折叠门逻辑

DeviceLibrary/theMachine/MainMachine.cs

@@ -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))
                 {
                     Msg.add("料串门光栅被遮挡", MsgLevel.warning);
-                    //if (lastStringSafetyStatus)
-                    //{
-                    //    lastStringSafetyStatus = false;
-                    //  StringDoor.Pause();
-                    //}
-                    //ok = false;
-                    StringDoorSuddenStop();
-                }
-                else if (!lastStringDoorSafetyStatus)
+                    if (lastStringSafetyStatus)
                     {
-                   // StringDoor.ResumeSingle();
-                    lastStringDoorSafetyStatus = true;
+                        lastStringSafetyStatus = false;
+                        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))
             {
@@ -713,22 +717,22 @@ namespace DeviceLibrary
                 }
             }
         }
-        bool lastStringDoorSafetyStatus=true;
-        void StringDoorSuddenStop()
-        {
-            if (lastStringDoorSafetyStatus)
-            {
-                AxisBean axis = StringDoor.axisBean;
-                AxisBean.StopMultiAxis(new List<AxisBean> { axis });
-                StringDoor.Pause();
+        //bool lastStringDoorSafetyStatus = true;
+        //void StringDoorSuddenStop()
+        //{
+        //    if (lastStringDoorSafetyStatus)
+        //    {
+        //        AxisBean axis = StringDoor.axisBean;
+        //        AxisBean.StopMultiAxis(new List<AxisBean> { axis });
+        //        StringDoor.Pause();
 
-                if (runStatus == RunStatus.HomeReset)
-                {
-                    ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
-                }
-                lastStringDoorSafetyStatus=false;
-            }
-        }
+        //        if (runStatus == RunStatus.HomeReset)
+        //        {
+        //            ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
+        //        }
+        //        lastStringDoorSafetyStatus = false;
+        //    }
+        //}
         /// <summary>
         /// 最后一次气压检测变为0的时间
         /// </summary>