增加移动命令前，电机状态的检查； 关闭窗体，关闭服务

HexcalMC/Motion/Motion.Designer.cs

@@ -557,8 +557,8 @@
 			this.cboAxisNo.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
 			this.cboAxisNo.FormattingEnabled = true;
 			this.cboAxisNo.Items.AddRange(new object[] {
-            "1",
             "0",
+            "1",
             "8"});
 			this.cboAxisNo.Location = new System.Drawing.Point(115, 20);
 			this.cboAxisNo.Name = "cboAxisNo";

HexcalMC/Motion/Motion.cs

@@ -19,7 +19,7 @@ namespace HexcalMC
 		private const int MaxUiLimitCnt = 8;
 		private const int MaxUiIoCnt = 8;
 		private readonly Api _acs;
-		private readonly int _motionTimeout = 5000; //延时时间
+		private readonly int _motionTimeout = 50000; //延时时间
 
 
 		private readonly Axis[] UseAxis = MainFrom.UseAxis; //获取激活的轴
@@ -223,6 +223,8 @@ namespace HexcalMC
 
 			#region 初始化
 
+
+
 			InitMotion();
 
 			#endregion
@@ -242,15 +244,7 @@ namespace HexcalMC
 			string strTemp;
 			int i;
 
-			//判断通讯对象是否存在
-			if (_acs == null || !_acs.IsConnected)
-			{
-				DebugDfn.AddLogText("未建立通讯，请在主界面先建立通讯");
-
-				// 在合适的位置调用 MessageBox.Show() 方法
-				MessageBox.Show("未建立通讯，请在主界面先建立通讯", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
-				return;
-			}
+	
 
 			_mBConnected = _acs.IsConnected;
 			// Get Total number of axes
@@ -913,11 +907,15 @@ namespace HexcalMC
 			}
 
 			// Add log to ListBox
-			Invoke((MethodInvoker)delegate
+			if (lstLog.IsHandleCreated)
 			{
-				lstLog.Items.Add(string.Format(" - Axis {0}, Stoppped", axisNo));
-				lstLog.SelectedIndex = lstLog.Items.Count - 1;
-			});
+				Invoke((MethodInvoker)delegate
+				{
+					lstLog.Items.Add(string.Format(" - Axis {0}, Stoppped", axisNo));
+					lstLog.SelectedIndex = lstLog.Items.Count - 1;
+				});
+
+			}
 		}
 
 		private void BtnEventProgramEnd_Click(object sender, EventArgs e)
@@ -1056,6 +1054,8 @@ namespace HexcalMC
 				0,
 				0
 			};
+
+
 			//执行运动指令
 			_acs.ToPointM(MotionFlags.ACSC_NONE, UseAxis, pointsArray); //多轴运动到指定位置