1、增加驱动器160报警可以在界面上清除

2、增加版本号2.20.24.5

Rs.Motion/GugaoPulse/GugaoPulseAxis.cs

@@ -1682,12 +1682,39 @@ namespace Rs.Motion.GugaoPulse
 
         public override ErrorCode ClearAlarm()
         {
+            mc_pulse_cfg.GT_GetDoConfig((short)Config.CardId, mc_pulse.MC_CLEAR, (short)Config.AxisId, out mc_pulse_cfg.TDoConfig oConfig);
+            oConfig.reverse = 0;
+            oConfig.axis = -1;
+            apiResult = mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_CLEAR, (short)Config.AxisId, ref oConfig);
+            if (apiResult != 0)
+            {
+                LogHelper.Debug($"apiResult = mc_pulse_cfg.GT_SetDoConfig({(short)Config.CardId},{mc_pulse.MC_CLEAR}, {(short)Config.AxisId}, ref oConfig);");
+            }
+            apiResult = mc_pulse.GT_SetDoBit((short)Config.CardId, mc_pulse.MC_CLEAR, (short)Config.AxisId, 1);
+            if (apiResult != 0)
+            {
+                LogHelper.Debug($"mc_pulse.GT_SetDoBit({(short)Config.CardId}, {mc_pulse.MC_CLEAR}, {(short)Config.AxisId}, 1);");
+            }
+            Thread.Sleep(3000);
+            oConfig.axis = (short)Config.AxisId;
+            oConfig.reverse = 0;
+
+            mc_pulse_cfg.GT_SetDoConfig((short)Config.CardId, mc_pulse.MC_CLEAR, (short)Config.AxisId, ref oConfig);
+            LogHelper.Debug($" mc_pulse_cfg.GT_SetDoConfig({(short)Config.CardId}, {mc_pulse.MC_CLEAR}, {(short)Config.AxisId}, ref oConfig);");
+            LogHelper.Debug($"active={oConfig.active},axis={oConfig.axis},axisitem={oConfig.axisItem},reverse={oConfig.reverse}");
+            //apiResult = mc_pulse.GT_SetDoBit((short)Config.CardId, mc_pulse.MC_CLEAR, (short)Config.AxisId, 0);
+            //if (apiResult != 0)
+            //{
+            //    LogHelper.Debug($" mc_pulse.GT_SetDoBit({(short)Config.CardId}, {mc_pulse.MC_CLEAR}, {(short)Config.AxisId}, 1); {apiResult}");
+            //    return ErrorCode.Fail;
+            //}
             apiResult = mc_pulse.GT_ClrSts((short)Config.CardId, (short)Config.AxisId, 1);//清除轴状态
-            if(apiResult != 0)
+            if (apiResult != 0)
             {
+                LogHelper.Debug($"GT_ClrSts fail {apiResult}");
                 return ErrorCode.Fail;
             }
-            apiResult = mc_pulse.GT_SetDoBit((short)Config.CardId, mc_pulse.MC_ALARM, (short)Config.AxisId, 0);
+
             return ErrorCode.Ok;
         }
 

Rs.Motion/Properties/AssemblyInfo.cs

@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
 //通过使用 "*"，如下所示:
 // [assembly: AssemblyVersion("1.0.*")]
-[assembly: AssemblyVersion("2.20.24.3")]
+[assembly: AssemblyVersion("2.20.24.5")]
 //[assembly: AssemblyFileVersion("1.0.0.0")]