1

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -36,19 +36,39 @@ namespace DeviceLibrary
             Msg = "";
             string portName = Config.DeviceName;
             short slvAddr = Config.GetAxisValue();
-            AxisManager.AlarmClear(portName, slvAddr);
-            Thread.Sleep(50);
-            AxisManager.ServoOn(portName, slvAddr);
-            Thread.Sleep(50);
-            //打开所有轴
-            if (isCheck)
+
+            if (AxisManager.IsServeoOn(portName, slvAddr))
+                return true;
+
+            for (int i = 0; i < 15; i++)
             {
-                if (!OpenAxis(out Msg))
+                Msg += $"第{i}次尝试打开轴:{Config.Explain}\r\n";
+                for (int j = 0; j < 10; j++)
                 {
-                    return false;
+                    if (AxisManager.GetAlarmStatus(portName, slvAddr) != 0)
+                    {
+                        AxisManager.AlarmClear(portName, slvAddr);
+                        Msg += "...尝试清除报警第" + j + "次";
+                        Thread.Sleep(500);
+                        continue;
+                    }
+                    break;
                 }
+                AxisManager.ServoOn(portName, slvAddr);
+                Thread.Sleep(50);
+                if (AxisManager.IsServeoOn(portName, slvAddr))
+                {
+                    Msg += "...尝试使能成功";
+                    return true;
+                }
+                else
+                    Msg += "...尝试使能失败";
+
+                Thread.Sleep(2000);
+                Msg += "\r\n";
             }
-            return true;
+
+            return false;
         }
         /// <summary>
         /// 打开所有轴

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -23,6 +23,7 @@ namespace DeviceLibrary
         int upspeed;
         int downspeed;
         int StrokeLength = 270000;
+        MoveInfo moveInfo1 = new MoveInfo("升降机构", false);
         bool paused = false;
         public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _StrokeLength,int _upspeed, int _downspeed= 0) {
             up = _up;
@@ -52,7 +53,7 @@ namespace DeviceLibrary
         public void LiftUp(MoveInfo moveInfo) {
 
             if (moveInfo == null)
-                moveInfo = new MoveInfo("界面",false);
+                moveInfo = moveInfo1;
             if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
             {
                 moveInfo.log($"急停未解除");
@@ -129,7 +130,7 @@ namespace DeviceLibrary
         public void LiftDown(MoveInfo moveInfo)
         {
             if (moveInfo == null)
-                moveInfo = new MoveInfo("界面", false);
+                moveInfo = moveInfo1;
             if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
             {
                 moveInfo.log($"急停未解除");
@@ -224,7 +225,11 @@ namespace DeviceLibrary
 
         public void Resume()
         {
-            //throw new NotImplementedException();
+            if (moveInfo1.WaitList.Count > 0) {
+                if (moveInfo1.WaitList[0].WaitType == WaitEnum.W013_Action) {
+                    moveInfo1.WaitList[0].Action?.Invoke(moveInfo1.WaitList[0]);
+                }
+            }
         }
     }
 }

DeviceLibrary/theMachine/MainMachine.cs

@@ -51,7 +51,6 @@ namespace DeviceLibrary
         internal AxisBean Comp_Axis;
         internal AxisBean Batch_Axis;
         internal AxisBean Clamp_Axis;
-        internal AxisBean StringDoor_Axis;
 
         public LineRunMonitor Line;
         public CylinderManger SingleDoor;
@@ -566,7 +565,15 @@ 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_IO_X08IsStringDoor_SafetyLightCurtains", false))
+            {
+                if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
+                {
+                    ok = false;
+                    DeviceSuddenStop();
+                    Msg.add("料串门光栅被遮挡", MsgLevel.alarm, ErrInfo.SuddenStop);
+                }
+            }
             if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
             {
                 if (IOValue(IO_Type.LeftDoorClose_Check).Equals(IO_VALUE.LOW))
@@ -674,18 +681,7 @@ 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;

DeviceLibrary/userControl/AxisMoveControl.Designer.cs

@@ -169,6 +169,7 @@
             this.lblAlarmcode.Tag = "not";
             this.lblAlarmcode.Text = "ErrCode:160";
             this.lblAlarmcode.Visible = false;
+            this.lblAlarmcode.Click += new System.EventHandler(this.lblAlarmcode_Click);
             // 
             // label4
             // 

DeviceLibrary/userControl/AxisMoveControl.cs

@@ -444,5 +444,10 @@ namespace DeviceLibrary
                 lbl.BackColor = this.BackColor;
             }
         }
+
+        private void lblAlarmcode_Click(object sender, EventArgs e)
+        {
+            MessageBox.Show(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(currentAxis.Config.GetAxisValue())));
+        }
     }
 }
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