伺服重复运动之前如果报警，清理下报警再运动。

source/DeviceLibrary/baan/AxisBean.cs

@@ -145,11 +145,30 @@ namespace OnlineStore.DeviceLibrary
                 //判断是否需要重新运动
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 if (MoveInfo.CanWhileCount > 0)
                 {
                 {
+                    string clearMsg = "";
+                    //判断轴是否报警
+                    if (MoveInfo.CanWhileCount <= 3)
+                    {
+                        int  isAlarm = ACServerManager.GetAlarmStatus(deviceName, axisNo);
+                        if (isAlarm.Equals(1))
+                        {
+                            clearMsg = "清理报警，";
+                            ACServerManager.AlarmClear(deviceName, axisNo);
+                            Thread.Sleep(200);
+                            ACServerManager.ServoOn(deviceName, axisNo);
+                            Thread.Sleep(500);
+                        } 
+                    }
+                    if (String.IsNullOrEmpty(clearMsg))
+                    { 
+                        ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
+                        Thread.Sleep(100);
+                    }
                     LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
                     LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
-                     "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
+                     "]，误差过大，"+clearMsg+"重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
                     ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
                     ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
                     MoveInfo.CanWhileCount--;
                     MoveInfo.CanWhileCount--;
+                    Thread.Sleep(200);
                 }
                 }
                 else
                 else
                 {
                 {