复位时上下轴先到P2，前后轴再回原点

source/DeviceLibrary/acSquareStore/Square_BoxBean.cs

@@ -351,20 +351,26 @@ namespace OnlineStore.DeviceLibrary
                     ShelfForward(2);
                     break;
                 case StoreMoveStep.SH_14_UpdownBack:
-                    StoreMove.NextMoveStep(StoreMoveStep.SH_15_MiddleBack);
+                    StoreMove.NextMoveStep(StoreMoveStep.SH_15_UpdownToP1);
+                    LogUtil.info(LOGGER, StoreName + logName + " 升降轴走到P1");
+                    ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
+                    break;
+                case StoreMoveStep.SH_15_UpdownToP1:
+                    StoreMove.NextMoveStep(StoreMoveStep.SH_16_MiddleBack);
+                    LogUtil.info(LOGGER, StoreName + logName + " 前后轴原点返回");
                     StoreMove.TimeOutSeconds = 100;
                     ACAxisHomeMove(Config.Middle_Axis);
                     break;
-                case StoreMoveStep.SH_15_MiddleBack:
+                case StoreMoveStep.SH_16_MiddleBack:
 
-                    StoreMove.NextMoveStep(StoreMoveStep.SH_16_OtherAxisToP1);
-                    LogUtil.info(LOGGER, StoreName + logName + " 前后轴运动到P1，升降轴走到P1，托架前进到位");
+                    StoreMove.NextMoveStep(StoreMoveStep.SH_17_MiddleToP1);
+                    LogUtil.info(LOGGER, StoreName + logName + " 前后轴运动到P1，托架前进到位");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
-                    ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
+                    //ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
                     ShelfForward(1, StoreMove);
                     ShelfForward(2, StoreMove);
                     break;
-                case StoreMoveStep.SH_16_OtherAxisToP1:
+                case StoreMoveStep.SH_17_MiddleToP1:
                     LogUtil.info(LOGGER, StoreName + "复位完成");
                     storeRunStatus = StoreRunStatus.Runing;
                     StoreMove.EndMove();
@@ -382,19 +388,25 @@ namespace OnlineStore.DeviceLibrary
                     CloseDoor(2, StoreMove);
                     break;
                 case StoreMoveStep.SP1_02_CloseDoor:
-                    StoreMove.NextMoveStep(StoreMoveStep.SP1_03_OtherAxisToP1);
-                    LogUtil.info(LOGGER, StoreName + "到待机状态：升降轴走到P1，前后轴到P1");
+                    StoreMove.NextMoveStep(StoreMoveStep.SP1_03_UpdownToP1);
+                    LogUtil.info(LOGGER, StoreName + "到待机状态：升降轴走到P1");
                     ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
+                    //ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
+                    break;
+                case StoreMoveStep.SP1_03_UpdownToP1:
+                    StoreMove.NextMoveStep(StoreMoveStep.SP1_04_MiddleToP1);
+                    LogUtil.info(LOGGER, StoreName + "到待机状态：前后轴到P1");
+                    //ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorO_P1, Config.UpDownAxis_P1_Speed);
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
                     break;
-                case StoreMoveStep.SP1_03_OtherAxisToP1:
-                    StoreMove.NextMoveStep(StoreMoveStep.SP1_04_ShelfForward);
+                case StoreMoveStep.SP1_04_MiddleToP1:
+                    StoreMove.NextMoveStep(StoreMoveStep.SP1_05_ShelfForward);
                     LogUtil.info(LOGGER, StoreName + "到待机状态：托架前进");
 
                     ShelfForward(1, StoreMove);
                     ShelfForward(2, StoreMove);
                     break;
-                case StoreMoveStep.SP1_04_ShelfForward:
+                case StoreMoveStep.SP1_05_ShelfForward:
                     LogUtil.info(LOGGER, StoreName + "到待机状态完成");
                     StoreMove.EndMove();
                     storeStatus = StoreStatus.StoreOnline;

source/DeviceLibrary/store/StoreStep.cs

@@ -126,13 +126,18 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         SH_14_UpdownBack = 014,
         /// <summary>
+        /// 复位：升降轴到待机点P1
+        /// </summary>
+        SH_15_UpdownToP1,
+
+        /// <summary>
         /// 复位，前后轴原点返回
         /// </summary>
-        SH_15_MiddleBack = 015,
+        SH_16_MiddleBack,
         /// <summary>
         /// 复位：前后轴返回P1
         /// </summary>
-        SH_16_OtherAxisToP1 = 016,
+        SH_17_MiddleToP1,
 
 
         /// <summary>
@@ -142,15 +147,19 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 复位：关闭门
         /// </summary>
-        SP1_02_CloseDoor = 032,
+        SP1_02_CloseDoor,
+        /// <summary>
+        /// 复位：升降轴到P1
+        /// </summary>
+        SP1_03_UpdownToP1,
         /// <summary>
         /// 复位：升降轴到P1
         /// </summary>
-        SP1_03_OtherAxisToP1 = 033,
+        SP1_04_MiddleToP1 ,
         /// <summary>
         /// 复位：前后轴到P1
         /// </summary>
-        SP1_04_ShelfForward = 034,
+        SP1_05_ShelfForward,
 
 
         #endregion