1.修改双轴电机回到原点的条件

VirgoRT/Devices/IODevices/IoTriStateLift2.cs

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