伸缩叉2侧X06/X07检测到有物料无法继续

DeviceLibrary/theMachine/BoxTransport.cs

@@ -147,9 +147,14 @@ namespace DeviceLibrary
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
+                        if(IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check,Config,IO_VALUE.HIGH,2000)||
+                           IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
+                        {
                             Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
                             RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
                         }
+
+                    }
                     else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
                         Msg.add("出库时伸缩叉X05检测到有物料无法继续,请检查", MsgLevel.alarm);
@@ -240,9 +245,14 @@ namespace DeviceLibrary
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
+                        if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
+                            IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
+                        {
                             Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
                             RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
                         }
+
+                    }
                     else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
                     {
                         Msg.add("出库时伸缩叉X05没有检测到有物料无法继续,请检查", MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
@@ -312,9 +322,13 @@ namespace DeviceLibrary
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
+                        if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
+                             IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
+                        {
                             Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续,请检查", MsgLevel.alarm);
                             RobotManage.UserPause("伸缩叉2侧X06/X07检测到有物料无法继续,请检查");
                         }
+                    }
                     else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
                         Msg.add("入库后伸缩叉X05上任然检测到物料,请检查", MsgLevel.alarm);

DeviceLibrary/theMachine/MainMachine.cs

@@ -304,17 +304,21 @@ namespace DeviceLibrary
                     ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                     break;
                 case MoveStep.H03_HomeReset:
-                    if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
-    IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
+                    if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check,Config, IO_VALUE.LOW,2000)&&
+                        IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check,Config,IO_VALUE.LOW,2000))
                     {
-                        Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning);
-                        RobotManage.UserPause("回原时料叉上有物料");
-                        return;
-                    }
                         ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                         YAxis.HomeMove(ResetMoveInfo, forceHome);
                         ResetMoveInfo.log("正在回原 ,升降轴,回原");
                         ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                    }
+                    else
+                    {
+                        Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning);
+                        RobotManage.UserPause("回原时料叉上有物料");
+                        return;
+                    }
+
                     break;
                 case MoveStep.H04_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
@@ -350,10 +354,15 @@ namespace DeviceLibrary
                     else if (IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                              IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
+                        if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
+                            IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
+                        {
                             Msg.add("伸缩叉2侧X06/X07检测到有物料无法继续", MsgLevel.warning);
                             RobotManage.UserPause("回源时料叉上有物料");
                             return;
                         }
+
+                    }
                     else
                     {
                         ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);