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Commit e7c7b2c1 由 LN
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夹爪修改

1 个父辈 3493e779
内嵌 并排
正在显示 5 个修改的文件 包含 136 行增加 和 51 行删除
source/AssemblyLineClient/useControl/ClampJawControl.Designer.cs
...@@ -30,16 +30,18 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -30,16 +30,18 @@ namespace OnlineStore.AssemblyLine.useControl
private void InitializeComponent() private void InitializeComponent()
{ {
this.groupClamp = new System.Windows.Forms.GroupBox(); this.groupClamp = new System.Windows.Forms.GroupBox();
this.lblIsMoving = new System.Windows.Forms.Label();
this.btnReset = new System.Windows.Forms.Button();
this.lblErrorCode = new System.Windows.Forms.Label();
this.lblEmpty = new System.Windows.Forms.Label(); this.lblEmpty = new System.Windows.Forms.Label();
this.btnHome = new System.Windows.Forms.Button(); this.btnHome = new System.Windows.Forms.Button();
this.lblMoveOk = new System.Windows.Forms.Label(); this.lblReached = new System.Windows.Forms.Label();
this.lblPosition = new System.Windows.Forms.Label(); this.lblPosition = new System.Windows.Forms.Label();
this.lblForce = new System.Windows.Forms.Label(); this.lblForce = new System.Windows.Forms.Label();
this.linkLabel1 = new System.Windows.Forms.LinkLabel(); this.linkLabel1 = new System.Windows.Forms.LinkLabel();
this.btnClampWork = new System.Windows.Forms.Button(); this.btnClampWork = new System.Windows.Forms.Button();
this.btnClampRelax = new System.Windows.Forms.Button(); this.btnClampRelax = new System.Windows.Forms.Button();
this.lblErrorCode = new System.Windows.Forms.Label(); this.lblSensor = new System.Windows.Forms.Label();
this.btnReset = new System.Windows.Forms.Button();
this.groupClamp.SuspendLayout(); this.groupClamp.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
...@@ -48,11 +50,13 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -48,11 +50,13 @@ namespace OnlineStore.AssemblyLine.useControl
this.groupClamp.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) this.groupClamp.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left) | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.groupClamp.Controls.Add(this.lblSensor);
this.groupClamp.Controls.Add(this.lblIsMoving);
this.groupClamp.Controls.Add(this.btnReset); this.groupClamp.Controls.Add(this.btnReset);
this.groupClamp.Controls.Add(this.lblErrorCode); this.groupClamp.Controls.Add(this.lblErrorCode);
this.groupClamp.Controls.Add(this.lblEmpty); this.groupClamp.Controls.Add(this.lblEmpty);
this.groupClamp.Controls.Add(this.btnHome); this.groupClamp.Controls.Add(this.btnHome);
this.groupClamp.Controls.Add(this.lblMoveOk); this.groupClamp.Controls.Add(this.lblReached);
this.groupClamp.Controls.Add(this.lblPosition); this.groupClamp.Controls.Add(this.lblPosition);
this.groupClamp.Controls.Add(this.lblForce); this.groupClamp.Controls.Add(this.lblForce);
this.groupClamp.Controls.Add(this.linkLabel1); this.groupClamp.Controls.Add(this.linkLabel1);
...@@ -66,10 +70,41 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -66,10 +70,41 @@ namespace OnlineStore.AssemblyLine.useControl
this.groupClamp.TabStop = false; this.groupClamp.TabStop = false;
this.groupClamp.Text = "夹爪操作"; this.groupClamp.Text = "夹爪操作";
// //
// lblIsMoving
//
this.lblIsMoving.AutoSize = true;
this.lblIsMoving.Location = new System.Drawing.Point(149, 131);
this.lblIsMoving.Name = "lblIsMoving";
this.lblIsMoving.Size = new System.Drawing.Size(56, 17);
this.lblIsMoving.TabIndex = 293;
this.lblIsMoving.Text = "运动中？";
//
// btnReset
//
this.btnReset.BackColor = System.Drawing.Color.White;
this.btnReset.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnReset.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnReset.Location = new System.Drawing.Point(12, 141);
this.btnReset.Name = "btnReset";
this.btnReset.Size = new System.Drawing.Size(120, 34);
this.btnReset.TabIndex = 292;
this.btnReset.Text = "夹爪复位";
this.btnReset.UseVisualStyleBackColor = false;
this.btnReset.Click += new System.EventHandler(this.btnReset_Click);
//
// lblErrorCode
//
this.lblErrorCode.AutoSize = true;
this.lblErrorCode.ForeColor = System.Drawing.Color.Red;
this.lblErrorCode.Location = new System.Drawing.Point(149, 154);
this.lblErrorCode.Name = "lblErrorCode";
this.lblErrorCode.Size = new System.Drawing.Size(0, 17);
this.lblErrorCode.TabIndex = 291;
//
// lblEmpty // lblEmpty
// //
this.lblEmpty.AutoSize = true; this.lblEmpty.AutoSize = true;
this.lblEmpty.Location = new System.Drawing.Point(159, 71); this.lblEmpty.Location = new System.Drawing.Point(149, 85);
this.lblEmpty.Name = "lblEmpty"; this.lblEmpty.Name = "lblEmpty";
this.lblEmpty.Size = new System.Drawing.Size(44, 17); this.lblEmpty.Size = new System.Drawing.Size(44, 17);
this.lblEmpty.TabIndex = 290; this.lblEmpty.TabIndex = 290;
...@@ -80,7 +115,7 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -80,7 +115,7 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnHome.BackColor = System.Drawing.Color.White; this.btnHome.BackColor = System.Drawing.Color.White;
this.btnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnHome.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnHome.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnHome.Location = new System.Drawing.Point(18, 24); this.btnHome.Location = new System.Drawing.Point(12, 24);
this.btnHome.Name = "btnHome"; this.btnHome.Name = "btnHome";
this.btnHome.Size = new System.Drawing.Size(120, 34); this.btnHome.Size = new System.Drawing.Size(120, 34);
this.btnHome.TabIndex = 289; this.btnHome.TabIndex = 289;
...@@ -88,19 +123,19 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -88,19 +123,19 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnHome.UseVisualStyleBackColor = false; this.btnHome.UseVisualStyleBackColor = false;
this.btnHome.Click += new System.EventHandler(this.btnHome_Click); this.btnHome.Click += new System.EventHandler(this.btnHome_Click);
// //
// lblMoveOk // lblReached
// //
this.lblMoveOk.AutoSize = true; this.lblReached.AutoSize = true;
this.lblMoveOk.Location = new System.Drawing.Point(159, 97); this.lblReached.Location = new System.Drawing.Point(149, 108);
this.lblMoveOk.Name = "lblMoveOk"; this.lblReached.Name = "lblReached";
this.lblMoveOk.Size = new System.Drawing.Size(68, 17); this.lblReached.Size = new System.Drawing.Size(68, 17);
this.lblMoveOk.TabIndex = 288; this.lblReached.TabIndex = 288;
this.lblMoveOk.Text = "运动到位？"; this.lblReached.Text = "到达目标？";
// //
// lblPosition // lblPosition
// //
this.lblPosition.AutoSize = true; this.lblPosition.AutoSize = true;
this.lblPosition.Location = new System.Drawing.Point(159, 45); this.lblPosition.Location = new System.Drawing.Point(149, 39);
this.lblPosition.Name = "lblPosition"; this.lblPosition.Name = "lblPosition";
this.lblPosition.Size = new System.Drawing.Size(68, 17); this.lblPosition.Size = new System.Drawing.Size(68, 17);
this.lblPosition.TabIndex = 287; this.lblPosition.TabIndex = 287;
...@@ -109,7 +144,7 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -109,7 +144,7 @@ namespace OnlineStore.AssemblyLine.useControl
// lblForce // lblForce
// //
this.lblForce.AutoSize = true; this.lblForce.AutoSize = true;
this.lblForce.Location = new System.Drawing.Point(159, 19); this.lblForce.Location = new System.Drawing.Point(149, 16);
this.lblForce.Name = "lblForce"; this.lblForce.Name = "lblForce";
this.lblForce.Size = new System.Drawing.Size(68, 17); this.lblForce.Size = new System.Drawing.Size(68, 17);
this.lblForce.TabIndex = 286; this.lblForce.TabIndex = 286;
...@@ -119,12 +154,13 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -119,12 +154,13 @@ namespace OnlineStore.AssemblyLine.useControl
// //
this.linkLabel1.AutoSize = true; this.linkLabel1.AutoSize = true;
this.linkLabel1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.linkLabel1.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.linkLabel1.Location = new System.Drawing.Point(159, 149); this.linkLabel1.Location = new System.Drawing.Point(230, 155);
this.linkLabel1.Name = "linkLabel1"; this.linkLabel1.Name = "linkLabel1";
this.linkLabel1.Size = new System.Drawing.Size(37, 20); this.linkLabel1.Size = new System.Drawing.Size(37, 20);
this.linkLabel1.TabIndex = 285; this.linkLabel1.TabIndex = 285;
this.linkLabel1.TabStop = true; this.linkLabel1.TabStop = true;
this.linkLabel1.Text = "查询"; this.linkLabel1.Text = "查询";
this.linkLabel1.Visible = false;
this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked); this.linkLabel1.LinkClicked += new System.Windows.Forms.LinkLabelLinkClickedEventHandler(this.linkLabel1_LinkClicked);
// //
// btnClampWork // btnClampWork
...@@ -132,7 +168,7 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -132,7 +168,7 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnClampWork.BackColor = System.Drawing.Color.White; this.btnClampWork.BackColor = System.Drawing.Color.White;
this.btnClampWork.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnClampWork.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClampWork.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnClampWork.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClampWork.Location = new System.Drawing.Point(18, 102); this.btnClampWork.Location = new System.Drawing.Point(12, 102);
this.btnClampWork.Name = "btnClampWork"; this.btnClampWork.Name = "btnClampWork";
this.btnClampWork.Size = new System.Drawing.Size(120, 34); this.btnClampWork.Size = new System.Drawing.Size(120, 34);
this.btnClampWork.TabIndex = 282; this.btnClampWork.TabIndex = 282;
...@@ -145,7 +181,7 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -145,7 +181,7 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnClampRelax.BackColor = System.Drawing.Color.White; this.btnClampRelax.BackColor = System.Drawing.Color.White;
this.btnClampRelax.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnClampRelax.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnClampRelax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnClampRelax.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnClampRelax.Location = new System.Drawing.Point(18, 63); this.btnClampRelax.Location = new System.Drawing.Point(12, 63);
this.btnClampRelax.Name = "btnClampRelax"; this.btnClampRelax.Name = "btnClampRelax";
this.btnClampRelax.Size = new System.Drawing.Size(120, 34); this.btnClampRelax.Size = new System.Drawing.Size(120, 34);
this.btnClampRelax.TabIndex = 281; this.btnClampRelax.TabIndex = 281;
...@@ -153,27 +189,14 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -153,27 +189,14 @@ namespace OnlineStore.AssemblyLine.useControl
this.btnClampRelax.UseVisualStyleBackColor = false; this.btnClampRelax.UseVisualStyleBackColor = false;
this.btnClampRelax.Click += new System.EventHandler(this.btnClampRelax_Click); this.btnClampRelax.Click += new System.EventHandler(this.btnClampRelax_Click);
// //
// lblErrorCode // lblSensor
//
this.lblErrorCode.AutoSize = true;
this.lblErrorCode.ForeColor = System.Drawing.Color.Red;
this.lblErrorCode.Location = new System.Drawing.Point(159, 123);
this.lblErrorCode.Name = "lblErrorCode";
this.lblErrorCode.Size = new System.Drawing.Size(0, 17);
this.lblErrorCode.TabIndex = 291;
//
// btnReset
// //
this.btnReset.BackColor = System.Drawing.Color.White; this.lblSensor.AutoSize = true;
this.btnReset.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.lblSensor.Location = new System.Drawing.Point(149, 62);
this.btnReset.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.lblSensor.Name = "lblSensor";
this.btnReset.Location = new System.Drawing.Point(18, 141); this.lblSensor.Size = new System.Drawing.Size(80, 17);
this.btnReset.Name = "btnReset"; this.lblSensor.TabIndex = 294;
this.btnReset.Size = new System.Drawing.Size(120, 34); this.lblSensor.Text = "传感器读数：";
this.btnReset.TabIndex = 292;
this.btnReset.Text = "夹爪复位";
this.btnReset.UseVisualStyleBackColor = false;
this.btnReset.Click += new System.EventHandler(this.btnReset_Click);
// //
// ClampJawControl // ClampJawControl
// //
...@@ -196,10 +219,12 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -196,10 +219,12 @@ namespace OnlineStore.AssemblyLine.useControl
private System.Windows.Forms.LinkLabel linkLabel1; private System.Windows.Forms.LinkLabel linkLabel1;
private System.Windows.Forms.Label lblPosition; private System.Windows.Forms.Label lblPosition;
private System.Windows.Forms.Label lblForce; private System.Windows.Forms.Label lblForce;
private System.Windows.Forms.Label lblMoveOk; private System.Windows.Forms.Label lblReached;
private System.Windows.Forms.Button btnHome; private System.Windows.Forms.Button btnHome;
private System.Windows.Forms.Label lblEmpty; private System.Windows.Forms.Label lblEmpty;
private System.Windows.Forms.Label lblErrorCode; private System.Windows.Forms.Label lblErrorCode;
private System.Windows.Forms.Button btnReset; private System.Windows.Forms.Button btnReset;
private System.Windows.Forms.Label lblIsMoving;
private System.Windows.Forms.Label lblSensor;
} }
} }
source/AssemblyLineClient/useControl/ClampJawControl.cs
...@@ -30,6 +30,13 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -30,6 +30,13 @@ namespace OnlineStore.AssemblyLine.useControl
{ {
JName = clampJaw.config.Explain + "_" + clampJaw.config.PortName + "_" + clampJaw.config.AxisNo; JName = clampJaw.config.Explain + "_" + clampJaw.config.PortName + "_" + clampJaw.config.AxisNo;
groupClamp.Text = JName; groupClamp.Text = JName;
lblReached.Text = "";
lblIsMoving.Text = "";
lblErrorCode.Text = "";
lblEmpty.Text = "";
lblForce.Text = "";
lblPosition.Text = "";
lblSensor.Text = "";
} }
} }
...@@ -42,11 +49,19 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -42,11 +49,19 @@ namespace OnlineStore.AssemblyLine.useControl
{ {
if (clampJaw.IsReached()) if (clampJaw.IsReached())
{ {
lblMoveOk.Text = "运动到位 ✔"; lblReached.Text = "到达目标 ✔";
}
else
{
lblReached.Text = " ";
}
if (clampJaw.IsMoving())
{
lblIsMoving.Text = "运动中 ✔";
} }
else else
{ {
lblMoveOk.Text = " "; lblIsMoving.Text = " ";
} }
if (clampJaw.HasReel()) if (clampJaw.HasReel())
{ {
...@@ -58,6 +73,7 @@ namespace OnlineStore.AssemblyLine.useControl ...@@ -58,6 +73,7 @@ namespace OnlineStore.AssemblyLine.useControl
} }
lblPosition.Text = "实时位置：" + clampJaw.GetPosition(); lblPosition.Text = "实时位置：" + clampJaw.GetPosition();
lblForce.Text = "实时出力：" + clampJaw.GetTorque(); lblForce.Text = "实时出力：" + clampJaw.GetTorque();
lblSensor.Text = "传感器读数：" + clampJaw.GetForceSensor();
int code = clampJaw.GetErrorCode(); int code = clampJaw.GetErrorCode();
if (code > 0) if (code > 0)
{ {
......
source/DeviceLibrary/assemblyLine/EquipBase.cs
...@@ -514,7 +514,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -514,7 +514,7 @@ namespace OnlineStore.DeviceLibrary
ConfigIO io = baseConfig.getWaitIO(wait.IoType); ConfigIO io = baseConfig.getWaitIO(wait.IoType);
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒"; WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
LogUtil.error( WarnMsg, DeviceID * 1000 + 13); LogUtil.error(WarnMsg, DeviceID * 1000 + 13);
if (NoAlarm()) if (NoAlarm())
{ {
Alarm(LineAlarmType.IoSingleTimeOut); Alarm(LineAlarmType.IoSingleTimeOut);
...@@ -554,20 +554,20 @@ namespace OnlineStore.DeviceLibrary ...@@ -554,20 +554,20 @@ namespace OnlineStore.DeviceLibrary
else if (wait.WaitType.Equals(WaitEnum.W003_Time)) else if (wait.WaitType.Equals(WaitEnum.W003_Time))
{ {
wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds); wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
}else if (wait.WaitType.Equals(WaitEnum.W004_ClampReached)) } else if (wait.WaitType.Equals(WaitEnum.W004_ClampReached))
{ {
if (ClampJwa != null) if (ClampJwa != null)
{ {
if (ClampJwa.IsReached()) if (ClampJwa.IsReached())
{ {
float currp = ClampJwa.GetPosition() -(float) wait.TargetPosition; float currp = ClampJwa.GetPosition() - (float)wait.TargetPosition;
if (currp < 1) if (currp < 1)
{ {
wait.IsEnd = true; wait.IsEnd = true;
} }
} }
} }
}else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel)) } else if (wait.WaitType.Equals(WaitEnum.W005_WaitHasReel))
{ {
if (ClampJwa != null) if (ClampJwa != null)
{ {
...@@ -578,13 +578,19 @@ namespace OnlineStore.DeviceLibrary ...@@ -578,13 +578,19 @@ namespace OnlineStore.DeviceLibrary
LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作"); LogUtil.info(Name + " 用户点击了：忽略夹爪有料信号，继续出入库动作");
wait.IsEnd = true; wait.IsEnd = true;
} }
//如果出力>=0.3，且已等待5秒 //如果是运动中，且到达目标，认为有料
float torque = ClampJwa.GetTorque(); if ((!wait.IsEnd) && ClampJwa.IsMoving() && ClampJwa.IsReached() && span.TotalSeconds > 3)
if ((!wait.IsEnd) && torque > 0.25 && span.TotalSeconds > 5)
{ {
LogUtil.info(Name + " 无料，但力度为[" + torque + "]>=0.25认为有料"); LogUtil.info(Name + " 无料，但在运动中，且运动到位，认为有料");
wait.IsEnd = true; wait.IsEnd = true;
} }
////如果出力>=0.3，且已等待5秒
//float torque = ClampJwa.GetTorque();
//if ((!wait.IsEnd) && torque > 0.25 && span.TotalSeconds > 5)
//{
// LogUtil.info(Name + " 无料，但力度为[" + torque + "]>=0.25认为有料");
// wait.IsEnd = true;
//}
} }
} }
else if (wait.WaitType.Equals(WaitEnum.W008_InStoreCheckOK)) else if (wait.WaitType.Equals(WaitEnum.W008_InStoreCheckOK))
...@@ -600,7 +606,7 @@ namespace OnlineStore.DeviceLibrary ...@@ -600,7 +606,7 @@ namespace OnlineStore.DeviceLibrary
{ {
storeId = 7; storeId = 7;
} }
wait.IsEnd = LineServer.BoxCanReviceTray(storeId,out NotOkMsg); wait.IsEnd = LineServer.BoxCanReviceTray(storeId, out NotOkMsg);
} }
else else
{ {
......
source/DeviceLibrary/baan/ClampJawBean.cs
...@@ -82,6 +82,21 @@ namespace OnlineStore.DeviceLibrary ...@@ -82,6 +82,21 @@ namespace OnlineStore.DeviceLibrary
} }
return false; return false;
} }
public bool IsMoving()
{
try
{
if (rmaxis != null && rmaxis.IsPortOpen)
{
return rmaxis.IsMoving;
}
}
catch (Exception ex)
{
LogUtil.error(Name + " IsMoving error :" + ex.ToString());
}
return false;
}
public bool HasReel() public bool HasReel()
{ {
try try
...@@ -121,7 +136,30 @@ namespace OnlineStore.DeviceLibrary ...@@ -121,7 +136,30 @@ namespace OnlineStore.DeviceLibrary
moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached(0)); moveInfo.WaitList.Add(WaitResultInfo.WaitClampReached(0));
} }
} }
public float GetForceSensor()
{
try
{
return rmaxis.GetForceSensor();
}
catch (Exception ex)
{
LogUtil.error(Name + " GetForceSensor error :" + ex.ToString());
}
return -1;
}
public float GetVelocity()
{
try
{
return rmaxis.GetVelocity();
}
catch (Exception ex)
{
LogUtil.error(Name + " GetVelocity error :" + ex.ToString());
}
return -1;
}
public float GetPosition() public float GetPosition()
{ {
try try
......
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