伺服停止方法调用3次

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -878,6 +878,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_CylinderGive))
             else if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_21_CylinderGive))
             {
             {
                 MoveInfo.NextMoveStep(LineMoveStep.FI_22_BatchAxisDown);
                 MoveInfo.NextMoveStep(LineMoveStep.FI_22_BatchAxisDown);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 if (!MoveInfo.ShelfNoTray)
                 if (!MoveInfo.ShelfNoTray)
                 {
                 {
                     FI_BatchAxisDown();
                     FI_BatchAxisDown();
@@ -915,39 +916,9 @@ namespace OnlineStore.DeviceLibrary
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
                     CylinderMove(MoveInfo, IO_Type.SL_MoveCylinder_Up, IO_Type.SL_MoveCylinder_Down);
 
 
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，  托盘号【" + currTrayNum + "】，更新托盘信息 ：" + LastPosParam.ToShortStr());
                     InLog("料盘移栽" + MoveInfo.SLog + "：上料机构下降，  托盘号【" + currTrayNum + "】，更新托盘信息 ：" + LastPosParam.ToShortStr());
-
+                    LastPosParam.TrayNumber = currTrayNum;
                     TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, LastPosParam, LastPosParam.NgMsg);
                     TrayManager.UpdateTrayInfo(currTrayNum, true, ReelType.InStore, LastPosParam, LastPosParam.NgMsg);
-                    SServerManager.SendPosToStoreCheck(Name, LastPosParam);
-                    //string code = CodeManager.ProcessCode(LastCodeList);
-                    //lastcode = code;
-                    //getPosTask = Task.Factory.StartNew(delegate
-                    //{
-                    //    int sTrayNum = currTrayNum;
-                    //    //更新托盘条码信息 
-                    //    try
-                    //    {
-                    //        if (code.Equals(""))
-                    //        {
-                    //            InOutParam param = new InOutParam(sTrayNum, code, "", LastHeight, LastWidth, true);
-                    //            TrayManager.UpdateTrayInfo(sTrayNum, true, ReelType.InStore, param, "扫码失败");
-                    //        }
-                    //        //从服务器获取库位号
-                    //        string result = SServerManager.CodeReceived(Name, sTrayNum, LastCodeList, LastHeight, LastWidth, CurrShelfId, DeviceID);
-                    //        if (!result.Equals(""))
-                    //        {
-                    //            InOutParam param = new InOutParam(sTrayNum, code, "", LastHeight, LastWidth, true);
-                    //            param.rfid = CurrShelfId;
-                    //            TrayManager.UpdateTrayInfo(sTrayNum, true, ReelType.InStore, param, result);
-                    //            //  TrayManager.UpdateInStoreNG(currTrayNum, true, result);
-                    //            LogUtil.error(Name + "托盘【" + sTrayNum + "】" + result);
-                    //        }
-                    //    }
-                    //    catch (Exception ex)
-                    //    {
-                    //        LogUtil.error(Name + "托盘【" + sTrayNum + "】【" + code + "】获取库位号报错：" + ex.ToString());
-                    //    }
-                    //});
-
+                    SServerManager.SendPosToStoreCheck(Name, LastPosParam); 
                 }
                 }
                 else if (MoveInfo.IsTimeOut(180))
                 else if (MoveInfo.IsTimeOut(180))
                 {
                 {
@@ -1089,7 +1060,7 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             MoveInfo.NextMoveStep(LineMoveStep.FI_23_GetPosID);
             MoveInfo.NextMoveStep(LineMoveStep.FI_23_GetPosID);
             InLog("清空LastPosResult，从服务器获取入库库位");
             InLog("清空LastPosResult，从服务器获取入库库位");
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
             LastPosParam = null;
             LastPosParam = null;
             string code = CodeManager.ProcessCode(LastCodeList);
             string code = CodeManager.ProcessCode(LastCodeList);
             lastcode = code;
             lastcode = code;

source/DeviceLibrary/deviceLibrary/PanasonicServo/ACServerManager_Partial.cs

@@ -281,11 +281,24 @@ namespace OnlineStore.DeviceLibrary
 
 
             int length = 2;
             int length = 2;
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
             byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
-            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
+                {
+                    LogUtil.error("【" + portName + "_" + slvAddr + "】 , 第" + i + "次，SuddenStop 发送数据失败");
+                    Thread.Sleep(500);
+                }
+            }
         } 
         } 
 
 
         public static void OpenAndCloseSTB(string portName, int slvAddr)
         public static void OpenAndCloseSTB(string portName, int slvAddr)