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Commit 990fc02d 由 刘韬
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1 个父辈 d6d176be
内嵌 并排
正在显示 11 个修改的文件 包含 159 行增加 和 28 行删除
Common/StringList.cs
...@@ -138,6 +138,7 @@ namespace OnlineStore.Common ...@@ -138,6 +138,7 @@ namespace OnlineStore.Common
begin_open_string_door, begin_open_string_door,
string_not_onposition_01, string_not_onposition_01,
begin_close_string_door, begin_close_string_door,
tray_detect_reel_01 tray_detect_reel_01,
system_running_cantmove
} }
} }
DeviceLibrary/DeviceLibrary.csproj
...@@ -75,7 +75,9 @@ ...@@ -75,7 +75,9 @@
<Compile Include="DeviceLibrary\AcSerialBean.cs" /> <Compile Include="DeviceLibrary\AcSerialBean.cs" />
<Compile Include="DeviceLibrary\Camera.cs" /> <Compile Include="DeviceLibrary\Camera.cs" />
<Compile Include="DeviceLibrary\CameraTest.cs" /> <Compile Include="DeviceLibrary\CameraTest.cs" />
<Compile Include="DeviceLibrary\CylinderManger.cs" />
<Compile Include="DeviceLibrary\IOMonitor.cs" /> <Compile Include="DeviceLibrary\IOMonitor.cs" />
<Compile Include="DeviceLibrary\I_SafetyDevice.cs" />
<Compile Include="DeviceLibrary\LiftMonitor.cs" /> <Compile Include="DeviceLibrary\LiftMonitor.cs" />
<Compile Include="DeviceLibrary\LineRunMonitor.cs" /> <Compile Include="DeviceLibrary\LineRunMonitor.cs" />
<Compile Include="DeviceLibrary\C8WeightSensor.cs" /> <Compile Include="DeviceLibrary\C8WeightSensor.cs" />
......
DeviceLibrary/DeviceLibrary/CylinderManger.cs 0 → 100644
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
public class CylinderManger : ISafetyDevice
{
string High;
string Low;
string Name;
IO_VALUE currentIOvalue = IO_VALUE.None;
public CylinderManger(string name,string high,string low) {
High = high;
Low = low;
Name = name;
SafetyDevice.AddDevice(this);
}
bool IsHigh = true;
public void ToHigh(MoveInfo moveInfo) {
currentIOvalue = IO_VALUE.HIGH;
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Low, IO_VALUE.LOW));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.HIGH));
}
Resume();
LogUtil.info($"{Name},设置{High}=High");
}
public void ToLow(MoveInfo moveInfo)
{
currentIOvalue = IO_VALUE.LOW;
if (moveInfo != null)
{
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(Low, IO_VALUE.HIGH));
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.LOW));
}
Resume();
LogUtil.info($"{Name},设置{High}=Low");
}
public void Pause()
{
LogUtil.info($"{Name},停止运行");
IOManager.IOMove(Low, IO_VALUE.LOW);
IOManager.IOMove(High, IO_VALUE.LOW);
}
public void Resume()
{
if (currentIOvalue == IO_VALUE.None)
return;
IOManager.IOMove(Low, currentIOvalue == IO_VALUE.LOW ? IO_VALUE.HIGH : IO_VALUE.LOW);
IOManager.IOMove(High, currentIOvalue == IO_VALUE.HIGH ? IO_VALUE.HIGH : IO_VALUE.LOW);
LogUtil.info($"{Name},恢复运行");
}
}
}
DeviceLibrary/DeviceLibrary/I_SafetyDevice.cs 0 → 100644
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
interface ISafetyDevice
{
void Pause();
void Resume();
}
class SafetyDevice
{
static List<ISafetyDevice> List = new List<ISafetyDevice>();
public static void AddDevice(ISafetyDevice safetyDevice)
{
List.Add(safetyDevice);
}
public static void PauseAll() {
List.ForEach(x => x.Pause());
}
public static void ResumeAll() {
List.ForEach(x => x.Resume());
}
}
}
DeviceLibrary/DeviceLibrary/LineRunMonitor.cs
...@@ -9,7 +9,7 @@ using System.Timers; ...@@ -9,7 +9,7 @@ using System.Timers;
namespace DeviceLibrary namespace DeviceLibrary
{ {
public class LineRunMonitor public class LineRunMonitor : ISafetyDevice
{ {
Timer lineTimer = null; Timer lineTimer = null;
Dictionary<string, DateTime> linrunlist = new Dictionary<string, DateTime>(); Dictionary<string, DateTime> linrunlist = new Dictionary<string, DateTime>();
...@@ -22,6 +22,7 @@ namespace DeviceLibrary ...@@ -22,6 +22,7 @@ namespace DeviceLibrary
LineIO = io; LineIO = io;
LineRevIO = rev_io; LineRevIO = rev_io;
LineInit(); LineInit();
SafetyDevice.AddDevice(this);
} }
//public bool Reversal { get; set; } //public bool Reversal { get; set; }
void LineInit() void LineInit()
......
DeviceLibrary/theMachine/MainMachine _Common.cs
...@@ -304,8 +304,9 @@ namespace DeviceLibrary ...@@ -304,8 +304,9 @@ namespace DeviceLibrary
/// <param name="moveInfo"></param> /// <param name="moveInfo"></param>
public void CloseFlipDoor(MoveInfo moveInfo) { public void CloseFlipDoor(MoveInfo moveInfo) {
LogUtil.info("关闭翻板门"); LogUtil.info("关闭翻板门");
IOMove(IO_Type.ReelFlipDoor_Home, IO_VALUE.LOW); //IOMove(IO_Type.ReelFlipDoor_Home, IO_VALUE.LOW);
IOMove(IO_Type.ReelFlipDoor_Work, IO_VALUE.HIGH); //IOMove(IO_Type.ReelFlipDoor_Work, IO_VALUE.HIGH);
FlipDoor.ToHigh(null);
if (moveInfo != null) if (moveInfo != null)
{ {
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelFlipDoor_L_Work, IO_VALUE.HIGH)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelFlipDoor_L_Work, IO_VALUE.HIGH));
...@@ -324,8 +325,10 @@ namespace DeviceLibrary ...@@ -324,8 +325,10 @@ namespace DeviceLibrary
LogUtil.info("打开翻板门"); LogUtil.info("打开翻板门");
else else
moveInfo.log("打开翻板门"); moveInfo.log("打开翻板门");
IOMove(IO_Type.ReelFlipDoor_Work, IO_VALUE.LOW); //IOMove(IO_Type.ReelFlipDoor_Work, IO_VALUE.LOW);
IOMove(IO_Type.ReelFlipDoor_Home, IO_VALUE.HIGH); //IOMove(IO_Type.ReelFlipDoor_Home, IO_VALUE.HIGH);
FlipDoor.ToLow(null);
if (moveInfo != null) if (moveInfo != null)
{ {
moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelFlipDoor_L_Home, IO_VALUE.HIGH)); moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ReelFlipDoor_L_Home, IO_VALUE.HIGH));
......
DeviceLibrary/theMachine/MainMachine.cs
...@@ -53,6 +53,8 @@ namespace DeviceLibrary ...@@ -53,6 +53,8 @@ namespace DeviceLibrary
internal AxisBean Clamp_Axis; internal AxisBean Clamp_Axis;
public LineRunMonitor Line; public LineRunMonitor Line;
public CylinderManger SingleDoor;
public CylinderManger FlipDoor;
ReelTransport boxTransport; ReelTransport boxTransport;
public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; } public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
...@@ -102,7 +104,8 @@ namespace DeviceLibrary ...@@ -102,7 +104,8 @@ namespace DeviceLibrary
Crc_LanguageChangeEvent(null, EventArgs.Empty); Crc_LanguageChangeEvent(null, EventArgs.Empty);
#endregion #endregion
Line = new LineRunMonitor("料串进出机构", Config.DOList[IO_Type.LineRun].GetIOAddr(),Config.DOList[IO_Type.LineRev].GetIOAddr()); Line = new LineRunMonitor("料串进出机构", Config.DOList[IO_Type.LineRun].GetIOAddr(),Config.DOList[IO_Type.LineRev].GetIOAddr());
SingleDoor = new CylinderManger("单料们", IO_Type.NGDoor_Open, IO_Type.NGDoor_Close);
FlipDoor = new CylinderManger("翻板托盘", IO_Type.ReelFlipDoor_Work, IO_Type.ReelFlipDoor_Home);
boxTransport = new ReelTransport(Config, this); boxTransport = new ReelTransport(Config, this);
boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4) boxTransport.InOutEndProcessEvent += delegate (string posid, StoreMoveType storeMoveType, bool arg4)
...@@ -191,11 +194,8 @@ namespace DeviceLibrary ...@@ -191,11 +194,8 @@ namespace DeviceLibrary
{ {
BtnProcess(); BtnProcess();
canRunning = SafeCheck(); canRunning = SafeCheck();
if (canRunning && !lastSafeCheckStatus) //if (canRunning && !lastSafeCheckStatus){}
{ //lastSafeCheckStatus = canRunning;
}
lastSafeCheckStatus = canRunning;
} }
Thread.Sleep(200); Thread.Sleep(200);
if (!canRunning || !mstart) if (!canRunning || !mstart)
...@@ -313,7 +313,8 @@ namespace DeviceLibrary ...@@ -313,7 +313,8 @@ namespace DeviceLibrary
InOut_Axis.HomeMove(ResetMoveInfo, forceHome); InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
Batch_Axis.HomeMove(ResetMoveInfo, forceHome); Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
CylinderMove(ResetMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW); CylinderMove(ResetMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW); //CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
SingleDoor.ToLow(ResetMoveInfo);
break; break;
case MoveStep.H02_HomeReset: case MoveStep.H02_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
...@@ -390,7 +391,8 @@ namespace DeviceLibrary ...@@ -390,7 +391,8 @@ namespace DeviceLibrary
case MoveStep.H12_HomeReset: case MoveStep.H12_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H13_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H13_HomeReset);
ResetMoveInfo.log("打开NG口门"); ResetMoveInfo.log("打开NG口门");
CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH); //CylinderMove(null, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(null);
break; break;
case MoveStep.H13_HomeReset: case MoveStep.H13_HomeReset:
ResetMoveInfo.NextMoveStep(MoveStep.H14_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.H14_HomeReset);
...@@ -399,6 +401,8 @@ namespace DeviceLibrary ...@@ -399,6 +401,8 @@ namespace DeviceLibrary
Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm); Msg.add(crc.GetString(L.x29_low_no_reel, "传感器X29未检测到单料口料盘."), MsgLevel.alarm);
RobotManage.UserPause("传感器X29未检测到单料口料盘."); RobotManage.UserPause("传感器X29未检测到单料口料盘.");
} }
//CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(ResetMoveInfo);
break; break;
case MoveStep.H14_HomeReset: case MoveStep.H14_HomeReset:
if (NGDoor_Tray_Test_Reel) if (NGDoor_Tray_Test_Reel)
...@@ -439,7 +443,8 @@ namespace DeviceLibrary ...@@ -439,7 +443,8 @@ namespace DeviceLibrary
{ {
ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset); ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
ResetMoveInfo.log("关门NG口门"); ResetMoveInfo.log("关门NG口门");
CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW); //CylinderMove(ResetMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
SingleDoor.ToLow(ResetMoveInfo);
OpenFlipDoor(ResetMoveInfo); OpenFlipDoor(ResetMoveInfo);
} }
else else
...@@ -513,6 +518,10 @@ namespace DeviceLibrary ...@@ -513,6 +518,10 @@ namespace DeviceLibrary
} }
Msg.add(crc.GetString(L.back_safedoor_not_close, "后侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.warning); Msg.add(crc.GetString(L.back_safedoor_not_close, "后侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.warning);
} }
if (!lastSafeCheckStatus && ok)
{
SafetyDevice.ResumeAll();
}
lastSafeCheckStatus = ok; lastSafeCheckStatus = ok;
return ok; return ok;
} }
...@@ -522,16 +531,13 @@ namespace DeviceLibrary ...@@ -522,16 +531,13 @@ namespace DeviceLibrary
{ {
AxisBean.StopMultiAxis(AxisBean.List); AxisBean.StopMultiAxis(AxisBean.List);
MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; }); MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
SafetyDevice.PauseAll();
if (runStatus == RunStatus.HomeReset) if (runStatus == RunStatus.HomeReset)
{ {
ResetMoveInfo.NewMove(MoveStep.H01_HomeReset); ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
} }
} }
} }
void DeviceResume() {
Line.Resume();
}
/// <summary> /// <summary>
/// 最后一次气压检测变为0的时间 /// 最后一次气压检测变为0的时间
......
DeviceLibrary/theMachine/MainMachine_Clamp.cs
...@@ -241,7 +241,8 @@ namespace DeviceLibrary ...@@ -241,7 +241,8 @@ namespace DeviceLibrary
case MoveStep.NGOUT_01: case MoveStep.NGOUT_01:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_02); ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_02);
ClampMoveInfo.log("打开单料口门"); ClampMoveInfo.log("打开单料口门");
CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH); //CylinderMove(null, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(null);
break; break;
case MoveStep.NGOUT_02: case MoveStep.NGOUT_02:
ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03); ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_03);
...@@ -251,6 +252,8 @@ namespace DeviceLibrary ...@@ -251,6 +252,8 @@ namespace DeviceLibrary
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning); Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
RobotManage.UserPause("传感器X29未检测到单料口料盘"); RobotManage.UserPause("传感器X29未检测到单料口料盘");
} }
//CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(ClampMoveInfo);
break; break;
case MoveStep.NGOUT_03: case MoveStep.NGOUT_03:
Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning); Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
...@@ -292,7 +295,8 @@ namespace DeviceLibrary ...@@ -292,7 +295,8 @@ namespace DeviceLibrary
{ {
ClampMoveInfo.NextMoveStep(MoveStep.Wait); ClampMoveInfo.NextMoveStep(MoveStep.Wait);
ClampMoveInfo.log("关门NG口门"); ClampMoveInfo.log("关门NG口门");
CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW); //CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
SingleDoor.ToLow(ClampMoveInfo);
OpenFlipDoor(ClampMoveInfo); OpenFlipDoor(ClampMoveInfo);
} }
else else
...@@ -308,14 +312,16 @@ namespace DeviceLibrary ...@@ -308,14 +312,16 @@ namespace DeviceLibrary
case MoveStep.SingleIn_01: case MoveStep.SingleIn_01:
ClampMoveInfo.NextMoveStep(MoveStep.SingleInReady); ClampMoveInfo.NextMoveStep(MoveStep.SingleInReady);
ClampMoveInfo.log("开始单盘入库, 打开紧急料口"); ClampMoveInfo.log("开始单盘入库, 打开紧急料口");
CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH); //CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.HIGH);
SingleDoor.ToHigh(ClampMoveInfo);
break; break;
case MoveStep.SingleInReady: case MoveStep.SingleInReady:
Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待放入单盘入库料盘"), MsgLevel.warning); Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待放入单盘入库料盘"), MsgLevel.warning);
break; break;
case MoveStep.SingleInRun: case MoveStep.SingleInRun:
ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_09); ClampMoveInfo.NextMoveStep(MoveStep.ReelClamp_09);
CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW); //CylinderMove(ClampMoveInfo, IO_Type.NGDoor_Close, IO_Type.NGDoor_Open, IO_VALUE.LOW);
SingleDoor.ToLow(ClampMoveInfo);
ClampMoveInfo.MoveParam.PlateW = 7; ClampMoveInfo.MoveParam.PlateW = 7;
ClampMoveInfo.MoveParam.PlateH = 100; ClampMoveInfo.MoveParam.PlateH = 100;
break; break;
......
TheMachine/Form1.cs
...@@ -264,8 +264,16 @@ namespace TheMachine ...@@ -264,8 +264,16 @@ namespace TheMachine
public delegate void setmsgdelegate(List<Msg> msgs); public delegate void setmsgdelegate(List<Msg> msgs);
private void MainMachine_ProcessMsgEvent(List<Msg> msgs) private void MainMachine_ProcessMsgEvent(List<Msg> msgs)
{ {
var d = new setmsgdelegate(SetMsg); if (msgs == null || msgs.Count == 0)
this.Invoke(d, msgs); return;
try
{
var d = new setmsgdelegate(SetMsg);
this.Invoke(d, msgs);
}
catch(Exception e) {
LogUtil.info("MainMachine_ProcessMsgEvent:" + e.ToString());
}
} }
private void RobotManage_LoadFinishEvent(bool state, string msg) private void RobotManage_LoadFinishEvent(bool state, string msg)
...@@ -314,6 +322,9 @@ namespace TheMachine ...@@ -314,6 +322,9 @@ namespace TheMachine
listView1.Items.Clear(); listView1.Items.Clear();
foreach (Msg msg in msgs) foreach (Msg msg in msgs)
{ {
if (string.IsNullOrEmpty(msg.msgtxt) || msg.datetime==null)
continue;
ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt }); ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt });
if (msg.msgLevel == MsgLevel.info) if (msg.msgLevel == MsgLevel.info)
lvi.ForeColor = Color.DarkGreen; lvi.ForeColor = Color.DarkGreen;
......
TheMachine/Program.cs
...@@ -85,9 +85,9 @@ namespace TheMachine ...@@ -85,9 +85,9 @@ namespace TheMachine
//MessageBox.Show("该程序已经启动", "提示信息", MessageBoxButtons.OK, MessageBoxIcon.Information); //MessageBox.Show("该程序已经启动", "提示信息", MessageBoxButtons.OK, MessageBoxIcon.Information);
return; return;
} }
//Application.ThreadException += Application_ThreadException; Application.ThreadException += Application_ThreadException;
//Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException); Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
//AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException; AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
Environment.CurrentDirectory = Application.StartupPath; Environment.CurrentDirectory = Application.StartupPath;
XmlConfigurator.Configure(); XmlConfigurator.Configure();
......
TheMachine/UC/ConfigControl.cs
using DeviceLibrary; using DeviceLibrary;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary; using OnlineStore.LoadCSVLibrary;
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
...@@ -211,6 +212,11 @@ namespace TheMachine ...@@ -211,6 +212,11 @@ namespace TheMachine
} }
private void Button_Click(object sender, EventArgs e) private void Button_Click(object sender, EventArgs e)
{ {
if (RobotManage.isRunning) {
MessageBox.Show(crc.GetString(L.system_running_cantmove,"系统正在运行,不能手动控制伺服"));
return;
}
var cc = tableLayoutPanel1.Controls.Find(((Button)sender).Name, false); var cc = tableLayoutPanel1.Controls.Find(((Button)sender).Name, false);
var speed = tableLayoutPanel1.Controls.Find(((Button)sender).Name+ "_speed", false); var speed = tableLayoutPanel1.Controls.Find(((Button)sender).Name+ "_speed", false);
...@@ -225,6 +231,7 @@ namespace TheMachine ...@@ -225,6 +231,7 @@ namespace TheMachine
var targetSpeed = int.Parse(speed[0].Text); var targetSpeed = int.Parse(speed[0].Text);
var AddSpeed = configMoveAxis.AddSpeed > 0 ? configMoveAxis.AddSpeed : targetSpeed * 4; var AddSpeed = configMoveAxis.AddSpeed > 0 ? configMoveAxis.AddSpeed : targetSpeed * 4;
var DelSpeed = configMoveAxis.DelSpeed > 0 ? configMoveAxis.DelSpeed : targetSpeed * 4; var DelSpeed = configMoveAxis.DelSpeed > 0 ? configMoveAxis.DelSpeed : targetSpeed * 4;
LogUtil.info($"手动点击:{((Button)sender).Text},pos:{targetpos}");
AxisManager.AbsMove("", configMoveAxis.GetAxisValue(), targetpos, targetSpeed, AddSpeed, DelSpeed);//, configMoveAxis.AddSpeed, configMoveAxis.DelSpeed); AxisManager.AbsMove("", configMoveAxis.GetAxisValue(), targetpos, targetSpeed, AddSpeed, DelSpeed);//, configMoveAxis.AddSpeed, configMoveAxis.DelSpeed);
} }
......
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