             this.btnOpendoor.Size = new System.Drawing.Size(121, 39);
             this.btnOpendoor.Size = new System.Drawing.Size(121, 39);
             this.btnOpendoor.TabIndex = 273;
             this.btnOpendoor.TabIndex = 273;
@@ -582,7 +559,7 @@
             this.btnClearStir.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnClearStir.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnClearStir.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnClearStir.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnClearStir.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnClearStir.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnClearStir.Location = new System.Drawing.Point(1039, 151);
+            this.btnClearStir.Location = new System.Drawing.Point(863, 151);
             this.btnClearStir.Name = "btnClearStir";
             this.btnClearStir.Name = "btnClearStir";
             this.btnClearStir.Size = new System.Drawing.Size(121, 39);
             this.btnClearStir.Size = new System.Drawing.Size(121, 39);
             this.btnClearStir.TabIndex = 272;
             this.btnClearStir.TabIndex = 272;
@@ -595,7 +572,7 @@
             this.btnULi.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnULi.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
             this.btnULi.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnULi.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnULi.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnULi.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnULi.Location = new System.Drawing.Point(523, 151);
+            this.btnULi.Location = new System.Drawing.Point(347, 151);
             this.btnULi.Name = "btnULi";
             this.btnULi.Name = "btnULi";
             this.btnULi.Size = new System.Drawing.Size(121, 39);
             this.btnULi.Size = new System.Drawing.Size(121, 39);
             this.btnULi.TabIndex = 269;
             this.btnULi.TabIndex = 269;
@@ -614,7 +591,7 @@
             this.groupBox3.Controls.Add(this.lblThisSta);
             this.groupBox3.Controls.Add(this.lblThisSta);
             this.groupBox3.Location = new System.Drawing.Point(7, 3);
             this.groupBox3.Location = new System.Drawing.Point(7, 3);
             this.groupBox3.Name = "groupBox3";
             this.groupBox3.Name = "groupBox3";
-            this.groupBox3.Size = new System.Drawing.Size(1155, 142);
+            this.groupBox3.Size = new System.Drawing.Size(976, 142);
             this.groupBox3.TabIndex = 268;
             this.groupBox3.TabIndex = 268;
             this.groupBox3.TabStop = false;
             this.groupBox3.TabStop = false;
             this.groupBox3.Text = "设备状态";
             this.groupBox3.Text = "设备状态";
@@ -636,7 +613,7 @@
             this.lblMoveState.AutoSize = true;
             this.lblMoveState.AutoSize = true;
             this.lblMoveState.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.lblMoveState.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.lblMoveState.ForeColor = System.Drawing.Color.Black;
             this.lblMoveState.ForeColor = System.Drawing.Color.Black;
-            this.lblMoveState.Location = new System.Drawing.Point(900, 52);
+            this.lblMoveState.Location = new System.Drawing.Point(721, 52);
             this.lblMoveState.Name = "lblMoveState";
             this.lblMoveState.Name = "lblMoveState";
             this.lblMoveState.Size = new System.Drawing.Size(136, 17);
             this.lblMoveState.Size = new System.Drawing.Size(136, 17);
             this.lblMoveState.TabIndex = 270;
             this.lblMoveState.TabIndex = 270;
@@ -648,7 +625,7 @@
             this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
             this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
             this.lblWarnMsg.Location = new System.Drawing.Point(6, 79);
             this.lblWarnMsg.Location = new System.Drawing.Point(6, 79);
             this.lblWarnMsg.Name = "lblWarnMsg";
             this.lblWarnMsg.Name = "lblWarnMsg";
-            this.lblWarnMsg.Size = new System.Drawing.Size(1143, 52);
+            this.lblWarnMsg.Size = new System.Drawing.Size(964, 52);
             this.lblWarnMsg.TabIndex = 224;
             this.lblWarnMsg.TabIndex = 224;
             this.lblWarnMsg.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             this.lblWarnMsg.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
             // 
@@ -669,157 +646,51 @@
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
             | System.Windows.Forms.AnchorStyles.Right)));
             this.richTextBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.richTextBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.richTextBox1.Location = new System.Drawing.Point(7, 196);
+            this.richTextBox1.Location = new System.Drawing.Point(523, 196);
             this.richTextBox1.Name = "richTextBox1";
             this.richTextBox1.Name = "richTextBox1";
-            this.richTextBox1.Size = new System.Drawing.Size(1155, 394);
+            this.richTextBox1.Size = new System.Drawing.Size(639, 394);
             this.richTextBox1.TabIndex = 256;
             this.richTextBox1.TabIndex = 256;
             this.richTextBox1.Text = "";
             this.richTextBox1.Text = "";
             // 
             // 
             // tabPage7
             // tabPage7
             // 
             // 
-            this.tabPage7.Controls.Add(this.groStir);
-            this.tabPage7.Controls.Add(this.groWarm);
-            this.tabPage7.Controls.Add(this.groupInout);
-            this.tabPage7.Controls.Add(this.groupBox4);
-            this.tabPage7.Controls.Add(this.groupBox1);
-            this.tabPage7.Controls.Add(this.btnDoorPSave);
-            this.tabPage7.Controls.Add(this.groupBox2);
+            this.tabPage7.Controls.Add(this.panel1);
             this.tabPage7.Location = new System.Drawing.Point(4, 29);
             this.tabPage7.Location = new System.Drawing.Point(4, 29);
             this.tabPage7.Name = "tabPage7";
             this.tabPage7.Name = "tabPage7";
-            this.tabPage7.Size = new System.Drawing.Size(1165, 595);
+            this.tabPage7.Size = new System.Drawing.Size(989, 575);
             this.tabPage7.TabIndex = 3;
             this.tabPage7.TabIndex = 3;
             this.tabPage7.Text = "     库位操作      ";
             this.tabPage7.Text = "     库位操作      ";
             this.tabPage7.UseVisualStyleBackColor = true;
             this.tabPage7.UseVisualStyleBackColor = true;
             // 
             // 
-            // groStir
-            // 
-            this.groStir.Controls.Add(this.cmbWeight);
-            this.groStir.Controls.Add(this.label1);
-            this.groStir.Controls.Add(this.numTime);
-            this.groStir.Controls.Add(this.btnStirTest);
-            this.groStir.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groStir.Location = new System.Drawing.Point(10, 489);
-            this.groStir.Name = "groStir";
-            this.groStir.Size = new System.Drawing.Size(503, 82);
-            this.groStir.TabIndex = 274;
-            this.groStir.TabStop = false;
-            this.groStir.Text = "搅拌测试";
-            // 
-            // cmbWeight
-            // 
-            this.cmbWeight.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.cmbWeight.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.cmbWeight.FormattingEnabled = true;
-            this.cmbWeight.Items.AddRange(new object[] {
-            "100g",
-            "200g",
-            "300g",
-            "400g",
-            "500g"});
-            this.cmbWeight.Location = new System.Drawing.Point(204, 27);
-            this.cmbWeight.Name = "cmbWeight";
-            this.cmbWeight.Size = new System.Drawing.Size(83, 28);
-            this.cmbWeight.TabIndex = 282;
-            // 
-            // label1
-            // 
-            this.label1.AutoSize = true;
-            this.label1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label1.Location = new System.Drawing.Point(12, 32);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(85, 17);
-            this.label1.TabIndex = 281;
-            this.label1.Text = "搅拌时间/秒：";
-            // 
-            // numTime
-            // 
-            this.numTime.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.numTime.Increment = new decimal(new int[] {
-            60,
-            0,
-            0,
-            0});
-            this.numTime.Location = new System.Drawing.Point(122, 27);
-            this.numTime.Maximum = new decimal(new int[] {
-            1200,
-            0,
-            0,
-            0});
-            this.numTime.Minimum = new decimal(new int[] {
-            1,
-            0,
-            0,
-            0});
-            this.numTime.Name = "numTime";
-            this.numTime.Size = new System.Drawing.Size(76, 26);
-            this.numTime.TabIndex = 280;
-            this.numTime.Value = new decimal(new int[] {
-            300,
-            0,
-            0,
-            0});
-            // 
-            // btnStirTest
-            // 
-            this.btnStirTest.BackColor = System.Drawing.SystemColors.Control;
-            this.btnStirTest.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnStirTest.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnStirTest.Location = new System.Drawing.Point(302, 21);
-            this.btnStirTest.Name = "btnStirTest";
-            this.btnStirTest.Size = new System.Drawing.Size(180, 38);
-            this.btnStirTest.TabIndex = 279;
-            this.btnStirTest.Text = "搅拌测试->";
-            this.btnStirTest.UseVisualStyleBackColor = false;
-            this.btnStirTest.Click += new System.EventHandler(this.btnStirTest_Click);
-            // 
-            // groWarm
-            // 
-            this.groWarm.Controls.Add(this.label2);
-            this.groWarm.Controls.Add(this.btnBackwarm);
-            this.groWarm.Controls.Add(this.cmbTargetPos);
-            this.groWarm.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groWarm.Location = new System.Drawing.Point(10, 419);
-            this.groWarm.Name = "groWarm";
-            this.groWarm.Size = new System.Drawing.Size(503, 68);
-            this.groWarm.TabIndex = 273;
-            this.groWarm.TabStop = false;
-            this.groWarm.Text = "回温测试";
-            // 
-            // label2
+            // panel1
+            // 
+            this.panel1.AutoScroll = true;
+            this.panel1.AutoSize = true;
+            this.panel1.Controls.Add(this.btnDoorPSave);
+            this.panel1.Controls.Add(this.groupInout);
+            this.panel1.Controls.Add(this.groupBox4);
+            this.panel1.Controls.Add(this.groStir);
+            this.panel1.Controls.Add(this.groupBox2);
+            this.panel1.Controls.Add(this.groupBox1);
+            this.panel1.Controls.Add(this.groWarm);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Location = new System.Drawing.Point(0, 0);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(989, 575);
+            this.panel1.TabIndex = 275;
             // 
             // 
-            this.label2.AutoSize = true;
-            this.label2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label2.Location = new System.Drawing.Point(12, 31);
-            this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(104, 17);
-            this.label2.TabIndex = 282;
-            this.label2.Text = "回温区目标库位：";
-            // 
-            // btnBackwarm
-            // 
-            this.btnBackwarm.BackColor = System.Drawing.SystemColors.Control;
-            this.btnBackwarm.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnBackwarm.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnBackwarm.Location = new System.Drawing.Point(302, 20);
-            this.btnBackwarm.Name = "btnBackwarm";
-            this.btnBackwarm.Size = new System.Drawing.Size(180, 38);
-            this.btnBackwarm.TabIndex = 279;
-            this.btnBackwarm.Text = "回温测试->";
-            this.btnBackwarm.UseVisualStyleBackColor = false;
-            this.btnBackwarm.Click += new System.EventHandler(this.btnBackwarm_Click);
-            // 
-            // cmbTargetPos
+            // btnDoorPSave
             // 
             // 
-            this.cmbTargetPos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.cmbTargetPos.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.cmbTargetPos.FormattingEnabled = true;
-            this.cmbTargetPos.Items.AddRange(new object[] {
-            "料仓0",
-            "料仓1"});
-            this.cmbTargetPos.Location = new System.Drawing.Point(122, 25);
-            this.cmbTargetPos.Name = "cmbTargetPos";
-            this.cmbTargetPos.Size = new System.Drawing.Size(165, 28);
-            this.cmbTargetPos.TabIndex = 278;
+            this.btnDoorPSave.BackColor = System.Drawing.SystemColors.Control;
+            this.btnDoorPSave.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnDoorPSave.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnDoorPSave.Location = new System.Drawing.Point(861, 496);
+            this.btnDoorPSave.Name = "btnDoorPSave";
+            this.btnDoorPSave.Size = new System.Drawing.Size(203, 38);
+            this.btnDoorPSave.TabIndex = 272;
+            this.btnDoorPSave.Text = "仓门/搅拌/待机 位置保存";
+            this.btnDoorPSave.UseVisualStyleBackColor = false;
+            this.btnDoorPSave.Click += new System.EventHandler(this.btnDoorPSave_Click);
             // 
             // 
             // groupInout
             // groupInout
             // 
             // 
@@ -854,9 +725,9 @@
             this.groupInout.Controls.Add(this.btnUpDownP3);
             this.groupInout.Controls.Add(this.btnUpDownP3);
             this.groupInout.Controls.Add(this.btnUpDownP4);
             this.groupInout.Controls.Add(this.btnUpDownP4);
             this.groupInout.Enabled = false;
             this.groupInout.Enabled = false;
-            this.groupInout.Location = new System.Drawing.Point(10, 4);
+            this.groupInout.Location = new System.Drawing.Point(3, 4);
             this.groupInout.Name = "groupInout";
             this.groupInout.Name = "groupInout";
-            this.groupInout.Size = new System.Drawing.Size(503, 413);
+            this.groupInout.Size = new System.Drawing.Size(503, 400);
             this.groupInout.TabIndex = 100;
             this.groupInout.TabIndex = 100;
             this.groupInout.TabStop = false;
             this.groupInout.TabStop = false;
             this.groupInout.Text = "库位信息";
             this.groupInout.Text = "库位信息";
@@ -960,7 +831,7 @@
             this.txtJiange.Name = "txtJiange";
             this.txtJiange.Name = "txtJiange";
             this.txtJiange.Size = new System.Drawing.Size(37, 26);
             this.txtJiange.Size = new System.Drawing.Size(37, 26);
             this.txtJiange.TabIndex = 221;
             this.txtJiange.TabIndex = 221;
-            this.txtJiange.Text = "0";
+            this.txtJiange.Text = "1";
             // 
             // 
             // txtColdP2
             // txtColdP2
             // 
             // 
@@ -1316,7 +1187,7 @@
             this.groupBox4.Controls.Add(this.txtUpdownP101);
             this.groupBox4.Controls.Add(this.txtUpdownP101);
             this.groupBox4.Controls.Add(this.txtStirP2);
             this.groupBox4.Controls.Add(this.txtStirP2);
             this.groupBox4.Controls.Add(this.btnStirP1);
             this.groupBox4.Controls.Add(this.btnStirP1);
-            this.groupBox4.Location = new System.Drawing.Point(529, 4);
+            this.groupBox4.Location = new System.Drawing.Point(512, 4);
             this.groupBox4.Name = "groupBox4";
             this.groupBox4.Name = "groupBox4";
             this.groupBox4.Size = new System.Drawing.Size(614, 156);
             this.groupBox4.Size = new System.Drawing.Size(614, 156);
             this.groupBox4.TabIndex = 109;
             this.groupBox4.TabIndex = 109;
@@ -1525,6 +1396,168 @@
             this.btnStirP1.UseVisualStyleBackColor = false;
             this.btnStirP1.UseVisualStyleBackColor = false;
             this.btnStirP1.Click += new System.EventHandler(this.btnStirP1_Click);
             this.btnStirP1.Click += new System.EventHandler(this.btnStirP1_Click);
             // 
             // 
+            // groStir
+            // 
+            this.groStir.Controls.Add(this.cmbWeight);
+            this.groStir.Controls.Add(this.label1);
+            this.groStir.Controls.Add(this.numTime);
+            this.groStir.Controls.Add(this.btnStirTest);
+            this.groStir.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groStir.Location = new System.Drawing.Point(3, 484);
+            this.groStir.Name = "groStir";
+            this.groStir.Size = new System.Drawing.Size(503, 67);
+            this.groStir.TabIndex = 274;
+            this.groStir.TabStop = false;
+            this.groStir.Text = "搅拌测试";
+            // 
+            // cmbWeight
+            // 
+            this.cmbWeight.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbWeight.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.cmbWeight.FormattingEnabled = true;
+            this.cmbWeight.Items.AddRange(new object[] {
+            "100g",
+            "200g",
+            "300g",
+            "400g",
+            "500g"});
+            this.cmbWeight.Location = new System.Drawing.Point(204, 27);
+            this.cmbWeight.Name = "cmbWeight";
+            this.cmbWeight.Size = new System.Drawing.Size(83, 28);
+            this.cmbWeight.TabIndex = 282;
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label1.Location = new System.Drawing.Point(12, 32);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(85, 17);
+            this.label1.TabIndex = 281;
+            this.label1.Text = "搅拌时间/秒：";
+            // 
+            // numTime
+            // 
+            this.numTime.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.numTime.Increment = new decimal(new int[] {
+            60,
+            0,
+            0,
+            0});
+            this.numTime.Location = new System.Drawing.Point(122, 27);
+            this.numTime.Maximum = new decimal(new int[] {
+            1200,
+            0,
+            0,
+            0});
+            this.numTime.Minimum = new decimal(new int[] {
+            1,
+            0,
+            0,
+            0});
+            this.numTime.Name = "numTime";
+            this.numTime.Size = new System.Drawing.Size(76, 26);
+            this.numTime.TabIndex = 280;
+            this.numTime.Value = new decimal(new int[] {
+            300,
+            0,
+            0,
+            0});
+            // 
+            // btnStirTest
+            // 
+            this.btnStirTest.BackColor = System.Drawing.SystemColors.Control;
+            this.btnStirTest.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnStirTest.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnStirTest.Location = new System.Drawing.Point(302, 21);
+            this.btnStirTest.Name = "btnStirTest";
+            this.btnStirTest.Size = new System.Drawing.Size(180, 38);
+            this.btnStirTest.TabIndex = 279;
+            this.btnStirTest.Text = "搅拌测试->";
+            this.btnStirTest.UseVisualStyleBackColor = false;
+            this.btnStirTest.Click += new System.EventHandler(this.btnStirTest_Click);
+            // 
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.txtColdP1);
+            this.groupBox2.Controls.Add(this.txtWarmP1);
+            this.groupBox2.Controls.Add(this.btnWarmP1);
+            this.groupBox2.Controls.Add(this.btnColdP1);
+            this.groupBox2.Location = new System.Drawing.Point(512, 523);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Size = new System.Drawing.Size(503, 65);
+            this.groupBox2.TabIndex = 108;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "待机点位置";
+            this.groupBox2.Visible = false;
+            // 
+            // txtColdP1
+            // 
+            this.txtColdP1.AcceptsReturn = true;
+            this.txtColdP1.BackColor = System.Drawing.SystemColors.Window;
+            this.txtColdP1.Cursor = System.Windows.Forms.Cursors.IBeam;
+            this.txtColdP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtColdP1.ForeColor = System.Drawing.SystemColors.WindowText;
+            this.txtColdP1.Location = new System.Drawing.Point(398, 27);
+            this.txtColdP1.MaxLength = 0;
+            this.txtColdP1.Name = "txtColdP1";
+            this.txtColdP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.txtColdP1.Size = new System.Drawing.Size(89, 23);
+            this.txtColdP1.TabIndex = 280;
+            this.txtColdP1.Text = "9999";
+            // 
+            // txtWarmP1
+            // 
+            this.txtWarmP1.AcceptsReturn = true;
+            this.txtWarmP1.BackColor = System.Drawing.SystemColors.Window;
+            this.txtWarmP1.Cursor = System.Windows.Forms.Cursors.IBeam;
+            this.txtWarmP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtWarmP1.ForeColor = System.Drawing.SystemColors.WindowText;
+            this.txtWarmP1.Location = new System.Drawing.Point(158, 27);
+            this.txtWarmP1.MaxLength = 0;
+            this.txtWarmP1.Name = "txtWarmP1";
+            this.txtWarmP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.txtWarmP1.Size = new System.Drawing.Size(89, 23);
+            this.txtWarmP1.TabIndex = 278;
+            this.txtWarmP1.Text = "9999";
+            // 
+            // btnWarmP1
+            // 
+            this.btnWarmP1.AutoSize = true;
+            this.btnWarmP1.BackColor = System.Drawing.SystemColors.Control;
+            this.btnWarmP1.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnWarmP1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnWarmP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnWarmP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192)))));
+            this.btnWarmP1.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
+            this.btnWarmP1.Location = new System.Drawing.Point(10, 22);
+            this.btnWarmP1.Name = "btnWarmP1";
+            this.btnWarmP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnWarmP1.Size = new System.Drawing.Size(142, 33);
+            this.btnWarmP1.TabIndex = 281;
+            this.btnWarmP1.Text = "回温区旋转轴待机点P1";
+            this.btnWarmP1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
+            this.btnWarmP1.UseVisualStyleBackColor = false;
+            this.btnWarmP1.Click += new System.EventHandler(this.btnWarmP1_Click);
+            // 
+            // btnColdP1
+            // 
+            this.btnColdP1.AutoSize = true;
+            this.btnColdP1.BackColor = System.Drawing.SystemColors.Control;
+            this.btnColdP1.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnColdP1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnColdP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnColdP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0)))));
+            this.btnColdP1.Location = new System.Drawing.Point(253, 22);
+            this.btnColdP1.Name = "btnColdP1";
+            this.btnColdP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnColdP1.Size = new System.Drawing.Size(142, 33);
+            this.btnColdP1.TabIndex = 279;
+            this.btnColdP1.Text = "冷藏区旋转轴待机点P1";
+            this.btnColdP1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
+            this.btnColdP1.UseVisualStyleBackColor = false;
+            this.btnColdP1.Click += new System.EventHandler(this.btnColdP1_Click);
+            // 
             // groupBox1
             // groupBox1
             // 
             // 
             this.groupBox1.Controls.Add(this.txtInOutP22);
             this.groupBox1.Controls.Add(this.txtInOutP22);
@@ -1555,7 +1588,7 @@
             this.groupBox1.Controls.Add(this.txtUpDownP8);
             this.groupBox1.Controls.Add(this.txtUpDownP8);
             this.groupBox1.Controls.Add(this.txtUpDownP2);
             this.groupBox1.Controls.Add(this.txtUpDownP2);
             this.groupBox1.Controls.Add(this.txtUpDownP1);
             this.groupBox1.Controls.Add(this.txtUpDownP1);
-            this.groupBox1.Location = new System.Drawing.Point(529, 163);
+            this.groupBox1.Location = new System.Drawing.Point(512, 166);
             this.groupBox1.Name = "groupBox1";
             this.groupBox1.Name = "groupBox1";
             this.groupBox1.Size = new System.Drawing.Size(614, 324);
             this.groupBox1.Size = new System.Drawing.Size(614, 324);
             this.groupBox1.TabIndex = 107;
             this.groupBox1.TabIndex = 107;
@@ -2038,112 +2071,74 @@
             this.txtUpDownP1.TabIndex = 200;
             this.txtUpDownP1.TabIndex = 200;
             this.txtUpDownP1.Text = "9999";
             this.txtUpDownP1.Text = "9999";
             // 
             // 
-            // btnDoorPSave
-            // 
-            this.btnDoorPSave.BackColor = System.Drawing.SystemColors.Control;
-            this.btnDoorPSave.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnDoorPSave.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnDoorPSave.Location = new System.Drawing.Point(930, 516);
-            this.btnDoorPSave.Name = "btnDoorPSave";
-            this.btnDoorPSave.Size = new System.Drawing.Size(203, 38);
-            this.btnDoorPSave.TabIndex = 272;
-            this.btnDoorPSave.Text = "仓门/搅拌/待机 位置保存";
-            this.btnDoorPSave.UseVisualStyleBackColor = false;
-            this.btnDoorPSave.Click += new System.EventHandler(this.btnDoorPSave_Click);
-            // 
-            // groupBox2
-            // 
-            this.groupBox2.Controls.Add(this.txtColdP1);
-            this.groupBox2.Controls.Add(this.txtWarmP1);
-            this.groupBox2.Controls.Add(this.btnWarmP1);
-            this.groupBox2.Controls.Add(this.btnColdP1);
-            this.groupBox2.Location = new System.Drawing.Point(539, 506);
-            this.groupBox2.Name = "groupBox2";
-            this.groupBox2.Size = new System.Drawing.Size(503, 65);
-            this.groupBox2.TabIndex = 108;
-            this.groupBox2.TabStop = false;
-            this.groupBox2.Text = "待机点位置";
-            this.groupBox2.Visible = false;
-            // 
-            // txtColdP1
+            // groWarm
             // 
             // 
-            this.txtColdP1.AcceptsReturn = true;
-            this.txtColdP1.BackColor = System.Drawing.SystemColors.Window;
-            this.txtColdP1.Cursor = System.Windows.Forms.Cursors.IBeam;
-            this.txtColdP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtColdP1.ForeColor = System.Drawing.SystemColors.WindowText;
-            this.txtColdP1.Location = new System.Drawing.Point(398, 27);
-            this.txtColdP1.MaxLength = 0;
-            this.txtColdP1.Name = "txtColdP1";
-            this.txtColdP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.txtColdP1.Size = new System.Drawing.Size(89, 23);
-            this.txtColdP1.TabIndex = 280;
-            this.txtColdP1.Text = "9999";
+            this.groWarm.Controls.Add(this.label2);
+            this.groWarm.Controls.Add(this.btnBackwarm);
+            this.groWarm.Controls.Add(this.cmbTargetPos);
+            this.groWarm.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groWarm.Location = new System.Drawing.Point(3, 410);
+            this.groWarm.Name = "groWarm";
+            this.groWarm.Size = new System.Drawing.Size(503, 68);
+            this.groWarm.TabIndex = 273;
+            this.groWarm.TabStop = false;
+            this.groWarm.Text = "回温测试";
             // 
             // 
-            // txtWarmP1
+            // label2
             // 
             // 
-            this.txtWarmP1.AcceptsReturn = true;
-            this.txtWarmP1.BackColor = System.Drawing.SystemColors.Window;
-            this.txtWarmP1.Cursor = System.Windows.Forms.Cursors.IBeam;
-            this.txtWarmP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtWarmP1.ForeColor = System.Drawing.SystemColors.WindowText;
-            this.txtWarmP1.Location = new System.Drawing.Point(158, 27);
-            this.txtWarmP1.MaxLength = 0;
-            this.txtWarmP1.Name = "txtWarmP1";
-            this.txtWarmP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.txtWarmP1.Size = new System.Drawing.Size(89, 23);
-            this.txtWarmP1.TabIndex = 278;
-            this.txtWarmP1.Text = "9999";
+            this.label2.AutoSize = true;
+            this.label2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label2.Location = new System.Drawing.Point(12, 31);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(104, 17);
+            this.label2.TabIndex = 282;
+            this.label2.Text = "回温区目标库位：";
             // 
             // 
-            // btnWarmP1
+            // btnBackwarm
             // 
             // 
-            this.btnWarmP1.AutoSize = true;
-            this.btnWarmP1.BackColor = System.Drawing.SystemColors.Control;
-            this.btnWarmP1.Cursor = System.Windows.Forms.Cursors.Default;
-            this.btnWarmP1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnWarmP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnWarmP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192)))));
-            this.btnWarmP1.ImageAlign = System.Drawing.ContentAlignment.MiddleLeft;
-            this.btnWarmP1.Location = new System.Drawing.Point(10, 22);
-            this.btnWarmP1.Name = "btnWarmP1";
-            this.btnWarmP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnWarmP1.Size = new System.Drawing.Size(142, 33);
-            this.btnWarmP1.TabIndex = 281;
-            this.btnWarmP1.Text = "回温区旋转轴待机点P1";
-            this.btnWarmP1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
-            this.btnWarmP1.UseVisualStyleBackColor = false;
-            this.btnWarmP1.Click += new System.EventHandler(this.btnWarmP1_Click);
+            this.btnBackwarm.BackColor = System.Drawing.SystemColors.Control;
+            this.btnBackwarm.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnBackwarm.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnBackwarm.Location = new System.Drawing.Point(302, 20);
+            this.btnBackwarm.Name = "btnBackwarm";
+            this.btnBackwarm.Size = new System.Drawing.Size(180, 38);
+            this.btnBackwarm.TabIndex = 279;
+            this.btnBackwarm.Text = "回温测试->";
+            this.btnBackwarm.UseVisualStyleBackColor = false;
+            this.btnBackwarm.Click += new System.EventHandler(this.btnBackwarm_Click);
             // 
             // 
-            // btnColdP1
+            // cmbTargetPos
             // 
             // 
-            this.btnColdP1.AutoSize = true;
-            this.btnColdP1.BackColor = System.Drawing.SystemColors.Control;
-            this.btnColdP1.Cursor = System.Windows.Forms.Cursors.Default;
-            this.btnColdP1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnColdP1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnColdP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0)))));
-            this.btnColdP1.Location = new System.Drawing.Point(253, 22);
-            this.btnColdP1.Name = "btnColdP1";
-            this.btnColdP1.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnColdP1.Size = new System.Drawing.Size(142, 33);
-            this.btnColdP1.TabIndex = 279;
-            this.btnColdP1.Text = "冷藏区旋转轴待机点P1";
-            this.btnColdP1.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
-            this.btnColdP1.UseVisualStyleBackColor = false;
-            this.btnColdP1.Click += new System.EventHandler(this.btnColdP1_Click);
+            this.cmbTargetPos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbTargetPos.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.cmbTargetPos.FormattingEnabled = true;
+            this.cmbTargetPos.Items.AddRange(new object[] {
+            "料仓0",
+            "料仓1"});
+            this.cmbTargetPos.Location = new System.Drawing.Point(122, 25);
+            this.cmbTargetPos.Name = "cmbTargetPos";
+            this.cmbTargetPos.Size = new System.Drawing.Size(165, 28);
+            this.cmbTargetPos.TabIndex = 278;
             // 
             // 
             // tabPage1
             // tabPage1
             // 
             // 
-            this.tabPage1.Controls.Add(this.lblText);
             this.tabPage1.Controls.Add(this.axisMoveControl1);
             this.tabPage1.Controls.Add(this.axisMoveControl1);
+            this.tabPage1.Controls.Add(this.lblText);
             this.tabPage1.Location = new System.Drawing.Point(4, 29);
             this.tabPage1.Location = new System.Drawing.Point(4, 29);
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Name = "tabPage1";
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
             this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(1165, 595);
+            this.tabPage1.Size = new System.Drawing.Size(989, 575);
             this.tabPage1.TabIndex = 0;
             this.tabPage1.TabIndex = 0;
             this.tabPage1.Text = "     伺服调试       ";
             this.tabPage1.Text = "     伺服调试       ";
             this.tabPage1.UseVisualStyleBackColor = true;
             this.tabPage1.UseVisualStyleBackColor = true;
             // 
             // 
+            // axisMoveControl1
+            // 
+            this.axisMoveControl1.Location = new System.Drawing.Point(20, 6);
+            this.axisMoveControl1.Name = "axisMoveControl1";
+            this.axisMoveControl1.Size = new System.Drawing.Size(557, 402);
+            this.axisMoveControl1.TabIndex = 272;
+            // 
             // lblText
             // lblText
             // 
             // 
             this.lblText.AutoSize = true;
             this.lblText.AutoSize = true;
@@ -2155,18 +2150,11 @@
             this.lblText.TabIndex = 271;
             this.lblText.TabIndex = 271;
             this.lblText.Text = "伺服位置信息";
             this.lblText.Text = "伺服位置信息";
             // 
             // 
-            // axisMoveControl1
-            // 
-            this.axisMoveControl1.Location = new System.Drawing.Point(7, 8);
-            this.axisMoveControl1.Name = "axisMoveControl1";
-            this.axisMoveControl1.Size = new System.Drawing.Size(564, 412);
-            this.axisMoveControl1.TabIndex = 0;
-            // 
             // FrmStoreBox
             // FrmStoreBox
             // 
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
             this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Dpi;
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Dpi;
-            this.ClientSize = new System.Drawing.Size(1184, 721);
+            this.ClientSize = new System.Drawing.Size(1008, 701);
             this.Controls.Add(this.tabControl2);
             this.Controls.Add(this.tabControl2);
             this.Controls.Add(this.tabControl1);
             this.Controls.Add(this.tabControl1);
             this.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
@@ -2186,22 +2174,25 @@
             this.tabControl1.ResumeLayout(false);
             this.tabControl1.ResumeLayout(false);
             this.tabPage3.ResumeLayout(false);
             this.tabPage3.ResumeLayout(false);
             this.tabPage3.PerformLayout();
             this.tabPage3.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
             this.groupBox3.ResumeLayout(false);
             this.groupBox3.ResumeLayout(false);
             this.groupBox3.PerformLayout();
             this.groupBox3.PerformLayout();
             this.tabPage7.ResumeLayout(false);
             this.tabPage7.ResumeLayout(false);
-            this.groStir.ResumeLayout(false);
-            this.groStir.PerformLayout();
-            ((System.ComponentModel.ISupportInitialize)(this.numTime)).EndInit();
-            this.groWarm.ResumeLayout(false);
-            this.groWarm.PerformLayout();
+            this.tabPage7.PerformLayout();
+            this.panel1.ResumeLayout(false);
             this.groupInout.ResumeLayout(false);
             this.groupInout.ResumeLayout(false);
             this.groupInout.PerformLayout();
             this.groupInout.PerformLayout();
             this.groupBox4.ResumeLayout(false);
             this.groupBox4.ResumeLayout(false);
             this.groupBox4.PerformLayout();
             this.groupBox4.PerformLayout();
-            this.groupBox1.ResumeLayout(false);
-            this.groupBox1.PerformLayout();
+            this.groStir.ResumeLayout(false);
+            this.groStir.PerformLayout();
+            ((System.ComponentModel.ISupportInitialize)(this.numTime)).EndInit();
             this.groupBox2.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
             this.groupBox2.PerformLayout();
             this.groupBox2.PerformLayout();
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            this.groWarm.ResumeLayout(false);
+            this.groWarm.PerformLayout();
             this.tabPage1.ResumeLayout(false);
             this.tabPage1.ResumeLayout(false);
             this.tabPage1.PerformLayout();
             this.tabPage1.PerformLayout();
             this.ResumeLayout(false);
             this.ResumeLayout(false);
@@ -2259,9 +2250,6 @@
         private System.Windows.Forms.Button btnScanCode;
         private System.Windows.Forms.Button btnScanCode;
         private System.Windows.Forms.Button btnAxisP;
         private System.Windows.Forms.Button btnAxisP;
         private System.Windows.Forms.Button btnCodeLearn;
         private System.Windows.Forms.Button btnCodeLearn;
-        private System.Windows.Forms.Button btnIO;
-        private System.Windows.Forms.Button btnAxisOff;
-        private System.Windows.Forms.Button btnAxisOn;
         private System.Windows.Forms.Button btnLogDebug;
         private System.Windows.Forms.Button btnLogDebug;
         private System.Windows.Forms.TabPage tabPage6;
         private System.Windows.Forms.TabPage tabPage6;
         private System.Windows.Forms.Button button4;
         private System.Windows.Forms.Button button4;
@@ -2269,7 +2257,6 @@
         private System.Windows.Forms.Button btnStoreStart;
         private System.Windows.Forms.Button btnStoreStart;
         private System.Windows.Forms.Button btnDebug;
         private System.Windows.Forms.Button btnDebug;
         private System.Windows.Forms.CheckBox chbBuzzer;
         private System.Windows.Forms.CheckBox chbBuzzer;
-        private ACPackingStore.AxisMoveControl axisMoveControl1;
         private System.Windows.Forms.Button btnUpdown;
         private System.Windows.Forms.Button btnUpdown;
         private System.Windows.Forms.Label lblPosType;
         private System.Windows.Forms.Label lblPosType;
         private System.Windows.Forms.RadioButton rdbRight;
         private System.Windows.Forms.RadioButton rdbRight;
@@ -2345,6 +2332,9 @@
         private System.Windows.Forms.Button btnUNU;
         private System.Windows.Forms.Button btnUNU;
         private System.Windows.Forms.Button btnULi;
         private System.Windows.Forms.Button btnULi;
         private System.Windows.Forms.Label lblOutMsg;
         private System.Windows.Forms.Label lblOutMsg;
+        private System.Windows.Forms.PictureBox pictureBox1;
+        private System.Windows.Forms.Panel panel1;
+        private DUOStore.AxisMoveControl axisMoveControl1;
     }
     }
 }
 }
 
 

source/ACSingleStore/FrmStoreBox.cs

@@ -17,7 +17,7 @@ using OnlineStore.DeviceLibrary;
 using System.IO.Ports;
 using System.IO.Ports;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using CodeLibrary;
 using CodeLibrary;
-using DeviceLib;
+using System.Threading.Tasks;
 
 
 namespace OnlineStore.TinPasteStore
 namespace OnlineStore.TinPasteStore
 {
 {
@@ -64,13 +64,32 @@ namespace OnlineStore.TinPasteStore
             ShowPosition(ktkPosition);
             ShowPosition(ktkPosition);
 
 
             timer1.Enabled = true;
             timer1.Enabled = true;
+            AddForm("   IO调试   ", new FrmIOStatus(store));
         }
         }
 
 
 
 
         #endregion
         #endregion
+        private void AddForm<T>(string text, T form) where T : Form
+        {
+            TabPage lineTabPage = new TabPage(text);
+            Panel linePan = new Panel();
+            linePan.Dock = DockStyle.Fill;
+            linePan.AutoScroll = true;
 
 
+            form.FormBorderStyle = FormBorderStyle.None;
+            form.TopLevel = false;
+            lineTabPage.Controls.Add(form);
+            //linePan.Controls.Add(form);
+            form.Dock = DockStyle.Fill;
+            linePan.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
+            form.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
+            form.AutoScroll = true;
+            form.Show();
+            tabControl1.Controls.Add(lineTabPage);
+        }
         private void start_button_Click(object sender, EventArgs e)
         private void start_button_Click(object sender, EventArgs e)
         {
         {
+            LogUtil.info(LOGGER, "界面点击启动");
             store.StartRun();
             store.StartRun();
             if (store.runStatus >= StoreRunStatus.HomeMoving)
             if (store.runStatus >= StoreRunStatus.HomeMoving)
             {
             {
@@ -108,7 +127,6 @@ namespace OnlineStore.TinPasteStore
 
 
         }
         }
         private bool LoadOk = false;
         private bool LoadOk = false;
-
         private void FrmTest_Load(object sender, EventArgs e)
         private void FrmTest_Load(object sender, EventArgs e)
         {
         {
 
 
@@ -116,12 +134,14 @@ namespace OnlineStore.TinPasteStore
             cmbPosition.Items.Clear();
             cmbPosition.Items.Clear();
             LogUtil.logBox = this.richTextBox1;
             LogUtil.logBox = this.richTextBox1;
             InitStoreValue();
             InitStoreValue();
+            HIKCamera.camera_event += Camera_camera_event; ;
+            Task.Run(() => { HIKCamera.LoadCameraConfig(); });
             this.ShowInTaskbar = true;
             this.ShowInTaskbar = true;
             this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
             this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
 
 
             notifyIcon1.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
             notifyIcon1.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
             this.chbBuzzer.Checked = store.UseBuzzer;
             this.chbBuzzer.Checked = store.UseBuzzer;
-            axisMoveControl1.LoadData(store, store.moveAxisList.ToArray());
+            axisMoveControl1.LoadData(store);
 
 
             FrmDeviceDebug frmd = new FrmDeviceDebug();
             FrmDeviceDebug frmd = new FrmDeviceDebug();
             AddForm("  温湿度/称重   ", frmd);
             AddForm("  温湿度/称重   ", frmd);
@@ -132,6 +152,15 @@ namespace OnlineStore.TinPasteStore
             this.Opacity = 1;
             this.Opacity = 1;
 
 
         }
         }
+
+        private void Camera_camera_event(object sender, Bitmap e)
+        {
+            this.Invoke((EventHandler<Bitmap>)delegate {
+                pictureBox1.Visible = true;
+                pictureBox1.Image = e;
+            }, sender, e);
+        }
+
         private void AddForm(string text, Form form)
         private void AddForm(string text, Form form)
         {
         {
             text = text.PadLeft(10, ' ');
             text = text.PadLeft(10, ' ');
@@ -207,11 +236,12 @@ namespace OnlineStore.TinPasteStore
                 }
                 }
                 if (store.Config.IsHasDoorLimit.Equals(1))
                 if (store.Config.IsHasDoorLimit.Equals(1))
                 {
                 {
-                    if (IOManager.IOValue(IO_Type.Door_Limit).Equals(IO_VALUE.LOW))
-                    {
-                        lblWarnMsg.Text = lblWarnMsg.Text + "   前门未关";
-                    }
-                    else if (store.Config.StoreDIList.ContainsKey(IO_Type.Door_LeftLimit) && IOManager.IOValue(IO_Type.Door_LeftLimit).Equals(IO_VALUE.LOW))
+                    //if (IOManager.IOValue(IO_Type.Door_Limit).Equals(IO_VALUE.LOW))
+                    //{
+                    //    lblWarnMsg.Text = lblWarnMsg.Text + "   前门未关";
+                    //}
+                    //else 
+                    if (store.Config.StoreDIList.ContainsKey(IO_Type.Door_LeftLimit) && IOManager.IOValue(IO_Type.Door_LeftLimit).Equals(IO_VALUE.LOW))
                     {
                     {
                         lblWarnMsg.Text = lblWarnMsg.Text + "   左侧门未关";
                         lblWarnMsg.Text = lblWarnMsg.Text + "   左侧门未关";
                     }
                     }
@@ -220,6 +250,11 @@ namespace OnlineStore.TinPasteStore
                         lblWarnMsg.Text = lblWarnMsg.Text + "   右侧门未关";
                         lblWarnMsg.Text = lblWarnMsg.Text + "   右侧门未关";
                     }
                     }
                 }
                 }
+
+                if (IOManager.IOValue(IO_Type.Refrigeration_failure).Equals(IO_VALUE.HIGH))
+                {
+                    lblWarnMsg.Text = lblWarnMsg.Text + "   冷气机故障，请检查";
+                }
                 //如果不在出入库中，且叉子上有信号，需要提示检查叉子
                 //如果不在出入库中，且叉子上有信号，需要提示检查叉子
                 if (store.runStatus.Equals(StoreRunStatus.Runing) && IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
                 if (store.runStatus.Equals(StoreRunStatus.Runing) && IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
                 {
                 {
@@ -547,7 +582,7 @@ namespace OnlineStore.TinPasteStore
             }
             }
             int targetPosition = FormUtil.GetIntValue(txt);
             int targetPosition = FormUtil.GetIntValue(txt);
             moveAxis.TargetPosition = targetPosition;
             moveAxis.TargetPosition = targetPosition;
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 5, targetSpeed * 5);
         }
         }
 
 
 
 
@@ -955,7 +990,7 @@ namespace OnlineStore.TinPasteStore
         private void btnUpdown_Click(object sender, EventArgs e)
         private void btnUpdown_Click(object sender, EventArgs e)
         {
         {
             string PortName = store.Config.UpDown_Axis.DeviceName;
             string PortName = store.Config.UpDown_Axis.DeviceName;
-            int slvAddr = store.Config.UpDown_Axis.GetAxisValue();
+            short slvAddr = store.Config.UpDown_Axis.GetAxisValue();
             string ioIP = "192.168.200.13";
             string ioIP = "192.168.200.13";
             int ioIndex = 0;
             int ioIndex = 0;
             //  if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal))
             //  if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal))
@@ -1017,6 +1052,7 @@ namespace OnlineStore.TinPasteStore
         {
         {
             IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
             IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
             CodeLibrary.FrmCodeDecode frm = new FrmCodeDecode();
             CodeLibrary.FrmCodeDecode frm = new FrmCodeDecode();
+            frm.chbZxing.Checked = false;
             frm.ShowDialog();
             frm.ShowDialog();
             IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
             IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
         }
         }
@@ -1192,5 +1228,24 @@ namespace OnlineStore.TinPasteStore
 
 
             IOManager.IOMove(IO_Type.Door_Limit, IO_VALUE.LOW);
             IOManager.IOMove(IO_Type.Door_Limit, IO_VALUE.LOW);
         }
         }
+
+        private void pictureBox1_DoubleClick(object sender, EventArgs e)
+        {
+            var obj = sender as PictureBox;
+            if (obj.Dock == DockStyle.Fill)
+                obj.Dock = DockStyle.None;
+            else
+            {
+                obj.BringToFront();
+                obj.Dock = DockStyle.Fill;
+            }
+        }
+
+        private void pictureBox1_MouseDown(object sender, MouseEventArgs e)
+        {
+            var obj = sender as PictureBox;
+            if (obj.Dock == DockStyle.Fill)
+                obj.Dock = DockStyle.None;
+        }
     }
     }
 }
 }

source/ACSingleStore/Program.cs

@@ -93,6 +93,7 @@ namespace OnlineStore.TinPasteStore
             }
             }
             if (!isShow)
             if (!isShow)
             {
             {
+                Environment.CurrentDirectory = Application.StartupPath;
                 log4net.GlobalContext.Properties["fname"] = ConfigAppSettings.GetValue(Setting_Init.Store_CID);
                 log4net.GlobalContext.Properties["fname"] = ConfigAppSettings.GetValue(Setting_Init.Store_CID);
                 log4net.Config.XmlConfigurator.Configure(); 
                 log4net.Config.XmlConfigurator.Configure(); 
                 Application.EnableVisualStyles();
                 Application.EnableVisualStyles();

source/ACSingleStore/Properties/AssemblyInfo.cs

-using System.Reflection;
+using System.Reflection;
 using System.Runtime.CompilerServices;
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using System.Runtime.InteropServices;
 
 
-// 有关程序集的常规信息通过以下
-// 特性集控制。更改这些特性值可修改
-// 与程序集关联的信息。
+// 有关程序集的常规信息通过以下
+// 特性集控制。更改这些特性值可修改
+// 与程序集关联的信息。
 [assembly: AssemblyTitle("ACSingleStore")]
 [assembly: AssemblyTitle("ACSingleStore")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
 [assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("ACSingleStore")]
-[assembly: AssemblyCopyright("Copyright ©  2017")]
+[assembly: AssemblyProduct("master f1521d0c004f66eddbc784fc7a3a3f3a6c658297")]
+[assembly: AssemblyCopyright("Copyright ?  2017")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 [assembly: AssemblyCulture("")]
 
 
-// 将 ComVisible 设置为 false 使此程序集中的类型
-// 对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型，
-// 则将该类型上的 ComVisible 特性设置为 true。
+// 将 ComVisible 设置为 false 使此程序集中的类型
+// 对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型，
+// 则将该类型上的 ComVisible 特性设置为 true。
 [assembly: ComVisible(false)]
 [assembly: ComVisible(false)]
 
 
-// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
 [assembly: Guid("1b0a0559-e045-4edb-9dac-740eb0d8bb52")]
 [assembly: Guid("1b0a0559-e045-4edb-9dac-740eb0d8bb52")]
 
 
-// 程序集的版本信息由下面四个值组成:
+// 程序集的版本信息由下面四个值组成:
 //
 //
-//      主版本
-//      次版本 
-//      生成号
-//      修订号
+//      主版本
+//      次版本 
+//      生成号
+//      修订号
 //
 //
-// 可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值，
-// 方法是按如下所示使用“*”:
+// 可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值，
+// 方法是按如下所示使用“*”:
  [assembly: AssemblyVersion("1.0.*")]
  [assembly: AssemblyVersion("1.0.*")]
 //[assembly: AssemblyVersion("1.0.0.0")]
 //[assembly: AssemblyVersion("1.0.0.0")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]

source/ACSingleStore/TinPasteStore.csproj

@@ -52,18 +52,24 @@
   <PropertyGroup>
   <PropertyGroup>
     <ApplicationIcon>box.ico</ApplicationIcon>
     <ApplicationIcon>box.ico</ApplicationIcon>
   </PropertyGroup>
   </PropertyGroup>
+  <PropertyGroup>
+    <ApplicationManifest>app.manifest</ApplicationManifest>
+  </PropertyGroup>
   <ItemGroup>
   <ItemGroup>
-    <Reference Include="CodeLibrary">
-      <HintPath>..\..\dll\CodeLibrary.dll</HintPath>
-    </Reference>
-    <Reference Include="DeviceLib">
-      <HintPath>..\..\dll\DeviceLib.dll</HintPath>
+    <Reference Include="CodeLibrary, Version=1.0.7499.24663, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath>
     </Reference>
     </Reference>
     <Reference Include="halcondotnet">
     <Reference Include="halcondotnet">
       <HintPath>..\..\dll\halcondotnet.dll</HintPath>
       <HintPath>..\..\dll\halcondotnet.dll</HintPath>
     </Reference>
     </Reference>
-    <Reference Include="log4net">
-      <HintPath>..\..\dll\log4net.dll</HintPath>
+    <Reference Include="HuichuanLibrary, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
+    </Reference>
+    <Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\log4net.dll</HintPath>
     </Reference>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Core" />
@@ -76,7 +82,6 @@
     <Reference Include="System.Drawing" />
     <Reference Include="System.Drawing" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml" />
     <Reference Include="System.Xml" />
-    <Reference Include="TinPasteStore, Version=1.0.7417.20542, Culture=neutral, PublicKeyToken=null" />
     <Reference Include="UserFromControl, Version=1.0.7388.25333, Culture=neutral, processorArchitecture=MSIL">
     <Reference Include="UserFromControl, Version=1.0.7388.25333, Culture=neutral, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\dll\UserFromControl.dll</HintPath>
       <HintPath>..\..\dll\UserFromControl.dll</HintPath>
@@ -141,6 +146,12 @@
     <Compile Include="useControl\AxisMoveControl.Designer.cs">
     <Compile Include="useControl\AxisMoveControl.Designer.cs">
       <DependentUpon>AxisMoveControl.cs</DependentUpon>
       <DependentUpon>AxisMoveControl.cs</DependentUpon>
     </Compile>
     </Compile>
+    <Compile Include="useControl\AxisMoveControl1.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="useControl\AxisMoveControl1.Designer.cs">
+      <DependentUpon>AxisMoveControl1.cs</DependentUpon>
+    </Compile>
     <Compile Include="useControl\AxisJogControl.cs">
     <Compile Include="useControl\AxisJogControl.cs">
       <SubType>UserControl</SubType>
       <SubType>UserControl</SubType>
     </Compile>
     </Compile>
@@ -184,9 +195,13 @@
     <EmbeddedResource Include="useControl\AxisMoveControl.resx">
     <EmbeddedResource Include="useControl\AxisMoveControl.resx">
       <DependentUpon>AxisMoveControl.cs</DependentUpon>
       <DependentUpon>AxisMoveControl.cs</DependentUpon>
     </EmbeddedResource>
     </EmbeddedResource>
+    <EmbeddedResource Include="useControl\AxisMoveControl1.resx">
+      <DependentUpon>AxisMoveControl1.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="useControl\AxisJogControl.resx">
     <EmbeddedResource Include="useControl\AxisJogControl.resx">
       <DependentUpon>AxisJogControl.cs</DependentUpon>
       <DependentUpon>AxisJogControl.cs</DependentUpon>
     </EmbeddedResource>
     </EmbeddedResource>
+    <None Include="app.manifest" />
     <None Include="Properties\Settings.settings">
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
       <Generator>SettingsSingleFileGenerator</Generator>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>
@@ -249,6 +264,9 @@
     </BootstrapperPackage>
     </BootstrapperPackage>
   </ItemGroup>
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <PropertyGroup>
+    <PreBuildEvent>powershell.exe -command "$ci=(git rev-parse HEAD);$bi=git rev-parse --abbrev-ref HEAD ;$ti=Get-Content ..\..\Properties\AssemblyInfo.cs ; Foreach-Object {$ti -replace 'AssemblyProduct.*',\"AssemblyProduct(\"\"$bi $ci\"\")]\"} | Set-Content ..\..\Properties\AssemblyInfo.cs"</PreBuildEvent>
+  </PropertyGroup>
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
   <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
        Other similar extension points exist, see Microsoft.Common.targets.
        Other similar extension points exist, see Microsoft.Common.targets.
   <Target Name="BeforeBuild">
   <Target Name="BeforeBuild">

source/ACSingleStore/app.manifest

+<?xml version="1.0" encoding="utf-8"?>
+<assembly manifestVersion="1.0" xmlns="urn:schemas-microsoft-com:asm.v1">
+  <assemblyIdentity version="1.0.0.0" name="MyApplication.app"/>
+  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v2">
+    <security>
+      <requestedPrivileges xmlns="urn:schemas-microsoft-com:asm.v3">
+        <!-- UAC 清单选项
+             如果想要更改 Windows 用户帐户控制级别，请使用
+             以下节点之一替换 requestedExecutionLevel 节点。n
+        <requestedExecutionLevel  level="asInvoker" uiAccess="false" />
+        <requestedExecutionLevel  level="requireAdministrator" uiAccess="false" />
+        <requestedExecutionLevel  level="highestAvailable" uiAccess="false" />
+
+            指定 requestedExecutionLevel 元素将禁用文件和注册表虚拟化。
+            如果你的应用程序需要此虚拟化来实现向后兼容性，则删除此
+            元素。
+        -->
+		  <requestedExecutionLevel  level="requireAdministrator" uiAccess="false" />
+      </requestedPrivileges>
+    </security>
+  </trustInfo>
+
+  <compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">
+    <application>
+      <!-- 设计此应用程序与其一起工作且已针对此应用程序进行测试的
+           Windows 版本的列表。取消评论适当的元素，
+           Windows 将自动选择最兼容的环境。 -->
+
+      <!-- Windows Vista -->
+      <!--<supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f0}" />-->
+
+      <!-- Windows 7 -->
+      <!--<supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}" />-->
+
+      <!-- Windows 8 -->
+      <!--<supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}" />-->
+
+      <!-- Windows 8.1 -->
+      <!--<supportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}" />-->
+
+      <!-- Windows 10 -->
+      <!--<supportedOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}" />-->
+
+    </application>
+  </compatibility>
+
+  <!-- 指示该应用程序可感知 DPI 且 Windows 在 DPI 较高时将不会对其进行
+       自动缩放。Windows Presentation Foundation (WPF)应用程序自动感知 DPI，无需
+       选择加入。选择加入此设置的 Windows 窗体应用程序(面向 .NET Framework 4.6)还应
+       在其 app.config 中将 "EnableWindowsFormsHighDpiAutoResizing" 设置设置为 "true"。
+       
+       将应用程序设为感知长路径。请参阅 https://docs.microsoft.com/windows/win32/fileio/maximum-file-path-limitation -->
+  <!--
+  <application xmlns="urn:schemas-microsoft-com:asm.v3">
+    <windowsSettings>
+      <dpiAware xmlns="http://schemas.microsoft.com/SMI/2005/WindowsSettings">true</dpiAware>
+      <longPathAware xmlns="http://schemas.microsoft.com/SMI/2016/WindowsSettings">true</longPathAware>
+    </windowsSettings>
+  </application>
+  -->
+
+  <!-- 启用 Windows 公共控件和对话框的主题(Windows XP 和更高版本) -->
+  <!--
+  <dependency>
+    <dependentAssembly>
+      <assemblyIdentity
+          type="win32"
+          name="Microsoft.Windows.Common-Controls"
+          version="6.0.0.0"
+          processorArchitecture="*"
+          publicKeyToken="6595b64144ccf1df"
+          language="*"
+        />
+    </dependentAssembly>
+  </dependency>
+  -->
+
+</assembly>

source/ACSingleStore/positionTool/FrmPositionTool.cs

-
-using DeviceLib;
-using OnlineStore.Common;
+using OnlineStore.Common;
 using OnlineStore.DeviceLibrary;
 using OnlineStore.DeviceLibrary;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
@@ -22,12 +20,11 @@ namespace OnlineStore.TinPasteStore
     {
     {
         private string LogName = ResourceCulture.GetString("升降轴位置调试：");
         private string LogName = ResourceCulture.GetString("升降轴位置调试：");
         private string PortName = "";
         private string PortName = "";
-        private   int SlvAddr = 0;
+        private short SlvAddr = 0;
         private string IoIp = "";
         private string IoIp = "";
         private int IoIndex = 0;
         private int IoIndex = 0;
-        public string Axis_Brake = IO_Type.Axis_Brake;
         private System.Timers.Timer toolTimer = new System.Timers.Timer();
         private System.Timers.Timer toolTimer = new System.Timers.Timer();
-        public FrmPositionTool(string protName, int slvAddr,string ioIp, int ioIndex)
+        public FrmPositionTool(string protName, short slvAddr,string ioIp, int ioIndex)
         {
         {
             InitializeComponent();
             InitializeComponent();
             this.PortName = protName;
             this.PortName = protName;
@@ -95,9 +92,8 @@ namespace OnlineStore.TinPasteStore
         private void btnServoOn_Click(object sender, EventArgs e)
         private void btnServoOn_Click(object sender, EventArgs e)
         { 
         { 
             this.PortName = txtPortName.Text;
             this.PortName = txtPortName.Text;
-            this.SlvAddr = FormUtil.GetIntValue(txtAddr);
-            int bro = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
-            bool result = ACServerManager.OpenPort(PortName,bro);
+            this.SlvAddr = FormUtil.GetShortValue(txtAddr);
+            bool result = ACServerManager.OpenPort(PortName);
             if (!result)
             if (!result)
             {
             {
                 MessageBox.Show(ResourceCulture.GetString("打开串口失败"));
                 MessageBox.Show(ResourceCulture.GetString("打开串口失败"));
@@ -110,13 +106,6 @@ namespace OnlineStore.TinPasteStore
             ACServerManager.AlarmClear(PortName, SlvAddr);
             ACServerManager.AlarmClear(PortName, SlvAddr);
             ACServerManager.ServoOn(PortName, SlvAddr);
             ACServerManager.ServoOn(PortName, SlvAddr);
 
 
-            try
-            {
-                IOManager.IOMove(Axis_Brake, IO_VALUE.HIGH);
-            }catch(Exception ex)
-            {
-
-            }
          
          
         }
         }
 
 
@@ -126,14 +115,6 @@ namespace OnlineStore.TinPasteStore
             // toolTimer.Stop();
             // toolTimer.Stop();
             ACServerManager.SuddenStop(PortName, SlvAddr);
             ACServerManager.SuddenStop(PortName, SlvAddr);
             Thread.Sleep(100);
             Thread.Sleep(100);
-            try
-            {
-                IOManager.IOMove(Axis_Brake, IO_VALUE.LOW);
-            }
-            catch (Exception ex)
-            {
-
-            }
             ACServerManager.ServoOff(PortName, SlvAddr);
             ACServerManager.ServoOff(PortName, SlvAddr);
             formStatus(false);
             formStatus(false);
         }
         }
@@ -163,12 +144,12 @@ namespace OnlineStore.TinPasteStore
         {
         {
             int speed = Convert.ToInt32(txtSpeed.Text);
             int speed = Convert.ToInt32(txtSpeed.Text);
             int position = Convert.ToInt32(txtPosition.Text);
             int position = Convert.ToInt32(txtPosition.Text);
-            ACServerManager.RelMove(PortName, SlvAddr, position,speed);
+            ACServerManager.RelMove(PortName, SlvAddr, position,speed, speed / 10, speed * 5);
         } 
         } 
         private void btnHomeMove_Click(object sender, EventArgs e)
         private void btnHomeMove_Click(object sender, EventArgs e)
         {
         {
             int speed = Convert.ToInt32(txtSpeed.Text);
             int speed = Convert.ToInt32(txtSpeed.Text);
-            ACServerManager.HomeMove(PortName, SlvAddr, speed);
+            ACServerManager.HomeMove(PortName, SlvAddr, speed, speed / 10, speed * 5);
         }
         }
         private void btnSpeedMove_Click(object sender, EventArgs e)
         private void btnSpeedMove_Click(object sender, EventArgs e)
         {
         {
@@ -226,7 +207,7 @@ namespace OnlineStore.TinPasteStore
             PositionList = new List<int>();
             PositionList = new List<int>();
             LogUtil.info(LogName + "伺服开始运动，速度【" + speed + "】位置【" + position + "】启动定时器 ");
             LogUtil.info(LogName + "伺服开始运动，速度【" + speed + "】位置【" + position + "】启动定时器 ");
             formMoveStatus(false);
             formMoveStatus(false);
-            ACServerManager.AbsMove(PortName, SlvAddr, position, speed);
+            ACServerManager.AbsMove(PortName, SlvAddr, position, speed, speed * 5, speed * 5);
             toolTimer.Start();
             toolTimer.Start();
         }
         }
         private int P3Offset = 0;
         private int P3Offset = 0;

source/ACSingleStore/useControl/AxisJogControl.cs

@@ -4,7 +4,6 @@ using System.Windows.Forms;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.DeviceLibrary;
 using OnlineStore.DeviceLibrary;
-using DeviceLib;
 
 
 namespace OnlineStore.TinPasteStore.useControl
 namespace OnlineStore.TinPasteStore.useControl
 {
 {

source/ACSingleStore/useControl/AxisMoveControl.Designer.cs

-namespace OnlineStore.ACPackingStore
+namespace OnlineStore.DUOStore
 {
 {
     partial class AxisMoveControl
     partial class AxisMoveControl
     {
     {
@@ -28,210 +28,425 @@
         /// </summary>
         /// </summary>
         private void InitializeComponent()
         private void InitializeComponent()
         {
         {
+            this.components = new System.ComponentModel.Container();
             this.groupAxis = new System.Windows.Forms.GroupBox();
             this.groupAxis = new System.Windows.Forms.GroupBox();
-            this.label7 = new System.Windows.Forms.Label();
-            this.txtServoStatue = new System.Windows.Forms.TextBox();
-            this.label17 = new System.Windows.Forms.Label();
-            this.txtLimit2 = new System.Windows.Forms.TextBox();
-            this.label19 = new System.Windows.Forms.Label();
-            this.txtLimit1 = new System.Windows.Forms.TextBox();
-            this.label6 = new System.Windows.Forms.Label();
-            this.txtHomeSingle = new System.Windows.Forms.TextBox();
+            this.groupBox2 = new System.Windows.Forms.GroupBox();
+            this.lblAlarmcode = new System.Windows.Forms.Label();
+            this.label4 = new System.Windows.Forms.Label();
+            this.lblhomeSts = new System.Windows.Forms.Label();
+            this.label2 = new System.Windows.Forms.Label();
+            this.lblAxEncAcc = new System.Windows.Forms.Label();
+            this.lblINP = new System.Windows.Forms.Label();
+            this.lblBUSY = new System.Windows.Forms.Label();
+            this.lblNEL = new System.Windows.Forms.Label();
+            this.lblORG = new System.Windows.Forms.Label();
+            this.lblPEL = new System.Windows.Forms.Label();
+            this.lblSvOn = new System.Windows.Forms.Label();
+            this.lblEMG = new System.Windows.Forms.Label();
+            this.lblWARN = new System.Windows.Forms.Label();
+            this.lblALM = new System.Windows.Forms.Label();
+            this.label53 = new System.Windows.Forms.Label();
+            this.label56 = new System.Windows.Forms.Label();
+            this.label55 = new System.Windows.Forms.Label();
+            this.label52 = new System.Windows.Forms.Label();
+            this.lblAxEncVel = new System.Windows.Forms.Label();
+            this.lblAxPrfVel = new System.Windows.Forms.Label();
+            this.lblAxEncPos = new System.Windows.Forms.Label();
+            this.lblAxPrfPos = new System.Windows.Forms.Label();
+            this.lblAxisPrfMode = new System.Windows.Forms.Label();
+            this.label50 = new System.Windows.Forms.Label();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.txtBusyStatus = new System.Windows.Forms.TextBox();
             this.label11 = new System.Windows.Forms.Label();
             this.label11 = new System.Windows.Forms.Label();
             this.txtHomeStatus = new System.Windows.Forms.TextBox();
             this.txtHomeStatus = new System.Windows.Forms.TextBox();
             this.label10 = new System.Windows.Forms.Label();
             this.label10 = new System.Windows.Forms.Label();
-            this.txtBusyStatus = new System.Windows.Forms.TextBox();
-            this.label2 = new System.Windows.Forms.Label();
-            this.txtAlarmStatus = new System.Windows.Forms.TextBox();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label24 = new System.Windows.Forms.Label();
+            this.label5 = new System.Windows.Forms.Label();
             this.btnGetAlarm = new System.Windows.Forms.Button();
             this.btnGetAlarm = new System.Windows.Forms.Button();
-            this.btnReadPosition = new System.Windows.Forms.Button();
-            this.label8 = new System.Windows.Forms.Label();
+            this.txtAlarmStatus = new System.Windows.Forms.TextBox();
+            this.txtLimit2 = new System.Windows.Forms.TextBox();
+            this.txtServoStatue = new System.Windows.Forms.TextBox();
+            this.label22 = new System.Windows.Forms.Label();
+            this.txtLimit1 = new System.Windows.Forms.TextBox();
+            this.label6 = new System.Windows.Forms.Label();
+            this.txtHomeSingle = new System.Windows.Forms.TextBox();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.linkLabel1 = new System.Windows.Forms.LinkLabel();
+            this.comjSpeed = new System.Windows.Forms.ComboBox();
+            this.btnComAlarmClear = new System.Windows.Forms.Button();
+            this.btnAxisStop = new System.Windows.Forms.Button();
+            this.btnAxisReturnHome = new System.Windows.Forms.Button();
+            this.cmbAxis = new System.Windows.Forms.ComboBox();
+            this.btnDelMove = new System.Windows.Forms.Button();
             this.btnOpenAxis = new System.Windows.Forms.Button();
             this.btnOpenAxis = new System.Windows.Forms.Button();
             this.btnCloseAxis = new System.Windows.Forms.Button();
             this.btnCloseAxis = new System.Windows.Forms.Button();
-            this.txtP = new System.Windows.Forms.TextBox();
+            this.btnAddMove = new System.Windows.Forms.Button();
             this.txtASpeed = new System.Windows.Forms.TextBox();
             this.txtASpeed = new System.Windows.Forms.TextBox();
+            this.label_speed = new System.Windows.Forms.Label();
             this.label47 = new System.Windows.Forms.Label();
             this.label47 = new System.Windows.Forms.Label();
+            this.btnReadPosition = new System.Windows.Forms.Button();
             this.btnAxisVMove = new System.Windows.Forms.Button();
             this.btnAxisVMove = new System.Windows.Forms.Button();
+            this.label8 = new System.Windows.Forms.Label();
             this.btnAxisRMove = new System.Windows.Forms.Button();
             this.btnAxisRMove = new System.Windows.Forms.Button();
-            this.btnAxisReturnHome = new System.Windows.Forms.Button();
+            this.lblCountPulse = new System.Windows.Forms.TextBox();
             this.btnAxisAMove = new System.Windows.Forms.Button();
             this.btnAxisAMove = new System.Windows.Forms.Button();
-            this.btnComAlarmClear = new System.Windows.Forms.Button();
+            this.label49 = new System.Windows.Forms.Label();
             this.txtAPosition = new System.Windows.Forms.TextBox();
             this.txtAPosition = new System.Windows.Forms.TextBox();
+            this.label46 = new System.Windows.Forms.Label();
             this.label48 = new System.Windows.Forms.Label();
             this.label48 = new System.Windows.Forms.Label();
-            this.btnAxisStop = new System.Windows.Forms.Button();
+            this.label45 = new System.Windows.Forms.Label();
             this.txtAxisValue = new System.Windows.Forms.TextBox();
             this.txtAxisValue = new System.Windows.Forms.TextBox();
             this.txtAxisDeviceName = new System.Windows.Forms.TextBox();
             this.txtAxisDeviceName = new System.Windows.Forms.TextBox();
-            this.label45 = new System.Windows.Forms.Label();
-            this.label46 = new System.Windows.Forms.Label();
-            this.comboBox1 = new System.Windows.Forms.ComboBox();
-            this.label49 = new System.Windows.Forms.Label();
-            this.groupBox1 = new System.Windows.Forms.GroupBox();
-            this.axis_4_Alarm = new UserFromControl.IOStatusControl();
-            this.txt4Target = new System.Windows.Forms.TextBox();
-            this.lblTargetP4 = new System.Windows.Forms.TextBox();
-            this.lblActual4 = new System.Windows.Forms.TextBox();
-            this.label1 = new System.Windows.Forms.Label();
-            this.axis_1_Alarm = new UserFromControl.IOStatusControl();
-            this.axis_3_Alarm = new UserFromControl.IOStatusControl();
-            this.axis_2_Alarm = new UserFromControl.IOStatusControl();
-            this.label38 = new System.Windows.Forms.Label();
-            this.txtMiddleTarget = new System.Windows.Forms.TextBox();
-            this.txtInoutTarget = new System.Windows.Forms.TextBox();
-            this.txtUpdownTarget = new System.Windows.Forms.TextBox();
-            this.label12 = new System.Windows.Forms.Label();
-            this.lblTargetP1 = new System.Windows.Forms.TextBox();
-            this.lblActual1 = new System.Windows.Forms.TextBox();
-            this.lblTargetP3 = new System.Windows.Forms.TextBox();
-            this.lblActual3 = new System.Windows.Forms.TextBox();
-            this.lblTargetP2 = new System.Windows.Forms.TextBox();
-            this.lblActual2 = new System.Windows.Forms.TextBox();
-            this.label4 = new System.Windows.Forms.Label();
-            this.label3 = new System.Windows.Forms.Label();
-            this.label5 = new System.Windows.Forms.Label();
-            this.label43 = new System.Windows.Forms.Label();
-            this.label42 = new System.Windows.Forms.Label();
-            this.btnMovej = new System.Windows.Forms.Button();
-            this.btnMove = new System.Windows.Forms.Button();
-            this.linkLabel1 = new System.Windows.Forms.LinkLabel();
+            this.lblServerOn = new System.Windows.Forms.Label();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.groupAxis.SuspendLayout();
             this.groupAxis.SuspendLayout();
+            this.groupBox2.SuspendLayout();
             this.groupBox1.SuspendLayout();
             this.groupBox1.SuspendLayout();
+            this.panel1.SuspendLayout();
             this.SuspendLayout();
             this.SuspendLayout();
             // 
             // 
             // groupAxis
             // groupAxis
             // 
             // 
-            this.groupAxis.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            this.groupAxis.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
             | System.Windows.Forms.AnchorStyles.Right)));
             | System.Windows.Forms.AnchorStyles.Right)));
-            this.groupAxis.Controls.Add(this.linkLabel1);
-            this.groupAxis.Controls.Add(this.btnMovej);
-            this.groupAxis.Controls.Add(this.btnMove);
-            this.groupAxis.Controls.Add(this.label7);
-            this.groupAxis.Controls.Add(this.txtServoStatue);
-            this.groupAxis.Controls.Add(this.label17);
-            this.groupAxis.Controls.Add(this.txtLimit2);
-            this.groupAxis.Controls.Add(this.label19);
-            this.groupAxis.Controls.Add(this.txtLimit1);
-            this.groupAxis.Controls.Add(this.label6);
-            this.groupAxis.Controls.Add(this.txtHomeSingle);
-            this.groupAxis.Controls.Add(this.label11);
-            this.groupAxis.Controls.Add(this.txtHomeStatus);
-            this.groupAxis.Controls.Add(this.label10);
-            this.groupAxis.Controls.Add(this.txtBusyStatus);
-            this.groupAxis.Controls.Add(this.label2);
-            this.groupAxis.Controls.Add(this.txtAlarmStatus);
-            this.groupAxis.Controls.Add(this.btnGetAlarm);
-            this.groupAxis.Controls.Add(this.btnReadPosition);
-            this.groupAxis.Controls.Add(this.label8);
-            this.groupAxis.Controls.Add(this.btnOpenAxis);
-            this.groupAxis.Controls.Add(this.btnCloseAxis);
-            this.groupAxis.Controls.Add(this.txtP);
-            this.groupAxis.Controls.Add(this.txtASpeed);
-            this.groupAxis.Controls.Add(this.label47);
-            this.groupAxis.Controls.Add(this.btnAxisVMove);
-            this.groupAxis.Controls.Add(this.btnAxisRMove);
-            this.groupAxis.Controls.Add(this.btnAxisReturnHome);
-            this.groupAxis.Controls.Add(this.btnAxisAMove);
-            this.groupAxis.Controls.Add(this.btnComAlarmClear);
-            this.groupAxis.Controls.Add(this.txtAPosition);
-            this.groupAxis.Controls.Add(this.label48);
-            this.groupAxis.Controls.Add(this.btnAxisStop);
-            this.groupAxis.Controls.Add(this.txtAxisValue);
-            this.groupAxis.Controls.Add(this.txtAxisDeviceName);
-            this.groupAxis.Controls.Add(this.label45);
-            this.groupAxis.Controls.Add(this.label46);
-            this.groupAxis.Controls.Add(this.comboBox1);
-            this.groupAxis.Controls.Add(this.label49);
+            this.groupAxis.BackColor = System.Drawing.Color.White;
+            this.groupAxis.Controls.Add(this.groupBox2);
+            this.groupAxis.Controls.Add(this.groupBox1);
+            this.groupAxis.Controls.Add(this.panel1);
+            this.groupAxis.Controls.Add(this.lblServerOn);
             this.groupAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.groupAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.groupAxis.Location = new System.Drawing.Point(9, 6);
+            this.groupAxis.Location = new System.Drawing.Point(4, 3);
             this.groupAxis.Name = "groupAxis";
             this.groupAxis.Name = "groupAxis";
-            this.groupAxis.Size = new System.Drawing.Size(541, 399);
-            this.groupAxis.TabIndex = 217;
+            this.groupAxis.Size = new System.Drawing.Size(692, 395);
+            this.groupAxis.TabIndex = 218;
             this.groupAxis.TabStop = false;
             this.groupAxis.TabStop = false;
             this.groupAxis.Text = "伺服运动";
             this.groupAxis.Text = "伺服运动";
-            this.groupAxis.Enter += new System.EventHandler(this.groupAxis_Enter);
-            // 
-            // label7
-            // 
-            this.label7.AutoSize = true;
-            this.label7.Location = new System.Drawing.Point(51, 172);
-            this.label7.Name = "label7";
-            this.label7.Size = new System.Drawing.Size(59, 17);
-            this.label7.TabIndex = 328;
-            this.label7.Text = "伺服状态:";
             // 
             // 
-            // txtServoStatue
-            // 
-            this.txtServoStatue.Enabled = false;
-            this.txtServoStatue.Location = new System.Drawing.Point(112, 169);
-            this.txtServoStatue.Name = "txtServoStatue";
-            this.txtServoStatue.Size = new System.Drawing.Size(25, 23);
-            this.txtServoStatue.TabIndex = 327;
+            // groupBox2
+            // 
+            this.groupBox2.Controls.Add(this.lblAlarmcode);
+            this.groupBox2.Controls.Add(this.label4);
+            this.groupBox2.Controls.Add(this.lblhomeSts);
+            this.groupBox2.Controls.Add(this.label2);
+            this.groupBox2.Controls.Add(this.lblAxEncAcc);
+            this.groupBox2.Controls.Add(this.lblINP);
+            this.groupBox2.Controls.Add(this.lblBUSY);
+            this.groupBox2.Controls.Add(this.lblNEL);
+            this.groupBox2.Controls.Add(this.lblORG);
+            this.groupBox2.Controls.Add(this.lblPEL);
+            this.groupBox2.Controls.Add(this.lblSvOn);
+            this.groupBox2.Controls.Add(this.lblEMG);
+            this.groupBox2.Controls.Add(this.lblWARN);
+            this.groupBox2.Controls.Add(this.lblALM);
+            this.groupBox2.Controls.Add(this.label53);
+            this.groupBox2.Controls.Add(this.label56);
+            this.groupBox2.Controls.Add(this.label55);
+            this.groupBox2.Controls.Add(this.label52);
+            this.groupBox2.Controls.Add(this.lblAxEncVel);
+            this.groupBox2.Controls.Add(this.lblAxPrfVel);
+            this.groupBox2.Controls.Add(this.lblAxEncPos);
+            this.groupBox2.Controls.Add(this.lblAxPrfPos);
+            this.groupBox2.Controls.Add(this.lblAxisPrfMode);
+            this.groupBox2.Controls.Add(this.label50);
+            this.groupBox2.Location = new System.Drawing.Point(7, 270);
+            this.groupBox2.Margin = new System.Windows.Forms.Padding(2);
+            this.groupBox2.Name = "groupBox2";
+            this.groupBox2.Padding = new System.Windows.Forms.Padding(2);
+            this.groupBox2.Size = new System.Drawing.Size(540, 118);
+            this.groupBox2.TabIndex = 303;
+            this.groupBox2.TabStop = false;
+            this.groupBox2.Text = "轴状态监控";
+            // 
+            // lblAlarmcode
+            // 
+            this.lblAlarmcode.AutoSize = true;
+            this.lblAlarmcode.Location = new System.Drawing.Point(433, 65);
+            this.lblAlarmcode.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAlarmcode.Name = "lblAlarmcode";
+            this.lblAlarmcode.Size = new System.Drawing.Size(68, 17);
+            this.lblAlarmcode.TabIndex = 19;
+            this.lblAlarmcode.Text = "错误码:160";
+            this.lblAlarmcode.Visible = false;
             // 
             // 
-            // label17
-            // 
-            this.label17.AutoSize = true;
-            this.label17.Location = new System.Drawing.Point(174, 272);
-            this.label17.Name = "label17";
-            this.label17.Size = new System.Drawing.Size(71, 17);
-            this.label17.TabIndex = 316;
-            this.label17.Text = "负极限信号:";
-            this.label17.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            // 
-            // txtLimit2
+            // label4
             // 
             // 
-            this.txtLimit2.Enabled = false;
-            this.txtLimit2.Location = new System.Drawing.Point(250, 269);
-            this.txtLimit2.Name = "txtLimit2";
-            this.txtLimit2.Size = new System.Drawing.Size(25, 23);
-            this.txtLimit2.TabIndex = 313;
+            this.label4.AutoSize = true;
+            this.label4.Location = new System.Drawing.Point(267, 90);
+            this.label4.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(59, 17);
+            this.label4.TabIndex = 18;
+            this.label4.Text = "回原状态:";
             // 
             // 
-            // label19
+            // lblhomeSts
             // 
             // 
-            this.label19.AutoSize = true;
-            this.label19.Location = new System.Drawing.Point(174, 238);
-            this.label19.Name = "label19";
-            this.label19.Size = new System.Drawing.Size(71, 17);
-            this.label19.TabIndex = 312;
-            this.label19.Text = "正极限信号:";
-            this.label19.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.lblhomeSts.AutoSize = true;
+            this.lblhomeSts.Location = new System.Drawing.Point(332, 90);
+            this.lblhomeSts.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblhomeSts.Name = "lblhomeSts";
+            this.lblhomeSts.Size = new System.Drawing.Size(17, 17);
+            this.lblhomeSts.TabIndex = 17;
+            this.lblhomeSts.Text = "...";
             // 
             // 
-            // txtLimit1
+            // label2
             // 
             // 
-            this.txtLimit1.Enabled = false;
-            this.txtLimit1.Location = new System.Drawing.Point(250, 235);
-            this.txtLimit1.Name = "txtLimit1";
-            this.txtLimit1.Size = new System.Drawing.Size(25, 23);
-            this.txtLimit1.TabIndex = 309;
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(433, 90);
+            this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(71, 17);
+            this.label2.TabIndex = 11;
+            this.label2.Text = "实际加速度:";
+            this.label2.Visible = false;
+            // 
+            // lblAxEncAcc
+            // 
+            this.lblAxEncAcc.AutoSize = true;
+            this.lblAxEncAcc.Location = new System.Drawing.Point(510, 90);
+            this.lblAxEncAcc.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAxEncAcc.Name = "lblAxEncAcc";
+            this.lblAxEncAcc.Size = new System.Drawing.Size(17, 17);
+            this.lblAxEncAcc.TabIndex = 12;
+            this.lblAxEncAcc.Text = "...";
+            this.lblAxEncAcc.Visible = false;
+            // 
+            // lblINP
+            // 
+            this.lblINP.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblINP.Location = new System.Drawing.Point(414, 24);
+            this.lblINP.Name = "lblINP";
+            this.lblINP.Size = new System.Drawing.Size(56, 30);
+            this.lblINP.TabIndex = 10;
+            this.lblINP.Text = "到位";
+            this.lblINP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblBUSY
+            // 
+            this.lblBUSY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblBUSY.Location = new System.Drawing.Point(356, 24);
+            this.lblBUSY.Name = "lblBUSY";
+            this.lblBUSY.Size = new System.Drawing.Size(56, 30);
+            this.lblBUSY.TabIndex = 9;
+            this.lblBUSY.Text = "忙碌";
+            this.lblBUSY.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblNEL
+            // 
+            this.lblNEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblNEL.Location = new System.Drawing.Point(298, 24);
+            this.lblNEL.Name = "lblNEL";
+            this.lblNEL.Size = new System.Drawing.Size(56, 30);
+            this.lblNEL.TabIndex = 8;
+            this.lblNEL.Text = "负极限";
+            this.lblNEL.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblORG
+            // 
+            this.lblORG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblORG.Location = new System.Drawing.Point(240, 24);
+            this.lblORG.Name = "lblORG";
+            this.lblORG.Size = new System.Drawing.Size(56, 30);
+            this.lblORG.TabIndex = 7;
+            this.lblORG.Text = "原点";
+            this.lblORG.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblPEL
+            // 
+            this.lblPEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblPEL.Location = new System.Drawing.Point(182, 24);
+            this.lblPEL.Name = "lblPEL";
+            this.lblPEL.Size = new System.Drawing.Size(56, 30);
+            this.lblPEL.TabIndex = 6;
+            this.lblPEL.Text = "正极限";
+            this.lblPEL.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblSvOn
+            // 
+            this.lblSvOn.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblSvOn.Location = new System.Drawing.Point(8, 24);
+            this.lblSvOn.Name = "lblSvOn";
+            this.lblSvOn.Size = new System.Drawing.Size(56, 30);
+            this.lblSvOn.TabIndex = 5;
+            this.lblSvOn.Text = "伺服";
+            this.lblSvOn.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblEMG
+            // 
+            this.lblEMG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblEMG.Location = new System.Drawing.Point(124, 24);
+            this.lblEMG.Name = "lblEMG";
+            this.lblEMG.Size = new System.Drawing.Size(56, 30);
+            this.lblEMG.TabIndex = 4;
+            this.lblEMG.Text = "急停";
+            this.lblEMG.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblWARN
+            // 
+            this.lblWARN.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblWARN.Location = new System.Drawing.Point(472, 24);
+            this.lblWARN.Name = "lblWARN";
+            this.lblWARN.Size = new System.Drawing.Size(56, 30);
+            this.lblWARN.TabIndex = 3;
+            this.lblWARN.Text = "警告";
+            this.lblWARN.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // lblALM
+            // 
+            this.lblALM.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
+            this.lblALM.Location = new System.Drawing.Point(66, 24);
+            this.lblALM.Name = "lblALM";
+            this.lblALM.Size = new System.Drawing.Size(56, 30);
+            this.lblALM.TabIndex = 2;
+            this.lblALM.Text = "报警";
+            this.lblALM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // label53
+            // 
+            this.label53.AutoSize = true;
+            this.label53.Location = new System.Drawing.Point(134, 90);
+            this.label53.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label53.Name = "label53";
+            this.label53.Size = new System.Drawing.Size(59, 17);
+            this.label53.TabIndex = 1;
+            this.label53.Text = "规划速度:";
+            // 
+            // label56
+            // 
+            this.label56.AutoSize = true;
+            this.label56.Location = new System.Drawing.Point(10, 90);
+            this.label56.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label56.Name = "label56";
+            this.label56.Size = new System.Drawing.Size(59, 17);
+            this.label56.TabIndex = 1;
+            this.label56.Text = "实际速度:";
+            // 
+            // label55
+            // 
+            this.label55.AutoSize = true;
+            this.label55.Location = new System.Drawing.Point(10, 65);
+            this.label55.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label55.Name = "label55";
+            this.label55.Size = new System.Drawing.Size(59, 17);
+            this.label55.TabIndex = 1;
+            this.label55.Text = "实际位置:";
+            // 
+            // label52
+            // 
+            this.label52.AutoSize = true;
+            this.label52.Location = new System.Drawing.Point(134, 65);
+            this.label52.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label52.Name = "label52";
+            this.label52.Size = new System.Drawing.Size(59, 17);
+            this.label52.TabIndex = 1;
+            this.label52.Text = "规划位置:";
+            // 
+            // lblAxEncVel
+            // 
+            this.lblAxEncVel.AutoSize = true;
+            this.lblAxEncVel.Location = new System.Drawing.Point(73, 90);
+            this.lblAxEncVel.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAxEncVel.Name = "lblAxEncVel";
+            this.lblAxEncVel.Size = new System.Drawing.Size(17, 17);
+            this.lblAxEncVel.TabIndex = 1;
+            this.lblAxEncVel.Text = "...";
+            // 
+            // lblAxPrfVel
+            // 
+            this.lblAxPrfVel.AutoSize = true;
+            this.lblAxPrfVel.Location = new System.Drawing.Point(199, 90);
+            this.lblAxPrfVel.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAxPrfVel.Name = "lblAxPrfVel";
+            this.lblAxPrfVel.Size = new System.Drawing.Size(17, 17);
+            this.lblAxPrfVel.TabIndex = 1;
+            this.lblAxPrfVel.Text = "...";
+            // 
+            // lblAxEncPos
+            // 
+            this.lblAxEncPos.AutoSize = true;
+            this.lblAxEncPos.Location = new System.Drawing.Point(73, 65);
+            this.lblAxEncPos.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAxEncPos.Name = "lblAxEncPos";
+            this.lblAxEncPos.Size = new System.Drawing.Size(17, 17);
+            this.lblAxEncPos.TabIndex = 1;
+            this.lblAxEncPos.Text = "...";
+            // 
+            // lblAxPrfPos
+            // 
+            this.lblAxPrfPos.AutoSize = true;
+            this.lblAxPrfPos.Location = new System.Drawing.Point(199, 65);
+            this.lblAxPrfPos.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAxPrfPos.Name = "lblAxPrfPos";
+            this.lblAxPrfPos.Size = new System.Drawing.Size(17, 17);
+            this.lblAxPrfPos.TabIndex = 1;
+            this.lblAxPrfPos.Text = "...";
+            // 
+            // lblAxisPrfMode
+            // 
+            this.lblAxisPrfMode.AutoSize = true;
+            this.lblAxisPrfMode.Location = new System.Drawing.Point(332, 65);
+            this.lblAxisPrfMode.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.lblAxisPrfMode.Name = "lblAxisPrfMode";
+            this.lblAxisPrfMode.Size = new System.Drawing.Size(17, 17);
+            this.lblAxisPrfMode.TabIndex = 1;
+            this.lblAxisPrfMode.Text = "...";
+            // 
+            // label50
+            // 
+            this.label50.AutoSize = true;
+            this.label50.Location = new System.Drawing.Point(267, 65);
+            this.label50.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
+            this.label50.Name = "label50";
+            this.label50.Size = new System.Drawing.Size(59, 17);
+            this.label50.TabIndex = 1;
+            this.label50.Text = "规划模式:";
             // 
             // 
-            // label6
+            // groupBox1
             // 
             // 
-            this.label6.AutoSize = true;
-            this.label6.Location = new System.Drawing.Point(186, 204);
-            this.label6.Name = "label6";
-            this.label6.Size = new System.Drawing.Size(59, 17);
-            this.label6.TabIndex = 300;
-            this.label6.Text = "原点信号:";
+            this.groupBox1.Controls.Add(this.txtBusyStatus);
+            this.groupBox1.Controls.Add(this.label11);
+            this.groupBox1.Controls.Add(this.txtHomeStatus);
+            this.groupBox1.Controls.Add(this.label10);
+            this.groupBox1.Controls.Add(this.label3);
+            this.groupBox1.Controls.Add(this.label24);
+            this.groupBox1.Controls.Add(this.label5);
+            this.groupBox1.Controls.Add(this.btnGetAlarm);
+            this.groupBox1.Controls.Add(this.txtAlarmStatus);
+            this.groupBox1.Controls.Add(this.txtLimit2);
+            this.groupBox1.Controls.Add(this.txtServoStatue);
+            this.groupBox1.Controls.Add(this.label22);
+            this.groupBox1.Controls.Add(this.txtLimit1);
+            this.groupBox1.Controls.Add(this.label6);
+            this.groupBox1.Controls.Add(this.txtHomeSingle);
+            this.groupBox1.Location = new System.Drawing.Point(553, 12);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(135, 260);
+            this.groupBox1.TabIndex = 302;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "状态";
             // 
             // 
-            // txtHomeSingle
+            // txtBusyStatus
             // 
             // 
-            this.txtHomeSingle.Enabled = false;
-            this.txtHomeSingle.Location = new System.Drawing.Point(250, 201);
-            this.txtHomeSingle.Name = "txtHomeSingle";
-            this.txtHomeSingle.Size = new System.Drawing.Size(25, 23);
-            this.txtHomeSingle.TabIndex = 297;
+            this.txtBusyStatus.Enabled = false;
+            this.txtBusyStatus.Location = new System.Drawing.Point(99, 76);
+            this.txtBusyStatus.Name = "txtBusyStatus";
+            this.txtBusyStatus.Size = new System.Drawing.Size(25, 23);
+            this.txtBusyStatus.TabIndex = 288;
             // 
             // 
             // label11
             // label11
             // 
             // 
             this.label11.AutoSize = true;
             this.label11.AutoSize = true;
-            this.label11.Location = new System.Drawing.Point(5, 272);
+            this.label11.Location = new System.Drawing.Point(31, 107);
             this.label11.Name = "label11";
             this.label11.Name = "label11";
-            this.label11.Size = new System.Drawing.Size(105, 17);
+            this.label11.Size = new System.Drawing.Size(59, 17);
             this.label11.TabIndex = 292;
             this.label11.TabIndex = 292;
-            this.label11.Text = "HOME-CMP状态:";
+            this.label11.Text = "回零状态:";
             // 
             // 
             // txtHomeStatus
             // txtHomeStatus
             // 
             // 
             this.txtHomeStatus.Enabled = false;
             this.txtHomeStatus.Enabled = false;
-            this.txtHomeStatus.Location = new System.Drawing.Point(112, 269);
+            this.txtHomeStatus.Location = new System.Drawing.Point(99, 104);
             this.txtHomeStatus.Name = "txtHomeStatus";
             this.txtHomeStatus.Name = "txtHomeStatus";
             this.txtHomeStatus.Size = new System.Drawing.Size(25, 23);
             this.txtHomeStatus.Size = new System.Drawing.Size(25, 23);
             this.txtHomeStatus.TabIndex = 291;
             this.txtHomeStatus.TabIndex = 291;
@@ -239,86 +454,246 @@
             // label10
             // label10
             // 
             // 
             this.label10.AutoSize = true;
             this.label10.AutoSize = true;
-            this.label10.Location = new System.Drawing.Point(44, 238);
+            this.label10.Location = new System.Drawing.Point(24, 79);
             this.label10.Name = "label10";
             this.label10.Name = "label10";
             this.label10.Size = new System.Drawing.Size(66, 17);
             this.label10.Size = new System.Drawing.Size(66, 17);
             this.label10.TabIndex = 289;
             this.label10.TabIndex = 289;
             this.label10.Text = "BUSY状态:";
             this.label10.Text = "BUSY状态:";
             // 
             // 
-            // txtBusyStatus
+            // label3
             // 
             // 
-            this.txtBusyStatus.Enabled = false;
-            this.txtBusyStatus.Location = new System.Drawing.Point(112, 235);
-            this.txtBusyStatus.Name = "txtBusyStatus";
-            this.txtBusyStatus.Size = new System.Drawing.Size(25, 23);
-            this.txtBusyStatus.TabIndex = 288;
+            this.label3.AutoSize = true;
+            this.label3.Location = new System.Drawing.Point(31, 51);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(59, 17);
+            this.label3.TabIndex = 286;
+            this.label3.Text = "报警状态:";
             // 
             // 
-            // label2
+            // label24
             // 
             // 
-            this.label2.AutoSize = true;
-            this.label2.Location = new System.Drawing.Point(51, 204);
-            this.label2.Name = "label2";
-            this.label2.Size = new System.Drawing.Size(59, 17);
-            this.label2.TabIndex = 286;
-            this.label2.Text = "报警状态:";
+            this.label24.AutoSize = true;
+            this.label24.Location = new System.Drawing.Point(19, 191);
+            this.label24.Name = "label24";
+            this.label24.Size = new System.Drawing.Size(71, 17);
+            this.label24.TabIndex = 316;
+            this.label24.Text = "负极限信号:";
+            this.label24.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
             // 
-            // txtAlarmStatus
+            // label5
             // 
             // 
-            this.txtAlarmStatus.Enabled = false;
-            this.txtAlarmStatus.Location = new System.Drawing.Point(112, 201);
-            this.txtAlarmStatus.Name = "txtAlarmStatus";
-            this.txtAlarmStatus.Size = new System.Drawing.Size(25, 23);
-            this.txtAlarmStatus.TabIndex = 285;
+            this.label5.AutoSize = true;
+            this.label5.Location = new System.Drawing.Point(31, 23);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(59, 17);
+            this.label5.TabIndex = 328;
+            this.label5.Text = "伺服状态:";
             // 
             // 
             // btnGetAlarm
             // btnGetAlarm
             // 
             // 
-            this.btnGetAlarm.BackColor = System.Drawing.SystemColors.Control;
+            this.btnGetAlarm.BackColor = System.Drawing.Color.White;
             this.btnGetAlarm.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnGetAlarm.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnGetAlarm.Location = new System.Drawing.Point(308, 205);
+            this.btnGetAlarm.Location = new System.Drawing.Point(14, 218);
             this.btnGetAlarm.Name = "btnGetAlarm";
             this.btnGetAlarm.Name = "btnGetAlarm";
-            this.btnGetAlarm.Size = new System.Drawing.Size(105, 33);
+            this.btnGetAlarm.Size = new System.Drawing.Size(110, 34);
             this.btnGetAlarm.TabIndex = 284;
             this.btnGetAlarm.TabIndex = 284;
-            this.btnGetAlarm.Text = "读取状态";
+            this.btnGetAlarm.Text = "读报状态";
             this.btnGetAlarm.UseVisualStyleBackColor = false;
             this.btnGetAlarm.UseVisualStyleBackColor = false;
             this.btnGetAlarm.Click += new System.EventHandler(this.btnGetAlarm_Click);
             this.btnGetAlarm.Click += new System.EventHandler(this.btnGetAlarm_Click);
             // 
             // 
-            // btnReadPosition
+            // txtAlarmStatus
             // 
             // 
-            this.btnReadPosition.BackColor = System.Drawing.SystemColors.Control;
-            this.btnReadPosition.Cursor = System.Windows.Forms.Cursors.Default;
-            this.btnReadPosition.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnReadPosition.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnReadPosition.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnReadPosition.Location = new System.Drawing.Point(423, 244);
-            this.btnReadPosition.Name = "btnReadPosition";
-            this.btnReadPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnReadPosition.Size = new System.Drawing.Size(105, 33);
-            this.btnReadPosition.TabIndex = 278;
-            this.btnReadPosition.Text = "读取位置";
-            this.btnReadPosition.UseVisualStyleBackColor = false;
-            this.btnReadPosition.Click += new System.EventHandler(this.btnReadPosition_Click);
+            this.txtAlarmStatus.Enabled = false;
+            this.txtAlarmStatus.Location = new System.Drawing.Point(99, 48);
+            this.txtAlarmStatus.Name = "txtAlarmStatus";
+            this.txtAlarmStatus.Size = new System.Drawing.Size(25, 23);
+            this.txtAlarmStatus.TabIndex = 285;
             // 
             // 
-            // label8
+            // txtLimit2
             // 
             // 
-            this.label8.AutoSize = true;
-            this.label8.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label8.Location = new System.Drawing.Point(143, 171);
-            this.label8.Name = "label8";
-            this.label8.Size = new System.Drawing.Size(59, 17);
-            this.label8.TabIndex = 255;
-            this.label8.Text = "实时位置:";
+            this.txtLimit2.Enabled = false;
+            this.txtLimit2.Location = new System.Drawing.Point(99, 188);
+            this.txtLimit2.Name = "txtLimit2";
+            this.txtLimit2.Size = new System.Drawing.Size(25, 23);
+            this.txtLimit2.TabIndex = 313;
+            // 
+            // txtServoStatue
+            // 
+            this.txtServoStatue.Enabled = false;
+            this.txtServoStatue.Location = new System.Drawing.Point(99, 20);
+            this.txtServoStatue.Name = "txtServoStatue";
+            this.txtServoStatue.Size = new System.Drawing.Size(25, 23);
+            this.txtServoStatue.TabIndex = 327;
+            // 
+            // label22
+            // 
+            this.label22.AutoSize = true;
+            this.label22.Location = new System.Drawing.Point(19, 163);
+            this.label22.Name = "label22";
+            this.label22.Size = new System.Drawing.Size(71, 17);
+            this.label22.TabIndex = 312;
+            this.label22.Text = "正极限信号:";
+            this.label22.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // txtLimit1
+            // 
+            this.txtLimit1.Enabled = false;
+            this.txtLimit1.Location = new System.Drawing.Point(99, 160);
+            this.txtLimit1.Name = "txtLimit1";
+            this.txtLimit1.Size = new System.Drawing.Size(25, 23);
+            this.txtLimit1.TabIndex = 309;
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(31, 135);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(59, 17);
+            this.label6.TabIndex = 300;
+            this.label6.Text = "原点信号:";
+            // 
+            // txtHomeSingle
+            // 
+            this.txtHomeSingle.Enabled = false;
+            this.txtHomeSingle.Location = new System.Drawing.Point(99, 132);
+            this.txtHomeSingle.Name = "txtHomeSingle";
+            this.txtHomeSingle.Size = new System.Drawing.Size(25, 23);
+            this.txtHomeSingle.TabIndex = 297;
+            // 
+            // panel1
+            // 
+            this.panel1.Controls.Add(this.linkLabel1);
+            this.panel1.Controls.Add(this.comjSpeed);
+            this.panel1.Controls.Add(this.btnComAlarmClear);
+            this.panel1.Controls.Add(this.btnAxisStop);
+            this.panel1.Controls.Add(this.btnAxisReturnHome);
+            this.panel1.Controls.Add(this.cmbAxis);
+            this.panel1.Controls.Add(this.btnDelMove);
+            this.panel1.Controls.Add(this.btnOpenAxis);
+            this.panel1.Controls.Add(this.btnCloseAxis);
+            this.panel1.Controls.Add(this.btnAddMove);
+            this.panel1.Controls.Add(this.txtASpeed);
+            this.panel1.Controls.Add(this.label_speed);
+            this.panel1.Controls.Add(this.label47);
+            this.panel1.Controls.Add(this.btnReadPosition);
+            this.panel1.Controls.Add(this.btnAxisVMove);
+            this.panel1.Controls.Add(this.label8);
+            this.panel1.Controls.Add(this.btnAxisRMove);
+            this.panel1.Controls.Add(this.lblCountPulse);
+            this.panel1.Controls.Add(this.btnAxisAMove);
+            this.panel1.Controls.Add(this.label49);
+            this.panel1.Controls.Add(this.txtAPosition);
+            this.panel1.Controls.Add(this.label46);
+            this.panel1.Controls.Add(this.label48);
+            this.panel1.Controls.Add(this.label45);
+            this.panel1.Controls.Add(this.txtAxisValue);
+            this.panel1.Controls.Add(this.txtAxisDeviceName);
+            this.panel1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.panel1.Location = new System.Drawing.Point(7, 17);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(540, 250);
+            this.panel1.TabIndex = 219;
+            // 
+            // linkLabel1
+            // 
+            this.linkLabel1.AutoSize = true;
+            this.linkLabel1.Location = new System.Drawing.Point(161, 163);
+            this.linkLabel1.Name = "linkLabel1";
+            this.linkLabel1.Size = new System.Drawing.Size(32, 17);
+            this.linkLabel1.TabIndex = 336;
+            this.linkLabel1.TabStop = true;
+            this.linkLabel1.Text = "复制";
+            this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
+            // 
+            // comjSpeed
+            // 
+            this.comjSpeed.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.comjSpeed.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.comjSpeed.FormattingEnabled = true;
+            this.comjSpeed.Location = new System.Drawing.Point(106, 211);
+            this.comjSpeed.Name = "comjSpeed";
+            this.comjSpeed.Size = new System.Drawing.Size(90, 28);
+            this.comjSpeed.TabIndex = 335;
+            // 
+            // btnComAlarmClear
+            // 
+            this.btnComAlarmClear.BackColor = System.Drawing.Color.White;
+            this.btnComAlarmClear.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnComAlarmClear.Location = new System.Drawing.Point(307, 154);
+            this.btnComAlarmClear.Name = "btnComAlarmClear";
+            this.btnComAlarmClear.Size = new System.Drawing.Size(110, 34);
+            this.btnComAlarmClear.TabIndex = 50;
+            this.btnComAlarmClear.Text = "清除报警";
+            this.btnComAlarmClear.UseVisualStyleBackColor = false;
+            this.btnComAlarmClear.Click += new System.EventHandler(this.btnComAlarmClear_Click);
+            // 
+            // btnAxisStop
+            // 
+            this.btnAxisStop.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.btnAxisStop.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisStop.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisStop.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisStop.Location = new System.Drawing.Point(427, 78);
+            this.btnAxisStop.Name = "btnAxisStop";
+            this.btnAxisStop.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisStop.Size = new System.Drawing.Size(110, 110);
+            this.btnAxisStop.TabIndex = 246;
+            this.btnAxisStop.Text = " 停止运动";
+            this.btnAxisStop.UseVisualStyleBackColor = false;
+            this.btnAxisStop.Click += new System.EventHandler(this.btnAxisStop_Click);
+            // 
+            // btnAxisReturnHome
+            // 
+            this.btnAxisReturnHome.BackColor = System.Drawing.Color.White;
+            this.btnAxisReturnHome.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisReturnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisReturnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisReturnHome.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisReturnHome.Location = new System.Drawing.Point(307, 116);
+            this.btnAxisReturnHome.Name = "btnAxisReturnHome";
+            this.btnAxisReturnHome.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisReturnHome.Size = new System.Drawing.Size(110, 34);
+            this.btnAxisReturnHome.TabIndex = 247;
+            this.btnAxisReturnHome.Text = "原点返回";
+            this.btnAxisReturnHome.UseVisualStyleBackColor = false;
+            this.btnAxisReturnHome.Click += new System.EventHandler(this.btnAxisReturnHome_Click);
+            // 
+            // cmbAxis
+            // 
+            this.cmbAxis.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cmbAxis.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.cmbAxis.FormattingEnabled = true;
+            this.cmbAxis.Location = new System.Drawing.Point(71, 6);
+            this.cmbAxis.Name = "cmbAxis";
+            this.cmbAxis.Size = new System.Drawing.Size(227, 28);
+            this.cmbAxis.TabIndex = 301;
+            this.cmbAxis.SelectedIndexChanged += new System.EventHandler(this.comboBox1_SelectedIndexChanged);
+            // 
+            // btnDelMove
+            // 
+            this.btnDelMove.BackColor = System.Drawing.Color.White;
+            this.btnDelMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnDelMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnDelMove.Location = new System.Drawing.Point(351, 203);
+            this.btnDelMove.Name = "btnDelMove";
+            this.btnDelMove.Size = new System.Drawing.Size(140, 45);
+            this.btnDelMove.TabIndex = 332;
+            this.btnDelMove.Text = "点动-";
+            this.btnDelMove.UseVisualStyleBackColor = false;
+            this.btnDelMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnDelMove_MouseDown);
+            this.btnDelMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnDelMove_MouseUp);
             // 
             // 
             // btnOpenAxis
             // btnOpenAxis
             // 
             // 
-            this.btnOpenAxis.BackColor = System.Drawing.SystemColors.Control;
+            this.btnOpenAxis.BackColor = System.Drawing.Color.White;
             this.btnOpenAxis.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnOpenAxis.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnOpenAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnOpenAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnOpenAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnOpenAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnOpenAxis.ForeColor = System.Drawing.SystemColors.ControlText;
             this.btnOpenAxis.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnOpenAxis.Location = new System.Drawing.Point(308, 25);
+            this.btnOpenAxis.Location = new System.Drawing.Point(307, 2);
             this.btnOpenAxis.Name = "btnOpenAxis";
             this.btnOpenAxis.Name = "btnOpenAxis";
             this.btnOpenAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.btnOpenAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnOpenAxis.Size = new System.Drawing.Size(105, 33);
+            this.btnOpenAxis.Size = new System.Drawing.Size(110, 34);
             this.btnOpenAxis.TabIndex = 253;
             this.btnOpenAxis.TabIndex = 253;
             this.btnOpenAxis.Text = "打开伺服";
             this.btnOpenAxis.Text = "打开伺服";
             this.btnOpenAxis.UseVisualStyleBackColor = false;
             this.btnOpenAxis.UseVisualStyleBackColor = false;
@@ -326,42 +701,57 @@
             // 
             // 
             // btnCloseAxis
             // btnCloseAxis
             // 
             // 
-            this.btnCloseAxis.BackColor = System.Drawing.SystemColors.Control;
+            this.btnCloseAxis.BackColor = System.Drawing.Color.White;
             this.btnCloseAxis.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnCloseAxis.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnCloseAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCloseAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnCloseAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnCloseAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnCloseAxis.ForeColor = System.Drawing.SystemColors.ControlText;
             this.btnCloseAxis.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnCloseAxis.Location = new System.Drawing.Point(423, 25);
+            this.btnCloseAxis.Location = new System.Drawing.Point(427, 2);
             this.btnCloseAxis.Name = "btnCloseAxis";
             this.btnCloseAxis.Name = "btnCloseAxis";
             this.btnCloseAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.btnCloseAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnCloseAxis.Size = new System.Drawing.Size(105, 33);
+            this.btnCloseAxis.Size = new System.Drawing.Size(110, 34);
             this.btnCloseAxis.TabIndex = 252;
             this.btnCloseAxis.TabIndex = 252;
             this.btnCloseAxis.Text = "关闭伺服";
             this.btnCloseAxis.Text = "关闭伺服";
             this.btnCloseAxis.UseVisualStyleBackColor = false;
             this.btnCloseAxis.UseVisualStyleBackColor = false;
             this.btnCloseAxis.Click += new System.EventHandler(this.btnCloseAxis_Click);
             this.btnCloseAxis.Click += new System.EventHandler(this.btnCloseAxis_Click);
             // 
             // 
-            // txtP
+            // btnAddMove
             // 
             // 
-            this.txtP.Location = new System.Drawing.Point(207, 169);
-            this.txtP.Name = "txtP";
-            this.txtP.ReadOnly = true;
-            this.txtP.Size = new System.Drawing.Size(87, 23);
-            this.txtP.TabIndex = 38;
+            this.btnAddMove.BackColor = System.Drawing.Color.White;
+            this.btnAddMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAddMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAddMove.Location = new System.Drawing.Point(202, 203);
+            this.btnAddMove.Name = "btnAddMove";
+            this.btnAddMove.Size = new System.Drawing.Size(140, 45);
+            this.btnAddMove.TabIndex = 330;
+            this.btnAddMove.Text = "点动+";
+            this.btnAddMove.UseVisualStyleBackColor = false;
+            this.btnAddMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnAddMove_MouseDown);
+            this.btnAddMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnAddMove_MouseUp);
             // 
             // 
             // txtASpeed
             // txtASpeed
             // 
             // 
             this.txtASpeed.AcceptsReturn = true;
             this.txtASpeed.AcceptsReturn = true;
             this.txtASpeed.BackColor = System.Drawing.SystemColors.Window;
             this.txtASpeed.BackColor = System.Drawing.SystemColors.Window;
             this.txtASpeed.Cursor = System.Windows.Forms.Cursors.IBeam;
             this.txtASpeed.Cursor = System.Windows.Forms.Cursors.IBeam;
-            this.txtASpeed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtASpeed.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.txtASpeed.ForeColor = System.Drawing.SystemColors.WindowText;
             this.txtASpeed.ForeColor = System.Drawing.SystemColors.WindowText;
-            this.txtASpeed.Location = new System.Drawing.Point(201, 111);
+            this.txtASpeed.Location = new System.Drawing.Point(207, 88);
             this.txtASpeed.MaxLength = 12;
             this.txtASpeed.MaxLength = 12;
             this.txtASpeed.Name = "txtASpeed";
             this.txtASpeed.Name = "txtASpeed";
             this.txtASpeed.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.txtASpeed.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.txtASpeed.Size = new System.Drawing.Size(92, 23);
+            this.txtASpeed.Size = new System.Drawing.Size(91, 26);
             this.txtASpeed.TabIndex = 251;
             this.txtASpeed.TabIndex = 251;
-            this.txtASpeed.Text = "30";
+            this.txtASpeed.Text = "200";
+            // 
+            // label_speed
+            // 
+            this.label_speed.Location = new System.Drawing.Point(3, 217);
+            this.label_speed.Name = "label_speed";
+            this.label_speed.Size = new System.Drawing.Size(100, 17);
+            this.label_speed.TabIndex = 329;
+            this.label_speed.Text = "点动速度：";
+            this.label_speed.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
             // 
             // label47
             // label47
             // 
             // 
@@ -369,7 +759,7 @@
             this.label47.Cursor = System.Windows.Forms.Cursors.Default;
             this.label47.Cursor = System.Windows.Forms.Cursors.Default;
             this.label47.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label47.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label47.ForeColor = System.Drawing.SystemColors.ControlText;
             this.label47.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.label47.Location = new System.Drawing.Point(136, 114);
+            this.label47.Location = new System.Drawing.Point(142, 93);
             this.label47.Name = "label47";
             this.label47.Name = "label47";
             this.label47.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.label47.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.label47.Size = new System.Drawing.Size(59, 17);
             this.label47.Size = new System.Drawing.Size(59, 17);
@@ -377,103 +767,132 @@
             this.label47.Text = "目标速度:";
             this.label47.Text = "目标速度:";
             this.label47.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             this.label47.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
             // 
+            // btnReadPosition
+            // 
+            this.btnReadPosition.BackColor = System.Drawing.Color.White;
+            this.btnReadPosition.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnReadPosition.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnReadPosition.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnReadPosition.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnReadPosition.Location = new System.Drawing.Point(199, 127);
+            this.btnReadPosition.Name = "btnReadPosition";
+            this.btnReadPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnReadPosition.Size = new System.Drawing.Size(99, 34);
+            this.btnReadPosition.TabIndex = 278;
+            this.btnReadPosition.Text = "读取位置";
+            this.btnReadPosition.UseVisualStyleBackColor = false;
+            this.btnReadPosition.Click += new System.EventHandler(this.btnReadPosition_Click);
+            // 
             // btnAxisVMove
             // btnAxisVMove
             // 
             // 
-            this.btnAxisVMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisVMove.BackColor = System.Drawing.Color.White;
             this.btnAxisVMove.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnAxisVMove.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnAxisVMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisVMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisVMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnAxisVMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnAxisVMove.ForeColor = System.Drawing.SystemColors.ControlText;
             this.btnAxisVMove.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnAxisVMove.Location = new System.Drawing.Point(308, 106);
+            this.btnAxisVMove.Location = new System.Drawing.Point(307, 78);
             this.btnAxisVMove.Name = "btnAxisVMove";
             this.btnAxisVMove.Name = "btnAxisVMove";
             this.btnAxisVMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.btnAxisVMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnAxisVMove.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisVMove.Size = new System.Drawing.Size(110, 34);
             this.btnAxisVMove.TabIndex = 249;
             this.btnAxisVMove.TabIndex = 249;
             this.btnAxisVMove.Text = "匀速运动";
             this.btnAxisVMove.Text = "匀速运动";
             this.btnAxisVMove.UseVisualStyleBackColor = false;
             this.btnAxisVMove.UseVisualStyleBackColor = false;
             this.btnAxisVMove.Click += new System.EventHandler(this.btnAxisVMove_Click);
             this.btnAxisVMove.Click += new System.EventHandler(this.btnAxisVMove_Click);
             // 
             // 
+            // label8
+            // 
+            this.label8.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label8.Location = new System.Drawing.Point(6, 136);
+            this.label8.Name = "label8";
+            this.label8.Size = new System.Drawing.Size(84, 17);
+            this.label8.TabIndex = 255;
+            this.label8.Text = "实时位置:";
+            this.label8.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
             // btnAxisRMove
             // btnAxisRMove
             // 
             // 
-            this.btnAxisRMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisRMove.BackColor = System.Drawing.Color.White;
             this.btnAxisRMove.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnAxisRMove.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnAxisRMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisRMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisRMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnAxisRMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnAxisRMove.ForeColor = System.Drawing.SystemColors.ControlText;
             this.btnAxisRMove.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnAxisRMove.Location = new System.Drawing.Point(423, 67);
+            this.btnAxisRMove.Location = new System.Drawing.Point(427, 39);
             this.btnAxisRMove.Name = "btnAxisRMove";
             this.btnAxisRMove.Name = "btnAxisRMove";
             this.btnAxisRMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.btnAxisRMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnAxisRMove.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisRMove.Size = new System.Drawing.Size(110, 34);
             this.btnAxisRMove.TabIndex = 248;
             this.btnAxisRMove.TabIndex = 248;
             this.btnAxisRMove.Text = "相对运动";
             this.btnAxisRMove.Text = "相对运动";
             this.btnAxisRMove.UseVisualStyleBackColor = false;
             this.btnAxisRMove.UseVisualStyleBackColor = false;
             this.btnAxisRMove.Click += new System.EventHandler(this.btnAxisRMove_Click);
             this.btnAxisRMove.Click += new System.EventHandler(this.btnAxisRMove_Click);
             // 
             // 
-            // btnAxisReturnHome
+            // lblCountPulse
             // 
             // 
-            this.btnAxisReturnHome.BackColor = System.Drawing.SystemColors.Control;
-            this.btnAxisReturnHome.Cursor = System.Windows.Forms.Cursors.Default;
-            this.btnAxisReturnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnAxisReturnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnAxisReturnHome.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnAxisReturnHome.Location = new System.Drawing.Point(423, 205);
-            this.btnAxisReturnHome.Name = "btnAxisReturnHome";
-            this.btnAxisReturnHome.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnAxisReturnHome.Size = new System.Drawing.Size(105, 33);
-            this.btnAxisReturnHome.TabIndex = 247;
-            this.btnAxisReturnHome.Text = "原点返回";
-            this.btnAxisReturnHome.UseVisualStyleBackColor = false;
-            this.btnAxisReturnHome.Click += new System.EventHandler(this.btnAxisReturnHome_Click);
+            this.lblCountPulse.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lblCountPulse.Location = new System.Drawing.Point(94, 131);
+            this.lblCountPulse.Name = "lblCountPulse";
+            this.lblCountPulse.ReadOnly = true;
+            this.lblCountPulse.Size = new System.Drawing.Size(99, 26);
+            this.lblCountPulse.TabIndex = 38;
             // 
             // 
             // btnAxisAMove
             // btnAxisAMove
             // 
             // 
-            this.btnAxisAMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisAMove.BackColor = System.Drawing.Color.White;
             this.btnAxisAMove.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnAxisAMove.Cursor = System.Windows.Forms.Cursors.Default;
             this.btnAxisAMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisAMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.btnAxisAMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnAxisAMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnAxisAMove.ForeColor = System.Drawing.SystemColors.ControlText;
             this.btnAxisAMove.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnAxisAMove.Location = new System.Drawing.Point(308, 67);
+            this.btnAxisAMove.Location = new System.Drawing.Point(307, 40);
             this.btnAxisAMove.Name = "btnAxisAMove";
             this.btnAxisAMove.Name = "btnAxisAMove";
             this.btnAxisAMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.btnAxisAMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnAxisAMove.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisAMove.Size = new System.Drawing.Size(110, 34);
             this.btnAxisAMove.TabIndex = 245;
             this.btnAxisAMove.TabIndex = 245;
             this.btnAxisAMove.Text = "绝对运动";
             this.btnAxisAMove.Text = "绝对运动";
             this.btnAxisAMove.UseVisualStyleBackColor = false;
             this.btnAxisAMove.UseVisualStyleBackColor = false;
             this.btnAxisAMove.Click += new System.EventHandler(this.btnAxisAMove_Click);
             this.btnAxisAMove.Click += new System.EventHandler(this.btnAxisAMove_Click);
             // 
             // 
-            // btnComAlarmClear
+            // label49
             // 
             // 
-            this.btnComAlarmClear.BackColor = System.Drawing.SystemColors.Control;
-            this.btnComAlarmClear.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnComAlarmClear.Location = new System.Drawing.Point(308, 244);
-            this.btnComAlarmClear.Name = "btnComAlarmClear";
-            this.btnComAlarmClear.Size = new System.Drawing.Size(105, 33);
-            this.btnComAlarmClear.TabIndex = 50;
-            this.btnComAlarmClear.Text = "清除报警";
-            this.btnComAlarmClear.UseVisualStyleBackColor = false;
-            this.btnComAlarmClear.Click += new System.EventHandler(this.btnComAlarmClear_Click);
+            this.label49.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label49.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label49.Location = new System.Drawing.Point(5, 11);
+            this.label49.Name = "label49";
+            this.label49.Size = new System.Drawing.Size(58, 23);
+            this.label49.TabIndex = 233;
+            this.label49.Text = "AC伺服:";
+            this.label49.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
             // 
             // txtAPosition
             // txtAPosition
             // 
             // 
             this.txtAPosition.BackColor = System.Drawing.SystemColors.Window;
             this.txtAPosition.BackColor = System.Drawing.SystemColors.Window;
             this.txtAPosition.Cursor = System.Windows.Forms.Cursors.IBeam;
             this.txtAPosition.Cursor = System.Windows.Forms.Cursors.IBeam;
-            this.txtAPosition.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtAPosition.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.txtAPosition.ForeColor = System.Drawing.SystemColors.WindowText;
             this.txtAPosition.ForeColor = System.Drawing.SystemColors.WindowText;
-            this.txtAPosition.Location = new System.Drawing.Point(201, 72);
+            this.txtAPosition.Location = new System.Drawing.Point(207, 48);
             this.txtAPosition.MaxLength = 12;
             this.txtAPosition.MaxLength = 12;
             this.txtAPosition.Name = "txtAPosition";
             this.txtAPosition.Name = "txtAPosition";
             this.txtAPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.txtAPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.txtAPosition.Size = new System.Drawing.Size(92, 23);
+            this.txtAPosition.Size = new System.Drawing.Size(91, 26);
             this.txtAPosition.TabIndex = 244;
             this.txtAPosition.TabIndex = 244;
             this.txtAPosition.Text = "3000";
             this.txtAPosition.Text = "3000";
             // 
             // 
+            // label46
+            // 
+            this.label46.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label46.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label46.Location = new System.Drawing.Point(5, 93);
+            this.label46.Name = "label46";
+            this.label46.Size = new System.Drawing.Size(58, 17);
+            this.label46.TabIndex = 239;
+            this.label46.Text = "地址:";
+            this.label46.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
             // label48
             // label48
             // 
             // 
             this.label48.AutoSize = true;
             this.label48.AutoSize = true;
             this.label48.Cursor = System.Windows.Forms.Cursors.Default;
             this.label48.Cursor = System.Windows.Forms.Cursors.Default;
             this.label48.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label48.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label48.ForeColor = System.Drawing.SystemColors.ControlText;
             this.label48.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.label48.Location = new System.Drawing.Point(136, 75);
+            this.label48.Location = new System.Drawing.Point(142, 53);
             this.label48.Name = "label48";
             this.label48.Name = "label48";
             this.label48.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.label48.RightToLeft = System.Windows.Forms.RightToLeft.No;
             this.label48.Size = new System.Drawing.Size(59, 17);
             this.label48.Size = new System.Drawing.Size(59, 17);
@@ -481,395 +900,69 @@
             this.label48.Text = "目标位置:";
             this.label48.Text = "目标位置:";
             this.label48.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             this.label48.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
             // 
-            // btnAxisStop
+            // label45
             // 
             // 
-            this.btnAxisStop.BackColor = System.Drawing.SystemColors.Control;
-            this.btnAxisStop.Cursor = System.Windows.Forms.Cursors.Default;
-            this.btnAxisStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnAxisStop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnAxisStop.ForeColor = System.Drawing.SystemColors.ControlText;
-            this.btnAxisStop.Location = new System.Drawing.Point(423, 106);
-            this.btnAxisStop.Name = "btnAxisStop";
-            this.btnAxisStop.RightToLeft = System.Windows.Forms.RightToLeft.No;
-            this.btnAxisStop.Size = new System.Drawing.Size(105, 83);
-            this.btnAxisStop.TabIndex = 246;
-            this.btnAxisStop.Text = " 停止运动";
-            this.btnAxisStop.UseVisualStyleBackColor = false;
-            this.btnAxisStop.Click += new System.EventHandler(this.btnAxisStop_Click);
+            this.label45.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label45.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label45.Location = new System.Drawing.Point(5, 53);
+            this.label45.Name = "label45";
+            this.label45.Size = new System.Drawing.Size(58, 17);
+            this.label45.TabIndex = 240;
+            this.label45.Text = "端口号:";
+            this.label45.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
             // 
             // txtAxisValue
             // txtAxisValue
             // 
             // 
             this.txtAxisValue.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.txtAxisValue.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtAxisValue.Location = new System.Drawing.Point(66, 109);
+            this.txtAxisValue.Location = new System.Drawing.Point(71, 88);
             this.txtAxisValue.MaxLength = 10;
             this.txtAxisValue.MaxLength = 10;
             this.txtAxisValue.Name = "txtAxisValue";
             this.txtAxisValue.Name = "txtAxisValue";
             this.txtAxisValue.ReadOnly = true;
             this.txtAxisValue.ReadOnly = true;
-            this.txtAxisValue.Size = new System.Drawing.Size(58, 26);
+            this.txtAxisValue.Size = new System.Drawing.Size(50, 26);
             this.txtAxisValue.TabIndex = 242;
             this.txtAxisValue.TabIndex = 242;
             this.txtAxisValue.Text = "0";
             this.txtAxisValue.Text = "0";
             // 
             // 
             // txtAxisDeviceName
             // txtAxisDeviceName
             // 
             // 
             this.txtAxisDeviceName.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.txtAxisDeviceName.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtAxisDeviceName.Location = new System.Drawing.Point(66, 70);
+            this.txtAxisDeviceName.Location = new System.Drawing.Point(71, 48);
             this.txtAxisDeviceName.MaxLength = 10;
             this.txtAxisDeviceName.MaxLength = 10;
             this.txtAxisDeviceName.Name = "txtAxisDeviceName";
             this.txtAxisDeviceName.Name = "txtAxisDeviceName";
             this.txtAxisDeviceName.ReadOnly = true;
             this.txtAxisDeviceName.ReadOnly = true;
-            this.txtAxisDeviceName.Size = new System.Drawing.Size(58, 26);
+            this.txtAxisDeviceName.Size = new System.Drawing.Size(50, 26);
             this.txtAxisDeviceName.TabIndex = 241;
             this.txtAxisDeviceName.TabIndex = 241;
             this.txtAxisDeviceName.Text = "0";
             this.txtAxisDeviceName.Text = "0";
             // 
             // 
-            // label45
-            // 
-            this.label45.AutoSize = true;
-            this.label45.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label45.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label45.Location = new System.Drawing.Point(15, 75);
-            this.label45.Name = "label45";
-            this.label45.Size = new System.Drawing.Size(47, 17);
-            this.label45.TabIndex = 240;
-            this.label45.Text = "端口号:";
-            this.label45.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            // 
-            // label46
-            // 
-            this.label46.AutoSize = true;
-            this.label46.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label46.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label46.Location = new System.Drawing.Point(27, 114);
-            this.label46.Name = "label46";
-            this.label46.Size = new System.Drawing.Size(35, 17);
-            this.label46.TabIndex = 239;
-            this.label46.Text = "地址:";
-            this.label46.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            // 
-            // comboBox1
-            // 
-            this.comboBox1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
-            this.comboBox1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.comboBox1.FormattingEnabled = true;
-            this.comboBox1.ItemHeight = 20;
-            this.comboBox1.Location = new System.Drawing.Point(66, 26);
-            this.comboBox1.Name = "comboBox1";
-            this.comboBox1.Size = new System.Drawing.Size(227, 28);
-            this.comboBox1.TabIndex = 234;
-            this.comboBox1.SelectedIndexChanged += new System.EventHandler(this.comboBox1_SelectedIndexChanged);
-            // 
-            // label49
-            // 
-            this.label49.AutoSize = true;
-            this.label49.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label49.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label49.Location = new System.Drawing.Point(11, 33);
-            this.label49.Name = "label49";
-            this.label49.Size = new System.Drawing.Size(51, 17);
-            this.label49.TabIndex = 233;
-            this.label49.Text = "AC伺服:";
-            this.label49.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            // 
-            // groupBox1
-            // 
-            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
-            | System.Windows.Forms.AnchorStyles.Right)));
-            this.groupBox1.Controls.Add(this.axis_4_Alarm);
-            this.groupBox1.Controls.Add(this.txt4Target);
-            this.groupBox1.Controls.Add(this.lblTargetP4);
-            this.groupBox1.Controls.Add(this.lblActual4);
-            this.groupBox1.Controls.Add(this.label1);
-            this.groupBox1.Controls.Add(this.axis_1_Alarm);
-            this.groupBox1.Controls.Add(this.axis_3_Alarm);
-            this.groupBox1.Controls.Add(this.axis_2_Alarm);
-            this.groupBox1.Controls.Add(this.label38);
-            this.groupBox1.Controls.Add(this.txtMiddleTarget);
-            this.groupBox1.Controls.Add(this.txtInoutTarget);
-            this.groupBox1.Controls.Add(this.txtUpdownTarget);
-            this.groupBox1.Controls.Add(this.label12);
-            this.groupBox1.Controls.Add(this.lblTargetP1);
-            this.groupBox1.Controls.Add(this.lblActual1);
-            this.groupBox1.Controls.Add(this.lblTargetP3);
-            this.groupBox1.Controls.Add(this.lblActual3);
-            this.groupBox1.Controls.Add(this.lblTargetP2);
-            this.groupBox1.Controls.Add(this.lblActual2);
-            this.groupBox1.Controls.Add(this.label4);
-            this.groupBox1.Controls.Add(this.label3);
-            this.groupBox1.Controls.Add(this.label5);
-            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(9, 332);
-            this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Size = new System.Drawing.Size(538, 182);
-            this.groupBox1.TabIndex = 218;
-            this.groupBox1.TabStop = false;
-            this.groupBox1.Text = "伺服状态";
-            this.groupBox1.Visible = false;
-            // 
-            // axis_4_Alarm
-            // 
-            this.axis_4_Alarm.IOName = "";
-            this.axis_4_Alarm.IOValue = 0;
-            this.axis_4_Alarm.isCanClick = false;
-            this.axis_4_Alarm.Location = new System.Drawing.Point(432, 39);
-            this.axis_4_Alarm.Name = "axis_4_Alarm";
-            this.axis_4_Alarm.Size = new System.Drawing.Size(43, 39);
-            this.axis_4_Alarm.TabIndex = 271;
-            // 
-            // txt4Target
-            // 
-            this.txt4Target.Location = new System.Drawing.Point(409, 143);
-            this.txt4Target.Name = "txt4Target";
-            this.txt4Target.ReadOnly = true;
-            this.txt4Target.Size = new System.Drawing.Size(87, 23);
-            this.txt4Target.TabIndex = 270;
-            // 
-            // lblTargetP4
-            // 
-            this.lblTargetP4.Location = new System.Drawing.Point(409, 115);
-            this.lblTargetP4.Name = "lblTargetP4";
-            this.lblTargetP4.ReadOnly = true;
-            this.lblTargetP4.Size = new System.Drawing.Size(87, 23);
-            this.lblTargetP4.TabIndex = 269;
-            // 
-            // lblActual4
-            // 
-            this.lblActual4.Location = new System.Drawing.Point(409, 87);
-            this.lblActual4.Name = "lblActual4";
-            this.lblActual4.ReadOnly = true;
-            this.lblActual4.Size = new System.Drawing.Size(87, 23);
-            this.lblActual4.TabIndex = 268;
-            // 
-            // label1
-            // 
-            this.label1.AutoSize = true;
-            this.label1.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label1.Location = new System.Drawing.Point(406, 14);
-            this.label1.Name = "label1";
-            this.label1.Size = new System.Drawing.Size(71, 17);
-            this.label1.TabIndex = 267;
-            this.label1.Text = "轴四:压紧轴";
-            // 
-            // axis_1_Alarm
-            // 
-            this.axis_1_Alarm.IOName = "";
-            this.axis_1_Alarm.IOValue = 0;
-            this.axis_1_Alarm.isCanClick = false;
-            this.axis_1_Alarm.Location = new System.Drawing.Point(127, 40);
-            this.axis_1_Alarm.Name = "axis_1_Alarm";
-            this.axis_1_Alarm.Size = new System.Drawing.Size(43, 39);
-            this.axis_1_Alarm.TabIndex = 264;
-            // 
-            // axis_3_Alarm
-            // 
-            this.axis_3_Alarm.IOName = "";
-            this.axis_3_Alarm.IOValue = 0;
-            this.axis_3_Alarm.isCanClick = false;
-            this.axis_3_Alarm.Location = new System.Drawing.Point(329, 40);
-            this.axis_3_Alarm.Name = "axis_3_Alarm";
-            this.axis_3_Alarm.Size = new System.Drawing.Size(43, 39);
-            this.axis_3_Alarm.TabIndex = 266;
-            // 
-            // axis_2_Alarm
-            // 
-            this.axis_2_Alarm.IOName = "";
-            this.axis_2_Alarm.IOValue = 0;
-            this.axis_2_Alarm.isCanClick = false;
-            this.axis_2_Alarm.Location = new System.Drawing.Point(224, 40);
-            this.axis_2_Alarm.Name = "axis_2_Alarm";
-            this.axis_2_Alarm.Size = new System.Drawing.Size(43, 39);
-            this.axis_2_Alarm.TabIndex = 265;
-            // 
-            // label38
-            // 
-            this.label38.AutoSize = true;
-            this.label38.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label38.Location = new System.Drawing.Point(49, 40);
-            this.label38.Name = "label38";
-            this.label38.Size = new System.Drawing.Size(37, 17);
-            this.label38.TabIndex = 263;
-            this.label38.Text = "ALM:";
-            // 
-            // txtMiddleTarget
-            // 
-            this.txtMiddleTarget.Location = new System.Drawing.Point(105, 144);
-            this.txtMiddleTarget.Name = "txtMiddleTarget";
-            this.txtMiddleTarget.ReadOnly = true;
-            this.txtMiddleTarget.Size = new System.Drawing.Size(87, 23);
-            this.txtMiddleTarget.TabIndex = 262;
-            // 
-            // txtInoutTarget
-            // 
-            this.txtInoutTarget.Location = new System.Drawing.Point(306, 144);
-            this.txtInoutTarget.Name = "txtInoutTarget";
-            this.txtInoutTarget.ReadOnly = true;
-            this.txtInoutTarget.Size = new System.Drawing.Size(87, 23);
-            this.txtInoutTarget.TabIndex = 260;
-            // 
-            // txtUpdownTarget
-            // 
-            this.txtUpdownTarget.Location = new System.Drawing.Point(206, 144);
-            this.txtUpdownTarget.Name = "txtUpdownTarget";
-            this.txtUpdownTarget.ReadOnly = true;
-            this.txtUpdownTarget.Size = new System.Drawing.Size(87, 23);
-            this.txtUpdownTarget.TabIndex = 259;
-            // 
-            // label12
-            // 
-            this.label12.AutoSize = true;
-            this.label12.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label12.Location = new System.Drawing.Point(7, 147);
-            this.label12.Name = "label12";
-            this.label12.Size = new System.Drawing.Size(83, 17);
-            this.label12.TabIndex = 258;
-            this.label12.Text = "出入库目标值:";
-            // 
-            // lblTargetP1
-            // 
-            this.lblTargetP1.Location = new System.Drawing.Point(105, 116);
-            this.lblTargetP1.Name = "lblTargetP1";
-            this.lblTargetP1.ReadOnly = true;
-            this.lblTargetP1.Size = new System.Drawing.Size(87, 23);
-            this.lblTargetP1.TabIndex = 257;
-            // 
-            // lblActual1
-            // 
-            this.lblActual1.Location = new System.Drawing.Point(105, 88);
-            this.lblActual1.Name = "lblActual1";
-            this.lblActual1.ReadOnly = true;
-            this.lblActual1.Size = new System.Drawing.Size(87, 23);
-            this.lblActual1.TabIndex = 256;
-            // 
-            // lblTargetP3
-            // 
-            this.lblTargetP3.Location = new System.Drawing.Point(306, 116);
-            this.lblTargetP3.Name = "lblTargetP3";
-            this.lblTargetP3.ReadOnly = true;
-            this.lblTargetP3.Size = new System.Drawing.Size(87, 23);
-            this.lblTargetP3.TabIndex = 178;
-            // 
-            // lblActual3
-            // 
-            this.lblActual3.Location = new System.Drawing.Point(306, 88);
-            this.lblActual3.Name = "lblActual3";
-            this.lblActual3.ReadOnly = true;
-            this.lblActual3.Size = new System.Drawing.Size(87, 23);
-            this.lblActual3.TabIndex = 177;
-            // 
-            // lblTargetP2
-            // 
-            this.lblTargetP2.Location = new System.Drawing.Point(207, 116);
-            this.lblTargetP2.Name = "lblTargetP2";
-            this.lblTargetP2.ReadOnly = true;
-            this.lblTargetP2.Size = new System.Drawing.Size(87, 23);
-            this.lblTargetP2.TabIndex = 176;
-            // 
-            // lblActual2
-            // 
-            this.lblActual2.Location = new System.Drawing.Point(206, 88);
-            this.lblActual2.Name = "lblActual2";
-            this.lblActual2.ReadOnly = true;
-            this.lblActual2.Size = new System.Drawing.Size(87, 23);
-            this.lblActual2.TabIndex = 175;
-            // 
-            // label4
-            // 
-            this.label4.AutoSize = true;
-            this.label4.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label4.Location = new System.Drawing.Point(303, 15);
-            this.label4.Name = "label4";
-            this.label4.Size = new System.Drawing.Size(71, 17);
-            this.label4.TabIndex = 100;
-            this.label4.Text = "轴三:进出轴";
-            // 
-            // label3
-            // 
-            this.label3.AutoSize = true;
-            this.label3.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label3.Location = new System.Drawing.Point(204, 15);
-            this.label3.Name = "label3";
-            this.label3.Size = new System.Drawing.Size(71, 17);
-            this.label3.TabIndex = 99;
-            this.label3.Text = "轴二:上下轴";
-            // 
-            // label5
+            // lblServerOn
             // 
             // 
-            this.label5.AutoSize = true;
-            this.label5.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label5.Location = new System.Drawing.Point(106, 15);
-            this.label5.Name = "label5";
-            this.label5.Size = new System.Drawing.Size(71, 17);
-            this.label5.TabIndex = 97;
-            this.label5.Text = "轴一:旋转轴";
-            // 
-            // label43
-            // 
-            this.label43.AutoSize = true;
-            this.label43.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label43.Location = new System.Drawing.Point(15, 90);
-            this.label43.Name = "label43";
-            this.label43.Size = new System.Drawing.Size(71, 17);
-            this.label43.TabIndex = 23;
-            this.label43.Text = "输出脉冲值:";
-            // 
-            // label42
-            // 
-            this.label42.AutoSize = true;
-            this.label42.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label42.Location = new System.Drawing.Point(15, 117);
-            this.label42.Name = "label42";
-            this.label42.Size = new System.Drawing.Size(71, 17);
-            this.label42.TabIndex = 24;
-            this.label42.Text = "编码器计数:";
-            // 
-            // btnMovej
-            // 
-            this.btnMovej.BackColor = System.Drawing.SystemColors.Control;
-            this.btnMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnMovej.Location = new System.Drawing.Point(260, 326);
-            this.btnMovej.Name = "btnMovej";
-            this.btnMovej.Size = new System.Drawing.Size(140, 45);
-            this.btnMovej.TabIndex = 330;
-            this.btnMovej.Text = " 轴点动- ";
-            this.btnMovej.UseVisualStyleBackColor = false;
-            this.btnMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMovej_MouseDown);
-            this.btnMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMovej_MouseUp);
-            // 
-            // btnMove
-            // 
-            this.btnMove.BackColor = System.Drawing.SystemColors.Control;
-            this.btnMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnMove.Location = new System.Drawing.Point(114, 326);
-            this.btnMove.Name = "btnMove";
-            this.btnMove.Size = new System.Drawing.Size(140, 45);
-            this.btnMove.TabIndex = 329;
-            this.btnMove.Text = "轴点动+ ";
-            this.btnMove.UseVisualStyleBackColor = false;
-            this.btnMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMove_MouseDown);
-            this.btnMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMove_MouseUp);
+            this.lblServerOn.AutoSize = true;
+            this.lblServerOn.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.lblServerOn.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lblServerOn.ForeColor = System.Drawing.Color.Red;
+            this.lblServerOn.Location = new System.Drawing.Point(32, 115);
+            this.lblServerOn.Name = "lblServerOn";
+            this.lblServerOn.Size = new System.Drawing.Size(0, 19);
+            this.lblServerOn.TabIndex = 268;
             // 
             // 
-            // linkLabel1
+            // timer1
             // 
             // 
-            this.linkLabel1.AutoSize = true;
-            this.linkLabel1.Location = new System.Drawing.Point(313, 172);
-            this.linkLabel1.Name = "linkLabel1";
-            this.linkLabel1.Size = new System.Drawing.Size(56, 17);
-            this.linkLabel1.TabIndex = 331;
-            this.linkLabel1.TabStop = true;
-            this.linkLabel1.Text = "复制位置";
-            this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
+            this.timer1.Interval = 1000;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
             // 
             // AxisMoveControl
             // AxisMoveControl
             // 
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.Controls.Add(this.groupAxis);
             this.Controls.Add(this.groupAxis);
-            this.Controls.Add(this.groupBox1);
             this.Name = "AxisMoveControl";
             this.Name = "AxisMoveControl";
-            this.Size = new System.Drawing.Size(556, 414);
+            this.Size = new System.Drawing.Size(699, 402);
             this.groupAxis.ResumeLayout(false);
             this.groupAxis.ResumeLayout(false);
             this.groupAxis.PerformLayout();
             this.groupAxis.PerformLayout();
+            this.groupBox2.ResumeLayout(false);
+            this.groupBox2.PerformLayout();
             this.groupBox1.ResumeLayout(false);
             this.groupBox1.ResumeLayout(false);
             this.groupBox1.PerformLayout();
             this.groupBox1.PerformLayout();
+            this.panel1.ResumeLayout(false);
+            this.panel1.PerformLayout();
             this.ResumeLayout(false);
             this.ResumeLayout(false);
 
 
         }
         }
@@ -877,69 +970,75 @@
         #endregion
         #endregion
 
 
         private System.Windows.Forms.GroupBox groupAxis;
         private System.Windows.Forms.GroupBox groupAxis;
-        private System.Windows.Forms.Label label7;
-        private System.Windows.Forms.TextBox txtServoStatue;
-        private System.Windows.Forms.Label label17;
-        private System.Windows.Forms.TextBox txtLimit2;
-        private System.Windows.Forms.Label label19;
-        private System.Windows.Forms.TextBox txtLimit1;
+        private System.Windows.Forms.ComboBox cmbAxis;
         private System.Windows.Forms.Label label6;
         private System.Windows.Forms.Label label6;
         private System.Windows.Forms.TextBox txtHomeSingle;
         private System.Windows.Forms.TextBox txtHomeSingle;
         private System.Windows.Forms.Label label11;
         private System.Windows.Forms.Label label11;
         private System.Windows.Forms.TextBox txtHomeStatus;
         private System.Windows.Forms.TextBox txtHomeStatus;
         private System.Windows.Forms.Label label10;
         private System.Windows.Forms.Label label10;
         private System.Windows.Forms.TextBox txtBusyStatus;
         private System.Windows.Forms.TextBox txtBusyStatus;
-        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label label3;
         private System.Windows.Forms.TextBox txtAlarmStatus;
         private System.Windows.Forms.TextBox txtAlarmStatus;
         private System.Windows.Forms.Button btnGetAlarm;
         private System.Windows.Forms.Button btnGetAlarm;
-        public System.Windows.Forms.Button btnReadPosition;
+        internal System.Windows.Forms.Button btnReadPosition;
+        private System.Windows.Forms.Label lblServerOn;
         private System.Windows.Forms.Label label8;
         private System.Windows.Forms.Label label8;
-        public System.Windows.Forms.Button btnOpenAxis;
-        public System.Windows.Forms.Button btnCloseAxis;
-        private System.Windows.Forms.TextBox txtP;
-        public System.Windows.Forms.TextBox txtASpeed;
-        public System.Windows.Forms.Label label47;
-        public System.Windows.Forms.Button btnAxisVMove;
-        public System.Windows.Forms.Button btnAxisRMove;
-        public System.Windows.Forms.Button btnAxisReturnHome;
-        public System.Windows.Forms.Button btnAxisAMove;
+        internal System.Windows.Forms.Button btnOpenAxis;
+        internal System.Windows.Forms.Button btnCloseAxis;
+        private System.Windows.Forms.TextBox lblCountPulse;
+        internal System.Windows.Forms.TextBox txtASpeed;
+        internal System.Windows.Forms.Label label47;
+        internal System.Windows.Forms.Button btnAxisVMove;
+        internal System.Windows.Forms.Button btnAxisRMove;
+        internal System.Windows.Forms.Button btnAxisReturnHome;
+        internal System.Windows.Forms.Button btnAxisAMove;
         private System.Windows.Forms.Button btnComAlarmClear;
         private System.Windows.Forms.Button btnComAlarmClear;
-        public System.Windows.Forms.TextBox txtAPosition;
-        public System.Windows.Forms.Label label48;
-        public System.Windows.Forms.Button btnAxisStop;
+        internal System.Windows.Forms.TextBox txtAPosition;
+        internal System.Windows.Forms.Label label48;
+        internal System.Windows.Forms.Button btnAxisStop;
         private System.Windows.Forms.TextBox txtAxisValue;
         private System.Windows.Forms.TextBox txtAxisValue;
         private System.Windows.Forms.TextBox txtAxisDeviceName;
         private System.Windows.Forms.TextBox txtAxisDeviceName;
         private System.Windows.Forms.Label label45;
         private System.Windows.Forms.Label label45;
         private System.Windows.Forms.Label label46;
         private System.Windows.Forms.Label label46;
-        private System.Windows.Forms.ComboBox comboBox1;
         private System.Windows.Forms.Label label49;
         private System.Windows.Forms.Label label49;
-        private System.Windows.Forms.GroupBox groupBox1;
-        private UserFromControl.IOStatusControl axis_4_Alarm;
-        private System.Windows.Forms.TextBox txt4Target;
-        private System.Windows.Forms.TextBox lblTargetP4;
-        private System.Windows.Forms.TextBox lblActual4;
-        private System.Windows.Forms.Label label1;
-        private UserFromControl.IOStatusControl axis_1_Alarm;
-        private UserFromControl.IOStatusControl axis_3_Alarm;
-        private UserFromControl.IOStatusControl axis_2_Alarm;
-        private System.Windows.Forms.Label label38;
-        private System.Windows.Forms.TextBox txtMiddleTarget;
-        private System.Windows.Forms.TextBox txtInoutTarget;
-        private System.Windows.Forms.TextBox txtUpdownTarget;
-        private System.Windows.Forms.Label label12;
-        private System.Windows.Forms.TextBox lblTargetP1;
-        private System.Windows.Forms.TextBox lblActual1;
-        private System.Windows.Forms.TextBox lblTargetP3;
-        private System.Windows.Forms.TextBox lblActual3;
-        private System.Windows.Forms.TextBox lblTargetP2;
-        private System.Windows.Forms.TextBox lblActual2;
-        private System.Windows.Forms.Label label4;
-        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label24;
+        private System.Windows.Forms.TextBox txtLimit2;
+        private System.Windows.Forms.Label label22;
+        private System.Windows.Forms.TextBox txtLimit1;
+        private System.Windows.Forms.Panel panel1;
         private System.Windows.Forms.Label label5;
         private System.Windows.Forms.Label label5;
-        private System.Windows.Forms.Label label43;
-        private System.Windows.Forms.Label label42;
-        private System.Windows.Forms.Button btnMovej;
-        private System.Windows.Forms.Button btnMove;
+        private System.Windows.Forms.TextBox txtServoStatue;
+        private System.Windows.Forms.Button btnDelMove;
+        private System.Windows.Forms.Button btnAddMove;
+        private System.Windows.Forms.Label label_speed;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.ComboBox comjSpeed;
         private System.Windows.Forms.LinkLabel linkLabel1;
         private System.Windows.Forms.LinkLabel linkLabel1;
+        private System.Windows.Forms.GroupBox groupBox2;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label lblhomeSts;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.Label lblAxEncAcc;
+        private System.Windows.Forms.Label lblINP;
+        private System.Windows.Forms.Label lblBUSY;
+        private System.Windows.Forms.Label lblNEL;
+        private System.Windows.Forms.Label lblORG;
+        private System.Windows.Forms.Label lblPEL;
+        private System.Windows.Forms.Label lblSvOn;
+        private System.Windows.Forms.Label lblEMG;
+        private System.Windows.Forms.Label lblWARN;
+        private System.Windows.Forms.Label lblALM;
+        private System.Windows.Forms.Label label53;
+        private System.Windows.Forms.Label label56;
+        private System.Windows.Forms.Label label55;
+        private System.Windows.Forms.Label label52;
+        private System.Windows.Forms.Label lblAxEncVel;
+        private System.Windows.Forms.Label lblAxPrfVel;
+        private System.Windows.Forms.Label lblAxEncPos;
+        private System.Windows.Forms.Label lblAxPrfPos;
+        private System.Windows.Forms.Label lblAxisPrfMode;
+        private System.Windows.Forms.Label label50;
+        private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.Label lblAlarmcode;
     }
     }
 }
 }

source/ACSingleStore/useControl/AxisMoveControl.cs

@@ -11,232 +11,229 @@ using OnlineStore.DeviceLibrary;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using System.Threading;
 using System.Threading;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
-using UserFromControl;
-using DeviceLib;
+using HuichuanLibrary;
 
 
-namespace OnlineStore.ACPackingStore
+namespace OnlineStore.DUOStore
 {
 {
+    using AxisManager = ACServerManager;
     public partial class AxisMoveControl : UserControl
     public partial class AxisMoveControl : UserControl
     {
     {
+        public bool IsHuiChuan = true;
         private List<ConfigMoveAxis> axisList = new List<ConfigMoveAxis>();
         private List<ConfigMoveAxis> axisList = new List<ConfigMoveAxis>();
-        private TinStoreBean BoxBean= null;
+        private TinStoreBean boxBean = null;
         private string PortName = "";
         private string PortName = "";
-        private int SlvAddr = 0;
-      
-        public AxisMoveControl( )
-        { 
-            InitializeComponent(); 
+        private short SlvAddr = 0;
+
+        public AxisMoveControl()
+        {
+            InitializeComponent();
         }
         }
-        public void LoadData(TinStoreBean boxBean, params ConfigMoveAxis[] moveAxis)
+        public void LoadData(TinStoreBean equipBase, bool isHc = true)
         {
         {
-            this.BoxBean = boxBean;
-            axisList = new List<ConfigMoveAxis>(moveAxis);
+            this.boxBean = equipBase;
+            axisList = new List<ConfigMoveAxis>(equipBase.moveAxisList);
 
 
             if (axisList.Count > 0)
             if (axisList.Count > 0)
-            { 
-                comboBox1.Items.Clear();
+            {
+                cmbAxis.Items.Clear();
                 foreach (ConfigMoveAxis a in axisList)
                 foreach (ConfigMoveAxis a in axisList)
                 {
                 {
-                    comboBox1.Items.Add(a.Explain);
+                    cmbAxis.Items.Add(a.Explain);
                 }
                 }
-                comboBox1.SelectedIndex = 0;
+                cmbAxis.SelectedIndex = 0;
 
 
-                PortName = moveAxis[0].DeviceName;
-                SlvAddr = moveAxis[0].GetAxisValue();
+                PortName = axisList[0].DeviceName;
+                SlvAddr = axisList[0].GetAxisValue();
                 txtAxisDeviceName.Text = PortName;
                 txtAxisDeviceName.Text = PortName;
-                txtAxisValue.Text = SlvAddr.ToString(); 
+                txtAxisValue.Text = SlvAddr.ToString();
+            }
+            btnAddMove.BackColor = Color.White;
+            btnDelMove.BackColor = Color.White;
+            this.IsHuiChuan = isHc;
+            if (IsHuiChuan)
+            {
+                groupBox1.Visible = false;
+                groupBox2.Visible = true;
+                timer1.Start();
+            }
+            else
+            {
+                groupBox1.Visible = true;
+                groupBox2.Visible = false;
             }
             }
-        }
-        private void btnOpenAxis_Click(object sender, EventArgs e)
-        {
-            int bro = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
-            LogUtil.info("点击【打开伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】波特率【"+bro+"】 ");
-            ACServerManager.OpenPort(PortName,bro); 
-            ACServerManager.AlarmClear(PortName, SlvAddr);
-            Thread.Sleep(100);
-            ACServerManager.ServoOn(PortName, SlvAddr); 
         }
         }
 
 
-        private void btnCloseAxis_Click(object sender, EventArgs e)
-        { 
-            LogUtil.info("点击【关闭伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
-            ACServerManager.ServoOff(PortName, SlvAddr);
-        }
-      
-        private bool  AxisCanMove()
+
+        private bool CanMove()
         {
         {
-            if (BoxBean.Config.Middle_Axis.IsSameAxis(PortName, SlvAddr) || BoxBean.Config.UpDown_Axis.IsSameAxis(PortName, SlvAddr))
+            if (axis == null)
             {
             {
-                int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
-                int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue());
-                //旋转轴和升降轴运动时，叉子必须在待机位
-                if (currValue > InOutDefaultPosition)
-                {
-                    MessageBox.Show("叉子不在待机位，请先将叉子退回待机位(" + InOutDefaultPosition + ")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
-                    return false;
-                } 
+                MessageBox.Show("请先选择运动轴", "警告 ", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                return false;
             }
             }
-            if (BoxBean.Config.Stir_Axis.IsSameAxis(PortName, SlvAddr))
+
+            //如果是取料升降轴，取料旋转轴，如果进出轴不在待机点，不能运动
+            if (boxBean.Config!=null && (boxBean.Config.UpDown_Axis.IsSameAxis(PortName, SlvAddr)
+                || (boxBean.Config.Middle_Axis.IsSameAxis(PortName, SlvAddr))))
             {
             {
-                if (!StoreManager.Store.StirAxisCanMove())
+                int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
+                int currValue =AxisManager.GetActualtPosition( boxBean.Config.InOut_Axis.DeviceName,boxBean.Config.InOut_Axis.GetAxisValue());
+                if (currValue <= InOutDefaultPosition)
                 {
                 {
-                    MessageBox.Show("搅拌气缸不在上升端，清先上升搅拌气缸", "警告（搅拌气缸上升时，搅拌轴才能动作） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
-                    return false;
+                    return true;
                 }
                 }
+                MessageBox.Show("叉子不在待机位，请先将叉子退回待机位(" + InOutDefaultPosition + ")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                return false;
             }
             }
-            return true;
+            else
+            {
+                return true;
+            } 
         }
         }
-        private void btnAxisAMove_Click(object sender, EventArgs e)
+        private void btnOpenAxis_Click(object sender, EventArgs e)
         {
         {
-            int position = FormUtil.GetIntValue(txtAPosition);
-            int speed = FormUtil.GetIntValue(txtASpeed);
+            LogUtil.info(boxBean.Name+"点击【打开伺服】，【" + PortName + "_" + SlvAddr + "】 "); 
+            AxisManager.ServoOn(PortName, SlvAddr);
+        }
 
 
-            if (!AxisCanMove())
+        private void btnCloseAxis_Click(object sender, EventArgs e)
+        {
+            LogUtil.info(boxBean.Name+"点击【关闭伺服】，【" + PortName + "_" + SlvAddr + "】 ");
+            AxisManager.ServoOff(PortName, SlvAddr); 
+        }
+
+        private void btnAxisAMove_Click(object sender, EventArgs e)
+        {
+            if (!CanMove())
             {
             {
                 return;
                 return;
             }
             }
-            LogUtil.info("点击【绝对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
-            ACServerManager.AbsMove(PortName, SlvAddr, position, speed); 
+            int position = FormUtil.GetIntValue(txtAPosition);
+            int speed = FormUtil.GetIntValue(txtASpeed);
+            LogUtil.info(boxBean.Name+"点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
+            AxisManager.AbsMove(PortName, SlvAddr, position, speed, speed*4, speed * 4);
         }
         }
 
 
         private void btnAxisRMove_Click(object sender, EventArgs e)
         private void btnAxisRMove_Click(object sender, EventArgs e)
         {
         {
-            int position = FormUtil.GetIntValue(txtAPosition);
-            int speed = FormUtil.GetIntValue(txtASpeed);
-
-            if (!AxisCanMove())
+            if (!CanMove())
             {
             {
                 return;
                 return;
             }
             }
-            LogUtil.info("点击【相对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
-            ACServerManager.RelMove(PortName, SlvAddr, position, speed);
+            int position = FormUtil.GetIntValue(txtAPosition);
+            int speed = FormUtil.GetIntValue(txtASpeed);
+            LogUtil.info(boxBean.Name+"点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
+            AxisManager.RelMove(PortName, SlvAddr, position, speed, speed*4, speed*4);
         }
         }
 
 
         private void btnAxisVMove_Click(object sender, EventArgs e)
         private void btnAxisVMove_Click(object sender, EventArgs e)
         {
         {
-            int speed = FormUtil.GetIntValue(txtASpeed);
-
-            if (!AxisCanMove())
+            if (!CanMove())
             {
             {
                 return;
                 return;
             }
             }
-            LogUtil.info("点击【匀速运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
-            ACServerManager.SpeedMove(PortName, SlvAddr, speed);
-        }
+            int speed = FormUtil.GetIntValue(txtASpeed);
+            LogUtil.info(boxBean.Name+"点击【匀速运动】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】");
+            AxisManager.SpeedMove(PortName, SlvAddr, speed);
 
 
+        }
         private void btnAxisStop_Click(object sender, EventArgs e)
         private void btnAxisStop_Click(object sender, EventArgs e)
         {
         {
-            LogUtil.info("点击【停止运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
-            ACServerManager.SuddenStop(PortName, SlvAddr);
+            LogUtil.info(boxBean.Name+"点击【停止运动】，【" + PortName + "_" + SlvAddr + "】 ");
+            AxisManager.SuddenStop(PortName, SlvAddr);
+            if (btnAddMove.BackColor == Color.Green)
+            {
+                btnAddMove.BackColor = System.Drawing.SystemColors.Control;
+
+            }
+            if (btnDelMove.BackColor == Color.Green)
+            {
+                btnDelMove.BackColor = System.Drawing.SystemColors.Control;
+            }
+            btnReadPosition_Click(null, null);
         }
         }
 
 
         private void btnComAlarmClear_Click(object sender, EventArgs e)
         private void btnComAlarmClear_Click(object sender, EventArgs e)
         {
         {
-            LogUtil.info("点击【清理报警】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
-            ACServerManager.AlarmClear(PortName, SlvAddr);
+            LogUtil.info(boxBean.Name+"点击【清理报警】，【" + PortName + "_" + SlvAddr + "】 ");
+            AxisManager.AlarmClear(PortName, SlvAddr);
             Thread.Sleep(100);
             Thread.Sleep(100);
-            ACServerManager.ServoOn(PortName, SlvAddr);
+            AxisManager.ServoOn(PortName, SlvAddr);
         }
         }
 
 
         private void btnAxisReturnHome_Click(object sender, EventArgs e)
         private void btnAxisReturnHome_Click(object sender, EventArgs e)
         {
         {
-            int speed = FormUtil.GetIntValue(txtASpeed);
-
-            if (!AxisCanMove())
+            if (!CanMove())
             {
             {
                 return;
                 return;
             }
             }
-            LogUtil.info("点击【原点返回】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
-            ACServerManager.HomeMove(PortName, SlvAddr, speed);
+            //int speed = FormUtil.GetIntValue(txtASpeed);
+            foreach(ConfigMoveAxis a in axisList)
+            {
+                if (a.IsSameAxis(PortName, SlvAddr))
+                {
+                    LogUtil.info(boxBean.Name+"点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + a.HomeHighSpeed + "】");
+
+                    AxisManager.HomeMove(PortName, SlvAddr, a.HomeHighSpeed, a.HomeHighSpeed / 10, a.HomeHighSpeed * 5);
+                }
+            }
         }
         }
 
 
         private void btnGetAlarm_Click(object sender, EventArgs e)
         private void btnGetAlarm_Click(object sender, EventArgs e)
         {
         {
-            string PortName = txtAxisDeviceName.Text;
-            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
-            txtServoStatue.Text = ACServerManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘";
-            this.txtAlarmStatus.Text = ACServerManager.GetAlarmStatus(PortName, SlvAddr).ToString();
-            this.txtBusyStatus.Text = ACServerManager.GetBusyStatus(PortName, SlvAddr).ToString();
-            this.txtHomeStatus.Text = ACServerManager.GetHomeEndStatus(PortName, SlvAddr).ToString();
-            this.txtHomeSingle.Text = ACServerManager.GetHomeSingle(PortName, SlvAddr).ToString();
-            this.txtLimit1.Text = ACServerManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
-            this.txtLimit2.Text = ACServerManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
+            this.txtAlarmStatus.Text = AxisManager.GetAlarmStatus(PortName, SlvAddr).ToString();
+            this.txtBusyStatus.Text = AxisManager.GetBusyStatus(PortName, SlvAddr).ToString();
+            //this.txtStb.Text = AxisManager.instance.GetSTBState(PortName, SlvAddr).ToString();
+            this.txtHomeStatus.Text = AxisManager.GetHomeEndStatus(PortName, SlvAddr).ToString();
+            this.txtHomeSingle.Text = AxisManager.GetHomeSingle(PortName, SlvAddr).ToString();
+            this.txtLimit1.Text = AxisManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
+            this.txtLimit2.Text = AxisManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
+            txtServoStatue.Text = AxisManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘";
         }
         }
 
 
+
         private void btnReadPosition_Click(object sender, EventArgs e)
         private void btnReadPosition_Click(object sender, EventArgs e)
         {
         {
-            ReadPosistion();
+            lblCountPulse.Text = AxisManager.GetActualtPosition(PortName, SlvAddr).ToString();
         }
         }
 
 
-        private void ReadPosistion()
-        {
-           
-            //判断私服是否打开、
-            if (ACServerManager.ServerOnStatus(PortName, SlvAddr))
-            {
-                txtServoStatue.Text = "✔";
-            }
-            else
-            {
-                txtServoStatue.Text = "✘";
-            }
-         //  ReadA(BoxBean.Config.Middle_Axis, lblActual1, lblTargetP1, txtMiddleTarget, axis_1_Alarm);
-          //  ReadA(BoxBean.Config.UpDown_Axis, lblActual2, lblTargetP2, txtUpdownTarget, axis_2_Alarm);
-          //  ReadA(BoxBean.Config.InOut_Axis, lblActual3, lblTargetP3, txtInoutTarget, axis_3_Alarm);
-           //ReadA(BoxBean.Config.Comp_Axis, lblActual4, lblTargetP4, txt4Target, axis_4_Alarm);
-
-        }
-        private void ReadA(ConfigMoveAxis axis, TextBox lblActual, TextBox lblTarget, TextBox lblT, IOStatusControl sta)
-        {
-     
-            if (ACServerManager.ServerOnStatus(axis.DeviceName, axis.GetAxisValue()))
-            {
-                sta.IOValue = ACServerManager.GetAlarmStatus(axis.DeviceName, axis.GetAxisValue());
-                int tP = ACServerManager.GetTargetPosition(axis.DeviceName, axis.GetAxisValue());
-                lblTarget.Text = string.Format("{0:d}", tP);
-                int aP = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
-                lblActual.Text = string.Format("{0:d}", aP);
-                lblT.Text = axis.TargetPosition.ToString();
-                if (axis.IsSameAxis(PortName, SlvAddr))
-                {
-                    txtP.Text = lblActual.Text;
-                }
-            }
-        }
+        private ConfigMoveAxis axis = null;
+        private List<Color> colorsList = new List<Color>();
         private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
         private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
         {
         {
-            if (comboBox1.SelectedIndex >= 0)
-            { 
-                ConfigMoveAxis axis = axisList[comboBox1.SelectedIndex];
+            if (cmbAxis.SelectedIndex >= 0)
+            {
+                axis = axisList[cmbAxis.SelectedIndex];
                 PortName = axis.DeviceName;
                 PortName = axis.DeviceName;
                 SlvAddr = axis.GetAxisValue();
                 SlvAddr = axis.GetAxisValue();
                 txtAxisDeviceName.Text = PortName;
                 txtAxisDeviceName.Text = PortName;
                 txtAxisValue.Text = SlvAddr.ToString();
                 txtAxisValue.Text = SlvAddr.ToString();
                 Color color = Color.Black;
                 Color color = Color.Black;
-                if (BoxBean.Config.Middle_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
-                {
-                    color = Color.Red;
-                }
-                else if (BoxBean.Config.UpDown_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
-                {
-                    color = Color.Blue;
-                }
-                else if (BoxBean.Config.InOut_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
-                {
-                    color = Color.Green;
-                }
-                else if (BoxBean.Config.Warming_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
-                {
-                    color = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192))))); ;
-                }
-                else if (BoxBean.Config.Colding_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+
+                int targetSpeed = axis.TargetSpeed;
+                comjSpeed.Items.Clear();
+                for (int i = 1; i <= 10; i++)
                 {
                 {
-                    color = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0)))));
+                    comjSpeed.Items.Add(targetSpeed * i / 10);
                 }
                 }
-                else if (BoxBean.Config.Stir_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                comjSpeed.SelectedIndex = 4;
+                //btnAddMove.Text = "点动+ ";
+                //btnDelMove.Text = "点动- ";
+                txtASpeed.Text = targetSpeed.ToString();
+                int SelIndex = cmbAxis.SelectedIndex;
+
+                if (colorsList.Count <= 0)
                 {
                 {
-                    color = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
+                    colorsList.Add(Color.Blue);
+                    colorsList.Add(Color.Red);
+                    colorsList.Add(Color.Green);
+                    colorsList.Add(System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192))))));
+                    colorsList.Add(System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0))))));
+                    colorsList.Add(Color.BlueViolet);
+                    colorsList.Add(Color.Firebrick);
                 }
                 }
+                color = colorsList[SelIndex];
+
                 btnOpenAxis.ForeColor = color;
                 btnOpenAxis.ForeColor = color;
                 btnCloseAxis.ForeColor = color;
                 btnCloseAxis.ForeColor = color;
                 btnAxisAMove.ForeColor = color;
                 btnAxisAMove.ForeColor = color;
@@ -247,100 +244,182 @@ namespace OnlineStore.ACPackingStore
                 btnComAlarmClear.ForeColor = color;
                 btnComAlarmClear.ForeColor = color;
                 btnReadPosition.ForeColor = color;
                 btnReadPosition.ForeColor = color;
                 btnGetAlarm.ForeColor = color;
                 btnGetAlarm.ForeColor = color;
-                btnMove.ForeColor = color;
-                btnMovej.ForeColor = color;
-            }
-        }
+                btnAddMove.ForeColor = color;
+                btnDelMove.ForeColor = color;
 
 
-      
-        private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
-        {
-            moveAxis.TargetPosition = targetPosition;
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-        }
-
-        private void groupAxis_Enter(object sender, EventArgs e)
-        {
-
-        }
-
-        private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
-        {
-            Clipboard.SetDataObject(txtP.Text, true);
+                this.txtAlarmStatus.Text = "";
+                this.txtBusyStatus.Text = "";
+                this.txtHomeStatus.Text = "";
+                this.txtHomeSingle.Text = "";
+                this.txtLimit1.Text = "";
+                this.txtLimit2.Text = "";
+                txtServoStatue.Text = "";
+            }
         }
         }
-
-     
         private void AxisMove(int speed)
         private void AxisMove(int speed)
         {
         {
-            LogUtil.debug("点动：[" + PortName + "_" + SlvAddr + "]，speed=" + speed);
-            ACServerManager.SpeedMove(PortName, SlvAddr, speed);
-        }
-        public void UpdatePosition()
-        {
-            int position = ACServerManager.GetTargetPosition(PortName, SlvAddr);
-            if (!txtP.Text.Equals(position.ToString()))
-            {
-                txtP.Text = position.ToString();
-            }
+            LogUtil.info(boxBean.Name+"【" + PortName + "_" + SlvAddr + "】点动： 速度：" + speed);
+            AxisManager.SpeedMove(PortName, SlvAddr, speed);
         }
         }
-        private void btnMove_MouseDown(object sender, MouseEventArgs e)
+        private void btnAddMove_MouseDown(object sender, MouseEventArgs e)
         {
         {
-            if (!AxisCanMove())
+            if (!CanMove())
             {
             {
                 return;
                 return;
             }
             }
-            if (btnMove.BackColor.Equals(System.Drawing.SystemColors.Control))
+            if (btnAddMove.BackColor.Equals(Color.White))
             {
             {
-                int speed = FormUtil.GetIntValue(txtASpeed);
+                int speed = Convert.ToInt32(comjSpeed.Text);
                 if (speed <= 0)
                 if (speed <= 0)
                 {
                 {
                     MessageBox.Show("提示", "请先输入正确的速度");
                     MessageBox.Show("提示", "请先输入正确的速度");
-                    txtASpeed.Focus();
                     return;
                     return;
                 }
                 }
-                btnMove.BackColor = Color.Green;
+                btnAddMove.BackColor = Color.Green;
                 AxisMove(speed);
                 AxisMove(speed);
             }
             }
         }
         }
 
 
-        private void btnMove_MouseUp(object sender, MouseEventArgs e)
+        private void btnAddMove_MouseUp(object sender, MouseEventArgs e)
         {
         {
-            if (btnMove.BackColor == Color.Green)
+            if (btnAddMove.BackColor == Color.Green)
             {
             {
-                btnMove.BackColor = System.Drawing.SystemColors.Control;
-                ACServerManager.SuddenStop(PortName, SlvAddr);
-                UpdatePosition();
+                btnAddMove.BackColor = Color.White;
+                AxisManager.SuddenStop(PortName, SlvAddr);
+                btnReadPosition_Click(null, null);
             }
             }
         }
         }
 
 
-        private void btnMovej_MouseDown(object sender, MouseEventArgs e)
+        private void btnDelMove_MouseDown(object sender, MouseEventArgs e)
         {
         {
-            if (!AxisCanMove())
+            if (!CanMove())
             {
             {
                 return;
                 return;
-            }  
-            if (btnMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
+            }
+            if (btnDelMove.BackColor.Equals(Color.White))
             {
             {
-                int speed = FormUtil.GetIntValue(txtASpeed);
+                int speed = Convert.ToInt32(comjSpeed.Text);
                 if (speed <= 0)
                 if (speed <= 0)
                 {
                 {
                     MessageBox.Show("提示", "请先输入正确的速度");
                     MessageBox.Show("提示", "请先输入正确的速度");
-                    txtASpeed.Focus();
                     return;
                     return;
                 }
                 }
-                btnMovej.BackColor = Color.Green;
+                btnDelMove.BackColor = Color.Green;
                 AxisMove(-speed);
                 AxisMove(-speed);
             }
             }
         }
         }
 
 
-        private void btnMovej_MouseUp(object sender, MouseEventArgs e)
+        private void btnDelMove_MouseUp(object sender, MouseEventArgs e)
         {
         {
-            if (btnMovej.BackColor == Color.Green)
+            if (btnDelMove.BackColor == Color.Green)
             {
             {
-                btnMovej.BackColor = System.Drawing.SystemColors.Control;
-                ACServerManager.SuddenStop(PortName, SlvAddr);
-                UpdatePosition();
+                btnDelMove.BackColor = Color.White;
+                AxisManager.SuddenStop(PortName, SlvAddr);
+                btnReadPosition_Click(null, null);
             }
             }
         }
         }
+
+        private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
+        {
+            Clipboard.SetDataObject(lblCountPulse.Text, true);
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            if (this.Visible)
+            {
+                ReadAxisStatus();
+            }
+        }
+        private void ReadAxisStatus()
+        {
+            groupBox2.Text = cmbAxis.Text + "-状态监控";
+            //【1】更新轴号
+            short axisNo = SlvAddr;
+            if (axisNo < 0)
+            {
+                return;
+            }
+            short modeValue = HCBoardManager.GetAxisPrfMode(axisNo);
+
+            if (modeValue < 0)
+            {
+                return;
+            }
+            else
+            {
+                string mode = HCBoardManager.AxisPrfMode(modeValue);
+                lblAxisPrfMode.Text = mode;
+            }
+
+
+            //【2】读取轴状态，如果读取出错将关闭此定时器
+            AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
+            if (sts.ServoOn < 0)
+            {
+                return;
+            }
+            //【3】更新界面显示
+            ShowlbSts(lblALM, sts.ALM,true);  //报警信号
+            ShowlbSts(lblWARN, sts.WARN);  //警告信号
+            ShowlbSts(lblEMG, sts.EMG);//急停信号
+            ShowlbSts(lblSvOn, sts.ServoOn); //使能信号
+            ShowlbSts(lblBUSY, sts.BUSY);  //轴忙信号
+            ShowlbSts(lblINP, sts.INP); //轴到位信号 
+            if (sts.ORG < 0)
+            {
+                return;
+            }
+            ShowlbSts(lblPEL, sts.PEL); //正限位信号 
+            ShowlbSts(lblORG, sts.ORG); //原点信号 
+            ShowlbSts(lblNEL, sts.NEL); //负限位信号  
+
+            //label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]);   //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
+            lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();
+            lblAxPrfVel.Text = HCBoardManager.GetAxisPrfVel(axisNo).ToString();
+            //label62.Text = nTimerAxPrfAcc[0].ToString();
+            lblAxEncPos.Text = HCBoardManager.GetAxisCurrPos(axisNo).ToString();
+            lblAxEncVel.Text = HCBoardManager.GetAxisCurrVel(axisNo).ToString();
+            lblAxEncAcc.Text = HCBoardManager.GetAxisCurrAcc(axisNo).ToString();
+            //label65.Text = nTimerAxEncAcc[0].ToString();
+
+            short value = HCBoardManager.GetHomeStatus(axisNo);
+            string homesstr = HCBoardManager.AxisHomeSts(value);
+            lblhomeSts.Text = homesstr;
+        }
+        private void ShowlbSts(Label lbl, int value,bool isAlarm=false )
+        {
+            if (value.Equals(1))
+            {
+                if (isAlarm)
+                {
+
+                    lbl.BackColor = Color.Red   ;
+                    lblAlarmcode.Visible = true;
+                    lblAlarmcode.ForeColor = Color.Red;
+                    lblAlarmcode.Text = "错误码：" + HCBoardManager.GetAxErrCode(SlvAddr);
+                }
+                else
+                {
+                    lbl.BackColor = Color.Lime;
+                }
+            }
+            else if (value.Equals(0))
+            {
+                lbl.BackColor = Color.LightGray;
+                if (isAlarm)
+                {
+                    lblAlarmcode.Visible = false ;
+                }
+            }
+            else
+            {
+                lbl.BackColor = this.BackColor;
+            }
+        }
+        public void  StopTimer()
+        {
+            this.timer1.Stop();
+        }
     }
     }
 }
 }

source/ACSingleStore/useControl/AxisMoveControl.resx

@@ -117,4 +117,7 @@
   <resheader name="writer">
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
   </resheader>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
 </root>
 </root>
\ No newline at end of file

source/ACSingleStore/useControl/AxisMoveControl1.Designer.cs

+namespace OnlineStore.ACPackingStore
+{
+    partial class AxisMoveControl1
+    {
+        /// <summary> 
+        /// 必需的设计器变量。
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// 清理所有正在使用的资源。
+        /// </summary>
+        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region 组件设计器生成的代码
+
+        /// <summary> 
+        /// 设计器支持所需的方法 - 不要修改
+        /// 使用代码编辑器修改此方法的内容。
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.groupAxis = new System.Windows.Forms.GroupBox();
+            this.label7 = new System.Windows.Forms.Label();
+            this.txtServoStatue = new System.Windows.Forms.TextBox();
+            this.label17 = new System.Windows.Forms.Label();
+            this.txtLimit2 = new System.Windows.Forms.TextBox();
+            this.label19 = new System.Windows.Forms.Label();
+            this.txtLimit1 = new System.Windows.Forms.TextBox();
+            this.label6 = new System.Windows.Forms.Label();
+            this.txtHomeSingle = new System.Windows.Forms.TextBox();
+            this.label11 = new System.Windows.Forms.Label();
+            this.txtHomeStatus = new System.Windows.Forms.TextBox();
+            this.label10 = new System.Windows.Forms.Label();
+            this.txtBusyStatus = new System.Windows.Forms.TextBox();
+            this.label2 = new System.Windows.Forms.Label();
+            this.txtAlarmStatus = new System.Windows.Forms.TextBox();
+            this.btnGetAlarm = new System.Windows.Forms.Button();
+            this.btnReadPosition = new System.Windows.Forms.Button();
+            this.label8 = new System.Windows.Forms.Label();
+            this.btnOpenAxis = new System.Windows.Forms.Button();
+            this.btnCloseAxis = new System.Windows.Forms.Button();
+            this.txtP = new System.Windows.Forms.TextBox();
+            this.txtASpeed = new System.Windows.Forms.TextBox();
+            this.label47 = new System.Windows.Forms.Label();
+            this.btnAxisVMove = new System.Windows.Forms.Button();
+            this.btnAxisRMove = new System.Windows.Forms.Button();
+            this.btnAxisReturnHome = new System.Windows.Forms.Button();
+            this.btnAxisAMove = new System.Windows.Forms.Button();
+            this.btnComAlarmClear = new System.Windows.Forms.Button();
+            this.txtAPosition = new System.Windows.Forms.TextBox();
+            this.label48 = new System.Windows.Forms.Label();
+            this.btnAxisStop = new System.Windows.Forms.Button();
+            this.txtAxisValue = new System.Windows.Forms.TextBox();
+            this.txtAxisDeviceName = new System.Windows.Forms.TextBox();
+            this.label45 = new System.Windows.Forms.Label();
+            this.label46 = new System.Windows.Forms.Label();
+            this.comboBox1 = new System.Windows.Forms.ComboBox();
+            this.label49 = new System.Windows.Forms.Label();
+            this.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.axis_4_Alarm = new UserFromControl.IOStatusControl();
+            this.txt4Target = new System.Windows.Forms.TextBox();
+            this.lblTargetP4 = new System.Windows.Forms.TextBox();
+            this.lblActual4 = new System.Windows.Forms.TextBox();
+            this.label1 = new System.Windows.Forms.Label();
+            this.axis_1_Alarm = new UserFromControl.IOStatusControl();
+            this.axis_3_Alarm = new UserFromControl.IOStatusControl();
+            this.axis_2_Alarm = new UserFromControl.IOStatusControl();
+            this.label38 = new System.Windows.Forms.Label();
+            this.txtMiddleTarget = new System.Windows.Forms.TextBox();
+            this.txtInoutTarget = new System.Windows.Forms.TextBox();
+            this.txtUpdownTarget = new System.Windows.Forms.TextBox();
+            this.label12 = new System.Windows.Forms.Label();
+            this.lblTargetP1 = new System.Windows.Forms.TextBox();
+            this.lblActual1 = new System.Windows.Forms.TextBox();
+            this.lblTargetP3 = new System.Windows.Forms.TextBox();
+            this.lblActual3 = new System.Windows.Forms.TextBox();
+            this.lblTargetP2 = new System.Windows.Forms.TextBox();
+            this.lblActual2 = new System.Windows.Forms.TextBox();
+            this.label4 = new System.Windows.Forms.Label();
+            this.label3 = new System.Windows.Forms.Label();
+            this.label5 = new System.Windows.Forms.Label();
+            this.label43 = new System.Windows.Forms.Label();
+            this.label42 = new System.Windows.Forms.Label();
+            this.btnMovej = new System.Windows.Forms.Button();
+            this.btnMove = new System.Windows.Forms.Button();
+            this.linkLabel1 = new System.Windows.Forms.LinkLabel();
+            this.groupAxis.SuspendLayout();
+            this.groupBox1.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // groupAxis
+            // 
+            this.groupAxis.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.groupAxis.Controls.Add(this.linkLabel1);
+            this.groupAxis.Controls.Add(this.btnMovej);
+            this.groupAxis.Controls.Add(this.btnMove);
+            this.groupAxis.Controls.Add(this.label7);
+            this.groupAxis.Controls.Add(this.txtServoStatue);
+            this.groupAxis.Controls.Add(this.label17);
+            this.groupAxis.Controls.Add(this.txtLimit2);
+            this.groupAxis.Controls.Add(this.label19);
+            this.groupAxis.Controls.Add(this.txtLimit1);
+            this.groupAxis.Controls.Add(this.label6);
+            this.groupAxis.Controls.Add(this.txtHomeSingle);
+            this.groupAxis.Controls.Add(this.label11);
+            this.groupAxis.Controls.Add(this.txtHomeStatus);
+            this.groupAxis.Controls.Add(this.label10);
+            this.groupAxis.Controls.Add(this.txtBusyStatus);
+            this.groupAxis.Controls.Add(this.label2);
+            this.groupAxis.Controls.Add(this.txtAlarmStatus);
+            this.groupAxis.Controls.Add(this.btnGetAlarm);
+            this.groupAxis.Controls.Add(this.btnReadPosition);
+            this.groupAxis.Controls.Add(this.label8);
+            this.groupAxis.Controls.Add(this.btnOpenAxis);
+            this.groupAxis.Controls.Add(this.btnCloseAxis);
+            this.groupAxis.Controls.Add(this.txtP);
+            this.groupAxis.Controls.Add(this.txtASpeed);
+            this.groupAxis.Controls.Add(this.label47);
+            this.groupAxis.Controls.Add(this.btnAxisVMove);
+            this.groupAxis.Controls.Add(this.btnAxisRMove);
+            this.groupAxis.Controls.Add(this.btnAxisReturnHome);
+            this.groupAxis.Controls.Add(this.btnAxisAMove);
+            this.groupAxis.Controls.Add(this.btnComAlarmClear);
+            this.groupAxis.Controls.Add(this.txtAPosition);
+            this.groupAxis.Controls.Add(this.label48);
+            this.groupAxis.Controls.Add(this.btnAxisStop);
+            this.groupAxis.Controls.Add(this.txtAxisValue);
+            this.groupAxis.Controls.Add(this.txtAxisDeviceName);
+            this.groupAxis.Controls.Add(this.label45);
+            this.groupAxis.Controls.Add(this.label46);
+            this.groupAxis.Controls.Add(this.comboBox1);
+            this.groupAxis.Controls.Add(this.label49);
+            this.groupAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.groupAxis.Location = new System.Drawing.Point(9, 6);
+            this.groupAxis.Name = "groupAxis";
+            this.groupAxis.Size = new System.Drawing.Size(541, 399);
+            this.groupAxis.TabIndex = 217;
+            this.groupAxis.TabStop = false;
+            this.groupAxis.Text = "伺服运动";
+            this.groupAxis.Enter += new System.EventHandler(this.groupAxis_Enter);
+            // 
+            // label7
+            // 
+            this.label7.AutoSize = true;
+            this.label7.Location = new System.Drawing.Point(51, 172);
+            this.label7.Name = "label7";
+            this.label7.Size = new System.Drawing.Size(59, 17);
+            this.label7.TabIndex = 328;
+            this.label7.Text = "伺服状态:";
+            // 
+            // txtServoStatue
+            // 
+            this.txtServoStatue.Enabled = false;
+            this.txtServoStatue.Location = new System.Drawing.Point(112, 169);
+            this.txtServoStatue.Name = "txtServoStatue";
+            this.txtServoStatue.Size = new System.Drawing.Size(25, 23);
+            this.txtServoStatue.TabIndex = 327;
+            // 
+            // label17
+            // 
+            this.label17.AutoSize = true;
+            this.label17.Location = new System.Drawing.Point(174, 272);
+            this.label17.Name = "label17";
+            this.label17.Size = new System.Drawing.Size(71, 17);
+            this.label17.TabIndex = 316;
+            this.label17.Text = "负极限信号:";
+            this.label17.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // txtLimit2
+            // 
+            this.txtLimit2.Enabled = false;
+            this.txtLimit2.Location = new System.Drawing.Point(250, 269);
+            this.txtLimit2.Name = "txtLimit2";
+            this.txtLimit2.Size = new System.Drawing.Size(25, 23);
+            this.txtLimit2.TabIndex = 313;
+            // 
+            // label19
+            // 
+            this.label19.AutoSize = true;
+            this.label19.Location = new System.Drawing.Point(174, 238);
+            this.label19.Name = "label19";
+            this.label19.Size = new System.Drawing.Size(71, 17);
+            this.label19.TabIndex = 312;
+            this.label19.Text = "正极限信号:";
+            this.label19.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // txtLimit1
+            // 
+            this.txtLimit1.Enabled = false;
+            this.txtLimit1.Location = new System.Drawing.Point(250, 235);
+            this.txtLimit1.Name = "txtLimit1";
+            this.txtLimit1.Size = new System.Drawing.Size(25, 23);
+            this.txtLimit1.TabIndex = 309;
+            // 
+            // label6
+            // 
+            this.label6.AutoSize = true;
+            this.label6.Location = new System.Drawing.Point(186, 204);
+            this.label6.Name = "label6";
+            this.label6.Size = new System.Drawing.Size(59, 17);
+            this.label6.TabIndex = 300;
+            this.label6.Text = "原点信号:";
+            // 
+            // txtHomeSingle
+            // 
+            this.txtHomeSingle.Enabled = false;
+            this.txtHomeSingle.Location = new System.Drawing.Point(250, 201);
+            this.txtHomeSingle.Name = "txtHomeSingle";
+            this.txtHomeSingle.Size = new System.Drawing.Size(25, 23);
+            this.txtHomeSingle.TabIndex = 297;
+            // 
+            // label11
+            // 
+            this.label11.AutoSize = true;
+            this.label11.Location = new System.Drawing.Point(5, 272);
+            this.label11.Name = "label11";
+            this.label11.Size = new System.Drawing.Size(105, 17);
+            this.label11.TabIndex = 292;
+            this.label11.Text = "HOME-CMP状态:";
+            // 
+            // txtHomeStatus
+            // 
+            this.txtHomeStatus.Enabled = false;
+            this.txtHomeStatus.Location = new System.Drawing.Point(112, 269);
+            this.txtHomeStatus.Name = "txtHomeStatus";
+            this.txtHomeStatus.Size = new System.Drawing.Size(25, 23);
+            this.txtHomeStatus.TabIndex = 291;
+            // 
+            // label10
+            // 
+            this.label10.AutoSize = true;
+            this.label10.Location = new System.Drawing.Point(44, 238);
+            this.label10.Name = "label10";
+            this.label10.Size = new System.Drawing.Size(66, 17);
+            this.label10.TabIndex = 289;
+            this.label10.Text = "BUSY状态:";
+            // 
+            // txtBusyStatus
+            // 
+            this.txtBusyStatus.Enabled = false;
+            this.txtBusyStatus.Location = new System.Drawing.Point(112, 235);
+            this.txtBusyStatus.Name = "txtBusyStatus";
+            this.txtBusyStatus.Size = new System.Drawing.Size(25, 23);
+            this.txtBusyStatus.TabIndex = 288;
+            // 
+            // label2
+            // 
+            this.label2.AutoSize = true;
+            this.label2.Location = new System.Drawing.Point(51, 204);
+            this.label2.Name = "label2";
+            this.label2.Size = new System.Drawing.Size(59, 17);
+            this.label2.TabIndex = 286;
+            this.label2.Text = "报警状态:";
+            // 
+            // txtAlarmStatus
+            // 
+            this.txtAlarmStatus.Enabled = false;
+            this.txtAlarmStatus.Location = new System.Drawing.Point(112, 201);
+            this.txtAlarmStatus.Name = "txtAlarmStatus";
+            this.txtAlarmStatus.Size = new System.Drawing.Size(25, 23);
+            this.txtAlarmStatus.TabIndex = 285;
+            // 
+            // btnGetAlarm
+            // 
+            this.btnGetAlarm.BackColor = System.Drawing.SystemColors.Control;
+            this.btnGetAlarm.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnGetAlarm.Location = new System.Drawing.Point(308, 205);
+            this.btnGetAlarm.Name = "btnGetAlarm";
+            this.btnGetAlarm.Size = new System.Drawing.Size(105, 33);
+            this.btnGetAlarm.TabIndex = 284;
+            this.btnGetAlarm.Text = "读取状态";
+            this.btnGetAlarm.UseVisualStyleBackColor = false;
+            this.btnGetAlarm.Click += new System.EventHandler(this.btnGetAlarm_Click);
+            // 
+            // btnReadPosition
+            // 
+            this.btnReadPosition.BackColor = System.Drawing.SystemColors.Control;
+            this.btnReadPosition.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnReadPosition.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnReadPosition.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnReadPosition.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnReadPosition.Location = new System.Drawing.Point(423, 244);
+            this.btnReadPosition.Name = "btnReadPosition";
+            this.btnReadPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnReadPosition.Size = new System.Drawing.Size(105, 33);
+            this.btnReadPosition.TabIndex = 278;
+            this.btnReadPosition.Text = "读取位置";
+            this.btnReadPosition.UseVisualStyleBackColor = false;
+            this.btnReadPosition.Click += new System.EventHandler(this.btnReadPosition_Click);
+            // 
+            // label8
+            // 
+            this.label8.AutoSize = true;
+            this.label8.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label8.Location = new System.Drawing.Point(143, 171);
+            this.label8.Name = "label8";
+            this.label8.Size = new System.Drawing.Size(59, 17);
+            this.label8.TabIndex = 255;
+            this.label8.Text = "实时位置:";
+            // 
+            // btnOpenAxis
+            // 
+            this.btnOpenAxis.BackColor = System.Drawing.SystemColors.Control;
+            this.btnOpenAxis.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnOpenAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnOpenAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnOpenAxis.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnOpenAxis.Location = new System.Drawing.Point(308, 25);
+            this.btnOpenAxis.Name = "btnOpenAxis";
+            this.btnOpenAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnOpenAxis.Size = new System.Drawing.Size(105, 33);
+            this.btnOpenAxis.TabIndex = 253;
+            this.btnOpenAxis.Text = "打开伺服";
+            this.btnOpenAxis.UseVisualStyleBackColor = false;
+            this.btnOpenAxis.Click += new System.EventHandler(this.btnOpenAxis_Click);
+            // 
+            // btnCloseAxis
+            // 
+            this.btnCloseAxis.BackColor = System.Drawing.SystemColors.Control;
+            this.btnCloseAxis.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnCloseAxis.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnCloseAxis.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnCloseAxis.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnCloseAxis.Location = new System.Drawing.Point(423, 25);
+            this.btnCloseAxis.Name = "btnCloseAxis";
+            this.btnCloseAxis.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnCloseAxis.Size = new System.Drawing.Size(105, 33);
+            this.btnCloseAxis.TabIndex = 252;
+            this.btnCloseAxis.Text = "关闭伺服";
+            this.btnCloseAxis.UseVisualStyleBackColor = false;
+            this.btnCloseAxis.Click += new System.EventHandler(this.btnCloseAxis_Click);
+            // 
+            // txtP
+            // 
+            this.txtP.Location = new System.Drawing.Point(207, 169);
+            this.txtP.Name = "txtP";
+            this.txtP.ReadOnly = true;
+            this.txtP.Size = new System.Drawing.Size(87, 23);
+            this.txtP.TabIndex = 38;
+            // 
+            // txtASpeed
+            // 
+            this.txtASpeed.AcceptsReturn = true;
+            this.txtASpeed.BackColor = System.Drawing.SystemColors.Window;
+            this.txtASpeed.Cursor = System.Windows.Forms.Cursors.IBeam;
+            this.txtASpeed.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtASpeed.ForeColor = System.Drawing.SystemColors.WindowText;
+            this.txtASpeed.Location = new System.Drawing.Point(201, 111);
+            this.txtASpeed.MaxLength = 12;
+            this.txtASpeed.Name = "txtASpeed";
+            this.txtASpeed.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.txtASpeed.Size = new System.Drawing.Size(92, 23);
+            this.txtASpeed.TabIndex = 251;
+            this.txtASpeed.Text = "30";
+            // 
+            // label47
+            // 
+            this.label47.AutoSize = true;
+            this.label47.Cursor = System.Windows.Forms.Cursors.Default;
+            this.label47.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label47.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.label47.Location = new System.Drawing.Point(136, 114);
+            this.label47.Name = "label47";
+            this.label47.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.label47.Size = new System.Drawing.Size(59, 17);
+            this.label47.TabIndex = 250;
+            this.label47.Text = "目标速度:";
+            this.label47.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // btnAxisVMove
+            // 
+            this.btnAxisVMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisVMove.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisVMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisVMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisVMove.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisVMove.Location = new System.Drawing.Point(308, 106);
+            this.btnAxisVMove.Name = "btnAxisVMove";
+            this.btnAxisVMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisVMove.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisVMove.TabIndex = 249;
+            this.btnAxisVMove.Text = "匀速运动";
+            this.btnAxisVMove.UseVisualStyleBackColor = false;
+            this.btnAxisVMove.Click += new System.EventHandler(this.btnAxisVMove_Click);
+            // 
+            // btnAxisRMove
+            // 
+            this.btnAxisRMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisRMove.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisRMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisRMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisRMove.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisRMove.Location = new System.Drawing.Point(423, 67);
+            this.btnAxisRMove.Name = "btnAxisRMove";
+            this.btnAxisRMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisRMove.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisRMove.TabIndex = 248;
+            this.btnAxisRMove.Text = "相对运动";
+            this.btnAxisRMove.UseVisualStyleBackColor = false;
+            this.btnAxisRMove.Click += new System.EventHandler(this.btnAxisRMove_Click);
+            // 
+            // btnAxisReturnHome
+            // 
+            this.btnAxisReturnHome.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisReturnHome.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisReturnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisReturnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisReturnHome.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisReturnHome.Location = new System.Drawing.Point(423, 205);
+            this.btnAxisReturnHome.Name = "btnAxisReturnHome";
+            this.btnAxisReturnHome.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisReturnHome.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisReturnHome.TabIndex = 247;
+            this.btnAxisReturnHome.Text = "原点返回";
+            this.btnAxisReturnHome.UseVisualStyleBackColor = false;
+            this.btnAxisReturnHome.Click += new System.EventHandler(this.btnAxisReturnHome_Click);
+            // 
+            // btnAxisAMove
+            // 
+            this.btnAxisAMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisAMove.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisAMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisAMove.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisAMove.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisAMove.Location = new System.Drawing.Point(308, 67);
+            this.btnAxisAMove.Name = "btnAxisAMove";
+            this.btnAxisAMove.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisAMove.Size = new System.Drawing.Size(105, 33);
+            this.btnAxisAMove.TabIndex = 245;
+            this.btnAxisAMove.Text = "绝对运动";
+            this.btnAxisAMove.UseVisualStyleBackColor = false;
+            this.btnAxisAMove.Click += new System.EventHandler(this.btnAxisAMove_Click);
+            // 
+            // btnComAlarmClear
+            // 
+            this.btnComAlarmClear.BackColor = System.Drawing.SystemColors.Control;
+            this.btnComAlarmClear.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnComAlarmClear.Location = new System.Drawing.Point(308, 244);
+            this.btnComAlarmClear.Name = "btnComAlarmClear";
+            this.btnComAlarmClear.Size = new System.Drawing.Size(105, 33);
+            this.btnComAlarmClear.TabIndex = 50;
+            this.btnComAlarmClear.Text = "清除报警";
+            this.btnComAlarmClear.UseVisualStyleBackColor = false;
+            this.btnComAlarmClear.Click += new System.EventHandler(this.btnComAlarmClear_Click);
+            // 
+            // txtAPosition
+            // 
+            this.txtAPosition.BackColor = System.Drawing.SystemColors.Window;
+            this.txtAPosition.Cursor = System.Windows.Forms.Cursors.IBeam;
+            this.txtAPosition.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtAPosition.ForeColor = System.Drawing.SystemColors.WindowText;
+            this.txtAPosition.Location = new System.Drawing.Point(201, 72);
+            this.txtAPosition.MaxLength = 12;
+            this.txtAPosition.Name = "txtAPosition";
+            this.txtAPosition.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.txtAPosition.Size = new System.Drawing.Size(92, 23);
+            this.txtAPosition.TabIndex = 244;
+            this.txtAPosition.Text = "3000";
+            // 
+            // label48
+            // 
+            this.label48.AutoSize = true;
+            this.label48.Cursor = System.Windows.Forms.Cursors.Default;
+            this.label48.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label48.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.label48.Location = new System.Drawing.Point(136, 75);
+            this.label48.Name = "label48";
+            this.label48.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.label48.Size = new System.Drawing.Size(59, 17);
+            this.label48.TabIndex = 243;
+            this.label48.Text = "目标位置:";
+            this.label48.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // btnAxisStop
+            // 
+            this.btnAxisStop.BackColor = System.Drawing.SystemColors.Control;
+            this.btnAxisStop.Cursor = System.Windows.Forms.Cursors.Default;
+            this.btnAxisStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnAxisStop.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnAxisStop.ForeColor = System.Drawing.SystemColors.ControlText;
+            this.btnAxisStop.Location = new System.Drawing.Point(423, 106);
+            this.btnAxisStop.Name = "btnAxisStop";
+            this.btnAxisStop.RightToLeft = System.Windows.Forms.RightToLeft.No;
+            this.btnAxisStop.Size = new System.Drawing.Size(105, 83);
+            this.btnAxisStop.TabIndex = 246;
+            this.btnAxisStop.Text = " 停止运动";
+            this.btnAxisStop.UseVisualStyleBackColor = false;
+            this.btnAxisStop.Click += new System.EventHandler(this.btnAxisStop_Click);
+            // 
+            // txtAxisValue
+            // 
+            this.txtAxisValue.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtAxisValue.Location = new System.Drawing.Point(66, 109);
+            this.txtAxisValue.MaxLength = 10;
+            this.txtAxisValue.Name = "txtAxisValue";
+            this.txtAxisValue.ReadOnly = true;
+            this.txtAxisValue.Size = new System.Drawing.Size(58, 26);
+            this.txtAxisValue.TabIndex = 242;
+            this.txtAxisValue.Text = "0";
+            // 
+            // txtAxisDeviceName
+            // 
+            this.txtAxisDeviceName.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.txtAxisDeviceName.Location = new System.Drawing.Point(66, 70);
+            this.txtAxisDeviceName.MaxLength = 10;
+            this.txtAxisDeviceName.Name = "txtAxisDeviceName";
+            this.txtAxisDeviceName.ReadOnly = true;
+            this.txtAxisDeviceName.Size = new System.Drawing.Size(58, 26);
+            this.txtAxisDeviceName.TabIndex = 241;
+            this.txtAxisDeviceName.Text = "0";
+            // 
+            // label45
+            // 
+            this.label45.AutoSize = true;
+            this.label45.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label45.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label45.Location = new System.Drawing.Point(15, 75);
+            this.label45.Name = "label45";
+            this.label45.Size = new System.Drawing.Size(47, 17);
+            this.label45.TabIndex = 240;
+            this.label45.Text = "端口号:";
+            this.label45.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // label46
+            // 
+            this.label46.AutoSize = true;
+            this.label46.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label46.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label46.Location = new System.Drawing.Point(27, 114);
+            this.label46.Name = "label46";
+            this.label46.Size = new System.Drawing.Size(35, 17);
+            this.label46.TabIndex = 239;
+            this.label46.Text = "地址:";
+            this.label46.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // comboBox1
+            // 
+            this.comboBox1.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.comboBox1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.comboBox1.FormattingEnabled = true;
+            this.comboBox1.ItemHeight = 20;
+            this.comboBox1.Location = new System.Drawing.Point(66, 26);
+            this.comboBox1.Name = "comboBox1";
+            this.comboBox1.Size = new System.Drawing.Size(227, 28);
+            this.comboBox1.TabIndex = 234;
+            this.comboBox1.SelectedIndexChanged += new System.EventHandler(this.comboBox1_SelectedIndexChanged);
+            // 
+            // label49
+            // 
+            this.label49.AutoSize = true;
+            this.label49.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label49.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label49.Location = new System.Drawing.Point(11, 33);
+            this.label49.Name = "label49";
+            this.label49.Size = new System.Drawing.Size(51, 17);
+            this.label49.TabIndex = 233;
+            this.label49.Text = "AC伺服:";
+            this.label49.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
+            this.groupBox1.Controls.Add(this.axis_4_Alarm);
+            this.groupBox1.Controls.Add(this.txt4Target);
+            this.groupBox1.Controls.Add(this.lblTargetP4);
+            this.groupBox1.Controls.Add(this.lblActual4);
+            this.groupBox1.Controls.Add(this.label1);
+            this.groupBox1.Controls.Add(this.axis_1_Alarm);
+            this.groupBox1.Controls.Add(this.axis_3_Alarm);
+            this.groupBox1.Controls.Add(this.axis_2_Alarm);
+            this.groupBox1.Controls.Add(this.label38);
+            this.groupBox1.Controls.Add(this.txtMiddleTarget);
+            this.groupBox1.Controls.Add(this.txtInoutTarget);
+            this.groupBox1.Controls.Add(this.txtUpdownTarget);
+            this.groupBox1.Controls.Add(this.label12);
+            this.groupBox1.Controls.Add(this.lblTargetP1);
+            this.groupBox1.Controls.Add(this.lblActual1);
+            this.groupBox1.Controls.Add(this.lblTargetP3);
+            this.groupBox1.Controls.Add(this.lblActual3);
+            this.groupBox1.Controls.Add(this.lblTargetP2);
+            this.groupBox1.Controls.Add(this.lblActual2);
+            this.groupBox1.Controls.Add(this.label4);
+            this.groupBox1.Controls.Add(this.label3);
+            this.groupBox1.Controls.Add(this.label5);
+            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(9, 332);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Size = new System.Drawing.Size(538, 182);
+            this.groupBox1.TabIndex = 218;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "伺服状态";
+            this.groupBox1.Visible = false;
+            // 
+            // axis_4_Alarm
+            // 
+            this.axis_4_Alarm.IOName = "";
+            this.axis_4_Alarm.IOValue = 0;
+            this.axis_4_Alarm.isCanClick = false;
+            this.axis_4_Alarm.Location = new System.Drawing.Point(432, 39);
+            this.axis_4_Alarm.Name = "axis_4_Alarm";
+            this.axis_4_Alarm.Size = new System.Drawing.Size(43, 39);
+            this.axis_4_Alarm.TabIndex = 271;
+            // 
+            // txt4Target
+            // 
+            this.txt4Target.Location = new System.Drawing.Point(409, 143);
+            this.txt4Target.Name = "txt4Target";
+            this.txt4Target.ReadOnly = true;
+            this.txt4Target.Size = new System.Drawing.Size(87, 23);
+            this.txt4Target.TabIndex = 270;
+            // 
+            // lblTargetP4
+            // 
+            this.lblTargetP4.Location = new System.Drawing.Point(409, 115);
+            this.lblTargetP4.Name = "lblTargetP4";
+            this.lblTargetP4.ReadOnly = true;
+            this.lblTargetP4.Size = new System.Drawing.Size(87, 23);
+            this.lblTargetP4.TabIndex = 269;
+            // 
+            // lblActual4
+            // 
+            this.lblActual4.Location = new System.Drawing.Point(409, 87);
+            this.lblActual4.Name = "lblActual4";
+            this.lblActual4.ReadOnly = true;
+            this.lblActual4.Size = new System.Drawing.Size(87, 23);
+            this.lblActual4.TabIndex = 268;
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label1.Location = new System.Drawing.Point(406, 14);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(71, 17);
+            this.label1.TabIndex = 267;
+            this.label1.Text = "轴四:压紧轴";
+            // 
+            // axis_1_Alarm
+            // 
+            this.axis_1_Alarm.IOName = "";
+            this.axis_1_Alarm.IOValue = 0;
+            this.axis_1_Alarm.isCanClick = false;
+            this.axis_1_Alarm.Location = new System.Drawing.Point(127, 40);
+            this.axis_1_Alarm.Name = "axis_1_Alarm";
+            this.axis_1_Alarm.Size = new System.Drawing.Size(43, 39);
+            this.axis_1_Alarm.TabIndex = 264;
+            // 
+            // axis_3_Alarm
+            // 
+            this.axis_3_Alarm.IOName = "";
+            this.axis_3_Alarm.IOValue = 0;
+            this.axis_3_Alarm.isCanClick = false;
+            this.axis_3_Alarm.Location = new System.Drawing.Point(329, 40);
+            this.axis_3_Alarm.Name = "axis_3_Alarm";
+            this.axis_3_Alarm.Size = new System.Drawing.Size(43, 39);
+            this.axis_3_Alarm.TabIndex = 266;
+            // 
+            // axis_2_Alarm
+            // 
+            this.axis_2_Alarm.IOName = "";
+            this.axis_2_Alarm.IOValue = 0;
+            this.axis_2_Alarm.isCanClick = false;
+            this.axis_2_Alarm.Location = new System.Drawing.Point(224, 40);
+            this.axis_2_Alarm.Name = "axis_2_Alarm";
+            this.axis_2_Alarm.Size = new System.Drawing.Size(43, 39);
+            this.axis_2_Alarm.TabIndex = 265;
+            // 
+            // label38
+            // 
+            this.label38.AutoSize = true;
+            this.label38.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label38.Location = new System.Drawing.Point(49, 40);
+            this.label38.Name = "label38";
+            this.label38.Size = new System.Drawing.Size(37, 17);
+            this.label38.TabIndex = 263;
+            this.label38.Text = "ALM:";
+            // 
+            // txtMiddleTarget
+            // 
+            this.txtMiddleTarget.Location = new System.Drawing.Point(105, 144);
+            this.txtMiddleTarget.Name = "txtMiddleTarget";
+            this.txtMiddleTarget.ReadOnly = true;
+            this.txtMiddleTarget.Size = new System.Drawing.Size(87, 23);
+            this.txtMiddleTarget.TabIndex = 262;
+            // 
+            // txtInoutTarget
+            // 
+            this.txtInoutTarget.Location = new System.Drawing.Point(306, 144);
+            this.txtInoutTarget.Name = "txtInoutTarget";
+            this.txtInoutTarget.ReadOnly = true;
+            this.txtInoutTarget.Size = new System.Drawing.Size(87, 23);
+            this.txtInoutTarget.TabIndex = 260;
+            // 
+            // txtUpdownTarget
+            // 
+            this.txtUpdownTarget.Location = new System.Drawing.Point(206, 144);
+            this.txtUpdownTarget.Name = "txtUpdownTarget";
+            this.txtUpdownTarget.ReadOnly = true;
+            this.txtUpdownTarget.Size = new System.Drawing.Size(87, 23);
+            this.txtUpdownTarget.TabIndex = 259;
+            // 
+            // label12
+            // 
+            this.label12.AutoSize = true;
+            this.label12.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label12.Location = new System.Drawing.Point(7, 147);
+            this.label12.Name = "label12";
+            this.label12.Size = new System.Drawing.Size(83, 17);
+            this.label12.TabIndex = 258;
+            this.label12.Text = "出入库目标值:";
+            // 
+            // lblTargetP1
+            // 
+            this.lblTargetP1.Location = new System.Drawing.Point(105, 116);
+            this.lblTargetP1.Name = "lblTargetP1";
+            this.lblTargetP1.ReadOnly = true;
+            this.lblTargetP1.Size = new System.Drawing.Size(87, 23);
+            this.lblTargetP1.TabIndex = 257;
+            // 
+            // lblActual1
+            // 
+            this.lblActual1.Location = new System.Drawing.Point(105, 88);
+            this.lblActual1.Name = "lblActual1";
+            this.lblActual1.ReadOnly = true;
+            this.lblActual1.Size = new System.Drawing.Size(87, 23);
+            this.lblActual1.TabIndex = 256;
+            // 
+            // lblTargetP3
+            // 
+            this.lblTargetP3.Location = new System.Drawing.Point(306, 116);
+            this.lblTargetP3.Name = "lblTargetP3";
+            this.lblTargetP3.ReadOnly = true;
+            this.lblTargetP3.Size = new System.Drawing.Size(87, 23);
+            this.lblTargetP3.TabIndex = 178;
+            // 
+            // lblActual3
+            // 
+            this.lblActual3.Location = new System.Drawing.Point(306, 88);
+            this.lblActual3.Name = "lblActual3";
+            this.lblActual3.ReadOnly = true;
+            this.lblActual3.Size = new System.Drawing.Size(87, 23);
+            this.lblActual3.TabIndex = 177;
+            // 
+            // lblTargetP2
+            // 
+            this.lblTargetP2.Location = new System.Drawing.Point(207, 116);
+            this.lblTargetP2.Name = "lblTargetP2";
+            this.lblTargetP2.ReadOnly = true;
+            this.lblTargetP2.Size = new System.Drawing.Size(87, 23);
+            this.lblTargetP2.TabIndex = 176;
+            // 
+            // lblActual2
+            // 
+            this.lblActual2.Location = new System.Drawing.Point(206, 88);
+            this.lblActual2.Name = "lblActual2";
+            this.lblActual2.ReadOnly = true;
+            this.lblActual2.Size = new System.Drawing.Size(87, 23);
+            this.lblActual2.TabIndex = 175;
+            // 
+            // label4
+            // 
+            this.label4.AutoSize = true;
+            this.label4.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label4.Location = new System.Drawing.Point(303, 15);
+            this.label4.Name = "label4";
+            this.label4.Size = new System.Drawing.Size(71, 17);
+            this.label4.TabIndex = 100;
+            this.label4.Text = "轴三:进出轴";
+            // 
+            // label3
+            // 
+            this.label3.AutoSize = true;
+            this.label3.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label3.Location = new System.Drawing.Point(204, 15);
+            this.label3.Name = "label3";
+            this.label3.Size = new System.Drawing.Size(71, 17);
+            this.label3.TabIndex = 99;
+            this.label3.Text = "轴二:上下轴";
+            // 
+            // label5
+            // 
+            this.label5.AutoSize = true;
+            this.label5.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.label5.Location = new System.Drawing.Point(106, 15);
+            this.label5.Name = "label5";
+            this.label5.Size = new System.Drawing.Size(71, 17);
+            this.label5.TabIndex = 97;
+            this.label5.Text = "轴一:旋转轴";
+            // 
+            // label43
+            // 
+            this.label43.AutoSize = true;
+            this.label43.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label43.Location = new System.Drawing.Point(15, 90);
+            this.label43.Name = "label43";
+            this.label43.Size = new System.Drawing.Size(71, 17);
+            this.label43.TabIndex = 23;
+            this.label43.Text = "输出脉冲值:";
+            // 
+            // label42
+            // 
+            this.label42.AutoSize = true;
+            this.label42.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.label42.Location = new System.Drawing.Point(15, 117);
+            this.label42.Name = "label42";
+            this.label42.Size = new System.Drawing.Size(71, 17);
+            this.label42.TabIndex = 24;
+            this.label42.Text = "编码器计数:";
+            // 
+            // btnMovej
+            // 
+            this.btnMovej.BackColor = System.Drawing.SystemColors.Control;
+            this.btnMovej.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnMovej.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnMovej.Location = new System.Drawing.Point(260, 326);
+            this.btnMovej.Name = "btnMovej";
+            this.btnMovej.Size = new System.Drawing.Size(140, 45);
+            this.btnMovej.TabIndex = 330;
+            this.btnMovej.Text = " 轴点动- ";
+            this.btnMovej.UseVisualStyleBackColor = false;
+            this.btnMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMovej_MouseDown);
+            this.btnMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMovej_MouseUp);
+            // 
+            // btnMove
+            // 
+            this.btnMove.BackColor = System.Drawing.SystemColors.Control;
+            this.btnMove.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btnMove.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnMove.Location = new System.Drawing.Point(114, 326);
+            this.btnMove.Name = "btnMove";
+            this.btnMove.Size = new System.Drawing.Size(140, 45);
+            this.btnMove.TabIndex = 329;
+            this.btnMove.Text = "轴点动+ ";
+            this.btnMove.UseVisualStyleBackColor = false;
+            this.btnMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMove_MouseDown);
+            this.btnMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMove_MouseUp);
+            // 
+            // linkLabel1
+            // 
+            this.linkLabel1.AutoSize = true;
+            this.linkLabel1.Location = new System.Drawing.Point(313, 172);
+            this.linkLabel1.Name = "linkLabel1";
+            this.linkLabel1.Size = new System.Drawing.Size(56, 17);
+            this.linkLabel1.TabIndex = 331;
+            this.linkLabel1.TabStop = true;
+            this.linkLabel1.Text = "复制位置";
+            this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
+            // 
+            // AxisMoveControl
+            // 
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.Controls.Add(this.groupAxis);
+            this.Controls.Add(this.groupBox1);
+            this.Name = "AxisMoveControl";
+            this.Size = new System.Drawing.Size(556, 414);
+            this.groupAxis.ResumeLayout(false);
+            this.groupAxis.PerformLayout();
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.GroupBox groupAxis;
+        private System.Windows.Forms.Label label7;
+        private System.Windows.Forms.TextBox txtServoStatue;
+        private System.Windows.Forms.Label label17;
+        private System.Windows.Forms.TextBox txtLimit2;
+        private System.Windows.Forms.Label label19;
+        private System.Windows.Forms.TextBox txtLimit1;
+        private System.Windows.Forms.Label label6;
+        private System.Windows.Forms.TextBox txtHomeSingle;
+        private System.Windows.Forms.Label label11;
+        private System.Windows.Forms.TextBox txtHomeStatus;
+        private System.Windows.Forms.Label label10;
+        private System.Windows.Forms.TextBox txtBusyStatus;
+        private System.Windows.Forms.Label label2;
+        private System.Windows.Forms.TextBox txtAlarmStatus;
+        private System.Windows.Forms.Button btnGetAlarm;
+        public System.Windows.Forms.Button btnReadPosition;
+        private System.Windows.Forms.Label label8;
+        public System.Windows.Forms.Button btnOpenAxis;
+        public System.Windows.Forms.Button btnCloseAxis;
+        private System.Windows.Forms.TextBox txtP;
+        public System.Windows.Forms.TextBox txtASpeed;
+        public System.Windows.Forms.Label label47;
+        public System.Windows.Forms.Button btnAxisVMove;
+        public System.Windows.Forms.Button btnAxisRMove;
+        public System.Windows.Forms.Button btnAxisReturnHome;
+        public System.Windows.Forms.Button btnAxisAMove;
+        private System.Windows.Forms.Button btnComAlarmClear;
+        public System.Windows.Forms.TextBox txtAPosition;
+        public System.Windows.Forms.Label label48;
+        public System.Windows.Forms.Button btnAxisStop;
+        private System.Windows.Forms.TextBox txtAxisValue;
+        private System.Windows.Forms.TextBox txtAxisDeviceName;
+        private System.Windows.Forms.Label label45;
+        private System.Windows.Forms.Label label46;
+        private System.Windows.Forms.ComboBox comboBox1;
+        private System.Windows.Forms.Label label49;
+        private System.Windows.Forms.GroupBox groupBox1;
+        private UserFromControl.IOStatusControl axis_4_Alarm;
+        private System.Windows.Forms.TextBox txt4Target;
+        private System.Windows.Forms.TextBox lblTargetP4;
+        private System.Windows.Forms.TextBox lblActual4;
+        private System.Windows.Forms.Label label1;
+        private UserFromControl.IOStatusControl axis_1_Alarm;
+        private UserFromControl.IOStatusControl axis_3_Alarm;
+        private UserFromControl.IOStatusControl axis_2_Alarm;
+        private System.Windows.Forms.Label label38;
+        private System.Windows.Forms.TextBox txtMiddleTarget;
+        private System.Windows.Forms.TextBox txtInoutTarget;
+        private System.Windows.Forms.TextBox txtUpdownTarget;
+        private System.Windows.Forms.Label label12;
+        private System.Windows.Forms.TextBox lblTargetP1;
+        private System.Windows.Forms.TextBox lblActual1;
+        private System.Windows.Forms.TextBox lblTargetP3;
+        private System.Windows.Forms.TextBox lblActual3;
+        private System.Windows.Forms.TextBox lblTargetP2;
+        private System.Windows.Forms.TextBox lblActual2;
+        private System.Windows.Forms.Label label4;
+        private System.Windows.Forms.Label label3;
+        private System.Windows.Forms.Label label5;
+        private System.Windows.Forms.Label label43;
+        private System.Windows.Forms.Label label42;
+        private System.Windows.Forms.Button btnMovej;
+        private System.Windows.Forms.Button btnMove;
+        private System.Windows.Forms.LinkLabel linkLabel1;
+    }
+}

source/ACSingleStore/useControl/AxisMoveControl1.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using OnlineStore.DeviceLibrary;
+using OnlineStore.Common;
+using System.Threading;
+using OnlineStore.LoadCSVLibrary;
+using UserFromControl;
+
+namespace OnlineStore.ACPackingStore
+{
+    public partial class AxisMoveControl1 : UserControl
+    {
+        private List<ConfigMoveAxis> axisList = new List<ConfigMoveAxis>();
+        private TinStoreBean BoxBean= null;
+        private string PortName = "";
+        private short SlvAddr = 0;
+      
+        public AxisMoveControl1( )
+        { 
+            InitializeComponent(); 
+        }
+        public void LoadData(TinStoreBean boxBean, params ConfigMoveAxis[] moveAxis)
+        {
+            this.BoxBean = boxBean;
+            axisList = new List<ConfigMoveAxis>(moveAxis);
+
+            if (axisList.Count > 0)
+            { 
+                comboBox1.Items.Clear();
+                foreach (ConfigMoveAxis a in axisList)
+                {
+                    comboBox1.Items.Add(a.Explain);
+                }
+                comboBox1.SelectedIndex = 0;
+
+                PortName = moveAxis[0].DeviceName;
+                SlvAddr = moveAxis[0].GetAxisValue();
+                txtAxisDeviceName.Text = PortName;
+                txtAxisValue.Text = SlvAddr.ToString(); 
+            }
+        }
+        private void btnOpenAxis_Click(object sender, EventArgs e)
+        {
+            LogUtil.info("点击【打开伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】");
+            ACServerManager.OpenPort(PortName); 
+            ACServerManager.AlarmClear(PortName, SlvAddr);
+            Thread.Sleep(100);
+            ACServerManager.ServoOn(PortName, SlvAddr); 
+        }
+
+        private void btnCloseAxis_Click(object sender, EventArgs e)
+        { 
+            LogUtil.info("点击【关闭伺服】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
+            ACServerManager.ServoOff(PortName, SlvAddr);
+        }
+      
+        private bool  AxisCanMove()
+        {
+            if (BoxBean.Config.Middle_Axis.IsSameAxis(PortName, SlvAddr) || BoxBean.Config.UpDown_Axis.IsSameAxis(PortName, SlvAddr))
+            {
+                int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
+                int currValue = ACServerManager.GetActualtPosition(BoxBean.Config.InOut_Axis.DeviceName, BoxBean.Config.InOut_Axis.GetAxisValue());
+                //旋转轴和升降轴运动时，叉子必须在待机位
+                if (currValue > InOutDefaultPosition)
+                {
+                    MessageBox.Show("叉子不在待机位，请先将叉子退回待机位(" + InOutDefaultPosition + ")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+                    return false;
+                } 
+            }
+            if (BoxBean.Config.Stir_Axis.IsSameAxis(PortName, SlvAddr))
+            {
+                if (!StoreManager.Store.StirAxisCanMove())
+                {
+                    MessageBox.Show("搅拌气缸不在上升端，清先上升搅拌气缸", "警告（搅拌气缸上升时，搅拌轴才能动作） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
+                    return false;
+                }
+            }
+            return true;
+        }
+        private void btnAxisAMove_Click(object sender, EventArgs e)
+        {
+            int position = FormUtil.GetIntValue(txtAPosition);
+            int speed = FormUtil.GetIntValue(txtASpeed);
+
+            if (!AxisCanMove())
+            {
+                return;
+            }
+            LogUtil.info("点击【绝对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
+            ACServerManager.AbsMove(PortName, SlvAddr, position, speed ,speed * 5, speed * 5); 
+        }
+
+        private void btnAxisRMove_Click(object sender, EventArgs e)
+        {
+            int position = FormUtil.GetIntValue(txtAPosition);
+            int speed = FormUtil.GetIntValue(txtASpeed);
+
+            if (!AxisCanMove())
+            {
+                return;
+            }
+            LogUtil.info("点击【相对运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
+            ACServerManager.RelMove(PortName, SlvAddr, position, speed, speed / 10, speed * 5);
+        }
+
+        private void btnAxisVMove_Click(object sender, EventArgs e)
+        {
+            int speed = FormUtil.GetIntValue(txtASpeed);
+
+            if (!AxisCanMove())
+            {
+                return;
+            }
+            LogUtil.info("点击【匀速运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
+            ACServerManager.SpeedMove(PortName, SlvAddr, speed);
+        }
+
+        private void btnAxisStop_Click(object sender, EventArgs e)
+        {
+            LogUtil.info("点击【停止运动】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
+            ACServerManager.SuddenStop(PortName, SlvAddr);
+        }
+
+        private void btnComAlarmClear_Click(object sender, EventArgs e)
+        {
+            LogUtil.info("点击【清理报警】，端口号【" + PortName + "】地址【" + SlvAddr + "】 ");
+            ACServerManager.AlarmClear(PortName, SlvAddr);
+            Thread.Sleep(100);
+            ACServerManager.ServoOn(PortName, SlvAddr);
+        }
+
+        private void btnAxisReturnHome_Click(object sender, EventArgs e)
+        {
+            int speed = FormUtil.GetIntValue(txtASpeed);
+
+            if (!AxisCanMove())
+            {
+                return;
+            }
+            LogUtil.info("点击【原点返回】，端口号【" + PortName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
+            ACServerManager.HomeMove(PortName, SlvAddr, speed, speed / 10, speed * 5);
+        }
+
+        private void btnGetAlarm_Click(object sender, EventArgs e)
+        {
+            string PortName = txtAxisDeviceName.Text;
+            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
+            txtServoStatue.Text = ACServerManager.ServerOnStatus(PortName, SlvAddr) ? "✔" : "✘";
+            this.txtAlarmStatus.Text = ACServerManager.GetAlarmStatus(PortName, SlvAddr).ToString();
+            this.txtBusyStatus.Text = ACServerManager.GetBusyStatus(PortName, SlvAddr).ToString();
+            this.txtHomeStatus.Text = ACServerManager.GetHomeEndStatus(PortName, SlvAddr).ToString();
+            this.txtHomeSingle.Text = ACServerManager.GetHomeSingle(PortName, SlvAddr).ToString();
+            this.txtLimit1.Text = ACServerManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
+            this.txtLimit2.Text = ACServerManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
+        }
+
+        private void btnReadPosition_Click(object sender, EventArgs e)
+        {
+            ReadPosistion();
+        }
+
+        private void ReadPosistion()
+        {
+           
+            //判断私服是否打开、
+            if (ACServerManager.ServerOnStatus(PortName, SlvAddr))
+            {
+                txtServoStatue.Text = "✔";
+            }
+            else
+            {
+                txtServoStatue.Text = "✘";
+            }
+         //  ReadA(BoxBean.Config.Middle_Axis, lblActual1, lblTargetP1, txtMiddleTarget, axis_1_Alarm);
+          //  ReadA(BoxBean.Config.UpDown_Axis, lblActual2, lblTargetP2, txtUpdownTarget, axis_2_Alarm);
+          //  ReadA(BoxBean.Config.InOut_Axis, lblActual3, lblTargetP3, txtInoutTarget, axis_3_Alarm);
+           //ReadA(BoxBean.Config.Comp_Axis, lblActual4, lblTargetP4, txt4Target, axis_4_Alarm);
+
+        }
+        private void ReadA(ConfigMoveAxis axis, TextBox lblActual, TextBox lblTarget, TextBox lblT, IOStatusControl sta)
+        {
+     
+            if (ACServerManager.ServerOnStatus(axis.DeviceName, axis.GetAxisValue()))
+            {
+                sta.IOValue = ACServerManager.GetAlarmStatus(axis.DeviceName, axis.GetAxisValue());
+                int tP = ACServerManager.GetTargetPosition(axis.DeviceName, axis.GetAxisValue());
+                lblTarget.Text = string.Format("{0:d}", tP);
+                int aP = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
+                lblActual.Text = string.Format("{0:d}", aP);
+                lblT.Text = axis.TargetPosition.ToString();
+                if (axis.IsSameAxis(PortName, SlvAddr))
+                {
+                    txtP.Text = lblActual.Text;
+                }
+            }
+        }
+        private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (comboBox1.SelectedIndex >= 0)
+            { 
+                ConfigMoveAxis axis = axisList[comboBox1.SelectedIndex];
+                PortName = axis.DeviceName;
+                SlvAddr = axis.GetAxisValue();
+                txtAxisDeviceName.Text = PortName;
+                txtAxisValue.Text = SlvAddr.ToString();
+                Color color = Color.Black;
+                if (BoxBean.Config.Middle_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                {
+                    color = Color.Red;
+                }
+                else if (BoxBean.Config.UpDown_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                {
+                    color = Color.Blue;
+                }
+                else if (BoxBean.Config.InOut_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                {
+                    color = Color.Green;
+                }
+                else if (BoxBean.Config.Warming_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                {
+                    color = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192))))); ;
+                }
+                else if (BoxBean.Config.Colding_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                {
+                    color = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0)))));
+                }
+                else if (BoxBean.Config.Stir_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
+                {
+                    color = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(0)))), ((int)(((byte)(0)))));
+                }
+                btnOpenAxis.ForeColor = color;
+                btnCloseAxis.ForeColor = color;
+                btnAxisAMove.ForeColor = color;
+                btnAxisRMove.ForeColor = color;
+                btnAxisVMove.ForeColor = color;
+                btnAxisReturnHome.ForeColor = color;
+                btnAxisStop.ForeColor = color;
+                btnComAlarmClear.ForeColor = color;
+                btnReadPosition.ForeColor = color;
+                btnGetAlarm.ForeColor = color;
+                btnMove.ForeColor = color;
+                btnMovej.ForeColor = color;
+            }
+        }
+
+      
+        private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
+        {
+            moveAxis.TargetPosition = targetPosition;
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 5, targetSpeed * 5);
+        }
+
+        private void groupAxis_Enter(object sender, EventArgs e)
+        {
+
+        }
+
+        private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
+        {
+            Clipboard.SetDataObject(txtP.Text, true);
+        }
+
+     
+        private void AxisMove(int speed)
+        {
+            LogUtil.debug("点动：[" + PortName + "_" + SlvAddr + "]，speed=" + speed);
+            ACServerManager.SpeedMove(PortName, SlvAddr, speed);
+        }
+        public void UpdatePosition()
+        {
+            int position = ACServerManager.GetTargetPosition(PortName, SlvAddr);
+            if (!txtP.Text.Equals(position.ToString()))
+            {
+                txtP.Text = position.ToString();
+            }
+        }
+        private void btnMove_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (!AxisCanMove())
+            {
+                return;
+            }
+            if (btnMove.BackColor.Equals(System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtASpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    txtASpeed.Focus();
+                    return;
+                }
+                btnMove.BackColor = Color.Green;
+                AxisMove(speed);
+            }
+        }
+
+        private void btnMove_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnMove.BackColor == Color.Green)
+            {
+                btnMove.BackColor = System.Drawing.SystemColors.Control;
+                ACServerManager.SuddenStop(PortName, SlvAddr);
+                UpdatePosition();
+            }
+        }
+
+        private void btnMovej_MouseDown(object sender, MouseEventArgs e)
+        {
+            if (!AxisCanMove())
+            {
+                return;
+            }  
+            if (btnMovej.BackColor.Equals(System.Drawing.SystemColors.Control))
+            {
+                int speed = FormUtil.GetIntValue(txtASpeed);
+                if (speed <= 0)
+                {
+                    MessageBox.Show("提示", "请先输入正确的速度");
+                    txtASpeed.Focus();
+                    return;
+                }
+                btnMovej.BackColor = Color.Green;
+                AxisMove(-speed);
+            }
+        }
+
+        private void btnMovej_MouseUp(object sender, MouseEventArgs e)
+        {
+            if (btnMovej.BackColor == Color.Green)
+            {
+                btnMovej.BackColor = System.Drawing.SystemColors.Control;
+                ACServerManager.SuddenStop(PortName, SlvAddr);
+                UpdatePosition();
+            }
+        }
+    }
+}

source/ACSingleStore/useControl/AxisMoveControl1.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file

source/Common/Common.csproj

@@ -9,7 +9,7 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>OnlineStore.Common</RootNamespace>
     <RootNamespace>OnlineStore.Common</RootNamespace>
     <AssemblyName>Common</AssemblyName>
     <AssemblyName>Common</AssemblyName>
-    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <FileAlignment>512</FileAlignment>
     <TargetFrameworkProfile />
     <TargetFrameworkProfile />
   </PropertyGroup>
   </PropertyGroup>
@@ -33,9 +33,9 @@
     <Prefer32Bit>false</Prefer32Bit>
     <Prefer32Bit>false</Prefer32Bit>
   </PropertyGroup>
   </PropertyGroup>
   <ItemGroup>
   <ItemGroup>
-    <Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+    <Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\dll\log4net.dll</HintPath>
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\log4net.dll</HintPath>
     </Reference>
     </Reference>
     <Reference Include="Newtonsoft.Json">
     <Reference Include="Newtonsoft.Json">
       <HintPath>..\..\dll\Newtonsoft.Json.dll</HintPath>
       <HintPath>..\..\dll\Newtonsoft.Json.dll</HintPath>

source/Common/util/LogUtil.cs

@@ -5,7 +5,8 @@ using System.Text;
 using log4net;
 using log4net;
 using System.Reflection;
 using System.Reflection;
 using System.Drawing;
 using System.Drawing;
-
+using System.Diagnostics;
+using System.IO;
 
 
 namespace OnlineStore.Common
 namespace OnlineStore.Common
 {
 {
@@ -30,8 +31,22 @@ namespace OnlineStore.Common
             {
             {
                 return;
                 return;
             }
             }
+            StackTrace st = new StackTrace(true);
+            StackFrame sf;
+            int fc = st.FrameCount;
+            int i = 1;
+            while (true)
+            {
+                sf = st.GetFrame(i);
+                if (sf.GetMethod().DeclaringType.Name != "LogUtil" || i>= fc) {
+                    break;
+                }
+                i++;
+            }
+            string filename = Path.GetFileName(sf.GetFileName());
+            int codeline = sf.GetFileLineNumber();
 
 
-            log.Info(  msg); 
+            log.Info($"[{filename}:{codeline}] {msg}"); 
             if (logBox == null)
             if (logBox == null)
             {
             {
                 return;
                 return;
@@ -171,6 +186,8 @@ namespace OnlineStore.Common
 
 
         public static void info(string msg)
         public static void info(string msg)
         {
         {
+
+
             info(LOGGER,msg );
             info(LOGGER,msg );
         } 
         } 
         
         

source/DeviceLibrary/DeviceLibrary.csproj

@@ -36,21 +36,25 @@
     <Prefer32Bit>false</Prefer32Bit>
     <Prefer32Bit>false</Prefer32Bit>
   </PropertyGroup>
   </PropertyGroup>
   <ItemGroup>
   <ItemGroup>
+    <Reference Include="Asa.Camera.VisionLib">
+      <HintPath>..\..\..\camera\Asa.Camera.VisionLib.dll</HintPath>
+    </Reference>
     <Reference Include="Asa.IOModule.AIOBOX">
     <Reference Include="Asa.IOModule.AIOBOX">
       <HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
       <HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>
     </Reference>
     </Reference>
-    <Reference Include="CodeLibrary">
-      <HintPath>..\..\dll\CodeLibrary.dll</HintPath>
-    </Reference>
-    <Reference Include="DeviceLib">
-      <HintPath>..\..\dll\DeviceLib.dll</HintPath>
+    <Reference Include="CodeLibrary, Version=1.0.7499.24663, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\GeneralClassLibrary\CodeLibraryProject\CodeLibrary\bin\Debug\CodeLibrary.dll</HintPath>
     </Reference>
     </Reference>
     <Reference Include="halcondotnet">
     <Reference Include="halcondotnet">
       <HintPath>..\..\..\HC_TinPasteStore\dll\halcondotnet.dll</HintPath>
       <HintPath>..\..\..\HC_TinPasteStore\dll\halcondotnet.dll</HintPath>
     </Reference>
     </Reference>
-    <Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+    <Reference Include="HuichuanLibrary">
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
+    </Reference>
+    <Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\dll\log4net.dll</HintPath>
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\log4net.dll</HintPath>
     </Reference>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Core" />
@@ -70,11 +74,16 @@
     <Compile Include="acTinStore\TinStoreBean_Partial.cs" />
     <Compile Include="acTinStore\TinStoreBean_Partial.cs" />
     <Compile Include="acTinStore\TinStoreBean_InOut.cs" />
     <Compile Include="acTinStore\TinStoreBean_InOut.cs" />
     <Compile Include="acTinStore\StoreManager.cs" />
     <Compile Include="acTinStore\StoreManager.cs" />
+    <Compile Include="device\HC\ACServerManager.cs" />
+    <Compile Include="device\HC\ACServerManager_Partial.cs" />
     <Compile Include="device\halcon\CodeManager.cs" />
     <Compile Include="device\halcon\CodeManager.cs" />
-    <Compile Include="device\IO\AIOBOX\AIOBOXManager.cs" />
+    <Compile Include="device\HC\HCAxisManager.cs" />
+    <Compile Include="device\IO\HCIOManager.cs" />
     <Compile Include="device\IO\IOManager.cs" />
     <Compile Include="device\IO\IOManager.cs" />
+    <Compile Include="device\RefrigeratorController.cs" />
     <Compile Include="device\weights\OKLE.cs" />
     <Compile Include="device\weights\OKLE.cs" />
     <Compile Include="device\weights\OKLEController.cs" />
     <Compile Include="device\weights\OKLEController.cs" />
+    <Compile Include="store\Camera.cs" />
     <Compile Include="store\StoreMoveP.cs" />
     <Compile Include="store\StoreMoveP.cs" />
     <Compile Include="store\StoreAlarm.cs">
     <Compile Include="store\StoreAlarm.cs">
       <SubType>Code</SubType>
       <SubType>Code</SubType>
@@ -109,9 +118,15 @@
     </ProjectReference>
     </ProjectReference>
   </ItemGroup>
   </ItemGroup>
   <ItemGroup>
   <ItemGroup>
+    <None Include="StoreConfig\Camera.json">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
     <None Include="StoreConfig\linePositions.csv">
     <None Include="StoreConfig\linePositions.csv">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
     </None>
+    <None Include="StoreConfig\StoreConfig - 复制.csv">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
     <None Include="StoreConfig\StoreConfig.csv">
     <None Include="StoreConfig\StoreConfig.csv">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
     </None>

source/DeviceLibrary/StoreConfig/Camera.json

+{
+  "HIKIPCamera": [
+    {
+      "Name": "monitor",
+      "IP": "192.168.1.64",
+      "User": "admin",
+      "Password": "acc123456",
+      "Port": 8000
+    }
+  ]
+}
\ No newline at end of file

source/DeviceLibrary/StoreConfig/StoreConfig - 复制.csv

+类型,说明,名称,属性值,设备名称,描述,电器定义,代码定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
+,,,,,,,,,,,,,,,,,
+AXIS,(轴一)取料旋转轴,Middle_Axis,1,COM1,,,,250,80,80,80,60,50,10,1000,0,0
+AXIS,(轴二)取料上下轴,UpDown_Axis,2,COM1,,,,100,300,200,20,50,200,10,1000,0,0
+AXIS,(轴三)取料进出轴,InOut_Axis,3,COM1,,,,100,300,200,20,50,200,10,1000,0,0
+AXIS,(轴四)回温区旋转轴,Warming_Axis,4,COM1,,,,100,300,200,20,50,200,10,1000,0,0
+AXIS,(轴五)冷藏区旋转轴,Colding_Axis,5,COM1,,,,100,300,200,20,50,200,10,1000,0,0
+AXIS,(轴六)搅拌旋转轴,Stir_Axis,6,COM1,,,,100,300,200,20,50,200,10,1000,0,0
+PRO,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#8,,,,,,,,,,,,,,
+PRO,模块对应的DO数量,IO_DOLength,192.168.200.21#16;192.168.200.22#8,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+DI,急停,SuddenStop_BTN,0,192.168.200.21,急停,X01,X01,,急停,SuddenStop_BTN,X00,,,,,,
+DI,复位,Reset_BTN,1,192.168.200.21,复位,X02,X02,,复位,Reset_BTN,X01,,,,,,
+DI,自动启动,AutoRun_Signal,2,192.168.200.21,自动启动,X03,X03,,自动启动,AutoRun_Signal,X02,,,,,,
+DI,气压检测,Airpressure_Check,3,192.168.200.21,气压检测,X04,X04,,气压检测,Airpressure_Check,X03,,,,,,
+DI,安全光栅,SafetyLightCurtains,4,192.168.200.21,安全光栅,X05,X05,,安全光栅,SafetyLightCurtains,X04,,,,,,
+DI,左侧门禁信号,Door_LeftLimit,5,192.168.200.21,左侧门禁信号,X06,X06,,左侧门禁信号,Door_LeftLimit,X05,,,,,,
+DI,右侧门禁信号,Door_RightLimit,6,192.168.200.21,右侧门禁信号,X07,X07,,右侧门禁信号,Door_RightLimit,X06,,,,,,
+DI,左侧锡膏检测,TinCheck_DoorLeft,7,192.168.200.21,左侧锡膏检测,X08,X08,,冷气机故障,Refrigerant_failure,X07,,,,,,
+DI,右侧锡膏检测,TinCheck_DoorRight,8,192.168.200.21,右侧锡膏检测,X09,X09,,左侧锡膏检测,TinCheck_DoorLeft,X08,,,,,,
+DI,夹具检测,TinCheck_Fixture,9,192.168.200.21,夹具检测,X10,X10,,右侧锡膏检测,TinCheck_DoorRight,X09,,,,,,
+DI,搅拌区锡膏检测,TinCheck_Stir,10,192.168.200.21,搅拌区锡膏检测,X11,X11,,夹具检测,TinCheck_Fixture,X10,,,,,,
+DI,进料口门上升端,Door_Up,11,192.168.200.21,进料口门上升端,X12,X12,,进料口门上升端,Door_Up,X11,,,,,,
+DI,进料口门下降端,Door_Down,12,192.168.200.21,进料口门下降端,X13,X13,,进料口门下降端,Door_Down,X12,,,,,,
+DI,夹爪气缸夹紧端,Clamping_Tighten,13,192.168.200.21,夹爪气缸夹紧端,X14,X14,,夹爪气缸夹紧端,Clamping_Tighten,X13,,,,,,
+DI,夹爪气缸放松端,Clamping_Relax,14,192.168.200.21,夹爪气缸放松端,X15,X15,,夹爪气缸放松端,Clamping_Relax,X14,,,,,,
+DI,夹爪锡膏检测,TinCheck_Clamping,15,192.168.200.21,夹爪锡膏检测,X16,X16,,夹爪锡膏检测,TinCheck_Clamping,X15,,,,,,
+,,,,,,,,,搅拌区锡膏检测,TinCheck_Stir,X16,,,,,,
+,,,,,,,,,搅拌定位气缸上升端,StirLocation_Up,X17,,,,,,
+,,,,,,,,,搅拌定位气缸下降端,StirLocation_Down,X18,,,,,,
+,,,,,,,,,冷藏区门关闭端,ColdDoor_Close,X19,,,,,,
+,,,,,,,,,冷藏区门打开端,ColdDoor_Open,X20,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+DO,自动指示灯,AutoRun_HddLed,0,192.168.200.21,自动指示灯,Y01,Y01,,自动指示灯,AutoRun_HddLed,Y00,,,,,,
+DO,故障指示灯,Alarm_HddLed,1,192.168.200.21,故障指示灯,Y02,Y02,,故障指示灯,Alarm_HddLed,Y01,,,,,,
+DO,待机指示灯,RunSign_HddLed,2,192.168.200.21,待机指示灯,Y03,Y03,,待机指示灯,RunSign_HddLed,Y02,,,,,,
+DO,报警蜂鸣器,Alarm_Buzzer,3,192.168.200.21,报警蜂鸣器,Y04,Y04,,报警蜂鸣器,Alarm_Buzzer,Y03,,,,,,
+DO,料仓运转ON,Run_Signal,4,192.168.200.21,料仓运转ON,Y05,Y05,,设备照明开,Device_Led,Y04,,,,,,
+DO,取料机构刹车电源ON,Axis_Brake,5,192.168.200.21,取料机构刹车电源ON,Y06,Y06,,相机照明开,Camera_Led,Y05,,,,,,
+DO,相机照明开,Camera_Led,6,192.168.200.21,相机照明开,Y07,Y07,,门禁功能屏蔽,Door_Limit,Y06,,,,,,
+DO,门禁功能屏蔽,Door_Limit,7,192.168.200.21,门禁功能屏蔽,Y08,Y08,,冷气机启动,Colding_Start,Y07,,,,,,
+DO,冷气机启动,Colding_Start,8,192.168.200.21,冷气机启动,Y09,Y09,,进料口门上升SOL,Door_Up,Y08,,,,,,
+DO,回温区风机启动,Warming_Start,9,192.168.200.21,回温区风机启动,Y10,Y10,,进料口门下降SOL,Door_Down,Y09,,,,,,
+DO,进料口门上升SOL,Door_Up,10,192.168.200.21,进料口门上升SOL,Y11,Y11,,夹爪气缸夹紧SOL,Clamping_Tighten,Y10,,,,,,
+DO,进料口门下降SOL,Door_Down,11,192.168.200.21,进料口门下降SOL,Y12,Y12,,夹爪气缸放松SOL,Clamping_Relax,Y11,,,,,,
+DO,夹爪气缸夹紧SOL,Clamping_Tighten,12,192.168.200.21,夹爪气缸夹紧SOL,Y13,Y13,,搅拌定位气缸上升SOL,StirLocation_Up,Y12,,,,,,
+DO,夹爪气缸放松SOL,Clamping_Relax,13,192.168.200.21,夹爪气缸放松SOL,Y14,Y14,,搅拌定位气缸下降SOL,StirLocation_Down,Y13,,,,,,
+DO,搅拌定位气缸上升SOL,StirLocation_Up,14,192.168.200.21,搅拌定位气缸上升SOL,Y15,Y15,,冷藏区门关闭SOL,ColdDoor_Close,Y14,,,,,,
+DO,搅拌定位气缸下降SOL,StirLocation_Down,15,192.168.200.21,搅拌定位气缸下降SOL,Y16,Y16,,冷藏区门打开SOL,ColdDoor_Open,Y15,,,,,,
+,,,,,,,,,,,,,,,,,
+DI,搅拌定位气缸上升端,StirLocation_Up,0,192.168.200.22,搅拌定位气缸上升端,X21,X21,,,,,,,,,,
+DI,搅拌定位气缸下降端,StirLocation_Down,1,192.168.200.22,搅拌定位气缸下降端,X22,X22,,,,,,,,,,
+DI,冷藏区门关闭端,ColdDoor_Close,2,192.168.200.22,冷藏区门关闭端,X23,X23,,,,,,,,,,
+DI,冷藏区门打开端,ColdDoor_Open,3,192.168.200.22,冷藏区门打开端,X24,X24,,,,,,,,,,
+,,,4,192.168.200.22,,X25,X25,,,,,,,,,,
+,,,5,192.168.200.22,,X26,X26,,,,,,,,,,
+,,,6,192.168.200.22,,X27,X27,,,,,,,,,,
+,,,7,192.168.200.22,,X28,X28,,,,,,,,,,
+DO,冷藏区门关闭SOL,ColdDoor_Close,0,192.168.200.22,冷藏区门关闭SOL,Y21,Y21,,,,,,,,,,
+DO,冷藏区门打开SOL,ColdDoor_Open,1,192.168.200.22,冷藏区门打开SOL,Y22,Y22,,,,,,,,,,
+,,,2,192.168.200.22,,Y23,Y23,,,,,,,,,,
+,,,3,192.168.200.22,,Y24,Y24,,,,,,,,,,
+,,,4,192.168.200.22,,Y25,Y25,,,,,,,,,,
+,,,5,192.168.200.22,,Y26,Y26,,,,,,,,,,
+,,,6,192.168.200.22,,Y27,Y27,,,,,,,,,,
+,,,7,192.168.200.22,,Y28,Y28,,,,,,,,,,
+,,,,,,,, ,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料点 P1（夹具）,UpDownAxis_OL_P1,320583,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料前点 P2（夹具）,UpDownAxis_IH_P2,329080,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料缓冲点 P7（夹具）,UpDownAxis_OH_P7,329080,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料缓冲点 P8（夹具）,UpDownAxis_IL_P8,320583,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料点 P11（锡膏）,UpDownAxis_OL_P11,332364,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料前点 P21（锡膏）,UpDownAxis_IH_P21,344319,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料缓冲点 P71（锡膏）,UpDownAxis_OH_P71,344319,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料缓冲点 P81（锡膏）,UpDownAxis_IL_P81,332364,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴 搅拌位置高点P101（搅拌区）,UpDownAxis_StirH_P101,119331,,,,,,,,,,,,,,
+PRO,升降轴 搅拌位置低点P102（搅拌区）,UpDownAxis_StirL_P102,78978,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,旋转轴 P1待机原位点（夹具取料点）,MiddleAxis_P1,255936,,,,,,,,,,,,,,
+PRO,旋转轴 P11左侧取放料点（左侧锡膏）,MiddleAxis_P11,283407,,,,,,,,,,,,,,
+PRO,旋转轴 P12右侧取放料点（右侧锡膏）,MiddleAxis_P12,227506,,,,,,,,,,,,,,
+PRO,旋转轴 P101搅拌取放料点（搅拌区）,MiddleAxis_Stir_P101,457268,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,进出轴 P1待机原位点,InOutAxis_P1,1000,,,,,,,,,,,,,,
+PRO,进出轴 P20（夹具取料点）,InOutAxis_P20,29800,,,,,,,,,,,,,,
+PRO,进出轴 P21（左侧锡膏取料点）,InOutAxis_P21,32120,,,,,,,,,,,,,,
+PRO,进出轴 P22（右侧锡膏取料点）,InOutAxis_P22,31716,,,,,,,,,,,,,,
+PRO,进出轴 P101（搅拌区取放料点）,InOutAxis_Stir_P101,68100,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,(轴四)回温区旋转轴 P1待机原位点,Warming_Axis_P1,2000,,,,,,,,,,,,,,
+PRO,(轴五)冷藏区旋转轴 P1待机原位点,Colding_Axis_P1,2000,,,,,,,,,,,,,,
+PRO,(轴六)搅拌旋转轴 P1搅拌点1,Stir_Axis_P1,-206,,,,,,,,,,,,,,
+PRO,(轴六)搅拌旋转轴 P2搅拌点2,Stir_Axis_P2,19739,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,,,,,,,,,
+PRO,设备是否处于调试状态（1=调试，0=正常）,IsInDebug,0,,,,,,,,,,,,,,
+PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,,,,,,,,,
+PRO,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,, ,,,,,,,,,
+PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,,,,,,,,
+PRO,是否使用料盘检测信号,IsUse_Tray_Check,0,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,500,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,500,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,500,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,50,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,500,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,50,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P7速度,UpDownAxis_P7_Speed,50,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P8速度,UpDownAxis_P8_Speed,50,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P101速度,UpDownAxis_P101_Speed,200,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P102速度,UpDownAxis_P102_Speed,200,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,500,,,,,,,,,,,,,,
+PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,500,,,,,,,,,,,,,,
+PRO,旋转轴（轴1）P101速度,MiddleAxis_P101_Speed,500,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,100,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P2速度,InOutAxis_P2_Speed,100,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P3速度,InOutAxis_P3_Speed,100,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P101速度,InOutAxis_P101_Speed,100,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,回温区旋转轴（轴4）P1速度,WarmingAxis_P1_Speed,500,,,,,,,,,,,,,,
+PRO,回温区旋转轴（轴4）P2速度,WarmingAxis_P2_Speed,500,,,,,,,,,,,,,,
+PRO,冷藏区旋转轴（轴5）P1速度（匀速运动速度）,ColdingAxis_P1_Speed,500,,,,,,,,,,,,,,
+PRO,冷藏区旋转轴（轴5）P2速度,ColdingAxis_P2_Speed,500,,,,,,,,,,,,,,
+PRO,搅拌区旋转轴（轴6）P1速度（匀速运动速度）,StirAxis_P1_Speed,300,,,,,,,,,,,,,,
+PRO,搅拌区旋转轴（轴6）P2速度,StirAxis_P2_Speed,300,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,伺服停止时可误差的脉冲数的最小值,Axis_ErrorCountMin,10,,,,,,,,,,,,,,
+PRO,伺服停止时可误差的脉冲数的最大值,Axis_ErrorCountMax,1000,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,(轴一)旋转轴最小限位,MiddleAxis_PositionMin,0,,,,,,,,,,,,,,
+PRO,(轴二)升降轴最小限位,UpdownAxis_PositionMin,0,,,,,,,,,,,,,,
+PRO,(轴三)进出轴最小限位,InoutAxis_PositionMin,0,,,,,,,,,,,,,,
+PRO,(轴一)旋转轴最大限位,MiddleAxis_PositionMax,0,,,,,,,,,,,,,,
+PRO,(轴二)升降轴最大限位,UpdownAxis_PositionMax,0,,,,,,,,,,,,,,
+PRO,(轴三)进出轴最大限位,InoutAxis_PositionMax,0,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,,,,,,,,
+PRO,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,, ,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,冷藏区温湿度端口号,Humiture_Colding_Port,COM3,,,,,,,,,,,,,,
+PRO,回温区温湿度端口号,Humiture_Warming_Port,COM4,,,,,,,,,,,,,,
+PRO,左侧测重控制器端口号,Weight_Left_Port,COM5,,,,,,,,,,,,,,
+PRO,右侧测重控制器端口号,Weight_Right_Port,COM6,,,,,,,,,,,,,,
+PRO,左侧测重空夹具重量,LeftDefWeight,6,,,,,,,,,,,,,,
+PRO,右侧测重空夹具重量,RightDefWeight,6,,,,,,,,,,,,,,
+PRO,左侧测重控制器重量转换系数,Weight_Left_Divisor,0.98,,,,,,,,,,,,,,
+PRO,右侧测重控制器重量转换系数,Weight_Right_Divisor,0.98,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,, ,,,,,,,,,
+PRO,锡膏宽度,Tin_Width,60,,,,,,,,,,,,,,
+PRO,锡膏高度,Tin_Height,75,,,,,,,,,,,,,,
+PRO,夹具宽度,Fixture_Width,230,,,,,,,,,,,,,,
+PRO,夹具高度,Fixture_Height,60,,,,,,,,,,,,,,
+PRO,夹具宽度,Fixture_Width,230,,,,,,,,,,,,,,
+PRO,夹具高度,Fixture_Height,60,,,,,,,,,,,,,,
+PRO,特殊二维码尺寸配置,CodeSizeConfig,XA=13x48#FA;PartNum;1=7x32,,,,,,,,,,,,,,

source/DeviceLibrary/StoreConfig/StoreConfig.csv

 类型,说明,名称,属性值,设备名称,描述,电器定义,代码定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
 类型,说明,名称,属性值,设备名称,描述,电器定义,代码定义,目标速度,加速时间,减速时间,原点低速度,原点高速,原点加速度,脉冲最小误差,脉冲最大误差,脉冲最小限位,脉冲最大限位
-,,,,,,,,,,,,,,,,,
-AXIS,(轴一)取料旋转轴,Middle_Axis,1,COM1,,,,250,80,80,80,60,50,10,1000,0,0
-AXIS,(轴二)取料上下轴,UpDown_Axis,2,COM1,,,,100,300,200,20,50,200,10,1000,0,0
-AXIS,(轴三)取料进出轴,InOut_Axis,3,COM1,,,,100,300,200,20,50,200,10,1000,0,0
-AXIS,(轴四)回温区旋转轴,Warming_Axis,4,COM1,,,,100,300,200,20,50,200,10,1000,0,0
-AXIS,(轴五)冷藏区旋转轴,Colding_Axis,5,COM1,,,,100,300,200,20,50,200,10,1000,0,0
-AXIS,(轴六)搅拌旋转轴,Stir_Axis,6,COM1,,,,100,300,200,20,50,200,10,1000,0,0
-PRO,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#8,,,,,,,,,,,,,,
-PRO,模块对应的DO数量,IO_DOLength,192.168.200.21#16;192.168.200.22#8,,,,,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-DI,急停,SuddenStop_BTN,0,192.168.200.21,急停,X01,X01,,,,,,,,,,
-DI,复位,Reset_BTN,1,192.168.200.21,复位,X02,X02,,,,,,,,,,
-DI,自动启动,AutoRun_Signal,2,192.168.200.21,自动启动,X03,X03,,,,,,,,,,
-DI,气压检测,Airpressure_Check,3,192.168.200.21,气压检测,X04,X04,,,,,,,,,,
-DI,安全光栅,SafetyLightCurtains,4,192.168.200.21,安全光栅,X05,X05,,,,,,,,,,
-DI,左侧门禁信号,Door_LeftLimit,5,192.168.200.21,左侧门禁信号,X06,X06,,,,,,,,,,
-DI,右侧门禁信号,Door_RightLimit,6,192.168.200.21,右侧门禁信号,X07,X07,,,,,,,,,,
-DI,左侧锡膏检测,TinCheck_DoorLeft,7,192.168.200.21,左侧锡膏检测,X08,X08,,,,,,,,,,
-DI,右侧锡膏检测,TinCheck_DoorRight,8,192.168.200.21,右侧锡膏检测,X09,X09,,,,,,,,,,
-DI,夹具检测,TinCheck_Fixture,9,192.168.200.21,夹具检测,X10,X10,,,,,,,,,,
-DI,搅拌区锡膏检测,TinCheck_Stir,10,192.168.200.21,搅拌区锡膏检测,X11,X11,,,,,,,,,,
-DI,进料口门上升端,Door_Up,11,192.168.200.21,进料口门上升端,X12,X12,,,,,,,,,,
-DI,进料口门下降端,Door_Down,12,192.168.200.21,进料口门下降端,X13,X13,,,,,,,,,,
-DI,夹爪气缸夹紧端,Clamping_Tighten,13,192.168.200.21,夹爪气缸夹紧端,X14,X14,,,,,,,,,,
-DI,夹爪气缸放松端,Clamping_Relax,14,192.168.200.21,夹爪气缸放松端,X15,X15,,,,,,,,,,
-DI,夹爪锡膏检测,TinCheck_Clamping,15,192.168.200.21,夹爪锡膏检测,X16,X16,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-DO,自动指示灯,AutoRun_HddLed,0,192.168.200.21,自动指示灯,Y01,Y01,,,,,,,,,,
-DO,故障指示灯,Alarm_HddLed,1,192.168.200.21,故障指示灯,Y02,Y02,,,,,,,,,,
-DO,待机指示灯,RunSign_HddLed,2,192.168.200.21,待机指示灯,Y03,Y03,,,,,,,,,,
-DO,报警蜂鸣器,Alarm_Buzzer,3,192.168.200.21,报警蜂鸣器,Y04,Y04,,,,,,,,,,
-DO,料仓运转ON,Run_Signal,4,192.168.200.21,料仓运转ON,Y05,Y05,,,,,,,,,,
-DO,取料机构刹车电源ON,Axis_Brake,5,192.168.200.21,取料机构刹车电源ON,Y06,Y06,,,,,,,,,,
-DO,相机照明开,Camera_Led,6,192.168.200.21,相机照明开,Y07,Y07,,,,,,,,,,
-DO,门禁功能屏蔽,Door_Limit,7,192.168.200.21,门禁功能屏蔽,Y08,Y08,,,,,,,,,,
-DO,冷气机启动,Colding_Start,8,192.168.200.21,冷气机启动,Y09,Y09,,,,,,,,,,
-DO,回温区风机启动,Warming_Start,9,192.168.200.21,回温区风机启动,Y10,Y10,,,,,,,,,,
-DO,进料口门上升SOL,Door_Up,10,192.168.200.21,进料口门上升SOL,Y11,Y11,,,,,,,,,,
-DO,进料口门下降SOL,Door_Down,11,192.168.200.21,进料口门下降SOL,Y12,Y12,,,,,,,,,,
-DO,夹爪气缸夹紧SOL,Clamping_Tighten,12,192.168.200.21,夹爪气缸夹紧SOL,Y13,Y13,,,,,,,,,,
-DO,夹爪气缸放松SOL,Clamping_Relax,13,192.168.200.21,夹爪气缸放松SOL,Y14,Y14,,,,,,,,,,
-DO,搅拌定位气缸上升SOL,StirLocation_Up,14,192.168.200.21,搅拌定位气缸上升SOL,Y15,Y15,,,,,,,,,,
-DO,搅拌定位气缸下降SOL,StirLocation_Down,15,192.168.200.21,搅拌定位气缸下降SOL,Y16,Y16,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-DI,搅拌定位气缸上升端,StirLocation_Up,0,192.168.200.22,搅拌定位气缸上升端,X21,X21,,,,,,,,,,
-DI,搅拌定位气缸下降端,StirLocation_Down,1,192.168.200.22,搅拌定位气缸下降端,X22,X22,,,,,,,,,,
-DI,冷藏区门关闭端,ColdDoor_Close,2,192.168.200.22,冷藏区门关闭端,X23,X23,,,,,,,,,,
-DI,冷藏区门打开端,ColdDoor_Open,3,192.168.200.22,冷藏区门打开端,X24,X24,,,,,,,,,,
-,,,4,192.168.200.22,,X25,X25,,,,,,,,,,
-,,,5,192.168.200.22,,X26,X26,,,,,,,,,,
-,,,6,192.168.200.22,,X27,X27,,,,,,,,,,
-,,,7,192.168.200.22,,X28,X28,,,,,,,,,,
-DO,冷藏区门关闭SOL,ColdDoor_Close,0,192.168.200.22,冷藏区门关闭SOL,Y21,Y21,,,,,,,,,,
-DO,冷藏区门打开SOL,ColdDoor_Open,1,192.168.200.22,冷藏区门打开SOL,Y22,Y22,,,,,,,,,,
-,,,2,192.168.200.22,,Y23,Y23,,,,,,,,,,
-,,,3,192.168.200.22,,Y24,Y24,,,,,,,,,,
-,,,4,192.168.200.22,,Y25,Y25,,,,,,,,,,
-,,,5,192.168.200.22,,Y26,Y26,,,,,,,,,,
-,,,6,192.168.200.22,,Y27,Y27,,,,,,,,,,
-,,,7,192.168.200.22,,Y28,Y28,,,,,,,,,,
-,,,,,,,, ,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-PRO,升降轴 进料口取料点 P1（夹具）,UpDownAxis_OL_P1,320583,,,,,,,,,,,,,,
-PRO,升降轴 进料口出料前点 P2（夹具）,UpDownAxis_IH_P2,329080,,,,,,,,,,,,,,
-PRO,升降轴 进料口取料缓冲点 P7（夹具）,UpDownAxis_OH_P7,329080,,,,,,,,,,,,,,
-PRO,升降轴 进料口出料缓冲点 P8（夹具）,UpDownAxis_IL_P8,320583,,,,,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-PRO,升降轴 进料口取料点 P11（锡膏）,UpDownAxis_OL_P11,332364,,,,,,,,,,,,,,
-PRO,升降轴 进料口出料前点 P21（锡膏）,UpDownAxis_IH_P21,344319,,,,,,,,,,,,,,
-PRO,升降轴 进料口取料缓冲点 P71（锡膏）,UpDownAxis_OH_P71,344319,,,,,,,,,,,,,,
-PRO,升降轴 进料口出料缓冲点 P81（锡膏）,UpDownAxis_IL_P81,332364,,,,,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-PRO,升降轴 搅拌位置高点P101（搅拌区）,UpDownAxis_StirH_P101,119331,,,,,,,,,,,,,,
-PRO,升降轴 搅拌位置低点P102（搅拌区）,UpDownAxis_StirL_P102,78978,,,,,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-PRO,旋转轴 P1待机原位点（夹具取料点）,MiddleAxis_P1,255936,,,,,,,,,,,,,,
-PRO,旋转轴 P11左侧取放料点（左侧锡膏）,MiddleAxis_P11,283407,,,,,,,,,,,,,,
-PRO,旋转轴 P12右侧取放料点（右侧锡膏）,MiddleAxis_P12,227506,,,,,,,,,,,,,,
-PRO,旋转轴 P101搅拌取放料点（搅拌区）,MiddleAxis_Stir_P101,457268,,,,,,,,,,,,,,
-,,,,,,,,,,,,,,,,,
-PRO,进出轴 P1待机原位点,InOutAxis_P1,1000,,,,,,,,,,,,,,
-PRO,进出轴 P20（夹具取料点）,InOutAxis_P20,29800,,,,,,,,,,,,,,
-PRO,进出轴 P21（左侧锡膏取料点）,InOutAxis_P21,32120,,,,,,,,,,,,,,
-PRO,进出轴 P22（右侧锡膏取料点）,InOutAxis_P22,31716,,,,,,,,,,,,,,
-PRO,进出轴 P101（搅拌区取放料点）,InOutAxis_Stir_P101,68100,,,,,,,,,,,,,,
+AXIS,(轴一)取料旋转轴,Middle_Axis,0,HC,,,,25000,80,80,0,15000,0,10,1000,0,0
+AXIS,(轴二)取料上下轴,UpDown_Axis,1,HC,,,,25000,300,200,0,30000,1,10,1000,0,0
+AXIS,(轴三)取料进出轴,InOut_Axis,2,HC,,,,25000,300,200,0,20000,2,10,1000,0,0
+AXIS,(轴四)回温区旋转轴,Warming_Axis,4,HC,,,,25000,300,200,0,15000,3,10,1000,0,0
+AXIS,(轴五)冷藏区旋转轴,Colding_Axis,5,HC,,,,25000,300,200,0,15000,4,10,1000,0,0
+AXIS,(轴六)搅拌旋转轴,Stir_Axis,3,HC,,,,25000,300,200,0,15000,5,10,1000,0,0
+,,,,,,,,,,,,,,,,,
+DI,急停,SuddenStop_BTN,0,HC,急停,X00,X00,,,,,,,,,,
+DI,复位,Reset_BTN,1,HC,复位,X01,X01,,,,,,,,,,
+DI,自动启动,AutoRun_Signal,2,HC,自动启动,X02,X02,,,,,,,,,,
+DI,气压检测,Airpressure_Check,3,HC,气压检测,X03,X03,,,,,,,,,,
+DI,安全光栅,SafetyLightCurtains,4,HC,安全光栅,X04,X04,,,,,,,,,,
+DI,左侧门禁信号,Door_LeftLimit,5,HC,左侧门禁信号,X05,X05,,,,,,,,,,
+DI,右侧门禁信号,Door_RightLimit,6,HC,右侧门禁信号,X06,X06,,,,,,,,,,
+DI,冷气机故障,Refrigeration_failure,7,HC,冷气机故障,X07,X07,,,,,,,,,,
+DI,左侧锡膏检测,TinCheck_DoorLeft,8,HC,左侧锡膏检测,X08,X08,,,,,,,,,,
+DI,右侧锡膏检测,TinCheck_DoorRight,9,HC,右侧锡膏检测,X09,X09,,,,,,,,,,
+DI,夹具检测,TinCheck_Fixture,10,HC,夹具检测,X10,X10,,,,,,,,,,
+DI,进料口门上升端,Door_Up,11,HC,进料口门上升端,X11,X11,,,,,,,,,,
+DI,进料口门下降端,Door_Down,12,HC,进料口门下降端,X12,X12,,,,,,,,,,
+DI,夹爪气缸夹紧端,Clamping_Tighten,13,HC,夹爪气缸夹紧端,X13,X13,,,,,,,,,,
+DI,夹爪气缸放松端,Clamping_Relax,14,HC,夹爪气缸放松端,X14,X14,,,,,,,,,,
+DI,夹爪锡膏检测,TinCheck_Clamping,15,HC,夹爪锡膏检测,X15,X15,,,,,,,,,,
+DI,搅拌区锡膏检测,TinCheck_Stir,16,HC,搅拌区锡膏检测,X16,X16,,,,,,,,,,
+DI,搅拌定位气缸上升端,StirLocation_Up,17,HC,搅拌定位气缸上升端,X17,X17,,,,,,,,,,
+DI,搅拌定位气缸下降端,StirLocation_Down,18,HC,搅拌定位气缸下降端,X18,X18,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+DO,自动指示灯,AutoRun_HddLed,0,HC,自动指示灯,Y00,Y00,,,,,,,,,,
+DO,故障指示灯,Alarm_HddLed,1,HC,故障指示灯,Y01,Y01,,,,,,,,,,
+DO,待机指示灯,RunSign_HddLed,2,HC,待机指示灯,Y02,Y02,,,,,,,,,,
+DO,报警蜂鸣器,Alarm_Buzzer,3,HC,报警蜂鸣器,Y03,Y03,,,,,,,,,,
+DO,设备照明开,Device_Led,4,HC,设备照明开,Y04,Y04,,,,,,,,,,
+DO,相机照明开,Camera_Led,5,HC,相机照明开,Y05,Y05,,,,,,,,,,
+DO,门禁功能屏蔽,Door_Limit,6,HC,门禁功能屏蔽,Y06,Y06,,,,,,,,,,
+DO,进料口门上升SOL,Door_Up,8,HC,进料口门上升SOL,Y08,Y08,,,,,,,,,,
+DO,搅拌定位气缸上升SOL,StirLocation_Up,9,HC,搅拌定位气缸上升SOL,Y09,Y09,,,,,,,,,,
+DO,夹爪气缸夹紧SOL,Clamping_Tighten,10,HC,夹爪气缸夹紧SOL,Y10,Y10,,,,,,,,,,
+DO,冷藏区门关闭SOL,ColdDoor_Close,11,HC,冷藏区门关闭SOL,Y11,Y11,,,,,,,,,,
+DO,进料口门下降SOL,Door_Down,12,HC,进料口门下降SOL,Y12,Y12,,,,,,,,,,
+DO,搅拌定位气缸下降SOL,StirLocation_Down,13,HC,搅拌定位气缸下降SOL,Y13,Y13,,,,,,,,,,
+DO,夹爪气缸放松SOL,Clamping_Relax,14,HC,夹爪气缸放松SOL,Y14,Y14,,,,,,,,,,
+DO,冷藏区门打开SOL,ColdDoor_Open,15,HC,冷藏区门打开SOL,Y15,Y15,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料点 P1（夹具）,UpDownAxis_OL_P1,681598,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料前点 P2（夹具）,UpDownAxis_IH_P2,719478,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料缓冲点 P7（夹具）,UpDownAxis_OH_P7,719478,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料缓冲点 P8（夹具）,UpDownAxis_IL_P8,681598,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料点 P11（锡膏）,UpDownAxis_OL_P11,705757,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料前点 P21（锡膏）,UpDownAxis_IH_P21,741747,,,,,,,,,,,,,,
+PRO,升降轴 进料口取料缓冲点 P71（锡膏）,UpDownAxis_OH_P71,741747,,,,,,,,,,,,,,
+PRO,升降轴 进料口出料缓冲点 P81（锡膏）,UpDownAxis_IL_P81,705757,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,升降轴 搅拌位置高点P101（搅拌区）,UpDownAxis_StirH_P101,200587,,,,,,,,,,,,,,
+PRO,升降轴 搅拌位置低点P102（搅拌区）,UpDownAxis_StirL_P102,129924,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,旋转轴 P1待机原位点（夹具取料点）,MiddleAxis_P1,20319,,,,,,,,,,,,,,
+PRO,旋转轴 P11左侧取放料点（左侧锡膏）,MiddleAxis_P11,32676,,,,,,,,,,,,,,
+PRO,旋转轴 P12右侧取放料点（右侧锡膏）,MiddleAxis_P12,8627,,,,,,,,,,,,,,
+PRO,旋转轴 P101搅拌取放料点（搅拌区）,MiddleAxis_Stir_P101,120587,,,,,,,,,,,,,,
+,,,,,,,,,,,,,,,,,
+PRO,进出轴 P1待机原位点,InOutAxis_P1,100,,,,,,,,,,,,,,
+PRO,进出轴 P20（夹具取料点）,InOutAxis_P20,93728,,,,,,,,,,,,,,
+PRO,进出轴 P21（左侧锡膏取料点）,InOutAxis_P21,98935,,,,,,,,,,,,,,
+PRO,进出轴 P22（右侧锡膏取料点）,InOutAxis_P22,98735,,,,,,,,,,,,,,
+PRO,进出轴 P101（搅拌区取放料点）,InOutAxis_Stir_P101,163553,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 PRO,(轴四)回温区旋转轴 P1待机原位点,Warming_Axis_P1,2000,,,,,,,,,,,,,,
 PRO,(轴四)回温区旋转轴 P1待机原位点,Warming_Axis_P1,2000,,,,,,,,,,,,,,
 PRO,(轴五)冷藏区旋转轴 P1待机原位点,Colding_Axis_P1,2000,,,,,,,,,,,,,,
 PRO,(轴五)冷藏区旋转轴 P1待机原位点,Colding_Axis_P1,2000,,,,,,,,,,,,,,
-PRO,(轴六)搅拌旋转轴 P1搅拌点1,Stir_Axis_P1,-206,,,,,,,,,,,,,,
-PRO,(轴六)搅拌旋转轴 P2搅拌点2,Stir_Axis_P2,19739,,,,,,,,,,,,,,
+PRO,(轴六)搅拌旋转轴 P1搅拌点1,Stir_Axis_P1,-1920,,,,,,,,,,,,,,
+PRO,(轴六)搅拌旋转轴 P2搅拌点2,Stir_Axis_P2,177402,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,,,,,,,,,
 PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,,,,,,,,,
 PRO,设备是否处于调试状态（1=调试，0=正常）,IsInDebug,0,,,,,,,,,,,,,,
 PRO,设备是否处于调试状态（1=调试，0=正常）,IsInDebug,0,,,,,,,,,,,,,,
 PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,,,,,,,,,
 PRO,气压检测IO关闭需要持续的时间,AirCheckSeconds,3,,,,,,,,,,,,,,
 PRO,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,, ,,,,,,,,,
 PRO,出入库多少次，会自动重置所有轴操作,Box_ResetACount,100,,,,, ,,,,,,,,,
 PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,,,,,,,,
 PRO,IO信号超时时间（毫秒）,IOSingle_TimerOut,10000,,,,,,,,,,,,,,
-PRO,是否使用料盘检测信号,IsUse_Tray_Check,0,,,,,,,,,,,,,,
+PRO,是否使用料盘检测信号,IsUse_Tray_Check,1,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,500,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,500,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,500,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,50,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,500,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,50,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P7速度,UpDownAxis_P7_Speed,50,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P8速度,UpDownAxis_P8_Speed,50,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P101速度,UpDownAxis_P101_Speed,200,,,,,,,,,,,,,,
-PRO,升降轴（轴2）P102速度,UpDownAxis_P102_Speed,200,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P1速度,UpDownAxis_P1_Speed,200000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P2速度,UpDownAxis_P2_Speed,200000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P3速度,UpDownAxis_P3_Speed,200000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P4速度,UpDownAxis_P4_Speed,80000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P5速度,UpDownAxis_P5_Speed,200000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P6速度,UpDownAxis_P6_Speed,80000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P7速度,UpDownAxis_P7_Speed,80000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P8速度,UpDownAxis_P8_Speed,80000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P101速度,UpDownAxis_P101_Speed,80000,,,,,,,,,,,,,,
+PRO,升降轴（轴2）P102速度,UpDownAxis_P102_Speed,80000,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
-PRO,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,500,,,,,,,,,,,,,,
-PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,500,,,,,,,,,,,,,,
-PRO,旋转轴（轴1）P101速度,MiddleAxis_P101_Speed,500,,,,,,,,,,,,,,
+PRO,旋转轴（轴1）P1速度,MiddleAxis_P1_Speed,50000,,,,,,,,,,,,,,
+PRO,旋转轴（轴1）P2速度,MiddleAxis_P2_Speed,50000,,,,,,,,,,,,,,
+PRO,旋转轴（轴1）P101速度,MiddleAxis_P101_Speed,50000,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
-PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,100,,,,,,,,,,,,,,
-PRO,进出轴（轴3）P2速度,InOutAxis_P2_Speed,100,,,,,,,,,,,,,,
-PRO,进出轴（轴3）P3速度,InOutAxis_P3_Speed,100,,,,,,,,,,,,,,
-PRO,进出轴（轴3）P101速度,InOutAxis_P101_Speed,100,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P1速度,InOutAxis_P1_Speed,100000,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P2速度,InOutAxis_P2_Speed,100000,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P3速度,InOutAxis_P3_Speed,100000,,,,,,,,,,,,,,
+PRO,进出轴（轴3）P101速度,InOutAxis_P101_Speed,100000,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
-PRO,回温区旋转轴（轴4）P1速度,WarmingAxis_P1_Speed,500,,,,,,,,,,,,,,
-PRO,回温区旋转轴（轴4）P2速度,WarmingAxis_P2_Speed,500,,,,,,,,,,,,,,
-PRO,冷藏区旋转轴（轴5）P1速度（匀速运动速度）,ColdingAxis_P1_Speed,500,,,,,,,,,,,,,,
-PRO,冷藏区旋转轴（轴5）P2速度,ColdingAxis_P2_Speed,500,,,,,,,,,,,,,,
-PRO,搅拌区旋转轴（轴6）P1速度（匀速运动速度）,StirAxis_P1_Speed,300,,,,,,,,,,,,,,
-PRO,搅拌区旋转轴（轴6）P2速度,StirAxis_P2_Speed,300,,,,,,,,,,,,,,
+PRO,回温区旋转轴（轴4）P1速度,WarmingAxis_P1_Speed,80000,,,,,,,,,,,,,,
+PRO,回温区旋转轴（轴4）P2速度,WarmingAxis_P2_Speed,80000,,,,,,,,,,,,,,
+PRO,冷藏区旋转轴（轴5）P1速度（匀速运动速度）,ColdingAxis_P1_Speed,80000,,,,,,,,,,,,,,
+PRO,冷藏区旋转轴（轴5）P2速度,ColdingAxis_P2_Speed,80000,,,,,,,,,,,,,,
+PRO,搅拌区旋转轴（轴6）P1速度（匀速运动速度）,StirAxis_P1_Speed,80000,,,,,,,,,,,,,,
+PRO,搅拌区旋转轴（轴6）P2速度,StirAxis_P2_Speed,80000,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 PRO,伺服停止时可误差的脉冲数的最小值,Axis_ErrorCountMin,10,,,,,,,,,,,,,,
 PRO,伺服停止时可误差的脉冲数的最小值,Axis_ErrorCountMin,10,,,,,,,,,,,,,,
 PRO,伺服停止时可误差的脉冲数的最大值,Axis_ErrorCountMax,1000,,,,,,,,,,,,,,
 PRO,伺服停止时可误差的脉冲数的最大值,Axis_ErrorCountMax,1000,,,,,,,,,,,,,,
@@ -139,23 +124,24 @@ PRO,(轴三)进出轴最大限位,InoutAxis_PositionMax,0,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,,,,,,,,
 PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,,,,,,,,
-PRO,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,, ,,,,,,,,,
+PRO,两次吹气间隔（分钟）,BlowAir_Interval,1,,,,, ,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 PRO,冷藏区温湿度端口号,Humiture_Colding_Port,COM3,,,,,,,,,,,,,,
 PRO,冷藏区温湿度端口号,Humiture_Colding_Port,COM3,,,,,,,,,,,,,,
 PRO,回温区温湿度端口号,Humiture_Warming_Port,COM4,,,,,,,,,,,,,,
 PRO,回温区温湿度端口号,Humiture_Warming_Port,COM4,,,,,,,,,,,,,,
-PRO,左侧测重控制器端口号,Weight_Left_Port,COM5,,,,,,,,,,,,,,
-PRO,右侧测重控制器端口号,Weight_Right_Port,COM6,,,,,,,,,,,,,,
-PRO,左侧测重空夹具重量,LeftDefWeight,6,,,,,,,,,,,,,,
-PRO,右侧测重空夹具重量,RightDefWeight,6,,,,,,,,,,,,,,
-PRO,左侧测重控制器重量转换系数,Weight_Left_Divisor,0.98,,,,,,,,,,,,,,
-PRO,右侧测重控制器重量转换系数,Weight_Right_Divisor,0.98,,,,,,,,,,,,,,
+PRO,左侧测重控制器端口号,Weight_Left_Port,COM2,,,,,,,,,,,,,,
+PRO,右侧测重控制器端口号,Weight_Right_Port,COM1,,,,,,,,,,,,,,
+PRO,制冷剂控制器,Refrigerator_Port,COM6,,,,,,,,,,,,,,
+PRO,左侧测重空夹具重量,LeftDefWeight,9,,,,,,,,,,,,,,
+PRO,右侧测重空夹具重量,RightDefWeight,-52,,,,,,,,,,,,,,
+PRO,左侧测重控制器重量转换系数,Weight_Left_Divisor,1,,,,,,,,,,,,,,
+PRO,右侧测重控制器重量转换系数,Weight_Right_Divisor,1,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,,
 ,,,,,,,, ,,,,,,,,,
 ,,,,,,,, ,,,,,,,,,
 PRO,锡膏宽度,Tin_Width,60,,,,,,,,,,,,,,
 PRO,锡膏宽度,Tin_Width,60,,,,,,,,,,,,,,
 PRO,锡膏高度,Tin_Height,75,,,,,,,,,,,,,,
 PRO,锡膏高度,Tin_Height,75,,,,,,,,,,,,,,
-PRO,夹具宽度,Fixture_Width,230,,,,,,,,,,,,,,
-PRO,夹具高度,Fixture_Height,60,,,,,,,,,,,,,,
-PRO,夹具宽度,Fixture_Width,230,,,,,,,,,,,,,,
-PRO,夹具高度,Fixture_Height,60,,,,,,,,,,,,,,
-PRO,特殊二维码尺寸配置,CodeSizeConfig,XA=13x48#FA;PartNum;1=7x32,,,,,,,,,,,,,,
+PRO,夹具宽度,Fixture_Width,0,,,,,,,,,,,,,,
+PRO,夹具高度,Fixture_Height,0,,,,,,,,,,,,,,
+PRO,夹具宽度,Fixture_Width,0,,,,,,,,,,,,,,
+PRO,夹具高度,Fixture_Height,0,,,,,,,,,,,,,,
+PRO,特殊二维码尺寸配置,CodeSizeConfig,XA=13x48#FA,PartNum,1=7x32,,,,,,,,,,,,

source/DeviceLibrary/StoreConfig/linePositions.csv

-位置,库位类型,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,回温区旋转轴库位点P2,冷藏区旋转轴库位点P2,,
-1#AC1_0_1_1,1,115,50,140,1,617571,25453,13538,13538,25453,61597,20000,578355,,
-1#AC1_0_1_2,1,114,60,230,1,617571,104372,111780,111780,104372,61597,20000,578355,,
-1#AC1_0_1_3,1,113,60,230,1,617571,198951,206359,206359,198951,61597,20000,578355,,
-1#AC1_0_1_4,1,112,60,230,1,617571,291933,299341,299341,291933,61597,20000,578355,,
-1#AC1_0_1_5,1,111,60,230,1,617571,384118,391526,391526,384118,61597,20000,578355,,
-1#AC1_0_1_6,1,110,60,230,1,617571,476584,484561,484561,476584,61597,20000,578355,,
-1#AC1_1_1_1,1,109,75,60,1,617071,25441,38741,38741,25441,56791,20000,726998,,
-1#AC1_1_1_2,1,108,75,60,1,617071,95218,108920,108920,95218,56791,20000,726998,,
-1#AC1_1_1_3,1,107,75,60,1,617071,166195,179897,179897,166195,56791,20000,726998,,
-1#AC1_1_1_4,1,106,75,60,1,617071,235576,249278,249278,235576,56791,20000,726998,,
-1#AC1_1_1_5,1,105,75,60,1,617071,305755,319457,319457,305755,56791,20000,726998,,
-1#AC1_1_1_6,1,104,75,60,1,617071,375934,389636,389636,375934,56791,20000,726998,,
-1#AC1_1_1_7,1,103,75,60,1,617071,446366,460068,460068,446366,56791,20000,726998,,
-1#AC1_1_1_8,1,102,75,60,1,617071,516292,529994,529994,516292,56791,20000,726998,,
-1#AC1_2_1_1,1,101,75,60,1,617071,25441,38741,38741,25441,56791,20000,827023,,
-1#AC1_2_1_2,1,100,75,60,1,617071,95218,108920,108920,95218,56791,20000,827023,,
-1#AC1_2_1_3,1,99,75,60,1,617071,166195,179897,179897,166195,56791,20000,827023,,
-1#AC1_2_1_4,1,98,75,60,1,617071,235576,249278,249278,235576,56791,20000,827023,,
-1#AC1_2_1_5,1,97,75,60,1,617071,305755,319457,319457,305755,56791,20000,827023,,
-1#AC1_2_1_6,1,96,75,60,1,617071,375934,389636,389636,375934,56791,20000,827023,,
-1#AC1_2_1_7,1,95,75,60,1,617071,446366,460068,460068,446366,56791,20000,827023,,
-1#AC1_2_1_8,1,94,75,60,1,617071,516292,529994,529994,516292,56791,20000,827023,,
-1#AC1_3_1_1,1,93,75,60,1,617071,25441,38741,38741,25441,56791,20000,927215,,
-1#AC1_3_1_2,1,92,75,60,1,617071,95218,108920,108920,95218,56791,20000,927215,,
-1#AC1_3_1_3,1,91,75,60,1,617071,166195,179897,179897,166195,56791,20000,927215,,
-1#AC1_3_1_4,1,90,75,60,1,617071,235576,249278,249278,235576,56791,20000,927215,,
-1#AC1_3_1_5,1,89,75,60,1,617071,305755,319457,319457,305755,56791,20000,927215,,
-1#AC1_3_1_6,1,88,75,60,1,617071,375934,389636,389636,375934,56791,20000,927215,,
-1#AC1_3_1_7,1,87,75,60,1,617071,446366,460068,460068,446366,56791,20000,927215,,
-1#AC1_3_1_8,1,86,75,60,1,617071,516292,529994,529994,516292,56791,20000,927215,,
-1#AC1_4_1_1,1,85,50,140,1,617571,11350,20513,20513,11350,61597,20000,1079690,,
-1#AC1_4_1_2,1,84,50,140,1,617571,72523,81686,81686,72523,61597,20000,1079690,,
-1#AC1_4_1_3,1,83,50,140,1,617571,135759,144922,144922,135759,61597,20000,1079690,,
-1#AC1_4_1_4,1,82,50,140,1,617571,198278,207441,207441,198278,61597,20000,1079690,,
-1#AC1_4_1_5,1,81,50,140,1,617571,260828,269991,269991,260828,61597,20000,1079690,,
-1#AC1_4_1_6,1,80,50,140,1,617571,323084,332247,332247,323084,61597,20000,1079690,,
-1#AC1_4_1_7,1,79,50,140,1,617571,384378,393541,393541,384378,61597,20000,1079690,,
-1#AC1_4_1_8,1,78,50,140,1,617571,447978,454799,454799,447978,61597,20000,1079690,,
-1#AC1_4_1_9,1,77,50,140,1,617571,509434,517650,517650,509434,61597,20000,1079690,,
-1#AC1_5_1_1,1,76,75,60,1,617071,25441,38741,38741,25441,56791,20000,1227197,,
-1#AC1_5_1_2,1,75,75,60,1,617071,95218,108920,108920,95218,56791,20000,1227197,,
-1#AC1_5_1_3,1,74,75,60,1,617071,166195,179897,179897,166195,56791,20000,1227197,,
-1#AC1_5_1_4,1,73,75,60,1,617071,235576,249278,249278,235576,56791,20000,1227197,,
-1#AC1_5_1_5,1,72,75,60,1,617071,305755,319457,319457,305755,56791,20000,1227197,,
-1#AC1_5_1_6,1,71,75,60,1,617071,375934,389636,389636,375934,56791,20000,1227197,,
-1#AC1_5_1_7,1,70,75,60,1,617071,446366,460068,460068,446366,56791,20000,1227197,,
-1#AC1_5_1_8,1,69,75,60,1,617071,516292,529994,529994,516292,56791,20000,1227197,,
-1#AC1_6_1_1,1,68,75,60,1,617071,25441,38741,38741,25441,56791,20000,1326577,,
-1#AC1_6_1_2,1,67,75,60,1,617071,95218,108920,108920,95218,56791,20000,1326577,,
-1#AC1_6_1_3,1,66,75,60,1,617071,166195,179897,179897,166195,56791,20000,1326577,,
-1#AC1_6_1_4,1,65,75,60,1,617071,235576,249278,249278,235576,56791,20000,1326577,,
-1#AC1_6_1_5,1,64,75,60,1,617071,305755,319457,319457,305755,56791,20000,1326577,,
-1#AC1_6_1_6,1,63,75,60,1,617071,375934,389636,389636,375934,56791,20000,1326577,,
-1#AC1_6_1_7,1,62,75,60,1,617071,446366,460068,460068,446366,56791,20000,1326577,,
-1#AC1_6_1_8,1,61,75,60,1,617071,516292,529994,529994,516292,56791,20000,1326577,,
-1#AC1_7_1_1,1,60,75,60,1,617071,25441,38741,38741,25441,56791,20000,1426581,,
-1#AC1_7_1_2,1,59,75,60,1,617071,95218,108920,108920,95218,56791,20000,1426581,,
-1#AC1_7_1_3,1,58,75,60,1,617071,166195,179897,179897,166195,56791,20000,1426581,,
-1#AC1_7_1_4,1,57,75,60,1,617071,235576,249278,249278,235576,56791,20000,1426581,,
-1#AC1_7_1_5,1,56,75,60,1,617071,305755,319457,319457,305755,56791,20000,1426581,,
-1#AC1_7_1_6,1,55,75,60,1,617071,375934,389636,389636,375934,56791,20000,1426581,,
-1#AC1_7_1_7,1,54,75,60,1,617071,446366,460068,460068,446366,56791,20000,1426581,,
-1#AC1_7_1_8,1,53,75,60,1,617071,516292,529994,529994,516292,56791,20000,1426581,,
-1#AC2_0_1_2,2,51,50,140,1,617571,800922,807327,807327,800922,61597,243886,10000,,
-1#AC2_0_1_3,2,50,50,140,1,617571,895963,901768,901768,895963,61597,245492,10000,,
-1#AC2_0_1_4,2,49,60,230,1,617571,988401,994906,994906,988401,61597,245492,10000,,6705
-1#AC2_1_1_1,2,48,75,60,1,619071,723205,736203,736203,723205,55996,394244,10000,,
-1#AC2_1_1_2,2,47,75,60,1,619071,793676,806781,806781,793676,55996,394244,10000,,
-1#AC2_1_1_3,2,46,75,60,1,619071,863486,875259,875259,863486,55996,394244,10000,,
-1#AC2_1_1_4,2,45,75,60,1,619071,933543,945185,945185,933543,55996,394244,10000,,
-1#AC2_1_1_5,2,44,75,60,1,619071,1003262,1015111,1015111,1003262,55996,394244,10000,,
-1#AC2_1_1_6,2,43,75,60,1,619071,1072723,1085037,1085037,1072723,55996,394244,10000,,
-1#AC2_2_1_1,2,42,75,60,1,619071,723205,736203,736203,723205,55996,493536,10000,,
-1#AC2_2_1_2,2,41,75,60,1,619071,793676,806781,806781,793676,55996,493536,10000,,
-1#AC2_2_1_3,2,40,75,60,1,619071,863486,875259,875259,863486,55996,493536,10000,,
-1#AC2_2_1_4,2,39,75,60,1,619071,933543,945185,945185,933543,55996,493536,10000,,
-1#AC2_2_1_5,2,38,75,60,1,619071,1003262,1015111,1015111,1003262,55996,493536,10000,,
-1#AC2_2_1_6,2,37,75,60,1,619071,1072723,1085037,1085037,1072723,55996,493536,10000,,
-1#AC2_3_1_1,2,36,75,60,1,619071,723205,736203,736203,723205,55996,589109,10000,,
-1#AC2_3_1_2,2,35,75,60,1,619071,793676,806781,806781,793676,55996,589109,10000,,
-1#AC2_3_1_3,2,34,75,60,1,619071,863486,875259,875259,863486,55996,589109,10000,,
-1#AC2_3_1_4,2,33,75,60,1,619071,933543,945185,945185,933543,55996,589109,10000,,
-1#AC2_3_1_5,2,32,75,60,1,619071,1003262,1015111,1015111,1003262,55996,589109,10000,,
-1#AC2_3_1_6,2,31,75,60,1,619071,1072723,1085037,1085037,1072723,55996,589109,10000,,
-1#AC2_4_1_1,2,30,75,60,1,619071,723205,736203,736203,723205,56393,688666,10000,,
-1#AC2_4_1_2,2,29,75,60,1,619071,793676,806781,806781,793676,56393,688666,10000,,
-1#AC2_4_1_3,2,28,75,60,1,619071,863486,875259,875259,863486,56393,688666,10000,,
-1#AC2_4_1_4,2,27,75,60,1,619071,933543,945185,945185,933543,56393,688666,10000,,
-1#AC2_4_1_5,2,26,75,60,1,619071,1003262,1015111,1015111,1003262,56393,688666,10000,,
-1#AC2_4_1_6,2,25,75,60,1,619071,1072723,1085037,1085037,1072723,56393,688666,10000,,
-1#AC2_5_1_1,2,24,75,60,1,619071,723205,736203,736203,723205,56393,789294,10000,,
-1#AC2_5_1_2,2,23,75,60,1,619071,793676,806781,806781,793676,56393,789294,10000,,
-1#AC2_5_1_3,2,22,75,60,1,619071,863486,875259,875259,863486,56393,789294,10000,,
-1#AC2_5_1_4,2,21,75,60,1,619071,933543,945185,945185,933543,56393,789294,10000,,
-1#AC2_5_1_5,2,20,75,60,1,619071,1003262,1015111,1015111,1003262,56393,789294,10000,,
-1#AC2_5_1_6,2,19,75,60,1,619071,1072723,1085037,1085037,1072723,56393,789294,10000,,
-1#AC2_6_1_1,2,18,75,60,1,619071,723205,736203,736203,723205,56393,889634,10000,,
-1#AC2_6_1_2,2,17,75,60,1,619071,793676,806781,806781,793676,56393,889634,10000,,
-1#AC2_6_1_3,2,16,75,60,1,619071,863486,875259,875259,863486,56393,889634,10000,,
-1#AC2_6_1_4,2,15,75,60,1,619071,933543,945185,945185,933543,56393,889634,10000,,
-1#AC2_6_1_5,2,14,75,60,1,619071,1003262,1015111,1015111,1003262,56393,889634,10000,,
-1#AC2_6_1_6,2,13,75,60,1,619071,1072723,1085037,1085037,1072723,56393,889634,10000,,
-1#AC2_7_1_1,2,12,75,60,1,619071,723205,736203,736203,723205,56393,989366,10000,,
-1#AC2_7_1_2,2,11,75,60,1,619071,793676,806781,806781,793676,56393,989366,10000,,
-1#AC2_7_1_3,2,10,75,60,1,619071,863486,875259,875259,863486,56393,989366,10000,,
-1#AC2_7_1_4,2,9,75,60,1,619071,933543,945185,945185,933543,56393,989366,10000,,
-1#AC2_7_1_5,2,8,75,60,1,619071,1003262,1015111,1015111,1003262,56393,989366,10000,,
-1#AC2_7_1_6,2,7,75,60,1,619071,1072723,1085037,1085037,1072723,56393,989366,10000,,
-1#AC2_8_1_1,2,6,75,60,1,619071,723205,736203,736203,723205,56797,1091170,10000,,
-1#AC2_8_1_2,2,5,75,60,1,619071,793676,806781,806781,793676,56797,1091170,10000,,
-1#AC2_8_1_3,500,4,75,60,1,619071,863486,875259,875259,863486,56797,1091170,10000,,
-1#AC2_8_1_4,300,3,75,60,1,619071,933543,945185,945185,933543,56797,1091170,10000,,
-1#AC2_8_1_5,200,2,75,60,1,619071,1003262,1015111,1015111,1003262,56797,1091170,10000,,
-1#AC2_8_1_6,100,1,75,60,1,619071,1072723,1085037,1085037,1072723,56797,1091170,10000,,
+位置,库位类型,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位出料前点P5,升降轴库位出料缓冲点P6,升降轴库位入料前点P3,升降轴库位入料缓冲点P4,进出轴库位点取料点P3,回温区旋转轴库位点P2,冷藏区旋转轴库位点P2,,,,
+1#AC1_0_1_1,1,126,50,145,1,200100,2406,16974,16974,2406,145400,20000,28857,,,,
+1#AC1_0_1_2,1,125,50,145,1,200100,104275,118843,118843,104275,145100,20000,28857,,,,
+1#AC1_0_1_3,1,124,50,145,1,200000,206144,220712,220712,206144,145100,20000,28857,,,,
+1#AC1_0_1_4,1,123,50,145,1,200000,308013,322581,322581,308013,145000,20000,28857,,,,
+1#AC1_0_1_5,1,122,50,145,1,200100,409882,424450,424450,409882,144800,20000,28857,,70675,190069,
+1#AC1_0_1_6,1,121,50,145,1,200100,511751,526319,526319,511751,144600,20000,28857,1500,,,119394
+1#AC1_0_1_7,1,120,50,145,1,200300,613620,628188,628188,613620,144600,20000,28857,,70488,189921,119433
+1#AC1_0_1_8,1,119,50,145,1,200100,715489,730057,730057,715489,144600,20000,28857,,,,
+1#AC1_0_1_9,1,118,50,145,1,200000,817358,831926,831926,817358,144350,20000,28857,,,,
+1#AC1_0_1_10,1,117,50,145,1,200093,919227,933795,933795,919227,144350,20000,28857,,,,
+1#AC1_0_1_11,1,116,50,145,1,200100,1021096,1035664,1035664,1021096,144350,20000,28857,,,,
+1#AC1_0_1_12,1,115,50,145,1,200100,1122965,1137533,1137533,1122965,144350,20000,28857,,,,
+1#AC1_0_1_13,1,114,50,145,1,200100,1224834,1239402,1239402,1224834,144350,20000,28857,,,,
+1#AC1_0_1_14,1,113,50,145,1,200100,1326703,1341271,1341271,1326703,144350,20000,28857,,,,
+1#AC1_1_1_1,1,112,75,60,1,200293,28850,53907,53907,28850,133344,20000,-25731,,,,
+1#AC1_1_1_2,1,111,75,60,1,200393,148244,173301,173301,148244,133244,20000,-25731,,,,
+1#AC1_1_1_3,1,110,75,60,1,200393,267665,292695,292695,267665,133144,20000,-25731,,,,
+1#AC1_1_1_4,1,109,75,60,1,200393,385758,410815,410815,385758,133144,20000,-25731,,,,
+1#AC1_1_1_5,1,108,75,60,1,200593,504934,529991,529991,504934,133144,20000,-25731,,,,
+1#AC1_1_1_6,1,107,75,60,1,200593,623766,648223,648223,623766,133144,20000,-25731,,,,
+1#AC1_1_1_7,1,106,75,60,1,200593,740742,765799,765799,740742,133144,20000,-25731,,,,
+1#AC1_1_1_8,1,105,75,60,1,200593,859936,884993,884993,859936,133144,20000,-25731,,,,
+1#AC1_1_1_9,1,104,75,60,1,200593,978627,1003684,1003684,978627,133144,20000,-25731,,,,
+1#AC1_1_1_10,1,103,75,60,1,200593,1097846,1122953,1122953,1097846,133144,20000,-25731,,,,
+1#AC1_1_1_11,1,102,75,60,1,200593,1214854,1239947,1239947,1214854,133144,20000,-25731,,,,
+1#AC1_1_1_12,1,101,75,60,1,200593,1334560,1359617,1359617,1334560,133144,20000,-25731,,,,
+1#AC1_2_1_1,1,100,75,60,1,200293,28850,53907,53907,28850,133344,20000,-62060,,,,
+1#AC1_2_1_2,1,99,75,60,1,200393,148244,173301,173301,148244,133244,20000,-62060,,,,
+1#AC1_2_1_3,1,98,75,60,1,200393,267665,292695,292695,267665,133144,20000,-62060,,,,
+1#AC1_2_1_4,1,97,75,60,1,200393,385758,410815,410815,385758,133144,20000,-62060,,,,
+1#AC1_2_1_5,1,96,75,60,1,200593,504934,529991,529991,504934,133144,20000,-62060,,,,
+1#AC1_2_1_6,1,95,75,60,1,200593,623766,648223,648223,623766,133144,20000,-62060,,,,
+1#AC1_2_1_7,1,94,75,60,1,200593,740742,765799,765799,740742,133144,20000,-62060,,,,
+1#AC1_2_1_8,1,93,75,60,1,200593,859936,884993,884993,859936,133144,20000,-62060,,,,
+1#AC1_2_1_9,1,92,75,60,1,200593,978627,1003684,1003684,978627,133144,20000,-62060,,,,
+1#AC1_2_1_10,1,91,75,60,1,200593,1097846,1122953,1122953,1097846,133144,20000,-62060,,,,
+1#AC1_2_1_11,1,90,75,60,1,200593,1215854,1239947,1239947,1215854,133144,20000,-62060
+1#AC1_2_1_12,1,89,75,60,1,200593,1334560,1359617,1359617,1334560,133144,20000,-62060,,,,
+1#AC1_3_1_1,1,88,75,60,1,200293,28850,53907,53907,28850,133344,20000,-25731,,,,
+1#AC1_3_1_2,1,87,75,60,1,200393,148244,173301,173301,148244,133244,20000,-25731,,,,
+1#AC1_3_1_3,1,86,75,60,1,200193,267665,292695,292695,267665,133144,20000,-25731
+1#AC1_3_1_4,1,85,75,60,1,200193,383758,410815,410815,383758,133144,20000,-25731
+1#AC1_3_1_5,1,84,75,60,1,200193,504934,529991,529991,504934,133144,20000,-25731
+1#AC1_3_1_6,1,83,75,60,1,200193,622766,648223,648223,622766,133144,20000,-25731
+1#AC1_3_1_7,1,82,75,60,1,200293,739942,765799,765799,739942,133144,20000,-25731
+1#AC1_3_1_8,1,81,75,60,1,200293,857936,884993,884993,857936,133144,20000,-25731
+1#AC1_3_1_9,1,80,75,60,1,200293,977627,1003684,1003684,977627,133144,20000,-25731
+1#AC1_3_1_10,1,79,75,60,1,200293,1095846,1122953,1122953,1095846,133144,20000,-25731
+1#AC1_3_1_11,1,78,75,60,1,200293,1214854,1239947,1239947,1214854,133144,20000,-25731
+1#AC1_3_1_12,1,77,75,60,1,200293,1334560,1359617,1359617,1334560,133144,20000,-25731
+1#AC1_4_1_1,1,76,50,145,1,200100,2406,16974,16974,2406,145400,20000,28857,,,,
+1#AC1_4_1_2,1,75,50,145,1,200100,104275,118843,118843,104275,145100,20000,28857,,,,
+1#AC1_4_1_3,1,74,50,145,1,200000,206144,220712,220712,206144,145100,20000,28857,,,,
+1#AC1_4_1_4,1,73,50,145,1,200000,308013,322581,322581,308013,145000,20000,28857,,,,
+1#AC1_4_1_5,1,72,50,145,1,200100,409882,424450,424450,409882,144800,20000,28857,,,,
+1#AC1_4_1_6,1,71,50,145,1,200100,511751,526319,526319,511751,144600,20000,28857,,,,
+1#AC1_4_1_7,1,70,50,145,1,200300,613620,628188,628188,613620,144600,20000,28857,,,,
+1#AC1_4_1_8,1,69,50,145,1,200100,715489,730057,730057,715489,144600,20000,28857,,,,
+1#AC1_4_1_9,1,68,50,145,1,200000,817358,831926,831926,817358,144350,20000,28857,,,,
+1#AC1_4_1_10,1,67,50,145,1,200093,919227,933795,933795,919227,144350,20000,28857,,,,
+1#AC1_4_1_11,1,66,50,145,1,200100,1021096,1035664,1035664,1021096,144350,20000,28857,,,,
+1#AC1_4_1_12,1,65,50,145,1,200100,1122965,1137533,1137533,1122965,144350,20000,28857,,,,
+1#AC1_4_1_13,1,64,50,145,1,200100,1224834,1239402,1239402,1224834,144350,20000,28857,,,,
+1#AC1_4_1_14,1,63,50,145,1,200100,1326703,1341271,1341271,1326703,144350,20000,28857,,,,
+1#AC1_5_1_1,1,62,75,60,1,200293,28850,53907,53907,28850,133344,20000,-25731,,,,
+1#AC1_5_1_2,1,61,75,60,1,200393,148244,173301,173301,148244,133244,20000,-25731,,,,
+1#AC1_5_1_3,1,60,75,60,1,200393,267665,292695,292695,267665,133144,20000,-25731,,,,
+1#AC1_5_1_4,1,59,75,60,1,200393,385758,410815,410815,385758,133144,20000,-25731,,,,
+1#AC1_5_1_5,1,58,75,60,1,200593,504934,529991,529991,504934,133144,20000,-25731,,,,
+1#AC1_5_1_6,1,57,75,60,1,200593,623766,648223,648223,623766,133144,20000,-25731,,,,
+1#AC1_5_1_7,1,56,75,60,1,200593,740742,765799,765799,740742,133144,20000,-25731,,,,
+1#AC1_5_1_8,1,55,75,60,1,200593,859936,884993,884993,859936,133144,20000,-25731,,,,
+1#AC1_5_1_9,1,54,75,60,1,200593,978627,1003684,1003684,978627,133144,20000,-25731,,,,
+1#AC1_5_1_10,1,53,75,60,1,200593,1097846,1122953,1122953,1097846,133144,20000,-25731,,,,
+1#AC1_5_1_11,1,52,75,60,1,200593,1214854,1239947,1239947,1214854,133144,20000,-25731,,,,
+1#AC1_5_1_12,1,51,75,60,1,200593,1334560,1359617,1359617,1334560,133144,20000,-25731,,,,
+1#AC1_6_1_1,1,50,75,60,1,200293,28850,53907,53907,28850,133344,20000,118875,,,,
+1#AC1_6_1_2,1,49,75,60,1,200393,148244,173301,173301,148244,133244,20000,118875,,,,
+1#AC1_6_1_3,1,48,75,60,1,200393,267665,292695,292695,267665,133144,20000,118875,,,,
+1#AC1_6_1_4,1,47,75,60,1,200393,385758,410815,410815,385758,133144,20000,118875,,,,
+1#AC1_6_1_5,1,46,75,60,1,200593,504934,529991,529991,504934,133144,20000,118875,,,,
+1#AC1_6_1_6,1,45,75,60,1,200593,623766,648223,648223,623766,133144,20000,118875,,,,
+1#AC1_6_1_7,1,44,75,60,1,200593,740742,765799,765799,740742,133144,20000,118875,,,,
+1#AC1_6_1_8,1,43,75,60,1,200593,859936,884993,884993,859936,133144,20000,118875,,,,
+1#AC1_6_1_9,1,42,75,60,1,200593,978627,1003684,1003684,978627,133144,20000,118875,,,,
+1#AC1_6_1_10,1,41,75,60,1,200593,1097846,1122953,1122953,1097846,133144,20000,118875,,,,
+1#AC1_6_1_11,1,40,75,60,1,200593,1214854,1239947,1239947,1214854,133144,20000,118875,,,,
+1#AC1_6_1_12,1,39,75,60,1,200593,1334560,1359617,1359617,1334560,133144,20000,118875,,,,
+1#AC1_7_1_1,1,38,75,60,1,200293,28850,53907,53907,28850,133344,20000,867434,,,,
+1#AC1_7_1_2,1,37,75,60,1,200393,148244,173301,173301,148244,133244,20000,867434,,,,
+1#AC1_7_1_3,1,36,75,60,1,200393,267665,292695,292695,267665,133144,20000,867434,,,,
+1#AC1_7_1_4,1,35,75,60,1,200393,385758,410815,410815,385758,133144,20000,867434,,,,
+1#AC1_7_1_5,1,34,75,60,1,200593,504934,529991,529991,504934,133144,20000,867434,,,,
+1#AC1_7_1_6,1,33,75,60,1,200593,623766,648223,648223,623766,133144,20000,867434,,,,
+1#AC1_7_1_7,1,32,75,60,1,200593,740742,765799,765799,740742,133144,20000,867434,,,,
+1#AC1_7_1_8,1,31,75,60,1,200593,859936,884993,884993,859936,133144,20000,867434,,,,
+1#AC1_7_1_9,1,30,75,60,1,200593,978627,1003684,1003684,978627,133144,20000,867434,,,,
+1#AC1_7_1_10,1,29,75,60,1,200593,1097846,1122953,1122953,1097846,133144,20000,867434,,,,
+1#AC1_7_1_11,1,28,75,60,1,200593,1214854,1239947,1239947,1214854,133144,20000,867434,,,,
+1#AC1_7_1_12,1,27,75,60,1,200593,1334560,1359617,1359617,1334560,133144,20000,867434,,,,
+1#AC2_0_1_1,2,26,50,145,1,200593,1683406,1698125,1698125,1683406,145294,58627,10000,,,,
+1#AC2_0_1_2,2,25,50,145,1,200593,1785339,1801724,1801724,1785339,145294,58627,10000,,,,
+1#AC2_0_1_3,2,24,50,145,1,200593,1886178,1902368,1902368,1886178,145294,58627,10000
+1#AC2_0_1_4,2,23,50,145,1,200500,1989856,2006639,2006639,1989856,145294,58627,10000
+1#AC2_1_1_1,2,22,75,60,1,200593,1713455,1734937,1734937,1713455,133144,113461,10000,,,,
+1#AC2_1_1_2,2,21,75,60,1,200593,1830039,1854037,1854037,1830039,133144,113461,10000,,,,
+1#AC2_1_1_3,2,20,75,60,1,200593,1950015,1978049,1978049,1950015,133144,113461,10000
+1#AC2_2_1_1,2,19,75,60,1,200593,1713455,1734937,1734937,1713455,133144,149396,10000,,,,
+1#AC2_2_1_2,2,18,75,60,1,200593,1830039,1854037,1854037,1830039,133144,149396,10000,,,,
+1#AC2_2_1_3,2,17,75,60,1,200593,1951015,1978049,1978049,1951015,133144,149396,10000,,,,
+1#AC2_3_1_1,2,16,75,60,1,200593,1713455,1734937,1734937,1713455,133144,185161,10000,,,,
+1#AC2_3_1_2,2,15,75,60,1,200593,1830039,1854037,1854037,1830039,133144,185161,10000,,,,
+1#AC2_3_1_3,2,14,75,60,1,200593,1951015,1978049,1978049,1951015,133144,185161,10000,,,,
+1#AC2_4_1_1,2,13,50,145,1,200593,1685406,1698125,1698125,1685406,145294,239126,10000
+1#AC2_4_1_2,2,12,50,145,1,200593,1788339,1801724,1801724,1788339,145294,239126,10000
+1#AC2_4_1_3,2,11,50,145,1,200593,1889178,1902368,1902368,1889178,145294,239126,10000
+1#AC2_4_1_4,2,10,50,145,1,200593,1989956,2006639,2006639,1989956,145294,239126,10000
+1#AC2_5_1_1,2,9,75,60,1,200593,1713455,1734937,1734937,1713455,133144,-67567,10000,,,,
+1#AC2_5_1_2,2,8,75,60,1,200593,1830039,1854037,1854037,1830039,133144,-67567,10000,,,,
+1#AC2_5_1_3,2,7,75,60,1,200593,1951015,1978049,1978049,1951015,133144,-67567,10000,,,,
+1#AC2_6_1_1,2,6,75,60,1,200593,1713455,1734937,1734937,1713455,133144,-31000,10000,,,,
+1#AC2_6_1_2,500,5,75,60,1,200593,1830039,1854037,1854037,1830039,133144,-31000,10000,,,,
+1#AC2_6_1_3,400,4,75,60,1,200593,1951015,1978049,1978049,1951015,133144,-31000,10000,,,,
+1#AC2_7_1_1,300,3,75,60,1,200593,1713455,1734937,1734937,1713455,133144,4636,10000,,,,
+1#AC2_7_1_2,200,2,75,60,1,200593,1831355,1854037,1854037,1831355,133144,4636,10000,,,,
+1#AC2_7_1_3,100,1,75,60,1,200593,1951015,1978049,1978049,1951015,133144,4636,10000,,,,

source/DeviceLibrary/acTinStore/StoreManager.cs

@@ -87,6 +87,10 @@ namespace OnlineStore.DeviceLibrary
                         Store = new TinStoreBean(Config);
                         Store = new TinStoreBean(Config);
                         Store.CID = CID;
                         Store.CID = CID;
                         LogUtil.info("加载料仓完成！");
                         LogUtil.info("加载料仓完成！");
+
+                        //InOutParam inOutParam = new InOutParam(MoveType.InStore, "");
+                        //inOutParam.Weight = 460;
+                        //inOutParam.UpdateFama();
                         return Store;
                         return Store;
                     }
                     }
                 }
                 }

source/DeviceLibrary/acTinStore/TinStoreBean.cs

 
 
 using CodeLibrary;
 using CodeLibrary;
-using DeviceLib;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System; 
 using System; 
@@ -67,9 +66,14 @@ namespace OnlineStore.DeviceLibrary
             IOManager.Init();
             IOManager.Init();
             IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
             IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
 
 
-            ACServerManager.LogEvent += ACServerManager_LogEvent;
+            
             LoadCurrStirInfo();
             LoadCurrStirInfo();
-
+            RefrigeratorController.Init(Config.Refrigerator_Port);
+            RefrigeratorController.queryData(Config.Refrigerator_Port,out _, out _, out _);
+            //Task.Run(() => {
+            //    Task.Delay(1000).Wait();
+            //    RefrigeratorController.Release(); });
+            
             mainTimer.Enabled = false;
             mainTimer.Enabled = false;
             if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
             if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
             {
             {
@@ -91,7 +95,15 @@ namespace OnlineStore.DeviceLibrary
             //急停按钮和气压检测需要一起判断
             //急停按钮和气压检测需要一起判断
             IO_VALUE suddenBtn = IOManager.IOValue(IO_Type.SuddenStop_BTN);
             IO_VALUE suddenBtn = IOManager.IOValue(IO_Type.SuddenStop_BTN);
             IO_VALUE airCheck = IOManager.IOValue(IO_Type.Airpressure_Check);
             IO_VALUE airCheck = IOManager.IOValue(IO_Type.Airpressure_Check);
-
+            IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
+            Task.Run(() => {
+                for (int i = 0; i < 10; i++)
+                {
+                    LogUtil.info(Name + $"{i}:SuddenStop_BTN:{StoreManager.Config.StoreDIList.ContainsKey(IO_Type.SuddenStop_BTN)}:{suddenBtn}:{IOManager.IOValue(IO_Type.SuddenStop_BTN)}, Airpressure_Check:{StoreManager.Config.StoreDIList.ContainsKey(IO_Type.Airpressure_Check)}:{airCheck}");
+                    Task.Delay(500).Wait();
+                }
+            });
+            
             if (suddenBtn == IO_VALUE.HIGH && airCheck == IO_VALUE.HIGH)
             if (suddenBtn == IO_VALUE.HIGH && airCheck == IO_VALUE.HIGH)
             {
             {
                 lastAirCloseTime = DateTime.Now;
                 lastAirCloseTime = DateTime.Now;
@@ -115,11 +127,11 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 if (suddenBtn.Equals(IO_VALUE.LOW))
                 if (suddenBtn.Equals(IO_VALUE.LOW))
                 {
                 {
-                    LogUtil.error(" (" + Name + ")启动出现错误：急停没开 ！启动失败！");
+                    LogUtil.error(" (" + Name + ")启动出现错误：急停没开 ！启动失败！.");
                 }
                 }
                 else
                 else
                 {
                 {
-                    LogUtil.error(" (" + Name + ")启动出现错误：没有气压信号 ！启动失败！");
+                    LogUtil.error(" (" + Name + ")启动出现错误：没有气压信号 ！启动失败！.");
                 }
                 }
                 return false;
                 return false;
             }
             }
@@ -175,9 +187,10 @@ namespace OnlineStore.DeviceLibrary
             CloseAllLed();
             CloseAllLed();
             IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
             IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.HIGH);
             alarmType = StoreAlarmType.None;
             alarmType = StoreAlarmType.None;
-           UpdateLastStatus(StoreStatus.ResetMove) ;
+            UpdateLastStatus(StoreStatus.ResetMove);
             MoveInfo.NewMove(MoveType.StoreReset);
             MoveInfo.NewMove(MoveType.StoreReset);
             MoveInfo.NextMoveStep(StoreMoveStep.R01_InOutBack);
             MoveInfo.NextMoveStep(StoreMoveStep.R01_InOutBack);
+            CylinderMove(MoveInfo, IO_Type.Clamping_Tighten, IO_Type.Clamping_Relax);
             ACAxisHomeMove(Config.InOut_Axis);
             ACAxisHomeMove(Config.InOut_Axis);
             LogUtil.info(Name + "开始原点返回，清空左右侧参数信息，先把进出轴回原点");
             LogUtil.info(Name + "开始原点返回，清空左右侧参数信息，先把进出轴回原点");
             LeftOutParam = null;
             LeftOutParam = null;
@@ -201,9 +214,11 @@ namespace OnlineStore.DeviceLibrary
                 case StoreMoveStep.R01_InOutBack:
                 case StoreMoveStep.R01_InOutBack:
                     Thread.Sleep(200);
                     Thread.Sleep(200);
                     MoveInfo.NextMoveStep(StoreMoveStep.R02_InOutToP1);
                     MoveInfo.NextMoveStep(StoreMoveStep.R02_InOutToP1);
-                    ResetLog("复位： 进出轴回P1，打开仓门，冷藏门");
+                    ResetLog("复位： 进出轴回P1，提升搅拌定位气缸");
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
                     ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
+                    
+                    CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                     //CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
                     //CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
                     OpenDoor(MoveInfo);
                     OpenDoor(MoveInfo);
                     break;
                     break;
@@ -215,16 +230,20 @@ namespace OnlineStore.DeviceLibrary
                         LogUtil.error("进出轴报警！复位失败，请检查！");
                         LogUtil.error("进出轴报警！复位失败，请检查！");
                         return;
                         return;
                     }
                     }
-                    MoveInfo.NextMoveStep(StoreMoveStep.R03_OtherAxisBack);
+                    MoveInfo.NextMoveStep(StoreMoveStep.R03_OtherAxisBack_wait);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                    ResetLog(" 复位：升降轴，旋转轴，搅拌轴，回温轴，冷藏轴原点返回");
-
+                    ResetLog(" 复位：升降轴，旋转轴，搅拌轴，回温轴，冷藏轴原点返回,关闭冷藏门");
+                    CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
                     ACAxisHomeMove(Config.Middle_Axis);
                     ACAxisHomeMove(Config.Middle_Axis);
                     ACAxisHomeMove(Config.UpDown_Axis);
                     ACAxisHomeMove(Config.UpDown_Axis);
                     ACAxisHomeMove(Config.Stir_Axis);
                     ACAxisHomeMove(Config.Stir_Axis);
                     ACAxisHomeMove(Config.Warming_Axis);
                     ACAxisHomeMove(Config.Warming_Axis);
                     ACAxisHomeMove(Config.Colding_Axis);
                     ACAxisHomeMove(Config.Colding_Axis);
                     break;
                     break;
+                case StoreMoveStep.R03_OtherAxisBack_wait:
+                    MoveInfo.NextMoveStep(StoreMoveStep.R03_OtherAxisBack);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                    break;
                 case StoreMoveStep.R03_OtherAxisBack:
                 case StoreMoveStep.R03_OtherAxisBack:
                     MoveInfo.NextMoveStep(StoreMoveStep.R04_AxisToP1);
                     MoveInfo.NextMoveStep(StoreMoveStep.R04_AxisToP1);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
@@ -240,6 +259,7 @@ namespace OnlineStore.DeviceLibrary
                     StartWork();
                     StartWork();
                     break;
                     break;
                 case StoreMoveStep.R05_StartWork:
                 case StoreMoveStep.R05_StartWork:
+                    CloseDoor(MoveInfo);
                     LogUtil.info(Name + "复位完成");
                     LogUtil.info(Name + "复位完成");
                     runStatus = StoreRunStatus.Runing;
                     runStatus = StoreRunStatus.Runing;
                     MoveInfo.EndMove();
                     MoveInfo.EndMove();
@@ -254,11 +274,13 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     ResetLog("复位： 进出轴回P1，冷藏门 ,搅拌气缸上升");
                     ResetLog("复位： 进出轴回P1，冷藏门 ,搅拌气缸上升");
                     ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
                     ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1, Config.InOutAxis_P1_Speed);
-              //      CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
+                    //      CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
+                    
                     CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                     CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                     break;
                     break;
-                case StoreMoveStep.P02_AxisToP1:
+                case StoreMoveStep.P02_AxisToP1:                    
                     MoveInfo.NextMoveStep(StoreMoveStep.P03_StartWork);
                     MoveInfo.NextMoveStep(StoreMoveStep.P03_StartWork);
+                    Stir_Axis_ServOn();
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     ResetLog("复位：启动吹气冷气，冷藏旋转，回温旋转，判断搅拌区是否需要搅拌 ");
                     ResetLog("复位：启动吹气冷气，冷藏旋转，回温旋转，判断搅拌区是否需要搅拌 ");
                     StartWork();
                     StartWork();
@@ -317,7 +339,7 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 return;
                 return;
             }
             }
-            IOManager.IOMove(IO_Type.Colding_Start, IO_VALUE.HIGH);
+            //IOManager.IOMove(IO_Type.Colding_Start, IO_VALUE.HIGH);
             IOManager.IOMove(IO_Type.Warming_Start, IO_VALUE.HIGH);
             IOManager.IOMove(IO_Type.Warming_Start, IO_VALUE.HIGH);
 
 
             //匀速旋转
             //匀速旋转
@@ -341,15 +363,12 @@ namespace OnlineStore.DeviceLibrary
 
 
         public bool RunAxis(bool isCheck)
         public bool RunAxis(bool isCheck)
         {
         {
-            IOManager.IOMove(IO_Type.Run_Signal, IO_VALUE.HIGH);
-            Thread.Sleep(1000);
             //打开所有轴
             //打开所有轴
             foreach (ConfigMoveAxis moveAxis in moveAxisList)
             foreach (ConfigMoveAxis moveAxis in moveAxisList)
             {
             {
                 string portName = moveAxis.DeviceName;
                 string portName = moveAxis.DeviceName;
                 short slvAddr = moveAxis.GetAxisValue();
                 short slvAddr = moveAxis.GetAxisValue();
-                int bro = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
-                ACServerManager.OpenPort(portName, bro);
+                ACServerManager.OpenPort(portName);
                 Thread.Sleep(50);
                 Thread.Sleep(50);
                 if (!IsIntSlvBlock)
                 if (!IsIntSlvBlock)
                 {
                 {
@@ -370,7 +389,6 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
             }
             }
             IsIntSlvBlock = true;
             IsIntSlvBlock = true;
-            IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.HIGH);
             return true;
             return true;
         }
         }
 
 
@@ -408,17 +426,20 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             return true;
             return true;
         }
         }
-
+        public  void Stir_Axis_ServOn() {
+            ACServerManager.AlarmClear(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue());
+            Thread.Sleep(50);
+            ACServerManager.ServoOn(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue());
+            Thread.Sleep(50);
+        }
+       public  void Stir_Axis_ServOff() { ACServerManager.ServoOff(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue()); }
         public void CloseAllAxis()
         public void CloseAllAxis()
         {
         {
-            LogUtil.info(Name + "关闭刹车，关闭伺服");
-            IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
+            LogUtil.info(Name + "关闭伺服");
             foreach (ConfigMoveAxis axis in moveAxisList)
             foreach (ConfigMoveAxis axis in moveAxisList)
             {
             {
                 ACServerManager.ServoOff(axis.DeviceName, axis.GetAxisValue());
                 ACServerManager.ServoOff(axis.DeviceName, axis.GetAxisValue());
             }
             }
-            Thread.Sleep(100);
-            IOManager.IOMove(IO_Type.Run_Signal, IO_VALUE.LOW);
         }
         }
 
 
         public override void StopRun()
         public override void StopRun()
@@ -431,7 +452,9 @@ namespace OnlineStore.DeviceLibrary
             StopMove(true);
             StopMove(true);
             TimeSpan span = DateTime.Now - StartTime;
             TimeSpan span = DateTime.Now - StartTime;
             IOManager.instance.CloseAllDO();
             IOManager.instance.CloseAllDO();
+            lastAutoRun = IO_VALUE.LOW;
             LogUtil.info(Name + ",停止运行，总运行时间：" + span.ToString());
             LogUtil.info(Name + ",停止运行，总运行时间：" + span.ToString());
+            mainTimer.Enabled = true;
         }
         }
 
 
         public override void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, MoveType storeMoveType)
         public override void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, MoveType storeMoveType)
@@ -448,24 +471,22 @@ namespace OnlineStore.DeviceLibrary
             this.alarmType = alarmType;
             this.alarmType = alarmType;
             if (alarmType.Equals(StoreAlarmType.AxisAlarm) | alarmType.Equals(StoreAlarmType.AxisMoveError))
             if (alarmType.Equals(StoreAlarmType.AxisAlarm) | alarmType.Equals(StoreAlarmType.AxisMoveError))
             {
             {
-                LogUtil.error(Name + "轴报警，关闭刹车，停止运动，关闭轴，打开报警灯");
-                IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
+                LogUtil.error(Name + "轴报警，停止运动，关闭轴，打开报警灯");
                 StopMove(true);
                 StopMove(true);
             }
             }
             else if (alarmType == StoreAlarmType.SuddenStop)
             else if (alarmType == StoreAlarmType.SuddenStop)
             {
             {
                 isInSuddenDown = true;
                 isInSuddenDown = true;
-                LogUtil.error(Name + "收到急停信号，关闭刹车，停止运动，关闭轴，打开报警灯 ");
-                IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
+                LogUtil.error(Name + "收到急停信号，停止运动，关闭轴，打开报警灯 ");
                 MoveInfo.EndMove();
                 MoveInfo.EndMove();
-                StopMove(true); 
+                StopMove(true);
                 UpdateLastStatus(StoreStatus.SuddenStop);
                 UpdateLastStatus(StoreStatus.SuddenStop);
             }
             }
             else if (alarmType.Equals(StoreAlarmType.NoAirCheck))
             else if (alarmType.Equals(StoreAlarmType.NoAirCheck))
             {
             {
                 isNoAirCheck = true;
                 isNoAirCheck = true;
-                LogUtil.error(Name + " 未检测到气压信号 ,打开刹车，停止运动，关闭轴，打开报警灯 ");
-                IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
+                LogUtil.error(Name + " 未检测到气压信号 ，停止运动，关闭轴，打开报警灯 ");
+
                 MoveInfo.EndMove();
                 MoveInfo.EndMove();
                 StopMove(true);
                 StopMove(true);
                 UpdateLastStatus(StoreStatus.SuddenStop);
                 UpdateLastStatus(StoreStatus.SuddenStop);
@@ -558,7 +579,9 @@ namespace OnlineStore.DeviceLibrary
                         if (result.Equals(false))
                         if (result.Equals(false))
                         {
                         {
                             LogUtil.error("料仓启动失败，继续等待下次启动！");
                             LogUtil.error("料仓启动失败，继续等待下次启动！");
+                            lastAutoRun = IO_VALUE.LOW;
                             mainTimer.Enabled = true;
                             mainTimer.Enabled = true;
+                            return;
                         }
                         }
                     }
                     }
                     lastAutoRun = autoSingle;
                     lastAutoRun = autoSingle;
@@ -669,9 +692,11 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     if (CurrStirInfo.StopTime <= DateTime.Now)
                     if (CurrStirInfo.StopTime <= DateTime.Now)
                     {
                     {
-                        UpdateCurrStirState(4);
+                        
                         LogUtil.info(CurrStirInfo.StirParam.LogName + "到达搅拌结束时间，搅拌轴停止运动，更新状态=4    ");
                         LogUtil.info(CurrStirInfo.StirParam.LogName + "到达搅拌结束时间，搅拌轴停止运动，更新状态=4    ");
                         AxisSuddenStop(Config.Stir_Axis);
                         AxisSuddenStop(Config.Stir_Axis);
+                        Thread.Sleep(2000);
+                        UpdateCurrStirState(4);
                     }
                     }
                 }
                 }
                 
                 
@@ -1003,7 +1028,6 @@ namespace OnlineStore.DeviceLibrary
 
 
         public override void StopMove(bool IsCloseAxis = false)
         public override void StopMove(bool IsCloseAxis = false)
         {
         {
-            IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
             StopAllAxis();
             StopAllAxis();
 
 
             if (IsCloseAxis)
             if (IsCloseAxis)
@@ -1122,6 +1146,7 @@ namespace OnlineStore.DeviceLibrary
 
 
                 string message = "";
                 string message = "";
                 List<CodeInfo> codeList = CodeManager.CameraScan();
                 List<CodeInfo> codeList = CodeManager.CameraScan();
+                LogUtil.info($"doorType:{doorType},weight:{weight}");
                 message = ProcessCode(codeList,doorType,weight);
                 message = ProcessCode(codeList,doorType,weight);
                 //string codeSize = "";
                 //string codeSize = "";
                 //foreach (CodeInfo obj in codeList)
                 //foreach (CodeInfo obj in codeList)
@@ -1166,7 +1191,7 @@ namespace OnlineStore.DeviceLibrary
                 //    }
                 //    }
                 //}
                 //}
 
 
-         //       IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
+                IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
 
 
                 CodeRevice(doorType,(int)weight,message);
                 CodeRevice(doorType,(int)weight,message);
             });
             });
@@ -1207,6 +1232,7 @@ namespace OnlineStore.DeviceLibrary
                 if ((!String.IsNullOrEmpty(codeSize)) && ncode.Equals(sizeCode))
                 if ((!String.IsNullOrEmpty(codeSize)) && ncode.Equals(sizeCode))
                 {
                 {
                     LogUtil.info(Name + "夹具弃用条码【"+ codeSize + "】：" + obj.X + "x" + obj.Y + "=" + obj.CodeStr);
                     LogUtil.info(Name + "夹具弃用条码【"+ codeSize + "】：" + obj.X + "x" + obj.Y + "=" + obj.CodeStr);
+                    //ncode = $"{ncode};{ncode};1";
                     continue;
                     continue;
                 }
                 }
 
 
@@ -1274,6 +1300,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
         }
         }
         private bool isInProcess = false;
         private bool isInProcess = false;
+        string RefrigeratorAlerm = "";
         public void server_connect_timer_Tick(object sender, EventArgs e)
         public void server_connect_timer_Tick(object sender, EventArgs e)
         {
         {
             if (isInProcess)
             if (isInProcess)
@@ -1294,6 +1321,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             HumitureController.QueryColdData(Config.Humiture_Colding_Port);
             HumitureController.QueryColdData(Config.Humiture_Colding_Port);
             HumitureController.QueryWarmData(Config.Humiture_Warming_Port);
             HumitureController.QueryWarmData(Config.Humiture_Warming_Port);
+            HumitureController.ColdLastData.Temperate = RefrigeratorController.queryData(Config.Refrigerator_Port, out _, out RefrigeratorAlerm, out _);
             HumidityProcess();
             HumidityProcess();
             LedProcess();
             LedProcess();
             isInProcess = false;
             isInProcess = false;
@@ -1315,6 +1343,8 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 sendMsg = CodeMsg;
                 sendMsg = CodeMsg;
             }
             }
+            if (sendMsg.Equals("") && !string.IsNullOrEmpty(RefrigeratorAlerm))
+                sendMsg = RefrigeratorAlerm;
             if (sendMsg.Equals(""))
             if (sendMsg.Equals(""))
             {
             {
                 if (runStatus.Equals(StoreRunStatus.Runing) && IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
                 if (runStatus.Equals(StoreRunStatus.Runing) && IOManager.IOValue(IO_Type.TinCheck_Clamping).Equals(IO_VALUE.HIGH))
@@ -1733,6 +1763,9 @@ namespace OnlineStore.DeviceLibrary
                     {
                     {
                         IOManager.IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH);
                         IOManager.IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH);
                     }
                     }
+                    else if(!UseBuzzer){
+                        IOManager.IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW);
+                    }
                     return;
                     return;
                 }
                 }
 
 
@@ -1784,21 +1817,6 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
             ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
         }
         }
-        private static void ACServerManager_LogEvent(InfoType type, string msg)
-        {
-            if (type.Equals(InfoType.Error))
-            {
-                LogUtil.error(msg);
-            }
-            else if (type.Equals(InfoType.Info))
-            {
-                LogUtil.info(msg);
-            }
-            else
-            {
-                LogUtil.debug(msg);
-            }
-        }
 
 
         public void CylinderMove(StoreMoveInfo moveInfo, string IoLowType, string IoHighType)
         public void CylinderMove(StoreMoveInfo moveInfo, string IoLowType, string IoHighType)
         {
         {

source/DeviceLibrary/acTinStore/TinStoreBean_InOut.cs

-using DeviceLib;
-using OnlineStore.Common;
+using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
@@ -179,7 +178,7 @@ namespace OnlineStore.DeviceLibrary
                 return false;
                 return false;
             }
             }
         }
         }
-        
+        int Spin_around_pos= 400000;
         protected override void InStoreProcess()
         protected override void InStoreProcess()
         {
         {
             StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
             StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
@@ -207,9 +206,11 @@ namespace OnlineStore.DeviceLibrary
                 InStoreLog(" 升降轴到P1[" + moveP.UpDown_P1 + "], 旋转轴到P1 [" + moveP.Middle_P1 + "] ");
                 InStoreLog(" 升降轴到P1[" + moveP.UpDown_P1 + "], 旋转轴到P1 [" + moveP.Middle_P1 + "] ");
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
+                OpenDoor(MoveInfo);
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_04_AxisToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_04_AxisToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 SI_05_InoutToP2();
                 SI_05_InoutToP2();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_05_InoutToP2))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_05_InoutToP2))
@@ -233,12 +234,18 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.SI_08_InOutToP1);
                 MoveInfo.NextMoveStep(StoreMoveStep.SI_08_InOutToP1);
                 InOutBackToP1(moveP.InOut_P1);
                 InOutBackToP1(moveP.InOut_P1);
                 InStoreLog("进出轴返回待机点P1, " + axis.ProName + "开始原点返回");
                 InStoreLog("进出轴返回待机点P1, " + axis.ProName + "开始原点返回");
-                ACAxisHomeMove(axis);
+                int pos = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
+                if (Math.Abs(pos) > Spin_around_pos)
+                {
+                    ACAxisHomeMove(axis);
+                }
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_08_InOutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_08_InOutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
                 MoveInfo.NextMoveStep(StoreMoveStep.SI_09_TargetAxisToP2);
                 MoveInfo.NextMoveStep(StoreMoveStep.SI_09_TargetAxisToP2);
-
+                SI_11_MoveToBag();
+                CloseDoor(MoveInfo);
                 if (MoveInfo.MoveParam.Position.PosType.Equals(1))
                 if (MoveInfo.MoveParam.Position.PosType.Equals(1))
                 {
                 {
                     InStoreLog("冷藏旋转轴到P2 [" + moveP.Cold_P2 + "] ,打开冷藏区门");
                     InStoreLog("冷藏旋转轴到P2 [" + moveP.Cold_P2 + "] ,打开冷藏区门");
@@ -250,13 +257,16 @@ namespace OnlineStore.DeviceLibrary
                     InStoreLog("回温旋转轴到P2 [" + moveP.Warm_P2 + "]");
                     InStoreLog("回温旋转轴到P2 [" + moveP.Warm_P2 + "]");
                     ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
                     ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
                 }
                 }
+                if (Config.IsUse_Tray_Check == 1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_09_TargetAxisToP2))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_09_TargetAxisToP2))
             {
             {
-                SI_11_MoveToBag();
+                //SI_11_MoveToBag();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_11_MoveToBag))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_11_MoveToBag))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.SI_12_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.SI_12_InoutToP3);
                 InStoreLog("进出轴到P3[" + moveP.InOut_P3 + "]  ");
                 InStoreLog("进出轴到P3[" + moveP.InOut_P3 + "]  ");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
@@ -282,11 +292,19 @@ namespace OnlineStore.DeviceLibrary
                 InOutBackToP1(moveP.InOut_P1);
                 InOutBackToP1(moveP.InOut_P1);
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_15_InOutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_15_InOutToP1))
-            { 
+            {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
                 SI_16_GoBack();
                 SI_16_GoBack();
+                if (MoveInfo.MoveParam.Position.PosType.Equals(1))
+                {
+                    InStoreLog(" 关闭冷藏区门");
+                    CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
+                }
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SI_16_GoBack))
             else if (MoveInfo.IsStep(StoreMoveStep.SI_16_GoBack))
             {
             {
+                InStoreEnd();
+                return;
                 if (MoveInfo.MoveParam.Position.PosType.Equals(1))
                 if (MoveInfo.MoveParam.Position.PosType.Equals(1))
                 {
                 {
                     MoveInfo.NextMoveStep(StoreMoveStep.SI_17_CloseColddoor);
                     MoveInfo.NextMoveStep(StoreMoveStep.SI_17_CloseColddoor);
@@ -447,11 +465,13 @@ namespace OnlineStore.DeviceLibrary
               //  storeStatus = StoreStatus.OutStoreExecute;
               //  storeStatus = StoreStatus.OutStoreExecute;
                 MoveInfo.NewMove(MoveType.OutStore, param); 
                 MoveInfo.NewMove(MoveType.OutStore, param); 
                 UpdateLastStatus(StoreStatus.OutStoreExecute,param.PosId);
                 UpdateLastStatus(StoreStatus.OutStoreExecute,param.PosId);
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutToP1);
                 ConfigMoveAxis axis = GetPosTAxis();
                 ConfigMoveAxis axis = GetPosTAxis();
+                AxisSuddenStop(axis);
+                Thread.Sleep(1000);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_01_InoutToP1);                
                 OutStoreLog(" 叉子先运动到P1 ，" + axis.ProName + "停止匀速运动");
                 OutStoreLog(" 叉子先运动到P1 ，" + axis.ProName + "停止匀速运动");
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
-                AxisSuddenStop(axis);
+                
 
 
                 return true;
                 return true;
             }
             }
@@ -475,32 +495,55 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             if (MoveInfo.IsStep(StoreMoveStep.SO_01_InoutToP1))
             if (MoveInfo.IsStep(StoreMoveStep.SO_01_InoutToP1))
             {
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_02_AxisHome);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_03_OpenCold);
                 ConfigMoveAxis axis = GetPosTAxis();
                 ConfigMoveAxis axis = GetPosTAxis();
                 OutStoreLog(" " + axis.ProName + "开始原点返回");
                 OutStoreLog(" " + axis.ProName + "开始原点返回");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                ACAxisHomeMove(axis);
+                int pos = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
+                if (Math.Abs(pos) > Spin_around_pos)
+                {
+                    ACAxisHomeMove(axis);
+                }
             }
             }
-            else if (MoveInfo.IsStep(StoreMoveStep.SO_02_AxisHome))
+            //else if (MoveInfo.IsStep(StoreMoveStep.SO_02_AxisHome))
+            //{
+            //    if (MoveInfo.MoveParam.Position.PosType.Equals(1))
+            //    {
+            //        MoveInfo.NextMoveStep(StoreMoveStep.SO_03_OpenCold);
+            //        OutStoreLog("打开冷藏区门 ");
+            //        CylinderMove(MoveInfo, IO_Type.ColdDoor_Close, IO_Type.ColdDoor_Open);
+            //    }
+            //    else
+            //    {
+            //        SO_04_ToBag();
+            //    }
+
+            //}
+            else if (MoveInfo.IsStep(StoreMoveStep.SO_03_OpenCold))
             {
             {
+                //StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_04_ToBag);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                ConfigMoveAxis axis = GetPosTAxis();
+                OutStoreLog(" 旋转轴至P2[" + moveP.Middle_P2 + "], 升降轴至P5[" + moveP.UpDown_P5 + "]，" + axis.ProName + "到P2");
+
+                ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
+
                 if (MoveInfo.MoveParam.Position.PosType.Equals(1))
                 if (MoveInfo.MoveParam.Position.PosType.Equals(1))
                 {
                 {
-                    MoveInfo.NextMoveStep(StoreMoveStep.SO_03_OpenCold);
+                    ACAxisMove(Config.Colding_Axis, moveP.Cold_P2, Config.ColdingAxis_P2_Speed);
                     OutStoreLog("打开冷藏区门 ");
                     OutStoreLog("打开冷藏区门 ");
                     CylinderMove(MoveInfo, IO_Type.ColdDoor_Close, IO_Type.ColdDoor_Open);
                     CylinderMove(MoveInfo, IO_Type.ColdDoor_Close, IO_Type.ColdDoor_Open);
                 }
                 }
                 else
                 else
                 {
                 {
-                    SO_04_ToBag();
+                    ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
                 }
                 }
-
-            }
-            else if (MoveInfo.IsStep(StoreMoveStep.SO_03_OpenCold))
-            {
-                SO_04_ToBag();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SO_04_ToBag))
             else if (MoveInfo.IsStep(StoreMoveStep.SO_04_ToBag))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_05_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_05_InoutToP3);
                 OutStoreLog("   进出轴至P3[" + moveP.InOut_P3 + "](库位取放料点) ");
                 OutStoreLog("   进出轴至P3[" + moveP.InOut_P3 + "](库位取放料点) ");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
@@ -531,24 +574,23 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     CodeMsg = MoveInfo.MoveParam.LogName + " 叉子从库位退出后，未检测到夹爪有料";
                     CodeMsg = MoveInfo.MoveParam.LogName + " 叉子从库位退出后，未检测到夹爪有料";
                     LogUtil.error(CodeMsg);
                     LogUtil.error(CodeMsg);
-                } 
+                }
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToDoorPosition);
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_10_ToDoorPosition);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                if (Config.IsUse_Tray_Check == 1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
                 OutStoreLog("旋转轴至P1[" + moveP.UpDown_P2 + "](待机点),升降轴至P2(进料口出料前点),");
                 OutStoreLog("旋转轴至P1[" + moveP.UpDown_P2 + "](待机点),升降轴至P2(进料口出料前点),");
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
+
+                OutStoreLog("关闭冷藏区门，");
+                CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
                 //}
                 //}
             } 
             } 
             else if (MoveInfo.IsStep(StoreMoveStep.SO_10_ToDoorPosition))
             else if (MoveInfo.IsStep(StoreMoveStep.SO_10_ToDoorPosition))
             {
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_11_OpenDoor);
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_11_OpenDoor);
-                OutStoreLog("关闭冷藏区门，");
-              //  CylinderMove(MoveInfo, IO_Type.Door_Down, IO_Type.Door_Up);
-                CylinderMove(MoveInfo, IO_Type.ColdDoor_Open, IO_Type.ColdDoor_Close);
-            }
-            else if (MoveInfo.IsStep(StoreMoveStep.SO_11_OpenDoor))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitNoTray);
                 OutStoreLog("等待仓门口无料盘 ");
                 OutStoreLog("等待仓门口无料盘 ");
                 if (MoveInfo.MoveParam.Position.IsTieBag())
                 if (MoveInfo.MoveParam.Position.IsTieBag())
                 {
                 {
@@ -556,14 +598,21 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Fixture, IO_VALUE.LOW));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Fixture, IO_VALUE.LOW));
                 }
                 }
                 else
                 else
-                { 
+                {
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Fixture, IO_VALUE.LOW));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Fixture, IO_VALUE.LOW));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_DoorLeft, IO_VALUE.LOW));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_DoorLeft, IO_VALUE.LOW));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_DoorRight, IO_VALUE.LOW));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_DoorRight, IO_VALUE.LOW));
                 }
                 }
+
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.SO_11_OpenDoor))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_12_WaitNoTray);
+                OpenDoor(MoveInfo);
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SO_12_WaitNoTray))
             else if (MoveInfo.IsStep(StoreMoveStep.SO_12_WaitNoTray))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 SO_13_InoutToP2();
                 SO_13_InoutToP2();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SO_13_InoutToP2))
             else if (MoveInfo.IsStep(StoreMoveStep.SO_13_InoutToP2))
@@ -591,20 +640,21 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SO_16_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SO_16_InoutToP1))
             {
             {
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SO_17_CloseDoor);
-            //    OutStoreLog("关闭仓门 ");
-            //  CylinderMove(MoveInfo, IO_Type.Door_Up, IO_Type.Door_Down);
-            //}
-            //else if (MoveInfo.IsStep(StoreMoveStep.SO_17_CloseDoor))
-            //{
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_17_CloseDoor);
+                OutStoreLog("关闭仓门 ");
+                CloseDoor(MoveInfo);
+            }
+            else if (MoveInfo.IsStep(StoreMoveStep.SO_17_CloseDoor))
+            {
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_18_WaitTake);
                 MoveInfo.NextMoveStep(StoreMoveStep.SO_18_WaitTake);
-
+                
                 int OutStoreWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.OutStoreWaitSeconds);
                 int OutStoreWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.OutStoreWaitSeconds);
                 if (OutStoreWaitSeconds <= 0)
                 if (OutStoreWaitSeconds <= 0)
                 {
                 {
                     OutStoreWaitSeconds = 600;
                     OutStoreWaitSeconds = 600;
                 }
                 }
-                OutStoreWaitSeconds = 10;
+                //OutStoreWaitSeconds = 10;
                 int ms = OutStoreWaitSeconds * 1000;
                 int ms = OutStoreWaitSeconds * 1000;
 
 
                 OutStoreLog(" 等待拿走物品，最多等待" + OutStoreWaitSeconds + "秒");
                 OutStoreLog(" 等待拿走物品，最多等待" + OutStoreWaitSeconds + "秒");
@@ -646,26 +696,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
         }
         }
 
 
-        private void SO_04_ToBag()
-        {
-         StoreMoveP moveP=   MoveInfo.MoveParam.MoveP;
-            MoveInfo.NextMoveStep(StoreMoveStep.SO_04_ToBag);
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-            ConfigMoveAxis axis = GetPosTAxis();
-            OutStoreLog(" 旋转轴至P2[" + moveP.Middle_P2 + "], 升降轴至P5[" + moveP.UpDown_P5 + "]，" + axis.ProName + "到P2");
-
-            ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
-            ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
-
-            if (MoveInfo.MoveParam.Position.PosType.Equals(1))
-            {
-                ACAxisMove(Config.Colding_Axis, moveP.Cold_P2, Config.ColdingAxis_P2_Speed);
-            }
-            else
-            {
-                ACAxisMove(Config.Warming_Axis, moveP.Warm_P2, Config.WarmingAxis_P2_Speed);
-            }
-        }
+        
         private void SO_13_InoutToP2()
         private void SO_13_InoutToP2()
         {
         {
             StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
             StoreMoveP moveP = MoveInfo.MoveParam.MoveP;
@@ -705,7 +736,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 if (storeMoveType.Equals(MoveType.InStore))
                 if (storeMoveType.Equals(MoveType.InStore))
                 {
                 {
-                    int newIndex = autoPositionIndex - 1;
+                    int newIndex = autoPositionIndex;
 
 
                     if (newIndex < 0)
                     if (newIndex < 0)
                     {
                     {
@@ -763,6 +794,7 @@ namespace OnlineStore.DeviceLibrary
                     else
                     else
                     {
                     {
                         string posid = PositionNumList[newIndex];
                         string posid = PositionNumList[newIndex];
+                        autoPositionIndex = newIndex;
                         InOutParam newParam = new InOutParam(MoveType.InStore, posid, autoDoorType, "AUTO"); 
                         InOutParam newParam = new InOutParam(MoveType.InStore, posid, autoDoorType, "AUTO"); 
                         //判断是否需要重置
                         //判断是否需要重置
                         if (CurrInOutACount >= Config.Box_ResetACount)
                         if (CurrInOutACount >= Config.Box_ResetACount)

source/DeviceLibrary/acTinStore/TinStoreBean_Partial.cs

@@ -6,7 +6,7 @@ using System.Linq;
 using System.Text;
 using System.Text;
 using System.Threading.Tasks; 
 using System.Threading.Tasks; 
 using System.Collections.Concurrent;
 using System.Collections.Concurrent;
-using DeviceLib;
+using System.Threading;
 
 
 namespace OnlineStore.DeviceLibrary
 namespace OnlineStore.DeviceLibrary
 {
 {
@@ -87,7 +87,11 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 ConfigMoveAxis axis = GetPosTAxis();
                 ConfigMoveAxis axis = GetPosTAxis();
                 MovePosLog("移库：" + axis.ProName + "回原点");
                 MovePosLog("移库：" + axis.ProName + "回原点");
-                ACAxisHomeMove(axis);
+                int pos = ACServerManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
+                if (Math.Abs(pos) > Spin_around_pos)
+                {
+                    ACAxisHomeMove(axis);
+                }
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.MG_02_AxisHome))
             else if (MoveInfo.IsStep(StoreMoveStep.MG_02_AxisHome))
             {
             {
@@ -106,6 +110,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.MG_04_ToBag))
             else if (MoveInfo.IsStep(StoreMoveStep.MG_04_ToBag))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.MG_05_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.MG_05_InoutToP3);
                 MovePosLog("移库：进出轴 至P3["+ moveP.InOut_P3 + "](库位取放料点）");
                 MovePosLog("移库：进出轴 至P3["+ moveP.InOut_P3 + "](库位取放料点）");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
@@ -126,17 +131,20 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.MG_07_UpdownToP6))
             else if (MoveInfo.IsStep(StoreMoveStep.MG_07_UpdownToP6))
             {
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.MG_08_InoutToP1);
                 MoveInfo.NextMoveStep(StoreMoveStep.MG_08_InoutToP1);
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                 MovePosLog("移库：进出轴返回P1,停止回温轴匀速运动");
                 MovePosLog("移库：进出轴返回P1,停止回温轴匀速运动");
                 InOutBackToP1(moveP.InOut_P1);
                 InOutBackToP1(moveP.InOut_P1);
                 AxisSuddenStop(Config.Warming_Axis);
                 AxisSuddenStop(Config.Warming_Axis);
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.MG_08_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.MG_08_InoutToP1))
-            { 
+            {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
                 TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
                 TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
                 MoveInfo.NextMoveStep(StoreMoveStep.MP_11_MoveToTBag);
                 MoveInfo.NextMoveStep(StoreMoveStep.MP_11_MoveToTBag);
                 UpdateLastStatus(StoreStatus.Rewarm_Putting, MoveInfo.MoveParam.TarPosId);
                 UpdateLastStatus(StoreStatus.Rewarm_Putting, MoveInfo.MoveParam.TarPosId);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                if (Config.IsUse_Tray_Check==1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
                 MovePosLog("移库：开始到回温库位，旋转轴 至P2["+ tPosition.MiddleAxis_P2 + "]（ 库位点）升降轴至P3["+ tPosition.UpDownAxis_IH_P3 + "](库位入库前点），回温区旋转轴回原点，"); 
                 MovePosLog("移库：开始到回温库位，旋转轴 至P2["+ tPosition.MiddleAxis_P2 + "]（ 库位点）升降轴至P3["+ tPosition.UpDownAxis_IH_P3 + "](库位入库前点），回温区旋转轴回原点，"); 
                 ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IH_P3, Config.UpDownAxis_P3_Speed);
                 ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IH_P3, Config.UpDownAxis_P3_Speed);
@@ -152,6 +160,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.MP_12_TargetAxisToP2))
             else if (MoveInfo.IsStep(StoreMoveStep.MP_12_TargetAxisToP2))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
                 TinStorePosition tPosition = MoveInfo.MoveParam.TarPosition;
                 MoveInfo.NextMoveStep(StoreMoveStep.MP_14_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.MP_14_InoutToP3);
                 MovePosLog("移库：叉子进入库位中，进出轴至P3["+ tPosition.InOutAxis_P3 + "]");
                 MovePosLog("移库：叉子进入库位中，进出轴至P3["+ tPosition.InOutAxis_P3 + "]");
@@ -179,6 +188,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.MP_17_InOutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.MP_17_InOutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
                 MoveInfo.NextMoveStep(StoreMoveStep.MP_19_GoBack);
                 MoveInfo.NextMoveStep(StoreMoveStep.MP_19_GoBack);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MovePosLog("移库：返回待机点，轴2/轴1动作至P1， 回温轴冷藏轴开始匀速旋转，");
                 MovePosLog("移库：返回待机点，轴2/轴1动作至P1， 回温轴冷藏轴开始匀速旋转，");
@@ -291,11 +301,14 @@ namespace OnlineStore.DeviceLibrary
                 
                 
                 MoveInfo.NewMove(MoveType.Stirring, param);
                 MoveInfo.NewMove(MoveType.Stirring, param);
                 UpdateLastStatus(StoreStatus.Mix_Taking, param.PosId);
                 UpdateLastStatus(StoreStatus.Mix_Taking, param.PosId);
-                MoveInfo.NextMoveStep(StoreMoveStep.ST_01_InoutToP1);
+                
                 ConfigMoveAxis axis = GetPosTAxis();
                 ConfigMoveAxis axis = GetPosTAxis();
+                AxisSuddenStop(axis);
+                Thread.Sleep(1000);
+                MoveInfo.NextMoveStep(StoreMoveStep.ST_01_InoutToP1);
                 OutStoreLog(" 送料1搅拌：进出轴到P1," + axis.ProName + "停止匀速旋转");
                 OutStoreLog(" 送料1搅拌：进出轴到P1," + axis.ProName + "停止匀速旋转");
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
-                AxisSuddenStop(axis);
+               
                  
                  
                 return true;
                 return true;
             }
             }
@@ -305,7 +318,6 @@ namespace OnlineStore.DeviceLibrary
                 return false;
                 return false;
             }
             }
         }
         }
-
        
        
 
 
         protected override void StirringProcess()
         protected override void StirringProcess()
@@ -328,6 +340,7 @@ namespace OnlineStore.DeviceLibrary
                 OutStoreLog(" 送料1搅拌：进出轴到P1," + axis.ProName + "停止匀速旋转");
                 OutStoreLog(" 送料1搅拌：进出轴到P1," + axis.ProName + "停止匀速旋转");
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
                 AxisSuddenStop(axis);
                 AxisSuddenStop(axis);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_01_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_01_InoutToP1))
             {
             {
@@ -347,6 +360,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_03_ToBag))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_03_ToBag))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_05_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_05_InoutToP3);
                 OutStoreLog(" 送料1搅拌：进出轴 至P3[" + moveP.InOut_P3 + "]");
                 OutStoreLog(" 送料1搅拌：进出轴 至P3[" + moveP.InOut_P3 + "]");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
@@ -373,9 +387,13 @@ namespace OnlineStore.DeviceLibrary
 
 
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_08_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_08_InoutToP1))
-            {
+            {                
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_09_MoveToStir);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_09_MoveToStir);
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
+                Stir_Axis_ServOn();
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                if (Config.IsUse_Tray_Check == 1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
                 OutStoreLog(" 送料1搅拌：移动到搅拌位置，升降轴到搅拌区高点P101 [" + Config.UpDownAxis_StirH_P101 + "],旋转轴到P101 [" + Config.UpDownAxis_StirH_P101 + "], 搅拌轴到P1[" + Config.Stir_Axis_P1 + "]");
                 OutStoreLog(" 送料1搅拌：移动到搅拌位置，升降轴到搅拌区高点P101 [" + Config.UpDownAxis_StirH_P101 + "],旋转轴到P101 [" + Config.UpDownAxis_StirH_P101 + "], 搅拌轴到P1[" + Config.Stir_Axis_P1 + "]");
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
                 ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
                 ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
@@ -386,15 +404,17 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_10_LocationDown);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_10_LocationDown);
                 OutStoreLog(" 送料1搅拌：搅拌气缸下降");
                 OutStoreLog(" 送料1搅拌：搅拌气缸下降");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
+                Stir_Axis_ServOff();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_10_LocationDown))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_10_LocationDown))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_11_InoutToP101);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_11_InoutToP101);
                 OutStoreLog(" 送料1搅拌：进出轴移动到搅拌区取放料点P101[" + Config.InOutAxis_Stir_P101 + "]");
                 OutStoreLog(" 送料1搅拌：进出轴移动到搅拌区取放料点P101[" + Config.InOutAxis_Stir_P101 + "]");
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_11_InoutToP101))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_11_InoutToP101))
-            {
+            {                
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_12_UpdownToP102);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_12_UpdownToP102);
                 OutStoreLog(" 送料1搅拌：升降轴下降到P102 [" + Config.UpDownAxis_StirL_P102 + "] ,更新搅拌区信息");
                 OutStoreLog(" 送料1搅拌：升降轴下降到P102 [" + Config.UpDownAxis_StirL_P102 + "] ,更新搅拌区信息");
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
@@ -413,12 +433,11 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_14_InoutToP1);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_14_InoutToP1);
                 OutStoreLog(" 送料1搅拌：进出轴后退到P1");
                 OutStoreLog(" 送料1搅拌：进出轴后退到P1");
                 InOutBackToP1(Config.InOutAxis_P1);
                 InOutBackToP1(Config.InOutAxis_P1);
-
-
-              
+                //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Stir, IO_VALUE.HIGH));
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_14_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_14_InoutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_15_MatchMixSolder);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_15_MatchMixSolder);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
                 OutStoreLog(" 送料1搅拌完成，判断是否需要 获取匹配的锡膏");
                 OutStoreLog(" 送料1搅拌完成，判断是否需要 获取匹配的锡膏");
@@ -467,6 +486,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_23_ToBag))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_23_ToBag))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_25_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_25_InoutToP3);
                 OutStoreLog(" 送料2搅拌：进出轴 至P3["+ tPosition.InOutAxis_P3 + "]");
                 OutStoreLog(" 送料2搅拌：进出轴 至P3["+ tPosition.InOutAxis_P3 + "]");
                 ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
@@ -494,7 +514,11 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_29_MoveToStir);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_29_MoveToStir);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                Stir_Axis_ServOn();
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
                 OutStoreLog(" 送料2搅拌：移动到搅拌位置，升降轴到搅拌区高点P101["+ Config.MiddleAxis_Stir_P101 + "],旋转轴到P101 ["+ Config.UpDownAxis_StirH_P101 + "], 搅拌轴到P2["+ Config.Stir_Axis_P2 + "]");
                 OutStoreLog(" 送料2搅拌：移动到搅拌位置，升降轴到搅拌区高点P101["+ Config.MiddleAxis_Stir_P101 + "],旋转轴到P101 ["+ Config.UpDownAxis_StirH_P101 + "], 搅拌轴到P2["+ Config.Stir_Axis_P2 + "]");
+                if (Config.IsUse_Tray_Check == 1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
                 ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
                 ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirH_P101, Config.UpDownAxis_P101_Speed);
                 ACAxisMove(Config.Stir_Axis, Config.Stir_Axis_P2, Config.StirAxis_P2_Speed);
                 ACAxisMove(Config.Stir_Axis, Config.Stir_Axis_P2, Config.StirAxis_P2_Speed);
@@ -504,9 +528,11 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_30_LocationDown);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_30_LocationDown);
                 OutStoreLog(" 送料2搅拌：搅拌气缸下降");
                 OutStoreLog(" 送料2搅拌：搅拌气缸下降");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
+                Stir_Axis_ServOff();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_30_LocationDown))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_30_LocationDown))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_31_InoutToP101);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_31_InoutToP101);
                 OutStoreLog(" 送料2搅拌：进出轴移动到搅拌区取放料点P101 ["+ Config.InOutAxis_Stir_P101 + "]");
                 OutStoreLog(" 送料2搅拌：进出轴移动到搅拌区取放料点P101 ["+ Config.InOutAxis_Stir_P101 + "]");
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
@@ -530,9 +556,11 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_34_InoutToP1);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_34_InoutToP1);
                 OutStoreLog(" 送料2搅拌：进出轴后退到P1");
                 OutStoreLog(" 送料2搅拌：进出轴后退到P1");
                 InOutBackToP1(Config.InOutAxis_P1);
                 InOutBackToP1(Config.InOutAxis_P1);
+                //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Stir, IO_VALUE.HIGH));
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.ST_34_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_34_InoutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_35_LocationUp);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_35_LocationUp);
                 OutStoreLog(" 送料2搅拌：搅拌气缸上升");
                 OutStoreLog(" 送料2搅拌：搅拌气缸上升");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
@@ -540,6 +568,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.ST_35_LocationUp))
             else if (MoveInfo.IsStep(StoreMoveStep.ST_35_LocationUp))
             {
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_41_StartStir);
                 MoveInfo.NextMoveStep(StoreMoveStep.ST_41_StartStir);
+                Stir_Axis_ServOn();
                 OutStoreLog(" 搅拌：开始搅拌，回温轴，搅拌轴，开始匀速旋转");
                 OutStoreLog(" 搅拌：开始搅拌，回温轴，搅拌轴，开始匀速旋转");
                 ACServerManager.SpeedMove(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue(), Config.StirAxis_P1_Speed);
                 ACServerManager.SpeedMove(Config.Stir_Axis.DeviceName, Config.Stir_Axis.GetAxisValue(), Config.StirAxis_P1_Speed);
                 StartWork(2);
                 StartWork(2);
@@ -585,9 +614,11 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_53_LocationDown);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_53_LocationDown);
                 OutStoreLog(" 搅拌1回库：搅拌气缸下降");
                 OutStoreLog(" 搅拌1回库：搅拌气缸下降");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
+                Stir_Axis_ServOff();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_53_LocationDown))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_53_LocationDown))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_54_InoutToP101);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_54_InoutToP101);
                 OutStoreLog(" 搅拌1回库：进出轴到P101 ["+ Config.InOutAxis_Stir_P101 + "]");
                 OutStoreLog(" 搅拌1回库：进出轴到P101 ["+ Config.InOutAxis_Stir_P101 + "]");
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
@@ -610,11 +641,15 @@ namespace OnlineStore.DeviceLibrary
                 OutStoreLog(" 搅拌1回库：进出轴返回P1，更新搅拌状态为物料1已取出");
                 OutStoreLog(" 搅拌1回库：进出轴返回P1，更新搅拌状态为物料1已取出");
                 InOutBackToP1(Config.InOutAxis_P1);
                 InOutBackToP1(Config.InOutAxis_P1);
                 UpdateCurrStirState(5);
                 UpdateCurrStirState(5);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_57_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_57_InoutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_58_MoveToBag);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_58_MoveToBag);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                if (Config.IsUse_Tray_Check == 1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
                 OutStoreLog(" 搅拌1回库：移动到库位点，旋转轴 至P2["+ moveP.UpDown_P3 + "],升降轴至P3["+ moveP.Middle_P2 + "]，回温轴回原点"); 
                 OutStoreLog(" 搅拌1回库：移动到库位点，旋转轴 至P2["+ moveP.UpDown_P3 + "],升降轴至P3["+ moveP.Middle_P2 + "]，回温轴回原点"); 
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
@@ -628,6 +663,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_59_TargetAxisToP2))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_59_TargetAxisToP2))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_61_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_61_InoutToP3);
                 OutStoreLog(" 搅拌1回库：叉子进入库位中，进出轴至P3["+ moveP.InOut_P3 + "]");
                 OutStoreLog(" 搅拌1回库：叉子进入库位中，进出轴至P3["+ moveP.InOut_P3 + "]");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
@@ -653,6 +689,8 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_64_InOutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_64_InOutToP1))
             {
             {
+
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.PosId, MoveInfo.MoveParam.PosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_71_LocationUp);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_71_LocationUp);
                 OutStoreLog(" 搅拌2回库：进出轴返回，定位气缸上升，");
                 OutStoreLog(" 搅拌2回库：进出轴返回，定位气缸上升，");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
@@ -664,6 +702,7 @@ namespace OnlineStore.DeviceLibrary
             {
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_72_MoveToStir);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_72_MoveToStir);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                Stir_Axis_ServOn();
                 OutStoreLog(" 搅拌2回库：移动到搅拌位置，升降轴到搅拌区低点P102 ["+ Config.UpDownAxis_StirL_P102 + "]，旋转轴到P101 ["+ Config.MiddleAxis_Stir_P101 + "], 搅拌轴到P2 ["+ Config.Stir_Axis_P2 + "]");
                 OutStoreLog(" 搅拌2回库：移动到搅拌位置，升降轴到搅拌区低点P102 ["+ Config.UpDownAxis_StirL_P102 + "]，旋转轴到P101 ["+ Config.MiddleAxis_Stir_P101 + "], 搅拌轴到P2 ["+ Config.Stir_Axis_P2 + "]");
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_StirL_P102, Config.UpDownAxis_P102_Speed);
                 ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
                 ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_Stir_P101, Config.MiddleAxis_P101_Speed);
@@ -675,9 +714,11 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_73_LocationDown);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_73_LocationDown);
                 OutStoreLog(" 搅拌2回库：搅拌气缸下降");
                 OutStoreLog(" 搅拌2回库：搅拌气缸下降");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Up, IO_Type.StirLocation_Down);
+                Stir_Axis_ServOff();
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_73_LocationDown))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_73_LocationDown))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorIn));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_74_InoutToP101);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_74_InoutToP101);
                 OutStoreLog(" 搅拌2回库：进出轴到P101 ["+ Config.InOutAxis_Stir_P101 + "]"); 
                 OutStoreLog(" 搅拌2回库：进出轴到P101 ["+ Config.InOutAxis_Stir_P101 + "]"); 
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
                 ACAxisMove(Config.InOut_Axis, Config.InOutAxis_Stir_P101, Config.InOutAxis_P101_Speed);
@@ -703,8 +744,11 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_77_InoutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_77_InoutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.DoorBack));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_78_MoveToBag);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_78_MoveToBag);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                if (Config.IsUse_Tray_Check == 1)
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TinCheck_Clamping, IO_VALUE.HIGH));
                 OutStoreLog(" 搅拌2回库：移动到库位点，旋转轴 至P2["+ tPosition.MiddleAxis_P2 + "],升降轴至P3["+ tPosition.UpDownAxis_IH_P3 + "]，回温轴到P2 ["+ tPosition.WarmAxis_P2 + "]");
                 OutStoreLog(" 搅拌2回库：移动到库位点，旋转轴 至P2["+ tPosition.MiddleAxis_P2 + "],升降轴至P3["+ tPosition.UpDownAxis_IH_P3 + "]，回温轴到P2 ["+ tPosition.WarmAxis_P2 + "]");
                 ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.Middle_Axis, tPosition.MiddleAxis_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IH_P3, Config.UpDownAxis_P3_Speed);
                 ACAxisMove(Config.UpDown_Axis, tPosition.UpDownAxis_IH_P3, Config.UpDownAxis_P3_Speed);
@@ -713,11 +757,12 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_78_MoveToBag))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_78_MoveToBag))
             {
             {
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SR_79_TargetAxisToP2);
-            //    OutStoreLog(" 搅拌2回库：冷藏轴或回温轴到P2点");
-            //}
-            //else if (MoveInfo.IsStep(StoreMoveStep.SR_79_TargetAxisToP2))
-            //{
+                //    MoveInfo.NextMoveStep(StoreMoveStep.SR_79_TargetAxisToP2);
+                //    OutStoreLog(" 搅拌2回库：冷藏轴或回温轴到P2点");
+                //}
+                //else if (MoveInfo.IsStep(StoreMoveStep.SR_79_TargetAxisToP2))
+                //{
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.In));
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_81_InoutToP3);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_81_InoutToP3);
                 OutStoreLog(" 搅拌2回库：叉子进入库位中，进出轴至P3 ["+ tPosition.InOutAxis_P3 + "]");
                 OutStoreLog(" 搅拌2回库：叉子进入库位中，进出轴至P3 ["+ tPosition.InOutAxis_P3 + "]");
                 ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
                 ACAxisMove(Config.InOut_Axis, tPosition.InOutAxis_P3, Config.InOutAxis_P3_Speed);
@@ -737,6 +782,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.SR_83_Clamping_Relax))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_83_Clamping_Relax))
             {
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_84_InOutToP1);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_84_InOutToP1);
+                Stir_Axis_ServOn();
                 OutStoreLog(" 搅拌2回库：叉子从库位中返回，进出轴动作至P1，搅拌气缸上升，更新搅拌状态为全部完成");
                 OutStoreLog(" 搅拌2回库：叉子从库位中返回，进出轴动作至P1，搅拌气缸上升，更新搅拌状态为全部完成");
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                 CylinderMove(MoveInfo, IO_Type.StirLocation_Down, IO_Type.StirLocation_Up);
                 InOutBackToP1(Config.InOutAxis_P1);
                 InOutBackToP1(Config.InOutAxis_P1);
@@ -745,6 +791,7 @@ namespace OnlineStore.DeviceLibrary
             }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SR_84_InOutToP1))
             else if (MoveInfo.IsStep(StoreMoveStep.SR_84_InOutToP1))
             {
             {
+                HIKCamera.CameraGrabOne(HIKCamera.GetFixtureStateFilename(MoveInfo.MoveParam.TarPosId, MoveInfo.MoveParam.TarPosCode, MoveInfo.MoveType, HIKCamera.FixtureState.Out));
                 TimeSpan span = moveWatch.Elapsed;
                 TimeSpan span = moveWatch.Elapsed;
                 moveWatch.Stop();
                 moveWatch.Stop();
                 LogUtil.info(Name + "  " + MoveInfo.MoveParam.LogName + " 搅拌物料回库完成，耗时【" + FormUtil.GetSpanStr(span) + "】！");
                 LogUtil.info(Name + "  " + MoveInfo.MoveParam.LogName + " 搅拌物料回库完成，耗时【" + FormUtil.GetSpanStr(span) + "】！");
@@ -786,7 +833,7 @@ namespace OnlineStore.DeviceLibrary
                  
                  
                 runStatus = StoreRunStatus.Busy; 
                 runStatus = StoreRunStatus.Busy; 
                 MoveInfo.NewMove(MoveType.Stirring, param);
                 MoveInfo.NewMove(MoveType.Stirring, param);
-
+                //Thread.Sleep(2000);
                 UpdateLastStatus(StoreStatus.Mix_Putting, MoveInfo.MoveParam.PosId);
                 UpdateLastStatus(StoreStatus.Mix_Putting, MoveInfo.MoveParam.PosId);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_51_InoutBack);
                 MoveInfo.NextMoveStep(StoreMoveStep.SR_51_InoutBack);
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));

source/DeviceLibrary/device/HC/ACServerManager.cs

+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace OnlineStore.DeviceLibrary
+{ 
+    /// <summary>
+    /// 外部调用的接口放在此文件中
+    /// </summary>
+    public partial class ACServerManager
+    {
+        public static bool IsShowMsg = false ;
+        static HCAxisManager HCAxis = new HCAxisManager();
+        public static bool OpenPort(string portName)
+        {            
+            return true;
+        }
+        public static void ColsePort(string portName)
+        {            
+        }
+
+        public static void CloseAllPort()
+        {
+
+        }
+              
+     
+        /// <summary>
+        /// 是否成功打开伺服
+        /// </summary> 
+        public static bool ServerOnStatus(string portName, short slvAddr)
+        {
+            return HCAxis.IsServeoOn(portName, slvAddr);
+        }
+        /// <summary>
+        /// 是否原点返回完成
+        /// </summary> 
+        public static bool IsHomeMoveEnd(string portName, short slvAddr)
+        {
+            return HCAxis.IsHomeMoveEnd(portName, slvAddr);
+        }
+        public static void InitSlvAddr(string portName, int slvAddr)
+        {            
+        }
+
+        public static void InitSlvAddr(string portName, int slvAddr,int targetSpeed,int addSpeed,int delSpeed )
+        {
+            
+        }
+        public static void ServoOn(string portName, short slvAddr)
+        {
+            HCAxis.ServoOn(portName, slvAddr);
+        }
+
+        public static void ServoOff(string portName, short slvAddr)
+        {
+            HCAxis.ServoOff(portName, slvAddr);
+        }
+
+        public static void RelMove(string portName, short slvAddr, int targetPosition, int targetSpeed, int ptpAcc, int ptpDec)
+        {
+            HCAxis.RelMove(portName, slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
+        }
+
+        public static void HomeMove(string portName, short slvAddr, int highVel,int lowVel,int acc)
+        {
+            try
+            {
+                //先判断是否在原点，如果已经在原点，先向正方向走2000
+                int homeSingle = GetHomeSingle(portName, slvAddr);
+                if (homeSingle.Equals(1))
+                {
+                    int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
+                    if (isHomeEnd.Equals(1))
+                    {
+                        int value = 2000;
+                        LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮且回过原点，需要先相对走" + value);
+                        HCAxis.RelMove(portName, slvAddr, value, highVel, acc, acc);
+                        bool isStop = false;
+                        for (int i = 0; i <= 10; i++)
+                        {
+                            Thread.Sleep(200);
+                            if (GetBusyStatus(portName, slvAddr).Equals(0))
+                            {
+                                isStop = true;
+                                LogUtil.info("轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已结束");
+                                break;
+                            }
+                        }
+                        if (!isStop)
+                        {
+                            LogUtil.info("轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已等待2分钟，直接停止");
+                            SuddenStop(portName, slvAddr);
+                        }
+                    }
+                    else
+                    {
+                        int volSpeed = Math.Abs(acc / 5);
+                        int time = 1500;
+                        LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮但未回过原点，先匀速向上走" + time + "，速度[" + volSpeed + "]");
+
+                        //需要匀速向上走
+                        ACServerManager.SpeedMove(portName, slvAddr, volSpeed);
+                        Thread.Sleep(time);
+                        LogUtil.info("轴【" + portName + "_" + slvAddr + "】匀速 已等待" + time + "，直接停止");
+                        SuddenStop(portName, slvAddr);
+                        Thread.Sleep(100);
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("轴【" + portName + "_" + slvAddr + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
+            }
+            HCAxis.HomeMove(portName, slvAddr, highVel, lowVel, acc);
+        }
+        public static void SpeedMove(string portName, short slvAddr, int speed)
+        {
+            HCAxis.SpeedMove(portName, slvAddr, speed);
+        }
+
+        public static bool isInPosition(ConfigMoveAxis Axis, int PPosition)
+        {
+            int outCount = ACServerManager.GetActualtPosition(Axis.DeviceName, Axis.GetAxisValue());
+            int errorCount = Math.Abs(outCount - PPosition);
+            if (errorCount <= Axis.CanErrorCountMin)
+            {
+                return true;
+            }
+            else
+            {
+                return false;
+            }
+        }
+
+        public static void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed, int ptpAcc, int ptpDec)
+        {            
+            //绝对运动
+            HCAxis.AbsMove(portName, slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
+        }
+    }
+}

source/DeviceLibrary/device/HC/ACServerManager_Partial.cs

+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading;
+
+namespace OnlineStore.DeviceLibrary
+{
+
+    partial class ACServerManager
+    {
+        
+        public static void SuddenStop(ConfigMoveAxis axis)
+        {
+            if (GetBusyStatus(axis.DeviceName, axis.GetAxisValue()).Equals(1))
+            {
+                SuddenStop(axis.DeviceName, axis.GetAxisValue());
+            }
+        }
+        public static void SuddenStop(string portName, short slvAddr)
+        {
+            HCAxis.SuddenStop(portName, slvAddr);
+        }
+
+        public static void AlarmClear(string portName, short slvAddr)
+        {
+            HCAxis.AlarmClear(portName, slvAddr);
+        }
+        public static int GetTargetPosition(string portName, short slvAddr)
+        {
+            return HCAxis.GetTargetPosition(portName, slvAddr);
+        }
+
+        public static int GetActualtPosition(string portName, short slvAddr)
+        {
+            return HCAxis.GetActualtPosition(portName, slvAddr);
+        }
+
+        public static int GetAlarmStatus(string portName, short slvAddr)
+        {
+            return HCAxis.GetAlarmStatus(portName, slvAddr);
+        }
+
+        public static int GetBusyStatus(string portName, short slvAddr)
+        {
+            return HCAxis.GetBusyStatus(portName, slvAddr);
+        }
+
+        public static int GetHomeEndStatus(string portName, short slvAddr)
+        {
+            return HCAxis.GetHomeEndStatus(portName, slvAddr);
+        }
+
+        public static int GetHomeSingle(string portName, short slvAddr)
+        {
+            return HCAxis.GetHomeSingle(portName, slvAddr);
+        }
+        /// <summary>
+        /// 负极限
+        /// </summary> 
+        public static int GetLimitNegativeSingle(string portName, short slvAddr)
+        {
+            return HCAxis.GetLimitNegativeSingle(portName, slvAddr);
+        }
+        /// <summary>
+        /// 正极限
+        /// </summary> 
+        public static int GetLimitPositiveSingle(string portName, short slvAddr)
+        {
+            return HCAxis.GetLimitPositiveSingle(portName, slvAddr);
+        }
+    }
+}

source/DeviceLibrary/device/HC/HCAxisManager.cs

+using HuichuanLibrary;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    public class HCAxisManager 
+    {
+        public bool OpenCard()
+        {
+            return HCBoardManager.OpenCard();
+        }
+
+        public bool CloseCard()
+        {
+            return HCBoardManager.CloseCard();
+        }
+        public void AbsMove(string portName, short slvAddr, int targetPosition, int targetSpeed, int ptpAcc, int ptpDec)
+        {
+            HCLogUtil.LOGGER.Info($"slvAddr={slvAddr},targetPosition={targetPosition},targetSpeed={targetSpeed},ptpAcc={ptpAcc},ptpDec={ptpDec}");
+            HCBoardManager.AbsMove((short)slvAddr, targetPosition, targetSpeed, ptpAcc, ptpDec);
+        }
+
+        public void AlarmClear(string portName, short slvAddr)
+        {
+            HCBoardManager.ClearAxisSts((short)slvAddr);
+        }
+        public bool OpenPort(string portName)
+        {
+            return true;
+        }
+        public void ClearSpeed()
+        {
+        }
+
+        public void CloseAllPort()
+        {
+        }
+
+        public void ColsePort(string portName)
+        {
+        }
+
+
+        public void InitSlvAddr(string portName, short slvAddr, int targetSpeed, int addSpeed, int delSpeed)
+        {
+        }
+
+
+        public int GetActualtPosition(string portName, short slvAddr)
+        {
+            return (int)HCBoardManager.GetAxisCurrPos(slvAddr);
+        }
+
+        public int GetAlarmStatus(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
+            return axisS.ALM;
+        }
+
+        public int GetBusyStatus(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
+            return axisS.BUSY;
+        }
+
+        public int GetHomeEndStatus(string portName, short slvAddr)
+        {
+            return (int)HCBoardManager.GetHomeStatus(slvAddr);
+        }
+
+        public int GetHomeSingle(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
+            return axisS.ALM;
+        }
+
+        public int GetLimitNegativeSingle(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
+            return axisS.NEL;
+        }
+        public int GetLimitPositiveSingle(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
+            return axisS.PEL;
+        }
+
+        public int GetTargetPosition(string portName, short slvAddr)
+        {
+            return (int)HCBoardManager.GetAxisPrfPos(slvAddr);
+        }
+
+        public void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
+        {
+            HCBoardManager.StartHomeMove(slvAddr, (uint)highVel, (uint)lowVel, (uint)acc);
+        }
+        public bool IsHomeMoveEnd(string portName, short slvAddr)
+        {
+            return HCBoardManager.HomeingIsEnd(slvAddr);
+        }
+
+        public bool isInPosition(string portName, short slvAddr, int PPosition, int canErrorCount, bool isLog = false)
+        {
+            return HCBoardManager.IsInPosition(slvAddr, PPosition, canErrorCount);
+        }
+        public void RelMove(string portName, short slvAddr, int position, int targetSpeed, int ptpAcc, int ptpDec)
+        {
+            HCBoardManager.RelMove(slvAddr, position, targetSpeed, ptpAcc, ptpDec);
+        }
+
+        public bool IsServeoOn(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);
+            return axisS.ServoOn.Equals(1);
+        }
+
+        public void ServoOff(string portName, short slvAddr)
+        {
+            HCBoardManager.ServoOff(slvAddr);
+        }
+
+        public void ServoOn(string portName, short slvAddr)
+        {
+            HCBoardManager.ServoOn(slvAddr);
+        }
+
+        public void SpeedMove(string portName, short slvAddr, int speed)
+        {
+            HCBoardManager.SpeedMove(slvAddr, speed);
+        }
+        public void SuddenStop(string portName, short slvAddr)
+        {
+            HCBoardManager.AxisStop(slvAddr);
+        }
+        public bool AbsMoveIsEnd(string portName, short axisNo, int targetPosition, int canErrorCount, out bool countError)
+        {
+            countError = false;
+            bool isOk = HCBoardManager.MoveIsEnd(axisNo);
+            if (isOk)
+            {
+                if (HCBoardManager.IsInPosition(axisNo, targetPosition, canErrorCount))
+                {
+                    return true;
+                }
+                else
+                {
+                    countError = true;
+                }
+            }
+            return false;
+        }
+        public short GetErrorCode(string portName, short slvAddr)
+        {
+            AxisSts axisS = HCBoardManager.GetAxisSts(slvAddr);            
+            HCLogUtil.LOGGER.Info(axisS.ToStr());
+            return HCBoardManager.GetAxErrCode(slvAddr);
+        }
+    }
+}

source/DeviceLibrary/device/IO/HCIOManager.cs

+using HuichuanLibrary;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    public class HCIOManager
+    {
+        public void CloseAllConnection()
+        {
+            HCBoardManager.CloseCard();
+        }
+
+        public void CloseAllDO()
+        {
+            HCBoardManager.CloseAllDO();
+        }
+
+        public bool ConnectionIOList(List<string> dIODeviceNameList)
+        {
+            if (!HCBoardManager.CardInitOk())
+            {
+                HCBoardManager.InitConfig("", "", "HCBOARD");
+                if (!HCBoardManager.OpenCard())
+                {
+                    LogUtil.info("板卡第一次打开失败,关闭后重新打开");
+                    HCBoardManager.CloseCard();
+                    Thread.Sleep(2000);
+                    return HCBoardManager.OpenCard();
+                }
+            }
+            return true;
+        }
+
+        public IO_VALUE GetDIValue(string deviceName, byte slaveID, ushort index)
+        {
+            short v = HCBoardManager.GetBitDI((short)index);
+            return (IO_VALUE)v;
+        }
+
+        public IO_VALUE GetDOValue(string deviceName, byte slaveID, ushort index)
+        {
+            short v = HCBoardManager.GetBitDO((short)index);
+            return (IO_VALUE)v;
+        }
+
+        public IO_VALUE GetIOValue(ConfigIO configIO)
+        {
+            short index =(short) configIO.GetIOAddr();
+            if (configIO.ProType=="DI")
+                return (IO_VALUE)HCBoardManager.GetBitDI(index);
+            else
+                return (IO_VALUE)HCBoardManager.GetBitDO(index);
+
+        }
+
+        public void ReadAllDI(string deviceName, byte slaveId)
+        { 
+        }
+
+        public void ReadAllDO(string deviceName, byte slaveId)
+        { 
+        }
+        public short GetAdVal(short index)
+        {
+            short v = HCBoardManager.GetAdVal(index);
+            return v;
+        }
+        public void WriteSingleDO(string deviceName, byte slaveId, ushort index, IO_VALUE value, int time)
+        {
+            try
+            {
+                short v = (short)value;
+                HCBoardManager.SetBitDO((short)index, v);
+
+                short targetV = 0;
+                if (v.Equals((short)0))
+                {
+                    targetV = 1;
+                }
+
+                //写入之后，等待指定间隔后回写
+                System.Timers.Timer mytimer = new System.Timers.Timer(time);
+                mytimer.Elapsed += (o1, e1) =>
+                {
+                    try
+                    {
+                        HCBoardManager.SetBitDO((short)index, targetV);
+                    }
+                    catch (Exception ex)
+                    {
+                        LogUtil.error("**********定时回写入 出错：" + ex.StackTrace);
+                    }
+                };
+                mytimer.AutoReset = false;
+                mytimer.Enabled = true;
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("AIO WriteSingleDO [" + index + "] 出错：" + ex.ToString());
+            }
+        }
+
+        public void WriteSingleDO(string deviceName, byte slaveId, ushort index, IO_VALUE value)
+        {
+            short v = (short)value;
+            HCBoardManager.SetBitDO((short)index, v);
+
+        }
+    }
+}

source/DeviceLibrary/device/IO/IOManager.cs

@@ -10,19 +10,19 @@ namespace OnlineStore.DeviceLibrary
 {
 {
     public abstract class IOManager
     public abstract class IOManager
     {
     {
-        public static IOManager instance = null;
+        public static HCIOManager instance = null;
 
 
         public abstract void ConnectionIOList(List<string> dIODeviceNameList);
         public abstract void ConnectionIOList(List<string> dIODeviceNameList);
 
 
 
 
         #region KNDIO
         #region KNDIO
-        
+
         public static void IOMove(string ioType, IO_VALUE ioValue)
         public static void IOMove(string ioType, IO_VALUE ioValue)
         {
         {
             if (StoreManager.Config.StoreDOList.ContainsKey(ioType))
             if (StoreManager.Config.StoreDOList.ContainsKey(ioType))
             {
             {
-                ConfigIO configIo = StoreManager.Config.StoreDOList[ioType]; 
-                instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue); 
+                ConfigIO configIo = StoreManager.Config.StoreDOList[ioType];
+                instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
                 Thread.Sleep(60);
                 Thread.Sleep(60);
             }
             }
             else
             else
@@ -68,9 +68,9 @@ namespace OnlineStore.DeviceLibrary
         #endregion
         #endregion
         public static void Init()
         public static void Init()
         {
         {
-            instance = new AIOBOXManager();
+            instance = new HCIOManager();
         }
         }
-        public abstract void ReadAllDI(string deviceName, byte slaveId); 
+        public abstract void ReadAllDI(string deviceName, byte slaveId);
 
 
         public abstract void ReadAllDO(string deviceName, byte slaveId);
         public abstract void ReadAllDO(string deviceName, byte slaveId);
 
 
@@ -83,7 +83,7 @@ namespace OnlineStore.DeviceLibrary
 
 
 
 
         public abstract IO_VALUE GetDOValue(string deviceName, byte slaveID, ushort v);
         public abstract IO_VALUE GetDOValue(string deviceName, byte slaveID, ushort v);
-         
+
 
 
         public abstract IO_VALUE GetIOValue(ConfigIO configIO);
         public abstract IO_VALUE GetIOValue(ConfigIO configIO);
 
 

source/DeviceLibrary/device/RefrigeratorController.cs

+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OnlineStore
+{
+    public class RefrigeratorController
+    {
+        private static int bautRate = 9600;//波特率
+        private static Parity parity = Parity.None;//校验位
+        private static int dataBits = 8;//数据位
+        private static StopBits stopBits = StopBits.One; //停止位
+        private static Dictionary<string, AcSerialBean> SerialMap = new Dictionary<string, AcSerialBean>();
+        private static string LogName = "";
+        
+        private static AcSerialBean GetSerialBean(string port)
+        {
+            if (SerialMap.ContainsKey(port))
+            {
+                return SerialMap[port];
+            }
+            return null;
+        }
+        public static void OpenAll(string[] ports)
+        {
+            foreach (string port in ports)
+            {
+                Init(port);
+            }
+        }
+        public static bool Init(string port)
+        {
+            if (SerialMap.ContainsKey(port))
+            {
+                return true;
+            }
+            LogName = "制冷机[" + port + "]";
+
+            AcSerialBean sb = new AcSerialBean(port, bautRate, parity, dataBits, stopBits);
+
+            try
+            {
+                if (sb.openPort())
+                {
+                    if (SerialMap.ContainsKey(port))
+                    {
+                        SerialMap.Remove(port);
+                    }
+                    SerialMap.Add(port, sb);
+                    return true;
+                }
+                else
+                {
+                    LogUtil.error(LogName + "串口打开失败！");
+                    return false;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(LogName + " 打开串口出错：" + ex.ToString());
+            }
+            return true;
+        }
+
+        public static bool IsRun(string port)
+        {
+            if (GetSerialBean(port) != null)
+            {
+                return true;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 释放资源
+        /// </summary>
+        public static void Release(params string[] ports)
+        {
+            if (ports.Length <= 0)
+            {
+                ports = (new List<string>(SerialMap.Keys)).ToArray();
+            }
+            foreach (string port in ports)
+            {
+                try
+                {
+                    AcSerialBean sb = GetSerialBean(port);
+                    if (sb != null)
+                    {
+                        sb.closePort();
+                    }
+                    //IsRun = false;
+                    SerialMap.Remove(port);
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error("Release Humiture port [" + port + "] error :" + ex.ToString());
+                }
+            }
+        }
+
+        /// <summary>
+        /// 返回温度和湿度
+        /// </summary>
+        /// <returns></returns>
+        public static double queryData(string port,out string state,out string als,out string sls)
+        {
+
+            Dictionary<uint, string> AlertState = new Dictionary<uint, string>();
+            AlertState.Add(0b10000000, "压力开关报警");
+            AlertState.Add(0b01000000, "紧急外部报警");
+            AlertState.Add(0b00100000, "普通外部报警");
+            AlertState.Add(0b00010000, "超出试用时间报警");
+            AlertState.Add(0b00001000, "库温超下限报警");
+            AlertState.Add(0b00000100, "库温超上限报警");
+            AlertState.Add(0b00000010, "化霜探头故障报警");
+            AlertState.Add(0b00000001, "库温探头故障报警");
+            Dictionary<uint, string> RunState = new Dictionary<uint, string>();
+            RunState.Add(0b10000000, "保留");
+            RunState.Add(0b01000000, "保留");
+            RunState.Add(0b00100000, "保留");
+            RunState.Add(0b00010000, "制冷或制热状态");
+            RunState.Add(0b00001000, "风机状态");
+            RunState.Add(0b00000100, "制热开机状态");
+            RunState.Add(0b00000010, "制冷开机状态");
+            RunState.Add(0b00000001, "化霜状态");
+
+            state = "";
+            als = "";
+            sls = "";
+
+            AcSerialBean sb = GetSerialBean(port);
+            if (sb == null)
+            {
+                return -1;
+            }
+            byte[] sendData = new byte[7];
+            sendData[0] = 0x01;
+            sendData[1] = 0x42;
+            sendData[2] = 0x09;
+            sendData[3] = 0x00;
+            sendData[4] = 0x00;
+            sendData[5] = 0x00;
+            sendData[6] = 0x00;
+            sendData = buildCheckData(sendData, sendData.Length - 2);
+            string str = AcSerialBean.byteToHexStr(sendData);
+            LogUtil.debug("制冷控制器发送：" + str);
+            byte[] reviceData = new byte[23];
+            bool isOk = false;
+            sb.SendCommand(sendData, ref reviceData, 100, out isOk);
+            LogUtil.debug("制冷控制器接收：" + AcSerialBean.byteToHexStr(reviceData,""));
+
+            var b = reviceData;
+            double temp = -1;
+            var ss = "";
+            if (b[0] != 0x01 || b[1] != 0x42 || b[2] != 0x09)
+            {
+                ss += "通讯错误";
+            }
+            else
+            {
+                //ss += ($"ver:{BitConverter.ToUInt16(b, 4)}\r\n");
+                ss += ($"库温探头传感器温度:{modbusValueConvert(b, 6):##.#}\r\n");
+                ss += ($"化霜探头传感器温度:{modbusValueConvert(b, 8):##.#}\r\n");
+                ss += ($"制冷开机温度:{modbusValueConvert(b, 10):##.#}\r\n");
+                ss += ($"制冷停机温度:{modbusValueConvert(b, 12):##.#}\r\n");
+                ss += ($"制热开机温度:{modbusValueConvert(b, 14):##.#}\r\n");
+                ss += ($"制热停机温度:{modbusValueConvert(b, 16):##.#}\r\n");
+                var a1 = Convert.ToString(b[18], 2).PadLeft(8, '0');
+                var a2 = Convert.ToString(b[19], 2).PadLeft(8, '0');
+                var s1 = Convert.ToString(b[20], 2).PadLeft(8, '0');
+                var s2 = Convert.ToString(b[21], 2).PadLeft(8, '0');
+
+                temp = (double)BitConverter.ToInt16(b, 6) / 10;
+
+                for (int i = 0; i < 8; i++)
+                {
+                    int p = 1 << i;
+                    {
+                        var xxx = b[18] & p;
+                        if (xxx > 0)
+                            als += AlertState[(uint)xxx] + ",";
+                    }
+                    {
+                        var xxx = b[20] & p;
+                        if (xxx > 0)
+                            sls += RunState[(uint)xxx] + ",";
+                    }
+                }
+                ss += ($"报警状态:{als}\r\n");
+                ss += ($"设备状态:{sls}\r\n");
+            }
+            state = ss;
+            //LogUtil.debug(ss);
+
+            return temp;
+        }
+
+        static double modbusValueConvert(byte[] b, int index)
+        {
+            double sss;
+            if (false && (uint)b[index + 1] >= 254)
+            {
+                b[index + 1] = 0x00;               
+                sss = (double)BitConverter.ToInt16(b, index) / -10;
+            }
+            else
+            {
+                sss = (double)BitConverter.ToInt16(b, index) / 10;
+            }
+            return sss;
+        }
+
+        private static byte[] buildCheckData(byte[] sendData, int length)
+        {
+            ushort pChecksum = 0;
+            AcSerialBean.CalculateCRC(sendData, length, out pChecksum);
+            string checkStr = Convert.ToString(pChecksum, 16);
+            byte[] checkByte = AcSerialBean.StringToByte(checkStr);
+
+            if (checkByte.Length == 1)
+            {
+                sendData[length] = checkByte[0];
+                sendData[length + 1] = 0x00;
+            }
+            else
+            {
+                sendData[length + 1] = checkByte[0];
+                sendData[length] = checkByte[1];
+            }
+            return sendData;
+        }
+
+        private static int getReviceIntData(byte[] dataArray)
+        {
+            List<double> list = new List<double>();
+            try
+            {
+                if (dataArray == null)
+                {
+                    return -1;
+                }
+                if (dataArray.Length >= 9)
+                {
+                    string data = String.Format("{0:X2}", dataArray[5]) + String.Format("{0:X2}", dataArray[6] + String.Format("{0:X2}", dataArray[3]) + String.Format("{0:X2}", dataArray[4]));
+                    int tempV = Convert.ToInt32(data, 16);
+                    return tempV;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.info(LogName + "转换出错：" + ex.ToString());
+            }
+            return -1;
+        }
+
+        private static List<double> getReviceData(byte[] dataArray)
+        {
+            List<double> list = new List<double>();
+            try
+            {
+                if (dataArray == null)
+                {
+                    return list;
+                }
+                if (dataArray.Length >= 9)
+                {
+
+                    string temp = String.Format("{0:X2}", dataArray[3]) + String.Format("{0:X2}", dataArray[4]);
+                    string hum = String.Format("{0:X2}", dataArray[5]) + String.Format("{0:X2}", dataArray[6]);
+                    double tempV = (double)Convert.ToInt32(temp, 16) / 10;
+                    double humV = (double)Convert.ToInt32(hum, 16) / 10;
+                    list.Add(tempV);
+                    list.Add(humV);
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.info(LogName + "转换出错：" + ex.ToString());
+            }
+            return list;
+        }
+
+    }  /// <summary>
+}

source/DeviceLibrary/device/weights/OKLEController.cs

@@ -167,7 +167,7 @@ namespace OnlineStore.DeviceLibrary
         public static double CalWeight(double value,double dValue=0,double xishu=1)
         public static double CalWeight(double value,double dValue=0,double xishu=1)
         { 
         { 
             double v= (double)(value - dValue) / xishu;
             double v= (double)(value - dValue) / xishu;
-            LogUtil.info("重量计算 （"+value+"-"+dValue+"）/"+xishu+"=" + v);
+            LogUtil.debug("重量计算 （"+value+"-"+dValue+"）/"+xishu+"=" + v);
             return v;
             return v;
         }
         }
         private static double getReviceData(byte[] dataArray)
         private static double getReviceData(byte[] dataArray)

source/DeviceLibrary/store/Camera.cs

+using Asa.Camera;
+using OnlineStore.Common;
+using OnlineStore.DeviceLibrary;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Text.RegularExpressions;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace OnlineStore
+{
+    public static class HIKCamera
+    {
+        static Thread camerathread;
+        static VisionLib camera;
+
+        static public string Name = "";
+        static public event EventHandler<Bitmap> camera_event;
+        static string DeviceName = "monitor1";
+        static public void LoadCameraConfig()
+        {
+            string path = @".\StoreConfig\Camera.json";
+            if (!File.Exists(path))
+            {
+                LogUtil.error(Name + "找不到监控相机配置文件" + path);
+                return;
+            }
+            try
+            {
+                var configtxt = File.ReadAllText(path);
+                if (configtxt.IndexOf("Pwd") > 0)
+                {
+                    configtxt = configtxt.Replace("Pwd", "Password");
+                    configtxt = configtxt.Replace("\"8000\"", "8000");
+                    File.WriteAllText(path, configtxt);
+                }
+                var m = Regex.Match(configtxt, "name\".*?\"(.+)\"", RegexOptions.IgnoreCase);
+                DeviceName = m.Groups[1].Value;
+                camera = new VisionLib(path, "HIK.IPCamera");
+            }
+            catch (Exception e)
+            {
+                LogUtil.error(Name + "加载监控相机配置文件失败:" + e.ToString());
+                return;
+            }
+            camera.Open(DeviceName);
+            Bitmap bmp = camera.GetImage(DeviceName);
+            if (bmp == null)
+            {
+                LogUtil.error(Name + $"监控相机打开失败");
+                //camera.Close(DeviceName);
+                //Thread.Sleep(5000);
+                //camera.Open(DeviceName);
+            }
+            camerathread = new Thread(new ThreadStart(startCamera));
+            camerathread.Start();
+            GC.KeepAlive(camerathread);
+
+        }
+        static int errortimes = 0;
+        static void startCamera()
+        {
+            while (true)
+            {
+                try
+                {
+                    Bitmap bmp = camera.GetImage(DeviceName);
+                    if (bmp != null)
+                    {
+                        errortimes = 0;
+                        camera_event?.Invoke(null, bmp);
+                    }
+                    else if (bmp == null && errortimes < 5)
+                    {
+                        errortimes++;
+                        LogUtil.error(Name + $"相机获取图像出错,{errortimes}");
+                    }
+                    else if (errortimes == 5)
+                    {
+                        camera.Open(DeviceName);
+                        errortimes++;
+                        LogUtil.error(Name + $"相机错误次数过多,重新打开,{errortimes}");
+                    }
+                    else if (errortimes == 6)
+                    {
+                        //LogUtil.error(Name + $"相机连接失败, 相机线程退出,{errortimes}");
+                        //break;
+                        errortimes = 0;
+                        LogUtil.error(Name + $"相机连接失败, 30秒后再次尝试,{errortimes}");
+                        Thread.Sleep(30 * 1000);
+                        camera.Open(DeviceName);
+                    }
+                    Thread.Sleep(1000 / 7);
+                }
+                catch
+                {
+                    errortimes++;
+                }
+            }
+            camera.Close(DeviceName);
+            camera.Dispose();
+        }
+        static public void CameraGrabOne(string filename)
+        {
+            try
+            {
+                LogUtil.info(Name + "库位文件名:" + filename);
+                Bitmap bmp = camera.GetImage(DeviceName);
+                if (bmp != null)
+                {
+                    if (File.Exists(filename))
+                        File.Delete(filename);
+
+                    bmp.Save(filename, ImageFormat.Jpeg);
+                    bmp.Dispose();
+                }
+            }
+            catch (Exception e)
+            {
+                LogUtil.error(Name + e.ToString());
+            }
+        }
+        static public string GetFixtureStateFilename(string PosId,string PosCode, MoveType storeMoveType, FixtureState fixtureState)
+        {
+            string dir = $"\\image\\Fixture\\{storeMoveType}\\{PosId}\\";
+            Directory.CreateDirectory(dir);
+            string filename = $"{PosCode}@@{fixtureState}.jpg";
+            foreach (var x in Path.GetInvalidFileNameChars())
+            {
+                filename = filename.Replace(x.ToString(), "");
+            }
+            return dir + filename;
+        }
+        public enum FixtureState
+        {
+            In,
+            Up,
+            Down,
+            Out,
+            DoorIn,
+            DoorBack
+        }
+    }
+}

source/DeviceLibrary/store/InOutParam.cs

@@ -275,6 +275,8 @@ namespace OnlineStore.DeviceLibrary
         }
         }
         private TinStorePosition GetStriWeightPos(int weight)
         private TinStorePosition GetStriWeightPos(int weight)
         {
         {
+            if (weight < 0)
+                weight = 0;
             //根据重量获取砝码库位
             //根据重量获取砝码库位
             List<TinStorePosition> allList = new List<TinStorePosition>(CSVPositionReader<TinStorePosition>.allPositionMap.Values);
             List<TinStorePosition> allList = new List<TinStorePosition>(CSVPositionReader<TinStorePosition>.allPositionMap.Values);
             List<TinStorePosition> weightList = (from m in allList where m.PosType >= 100 orderby m.PosType descending select m).ToList<TinStorePosition>();
             List<TinStorePosition> weightList = (from m in allList where m.PosType >= 100 orderby m.PosType descending select m).ToList<TinStorePosition>();

source/DeviceLibrary/store/KTK_Store.cs

-using DeviceLib;
-using log4net; 
+using log4net; 
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
@@ -223,10 +222,10 @@ namespace OnlineStore.DeviceLibrary
         protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
         protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
         {
         {
             moveAxis.TargetPosition = 0;
             moveAxis.TargetPosition = 0;
-            LogUtil.info(  moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
+            LogUtil.info(  moveAxis.DisplayStr + "speed[" + moveAxis.HomeHighSpeed + "]开始原点返回");
             MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
             MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
        
        
-            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed); 
+            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeHighSpeed/10, moveAxis.HomeHighSpeed*5); 
         }
         }
 
 
         /// <summary>
         /// <summary>
@@ -236,7 +235,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
             MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
             moveAxis.TargetPosition = targetPosition; 
             moveAxis.TargetPosition = targetPosition; 
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed); 
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed, targetSpeed * 5, targetSpeed * 5); 
         }
         }
 
 
         /// <summary>
         /// <summary>
@@ -272,7 +271,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     LogUtil.error(  moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
                     LogUtil.error(  moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
                      "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次"); 
                      "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次"); 
-                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 5, targetSpeed * 5);
                     MoveInfo.CanWhileCount--;
                     MoveInfo.CanWhileCount--;
                 }
                 }
                 else
                 else
@@ -301,7 +300,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     LogUtil.error(  moveAxis.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(  moveAxis.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(LOGGER, StoreName +  moveAxis.DisplayStr +  "重新回原点");
                     //LogUtil.error(LOGGER, StoreName +  moveAxis.DisplayStr +  "重新回原点");
-                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
+                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeHighSpeed / 10, moveAxis.HomeHighSpeed * 5);
                     MoveInfo.CanWhileCount--;
                     MoveInfo.CanWhileCount--;
                 }
                 }
                 else
                 else

source/DeviceLibrary/store/StoreStep.cs

@@ -680,6 +680,7 @@ namespace OnlineStore.DeviceLibrary
         /// 搅拌2回库：叉子从库位中返回，进出轴动作至P1
         /// 搅拌2回库：叉子从库位中返回，进出轴动作至P1
         /// </summary>
         /// </summary>
         SR_84_InOutToP1,
         SR_84_InOutToP1,
+        R03_OtherAxisBack_wait,
 
 
         #endregion
         #endregion
     }
     }

source/LoadCVSLibrary/LoadCSVLibrary.csproj

@@ -9,7 +9,7 @@
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>OnlineStore.LoadCSVLibrary</RootNamespace>
     <RootNamespace>OnlineStore.LoadCSVLibrary</RootNamespace>
     <AssemblyName>LoadCSVLibrary</AssemblyName>
     <AssemblyName>LoadCSVLibrary</AssemblyName>
-    <TargetFrameworkVersion>v4.0</TargetFrameworkVersion>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <FileAlignment>512</FileAlignment>
     <TargetFrameworkProfile />
     <TargetFrameworkProfile />
   </PropertyGroup>
   </PropertyGroup>
@@ -33,9 +33,9 @@
     <Prefer32Bit>false</Prefer32Bit>
     <Prefer32Bit>false</Prefer32Bit>
   </PropertyGroup>
   </PropertyGroup>
   <ItemGroup>
   <ItemGroup>
-    <Reference Include="log4net, Version=1.2.15.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
+    <Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
       <SpecificVersion>False</SpecificVersion>
       <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\dll\log4net.dll</HintPath>
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\log4net.dll</HintPath>
     </Reference>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Core" />

source/LoadCVSLibrary/position/CSVPositionReader.cs

@@ -175,7 +175,7 @@ namespace OnlineStore.LoadCSVLibrary
                 }
                 }
                 else
                 else
                 {
                 {
-                    if (array.Length == titleIndex.Count)
+                    if (array.Length >= titleIndex.Count)
                     {
                     {
                         if (csvIndex < 0)
                         if (csvIndex < 0)
                         {
                         {

source/LoadCVSLibrary/position/TinStorePosition.cs

@@ -135,12 +135,12 @@ namespace OnlineStore.LoadCSVLibrary
         {
         {
             if (PosType.Equals(1))
             if (PosType.Equals(1))
             {
             {
-                return "冷藏区库位";
+                return $"冷藏区库位[{BagWidth}x{BagHigh}]";
             }
             }
             else if (PosType.Equals(2))
             else if (PosType.Equals(2))
             {
             {
 
 
-                return "回温区库位";
+                return $"回温区库位[{BagWidth}x{BagHigh}]";
             }
             }
             else
             else
             {
             {

source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs

@@ -286,21 +286,11 @@ namespace OnlineStore.LoadCSVLibrary
                 }
                 }
                 else if (ProType.Equals(ConfigItemType.DI))
                 else if (ProType.Equals(ConfigItemType.DI))
                 {
                 {
-                    IoValue = Convert.ToInt32(ProVale, 8);
+                    IoValue = Convert.ToInt32(ProVale);
                 }
                 }
                 else if (ProType.Equals(ConfigItemType.DO))
                 else if (ProType.Equals(ConfigItemType.DO))
                 {
                 {
-                    if (ProVale.Length == 2)
-                    {
-                        int a = Convert.ToInt32(ProVale.Substring(0, 1), 16) - 8;
-                        string str =a+ProVale.Substring(1,1);
-                        IoValue = Convert.ToInt32( str, 8);
-                        //IoValue = a + b;
-                    }
-                    else
-                    {
-                        IoValue = Convert.ToInt32(ProVale, 16) - Convert.ToInt32("80", 16);
-                    }
+                    IoValue = Convert.ToInt32(ProVale);
                 }
                 }
                 //LOGGER.Info("IO转换：（" + ElectricalDefinition + "）" + ProVale + "=" + IoValue);
                 //LOGGER.Info("IO转换：（" + ElectricalDefinition + "）" + ProVale + "=" + IoValue);
             }
             }

source/LoadCVSLibrary/storeConfig/config/IO_Type.cs

@@ -91,10 +91,20 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         /// </summary>
         public static string TinCheck_Clamping = "TinCheck_Clamping";
         public static string TinCheck_Clamping = "TinCheck_Clamping";
         /// <summary>
         /// <summary>
+        ///  DI,冷气机故障,Refrigeration_failure,15,192.168.200.21,0,冷气机故障,X7,X7,0,
+        /// </summary>
+        public static string Refrigeration_failure = "Refrigeration_failure";
+
+
+        /// <summary>
         ///  DO,自动指示灯,AutoRun_HddLed,0,192.168.200.21,0,自动指示灯,Y01,Y01,0,
         ///  DO,自动指示灯,AutoRun_HddLed,0,192.168.200.21,0,自动指示灯,Y01,Y01,0,
         /// </summary>
         /// </summary>
         public static string AutoRun_HddLed = "AutoRun_HddLed";
         public static string AutoRun_HddLed = "AutoRun_HddLed";
         /// <summary>
         /// <summary>
+        ///  DO,设备照明开,Device_Led,0,192.168.200.21,0,设备照明开,Y04,Y04,0,
+        /// </summary>
+        public static string Device_Led = "Device_Led";
+        /// <summary>
         ///  DO,故障指示灯,Alarm_HddLed,1,192.168.200.21,0,故障指示灯,Y02,Y02,0,
         ///  DO,故障指示灯,Alarm_HddLed,1,192.168.200.21,0,故障指示灯,Y02,Y02,0,
         /// </summary>
         /// </summary>
         public static string Alarm_HddLed = "Alarm_HddLed";
         public static string Alarm_HddLed = "Alarm_HddLed";
@@ -107,14 +117,6 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         /// </summary>
         public static string Alarm_Buzzer = "Alarm_Buzzer";
         public static string Alarm_Buzzer = "Alarm_Buzzer";
         /// <summary>
         /// <summary>
-        ///  DO,料仓运转ON,Run_Signal,4,192.168.200.21,0,料仓运转ON,Y05,Y05,0,
-        /// </summary>
-        public static string Run_Signal = "Run_Signal";
-        /// <summary>
-        ///  DO,取料机构刹车电源ON,Axis_Brake,5,192.168.200.21,0,取料机构刹车电源ON,Y06,Y06,0,
-        /// </summary>
-        public static string Axis_Brake = "Axis_Brake";
-        /// <summary>
         ///  DO,相机照明开,Camera_Led,6,192.168.200.21,0,相机照明开,Y07,Y07,0,
         ///  DO,相机照明开,Camera_Led,6,192.168.200.21,0,相机照明开,Y07,Y07,0,
         /// </summary>
         /// </summary>
         public static string Camera_Led = "Camera_Led";
         public static string Camera_Led = "Camera_Led";
@@ -125,7 +127,7 @@ namespace OnlineStore.LoadCSVLibrary
         /// <summary>
         /// <summary>
         ///  DO,冷气机启动,Colding_Start,8,192.168.200.21,0,冷气机启动,Y09,Y09,0,
         ///  DO,冷气机启动,Colding_Start,8,192.168.200.21,0,冷气机启动,Y09,Y09,0,
         /// </summary>
         /// </summary>
-        public static string Colding_Start = "Colding_Start";
+        //public static string Colding_Start = "Colding_Start";
         /// <summary>
         /// <summary>
         ///  DO,回温区风机启动,Warming_Start,9,192.168.200.21,0,回温区风机启动,Y10,Y10,0,
         ///  DO,回温区风机启动,Warming_Start,9,192.168.200.21,0,回温区风机启动,Y10,Y10,0,
         /// </summary>
         /// </summary>

source/LoadCVSLibrary/storeConfig/config/TieStoreConfig.cs

@@ -16,16 +16,7 @@ namespace OnlineStore.LoadCSVLibrary
             : base(id, cid, type, filepath)
             : base(id, cid, type, filepath)
         {
         {
         }
         }
-        /// <summary>
-        ///  PRO,IO模块对应的DI数量,IO_DILength,192.168.200.21#16;192.168.200.22#8,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("IO_DILength")]
-        public string IO_DILength { get; set; }
-        /// <summary>
-        ///  PRO,模块对应的DO数量,IO_DOLength,192.168.200.21#16;192.168.200.22#8,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("IO_DOLength")]
-        public string IO_DOLength { get; set; }
+
         /// <summary>
         /// <summary>
         ///  AXIS,(轴一)取料旋转轴,Middle_Axis,1,COM1,0,,,,,
         ///  AXIS,(轴一)取料旋转轴,Middle_Axis,1,COM1,0,,,,,
         /// </summary>
         /// </summary>
@@ -392,6 +383,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         /// </summary>
         [ConfigProAttribute("Weight_Right_Port")]
         [ConfigProAttribute("Weight_Right_Port")]
         public string Weight_Right_Port { get; set; }
         public string Weight_Right_Port { get; set; }
+        /// <summary>
+        ///  PRO,制冷控制器,Refrigerator_Port,COM6,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("Refrigerator_Port")]
+        public string Refrigerator_Port { get; set; }
          
          
 
 
         /// <summary>
         /// <summary>
@@ -456,7 +452,6 @@ namespace OnlineStore.LoadCSVLibrary
             MustHaveDIList.Add(IO_Type.Door_Up);
             MustHaveDIList.Add(IO_Type.Door_Up);
             MustHaveDIList.Add(IO_Type.Door_Down);
             MustHaveDIList.Add(IO_Type.Door_Down);
             MustHaveDIList.Add(IO_Type.SafetyLightCurtains);
             MustHaveDIList.Add(IO_Type.SafetyLightCurtains);
-            MustHaveDIList.Add(IO_Type.SafetyLightCurtains);
             MustHaveDIList.Add(IO_Type.Door_Limit);
             MustHaveDIList.Add(IO_Type.Door_Limit);
             MustHaveDIList.Add(IO_Type.Door_LeftLimit);
             MustHaveDIList.Add(IO_Type.Door_LeftLimit);
             MustHaveDIList.Add(IO_Type.Door_RightLimit);
             MustHaveDIList.Add(IO_Type.Door_RightLimit);
@@ -467,8 +462,7 @@ namespace OnlineStore.LoadCSVLibrary
             MustHaveDOList.Add(IO_Type.RunSign_HddLed);
             MustHaveDOList.Add(IO_Type.RunSign_HddLed);
             MustHaveDOList.Add(IO_Type.Alarm_Buzzer);
             MustHaveDOList.Add(IO_Type.Alarm_Buzzer);
        //     MustHaveDOList.Add(IO_Type.StartOrStopBlow);
        //     MustHaveDOList.Add(IO_Type.StartOrStopBlow);
-            MustHaveDOList.Add(IO_Type.Run_Signal);
-            MustHaveDOList.Add(IO_Type.Axis_Brake);
+           // MustHaveDOList.Add(IO_Type.Run_Signal);
             MustHaveDOList.Add(IO_Type.Door_Up);
             MustHaveDOList.Add(IO_Type.Door_Up);
             MustHaveDOList.Add(IO_Type.Door_Down);
             MustHaveDOList.Add(IO_Type.Door_Down);
             MustHaveDOList.Add(IO_Type.Camera_Led);
             MustHaveDOList.Add(IO_Type.Camera_Led);
@@ -509,69 +503,7 @@ namespace OnlineStore.LoadCSVLibrary
             con.Colding_Axis.DefaultPosition = con.Colding_Axis_P1;
             con.Colding_Axis.DefaultPosition = con.Colding_Axis_P1;
             con.Stir_Axis.DefaultPosition = con.Stir_Axis_P1;
             con.Stir_Axis.DefaultPosition = con.Stir_Axis_P1;
         }
         }
-        private Dictionary<string, ushort> DILengthMap = null;
-        private Dictionary<string, ushort> DOLengthMap = null;
-        public ushort GetDILength(string ip)
-        {
-            try
-            {
-                if (DILengthMap == null)
-                {
-                    DILengthMap = new Dictionary<string, ushort>();
-                    string[] arrayList = IO_DILength.Split(';');
-                    foreach (string str in arrayList)
-                    {
-                        string[] arrStr = str.Split('#');
-                        if (arrStr.Length == 2)
-                        {
-                            string ioip = arrStr[0];
-                            ushort length = Convert.ToUInt16(arrStr[1]);
-                            DILengthMap.Add(ioip, length);
-                        }
-                    }
-                }
-            }
-            catch (Exception ex)
-            {
-
-            }
-            if (DILengthMap.ContainsKey(ip))
-            {
-                return DILengthMap[ip];
-            }
-            return 16;
-        }
-        public ushort GetDOLength(string ip)
-        {
-            try
-            {
-                if (DOLengthMap == null)
-                {
-                    DOLengthMap = new Dictionary<string, ushort>();
-                    string[] arrayList = IO_DOLength.Split(';');
-                    foreach (string str in arrayList)
-                    {
-                        string[] arrStr = str.Split('#');
-                        if (arrStr.Length == 2)
-                        {
-                            string ioip = arrStr[0];
-                            ushort length = Convert.ToUInt16(arrStr[1]);
-                            DOLengthMap.Add(ioip, length);
-                        }
-                    }
-                }
-            }
-            catch (Exception ex)
-            {
-
-            }
-            if (DOLengthMap.ContainsKey(ip))
-            {
-                return DOLengthMap[ip];
-            }
-            return 16;
-        }
-
+                
         private Dictionary<string, string> CodeSizeMap = null;
         private Dictionary<string, string> CodeSizeMap = null;
         private static char codeSpilt = '#';
         private static char codeSpilt = '#';