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Commit dc9b148f 由 张东亮
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折叠门逻辑

1 个父辈 1991b45f
内嵌 并排
正在显示 1 个修改的文件 包含 30 行增加 和 26 行删除
DeviceLibrary/theMachine/MainMachine.cs
...@@ -640,19 +640,23 @@ namespace DeviceLibrary ...@@ -640,19 +640,23 @@ namespace DeviceLibrary
if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW)) if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.LOW) && IOValue(IO_Type.StringDoor_Close).Equals(IO_VALUE.LOW))
{ {
Msg.add("料串门光栅被遮挡", MsgLevel.warning); Msg.add("料串门光栅被遮挡", MsgLevel.warning);
//if (lastStringSafetyStatus) if (lastStringSafetyStatus)
//{
// lastStringSafetyStatus = false;
// StringDoor.Pause();
//}
//ok = false;
StringDoorSuddenStop();
}
else if (!lastStringDoorSafetyStatus)
{ {
// StringDoor.ResumeSingle(); lastStringSafetyStatus = false;
lastStringDoorSafetyStatus = true; StringDoor.Pause();
}
ok = false;
DeviceSuddenStop();
} }
//else if (IOValue(IO_Type.AGV_OnPosition).Equals(IO_VALUE.HIGH))
//{
// if (!lastStringDoorSafetyStatus)
// {
// StringDoor.ResumeSingle();
// lastStringDoorSafetyStatus = true;
// }
//}
} }
if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false)) if (!ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false))
{ {
...@@ -713,22 +717,22 @@ namespace DeviceLibrary ...@@ -713,22 +717,22 @@ namespace DeviceLibrary
} }
} }
} }
bool lastStringDoorSafetyStatus=true; //bool lastStringDoorSafetyStatus = true;
void StringDoorSuddenStop() //void StringDoorSuddenStop()
{ //{
if (lastStringDoorSafetyStatus) // if (lastStringDoorSafetyStatus)
{ // {
AxisBean axis = StringDoor.axisBean; // AxisBean axis = StringDoor.axisBean;
AxisBean.StopMultiAxis(new List<AxisBean> { axis }); // AxisBean.StopMultiAxis(new List<AxisBean> { axis });
StringDoor.Pause(); // StringDoor.Pause();
if (runStatus == RunStatus.HomeReset) // if (runStatus == RunStatus.HomeReset)
{ // {
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset); // ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
} // }
lastStringDoorSafetyStatus=false; // lastStringDoorSafetyStatus = false;
} // }
} //}
/// <summary> /// <summary>
/// 最后一次气压检测变为0的时间 /// 最后一次气压检测变为0的时间
/// </summary> /// </summary>
......
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