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source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs

@@ -324,32 +324,32 @@ namespace OnlineStore.DeviceLibrary
         {
             insafeAtOutlet = false;
             insafeAtInlet = false;
-            if (GetRobotInfo(out JAKA.JAKABean bean))
-            {
-                if (start)
-                {
-                    bean.Run();
-                }
-                else
-                    bean.Abort();
-            }
+            //if (GetRobotInfo(out JAKA.JAKABean bean))
+            //{
+            //    if (start)
+            //    {
+            //        bean.Run();
+            //    }
+            //    else
+            //        bean.Abort();
+            //}
         }
         /// <summary>
         /// 机器人运动中止
         /// </summary>
         public void MotionAbort()
         {
-            if (GetRobotInfo(out JAKA.JAKABean bean))
-            {
-                bean.MotionAbort();
-            }
+            //if (GetRobotInfo(out JAKA.JAKABean bean))
+            //{
+            //    bean.MotionAbort();
+            //}
         }
         public bool RobotPause()
         {
-            if (GetRobotInfo(out JAKA.JAKABean bean))
-            {
-               return bean.Pause();
-            }
+            //if (GetRobotInfo(out JAKA.JAKABean bean))
+            //{
+            //   return bean.Pause();
+            //}
             return false;
         }
 

source/JAKA/JAKABean-Functions.cs

@@ -127,16 +127,16 @@ namespace JAKA
        public bool GetDigitalOutput(JKTYPE.IOType iOType, int index, out bool result)
         {
             result = false;
-            int rtn = jakaAPI.get_digital_output(ref _handle, iOType, index, ref result);
-            if (rtn == RtnCode.ERR_SUCC)
-            {
-                DebugLog($"GetDigitalOutput [{iOType}][{index}={result}] OK");
-                return true;
-            }
-            else
-            {
-                ErrorLog($"GetDigitalOutput [{iOType}][{index}={result}] Fail:{RtnCode.GetStrByCode(rtn)}");
-            }
+            //int rtn = jakaAPI.get_digital_output(ref _handle, iOType, index, ref result);
+            //if (rtn == RtnCode.ERR_SUCC)
+            //{
+            //    DebugLog($"GetDigitalOutput [{iOType}][{index}={result}] OK");
+            //    return true;
+            //}
+            //else
+            //{
+            //    ErrorLog($"GetDigitalOutput [{iOType}][{index}={result}] Fail:{RtnCode.GetStrByCode(rtn)}");
+            //}
             return false;
         }
         /// <summary>

source/JAKA/UCRobot.cs

@@ -133,10 +133,10 @@ namespace JAKA
         {
             try
             {
-                if (jakaBean.GetDigitalOutput(IOType.IO_CABINET, 0, out bool insafe))
-                {
-                    lblSafe.BackColor = insafe ? Color.YellowGreen : Color.Red;
-                }
+                //if (jakaBean.GetDigitalOutput(IOType.IO_CABINET, 0, out bool insafe))
+                //{
+                //    lblSafe.BackColor = insafe ? Color.YellowGreen : Color.Red;
+                //}
             }
             catch
             {