update

src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java

@@ -68,10 +68,10 @@ public class TubePreProcesCtrlService {
 			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV);
 		}
 
-		//		检查摇匀夹紧是否在零位
-		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) {
-			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM);
-		}
+//		//		检查摇匀夹紧是否在零位
+//		if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) {
+//			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM);
+//		}
 
 		//
 		//	Reset some motor

src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java

@@ -137,7 +137,6 @@ public class LowerDeviceParamMgr {
 		check("TubePreProcesPosParamMgr", "ZMotorTakeHTubePos");
 		check("TubePreProcesPosParamMgr", "ZMotorTakeSTubePos");
 		check("TubePreProcesPosParamMgr", "ZMotorShakeTubePos");
-		check("TubePreProcesPosParamMgr", "ZMotorPutTubeCapPos");
 	}
 
 

src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java

@@ -48,7 +48,7 @@ public class TubePreProcesPosCalibration {
 	public void deviceReset() throws AppException {
 		enableModule();
 		motorMoveZeroExDriver.preProcessModuleMoveToZero();
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000);
+		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, overtime);
 		tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos();
 	}
 
@@ -59,6 +59,8 @@ public class TubePreProcesPosCalibration {
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3)
 	public void disableModule() throws AppException {
+		enableModule();
+		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime);
 		motorEnableExDriver.preProcessRelatedModuleEnable(false);
 		motorEnableExDriver.tubeFeedRelatedModuleEnable(false);
 	}
@@ -71,7 +73,7 @@ public class TubePreProcesPosCalibration {
 	@ExtApiFn(name = "测量Z轴", group = "辅助工具", order = 10)
 	public Integer measureZAxis() throws AppException {
 		enableModule();
-		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
+		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
 		disableModule();
 		return zpos;
 	}
@@ -108,7 +110,7 @@ public class TubePreProcesPosCalibration {
 
 	public Integer readShakeModClampingMPos() throws AppException {
 		enableModule();
-		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 10000);
+		Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime);
 		disableModule();
 		return pos;
 	}
@@ -142,7 +144,7 @@ public class TubePreProcesPosCalibration {
 		//2. 夹爪松开
 		tubePreProcesModuleExDriver.gripperSVOpen();
 		//3. Z轴归零，并读取当前位置
-		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
+		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
 
 		posMgr.setPos(TubePreProcessGripperPos.GripperServoTakeCapPos, gripperPos);
 		posMgr.setPos(TubePreProcessYPos.YServoTakeTubePos, ySVPos);
@@ -179,7 +181,7 @@ public class TubePreProcesPosCalibration {
 		//2. 试管夹具张开一点
 		stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime);
 		//3. Z轴归零，并读取当前位置
-		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
+		Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
 		//4. 夹具归零并读取位置
 		Integer clampPos = readShakeModClampingMPos();
 		clampPos = clampPos - 10 - 2;