增加XY1Y2运动前检测搬运X是否在原点

Rs.DeweyTester/Flow/SafeControl.cs

@@ -26,13 +26,29 @@ namespace Rs.MotionPlat.Flow
             }
         }
         public void Init()
+        {
+            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()
         {
             if (SysConfigParam.GetValue<bool>("CheckSafeEnable"))
@@ -66,6 +82,9 @@ namespace Rs.MotionPlat.Flow
             if(SysConfigParam.GetValue<bool>("CheckSafeEnable"))
             {
                 bool bOnOrg = false;
+                AxisControl.TakeTrayX.GetOrgStatus(out bOnOrg);
+                if (bOnOrg || MachineManage.Instance.MachineStatus == EMachineStatus.Homing)
+                {
                     for (int i = 1; i < 5; i++)
                     {
                         AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
@@ -77,6 +96,12 @@ namespace Rs.MotionPlat.Flow
 
                     }
                 }
+                else
+                {
+                    return false;
+                }
+               
+            }
             return true;
         }
 
@@ -85,7 +110,10 @@ 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)
+                {
+                    for (int i = 1; i < 5; i++)
                     {
                         AxisControl.GetAxis($"NozzleZ{i}").GetOrgStatus(out bOnOrg);
                         if (!bOnOrg)
@@ -93,8 +121,14 @@ namespace Rs.MotionPlat.Flow
                             MessageQueue.Instance.Warn($"NozzleZ{i} hasn't org signal");
                             return false;
                         }
+                    }
                    
                 }
+                else
+                {
+                    return false;
+                }
+               
             }
             return true;
         }