叉子下降时就通知服务器入仓位完成。

source/ACSingleStore/FrmAxisDebug.cs

@@ -45,10 +45,10 @@ namespace OnlineStore.ACSingleStore
         }
         }
         private void FrmAxisDebug_Load(object sender, EventArgs e)
         private void FrmAxisDebug_Load(object sender, EventArgs e)
         {
         {
-            txtMiddleSpeed.Text = middle.TargetSpeed.ToString();
-            txtInOutSpeed.Text = inout.TargetSpeed.ToString();
-            txtUpDownSpeed.Text = updown.TargetSpeed.ToString();
-            txtComSpeed.Text = ACStoreManager.store.Config.CompressAxis_EndSpeed.ToString();
+            txtMiddleSpeed.Text = (middle.TargetSpeed / 5).ToString();
+            txtInOutSpeed.Text = (inout.TargetSpeed / 5).ToString();
+            txtUpDownSpeed.Text = (updown.TargetSpeed / 5).ToString();
+            txtComSpeed.Text = (ACStoreManager.store.Config.CompressAxis_EndSpeed/5).ToString();
             timer1.Start();
             timer1.Start();
         }
         }
         /// <summary>
         /// <summary>

source/ACSingleStore/FrmStoreBox.cs

@@ -147,7 +147,7 @@ namespace OnlineStore.ACSingleStore
         }
         }
         private bool LoadOk = false;
         private bool LoadOk = false;
         private void FrmTest_Load(object sender, EventArgs e)
         private void FrmTest_Load(object sender, EventArgs e)
-        {  
+        { 
             LogUtil.logBox = this.richTextBox1;
             LogUtil.logBox = this.richTextBox1;
             initValue();
             initValue();
             this.ShowInTaskbar = true;
             this.ShowInTaskbar = true;

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -150,6 +150,7 @@ namespace OnlineStore.DeviceLibrary
         //把数字转换为四位的字符串
         //把数字转换为四位的字符串
         public static string SpeedToStr(int speed,int length)
         public static string SpeedToStr(int speed,int length)
         {
         {
+            speed = Math.Abs(speed);
             string str = String.Format("{0:X}", speed);
             string str = String.Format("{0:X}", speed);
             return str.PadLeft(length, '0');
             return str.PadLeft(length, '0');
         }
         }
@@ -322,8 +323,13 @@ namespace OnlineStore.DeviceLibrary
             int preSpeed = GetAddrValue(portName, ACCMDManager.Speed_Addr);
             int preSpeed = GetAddrValue(portName, ACCMDManager.Speed_Addr);
             if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(Math.Abs(speed))))
             if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(Math.Abs(speed))))
             {
             {
-                byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4601", string.Format("{0:X2}", Math.Abs(speed)), 2);
-                SendData(portName, data);
+                //byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, "4601", string.Format("{0:X2}", Math.Abs(speed)), 2);
+                //SendData(portName, data);
+                //UpdateAddrValue(portName, ACCMDManager.Speed_Addr, Math.Abs(speed));
+                //Thread.Sleep(SleepMSendons);
+                string v1 = slvAddr + "064601  " + ACServerManager.SpeedToStr(speed, 4) + "  ffff";
+                LogUtil.debug("轴【" + portName + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】");
+                SendStrAndSleep(portName, v1, SleepMSendons);
                 UpdateAddrValue(portName, ACCMDManager.Speed_Addr, Math.Abs(speed));
                 UpdateAddrValue(portName, ACCMDManager.Speed_Addr, Math.Abs(speed));
                 Thread.Sleep(SleepMSendons);
                 Thread.Sleep(SleepMSendons);
             }
             }

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -453,6 +453,14 @@ namespace OnlineStore.DeviceLibrary
             else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
             else if (StoreMove.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
             {
             {
                 InStoreLog("入库：SI_12  放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
                 InStoreLog("入库：SI_12  放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
+                // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)   
+                string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
+                lastPosId = posId;
+                lastPosIdStatus = StoreStatus.InStoreEnd;
+                storeStatus = StoreStatus.InStoreEnd;
+                //手动发给服务器状态，防止没有手动
+                //SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
+
                 StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
                 StoreMove.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
                 ComMoveToPosition(moveP.ComPress_P3);
                 ComMoveToPosition(moveP.ComPress_P3);
                 //if (IsHasCompress_Axis)
                 //if (IsHasCompress_Axis)
@@ -465,14 +473,7 @@ namespace OnlineStore.DeviceLibrary
             else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
             else if (StoreMove.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
             {
             {
                 InStoreLog("入库：SI_13  叉子从库位中返回，进出轴动作至P1(待机点) ");
                 InStoreLog("入库：SI_13  叉子从库位中返回，进出轴动作至P1(待机点) ");
-                // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)   
-                string posId = StoreMove.MoveParam != null ? StoreMove.MoveParam.PositionNum : "";
-                lastPosId = posId;
-                lastPosIdStatus = StoreStatus.InStoreEnd;
-                storeStatus = StoreStatus.InStoreEnd;
-                //手动发给服务器状态，防止没有手动
-                //SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
-
+              
                 StoreMove.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
                 StoreMove.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
                 InOutBackToP1(moveP.InOut_P1);
                 InOutBackToP1(moveP.InOut_P1);
             }
             }