上料改为绝对运动

source/DeviceLibrary/acSingleStore/AutomaticBaiting.cs

@@ -552,8 +552,8 @@ namespace OnlineStore.DeviceLibrary
             LastHeight = (int)Math.Ceiling(1F * (cha) / AxisChangeValue);
             LastHeight = (int)Math.Ceiling(1F * (cha) / AxisChangeValue);
             int addHeight = 0;
             int addHeight = 0;
             //如果检测信号未亮，极限亮了，需要补充高
             //如果检测信号未亮，极限亮了，需要补充高
-            if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
-            {
+            if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW)&& BatchAxisInP3())
+            { 
                 addHeight = StoreManager.Config.LastTrayAddHeight;
                 addHeight = StoreManager.Config.LastTrayAddHeight;
             }
             }
             LastHeight += addHeight;
             LastHeight += addHeight;
@@ -642,9 +642,10 @@ namespace OnlineStore.DeviceLibrary
             else
             else
             {
             {
                 //判断是否到达目标位置
                 //判断是否到达目标位置
-                int targetP = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
-                int cha = Math.Abs(targetP - StoreManager.Config.BatchAxis_P3);
-                if (cha < StoreManager.Config.Batch_Axis.CanErrorCountMax)
+                //int targetP = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
+                //int cha = Math.Abs(targetP - StoreManager.Config.BatchAxis_P3);
+                //if (cha < StoreManager.Config.Batch_Axis.CanErrorCountMax)
+                if(BatchAxisInP3())
                 {
                 {
                     StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
                     StoreMove.NextMoveStep(StoreMoveStep.AUTO_I11_BatchAxisHome);
                     InStoreLog(" 批量轴到达P3，已经没有料盘，直接回待机点P2【" + StoreManager.Config.BatchAxis_P2 + "】");
                     InStoreLog(" 批量轴到达P3，已经没有料盘，直接回待机点P2【" + StoreManager.Config.BatchAxis_P2 + "】");
@@ -659,7 +660,16 @@ namespace OnlineStore.DeviceLibrary
 
 
             }
             }
         }
         }
-
+        private static  bool BatchAxisInP3()
+        {
+            int targetP = ACServerManager.GetActualtPosition(StoreManager.Config.Batch_Axis);
+            int cha = Math.Abs(targetP - StoreManager.Config.BatchAxis_P3);
+            if (cha < StoreManager.Config.Batch_Axis.CanErrorCountMax)
+            {
+                return true;
+            }
+            return false;
+        }
         #endregion
         #endregion
 
 
         #region 出库流程
         #region 出库流程