1

DeviceLibrary/theMachine/MainMachine.cs

@@ -568,11 +568,11 @@ namespace DeviceLibrary
             }
             if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
             {
-                if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW))
+                if (IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW))
                 {
                     ok = false;
                     DeviceSuddenStop();
-                    Msg.add("料串门光栅被遮挡", MsgLevel.alarm, ErrInfo.SuddenStop);
+                    Msg.add("料串门光栅被遮挡", MsgLevel.warning);
                 }
             }
             if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
@@ -637,16 +637,20 @@ namespace DeviceLibrary
         DateTime lastAirCloseTime = DateTime.MinValue;
 
         internal DateTime checkAlarmTime = DateTime.Now;
+        bool SafetyLightStop {
+            get {
+                if (RobotManage.Config.DOList.ContainsKey(IO_Type.DoorSafe_Disable))
+                    return IOValue(IO_Type.DoorSafe_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW);
+                else
+                    return IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW);
+            }
+        }
         public bool DeviceCheck() {
             bool ok = true;
             isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).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)
             {
+                DeviceSuddenStop();
                 lastSafeCheckStatus = false;
                 Msg.add(crc.GetString(L.SafetyLight_is_block, "安全光栅被遮挡"), MsgLevel.warning);
                 return false;
@@ -709,10 +713,13 @@ namespace DeviceLibrary
                     {
                         if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
                         {
+                            Task.Delay(1000).Wait();
+                            if (!SafetyLightStop && lastSafeCheckStatus)
+                            {
                                 Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
                                     + crc.GetString(L.motion_alarm, "运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
                                 ok = false;
-
+                            }                            
                             LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
                         }
                     }