料串门光栅使x08

DeviceLibrary/theMachine/MainMachine.cs

@@ -151,8 +151,10 @@ namespace DeviceLibrary
                 RobotManage.Config.DIList.Remove(IO_Type.LeftDoorClose_Check);
                 RobotManage.Config.DIList.Remove(IO_Type.RightDoorClose_Check);
                 RobotManage.Config.DIList.Remove(IO_Type.BackDoorClose_Check);
-                //RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition);
-
+                if (!ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
+                {
+                    RobotManage.Config.DIList.Remove(IO_Type.AGV_OnPosition);
+                }
                 RobotManage.Config.DOList.Remove(IO_Type.DoorSafe_Disable);
             }
             if (!ConfigHelper.Config.Get("Device_IO_HasX29", true))
@@ -564,6 +566,7 @@ namespace DeviceLibrary
                 }
                 Msg.add(crc.GetString(L.SafetyLight_is_block, "安全光栅被遮挡") + (ok ? ignorestring : ""), MsgLevel.warning);
             }
+
             if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
             {
                 if (IOValue(IO_Type.LeftDoorClose_Check).Equals(IO_VALUE.LOW))
@@ -671,6 +674,18 @@ namespace DeviceLibrary
             else {
                 lastAirCloseTime = DateTime.MinValue;
             }
+            if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
+            {
+                if(StringDoor_Axis!=null)
+                {
+                    if(StringDoor_Axis.IsBusy && IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
+                    {
+                        ok=false;
+                        StringDoor.Pause();
+                        Msg.add("料串门光栅被遮挡", MsgLevel.alarm, ErrInfo.SuddenStop);
+                    }
+                }
+            }
             if (alarmType!=AlarmType.SuddenStop)
             {
                 TimeSpan span = DateTime.Now - checkAlarmTime;

LoadCVSLibrary/Config/Config.csv

@@ -13,7 +13,7 @@ PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,5,,,,,,,,,,,,
 PRO,0,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
 PRO,50,最后一盘料补充高度mm,LastTrayAddHeight,3,,,,,,,,,,,,
 PRO,50,翻转托盘行程,FlipDoorLength,20000,,,20000,,,,,,,,,
-PRO,50,折叠门行程,StringDoorLength,700000,,,200000,,,,,,,,,
+PRO,50,折叠门行程,StringDoorLength,75000,,,200000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 PRO,10,旋转机构待机点P1,Middle_P1,168460,,,50000,,,,,,,,,
 PRO,10,旋转机构单料口P2,Middle_P2,168460,,,50000,,,,,,,,,
@@ -36,7 +36,7 @@ PRO,13,压紧机构8mm盘压紧点P2,Comp_P2,46000,,,280000,,,,,,,,,
 PRO,13,压紧机构每毫米脉冲,Comp_PoToMM,1000,,,,,,,,,,,,
 PRO,13,压紧机构库位高点偏移MM,Comp_PH_MM,14,,,,,,,,,,,,
 PRO,13,压紧机构压紧点偏移mm,Comp_PL_MM,0,,,,,,,,,,,,
-PRO,0,压紧机构压紧点集合P2,Comp_P2_List,8=44201;12=38557;16=34550;20=30540;24=26030;,,,800000,,,,,,,,,
+PRO,0,压紧机构压紧点集合P2,Comp_P2_List,8=44201;12=38557;16=34550;20=30540;24=26030,,,,800000,,,,
 ,,,,,,,,,,,,,,,,
 PRO,14,上料提升机构待机点P1,Batch_P1,0,,,30000,,,,,,,,,
 PRO,14,上料提升机构上料高点P2,Batch_P2,715329,,,30000,,,,,,,,,
@@ -59,7 +59,7 @@ DI,0,仓门口安全光栅,SafetyLightCurtains,4,HC,X04,,,,,,,,,,
 DI,0,左侧防护门关闭,LeftDoorClose_Check,5,HC,X05,,,,,,,,,,
 DI,0,右侧防护门关闭,RightDoorClose_Check,6,HC,X06,,,,,,,,,,
 DI,0,后侧防护门关闭,BackDoorClose_Check,7,HC,X07,,,,,,,,,,
-DI,0,折叠门光栅,StringDoor_SafetyLightCurtains,8,HC,X08,,,,,,,,,,
+DI,0,AGV到位信号,AGV_OnPosition,8,HC,X08,,,,,,,,,,
 DI,0,进料线体前端料串检测,StringFront_Check,9,HC,X09,,,,,,,,,,
 DI,0,进料线体末端料串检测,StringBack_Check,10,HC,X10,,,,,,,,,,
 DI,0,进料线体料串固定上升端,StringFix_Top,11,HC,X11,,,,,,,,,,

LoadCVSLibrary/storeConfig/config/IO_Type.cs

@@ -61,9 +61,9 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         public static string BackDoorClose_Check = "BackDoorClose_Check";
         /// <summary>
-        ///  DI,0,折叠门光栅,StringDoor_SafetyLightCurtains,8,HC,X08,,,,,,,,,,
+        ///  DI,0,AGV到位信号,AGV_OnPosition,8,HC,X08,,,,,,,,,,
         /// </summary>
-        public static string StringDoor_SafetyLightCurtains = "StringDoor_SafetyLightCurtains";
+        public static string AGV_OnPosition = "AGV_OnPosition";       
         /// <summary>
         ///  DI,0,进料线体前端料串检测,StringFront_Check,9,HC,X09,,,,,,,,,,
         /// </summary>