从托盘上抓料伺服运动不到位时自动回次原点。

source/AssemblyLineClient/FrmLineStore.cs

@@ -552,6 +552,8 @@ namespace OnlineStore.AssemblyLine
             try
             {
                 LogM();
+                if (lineBean.runStatus > LineRunStatus.Wait)
+                {
                     try
                     {
                         if (SServerManager.stopRun(Name))
@@ -596,6 +598,7 @@ namespace OnlineStore.AssemblyLine
                     {
                         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)
@@ -164,12 +165,25 @@ namespace OnlineStore.DeviceLibrary
                         ACServerManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
                         Thread.Sleep(100);
                     }
+                    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");
+                         "]，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
                 {
                     msg = " " + MoveInfo.SLog + MoveInfo.Name + axis.DisplayStr + ",目标位置[" + targetPosition + "]当前位置[" + outCount

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()
         {