伺服若已在原点但未回过原点，需要匀速走1500秒，再回原点

source/ACSingleStore/FrmStoreBox.Designer.cs

@@ -1698,6 +1698,7 @@
             // 
             // btnClearLog
             // 
+            this.btnClearLog.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             this.btnClearLog.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.btnClearLog.Location = new System.Drawing.Point(313, 515);
             this.btnClearLog.Name = "btnClearLog";
@@ -2305,6 +2306,7 @@
             // 
             // btnCloseLed
             // 
+            this.btnCloseLed.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             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(149, 568);
             this.btnCloseLed.Name = "btnCloseLed";
@@ -2316,6 +2318,7 @@
             // 
             // btnOpenLed
             // 
+            this.btnOpenLed.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             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(32, 568);
             this.btnOpenLed.Name = "btnOpenLed";
@@ -2327,6 +2330,7 @@
             // 
             // btnCloseDoor
             // 
+            this.btnCloseDoor.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             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(149, 515);
             this.btnCloseDoor.Name = "btnCloseDoor";
@@ -2337,6 +2341,7 @@
             // 
             // btnOpenDoor
             // 
+            this.btnOpenDoor.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Bottom | System.Windows.Forms.AnchorStyles.Left)));
             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(32, 515);
             this.btnOpenDoor.Name = "btnOpenDoor";

source/ACSingleStore/记录.txt

@@ -58,6 +58,8 @@
 4.客户端启动时默认状态是复位中。
 
 
+	20190326修改：
+	伺服若已在原点但未回过原点，需要匀速走1500秒，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)
+                        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
                     {
-                        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)

source/DeviceLibrary/acSingleStore/StoreManager.cs

@@ -19,8 +19,7 @@ namespace OnlineStore.DeviceLibrary
         public static int CurrInOutType = 0;
 
 
-        private static string api_communication = "service/store/communication";    //流水线状态通信接口
-        private static string api_nextFeeder = "service/store/nextFeeder";  // 出库站位列表切换接口
+      
         public static readonly ILog LOGGER = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
         public static AC_SA_BoxBean Store = null;
         public static AC_SA_Config Config = null;
@@ -141,6 +140,8 @@ namespace OnlineStore.DeviceLibrary
                 LOGGER.Error("出错：", ex);
             }
         }
+        private static string api_communication = "service/store/communication";    //流水线状态通信接口
+        private static string api_nextFeeder = "service/store/nextFeeder";  // 出库站位列表切换接口
         public static string GetPostApi(string host)
         {
             if (host == "")