1

刘韬
Commit fe9ba0cd 由刘韬编写于 2023-01-13 09:56:45 +0800
1053环形线IO设备配置（更新版吸盘电磁阀改造+UR机器人远程控制）.xlsx
DeviceLibrary/userControl/AxisMoveControl.cs
LoadCVSLibrary/Config/Config.csv
LoadCVSLibrary/storeConfig/config/IO_Type.cs
RemoteSheardObject/Class1.cs
TheMachine/TheMachine.csproj
TheMachine/device/TransplantControl.Designer.cs
TheMachine/device/TransplantControl.cs
--- a/1053环形线IO设备配置（更新版吸盘电磁阀改造+UR机器人远程控制）.xlsx 0 → 100644
查看文件 @fe9ba0c
+++ b/1053环形线IO设备配置（更新版吸盘电磁阀改造+UR机器人远程控制）.xlsx 0 → 100644
查看文件 @fe9ba0c
--- a/DeviceLibrary/userControl/AxisMoveControl.cs
查看文件 @fe9ba0c
+++ b/DeviceLibrary/userControl/AxisMoveControl.cs
查看文件 @fe9ba0c
@@ -450,7 +450,9 @@ namespace DeviceLibrary
        private void lblAlarmcode_Click(object sender, EventArgs e)
        {
+            var s = string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(SlvAddr));
+            MessageBox.Show(s);
+            LogUtil.error(s);
        }
    }
 }
\ No newline at end of file
--- a/LoadCVSLibrary/Config/Config.csv
查看文件 @fe9ba0c
+++ b/LoadCVSLibrary/Config/Config.csv
查看文件 @fe9ba0c
@@ -201,6 +201,7 @@ DO,0,AMH-SBSH2移栽气缸后退,AMH_Trans_Bwd,16,AMH-SBSH2,Y16,,,,,,,,,,
 DO,0,AMH-SBSH2吸盘吸料,AMH_Sucker,17,AMH-SBSH2,Y17,,,,,,,,,,
 DO,0,AMH-SBSH2托盘前阻挡下降,AMH_Front_Stop,18,AMH-SBSH2,Y18,,,,,,,,,,
 DO,0,AMH-SBSH2托盘阻挡下降,AMH_Tray_Stop,19,AMH-SBSH2,Y19,,,,,,,,,,
+DO,0,AMH-SBSH2吸盘放料,AMH_Sucker_Release,58,AMH-SBSH2,Y58,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-SBDH2-1顶升上升,AMH_Location_Up,20,AMH-SBDH2-1,Y20,,,,,,,,,,
 DO,0,AMH-SBDH2-1顶升下降,AMH_Location_Down,21,AMH-SBDH2-1,Y21,,,,,,,,,,
@@ -209,6 +210,7 @@ DO,0,AMH-SBDH2-1移栽气缸后退,AMH_Trans_Bwd,23,AMH-SBDH2-1,Y23,,,,,,,,,,
 DO,0,AMH-SBDH2-1吸盘吸料,AMH_Sucker,24,AMH-SBDH2-1,Y24,,,,,,,,,,
 DO,0,AMH-SBDH2-1托盘前阻挡下降,AMH_Front_Stop,25,AMH-SBDH2-1,Y25,,,,,,,,,,
 DO,0,AMH-SBDH2-1托盘阻挡下降,AMH_Tray_Stop,26,AMH-SBDH2-1,Y26,,,,,,,,,,
+DO,0,AMH-SBDH2-1吸盘放料,AMH_Sucker_Release,59,AMH-SBDH2-1,Y59,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-SBDH2-2顶升上升,AMH_Location_Up,27,AMH-SBDH2-2,Y27,,,,,,,,,,
 DO,0,AMH-SBDH2-2顶升下降,AMH_Location_Down,28,AMH-SBDH2-2,Y28,,,,,,,,,,
@@ -217,6 +219,7 @@ DO,0,AMH-SBDH2-2移栽气缸后退,AMH_Trans_Bwd,30,AMH-SBDH2-2,Y30,,,,,,,,,,
 DO,0,AMH-SBDH2-2吸盘吸料,AMH_Sucker,31,AMH-SBDH2-2,Y31,,,,,,,,,,
 DO,0,AMH-SBDH2-2托盘前阻挡下降,AMH_Front_Stop,32,AMH-SBDH2-2,Y32,,,,,,,,,,
 DO,0,AMH-SBDH2-2托盘阻挡下降,AMH_Tray_Stop,33,AMH-SBDH2-2,Y33,,,,,,,,,,
+DO,0,AMH-SBDH2-2吸盘放料,AMH_Sucker_Release,60,AMH-SBDH2-2,Y60,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,LS2横移电机正转,Ls_A_LineRun,34,LS2,Y34,,,,,,,,,,
 DO,0,LS2-1顶升上升,Ls_A_Location_Up,35,LS2,Y35,,,,,,,,,,
@@ -236,6 +239,7 @@ DO,0,AMH-SBSH1移栽气缸后退,AMH_Trans_Bwd,47,AMH-SBSH1,Y47,,,,,,,,,,
 DO,0,AMH-SBSH1吸盘吸料,AMH_Sucker,48,AMH-SBSH1,Y48,,,,,,,,,,
 DO,0,AMH-SBSH1托盘前阻挡下降,AMH_Front_Stop,49,AMH-SBSH1,Y49,,,,,,,,,,
 DO,0,AMH-SBSH1托盘阻挡下降,AMH_Tray_Stop,50,AMH-SBSH1,Y50,,,,,,,,,,
+DO,0,AMH-SBSH1吸盘放料,AMH_Sucker_Release,61,AMH-SBSH1,Y61,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-MI1顶升上升,MI_Location_Up,51,AMH-MI1,Y51,,,,,,,,,,
 DO,0,AMH-MI1顶升下降,MI_Location_Down,52,AMH-MI1,Y52,,,,,,,,,,
@@ -244,6 +248,8 @@ DO,0,AMH-MI1托盘阻挡下降,AMH_Tray_Stop,54,AMH-MI1,Y54,,,,,,,,,,
 DO,0,MI1照明开启,MI_Robot_Light,55,AMH-MI1,Y55,,,,,,,,,,
 DO,0,MI1物料顶升上升,MI_Reel_Location_Up,56,AMH-MI1,Y56,,,,,,,,,,
 DO,0,MI1物料顶升下降,MI_Reel_Location_Down,57,AMH-MI1,Y57,,,,,,,,,,
+DO,0,ROBOT-MI1远程开机,MI_Robot_PowerON,62,AMH-MI1,Y62,,,,,,,,,,
+DO,0,ROBOT-MI1远程关机,MI_Robot_PowerOFF,63,AMH-MI1,Y63,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-SBDH3-1顶升上升,AMH_Location_Up,64,AMH-SBDH3-1,Y64,,,,,,,,,,
 DO,0,AMH-SBDH3-1顶升下降,AMH_Location_Down,65,AMH-SBDH3-1,Y65,,,,,,,,,,
@@ -252,6 +258,7 @@ DO,0,AMH-SBDH3-1移栽气缸后退,AMH_Trans_Bwd,67,AMH-SBDH3-1,Y67,,,,,,,,,,
 DO,0,AMH-SBDH3-1吸盘吸料,AMH_Sucker,68,AMH-SBDH3-1,Y68,,,,,,,,,,
 DO,0,AMH-SBDH3-1托盘前阻挡下降,AMH_Front_Stop,69,AMH-SBDH3-1,Y69,,,,,,,,,,
 DO,0,AMH-SBDH3-1托盘阻挡下降,AMH_Tray_Stop,70,AMH-SBDH3-1,Y70,,,,,,,,,,
+DO,0,AMH-SBDH3-1吸盘放料,AMH_Sucker_Release,102,AMH-SBDH3-1,Y102,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-SBDH3-2顶升上升,AMH_Location_Up,71,AMH-SBDH3-2,Y71,,,,,,,,,,
 DO,0,AMH-SBDH3-2顶升下降,AMH_Location_Down,72,AMH-SBDH3-2,Y72,,,,,,,,,,
@@ -260,6 +267,7 @@ DO,0,AMH-SBDH3-2移栽气缸后退,AMH_Trans_Bwd,74,AMH-SBDH3-2,Y74,,,,,,,,,,
 DO,0,AMH-SBDH3-2吸盘吸料,AMH_Sucker,75,AMH-SBDH3-2,Y75,,,,,,,,,,
 DO,0,AMH-SBDH3-2托盘前阻挡下降,AMH_Front_Stop,76,AMH-SBDH3-2,Y76,,,,,,,,,,
 DO,0,AMH-SBDH3-2托盘阻挡下降,AMH_Tray_Stop,77,AMH-SBDH3-2,Y77,,,,,,,,,,
+DO,0,AMH-SBDH3-2吸盘放料,AMH_Sucker_Release,103,AMH-SBDH3-2,Y103,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-SBDH1-1顶升上升,AMH_Location_Up,78,AMH-SBDH1-1,Y78,,,,,,,,,,
 DO,0,AMH-SBDH1-1顶升下降,AMH_Location_Down,79,AMH-SBDH1-1,Y79,,,,,,,,,,
@@ -268,6 +276,7 @@ DO,0,AMH-SBDH1-1移栽气缸后退,AMH_Trans_Bwd,81,AMH-SBDH1-1,Y81,,,,,,,,,,
 DO,0,AMH-SBDH1-1吸盘吸料,AMH_Sucker,82,AMH-SBDH1-1,Y82,,,,,,,,,,
 DO,0,AMH-SBDH1-1托盘前阻挡下降,AMH_Front_Stop,83,AMH-SBDH1-1,Y83,,,,,,,,,,
 DO,0,AMH-SBDH1-1托盘阻挡下降,AMH_Tray_Stop,84,AMH-SBDH1-1,Y84,,,,,,,,,,
+DO,0,AMH-SBDH1-1吸盘放料,AMH_Sucker_Release,104,AMH-SBDH1-1,Y104,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-SBDH1-2顶升上升,AMH_Location_Up,85,AMH-SBDH1-2,Y85,,,,,,,,,,
 DO,0,AMH-SBDH1-2顶升下降,AMH_Location_Down,86,AMH-SBDH1-2,Y86,,,,,,,,,,
@@ -276,6 +285,7 @@ DO,0,AMH-SBDH1-2移栽气缸后退,AMH_Trans_Bwd,88,AMH-SBDH1-2,Y88,,,,,,,,,,
 DO,0,AMH-SBDH1-2吸盘吸料,AMH_Sucker,89,AMH-SBDH1-2,Y89,,,,,,,,,,
 DO,0,AMH-SBDH1-2托盘前阻挡下降,AMH_Front_Stop,90,AMH-SBDH1-2,Y90,,,,,,,,,,
 DO,0,AMH-SBDH1-2托盘阻挡下降,AMH_Tray_Stop,91,AMH-SBDH1-2,Y91,,,,,,,,,,
+DO,0,AMH-SBDH1-2吸盘放料,AMH_Sucker_Release,105,AMH-SBDH1-2,Y105,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,AMH-CI顶升上升,MI_Location_Up,92,CI,Y92,,,,,,,,,,
 DO,0,AMH-CI顶升下降,MI_Location_Down,93,CI,Y93,,,,,,,,,,
@@ -283,11 +293,14 @@ DO,0,AMH-CI托盘前阻挡下降,AMH_Front_Stop,94,CI,Y94,,,,,,,,,,
 DO,0,AMH-CI托盘阻挡下降,AMH_Tray_Stop,95,CI,Y95,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,CI物料放置区门锁打开,CI_Cache_Door_UNLock,96,CI,Y96,,,,,,,,,,
-DO,0,ROBOT-CI吸盘吸料,CI_sa,97,CI,Y97,,,,,,,,,,
+DO,0,ROBOT-CI吸盘吸料,AMH_Sucker,97,CI,Y97,,,,,,,,,,
 DO,0,CI物料放置区照明开启,CI_Cache_Light,98,CI,Y98,,,,,,,,,,
 DO,0,CI启动,CI_Start,99,CI,Y99,,,,,,,,,,
 DO,0,CI物料放置区门可开启指示灯,CI_Cache_Door_StandbyLED,100,CI,Y100,,,,,,,,,,
 DO,0,CI物料放置区物料NG指示灯,CI_Cache_Door_NGLED,101,CI,Y101,,,,,,,,,,
+DO,0,ROBOT-CI吸盘吸料,AMH_Sucker_Release,106,CI,Y106,,,,,,,,,,
+DO,0,ROBOT-CI远程开机,MI_Robot_PowerON,109,CI,Y109,,,,,,,,,,
+DO,0,ROBOT-CI远程关机,MI_Robot_PowerOFF,110,CI,Y110,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
 DO,0,LS3横移电机正转,Ls_A_LineRun,112,LS3,Y112,,,,,,,,,,
 DO,0,LS3横移电机反转,Ls_A_LineRwd,113,LS3,Y113,,,,,,,,,,
@@ -331,3 +344,5 @@ DO,0,AMH-MI2托盘阻挡下降,AMH_Tray_Stop,145,AMH-MI2,Y145,,,,,,,,,,
 DO,0,MI2照明开启,MI_Robot_Light,146,AMH-MI2,Y146,,,,,,,,,,
 DO,0,MI2物料顶升上升,MI_Reel_Location_Up,147,AMH-MI2,Y147,,,,,,,,,,
 DO,0,MI2物料顶升下降,MI_Reel_Location_Down,148,AMH-MI2,Y148,,,,,,,,,,
+DO,0,ROBOT-MI2远程开机,MI_Robot_PowerON,107,AMH-MI2,Y107,,,,,,,,,,
+DO,0,ROBOT-MI2远程关机,MI_Robot_PowerOFF,108,AMH-MI2,Y108,,,,,,,,,,
--- a/LoadCVSLibrary/storeConfig/config/IO_Type.cs
查看文件 @fe9ba0c
+++ b/LoadCVSLibrary/storeConfig/config/IO_Type.cs
查看文件 @fe9ba0c
@@ -275,7 +275,21 @@ namespace OnlineStore.LoadCSVLibrary
        /// <summary>
        ///  DI,0,AMH-SBSH2托盘物料检测,AMH_Reel_Check,16,AMH-SBSH2,X16,,,,,,,,,,
        /// </summary>
-        public static string AMH_Reel_Check = "AMH_Reel_Check";        
+        public static string AMH_Reel_Check = "AMH_Reel_Check";
+        /// <summary>
+        ///  DO,0,AMH-SBSH2吸盘放料,AMH_Sucker_Release,58,AMH-SBSH2,Y58,,,,,,,,,,
+        /// </summary>
+        public static string AMH_Sucker_Release = "AMH_Sucker_Release";
+        /// <summary>
+        ///  DO,0,ROBOT-MI1远程开机,MI_Robot_PowerON,62,AMH-MI1,Y62,,,,,,,,,,
+        /// </summary>
+        public static string MI_Robot_PowerON = "MI_Robot_PowerON";
+        /// <summary>
+        ///  DO,0,ROBOT-MI1远程关机,MI_Robot_PowerOFF,63,AMH-MI1,Y63,,,,,,,,,,
+        /// </summary>
+        public static string MI_Robot_PowerOFF = "MI_Robot_PowerOFF";
    }
    public enum IO_VALUE
    {

--- a/RemoteSheardObject/Class1.cs
查看文件 @fe9ba0c
+++ b/RemoteSheardObject/Class1.cs
查看文件 @fe9ba0c
@@ -120,6 +120,7 @@ public class ReelParam
        PlateH = plateh;
        IsNg = _IsNg;
        NgMsg = ngMsg;
+        codeInfos = new List<CodeInfo>();
    }
    /// <summary>
    /// 物品二维码信息

--- a/TheMachine/TheMachine.csproj
查看文件 @fe9ba0c
+++ b/TheMachine/TheMachine.csproj
查看文件 @fe9ba0c
@@ -82,92 +82,138 @@
    </Reference>
  </ItemGroup>
  <ItemGroup>
-    <Compile Include="AboutBox1.cs" />
+    <Compile Include="AboutBox1.cs">
+      <SubType>Form</SubType>
+    </Compile>
    <Compile Include="AboutBox1.Designer.cs">
      <DependentUpon>AboutBox1.cs</DependentUpon>
    </Compile>
-    <Compile Include="AxisControl.cs" />
+    <Compile Include="AxisControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="AxisControl.Designer.cs">
      <DependentUpon>AxisControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="DeviceControl.cs" />
+    <Compile Include="DeviceControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="DeviceControl.Designer.cs">
      <DependentUpon>DeviceControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="device\HYControl.cs" />
+    <Compile Include="device\HYControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="device\HYControl.Designer.cs">
      <DependentUpon>HYControl.cs</DependentUpon>
    </Compile>
    <Compile Include="device\Idevicetab.cs" />
-    <Compile Include="device\Other\MycronicControl.cs" />
+    <Compile Include="device\Other\MycronicControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="device\Other\MycronicControl.Designer.cs">
      <DependentUpon>MycronicControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="device\TrayStopControl.cs" />
+    <Compile Include="device\TrayStopControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="device\TrayStopControl.Designer.cs">
      <DependentUpon>TrayStopControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="device\TransplantControl.cs" />
+    <Compile Include="device\TransplantControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="device\TransplantControl.Designer.cs">
      <DependentUpon>TransplantControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="Form1.cs" />
+    <Compile Include="Form1.cs">
+      <SubType>Form</SubType>
+    </Compile>
    <Compile Include="Form1.Designer.cs">
      <DependentUpon>Form1.cs</DependentUpon>
    </Compile>
-    <Compile Include="IOControls.cs" />
+    <Compile Include="IOControls.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="IOControls.Designer.cs">
      <DependentUpon>IOControls.cs</DependentUpon>
    </Compile>
-    <Compile Include="LogControl.cs" />
+    <Compile Include="LogControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="LogControl.Designer.cs">
      <DependentUpon>LogControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="OtherControl.cs" />
+    <Compile Include="OtherControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="OtherControl.Designer.cs">
      <DependentUpon>OtherControl.cs</DependentUpon>
    </Compile>
    <Compile Include="Program.cs" />
    <Compile Include="Properties\AssemblyInfo.cs" />
-    <Compile Include="SettingControl.cs" />
+    <Compile Include="SettingControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="SettingControl.Designer.cs">
      <DependentUpon>SettingControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="TrayManagerControl.cs" />
+    <Compile Include="TrayManagerControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="TrayManagerControl.Designer.cs">
      <DependentUpon>TrayManagerControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\CylinderButton.cs" />
+    <Compile Include="UC\CylinderButton.cs">
-    <Compile Include="UC\DoubleBufferListView.cs" />
+      <SubType>Component</SubType>
-    <Compile Include="UC\RfidControl.cs" />
+    </Compile>
+    <Compile Include="UC\DoubleBufferListView.cs">
+      <SubType>Component</SubType>
+    </Compile>
+    <Compile Include="UC\RfidControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\RfidControl.Designer.cs">
      <DependentUpon>RfidControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\RobotPosControl.cs" />
+    <Compile Include="UC\RobotPosControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\RobotPosControl.designer.cs">
      <DependentUpon>RobotPosControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\StorePosControl.cs" />
+    <Compile Include="UC\StorePosControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\StorePosControl.designer.cs">
      <DependentUpon>StorePosControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\ConfigControl.cs" />
+    <Compile Include="UC\ConfigControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\ConfigControl.designer.cs">
      <DependentUpon>ConfigControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\IOControl.cs" />
+    <Compile Include="UC\IOControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\IOControl.Designer.cs">
      <DependentUpon>IOControl.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\UCURRobot.cs" />
+    <Compile Include="UC\UCURRobot.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\UCURRobot.designer.cs">
      <DependentUpon>UCURRobot.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\UC_LedConfig.cs" />
+    <Compile Include="UC\UC_LedConfig.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\UC_LedConfig.Designer.cs">
      <DependentUpon>UC_LedConfig.cs</DependentUpon>
    </Compile>
-    <Compile Include="UC\uc_boxdebug.cs" />
+    <Compile Include="UC\uc_boxdebug.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
    <Compile Include="UC\uc_boxdebug.designer.cs">
      <DependentUpon>uc_boxdebug.cs</DependentUpon>
    </Compile>

--- a/TheMachine/device/TransplantControl.Designer.cs
查看文件 @fe9ba0c
+++ b/TheMachine/device/TransplantControl.Designer.cs
查看文件 @fe9ba0c
@@ -44,6 +44,7 @@ namespace TheMachine
            this.ioControl1 = new TheMachine.IOControl();
            this.panel1 = new System.Windows.Forms.Panel();
            this.rfidControl1 = new TheMachine.UC.RfidControl();
+            this.btn_sucker_release = new System.Windows.Forms.Button();
            this.panel1.SuspendLayout();
            this.SuspendLayout();
            // 
@@ -57,7 +58,7 @@ namespace TheMachine
            // 
            // button_save
            // 
-            this.button_save.Location = new System.Drawing.Point(758, 589);
+            this.button_save.Location = new System.Drawing.Point(755, 623);
            this.button_save.Name = "button_save";
            this.button_save.Size = new System.Drawing.Size(100, 23);
            this.button_save.TabIndex = 7;
@@ -67,21 +68,21 @@ namespace TheMachine
            // 
            // textBox_p2
            // 
-            this.textBox_p2.Location = new System.Drawing.Point(761, 510);
+            this.textBox_p2.Location = new System.Drawing.Point(758, 544);
            this.textBox_p2.Name = "textBox_p2";
            this.textBox_p2.Size = new System.Drawing.Size(100, 21);
            this.textBox_p2.TabIndex = 8;
            // 
            // textBox_p3
            // 
-            this.textBox_p3.Location = new System.Drawing.Point(758, 553);
+            this.textBox_p3.Location = new System.Drawing.Point(755, 587);
            this.textBox_p3.Name = "textBox_p3";
            this.textBox_p3.Size = new System.Drawing.Size(100, 21);
            this.textBox_p3.TabIndex = 8;
            // 
            // button_p2
            // 
-            this.button_p2.Location = new System.Drawing.Point(584, 508);
+            this.button_p2.Location = new System.Drawing.Point(581, 542);
            this.button_p2.Name = "button_p2";
            this.button_p2.Size = new System.Drawing.Size(162, 23);
            this.button_p2.TabIndex = 9;
@@ -91,7 +92,7 @@ namespace TheMachine
            // 
            // button_p3
            // 
-            this.button_p3.Location = new System.Drawing.Point(581, 551);
+            this.button_p3.Location = new System.Drawing.Point(578, 585);
            this.button_p3.Name = "button_p3";
            this.button_p3.Size = new System.Drawing.Size(162, 23);
            this.button_p3.TabIndex = 9;
@@ -101,7 +102,7 @@ namespace TheMachine
            // 
            // button_p1
            // 
-            this.button_p1.Location = new System.Drawing.Point(584, 479);
+            this.button_p1.Location = new System.Drawing.Point(581, 513);
            this.button_p1.Name = "button_p1";
            this.button_p1.Size = new System.Drawing.Size(162, 23);
            this.button_p1.TabIndex = 9;
@@ -195,6 +196,7 @@ namespace TheMachine
            // panel1
            // 
            this.panel1.AutoScroll = true;
+            this.panel1.Controls.Add(this.btn_sucker_release);
            this.panel1.Controls.Add(this.rfidControl1);
            this.panel1.Controls.Add(this.button_p3);
            this.panel1.Controls.Add(this.ioControl1);
@@ -224,6 +226,18 @@ namespace TheMachine
            this.rfidControl1.TabIndex = 10;
            this.rfidControl1.Visible = false;
            // 
+            // btn_sucker_release
+            // 
+            this.btn_sucker_release.BackColor = System.Drawing.Color.White;
+            this.btn_sucker_release.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_sucker_release.Location = new System.Drawing.Point(618, 469);
+            this.btn_sucker_release.Name = "btn_sucker_release";
+            this.btn_sucker_release.Size = new System.Drawing.Size(181, 38);
+            this.btn_sucker_release.TabIndex = 11;
+            this.btn_sucker_release.Text = "吸盘释放";
+            this.btn_sucker_release.UseVisualStyleBackColor = false;
+            this.btn_sucker_release.Click += new System.EventHandler(this.btn_sucker_release_Click);
+            // 
            // TransplantControl
            // 
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -254,5 +268,6 @@ namespace TheMachine
        private System.Windows.Forms.Button button_p1;
        private System.Windows.Forms.Panel panel1;
        private UC.RfidControl rfidControl1;
+        private System.Windows.Forms.Button btn_sucker_release;
    }
 }
--- a/TheMachine/device/TransplantControl.cs
查看文件 @fe9ba0c
+++ b/TheMachine/device/TransplantControl.cs
查看文件 @fe9ba0c
@@ -84,5 +84,11 @@ namespace TheMachine
            var axis = AxisBean.List[DeviceGroupName][0];
            axis.AbsMove(null, RobotManage.Config.AMH_TS_P1, RobotManage.Config.AMH_TS_P1_speed);
        }
+        private void btn_sucker_release_Click(object sender, EventArgs e)
+        {
+            TransplantMove.DeviceList[DeviceGroupName].IOMove(IO_Type.AMH_Sucker, IO_VALUE.LOW);
+            TransplantMove.DeviceList[DeviceGroupName].IOMove(IO_Type.AMH_Sucker_Release, IO_VALUE.HIGH,2000);
+        }
    }
 }