进出轴回待机点需要判断原点信号亮

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -91,13 +91,16 @@ namespace OnlineStore.DeviceLibrary
             //判断是否在P1，如果是，不需要运行 
             int outCount = ACServerManager.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
             int errorCount = Math.Abs(outCount - InOut_P1);
-            if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
+            //需要判断原点信号
+            int org = ACServerManager.GetHomeSingle(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
+            if (errorCount <= Config.InOut_Axis.CanErrorCountMin && org.Equals(1))
             {
                 LogUtil.info("进出轴当前位置：" + outCount + "，已经在P1，不需要再回P1");
             }
             else
             {
                 ACAxisMove(Config.InOut_Axis, InOut_P1, Config.InOutAxis_P1_Speed);
+                StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis, IO_VALUE.HIGH));
             }
             //StoreMove.WaitList.Add(WaitResultInfo.WaitAxisOrg(Config.InOut_Axis,IO_VALUE.HIGH));
         }
@@ -167,6 +170,18 @@ namespace OnlineStore.DeviceLibrary
                 {
                     wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
                 }
+              
+                else if (wait.WaitType == 5)
+                {
+                    //string msg = "";
+                    //wait.IsEnd = ShuoKeIsEnd(wait, out msg);
+                  //   NotOkMsg = NotOkMsg +" "+ msg;
+                    wait.IsEnd = false;
+                }else if (wait.WaitType == 6)
+                {
+                    IO_VALUE value = (IO_VALUE)ACServerManager.GetHomeSingle(wait.AxisInfo.DeviceName, wait.AxisInfo.GetAxisValue());
+                    wait.IsEnd = wait.IoValue.Equals(value);
+                }
                 else if (wait.WaitType == 7)
                 {
                     wait.IsEnd = (wait.HeightValue.Equals(GetHeight()));
@@ -175,13 +190,6 @@ namespace OnlineStore.DeviceLibrary
                         LogUtil.debug("等待height=" + wait.HeightValue + "完成");
                     }
                 }
-                else if (wait.WaitType == 5)
-                {
-                    //string msg = "";
-                    //wait.IsEnd = ShuoKeIsEnd(wait, out msg);
-                  //   NotOkMsg = NotOkMsg +" "+ msg;
-                    wait.IsEnd = false;
-                }
                 if (wait.IsEnd)
                 {
                     if (StoreMove.OneWaitCanEndStep)