From 26d09e12e6d621dfcd495f90e4e4449a78488f81 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Sat, 23 Nov 2024 09:11:19 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0XY1Y2=E6=98=AF=E5=90=A6?=
 =?UTF-8?q?=E5=88=B0=E4=BD=8D=E6=A3=80=E6=B5=8B?=
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---
 .../DischargeModuleGoSafePosFlow.cs           | 23 +++++++++++++++----
 1 file changed, 19 insertions(+), 4 deletions(-)

diff --git a/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs b/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
index d03cc6a..f223a14 100644
--- a/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
+++ b/Rs.DeweyTester/Flow/SafePosFlow/DischargeModuleGoSafePosFlow.cs
@@ -3,6 +3,7 @@ using Rs.Framework;
 using Rs.Motion;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Entitys;
+using Rs.MotionPlat.Flow.Common;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -169,8 +170,15 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
                         case EDischargeModuleGoSafePosFlowStep.等待运动到安全位:
                             if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
                             {
-                                AxisPosPrint.PrintXY1Y2CurrentPos("X已运动到治具安全位,", GetClassName());
-                                arrivedSafePos = true;
+                                if (AxisArrived.LoadXY1Y2IsArrived(targetPos.X, targetPos.Y1, targetPos.Y2))
+                                {
+                                    AxisPosPrint.PrintXY1Y2CurrentPos("X已运动到治具安全位,", GetClassName());
+                                    arrivedSafePos = true;
+                                }
+                                else
+                                {
+                                    moveXStep = EDischargeModuleGoSafePosFlowStep.到安全位;
+                                }
                             }
                             break;
                         default:
@@ -215,8 +223,15 @@ namespace Rs.MotionPlat.Flow.SafePosFlow
                         case EDischargeModuleGoSafePosFlowStep.等待运动到安全位:
                             if (Ops.IsStop("LoadX", "LoadY1", "LoadY2") || GlobalVar.VirtualAxis)
                             {
-                                AxisPosPrint.PrintXY1Y2CurrentPos("Y1已运动治具侧,", GetClassName());
-                                arrivedSafePos = true;
+                                if(AxisArrived.LoadXY1Y2IsArrived(targetPos.X,targetPos.Y1,targetPos.Y2))
+                                {
+                                    AxisPosPrint.PrintXY1Y2CurrentPos("Y1已运动治具侧,", GetClassName());
+                                    arrivedSafePos = true;
+                                }
+                                else
+                                {
+                                    moveY1Step = EDischargeModuleGoSafePosFlowStep.到安全位;
+                                }
                             }
                             break;
                         default: