1

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -98,6 +98,7 @@ namespace DeviceLibrary
                         return;
                         return;
                     }
                     }
                 }
                 }
+                moveInfo1.WaitList.Clear();
                 moveInfo.WaitList.Remove(wr);
                 moveInfo.WaitList.Remove(wr);
                 if (UpOverTimeMS > 0)
                 if (UpOverTimeMS > 0)
                     Task.Delay(UpOverTimeMS).Wait();
                     Task.Delay(UpOverTimeMS).Wait();
@@ -185,7 +186,7 @@ namespace DeviceLibrary
                         return;
                         return;
                     }
                     }
                 }
                 }
-
+                moveInfo1.WaitList.Clear();
                 moveInfo.WaitList.Remove(wr);
                 moveInfo.WaitList.Remove(wr);
 
 
                 if (DownOverTimeMS > 0)
                 if (DownOverTimeMS > 0)

DeviceLibrary/theMachine/MainMachine.cs

@@ -640,7 +640,11 @@ namespace DeviceLibrary
         public bool DeviceCheck() {
         public bool DeviceCheck() {
             bool ok = true;
             bool ok = true;
             isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
             isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
-            var SafetyLightStop = IOValue(IO_Type.DoorSafe_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW);
+            bool SafetyLightStop = false;
+            if (RobotManage.Config.DOList.ContainsKey(IO_Type.DoorSafe_Disable))
+                SafetyLightStop = IOValue(IO_Type.DoorSafe_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW);
+            else
+                SafetyLightStop = IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW);
             if (SafetyLightStop)
             if (SafetyLightStop)
             {
             {
                 lastSafeCheckStatus = false;
                 lastSafeCheckStatus = false;