原点返回时若已在原点需要先反向走2000

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -299,6 +299,46 @@ namespace OnlineStore.DeviceLibrary
             //默认负方向原点返回
             //默认负方向原点返回
             //byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove1, 2);
             //byte[] data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_HomeMove1, 2);
             //SendData(portName, data);
             //SendData(portName, data);
+            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;
+                        if (portName.Equals(ACStoreManager.store.Config.Middle_Axis.DeviceName) ||
+                            portName.Equals(ACStoreManager.store.Config.InOut_Axis.DeviceName))
+                        {
+                            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);
+            }
             //旋转轴回正方向，其他轴回负方向
             //旋转轴回正方向，其他轴回负方向
             if (portName.Equals(ACStoreManager.store.Config.Middle_Axis.DeviceName))
             if (portName.Equals(ACStoreManager.store.Config.Middle_Axis.DeviceName))
             { 
             {