1

DeviceLibrary/PanasonicServo/ACServerManager_Partial.cs

@@ -412,13 +412,34 @@ namespace DeviceLib
             string data = "FF00";
             //byte cmd = 0x05;
 
+            //int length = 2;
+            //byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
+            //bool result = SendData(portName, dataArray); 
+            //System.Threading.Thread.Sleep(500);
+            //data = "0000";
+            //dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
+            //SendData(portName, dataArray);
+
             int length = 2;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
-            bool result = SendData(portName, dataArray); 
-            System.Threading.Thread.Sleep(500);
-            data = "0000";
-            dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
-            SendData(portName, dataArray);
+
+            for (int i = 1; i <= 3; i++)
+            {
+                bool result = SendData(portName, dataArray);
+                if (result)
+                {
+                    System.Threading.Thread.Sleep(500);
+                    data = "0000";
+                    dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
+                    result = SendData(portName, dataArray);
+                    break;
+                }
+                else
+                {
+                    Log(InfoType.Error, "【" + portName + "_" + slvAddr + "】 , 第" + i + "次，SuddenStop 发送数据失败");
+                    Thread.Sleep(180);
+                }
+            }
         }
         /// <summary>
         /// 获取伺服当前实际位置