夹爪增加复位和错误码展示功能。

LN
Commit e82005d2 由 LN 编写于 2021-04-06 17:24:29 +0800
dll/HuichuanDLL/HuichuanLibrary.dll
source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
source/AssemblyLineClient/FrmMoveEquip.Designer.cs
source/AssemblyLineClient/useControl/ClampJawControl.Designer.cs
source/AssemblyLineClient/useControl/ClampJawControl.cs
source/DeviceLibrary/assemblyLine/FeedingEquip.cs
source/DeviceLibrary/assemblyLine/MoveEquip.cs
source/DeviceLibrary/baan/ClampJawBean.cs
--- a/dll/HuichuanDLL/HuichuanLibrary.dll
查看文件 @e82005d
+++ b/dll/HuichuanDLL/HuichuanLibrary.dll
查看文件 @e82005d
--- a/source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
查看文件 @e82005d
+++ b/source/AssemblyLineClient/FrmFeedingEquip.Designer.cs
查看文件 @e82005d
@@ -305,7 +305,7 @@
            this.btnCloseAll.BackColor = System.Drawing.Color.White;
            this.btnCloseAll.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.btnCloseAll.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btnCloseAll.Location = new System.Drawing.Point(320, 242);
+            this.btnCloseAll.Location = new System.Drawing.Point(320, 231);
            this.btnCloseAll.Name = "btnCloseAll";
            this.btnCloseAll.Size = new System.Drawing.Size(140, 34);
            this.btnCloseAll.TabIndex = 259;
@@ -393,7 +393,7 @@
            this.groupDO.Controls.Add(this.SL_MoveCylinder_Take);
            this.groupDO.Location = new System.Drawing.Point(468, 119);
            this.groupDO.Name = "groupDO";
-            this.groupDO.Size = new System.Drawing.Size(501, 300);
+            this.groupDO.Size = new System.Drawing.Size(501, 274);
            this.groupDO.TabIndex = 255;
            this.groupDO.TabStop = false;
            this.groupDO.Text = "IO操作测试";
@@ -416,7 +416,7 @@
            this.SL_MoveCylinder_Give.BackColor = System.Drawing.Color.White;
            this.SL_MoveCylinder_Give.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_MoveCylinder_Give.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_MoveCylinder_Give.Location = new System.Drawing.Point(169, 242);
+            this.SL_MoveCylinder_Give.Location = new System.Drawing.Point(169, 231);
            this.SL_MoveCylinder_Give.Name = "SL_MoveCylinder_Give";
            this.SL_MoveCylinder_Give.Size = new System.Drawing.Size(140, 34);
            this.SL_MoveCylinder_Give.TabIndex = 279;
@@ -429,7 +429,7 @@
            this.SL_LocationCylinder_Down.BackColor = System.Drawing.Color.White;
            this.SL_LocationCylinder_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_LocationCylinder_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_LocationCylinder_Down.Location = new System.Drawing.Point(320, 190);
+            this.SL_LocationCylinder_Down.Location = new System.Drawing.Point(320, 186);
            this.SL_LocationCylinder_Down.Name = "SL_LocationCylinder_Down";
            this.SL_LocationCylinder_Down.Size = new System.Drawing.Size(140, 34);
            this.SL_LocationCylinder_Down.TabIndex = 278;
@@ -442,7 +442,7 @@
            this.SL_FixedCylinder_Down.BackColor = System.Drawing.Color.White;
            this.SL_FixedCylinder_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_FixedCylinder_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_FixedCylinder_Down.Location = new System.Drawing.Point(169, 190);
+            this.SL_FixedCylinder_Down.Location = new System.Drawing.Point(169, 186);
            this.SL_FixedCylinder_Down.Name = "SL_FixedCylinder_Down";
            this.SL_FixedCylinder_Down.Size = new System.Drawing.Size(140, 34);
            this.SL_FixedCylinder_Down.TabIndex = 277;
@@ -455,7 +455,7 @@
            this.SL_TopCylinder_Down.BackColor = System.Drawing.Color.White;
            this.SL_TopCylinder_Down.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_TopCylinder_Down.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_TopCylinder_Down.Location = new System.Drawing.Point(17, 190);
+            this.SL_TopCylinder_Down.Location = new System.Drawing.Point(17, 186);
            this.SL_TopCylinder_Down.Name = "SL_TopCylinder_Down";
            this.SL_TopCylinder_Down.Size = new System.Drawing.Size(140, 34);
            this.SL_TopCylinder_Down.TabIndex = 276;
@@ -468,7 +468,7 @@
            this.SL_TopCylinder_Up.BackColor = System.Drawing.Color.White;
            this.SL_TopCylinder_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_TopCylinder_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_TopCylinder_Up.Location = new System.Drawing.Point(17, 150);
+            this.SL_TopCylinder_Up.Location = new System.Drawing.Point(17, 146);
            this.SL_TopCylinder_Up.Name = "SL_TopCylinder_Up";
            this.SL_TopCylinder_Up.Size = new System.Drawing.Size(140, 34);
            this.SL_TopCylinder_Up.TabIndex = 274;
@@ -481,7 +481,7 @@
            this.SL_FixedCylinder_Up.BackColor = System.Drawing.Color.White;
            this.SL_FixedCylinder_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_FixedCylinder_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_FixedCylinder_Up.Location = new System.Drawing.Point(169, 150);
+            this.SL_FixedCylinder_Up.Location = new System.Drawing.Point(169, 146);
            this.SL_FixedCylinder_Up.Name = "SL_FixedCylinder_Up";
            this.SL_FixedCylinder_Up.Size = new System.Drawing.Size(140, 34);
            this.SL_FixedCylinder_Up.TabIndex = 273;
@@ -585,7 +585,7 @@
            this.SL_LocationCylinder_Up.BackColor = System.Drawing.Color.White;
            this.SL_LocationCylinder_Up.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_LocationCylinder_Up.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_LocationCylinder_Up.Location = new System.Drawing.Point(320, 150);
+            this.SL_LocationCylinder_Up.Location = new System.Drawing.Point(320, 146);
            this.SL_LocationCylinder_Up.Name = "SL_LocationCylinder_Up";
            this.SL_LocationCylinder_Up.Size = new System.Drawing.Size(140, 34);
            this.SL_LocationCylinder_Up.TabIndex = 256;
@@ -598,7 +598,7 @@
            this.SL_MoveCylinder_Take.BackColor = System.Drawing.Color.White;
            this.SL_MoveCylinder_Take.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
            this.SL_MoveCylinder_Take.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.SL_MoveCylinder_Take.Location = new System.Drawing.Point(17, 242);
+            this.SL_MoveCylinder_Take.Location = new System.Drawing.Point(17, 231);
            this.SL_MoveCylinder_Take.Name = "SL_MoveCylinder_Take";
            this.SL_MoveCylinder_Take.Size = new System.Drawing.Size(140, 34);
            this.SL_MoveCylinder_Take.TabIndex = 252;
@@ -747,9 +747,9 @@
            // 
            // clampJawControl1
            // 
-            this.clampJawControl1.Location = new System.Drawing.Point(462, 422);
+            this.clampJawControl1.Location = new System.Drawing.Point(464, 395);
            this.clampJawControl1.Name = "clampJawControl1";
-            this.clampJawControl1.Size = new System.Drawing.Size(507, 167);
+            this.clampJawControl1.Size = new System.Drawing.Size(507, 208);
            this.clampJawControl1.TabIndex = 280;
            // 
            // tabPage2

--- a/source/AssemblyLineClient/FrmMoveEquip.Designer.cs
查看文件 @e82005d
+++ b/source/AssemblyLineClient/FrmMoveEquip.Designer.cs
查看文件 @e82005d
@@ -46,7 +46,6 @@
            this.tabControl1 = new System.Windows.Forms.TabControl();
            this.tabPage1 = new System.Windows.Forms.TabPage();
            this.groupBox5 = new System.Windows.Forms.GroupBox();
-            this.label7 = new System.Windows.Forms.Label();
            this.txtPosId = new System.Windows.Forms.TextBox();
            this.btnClear = new System.Windows.Forms.Button();
            this.clampJawControl1 = new OnlineStore.AssemblyLine.useControl.ClampJawControl();
@@ -163,7 +162,7 @@
            this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
            this.groupBox1.Location = new System.Drawing.Point(414, 187);
            this.groupBox1.Name = "groupBox1";
-            this.groupBox1.Size = new System.Drawing.Size(269, 148);
+            this.groupBox1.Size = new System.Drawing.Size(286, 148);
            this.groupBox1.TabIndex = 105;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "DO写入";
@@ -360,7 +359,7 @@
            this.groupDO.Controls.Add(this.BeforeAfterCylinder_Before);
            this.groupDO.Controls.Add(this.TopCylinder_Up);
            this.groupDO.Controls.Add(this.UpDownCylinder_Up);
-            this.groupDO.Location = new System.Drawing.Point(414, 338);
+            this.groupDO.Location = new System.Drawing.Point(414, 402);
            this.groupDO.Name = "groupDO";
            this.groupDO.Size = new System.Drawing.Size(556, 111);
            this.groupDO.TabIndex = 255;
@@ -519,28 +518,18 @@
            // 
            this.groupBox5.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left) 
            | System.Windows.Forms.AnchorStyles.Right)));
-            this.groupBox5.Controls.Add(this.label7);
            this.groupBox5.Controls.Add(this.txtPosId);
            this.groupBox5.Controls.Add(this.btnClear);
-            this.groupBox5.Location = new System.Drawing.Point(414, 451);
+            this.groupBox5.Location = new System.Drawing.Point(414, 337);
            this.groupBox5.Name = "groupBox5";
-            this.groupBox5.Size = new System.Drawing.Size(407, 61);
+            this.groupBox5.Size = new System.Drawing.Size(286, 61);
            this.groupBox5.TabIndex = 280;
            this.groupBox5.TabStop = false;
            // 
-            // label7
-            // 
-            this.label7.AutoSize = true;
-            this.label7.Location = new System.Drawing.Point(14, 28);
-            this.label7.Name = "label7";
-            this.label7.Size = new System.Drawing.Size(47, 17);
-            this.label7.TabIndex = 284;
-            this.label7.Text = "库位号:";
-            // 
            // txtPosId
            // 
            this.txtPosId.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtPosId.Location = new System.Drawing.Point(72, 23);
+            this.txtPosId.Location = new System.Drawing.Point(5, 23);
            this.txtPosId.Name = "txtPosId";
            this.txtPosId.Size = new System.Drawing.Size(150, 26);
            this.txtPosId.TabIndex = 283;
@@ -549,7 +538,7 @@
            // 
            this.btnClear.BackColor = System.Drawing.Color.White;
            this.btnClear.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btnClear.Location = new System.Drawing.Point(233, 19);
+            this.btnClear.Location = new System.Drawing.Point(166, 19);
            this.btnClear.Name = "btnClear";
            this.btnClear.Size = new System.Drawing.Size(105, 35);
            this.btnClear.TabIndex = 286;
@@ -559,9 +548,9 @@
            // 
            // clampJawControl1
            // 
-            this.clampJawControl1.Location = new System.Drawing.Point(686, 182);
+            this.clampJawControl1.Location = new System.Drawing.Point(703, 182);
            this.clampJawControl1.Name = "clampJawControl1";
-            this.clampJawControl1.Size = new System.Drawing.Size(291, 157);
+            this.clampJawControl1.Size = new System.Drawing.Size(274, 220);
            this.clampJawControl1.TabIndex = 279;
            // 
            // groupBox6
@@ -1142,7 +1131,6 @@
        private System.Windows.Forms.Label lblP3List;
        private useControl.ClampJawControl clampJawControl1;
        private System.Windows.Forms.GroupBox groupBox5;
-        private System.Windows.Forms.Label label7;
        private System.Windows.Forms.TextBox txtPosId;
        private System.Windows.Forms.Button btnClear;
        private System.Windows.Forms.GroupBox groupBox7;

--- a/source/AssemblyLineClient/useControl/ClampJawControl.Designer.cs
查看文件 @e82005d
+++ b/source/AssemblyLineClient/useControl/ClampJawControl.Designer.cs
查看文件 @e82005d
--- a/source/AssemblyLineClient/useControl/ClampJawControl.cs
查看文件 @e82005d
+++ b/source/AssemblyLineClient/useControl/ClampJawControl.cs
查看文件 @e82005d
@@ -58,7 +58,15 @@ namespace OnlineStore.AssemblyLine.useControl
            }
            lblPosition.Text = "实时位置：" + clampJaw.GetPosition();
            lblForce.Text = "实时出力：" + clampJaw.GetTorque();
+            int code = clampJaw.GetErrorCode();
+            if (code > 0)
+            {
+                lblErrorCode.Text = "错误码：" + code;
+            }
+            else
+            {
+                lblErrorCode.Text = "";
+            }
        }
        private void btnClampRelax_Click(object sender, EventArgs e)
@@ -78,5 +86,11 @@ namespace OnlineStore.AssemblyLine.useControl
            LogUtil.info(JName + "界面点击：" + btnHome.Text);
            clampJaw.GoHome();
        }
+        private void btnReset_Click(object sender, EventArgs e)
+        {
+            LogUtil.info(JName + "界面点击：" + btnReset.Text);
+            clampJaw.Reset();
+        }
    }
 }
--- a/source/DeviceLibrary/assemblyLine/FeedingEquip.cs
查看文件 @e82005d
+++ b/source/DeviceLibrary/assemblyLine/FeedingEquip.cs
查看文件 @e82005d
@@ -115,6 +115,7 @@ namespace OnlineStore.DeviceLibrary
            {
                LogInfo("复位前，清理出库高度：" + OutStoreHeight);
            }
+            ClampJwa.Reset(); 
            //复位时设置状态为none
            AgvClient.SetStatus(Config.AgvInName);
            AgvClient.SetStatus(Config.AgvOutName);
@@ -131,7 +132,7 @@ namespace OnlineStore.DeviceLibrary
            IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
            //夹紧气缸放松
            //CylinderMove(null, IO_Type.SL_ClampCylinder_Work, IO_Type.SL_ClampCylinder_Relax);
            ClampJwa.GoHome();
            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW));

--- a/source/DeviceLibrary/assemblyLine/MoveEquip.cs
查看文件 @e82005d
+++ b/source/DeviceLibrary/assemblyLine/MoveEquip.cs
查看文件 @e82005d
@@ -95,6 +95,7 @@ namespace OnlineStore.DeviceLibrary
                IOMove(IO_Type.StopDown1, IO_VALUE.LOW);
                IOMove(IO_Type.StopDown2, IO_VALUE.LOW);
            }
+            ClampJwa.Reset();
            isInPro = false;
        }

--- a/source/DeviceLibrary/baan/ClampJawBean.cs
查看文件 @e82005d
+++ b/source/DeviceLibrary/baan/ClampJawBean.cs
查看文件 @e82005d
@@ -14,7 +14,7 @@ namespace OnlineStore.DeviceLibrary
        public string Name = "";
        public ConfigClampJaw config = null;
        public Rmaxis rmaxis = null;
-        public ClampJawBean (ConfigClampJaw config)
+        public ClampJawBean(ConfigClampJaw config)
        {
            this.config = config;
            Name = config.DisplayStr + "(" + config.PortName + "_" + config.AxisNo + ")";
@@ -28,7 +28,7 @@ namespace OnlineStore.DeviceLibrary
            }
            if (rmaxis == null)
            {
-                rmaxis = new Rmaxis("Rmaxis"); 
+                rmaxis = new Rmaxis("Rmaxis");
            }
            if (!rmaxis.IsPortOpen)
            {
@@ -70,7 +70,7 @@ namespace OnlineStore.DeviceLibrary
        public bool IsReached()
        {
            try
-            { 
+            {
                if (rmaxis != null && rmaxis.IsPortOpen)
                {
                    return rmaxis.IsReached;
@@ -152,5 +152,21 @@ namespace OnlineStore.DeviceLibrary
                rmaxis.Push(force, distance, config.Velocity);
            }
        }
+        public void Reset()
+        {
+            if (rmaxis != null && rmaxis.IsPortOpen)
+            {
+                rmaxis.ResetError();
+            }
+        }
+        public int GetErrorCode()
+        {
+            if (rmaxis != null && rmaxis.IsPortOpen)
+            {
+                return rmaxis.ErrorCode;
+            }
+            return 0;
+        }
    }
 }