1

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -408,7 +408,7 @@ namespace DeviceLibrary
             foreach (AxisBean axis in axisArray)
             {
                 bool result = axis.Open(false, out msg);
-                if (!result || (!String.IsNullOrEmpty(msg)))
+                if (!result)
                 {
                     //SetWarnMsg(Name + msg);
                     //Alarm(AlarmType.AxisAlarm);

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -18,6 +18,7 @@ namespace DeviceLibrary
         public int UpOverTimeMS = 0;
         string up;
         string down;
+        string saftylight;
         string axisbreak;
         AxisBean axisBean;
         int upspeed;
@@ -25,9 +26,10 @@ namespace DeviceLibrary
         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) {
+        public LiftMonitor(string _up, string _down,string _saftylight,string _break, AxisBean _axisBean,int _StrokeLength,int _upspeed, int _downspeed= 0) {
             up = _up;
             down = _down;
+            saftylight = _saftylight;
             axisBean = _axisBean;
             upspeed = _upspeed;
             axisbreak = _break;
@@ -86,7 +88,12 @@ namespace DeviceLibrary
                         return;
                     }
                     if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW)) {
-                        LogUtil.info("设备急停");
+                        moveInfo.log("设备急停");
+                        Pause();
+                        return;
+                    }
+                    if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW)) {
+                        moveInfo.log("安全光栅触发停止");
                         Pause();
                         return;
                     }
@@ -171,6 +178,12 @@ namespace DeviceLibrary
                         Pause();
                         return;
                     }
+                    if (!string.IsNullOrEmpty(saftylight) && IOManager.IOValue(saftylight).Equals(IO_VALUE.LOW))
+                    {
+                        moveInfo.log("安全光栅触发停止");
+                        Pause();
+                        return;
+                    }
                 }
 
                 moveInfo.WaitList.Remove(wr);

DeviceLibrary/theMachine/MainMachine.cs

@@ -122,8 +122,8 @@ namespace DeviceLibrary
             {
                 RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Work);
                 RobotManage.Config.DOList.Remove(IO_Type.ReelFlipDoor_Home);
-                MotorFlipDoorB = new LiftMonitor(IO_Type.ReelFlipDoor_L_Home, IO_Type.ReelFlipDoor_L_Work, null, new AxisBean(Config.FlipDoor_L_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed);
-                MotorFlipDoorA = new LiftMonitor(IO_Type.ReelFlipDoor_R_Home, IO_Type.ReelFlipDoor_R_Work, null, new AxisBean(Config.FlipDoor_R_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed);
+                MotorFlipDoorB = new LiftMonitor(IO_Type.ReelFlipDoor_L_Home, IO_Type.ReelFlipDoor_L_Work,IO_Type.SafetyLightCurtains, null, new AxisBean(Config.FlipDoor_L_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed);
+                MotorFlipDoorA = new LiftMonitor(IO_Type.ReelFlipDoor_R_Home, IO_Type.ReelFlipDoor_R_Work, IO_Type.SafetyLightCurtains, null, new AxisBean(Config.FlipDoor_R_Axis, Name), Config.FlipDoorLength, Config.FlipDoorLength_speed);
                 LogUtil.info("加载翻板门类型为:步进");
             }
             else {
@@ -131,18 +131,19 @@ namespace DeviceLibrary
             }
 
             //检测料串门是否为鸣志电机控制
-            if (Config.StringDoor_Axis != null) {
+            if (Config.StringDoor_Axis != null)
+            {
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Open);
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Close);
-                StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed);
+                var sf = "";
+                if (ConfigHelper.Config.Get("Device_IO_X08IsStringDoor_SafetyLightCurtains", false))
+                    sf = IO_Type.AGV_OnPosition;
+                StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, sf, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed);
                 StringDoor.DownOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_DownOverTimeMS", 0);
                 StringDoor.UpOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_UpOverTimeMS", 0);
                 LogUtil.info("加载料串门类型为:步进");
-                //此版本同步删除其他IO
-
-                //RobotManage.Config.DOList.Remove(IO_Type.NitrogenValve);
-
-            }else
+            }
+            else
                 LogUtil.info("加载料串门类型为:气缸");
 
             if (ConfigHelper.Config.Get("Device_Disable_DoorSafeCheck", false)) {
@@ -606,6 +607,11 @@ namespace DeviceLibrary
             }
             if (!lastSafeCheckStatus && ok)
             {
+                if (!AxisBean.RunMultiAxis(true, out string msg, AxisBean.List))
+                {
+                    ok = false;
+                    Msg.add(msg, MsgLevel.warning);
+                }
                 SafetyDevice.ResumeAll();
             }
             lastSafeCheckStatus = ok;
@@ -634,6 +640,13 @@ namespace DeviceLibrary
         public bool DeviceCheck() {
             bool ok = true;
             isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
+            var SafetyLightStop = IOValue(IO_Type.DoorSafe_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW);
+            if (SafetyLightStop)
+            {
+                lastSafeCheckStatus = false;
+                Msg.add(crc.GetString(L.SafetyLight_is_block, "安全光栅被遮挡"), MsgLevel.warning);
+                return false;
+            }
             if (UserPause)
             {
                 Msg.add(crc.GetString(L.system_pause, "系统暂停"), MsgLevel.warning);

LoadCVSLibrary/CSVAttribute.cs

@@ -3,7 +3,6 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
  
-
 namespace OnlineStore.LoadCSVLibrary
 {
     //这里利用AttributeUsage 来设置我们的自定义属性的应用范围,这里定义的可以用于类，结构和方法的声明