急停未开时自动关闭刹车信号

source/DeviceLibrary/acSquareStore/Square_BoxBean.cs

@@ -888,7 +888,17 @@ namespace OnlineStore.DeviceLibrary
         {
         {
             DateTime time = DateTime.Now;
             DateTime time = DateTime.Now;
             if (storeRunStatus.Equals(StoreRunStatus.Wait))
             if (storeRunStatus.Equals(StoreRunStatus.Wait))
-            {
+            { 
+                //处理急停信号，如果急停未开，自动停止刹车信号 
+                if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+                {
+                    if (IOManager.IOValue(IO_Type.Axis_Brake).Equals(IO_VALUE.HIGH))
+                    {
+                        IOManager.IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
+                        LogUtil.info(StoreName + "：急停未开，自动关闭信号：Axis_Brake");
+                    }
+                }
+
                 //取新的Io状态
                 //取新的Io状态
                 IO_VALUE autoSingle = IOManager.IOValue(IO_Type.Reset_BTN);
                 IO_VALUE autoSingle = IOManager.IOValue(IO_Type.Reset_BTN);
                 if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
                 if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
@@ -907,7 +917,7 @@ namespace OnlineStore.DeviceLibrary
                     lastAutoRun = autoSingle;
                     lastAutoRun = autoSingle;
                     return;
                     return;
                 }
                 }
-                lastAutoRun = autoSingle;
+                lastAutoRun = autoSingle; 
             }
             }
             //判断急停 
             //判断急停 
             else if (storeRunStatus >= StoreRunStatus.HomeMoving)
             else if (storeRunStatus >= StoreRunStatus.HomeMoving)