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@@ -17,6 +17,7 @@ namespace VirgoRT.Devices
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public class IoTriStateLift2 : BaseDevice, IDevice
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{
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private readonly DIAccessor _diOrigin;//是否到达原点
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+ private readonly DIAccessor _diOrigin2;
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private readonly DIAccessor _diP1;//是否到达位置1
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private readonly DIAccessor _diP2;//是否到达位置2
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private readonly DIAccessor _diP3;//是否到达位置3
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@@ -91,7 +92,7 @@ namespace VirgoRT.Devices
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return MovementPosition.Middle;
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else if (_diP1.Value == false && _diP2.Value == false && _diP3.Value)
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return MovementPosition.Down;
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- else if (_diOrigin.Value)
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+ else if (_diOrigin.Value && _diOrigin2.Value)
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return MovementPosition.Origin;
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return MovementPosition.Unknown;
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@@ -124,6 +125,7 @@ namespace VirgoRT.Devices
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_diOrigin = ParseDiNode("diOrigin", node, ioModule);
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+ _diOrigin2 = ParseDiNode("diOrigin2", node, ioModule);
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_diP1 = ParseDiNode("diP1", node, ioModule);
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_diP2 = ParseDiNode("diP2", node, ioModule);
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_diP3 = ParseDiNode("diP3", node, ioModule);
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@@ -207,7 +209,7 @@ namespace VirgoRT.Devices
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break;
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case Position.origin:
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{
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- if (_diOrigin.Value)
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+ if (_diOrigin.Value && _diOrigin2.Value)
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{
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EV.PostInfoLog(Module, $"Lift Pin already on original position.");
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sw.Stop();
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@@ -367,7 +369,7 @@ namespace VirgoRT.Devices
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if ((_currentTarget == Position.position1 && _diP1.Value) ||
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(_currentTarget == Position.position2 && _diP2.Value) ||
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(_currentTarget == Position.position3 && _diP3.Value) ||
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- (_currentTarget == Position.origin && _diOrigin.Value))
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+ (_currentTarget == Position.origin && (_diOrigin.Value && _diOrigin2.Value)))
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{
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EV.PostInfoLog(Module, $"Lift Pin arrive {_currentTarget}");
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Reset();
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