设备初始化时检测各轴报警状态

Rs.SkyLine/Flow/HomeFlow.cs

@@ -48,32 +48,42 @@ namespace Rs.MotionPlat.Flow
                     switch (homeStep)
                     {
                         case 0://所有的Z轴回原
-                            MessageQueue.Instance.Insert("Z轴开始回零");
-                            m_bHomed = false;
-                            homeTime.Restart();
-                            MachineManage.Instance.MachineStatus = EMachineStatus.Homing;
-                            //料仓Z轴回零
-                            AxisControl.GetAxis($"StockZ1").Home();
-                            AxisControl.GetAxis($"StockZ2").Home();
-                            AxisControl.GetAxis($"StockZ3").Home();
-                            AxisControl.GetAxis($"StockZ4").Home();
-                            AxisControl.GetAxis($"StockZ5").Home();
-                            AxisControl.GetAxis($"StockZ6").Home();
+                            string canGohome = CheckCanHome();
+                            if(!string.IsNullOrEmpty(canGohome))
+                            {
+                                Msg.ShowError($"轴{canGohome}处于报警状态，不能回原");
+                                MessageQueue.Instance.Warn($"轴{canGohome}处于报警状态，不能回原");
+                                m_bCancle = true;
+                            }
+                            else
+                            {
+                                MessageQueue.Instance.Insert("Z轴开始回零");
+                                m_bHomed = false;
+                                homeTime.Restart();
+                                MachineManage.Instance.MachineStatus = EMachineStatus.Homing;
+                                //料仓Z轴回零
+                                AxisControl.GetAxis($"StockZ1").Home();
+                                AxisControl.GetAxis($"StockZ2").Home();
+                                AxisControl.GetAxis($"StockZ3").Home();
+                                AxisControl.GetAxis($"StockZ4").Home();
+                                AxisControl.GetAxis($"StockZ5").Home();
+                                AxisControl.GetAxis($"StockZ6").Home();
 
-                            AxisControl.GetAxis($"NozzleZ1").Home();
-                            AxisControl.GetAxis($"NozzleZ2").Home();
-                            AxisControl.GetAxis($"NozzleZ3").Home();
-                            AxisControl.GetAxis($"NozzleZ4").Home();
-                            AxisControl.GetAxis($"NozzleZ5").Home();
-                            AxisControl.GetAxis($"NozzleZ6").Home();
-                            AxisControl.GetAxis($"NozzleZ7").Home();
-                            AxisControl.GetAxis($"NozzleZ8").Home();
-                            AxisControl.GetAxis($"NozzleZ9").Home();
-                            //保压Z轴回原 
-                            AxisControl.PressZ.Home();
-                            //周转Z轴回原
-                            AxisControl.TurnoverZ.Home();
-                            homeStep++;
+                                AxisControl.GetAxis($"NozzleZ1").Home();
+                                AxisControl.GetAxis($"NozzleZ2").Home();
+                                AxisControl.GetAxis($"NozzleZ3").Home();
+                                AxisControl.GetAxis($"NozzleZ4").Home();
+                                AxisControl.GetAxis($"NozzleZ5").Home();
+                                AxisControl.GetAxis($"NozzleZ6").Home();
+                                AxisControl.GetAxis($"NozzleZ7").Home();
+                                AxisControl.GetAxis($"NozzleZ8").Home();
+                                AxisControl.GetAxis($"NozzleZ9").Home();
+                                //保压Z轴回原 
+                                AxisControl.PressZ.Home();
+                                //周转Z轴回原
+                                AxisControl.TurnoverZ.Home();
+                                homeStep++;
+                            }
                             break;
                         case 1://等待所有Z轴回原完成
                             if (homeTime.ElapsedMilliseconds < 1000 * 60 * 2)//5分钟还未回零成功，则返回回零超时