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@@ -638,6 +638,10 @@ namespace TeamAAS_VP.Core.Robots
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{
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nodeIds.Add(axis.State.ErrorNode);
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}
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+ if (!string.IsNullOrWhiteSpace(axis.State.PausedNode))
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+ {
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+ nodeIds.Add(axis.State.PausedNode);
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+ }
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}
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var res = Plc.ReadNodes(nodeIds.ToArray());
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bool allOk = true;
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@@ -660,6 +664,15 @@ namespace TeamAAS_VP.Core.Robots
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{
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isError = (bool)res[axis.State.ErrorNode];
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}
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+ if (res.ContainsKey(axis.State.PausedNode))
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+ {
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+ isError = (bool)res[axis.State.PausedNode];
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+ }
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+ if (isError)
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+ {
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+ isAnyError = true;
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+ break;
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+ }
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//检查是否到位和位置一致
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float targetPos = 0;
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switch (axis.Name)
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