public static void HomeSub()
{
switch (StepHome)
{
case 10:
GoHome.Reset.State = true;
AddList("设备初始化开始，请等待！");
//停止流水线
Linechange.SetMotor1(false, 0); //
Linechange.SetMotor2(false, 0);
Linechange.SetMotor3(false, 0);
AddList("关闭传送带电机");
if (EpsonRobot.IsRobotAlarm)
{
AddList("机械手报警，初始化失败，请检查！");
ShowList("机械手报警，初始化失败，请检查！");
StepHome = 1000;
return;
}
Gg.SetDo(0, Gg.OutPut0.启动按钮指示灯, 0);
Gg.SetDo(0, Gg.OutPut0.日光灯继电器, 0);
Gg.SetDo(0, Gg.OutPut0.步进电机使能, 0);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸1, 1);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸2, 1);
Gg.SetDo(0, Gg.OutPut0.阻挡气缸3, 1);
Gg.SetExDo(0, 0, Gg.OutPut1.PSA吸嘴升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.光源旋转气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.撕膜夹爪气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手滑台气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜升降气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.机械手撕膜针型气缸, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.载具夹紧气缸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.NG指示灯, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.OK指示灯, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.PSA载台真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.搬运PSA真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手吸嘴真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手夹爪吸膜真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.机械手排线真空吸, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.右料盘吸电磁铁, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.左料盘吸电磁铁, 1);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品破真空, 0);
Gg.SetExDo(0, 1, Gg.OutPut2.载具上产品真空吸, 0);
Gg.SetExDo(0, 2, Gg.OutPut3.离子风扇, 0);
RobotHomeNum = 0;
////界面
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_ProgressBar.IsShowProgresBar(true);
InitTime.InitialTime();
StepHome = 20;
break;
//机械手回初始位置
case 20:
RobotHomeNum += 1;
AddList("机械手停止！");
Gg.SetDo(0, Gg.OutPut0.机械手停止, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手停止, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 22;
break;
case 22:
AddList("机械手复位！");
Gg.SetDo(0, Gg.OutPut0.机械手复位, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手复位, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 24;
break;
case 24:
AddList("机械手启动！");
Gg.SetDo(0, Gg.OutPut0.机械手启动, 1);
WinAPI.Wait(200);
Gg.SetDo(0, Gg.OutPut0.机械手启动, 0);
WinAPI.Wait(100);
InitTime.InitialTime();
StepHome = 30;
break;
case 30:
if (Gg.GetDi(0, Gg.InPut0.机械手运动中) == 1)
{
AddList("机械手启动成功！");
InitTime.InitialTime();
StepHome = 40;
}
else if (InitTime.TimeIsUp(2000))
{
if (RobotHomeNum < 3)
{
InitTime.InitialTime();
StepHome = 20;
}
else
{
AddList("机械手启动失败！");
ShowList("机械手启动失败！");
StepHome = 1000;
return;
}
}
break;
case 40:
if (Frm_Engineering.fEngineering.Tcp_Robot.IsStart)
{
AddList("机械手网络链接OK！");
InitTime.InitialTime();
StepHome = 50;
}
else if (InitTime.TimeIsUp(5000))
{
if (RobotHomeNum < 3)
{
InitTime.InitialTime();
StepHome = 20;
}
else
{
AddList("机械手网络链接失败！");
ShowList("机械手网络链接失败！");
StepHome = 1000;
return;
}
}
break;
case 50:
AddList("获取机械手程序版本！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("GetVersion", "0", "0", "0", "0", "0", "0", "0",
"DAB-SV(1.0.0)_20180505", "0", "0", "0", "0", "0") == false)
{
StepHome = 1000;
return;
}
InitTime.InitialTime();
StepHome = 60;
break;
case 60:
if (EpsonRobot.sRobot_Status == "GetVersionOK")
{
AddList("机械手程序版本匹配OK！");
InitTime.InitialTime();
StepHome = 100;
}
else if (EpsonRobot.sRobot_Status == "GetVersionNG")
{
AddList("机械手版本不匹配！");
ShowList("机械手版本不匹配！");
StepHome = 1000;
return;
}
else if (InitTime.TimeIsUp(3000))
{
AddList("获取机械手程序版本超时！");
ShowList("获取机械手程序版本超时！");
StepHome = 1000;
return;
}
break;
case 100:
AddList("机械手回初始位置开始！");
if (Frm_Engineering.fEngineering.Rbt_SendCmd("Step", RobotPosName.待机位置, "20", "0", "0", "0", "0", "0", "0", "0", "0", "0", "0", "20") == false)
{
StepHome = 1000;
return;
}
InitTime.InitialTime();
StepHome = 110;
break;
case 110:
if (EpsonRobot.sRobot_Status == "Step" + RobotPosName.待机位置)
{
AddList("机械手回待机位置OK！");
InitTime.InitialTime();
StepHome = 200;
}
else if (InitTime.TimeIsUp(10000))
{
AddList("机械手回待机位置超时！");
ShowList("机械手回待机位置超时！");
StepHome = 1000;
return;
}
break;
case 200:
Frm_ProgressBar.SetValueProgressBar(30); //初始化进度条的进度更新显示
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 1 && Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 1 &&
Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 1 && Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 0 &&
Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 1 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 0)
{
InitTime.InitialTime();
StepHome = 210;
}
if (InitTime.TimeIsUp(6000))
{
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸1伸出) == 0)
{
AddList("阻挡气缸1伸出信号异常，请检查！");
ShowList("阻挡气缸1伸出信号异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸2伸出) == 0)
{
AddList("阻挡气缸2伸出信号异常，请检查！");
ShowList("阻挡气缸2伸出信号异常，请检查！");
}
if (Gg.GetDi(0, Gg.InPut0.阻挡气缸3伸出) == 0)
{
AddList("阻挡气缸3伸出信号异常，请检查！");
ShowList("阻挡气缸3伸出信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.光源旋转气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.光源旋转气缸伸出) == 1)
{
AddList("光源旋转气缸缩回信号异常，请检查！");
ShowList("光源旋转气缸缩回回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.载具夹紧气缸伸出) == 1)
{
AddList("载具夹紧气缸缩回信号异常，请检查！");
ShowList("载具夹紧气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手撕膜升降气缸伸出) == 1)
{
AddList("机械手撕膜升降气缸缩回信号异常，请检查！");
ShowList("机械手撕膜升降气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸缩回) == 0 || Gg.GetExDi(0, Gg.InPut1.机械手滑台气缸伸出) == 1)
{
AddList("机械手滑台气缸缩回信号异常，请检查！");
ShowList("机械手滑台气缸缩回信号异常，请检查！");
}
if (Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0 || Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸下) == 1)
{
AddList("PSA吸嘴升降气缸上信号异常，请检查！");
ShowList("PSA吸嘴升降气缸上信号异常，请检查！");
}
StepHome = 1000;
}
break;
case 210:
AddList("料仓左Z轴开始回原点…");
AddList("料仓右Z轴开始回原点…");
AddList("PSA供料Z轴开始回原点…");
AddList("保压Z轴开始回原点…");
AddList("PSA搬运Y轴开始回原点…");
GoHome.AxisHome[0, Axis.料仓左Z轴].Result = false;
GoHome.AxisHome[0, Axis.料仓右Z轴].Result = false;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Result = false;
GoHome.AxisHome[0, Axis.保压Z轴].Result = false;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result = false;
GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = true;
GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = true;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = true;
GoHome.AxisHome[0, Axis.保压Z轴].Enable = true;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = true;
GoHome.AxisHome[0, Axis.料仓左Z轴].Step = 10;
GoHome.AxisHome[0, Axis.料仓右Z轴].Step = 10;
GoHome.AxisHome[0, Axis.PSA供料Z轴].Step = 10;
GoHome.AxisHome[0, Axis.保压Z轴].Step = 10;
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step = 10;
InitTime.InitialTime();
Frm_ProgressBar.SetValueProgressBar(30);
StepHome = 220;
break;
case 220:
GotoHome(0, Axis.料仓左Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.料仓右Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.PSA供料Z轴, 30, -1000, 10, 1, 5);
GotoHome(0, Axis.保压Z轴, 30, -90, 20, -3, 5);
GotoHome(0, Axis.PSA搬运Y轴, 30, -1000, 10, 1, 10);
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step != 0 && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
StepHome = 1000;
}
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓左Z轴].Enable)
{
GoHome.AxisHome[0, Axis.料仓左Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result)
{
AddList("料仓左Z轴回原点成功！");
}
else
{
AddList("料仓左Z轴回原点失败！");
ShowList("料仓左Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.料仓右Z轴].Step == 0 && GoHome.AxisHome[0, Axis.料仓右Z轴].Enable)
{
GoHome.AxisHome[0, Axis.料仓右Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.料仓右Z轴].Result)
{
AddList("料仓右Z轴回原点成功！");
}
else
{
AddList("料仓右Z轴回原点失败！");
ShowList("料仓右Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable)
{
GoHome.AxisHome[0, Axis.PSA供料Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.PSA供料Z轴].Result)
{
AddList("PSA供料Z轴回原点成功！");
}
else
{
AddList("PSA供料Z轴回原点失败！");
ShowList("PSA供料Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.保压Z轴].Step == 0 && GoHome.AxisHome[0, Axis.保压Z轴].Enable)
{
GoHome.AxisHome[0, Axis.保压Z轴].Enable = false;
if (GoHome.AxisHome[0, Axis.保压Z轴].Result)
{
AddList("保压Z轴回原点成功！");
}
else
{
AddList("保压Z轴回原点失败！");
ShowList("保压Z轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Step == 0 && GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable)
{
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Enable = false;
if (GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
{
AddList("PSA搬运Y轴回原点成功！");
}
else
{
AddList("PSA搬运Y轴回原点失败！");
ShowList("PSA搬运Y轴回原点失败！");
StepHome = 1000;
}
}
if (GoHome.AxisHome[0, Axis.料仓左Z轴].Result && GoHome.AxisHome[0, Axis.料仓右Z轴].Result &&
GoHome.AxisHome[0, Axis.PSA供料Z轴].Result && GoHome.AxisHome[0, Axis.保压Z轴].Result &&
GoHome.AxisHome[0, Axis.PSA搬运Y轴].Result)
{
Frm_ProgressBar.SetValueProgressBar(50);
InitTime.InitialTime();
StepHome = 300;
}
break;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
case 300:
AddList("各轴开始回待机位置…");
//料仓
Gg.AbsMotion(0, Axis.料仓左Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.左料仓, Axis.Point左料仓.初始位置], 20);
Gg.AbsMotion(0, Axis.料仓右Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.右料仓, Axis.Point右料仓.初始位置], 20);
//PSA供料
Gg.AbsMotion(0, Axis.PSA供料Z轴, mFunction.Pos.TeachAxis2[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Z轴初始位置], 20);
Gg.AbsMotion(0, Axis.PSA搬运Y轴, mFunction.Pos.TeachAxis1[Axis.tTag.PSA供料, Axis.Point供料PSA.PSA_Y轴吸料位置], 20);
//保压站
Gg.AbsMotion(0, Axis.保压Z轴, mFunction.Pos.TeachAxis1[Axis.tTag.保压, Axis.Point保压.初始位置], 20);
InitTime.InitialTime();
StepHome = 310;
break;
case 310:
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false && Gg.GetExDi(0, Gg.InPut1.PSA吸嘴升降气缸上) == 0)
{
AddList("PSA吸嘴升降气缸上信号异常！");
ShowList("PSA吸嘴升降气缸上信号异常！");
StepHome = 1000;
}
if (Gg.ZSPD(0, Axis.料仓左Z轴) && Gg.ZSPD(0, Axis.料仓右Z轴) &&
Gg.ZSPD(0, Axis.PSA供料Z轴) && Gg.ZSPD(0, Axis.PSA搬运Y轴) &&
Gg.ZSPD(0, Axis.保压Z轴))
{
AddList("整机回待机位置完成！");
InitTime.InitialTime();
StepHome = 350;
}
else
{
if (InitTime.TimeIsUp(10000))
{
if (Gg.ZSPD(0, Axis.料仓左Z轴) == false)
{
AddList("料仓左Z轴回待机位置失败！");
ShowList("料仓左Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.料仓右Z轴) == false)
{
AddList("料仓右Z轴回待机位置失败！");
ShowList("料仓右Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.PSA供料Z轴) == false)
{
AddList("PSA供料Z轴回待机位置失败！");
ShowList("PSA供料Z轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.PSA搬运Y轴) == false)
{
AddList("PSA搬运Y轴回待机位置失败！");
ShowList("PSA搬运Y轴回待机位置失败！");
}
if (Gg.ZSPD(0, Axis.保压Z轴) == false)
{
AddList("保压Z轴回待机位置失败！");
ShowList("保压Z轴回待机位置失败！");
}
StepHome = 1000;
}
}
break;
case 350:
//平移气缸回到左边
Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸左, 1);
Gg.SetExDo(0, 2, Gg.OutPut3.料盘平移无杆气缸右, 0);
//保压无杆气缸向右复位
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸左, 0);
Gg.SetExDo(0, 0, Gg.OutPut1.保压无杆气缸右, 1);
AddList("料盘平移无杆气缸向左复位！");
InitTime.InitialTime();
StepHome = 360;
break;
case 360:
if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 1 && Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 0 &&
Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 1 && Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 0)
{
AddList("料盘平移无杆气缸向左复位OK！");
InitTime.InitialTime();
StepHome = 370;
}
else
{
if (InitTime.TimeIsUp(6000))
{
if (Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸左) == 0 || Gg.GetExDi(2, Gg.InPut3.料盘平移无杆气缸右) == 1)
{
AddList("料盘平移无杆气缸左信号异常！");
InitTime.InitialTime();
StepHome = 1000;
}
}
if (Gg.GetExDi(0, Gg.InPut1.保压无杆气缸左) == 1 || Gg.GetExDi(0, Gg.InPut1.保压无杆气缸右) == 0)
{
AddList("保压无杆气缸右信号异常！");
InitTime.InitialTime();
StepHome = 1000;
}
}
break;
case 370:
InitTime.InitialTime();
StepHome = 800;
break;
case 800:
AddList("初始化完成");
ShowList("初始化完成");
PVar.LampStatus = 20;
PVar.Stop_Flag = true;
PVar.AutoRunFlag = false;
PVar.MacHold = false;
PVar.CPKDoneCounts = 0;
PVar.WorkMode = 0;
Frm_Main.fMain.Panel_CPK.Visible = false;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = true;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_SelectedBtn; //'主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Engineering.fEngineering.TabPage3.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_Engineering.fEngineering.TabPage4.Parent = Frm_Engineering.fEngineering.TabControl1;
Frm_ProgressBar.IsShowProgresBar(false); //'初始化进度条显示
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
for (int i = 0; i <= 10; i++)
{
PVar.Sta_Work[i].State = false;
PVar.Sta_Work[i].Result = false;
PVar.Sta_Work[i].IsHaveHSG = false;
PVar.Sta_Work[i].Step = 0;
}
Mod_ErrorCode.CheckSystemTimeStep = 0;
GoHome.Reset.State = false;
GoHome.Reset.Result = true;
StepHome = 0;
break;
case 1000:
PVar.LampStatus = 10;
PVar.MacHold = false;
PVar.Stop_Flag = true;
//按钮初始化
Frm_Main.fMain.Btn_Start.Enabled = true;
Frm_Main.fMain.Btn_Pause.Enabled = false;
Frm_Main.fMain.Btn_Stop.Enabled = false;
Frm_Main.fMain.Btn_Start.BZ_BackColor = PVar.BZColor_UnselectedBtn; //主页面初始化和自动运行按钮
Frm_Main.fMain.Btn_Pause.BZ_BackColor = PVar.BZColor_UnselectedBtn;
Frm_Main.fMain.Btn_Stop.BZ_BackColor = PVar.BZColor_SelectedEndBtn;
PVar.Rtn = gts.GT_Stop(0, 255, 255); //紧急停止0号卡所有轴
Frm_Engineering.fEngineering.Home_Timer.Enabled = false;
Frm_ProgressBar.IsShowProgresBar(false); //初始化进度条显示
GoHome.Reset.Result = false;
GoHome.Reset.State = false;
StepHome = 0;
break;
}
//string tempStr = "";
//if (Gg.GetDi(0, Gg.InPut0.安全门) == 0)
// {
// tempStr = "安全门";
// }
//if (!string.IsNullOrEmpty(tempStr))
// {
// AddList("请关闭" + tempStr + "再初始化");
// ShowList("请关闭" + tempStr + "再初始化");
// StepHome = 1000;
// return;
// }
}