手动控制轴时，若已在运动中，直接返回。

source/ACSingleStore/FrmStoreBox.cs

@@ -573,7 +573,7 @@ namespace OnlineStore.ACSingleStore
                 }
             }
             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  ); 
+            ACServerManager.AbsMove(portName, SlvAddr, position, speed,true  ); 
         }
         private void btnAxisVMove_Click(object sender, EventArgs e)
         {
@@ -625,7 +625,7 @@ namespace OnlineStore.ACSingleStore
                 }
             }
             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);
+            ACServerManager.RelMove(portName, SlvAddr, position, speed,true);
         }
 
        
@@ -785,7 +785,7 @@ namespace OnlineStore.ACSingleStore
         private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
         {
             moveAxis.TargetPosition = targetPosition; 
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed,true);
         }
         private void btnUpDownP1_Click(object sender, EventArgs e)
         {

source/ACSingleStore/positionTool/FrmPositionTool.cs

@@ -156,12 +156,7 @@ namespace OnlineStore.ACSingleStore
         {
             this.richTextBox1.Text = "";
         }
-
-        private void btnRelMove_Click(object sender, EventArgs e)
-        {
-            int position = Convert.ToInt32(txtPosition.Text);
-            ACServerManager.RelMove(PortName, SlvAddr, position);
-        } 
+ 
         private void btnHomeMove_Click(object sender, EventArgs e)
         {
             int speed = Convert.ToInt32(txtSpeed.Text);
@@ -223,7 +218,11 @@ namespace OnlineStore.ACSingleStore
             PositionList = new List<int>();
             LogUtil.info(LogName + "伺服开始运动，速度【" + speed + "】位置【" + position + "】启动定时器 ");
             formMoveStatus(false);
-            ACServerManager.AbsMove(PortName, SlvAddr, position, speed);
+            if (!ACServerManager.AbsMove(PortName, SlvAddr, position, speed, true))
+            {
+                MessageBox.Show("运动失败");
+                return;
+            }
             toolTimer.Start();
         }
         private int P3Offset = 0;

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -275,8 +275,14 @@ namespace OnlineStore.DeviceLibrary
             SendData(portName, dataArray);
         }
 
-        public static void RelMove(string portName, int slvAddr, int position,int targetSpeed)
-        {  
+        public static void RelMove(string portName, int slvAddr, int position,int targetSpeed,bool checkIsMove)
+        {
+            //判断是否在运动中，运动中直接返回
+            if (checkIsMove && GetBusyStatus(portName, slvAddr).Equals(1))
+            {
+                LogUtil.info($"RelMove：轴{portName}-{slvAddr}相对运动到：{position}失败，当前在忙碌中");
+                return;
+            }
             //先更新速度 
             string slvAddrStr = string.Format(strFromat, slvAddr); 
             string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
@@ -444,8 +450,15 @@ namespace OnlineStore.DeviceLibrary
             }
         }
 
-        public static void AbsMove(string portName, int slvAddr, int targetPosition, int targetSpeed)
+        public static bool AbsMove(string portName, int slvAddr, int targetPosition, int targetSpeed,bool checkIsMove=false)
         {
+            //判断是否在运动中，运动中直接返回
+            if (checkIsMove&& GetBusyStatus(portName, slvAddr).Equals(1))
+            {
+                LogUtil.info($"AbsMove：轴{portName}-{slvAddr}绝对运动到：{targetPosition}失败，当前在忙碌中");
+                return false;
+            }
+
             //先更新速度 
             string slvAddrStr = string.Format(strFromat, slvAddr);
 
@@ -459,8 +472,9 @@ namespace OnlineStore.DeviceLibrary
             }
             //绝对运动
             AbsMove(portName, slvAddr, targetPosition);
+            return true;
         }
-        public static void AbsMove(string portName, int slvAddr, int position)
+        private static void AbsMove(string portName, int slvAddr, int position)
         {
             //int position = Convert.ToInt32(txtPosition.Text, 10);
             byte[] positionData = AcSerialBean.StringToByte(position.ToString("X8"));

source/DeviceLibrary/store/StoreStep.cs

@@ -348,7 +348,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 等待仓门口有料
         /// </summary>
-        [Description("入库_取料前_")]
+        [Description("入库_取料前_等待仓门口有料")]
         SI_00_TrayCheck = 200,
         ///// <summary>
         ///// 入库，。定位气缸下降
@@ -438,18 +438,22 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 盘点 料叉回原点P1
         /// </summary>
+        [Description("盘点_进出轴返回P1")]
         SC_01_InOutAxisHome,
         /// <summary>
         /// 料叉背面移动到库位低点
         /// </summary>
+        [Description("盘点_料叉背面移动到库位低点")]
         SC_02_MoveToLBag,
         /// <summary>
         /// 料叉背面移动到库位高点
         /// </summary>
+        [Description("盘点_料叉背面移动到库位高点")]
         SC_03_MoveToHBag,
         /// <summary>
         /// 盘点仓位
         /// </summary>
+        [Description("盘点_盘点仓位")]
         SC_04_Inventory,
         #endregion