光栅修改

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs

@@ -38,7 +38,7 @@ namespace OnlineStore.DeviceLibrary
                 Name = "A料口 ";
                 Name = "A料口 ";
                 Config.BatchAxisP1 = config.BatchAxisP1_A;
                 Config.BatchAxisP1 = config.BatchAxisP1_A;
                 Config.BatchAxisP2 = config.BatchAxisP2_A;
                 Config.BatchAxisP2 = config.BatchAxisP2_A;
-                Config. AgvName = config.AgvName_A;
+                Config.AgvName = config.AgvName_A;
                 Config.CameraName = config.CameraNameList_A;
                 Config.CameraName = config.CameraNameList_A;
                 Config.RfidIP = config.PRO_RFIP_A;
                 Config.RfidIP = config.PRO_RFIP_A;
             }
             }
@@ -48,17 +48,23 @@ namespace OnlineStore.DeviceLibrary
                 Name = "B料口 ";
                 Name = "B料口 ";
                 Config.BatchAxisP1 = config.BatchAxisP1_B;
                 Config.BatchAxisP1 = config.BatchAxisP1_B;
                 Config.BatchAxisP2 = config.BatchAxisP2_B;
                 Config.BatchAxisP2 = config.BatchAxisP2_B;
-                Config. AgvName = config.AgvName_B;
+                Config.AgvName = config.AgvName_B;
                 Config.CameraName = config.CameraNameList_B;
                 Config.CameraName = config.CameraNameList_B;
                 Config.RfidIP = config.PRO_RFIP_B;
                 Config.RfidIP = config.PRO_RFIP_B;
             }
             }
 
 
             Config.LoadIO(ioAdd);
             Config.LoadIO(ioAdd);
             MoveInfo = new DeviceMoveInfo(Name);
             MoveInfo = new DeviceMoveInfo(Name);
-         
+
         }
         }
         public void TimerProcess()
         public void TimerProcess()
-        {
+        { 
+            //如果急停，不再处理
+            if (Robot.alarmType.Equals(AlarmType.SuddenStop)|| Robot.alarmType.Equals(AlarmType.NoAirpressure_Check))
+            {
+                return;
+            }
+
             if (MoveInfo.MoveType.Equals(MoveType.None))
             if (MoveInfo.MoveType.Equals(MoveType.None))
             {
             {
                 if (Robot.MoveInfo.MoveType.Equals(MoveType.Reset) || Robot.MoveInfo.MoveType.Equals(MoveType.RHome))
                 if (Robot.MoveInfo.MoveType.Equals(MoveType.Reset) || Robot.MoveInfo.MoveType.Equals(MoveType.RHome))
@@ -214,6 +220,7 @@ namespace OnlineStore.DeviceLibrary
 
 
         internal void StopMove()
         internal void StopMove()
         {
         {
+            LogUtil.info(Name + " Stop Move ");
             MoveInfo.EndMove();
             MoveInfo.EndMove();
             BatchAxis.AxisStopCheckMove();
             BatchAxis.AxisStopCheckMove();
             BatchAxis.SuddenStop();
             BatchAxis.SuddenStop();