增加XY1Y2运动前检测搬运X是否在原点

Rs.DeweyTester/Flow/SafeControl.cs

@@ -27,10 +27,26 @@ namespace Rs.MotionPlat.Flow
         }
         public void Init()
         {
-            AxisControl.LoadX.FunSafeCheck += LoadX_FunSafeCheck;
-            AxisControl.LoadY1.FunSafeCheck += LoadY_FunSafeCheck;
-            AxisControl.LoadY2.FunSafeCheck += LoadY_FunSafeCheck;
-            AxisControl.TakeTrayX.FunSafeCheck += TakeTrayX_FunSafeCheck;
+            if(AxisControl.LoadX!=null)
+            {
+                AxisControl.LoadX.FunSafeCheck += LoadX_FunSafeCheck;
+            }
+            
+            if (AxisControl.LoadX != null)
+            {
+                AxisControl.LoadY1.FunSafeCheck += LoadY_FunSafeCheck;
+            }
+           
+            if (AxisControl.LoadX != null)
+            {
+                AxisControl.LoadY2.FunSafeCheck += LoadY_FunSafeCheck;
+            }
+           
+            if (AxisControl.LoadX != null)
+            {
+                AxisControl.TakeTrayX.FunSafeCheck += TakeTrayX_FunSafeCheck;
+            }
+           
         }
 
         private bool TakeTrayX_FunSafeCheck()
@@ -66,16 +82,25 @@ namespace Rs.MotionPlat.Flow
             if(SysConfigParam.GetValue<bool>("CheckSafeEnable"))
             {
                 bool bOnOrg = false;
-                for (int i = 1; i < 5; i++)
+                AxisControl.TakeTrayX.GetOrgStatus(out bOnOrg);
+                if (bOnOrg || MachineManage.Instance.MachineStatus == EMachineStatus.Homing)
                 {
-                    AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
-                    if (!bOnOrg)
+                    for (int i = 1; i < 5; i++)
                     {
-                        MessageQueue.Instance.Warn($"NozzleZ{i} hasn't org signal");
-                        return false;
-                    }
+                        AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
+                        if (!bOnOrg)
+                        {
+                            MessageQueue.Instance.Warn($"NozzleZ{i} hasn't org signal");
+                            return false;
+                        }
 
+                    }
+                }
+                else
+                {
+                    return false;
                 }
+               
             }
             return true;
         }
@@ -85,16 +110,25 @@ namespace Rs.MotionPlat.Flow
             if (SysConfigParam.GetValue<bool>("CheckSafeEnable"))
             {
                 bool bOnOrg = false;
-                for (int i = 1; i < 5; i ++)
-                { 
-                    AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
-                    if (!bOnOrg)
+                AxisControl.TakeTrayX.GetOrgStatus(out bOnOrg);
+                if (bOnOrg || MachineManage.Instance.MachineStatus== EMachineStatus.Homing)
+                {
+                    for (int i = 1; i < 5; i++)
                     {
-                        MessageQueue.Instance.Warn($"NozzleZ{i} hasn't org signal");
-                        return false;
+                        AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
+                        if (!bOnOrg)
+                        {
+                            MessageQueue.Instance.Warn($"NozzleZ{i} hasn't org signal");
+                            return false;
+                        }
                     }
-                        
+                   
+                }
+                else
+                {
+                    return false;
                 }
+               
             }
             return true;
         }