原点返回时若原点亮，先反向走2000

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -295,22 +295,41 @@ namespace OnlineStore.DeviceLibrary
 
         public static void HomeMove(string portName, int slvAddr, int speed)
         {
-            //默认负方向原点返回
-            //byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove1, 2);
-            //SendData(portName, data);
-            //旋转轴回正方向，其他轴回负方向
-            //if (portName.Equals(ACStoreManager.store.Config.Middle_Axis.DeviceName))
-            //{ 
-            //    UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove0);
-            //    LogUtil.info("旋转轴原点返回方向：正方向");
-            //} 
-            //else if (portName.Equals(ACStoreManager.store.Config.InOut_Axis.DeviceName))
-            //{
-            //    UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove0);
-            //    LogUtil.info("进出轴原点返回方向：正方向");
-            //}
-            //else
-            //{
+            try
+            {
+                //先判断是否在原点，如果已经在原点，先向正方向走2000
+                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 + "】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++)
+                        {
+                            Thread.Sleep(200);
+                            if (GetBusyStatus(portName, slvAddr).Equals(0))
+                            {
+                                isStop = true;
+                                LogUtil.info("轴【" + portName + "】 相对走" + value + "已结束");
+                                break;
+                            }
+                        }
+                        if (!isStop)
+                        {
+                            LogUtil.info("轴【" + portName + "】 相对走" + value + "已等待2分钟，直接停止");
+                            SuddenStop(portName, slvAddr);
+                        }
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("轴【" + portName + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
+            }
             UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
             LogUtil.debug("回原点：反方向");
             //}

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs

@@ -257,6 +257,7 @@ namespace OnlineStore.DeviceLibrary
             StoreMove.NextMoveStep(StoreMoveStep.BOX_M_H_TOP1_InOutToP1);
             LogUtil.info(LOGGER, StoreName + "到待机状态，进出轴到P1，判断叉子没有料盘");
             ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed );
+            ComBeforeHomeMove();
             //判断叉子没有料盘
             //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); 
         }
@@ -375,6 +376,7 @@ namespace OnlineStore.DeviceLibrary
                     //进出轴原点返回完成，将进出轴的位置设置=0
                     AxisCountClear(Config.InOut_Axis); 
                     ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
+                    ComBeforeHomeMove();
                     //判断叉子没有料盘
                     //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); 
                     CloseDoorAndWait();
@@ -447,7 +449,17 @@ namespace OnlineStore.DeviceLibrary
                 default: break;
             }
         }
-
+        private void ComBeforeHomeMove()
+        {
+            if (IsHasCompress_Axis)
+            {
+                int relValue = -2000;
+                LogUtil.debug("压紧轴相对位置：" + relValue);
+                StoreMove.WaitList.Add(WaitResultInfo.WaitShuoKe(Config.CompressAxis_Slv, relValue, false));
+                ShuoKeControls.RelativeMove(Config.CompressAxis_Slv, relValue);
+                Thread.Sleep(100);
+            }
+        }
         private void ComMoveToPosition(int targetPosition)
         {
             if (IsHasCompress_Axis)
@@ -503,6 +515,7 @@ namespace OnlineStore.DeviceLibrary
                     //进出轴原点返回完成，将进出轴的位置设置=0
                     AxisCountClear(Config.InOut_Axis); 
                     ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
+                    ComBeforeHomeMove();
                     //判断叉子没有料盘
                     //StoreMove.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.TrayCheck_Fixture, IO_VALUE.LOW)); 
                     CloseDoorAndWait();