1

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -11,6 +11,11 @@ namespace DeviceLibrary
 {
 {
     public class LiftMonitor:ISafetyDevice
     public class LiftMonitor:ISafetyDevice
     {
     {
+        /// <summary>
+        /// 关闭端延时
+        /// </summary>
+        public int DownOverTimeMS = 0;
+        public int UpOverTimeMS = 0;
         string up;
         string up;
         string down;
         string down;
         string axisbreak;
         string axisbreak;
@@ -84,6 +89,8 @@ namespace DeviceLibrary
                         return;
                         return;
                     }
                     }
                 }
                 }
+                if (UpOverTimeMS > 0)
+                    Task.Delay(UpOverTimeMS).Wait();
                 axisBean.SuddenStop();
                 axisBean.SuddenStop();
                 if (!string.IsNullOrEmpty(axisbreak))
                 if (!string.IsNullOrEmpty(axisbreak))
                 {
                 {
@@ -99,6 +106,8 @@ namespace DeviceLibrary
         {
         {
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
             {
             {
+                if (UpOverTimeMS > 0)
+                    Task.Delay(UpOverTimeMS).Wait();
                 axisBean.SuddenStop();
                 axisBean.SuddenStop();
 
 
                 if (!string.IsNullOrEmpty(axisbreak))
                 if (!string.IsNullOrEmpty(axisbreak))
@@ -159,6 +168,8 @@ namespace DeviceLibrary
                         return;
                         return;
                     }
                     }
                 }
                 }
+                if (DownOverTimeMS > 0)
+                    Task.Delay(DownOverTimeMS).Wait();
                 axisBean.SuddenStop();
                 axisBean.SuddenStop();
                 if (!string.IsNullOrEmpty(axisbreak))
                 if (!string.IsNullOrEmpty(axisbreak))
                 {
                 {
@@ -173,6 +184,8 @@ namespace DeviceLibrary
         {
         {
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
             {
+                if (DownOverTimeMS > 0)
+                    Task.Delay(DownOverTimeMS).Wait();
                 axisBean.SuddenStop();
                 axisBean.SuddenStop();
 
 
                 if (!string.IsNullOrEmpty(axisbreak))
                 if (!string.IsNullOrEmpty(axisbreak))

DeviceLibrary/theMachine/MainMachine.cs

@@ -136,6 +136,8 @@ namespace DeviceLibrary
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Open);
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Open);
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Close);
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Close);
                 StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed);
                 StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed);
+                StringDoor.DownOverTimeMS = 300;
+                StringDoor.UpOverTimeMS = 100;
                 LogUtil.info("加载料串门类型为:步进");
                 LogUtil.info("加载料串门类型为:步进");
                 //此版本同步删除其他IO
                 //此版本同步删除其他IO