旋转轴进出轴正方向回原点，升降轴反方向回原点

source/ACSingleStore/ACSingleStore.csproj

@@ -8,7 +8,7 @@
     <OutputType>WinExe</OutputType>
     <AppDesignerFolder>Properties</AppDesignerFolder>
     <RootNamespace>OnlineStore.ACSingleStore</RootNamespace>
-    <AssemblyName>ACSingleStore</AssemblyName>
+    <AssemblyName>BJACSingleStore</AssemblyName>
     <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <TargetFrameworkProfile />

source/ACSingleStore/App.config

@@ -38,7 +38,8 @@
   <!--摄像机名称列表配置，用#分割-->
     <add key="CameraName" value="codeCamera"/>
     <!--二维码类型列表配置，用#分割-->
-    <add key="CodeType" value="Data Matrix ECC 200"/>
+    <add key="CodeType" value="QR Code"/>
+    <!--<add key="CodeType" value="Data Matrix ECC 200"/>-->
     <!--二维码参数文件所在路径，文件名与二维码类型名一样-->
     <add key="CodeParamPath" value="\StoreConfig\AC\"/>
   </appSettings>

source/ACSingleStore/FrmAxisDebug.Designer.cs

@@ -84,7 +84,7 @@
             this.btnMiddleMove.Name = "btnMiddleMove";
             this.btnMiddleMove.Size = new System.Drawing.Size(131, 36);
             this.btnMiddleMove.TabIndex = 4;
-            this.btnMiddleMove.Text = "旋转轴+(顺时针)";
+            this.btnMiddleMove.Text = "旋转轴+(逆时针)";
             this.btnMiddleMove.UseVisualStyleBackColor = true;
             this.btnMiddleMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMove_MouseDown);
             this.btnMiddleMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMove_MouseUp);
@@ -127,7 +127,7 @@
             this.btnInOutMove.Name = "btnInOutMove";
             this.btnInOutMove.Size = new System.Drawing.Size(131, 36);
             this.btnInOutMove.TabIndex = 10;
-            this.btnInOutMove.Text = "进出轴+(前进)";
+            this.btnInOutMove.Text = "进出轴+(后退)";
             this.btnInOutMove.UseVisualStyleBackColor = true;
             this.btnInOutMove.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnInOutMove_MouseDown);
             this.btnInOutMove.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnInOutMove_MouseUp);
@@ -138,7 +138,7 @@
             this.btnInOutMovej.Name = "btnInOutMovej";
             this.btnInOutMovej.Size = new System.Drawing.Size(131, 36);
             this.btnInOutMovej.TabIndex = 14;
-            this.btnInOutMovej.Text = "进出轴-(后退)";
+            this.btnInOutMovej.Text = "进出轴-(前进)";
             this.btnInOutMovej.UseVisualStyleBackColor = true;
             this.btnInOutMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnInOutMovej_MouseDown);
             this.btnInOutMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnInOutMovej_MouseUp);
@@ -160,7 +160,7 @@
             this.btnMiddleMovej.Name = "btnMiddleMovej";
             this.btnMiddleMovej.Size = new System.Drawing.Size(131, 36);
             this.btnMiddleMovej.TabIndex = 12;
-            this.btnMiddleMovej.Text = "旋转轴-(逆时针)";
+            this.btnMiddleMovej.Text = "旋转轴-(顺时针)";
             this.btnMiddleMovej.UseVisualStyleBackColor = true;
             this.btnMiddleMovej.MouseDown += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMovej_MouseDown);
             this.btnMiddleMovej.MouseUp += new System.Windows.Forms.MouseEventHandler(this.btnMiddleMovej_MouseUp);

source/ACSingleStore/记录.txt

@@ -3,4 +3,7 @@
 
 已修改：定位气缸有两组
 二维码学习功能增加
-左右侧门增加开关
\ No newline at end of file
+左右侧门增加开关
+
+
+旋转轴原点返回正方向，其他的原点返回负方向

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -293,11 +293,26 @@ 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);
-            UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
+            //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
+            {
+                UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
+                LogUtil.info("升降轴原点返回方向：反方向");
+            }
             Thread.Sleep(SleepMSendons);
             OpenAndCloseSTB(portName, slvAddr);
         }

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs

@@ -5,7 +5,8 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
-using System.Threading; 
+using System.Threading;
+using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
 {
@@ -281,9 +282,9 @@ namespace OnlineStore.DeviceLibrary
                 storeRunStatus = StoreRunStatus.HomeMoving;
                 //启动温湿度服务器
                 HumitureServer.StartTemperateServer(Config.TemperateServer_Port);
-
-                HDevelopExport.OpenAllCamera();
-                //scanSocket.ConnectScanner(Config.Scanner_Ip, Config.Scanner_Port);
+                //Task.Factory.StartNew(  delegate () { 
+                //    HDevelopExport.OpenAllCamera();
+                //});
                 ReturnHome();
                 StartTime = DateTime.Now;
                 timersTimer.Enabled = true;
@@ -365,7 +366,9 @@ namespace OnlineStore.DeviceLibrary
                 autoNext = false;
             }
 
-            HDevelopExport.OpenAllCamera();
+            //Task.Factory.StartNew(  delegate () { 
+            //    HDevelopExport.OpenAllCamera();
+            //});
             ACServerManager.SuddenStop(Config.Middle_Axis.DeviceName, Config.Middle_Axis.GetAxisValue());
             ACServerManager.SuddenStop(Config.UpDown_Axis.DeviceName, Config.UpDown_Axis.GetAxisValue());
             ACServerManager.SuddenStop(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());