从托盘上抓料伺服运动不到位时自动回次原点。

source/AssemblyLineClient/FrmLineStore.cs

@@ -552,50 +552,53 @@ namespace OnlineStore.AssemblyLine
             try
             {
                 LogM();
-                try
+                if (lineBean.runStatus > LineRunStatus.Wait)
                 {
-                    if (SServerManager.stopRun(Name))
+                    try
                     {
-                        if (!stopRequest)
+                        if (SServerManager.stopRun(Name))
                         {
-                            stopTime = DateTime.Now;
-                            stopRequest = true;
-                            //lineBean.WriteDrivetMotorRun(IO_VALUE.LOW);
+                            if (!stopRequest)
+                            {
+                                stopTime = DateTime.Now;
+                                stopRequest = true;
+                                //lineBean.WriteDrivetMotorRun(IO_VALUE.LOW);
+                            }
+                            if (!stopRun && stopRequest && (DateTime.Now - stopTime).TotalSeconds > 40)
+                            {
+                                stopRun = true;
+                                lineBean.LineStopRun = true;
+                                //停止所有料仓TToolStripMenuItem_Click(null, null);
+                                if (lineBean.LineCanStop())
+                                {
+                                    LogUtil.info("收到服务端停机要求，直接停止环形线");
+                                    lineBean.WriteDrivetMotorRun(IO_VALUE.LOW);
+                                }
+                                else
+                                {
+                                    LogUtil.info("收到服务端停机要求，横移还有托盘，等托盘离开后再停止环形线");
+                                }
+                            }
                         }
-                        if (!stopRun && stopRequest && (DateTime.Now - stopTime).TotalSeconds > 40)
+                        else
                         {
-                            stopRun = true;
-                            lineBean.LineStopRun = true;
-                            //停止所有料仓TToolStripMenuItem_Click(null, null);
-                            if (lineBean.LineCanStop())
+                            if (stopRun)
                             {
-                                LogUtil.info("收到服务端停机要求，直接停止环形线");
-                                lineBean.WriteDrivetMotorRun(IO_VALUE.LOW);
-                            }
-                            else
-                            { 
-                                LogUtil.info("收到服务端停机要求，横移还有托盘，等托盘离开后再停止环形线");
+                                lineBean.LineStopRun = false;
+                                lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH);
+                                //启动所有料仓AToolStripMenuItem_Click(null, null);
+                                stopRun = false;
+                                LogUtil.info("收到服务端开机要求，启动环形线");
                             }
+                            stopRequest = false;
                         }
                     }
-                    else
+                    catch { lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH); }
+                    if (!this.Visible)
                     {
-                        if (stopRun)
-                        {
-                            lineBean.LineStopRun = false;
-                            lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH);
-                            //启动所有料仓AToolStripMenuItem_Click(null, null);
-                            stopRun = false;
-                            LogUtil.info("收到服务端开机要求，启动环形线");
-                        }
-                        stopRequest = false;
+                        return;
                     }
                 }
-                catch { lineBean.WriteDrivetMotorRun(IO_VALUE.HIGH); }
-                if (!this.Visible)
-                {
-                    return;
-                }
                 string canScanCode = "";
                 if (AgvClient.CurrCancelState)
                 {

source/DeviceLibrary/assemblyLine/MoveEquip.cs

@@ -362,6 +362,8 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 int position = Config.GetUpdownP2Detial(trayHeight,traySize);
                 UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed);
+
+                MoveInfo.IsUpdownAxisMove = true;
             }
             else
             {

source/DeviceLibrary/assemblyLine/ProvidingEquip.cs

@@ -243,6 +243,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                 int position = Config.GetUpdownP2Detial(trayHeight,traySize);
                 UpdownAxis.AbsMove(MoveInfo, position, Config.UpdownAxis_P2Speed);
+                MoveInfo.IsUpdownAxisMove = true;
             }
             else
             {

source/DeviceLibrary/baan/AxisBean.cs

@@ -145,6 +145,7 @@ namespace OnlineStore.DeviceLibrary
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 {
+                    bool needHomeMove = MoveInfo.IsUpdownAxisMove;
                     string clearMsg = "";
                     //判断轴是否报警
                     if (MoveInfo.CanWhileCount <= 3)
@@ -157,18 +158,31 @@ namespace OnlineStore.DeviceLibrary
                             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 +
-                     "]，误差过大，"+clearMsg+"重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
-                    MoveInfo.CanWhileCount--;
-                    Thread.Sleep(200);
+                    if (needHomeMove && MoveInfo.CanWhileCount == 3)
+                    { 
+                        LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
+                         "]，误差过大，" + clearMsg + "自动回原点一次后再开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
+                        ACServerManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed);
+                        MoveInfo.CanWhileCount--;
+                        Thread.Sleep(200);
+                    }
+                    else
+                    {
+                       
+                        LogUtil.error(MoveInfo.Name + axis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
+                         "]，误差过大，" + clearMsg + "重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
+                        ACServerManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed);
+                        MoveInfo.CanWhileCount--;
+                        Thread.Sleep(200);
+                    }
+                  
                 }
                 else
                 {

source/DeviceLibrary/model/LineMoveInfo.cs

@@ -79,6 +79,8 @@ namespace OnlineStore.DeviceLibrary
         /// 可以循环运动的次数（轴卡运动才需要）
         /// </summary>
         public int CanWhileCount = 0;
+
+        public bool IsUpdownAxisMove = false;
         /// <summary>
         /// 料仓运动步骤记录
         /// </summary>
@@ -153,6 +155,7 @@ namespace OnlineStore.DeviceLibrary
             WriteIoList = new List<WriteIOInfo>();
             OneWaitCanEndStep = false;
             CanWhileCount = 5;
+            IsUpdownAxisMove = false;
         }
         private void StepMoveLog()
         {