public static bool InspectEmergency()
{
bool isOk = true;
//Check Emergency
if (SM.IO_GetX(xi.ETC_FtEmgSw) ||
SM.IO_GetX(xi.ETC_LtEmgSw) ||
SM.IO_GetX(xi.ETC_RrEmgSw) ||
SM.IO_GetX(xi.ETC_RtEmgSw))
{
SM.MT_EmgStopAll();
SM.MT_SetServoAll(false);
if (SM.IO_GetX(xi.ETC_FtEmgSw))
{
SM.ER_SetErr(ei.ETC_Emergency, "전면 Emergency Switch 가 눌렸습니다.");
}
if (SM.IO_GetX(xi.ETC_LtEmgSw))
{
SM.ER_SetErr(ei.ETC_Emergency, "좌측 Emergency Switch 가 눌렸습니다.");
}
if (SM.IO_GetX(xi.ETC_RrEmgSw))
{
SM.ER_SetErr(ei.ETC_Emergency, "뒷면 Emergency Switch 가 눌렸습니다.");
}
if (SM.IO_GetX(xi.ETC_RtEmgSw))
{
SM.ER_SetErr(ei.ETC_Emergency, "우측 Emergency Switch 가 눌렸습니다.");
}
isOk = false;
}
return(isOk);
}
public static bool InspectEmergency()
{
bool isOk = true;
//Check Emergency
if (SM.IO_GetX(xi.ETC_EmgSw))
{
SM.MT_EmgStopAll();
SM.ER_SetErr(ei.ETC_Emergency, "Emergency Switch가 눌렸습니다.");
//SM.MT.SetServoAll(false);
isOk = false;
}
return(isOk);
}