From 9a36edf53c79a423807e190c5b494f71dc430abf Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Thu, 28 Sep 2023 14:19:01 +0900
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---
 Rs.SkyLine/Flow/HomeFlow.cs | 37 ++++++++++++++++++++++++++-----------
 1 file changed, 26 insertions(+), 11 deletions(-)

diff --git a/Rs.SkyLine/Flow/HomeFlow.cs b/Rs.SkyLine/Flow/HomeFlow.cs
index a56ed46..23e77eb 100644
--- a/Rs.SkyLine/Flow/HomeFlow.cs
+++ b/Rs.SkyLine/Flow/HomeFlow.cs
@@ -1,5 +1,6 @@
 using Rs.Controls;
 using Rs.Framework;
+using Rs.Motion.Base;
 using Rs.MotionPlat.Commom;
 using System;
 using System.Collections.Generic;
@@ -168,17 +169,17 @@ namespace Rs.MotionPlat.Flow
                             break;
                         case 6://go to start position
                             Thread.Sleep(200);
-                            AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), 4);
-                            AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), 4);
-                            AxisControl.NozzleR3.MovePos(SysConfigParam.GetValue<double>("NozzleR3StartPos"), 4);
-                            AxisControl.NozzleR4.MovePos(SysConfigParam.GetValue<double>("NozzleR4StartPos"), 4);
-                            AxisControl.NozzleR5.MovePos(SysConfigParam.GetValue<double>("NozzleR5StartPos"), 4);
-                            AxisControl.NozzleR6.MovePos(SysConfigParam.GetValue<double>("NozzleR6StartPos"), 4);
-                            AxisControl.NozzleR7.MovePos(SysConfigParam.GetValue<double>("NozzleR7StartPos"), 4);
-                            AxisControl.NozzleR8.MovePos(SysConfigParam.GetValue<double>("NozzleR8StartPos"), 4);
-                            AxisControl.NozzleR9.MovePos(SysConfigParam.GetValue<double>("NozzleR9StartPos"), 4);
-                            AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), 4);
-                            AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), 4);
+                            AxisControl.NozzleR1.MovePos(SysConfigParam.GetValue<double>("NozzleR1StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR2.MovePos(SysConfigParam.GetValue<double>("NozzleR2StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR3.MovePos(SysConfigParam.GetValue<double>("NozzleR3StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR4.MovePos(SysConfigParam.GetValue<double>("NozzleR4StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR5.MovePos(SysConfigParam.GetValue<double>("NozzleR5StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR6.MovePos(SysConfigParam.GetValue<double>("NozzleR6StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR7.MovePos(SysConfigParam.GetValue<double>("NozzleR7StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR8.MovePos(SysConfigParam.GetValue<double>("NozzleR8StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.NozzleR9.MovePos(SysConfigParam.GetValue<double>("NozzleR9StartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
+                            AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
                             homeStep++;
                             break;
                             case 7:
@@ -197,5 +198,19 @@ namespace Rs.MotionPlat.Flow
                 }
             });
         }
+
+        private string CheckCanHome()
+        {
+            List<string> list = new List<string>();
+            foreach(IAxis axis in AxisControl.GetAllAxis())
+            {
+                axis.GetAlarmStatus(out bool bAlarm);
+                if(bAlarm)
+                {
+                    list.Add(axis.Config.AxisName);
+                }
+            }
+            return string.Join(",", list);
+        }
     }
 }