From bab249832796cf87711872f92edb57d4b104668e Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Thu, 28 Sep 2023 14:20:28 +0900
Subject: [PATCH] =?UTF-8?q?=E8=AE=BE=E5=A4=87=E5=88=9D=E5=A7=8B=E5=8C=96?=
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---
 Rs.SkyLine/Flow/HomeFlow.cs | 60 +++++++++++++++++++++----------------
 1 file changed, 35 insertions(+), 25 deletions(-)

diff --git a/Rs.SkyLine/Flow/HomeFlow.cs b/Rs.SkyLine/Flow/HomeFlow.cs
index 23e77eb..9714239 100644
--- a/Rs.SkyLine/Flow/HomeFlow.cs
+++ b/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