回原后回原信号检查、在缓存区范围检查

source/DeviceLibrary/baan/AxisBean.cs

@@ -30,7 +30,6 @@ namespace OnlineStore.DeviceLibrary
             AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
             AxisName = deviceName + " " + Config.Explain + "[" + Config.DeviceName + "-" + Config.GetAxisValue() + "]";
         }
         }
 
 
-
         private bool IsIntSlvBlock = false;
         private bool IsIntSlvBlock = false;
         public bool Open(bool isCheck, out string Msg)
         public bool Open(bool isCheck, out string Msg)
         {
         {
@@ -136,6 +135,12 @@ namespace OnlineStore.DeviceLibrary
             }
             }
         }
         }
 
 
+        public static bool GetHomeSig(DeviceMoveInfo MoveInfo, ConfigMoveAxis axis)
+        {
+            string deviceName = axis.DeviceName;
+            short axisNo = axis.GetAxisValue();
+            return AxisManager.instance.GetHomeSingle(deviceName, axisNo).Equals(1);
+        }
         /// <summary>
         /// <summary>
         /// 判断AC伺服电机轴是否运动完成
         /// 判断AC伺服电机轴是否运动完成
         /// </summary> 
         /// </summary> 

source/DeviceLibrary/manager/model/DeviceMoveInfo.cs

@@ -417,6 +417,9 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         /// </summary>
         public int HeightValue { get; set; }
         public int HeightValue { get; set; }
 
 
+
+        public DateTime StartTrrigerTime = DateTime.MinValue;
+
       
       
     }
     }
     internal class WaitEnum
     internal class WaitEnum

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -320,7 +320,28 @@ namespace OnlineStore.DeviceLibrary
                         string msg = "";
                         string msg = "";
                         if (wait.IsHomeMove)
                         if (wait.IsHomeMove)
                         {
                         {
-                            wait.IsEnd = AxisBean.HomeMoveIsEnd(moveInfo, wait.AxisInfo, out msg);
+
+                            var isEnd = AxisBean.HomeMoveIsEnd(moveInfo, wait.AxisInfo, out msg);
+                            if (isEnd)
+                            {
+                                var homeSigOk = AxisBean.GetHomeSig(moveInfo, wait.AxisInfo);
+                                if (homeSigOk)
+                                {
+                                    if (wait.StartTrrigerTime.Equals(DateTime.MinValue))
+                                    {
+                                        wait.StartTrrigerTime = DateTime.Now;
+                                    }
+                                    if ((DateTime.Now - wait.StartTrrigerTime).TotalMilliseconds > 500)
+                                    {
+                                        wait.IsEnd = true;
+                                    }
+                                }
+
+                                if (!wait.IsEnd)
+                                {
+                                    msg = $"{wait.AxisInfo.DisplayStr} 回原结束,但信号未持续亮500ms";
+                                }
+                            }
                         }
                         }
                         else
                         else
                         {
                         {
@@ -518,7 +539,7 @@ namespace OnlineStore.DeviceLibrary
         }
         }
 
 
         protected AlarmType alarmRedLedType = AlarmType.AxisAlarm;
         protected AlarmType alarmRedLedType = AlarmType.AxisAlarm;
-      protected  bool isHumiTemOverlimit = false;
+        protected bool isHumiTemOverlimit = false;
         protected void LedProcess(object sender, ElapsedEventArgs e)
         protected void LedProcess(object sender, ElapsedEventArgs e)
         {
         {
             try
             try

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -432,7 +432,8 @@ namespace OnlineStore.DeviceLibrary
                     }
                     }
                     else
                     else
                     {
                     {
-                        if (MoveAxis.IsInPosition(Config.MoveAxis_P2))
+                        var moveAxisIsInBufferMaxPulse = ConfigHelper.Config.Get("行走机构在缓存区的最大脉冲值", Config.MoveAxis_P1 + 20000);
+                        if (MoveAxis.IsInPosition(Config.MoveAxis_P2) || MoveAxis.GetAclPosition() < moveAxisIsInBufferMaxPulse)
                         {
                         {
                             MoveInfo.NextMoveStep(StepEnum.BOX_H0101_CheckXAxisAndUpdownAxis);
                             MoveInfo.NextMoveStep(StepEnum.BOX_H0101_CheckXAxisAndUpdownAxis);
                             if (MiddleAxis_A.IsInPosition(Config.MiddleAxis_A_P2) && XAxis_A.IsInPosition(Config.XAxis_A_P2))
                             if (MiddleAxis_A.IsInPosition(Config.MiddleAxis_A_P2) && XAxis_A.IsInPosition(Config.XAxis_A_P2))
@@ -825,7 +826,7 @@ namespace OnlineStore.DeviceLibrary
             //}
             //}
             //if (!runStatus.Equals(RunStatus.Runing))
             //if (!runStatus.Equals(RunStatus.Runing))
             //    return;
             //    return;
-            if(MoveStop)
+            if (MoveStop)
             {
             {
                 return;
                 return;
             }
             }