1

DeviceLibrary/theMachine/MainMachine.cs

@@ -49,7 +49,7 @@ namespace DeviceLibrary
         internal AxisBean InOut_Axis;
         internal AxisBean Comp_Axis;
 
-        public DoorControl SingleDoor;
+        public LiftMonitor SingleDoor;
 
         ReelTransport boxTransport;
         public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
@@ -109,7 +109,7 @@ namespace DeviceLibrary
             Comp_Axis = new AxisBean(Config.Comp_Axis, Name);
             Crc_LanguageChangeEvent(null, EventArgs.Empty);
             #endregion
-            SingleDoor =  new DoorControl(Name, Config);
+            SingleDoor = new LiftMonitor(IO_Type.Door_Up, IO_Type.Door_Down, "", new AxisBean(Config.Door_Axis, Name), Config.Door_Length, Config.Door_Length_speed);// new DoorControl(Name, Config);
             boxTransport = new ReelTransport(Config, this);
             boxTransport.DoorControl += BoxTransport_DoorControl;
             boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
@@ -162,21 +162,21 @@ namespace DeviceLibrary
         {
             if (arg)
             {
-                if (SingleDoor.DoorIsOpen())
+                if (SingleDoor.isAtTOP)
                     return true;
                 else
                 {
-                    SingleDoor.OpenDoor(null);
+                    SingleDoor.LiftUp(null);
                     return false;
                 }
             }
             else
             {
-                if (SingleDoor.DoorIsClose())
+                if (SingleDoor.isAtBOTTOM)
                     return true;
                 else
                 {
-                    SingleDoor.CloseDoor(null);
+                    SingleDoor.LiftDown(null);
                     return false;
                 }
             }
@@ -308,6 +308,7 @@ namespace DeviceLibrary
         }
         public void Stop() {
             mstart = false;
+            SafetyDevice.PauseAll();
             AutoInOutTest = false;
             ServerCM.StopConnectServer();
             Thread.Sleep(300);
@@ -348,11 +349,11 @@ namespace DeviceLibrary
                 case MoveStep.H02_HomeReset_01:
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
                     ResetMoveInfo.log("进出轴,批量轴回原,料串检测杆退回避让端");
-                    InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
-                    SingleDoor.CloseDoor(ResetMoveInfo);
+                    InOut_Axis.HomeMove(ResetMoveInfo, forceHome);                    
                     break;
                 case MoveStep.H02_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
+                    SingleDoor.LiftDown(ResetMoveInfo);
                     break;
                 case MoveStep.H03_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
@@ -576,7 +577,7 @@ namespace DeviceLibrary
                                     RobotManage.UserPause("压紧轴报警", true);
                                     AxisManager.AlarmClear(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
                                     Thread.Sleep(2000);
-                                    SingleDoor.OpenDoor(null);
+                                    SingleDoor.LiftUp(null);
                                 }
                             }
                             else

DeviceLibrary/theMachine/MainMachine_Store.cs

@@ -131,7 +131,9 @@ namespace DeviceLibrary
                     if (StoreMoveInfo.IsTimeOut(10))
                     {
                         StoreMoveInfo.log("入口料盘,获取库位失败");
-                        StoreMoveInfo.NewMove(MoveStep.Wait);
+                        StoreMoveInfo.MoveParam.IsNg = true;
+                        StoreMoveInfo.MoveParam.NgMsg = $"[{CID}]" + "无信息物料";
+                        StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
                     }
                     break;
                 case MoveStep.StoreIn01:

DeviceLibrary/theMachine/RobotManage.cs

@@ -140,9 +140,10 @@ namespace DeviceLibrary
             LogUtil.info("开始关闭系统.");
             IOManager.CloseAllConnection();
             CameraA.stopCamera();
+            
             if (mainMachine != null)
             {
-                mainMachine.SingleDoor.Dispose();
+            //    mainMachine.SingleDoor.Dispose();
             }
         }
         public static void UserPause(bool userpause)

TheMachine/IOControls.cs

@@ -38,12 +38,12 @@ namespace TheMachine
 
         private void button1_Click(object sender, EventArgs e)
         {
-            RobotManage.mainMachine.SingleDoor.OpenDoor(null);
+            RobotManage.mainMachine.SingleDoor.LiftUp(null);
         }
 
         private void btn_singledoorckise_Click(object sender, EventArgs e)
         {
-            RobotManage.mainMachine.SingleDoor.CloseDoor(null);
+            RobotManage.mainMachine.SingleDoor.LiftDown(null);
         }
     }
 }