旋转阻挡和升降轴防呆

DeviceLibrary/theMachine/MainMachine.cs

@@ -225,14 +225,14 @@ namespace DeviceLibrary
             if (to > Config.Clamp_P3)
             {
                 if (IOValue(IO_Type.ReelFlipDoor_L_Home).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.ReelFlipDoor_R_Home).Equals(IO_VALUE.HIGH))
-                    return (false, "");
+                {
+                    if (IOValue(IO_Type.StringPosChecker_Home).Equals(IO_VALUE.HIGH))
+                        return (false, "");
+                    else
+                        return (true, crc.GetString(L.Clamp_Axis_interference_02, "上料定位臂不在避让端,不允许下降取料轴"));
+                }
                 else
                     return (true, crc.GetString(L.Clamp_Axis_interference_01, "翻板门不在垂直端,不允许下降取料轴"));
-
-                if (IOValue(IO_Type.StringPosChecker_Home).Equals(IO_VALUE.HIGH))
-                    return (false, "");
-                else
-                    return (true, crc.GetString(L.Clamp_Axis_interference_02, "上料定位臂不在避让端,不允许下降取料轴"));
             }
             else if (to >= Config.Clamp_P3)
             {

DeviceLibrary/theMachine/MainMachine_String.cs

@@ -269,6 +269,11 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StringLoad_04b:
                     StringMoveInfo.NextMoveStep(MoveStep.StringLoad_05);
+                    StringMoveInfo.log($"检测阻挡避让");
+                    CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
+                    break;
+                case MoveStep.StringLoad_05:
+                    StringMoveInfo.NextMoveStep(MoveStep.StringLoad_06);
                     if (!newreel)
                         SetReelHeight(GetHeight(ClampMoveInfo));
                     newreel = false;
@@ -291,11 +296,6 @@ namespace DeviceLibrary
                     Batch_Axis.AbsMove(StringMoveInfo, tpos2, Config.Batch_P1_speed);
                     Batch_Axis.MonitorAxisLoadRate(Setting_Init.LoadRateLimit_BatchMaxLoadRate);
                     break;
-                case MoveStep.StringLoad_05:
-                    StringMoveInfo.NextMoveStep(MoveStep.StringLoad_06);
-                    StringMoveInfo.log($"检测阻挡避让");
-                    CylinderMove(StringMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
-                    break;
                 case MoveStep.StringLoad_06:
                     if (StringState == StringStateE.InStore)
                     {