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Commit 8e192785 由 几米阳光
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0515调试修改。

1 个父辈 22f5946d
内嵌 并排
正在显示 10 个修改的文件 包含 215 行增加 和 76 行删除
dll/Asa.IOModule.AIOBOX.xml
...@@ -4,11 +4,6 @@ ...@@ -4,11 +4,6 @@
<name>Asa.IOModule.AIOBOX</name> <name>Asa.IOModule.AIOBOX</name>
</assembly> </assembly>
<members> <members>
<member name="T:Asa.IOModule.AIOBOX1">
<summary>
AIOBOX操作类
</summary>
</member>
<member name="T:Asa.IOModule.AIOBOX"> <member name="T:Asa.IOModule.AIOBOX">
<summary> <summary>
AIOBOX操作类 AIOBOX操作类
...@@ -59,7 +54,20 @@ ...@@ -59,7 +54,20 @@
</member> </member>
<member name="E:Asa.IOModule.AIOBOX.Log_RxTx_Event"> <member name="E:Asa.IOModule.AIOBOX.Log_RxTx_Event">
<summary> <summary>
日志输出事件 日志输出事件，发送命令的标识减去接收命令的标识
</summary>
</member>
<member name="T:Asa.IOModule.AIOBOX.Reconnect">
<summary>
断开重连
</summary>
<param name="box"></param>
<param name="times">断开次数</param>
<param name="conn"></param>
</member>
<member name="E:Asa.IOModule.AIOBOX.Reconnect_Event">
<summary>
断开重连事件
</summary> </summary>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.#ctor"> <member name="M:Asa.IOModule.AIOBOX.#ctor">
...@@ -87,16 +95,6 @@ ...@@ -87,16 +95,6 @@
错误信息 错误信息
</summary> </summary>
</member> </member>
<member name="P:Asa.IOModule.AIOBOX.AutoReadDI">
<summary>
自动读取DI状态，触发DI_Changed_Event
</summary>
</member>
<member name="P:Asa.IOModule.AIOBOX.AutoReadDO">
<summary>
自动读取DO状态，触发DO_Changed_Event
</summary>
</member>
<member name="P:Asa.IOModule.AIOBOX.LogOut"> <member name="P:Asa.IOModule.AIOBOX.LogOut">
<summary> <summary>
日志输出 日志输出
...@@ -118,6 +116,20 @@ ...@@ -118,6 +116,20 @@
关闭连接 关闭连接
</summary> </summary>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.AutoReadDI(System.Boolean,System.Int32)">
<summary>
自动读取DI状态，触发DI_Changed_Event
</summary>
<param name="read">是否自动读取</param>
<param name="sleep">间隔，必须大于10ms</param>
</member>
<member name="M:Asa.IOModule.AIOBOX.AutoReadDO(System.Boolean,System.Int32)">
<summary>
自动读取DO状态，触发DO_Changed_Event
</summary>
<param name="read">是否自动读取</param>
<param name="sleep">间隔，必须大于10ms</param>
</member>
<member name="M:Asa.IOModule.AIOBOX.ReverseStatus(Asa.IOModule.Box_Sta)"> <member name="M:Asa.IOModule.AIOBOX.ReverseStatus(Asa.IOModule.Box_Sta)">
<summary> <summary>
相反状态 相反状态
...@@ -163,6 +175,35 @@ ...@@ -163,6 +175,35 @@
<param name="sta"></param> <param name="sta"></param>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.GetLocalIP">
<summary>
获取本地IPv4地址
</summary>
<returns></returns>
</member>
<member name="M:Asa.IOModule.AIOBOX.Send">
<summary>
发送命令
</summary>
</member>
<member name="M:Asa.IOModule.AIOBOX.Receive">
<summary>
接收命令
</summary>
</member>
<member name="M:Asa.IOModule.AIOBOX.ReadSingle(System.Byte[])">
<summary>
读取单个DO
</summary>
<param name="buff"></param>
</member>
<member name="M:Asa.IOModule.AIOBOX.ReadDO(System.Byte[])">
<summary>
读取所有DO状态
</summary>
<param name="buff"></param>
<returns></returns>
</member>
<member name="M:Asa.IOModule.AIOBOX.ReadDI(System.Byte[])"> <member name="M:Asa.IOModule.AIOBOX.ReadDI(System.Byte[])">
<summary> <summary>
读取所有DI状态 读取所有DI状态
...@@ -175,7 +216,7 @@ ...@@ -175,7 +216,7 @@
</summary> </summary>
<returns></returns> <returns></returns>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.Trigger_DIO"> <member name="M:Asa.IOModule.AIOBOX.TriggerDIO">
<summary> <summary>
触发DIO改变事件 触发DIO改变事件
</summary> </summary>
...@@ -185,7 +226,12 @@ ...@@ -185,7 +226,12 @@
日志输出线程 日志输出线程
</summary> </summary>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.Auto_Read_DIO"> <member name="M:Asa.IOModule.AIOBOX.AutoReadDI">
<summary>
自动读取DIO线程
</summary>
</member>
<member name="M:Asa.IOModule.AIOBOX.AutoReadDO">
<summary> <summary>
自动读取DIO线程 自动读取DIO线程
</summary> </summary>
...@@ -201,6 +247,16 @@ ...@@ -201,6 +247,16 @@
</summary> </summary>
<param name="args"></param> <param name="args"></param>
</member> </member>
<member name="M:Asa.IOModule.AIOBOX.Reconn">
<summary>
断开重连
</summary>
</member>
<member name="M:Asa.IOModule.AIOBOX.CloseConn">
<summary>
关闭连接
</summary>
</member>
<member name="T:Asa.IOModule.Reg"> <member name="T:Asa.IOModule.Reg">
<summary> <summary>
IO模块寄存器 IO模块寄存器
...@@ -449,6 +505,11 @@ ...@@ -449,6 +505,11 @@
32位，16DI + 16DO 32位，16DI + 16DO
</summary> </summary>
</member> </member>
<member name="F:Asa.IOModule.Box_Type.DO_16">
<summary>
16位DO
</summary>
</member>
<member name="T:Asa.IOModule.Box_Sta"> <member name="T:Asa.IOModule.Box_Sta">
<summary> <summary>
IO模块寄存器状态 IO模块寄存器状态
......
source/ACSingleStore/App.config
...@@ -42,7 +42,9 @@ ...@@ -42,7 +42,9 @@
<add key="HasDisableDoorControl" value="1" /> <add key="HasDisableDoorControl" value="1" />
<add key="ACBaudRate" value="115200" /> <add key="ACBaudRate" value="115200" />
<add key="Default_Language" value="zh-CN" /> <add key="Default_Language" value="zh-CN" />
<add key ="UseAIOBOX" value ="1"/> <add key ="UseAIOBOX" value ="1"/>
<add key ="DIMS" value ="40"/>
<add key="DOMS" value="200"/>
</appSettings> </appSettings>
<log4net> <log4net>
<appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender"> <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
......
source/ACSingleStore/记录.txt
...@@ -166,10 +166,15 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,, ...@@ -166,10 +166,15 @@ PRO,最后一盘料需要补充的高度,LastTrayAddHeight,10,,,,,,,,,
压紧轴需要运动一段时间自动回原点。 压紧轴需要运动一段时间自动回原点。
复位时自动出入库会清理 复位时自动出入库会清理
IO模块增加重连功能。 IO模块增加重连功能。
20190515
压紧轴计量检测改为20毫秒读一次。
吸盘上升下降增加重复写,批量轴匀速运动增加重写功能。
IO模块读取时间改为可配置。
......
source/DeviceLibrary/DeviceLibrary/IO/AIOBOX/AIOBOXManager.cs
...@@ -19,7 +19,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -19,7 +19,7 @@ namespace OnlineStore.DeviceLibrary
public readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); public readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public Dictionary<string, AIOBOX> AIOMap = new Dictionary<string, AIOBOX>(); public Dictionary<string, AIOBOX> AIOMap = new Dictionary<string, AIOBOX>();
public string DefaultIP = "";
public Dictionary<string, List<Box_Sta>> DIValueMap = new Dictionary<string, List<Box_Sta>>(); public Dictionary<string, List<Box_Sta>> DIValueMap = new Dictionary<string, List<Box_Sta>>();
public Dictionary<string, List<Box_Sta>> DOValueMap = new Dictionary<string, List<Box_Sta>>(); public Dictionary<string, List<Box_Sta>> DOValueMap = new Dictionary<string, List<Box_Sta>>();
private object DIMapLock = ""; private object DIMapLock = "";
...@@ -54,10 +54,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -54,10 +54,21 @@ namespace OnlineStore.DeviceLibrary
// Create new modbus master and add event functions // Create new modbus master and add event functions
aioBox = new AIOBOX(); aioBox = new AIOBOX();
aioBox.IP = ioIp; aioBox.IP = ioIp;
DefaultIP = ioIp; int DIMS = ConfigAppSettings.GetIntValue("DIMS");
aioBox.AutoReadDI = true; if (DIMS < 20)
aioBox.AutoReadDO = true; {
DIMS = 20;
}
int DOMS = ConfigAppSettings.GetIntValue("DOMS");
if (DOMS < 200)
{
DOMS = 200;
}
aioBox.AutoReadDI(true, DIMS);
aioBox.AutoReadDO (true, DOMS);
aioBox.LogOut = true; aioBox.LogOut = true;
aioBox.Reconnect_Event += AioBox_Reconnect_Event;
if (StoreManager.Config.GetDILength(ioIp).Equals(8)) if (StoreManager.Config.GetDILength(ioIp).Equals(8))
{ {
aioBox.Type = Box_Type.DIO_16; aioBox.Type = Box_Type.DIO_16;
...@@ -69,8 +80,9 @@ namespace OnlineStore.DeviceLibrary ...@@ -69,8 +80,9 @@ namespace OnlineStore.DeviceLibrary
aioBox.DI_Changed_Event += AioBox_DI_Changed_Event; ; aioBox.DI_Changed_Event += AioBox_DI_Changed_Event; ;
aioBox.DO_Changed_Event += AioBox_DO_Changed_Event; aioBox.DO_Changed_Event += AioBox_DO_Changed_Event;
aioBox.Log_Out_Event += AioBox_Log_Out_Event; aioBox.Log_Out_Event += AioBox_Log_Out_Event;
aioBox.Log_RxTx_Event += AioBox_Log_RxTx_Event;
AIOMap.Add(ioIp, aioBox); AIOMap.Add(ioIp, aioBox);
LogUtil.info("开始连接IO模块【" + ioIp + "】，尝试重连三次"); LogUtil.info("开始连接IO模块[" + ioIp + "["+DIMS+"]["+DOMS+"]，尝试重连三次");
for (int i = 1; i <= 3; i++) for (int i = 1; i <= 3; i++)
{ {
bool result = aioBox.Connect(); bool result = aioBox.Connect();
...@@ -103,14 +115,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -103,14 +115,34 @@ namespace OnlineStore.DeviceLibrary
} }
} }
private void AioBox_Log_Out_Event(AIOBOX box, string[] s) private void AioBox_Reconnect_Event(AIOBOX box, int times, ref bool conn)
{ {
foreach (string str in s) conn = true;
LogUtil.error("重连AIO模块【" + box.IP + "】次数：" + times+"【"+box.ErrInfo+"】");
}
private DateTime lastLogTime = DateTime.Now;
private void AioBox_Log_RxTx_Event(AIOBOX box, string[] s)
{
TimeSpan span = DateTime.Now - lastLogTime;
if (span.TotalMinutes > 1)
{ {
LogUtil.AIOLog.Debug( "["+box.IP+"]"+ str); lastLogTime = DateTime.Now;
foreach (string str in s)
{
LogUtil.AIOLog.Debug("[" + box.IP + "]" + str);
}
} }
} }
private void AioBox_Log_Out_Event(AIOBOX box, string[] s)
{
//foreach (string str in s)
//{
// LogUtil.AIOLog.Debug( "["+box.IP+"]"+ str);
//}
}
private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta) private void AioBox_DI_Changed_Event(AIOBOX box, Box_Sta[] sta)
{ {
try try
...@@ -213,25 +245,25 @@ namespace OnlineStore.DeviceLibrary ...@@ -213,25 +245,25 @@ namespace OnlineStore.DeviceLibrary
try try
{ {
List<string> list = new List<string>(AIOMap.Keys); //List<string> list = new List<string>(AIOMap.Keys);
foreach (string io in list) //foreach (string io in list)
{ //{
//判断是否连接，如果没有连接自动重连 // //判断是否连接，如果没有连接自动重连
AIOBOX client = AIOMap[io]; // AIOBOX client = AIOMap[io];
if (!client.IsConn) // if (!client.IsConn)
{ // {
//重连 // //重连
bool result = client.Connect(); // bool result = client.Connect();
if (result) // if (result)
{ // {
LogUtil.info("重连O模块【" + client.IP + "】成功：" + client.ErrInfo); // LogUtil.info("重连O模块【" + client.IP + "】成功：" + client.ErrInfo);
} // }
else // else
{ // {
LogUtil.error("重连O模块【" + client.IP + "】失败：" + client.ErrInfo); // LogUtil.error("重连O模块【" + client.IP + "】失败：" + client.ErrInfo);
} // }
} // }
} //}
} }
catch (Exception ex) catch (Exception ex)
{ {
......
source/DeviceLibrary/DeviceLibrary/IO/IOManager.cs
...@@ -57,6 +57,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -57,6 +57,20 @@ namespace OnlineStore.DeviceLibrary
} }
return ioValue; return ioValue;
} }
public static IO_VALUE DOValue(string ioType)
{
IO_VALUE ioValue = IO_VALUE.LOW;
if (StoreManager.Config.StoreDOList.ContainsKey(ioType))
{
ConfigIO configIo = StoreManager.Config.StoreDOList[ioType];
ioValue = instance.GetDOValue(configIo.DeviceName, configIo.SlaveID, configIo.GetIOAddr());
}
else
{
LogUtil.error("没有DO=" + ioType);
}
return ioValue;
}
#endregion #endregion
public static void Init() public static void Init()
{ {
......
source/DeviceLibrary/DeviceLibrary/ShuoKe/MeteringSignalBean.cs
...@@ -18,7 +18,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -18,7 +18,7 @@ namespace OnlineStore.DeviceLibrary
/// 信号变化次数 /// 信号变化次数
/// </summary> /// </summary>
public static int SignalChangeCount=0; public static int SignalChangeCount=0;
public static int TragetChangeCount = 0; public static int TargetChangeCount = 0;
public static IO_VALUE PreSignalValue = IO_VALUE.LOW; public static IO_VALUE PreSignalValue = IO_VALUE.LOW;
private static System.Timers.Timer timer = null; private static System.Timers.Timer timer = null;
public static void StartCheck(int targetPositon, int currPosition) public static void StartCheck(int targetPositon, int currPosition)
...@@ -32,16 +32,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -32,16 +32,16 @@ namespace OnlineStore.DeviceLibrary
} }
private static void StartCheck(int targetCount) private static void StartCheck(int targetCount)
{ {
TragetChangeCount = targetCount; TargetChangeCount = targetCount;
if (timer == null) if (timer == null)
{ {
timer = new System.Timers.Timer(); timer = new System.Timers.Timer();
timer.Interval = 50; timer.Interval = 20;
timer.AutoReset = true; timer.AutoReset = true;
timer.Elapsed += Timer_Elapsed; timer.Elapsed += Timer_Elapsed;
timer.Enabled = false; timer.Enabled = false;
} }
LogUtil.debug("开始压紧轴计量检测，预计变化" + TragetChangeCount + "次"); LogUtil.debug("开始压紧轴计量检测，预计变化" + TargetChangeCount + "次");
IsInProcess = false; IsInProcess = false;
PreSignalValue = IO_VALUE.LOW; PreSignalValue = IO_VALUE.LOW;
SignalChangeCount = 0; SignalChangeCount = 0;
...@@ -53,7 +53,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -53,7 +53,7 @@ namespace OnlineStore.DeviceLibrary
if (timer==null) if (timer==null)
{ return; } { return; }
timer.Stop(); timer.Stop();
TragetChangeCount = 0; TargetChangeCount = 0;
SignalChangeCount = 0; SignalChangeCount = 0;
} }
private static bool IsInProcess = false; private static bool IsInProcess = false;
...@@ -67,10 +67,10 @@ namespace OnlineStore.DeviceLibrary ...@@ -67,10 +67,10 @@ namespace OnlineStore.DeviceLibrary
if (value.Equals(IO_VALUE.HIGH) && PreSignalValue.Equals(IO_VALUE.LOW)) if (value.Equals(IO_VALUE.HIGH) && PreSignalValue.Equals(IO_VALUE.LOW))
{ {
SignalChangeCount++; SignalChangeCount++;
LogUtil.debug("检测到信号变化，已经变化" + SignalChangeCount + "次"); LogUtil.info("MeteringSignal检测到信号变化，已经变化" + SignalChangeCount + "次（目标次数"+ TargetChangeCount + "）");
} }
PreSignalValue = value; PreSignalValue = value;
if (TragetChangeCount <= SignalChangeCount) if (TargetChangeCount <= SignalChangeCount)
{ {
timer.Stop(); timer.Stop();
} }
......
source/DeviceLibrary/DeviceLibrary/ShuoKe/ShuoKeController.cs
...@@ -287,6 +287,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -287,6 +287,7 @@ namespace OnlineStore.DeviceLibrary
#region 驱动器操作方法 #region 驱动器操作方法
public static ShuoKeInfo GetStatus(int slvAddr) public static ShuoKeInfo GetStatus(int slvAddr)
{ {
Thread.Sleep(SleepMS);
byte[] reviceData = SendData(slvAddr, ShuoKeCMD.SearchMoveStatus, 0x00, 0,10); byte[] reviceData = SendData(slvAddr, ShuoKeCMD.SearchMoveStatus, 0x00, 0,10);
return DataToStatus(reviceData); return DataToStatus(reviceData);
} }
......
source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs
...@@ -257,15 +257,15 @@ namespace OnlineStore.DeviceLibrary ...@@ -257,15 +257,15 @@ namespace OnlineStore.DeviceLibrary
bool isend = ShuoKeControls.IsMoveEnd(wait.SlvAddr, wait.TargetPosition, StoreMove.LastSetpTime, out msg); bool isend = ShuoKeControls.IsMoveEnd(wait.SlvAddr, wait.TargetPosition, StoreMove.LastSetpTime, out msg);
if (isend) if (isend)
{ {
bool isCheckOk = (MeteringSignal.TragetChangeCount <= MeteringSignal.SignalChangeCount); bool isCheckOk = (MeteringSignal.TargetChangeCount <= MeteringSignal.SignalChangeCount);
if (isCheckOk || MeteringSignal.TragetChangeCount <= 0) if (isCheckOk || MeteringSignal.TargetChangeCount <= 0)
{ {
MeteringSignal.StopCheck(); MeteringSignal.StopCheck();
return true; return true;
} }
else else
{ {
msg = "压紧轴计量检测目标【" + MeteringSignal.TragetChangeCount + "】实际【" + MeteringSignal.SignalChangeCount + "】"; msg = "压紧轴计量检测目标【" + MeteringSignal.TargetChangeCount + "】实际【" + MeteringSignal.SignalChangeCount + "】";
LogUtil.error("压紧轴已经停止运动，但是 " + msg,110); LogUtil.error("压紧轴已经停止运动，但是 " + msg,110);
return false; return false;
} }
......
source/DeviceLibrary/acSingleStore/AutomaticBaiting_Partial.cs
...@@ -49,19 +49,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -49,19 +49,19 @@ namespace OnlineStore.DeviceLibrary
int errorCount = Math.Abs(outCount); int errorCount = Math.Abs(outCount);
if (errorCount > moveAxis.CanErrorCountMax) if (errorCount > moveAxis.CanErrorCountMax)
{ {
////判断是否需要重新运动 //判断是否需要重新运动
//if (StoreMove.CanWhileCount > 0) if (StoreMove.CanWhileCount > 0)
//{ {
// LogUtil.error(Name+ moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次"); LogUtil.error(Name + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
// ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed); ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
// StoreMove.CanWhileCount--; StoreMove.CanWhileCount--;
//} }
//else else
//{ {
msg = Name + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警"; msg = Name + " storeMoveStep=" + StoreMove.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
LogUtil.error(msg,100); LogUtil.error(msg, 100);
return false; return false;
//} }
} }
return true; return true;
} }
...@@ -111,6 +111,16 @@ namespace OnlineStore.DeviceLibrary ...@@ -111,6 +111,16 @@ namespace OnlineStore.DeviceLibrary
// isOk = false; // isOk = false;
// break; // break;
//} //}
//如果是气缸动作，若Do未输出，重新写一遍
if (!wait.IsEnd&&span.TotalSeconds>1 && (wait.IoType.Equals(IO_Type.SuckingDisc_Down) || wait.IoType.Equals(IO_Type.SuckingDisc_Up)))
{
IO_VALUE doValue = IOManager.DOValue(wait.IoType);
if (!doValue.Equals(wait.IoValue))
{
LogUtil.error("等待[" + NotOkMsg + "]，重写DO（" + wait.IoType + "=" + wait.IoValue + "）");
IOManager.IOMove(wait.IoType, wait.IoValue);
}
}
} }
else if (wait.WaitType == (int)Wait_Type.Time_3) else if (wait.WaitType == (int)Wait_Type.Time_3)
{ {
...@@ -235,20 +245,34 @@ namespace OnlineStore.DeviceLibrary ...@@ -235,20 +245,34 @@ namespace OnlineStore.DeviceLibrary
{ {
bool result = false; bool result = false;
if (IOManager.IOValue(wait.IoType).Equals(IO_VALUE.HIGH)) if (IOManager.IOValue(wait.IoType).Equals(IO_VALUE.HIGH))
{ {
LogUtil.debug(wait.ToStr() + " 检测到【" + wait.IoType + "】信号，可以停止运动"); LogUtil.debug(wait.ToStr() + " 检测到【" + wait.IoType + "】信号，可以停止运动");
result = true; result = true;
} }
else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH)) else if (IOManager.IOValue(IO_Type.BatchAxis_Limit).Equals(IO_VALUE.HIGH))
{ {
LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动"); LogUtil.debug(wait.ToStr() + " 检测到正极限信号，可以停止运动");
result = true; result = true;
} }
if (result) if (result)
{ {
LogUtil.debug(wait.ToStr() + " 停止运动"); LogUtil.debug(wait.ToStr() + " 停止运动");
ACServerManager.SuddenStop(wait.AxisInfo); ACServerManager.SuddenStop(wait.AxisInfo);
} }
else
{
if (AutoBaitingStatus.Equals(StoreRunStatus.Busy) && StoreMove.CanWhileCount > 0)
{
//如果批量轴已经停止运动，重新开始
bool isEnd = ACServerManager.GetBusyStatus(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue()).Equals(0);
if (isEnd)
{ //判断是否需要重新运动
StoreMove.CanWhileCount--;
LogUtil.error(wait.ToStr() + "未收到信号且停止运动，重新匀速"+ StoreManager.Config.BatchAxis_SlowSpeed + "运动，剩余[" + StoreMove.CanWhileCount + "]次");
ACServerManager.SpeedMove(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue(), StoreManager.Config.BatchAxis_SlowSpeed);
}
}
}
return result; return result;
} }
......
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