轴原点返回问题修改。

source/ACSingleStore/记录.txt

@@ -82,6 +82,8 @@ statusBean.addServerData("needInAfterOut",needInAfterOut);
 
 条码改为	P;H;Q或者	D;H;Q的格式
 
+轴原点返回时若已在原点，需要先反向移动后再回原点。
+
 
 
 

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -299,29 +299,42 @@ namespace OnlineStore.DeviceLibrary
                 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);
-                    RelMove(portName, slvAddr, value);
-                    bool isStop = false;
-                    for (int i = 0; i <= 10; i++)
+                    int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
+                    if (isHomeEnd.Equals(1))
                     {
-                        Thread.Sleep(200);
-                        if (GetBusyStatus(portName, slvAddr).Equals(0))
+                        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);
+                        RelMove(portName, slvAddr, value);
+                        bool isStop = false;
+                        for (int i = 0; i <= 10; i++)
                         {
-                            isStop = true;
-                            LogUtil.info("轴【" + portName + "_" + slvAddr + "】相对走" + value + "已结束");
-                            break;
+                            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);
                         }
                     }
-                    if (!isStop)
+                    else
                     {
-                        LogUtil.info("轴【" + portName + "_" + slvAddr + "】相对走" + value + "已等待2分钟，直接停止");
+                        int volSpeed = Math.Abs(speed / 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)