X31用作料串的料叉检测

DeviceLibrary/theMachine/MainMachine.cs

@@ -78,7 +78,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 是否启用上料提升轴的料叉检测
         /// </summary>
-        public bool EnableBatchFixCheck { get { return ConfigAppSettings.GetValue("Swicth_BatchFixCheck",false, "是否启用上料提升轴的料叉检测"); } }
+        public bool EnableBatchFixCheck { get { return ConfigAppSettings.GetValue("Swicth_BatchFixCheck", false, "是否启用上料提升轴的料叉检测"); } }
         public MainMachine(Robot_Config _config)
         {
             Config = _config;
@@ -95,7 +95,7 @@ namespace DeviceLibrary
             #region 初始化led灯
             RunningLed = new Led(Config.DOList[IO_Type.Run_Led].GetIOAddr(), LedColor.green);
             StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr(), LedColor.yellow);
-            AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(),LedColor.red);
+            AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(), LedColor.red);
 
             //NG_Led = new Led(Config.DOList[IO_Type.MaterialNG_Led].GetIOAddr());
             #endregion
@@ -396,6 +396,20 @@ namespace DeviceLibrary
                             return;
                         }
                     }
+                    if (EnableBatchFixCheck)
+                    {
+                        if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.HIGH))
+                        {
+                            if (IOValue(IO_Type.Laser_Location).Equals(IO_VALUE.LOW))
+                            {
+                                ResetMoveInfo.log($"料串未成功放入料叉上，请检查");
+                                Msg.add(crc.GetString(L.bacth_no_fix, "料串未成功放入料叉上，请检查"), MsgLevel.warning);
+                                RobotManage.UserPause(crc.GetString(L.bacth_no_fix, "料串未成功放入料叉上，请检查"), true);
+                                return;
+                            }
+                        }
+
+                    }
 
                     if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
                         StringDoorClose(null);
@@ -665,7 +679,7 @@ namespace DeviceLibrary
                 }
                 else if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.HIGH))
                 {
-                    if(stringdoorSafetyProcStrategy==1)
+                    if (stringdoorSafetyProcStrategy == 1)
                     {
                         if (!lastStringSafetyStatus)
                         {

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -172,7 +172,7 @@ namespace DeviceLibrary
                 case MoveStep.StringLoad_02a:
                     if (EnableBatchFixCheck)
                     {
-                        if (IOValue(IO_Type.StringBack_Check).Equals(IO_VALUE.LOW))
+                        if (IOValue(IO_Type.Laser_Location).Equals(IO_VALUE.LOW))
                         {
                             StringMoveInfo.NextMoveStep(MoveStep.StringOut_03);
                             StringMoveInfo.log($"料串未成功放入料叉上，请检查");