1.Lift_Servo 1,2,3,4以及FSTP，到目标位置之前检查是否报错

VirgoRT/Devices/IODevices/IoTriStateLift4.cs

@@ -29,6 +29,12 @@ namespace VirgoRT.Devices
         //private readonly DIAccessor _diCCWLimitSensorAlarm;  // 
         private readonly DIAccessor _diOverSoftwareLimitAlarm; // 
 
+        private readonly DIAccessor _diServo1BrakeON;
+        private readonly DIAccessor _diServo2BrakeON;
+        private readonly DIAccessor _diServo3BrakeON;
+        private readonly DIAccessor _diServo4BrakeON;
+        private readonly DIAccessor _diServoFSTP;
+
         private readonly DOAccessor _doReset;
 
         private readonly DOAccessor _doOrigin;//去原点
@@ -183,7 +189,11 @@ namespace VirgoRT.Devices
             _diABSAlarm = ParseDiNode("diABSAlarm", node, ioModule);
             _diORGAlarm = ParseDiNode("diORGAlarm", node, ioModule);
             _diOverSoftwareLimitAlarm = ParseDiNode("diOverSoftwareLimitAlarm", node, ioModule);
-
+            _diServo1BrakeON = ParseDiNode("diServo1BrakeON", node, ioModule);
+            _diServo2BrakeON = ParseDiNode("diServo2BrakeON", node, ioModule);
+            _diServo3BrakeON = ParseDiNode("diServo3BrakeON", node, ioModule);
+            _diServo4BrakeON = ParseDiNode("diServo4BrakeON", node, ioModule);
+            _diServoFSTP = ParseDiNode("diServoFSTP", node, ioModule);
             //_diServoAlarm = ParseDiNode("diServoAlarm", node, ioModule);
             //_diCCWLimitSensorAlarm = ParseDiNode("diCCWLimitAlarm", node, ioModule);
 
@@ -292,8 +302,37 @@ namespace VirgoRT.Devices
         public bool GoPosition(Position position)
         {
             Reset();
+            if (!_diServo1BrakeON.Value)
+            {
+                NoDuplicatedAlarm($"Lift Pin DI-{_diServo1BrakeON.Index} alarm");
+                return false;
+            }
+            if (!_diServo2BrakeON.Value)
+            {
+                NoDuplicatedAlarm($"Lift Pin DI-{_diServo2BrakeON.Index} alarm");
+                return false;
+            }
+            if (!_diServo3BrakeON.Value)
+            {
+                NoDuplicatedAlarm($"Lift Pin DI-{_diServo3BrakeON.Index} alarm");
+                return false;
+            }
+            if (!_diServo4BrakeON.Value)
+            {
+                NoDuplicatedAlarm($"Lift Pin DI-{_diServo4BrakeON.Index} alarm");
+                return false;
+            }
+            if (!_diServoFSTP.Value)
+            {
+                NoDuplicatedAlarm($"Lift Pin DI-{_diServoFSTP.Index} alarm");
+                return false;
+            }
+
             if (_diABSAlarm.Value)
+            {
+                NoDuplicatedAlarm($"Lift Pin DI-{_diABSAlarm.Index} alarm");
                 return false;
+            }
 
             _currentTarget = position;
             sw.Restart();