机器人调试

DeviceLibrary/DeviceLibrary.csproj

@@ -118,9 +118,6 @@
     </None>
     </None>
   </ItemGroup>
   </ItemGroup>
   <ItemGroup>
   <ItemGroup>
-    <Content Include="RobotConfig\config\boardData.txt">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </Content>
     <Content Include="RobotConfig\config\defaultBoard.jpg">
     <Content Include="RobotConfig\config\defaultBoard.jpg">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </Content>
     </Content>

DeviceLibrary/deviceLibrary/urRobot/URRobotClient.cs

@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Linq;
 using System.Runtime.InteropServices;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Text;
+using System.Threading;
 using URSoldering.Common;
 using URSoldering.Common;
 
 
 namespace URSoldering.DeviceLibrary
 namespace URSoldering.DeviceLibrary
@@ -70,6 +71,7 @@ namespace URSoldering.DeviceLibrary
             {
             {
                 listenClient.sendLine(LastMoveCMD);
                 listenClient.sendLine(LastMoveCMD);
                 LastMoveCMD = "";
                 LastMoveCMD = "";
+                //Thread.Sleep(50);
             }
             }
             StopListen();
             StopListen();
             try
             try
@@ -129,10 +131,11 @@ namespace URSoldering.DeviceLibrary
                 else
                 else
                 {
                 {
                     string reviceMsg = ByteToStr(reviceData);
                     string reviceMsg = ByteToStr(reviceData);
-                    LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】  ");
-                    LogUtil.URLError(LogName + "无法获取坐标，数据长度不正确");
+                    //LogUtil.URLError(LogName + "Read data：【" + reviceMsg + "】  ");
+                    LogUtil.URLError(LogName + "length[" + messageSize + "]，data长[" + reviceData.Length + "]无法获取坐标，数据长度不正确");
                 }
                 }
-            }catch(Exception ex)
+            }
+            catch(Exception ex)
             {
             {
                 LogUtil.URLError(LogName+ "HandleMessage出错：" + ex.ToString());
                 LogUtil.URLError(LogName+ "HandleMessage出错：" + ex.ToString());
                 StopListen();
                 StopListen();

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -67,10 +67,48 @@ namespace URSoldering.DeviceLibrary
         {
         {
             get { return "【" + RobotIp + " ，" + ControlPort + "】"; }
             get { return "【" + RobotIp + " ，" + ControlPort + "】"; }
         }
         }
-        public static void Test()
+
+        public static string GetStatus()
+        {
+            if (WarnMsg.Equals(""))
+            {
+                if (IsRun)
+                {
+                    return "正常连接中";
+                }
+                else
+                {
+                    if (IsStartConnect)
+                    {
+                        TimeSpan span = DateTime.Now - PreStartTime;
+                        if (span.TotalMilliseconds > StartTimeOutSeconds)
+                        {
+                            return "启动超时";
+                        }
+                        else
+                        {
+
+                            return "启动中";
+                        }
+                    }
+                    else
+                    {
+                        return "未连接";
+                    }
+                }
+            }
+            else
+            {
+                return WarnMsg;
+            }
+        }
+
+        public static void Reset()
         {
         {
             URWithOutTP a = new URWithOutTP();          //创建对象
             URWithOutTP a = new URWithOutTP();          //创建对象
             a.restartURControl(RobotIp);         //重置UR控制器，然后可以利用dashboard，poweron,brake release  
             a.restartURControl(RobotIp);         //重置UR控制器，然后可以利用dashboard，poweron,brake release  
+            LogUtil.info(LogName+"重置完成");
+            Thread.Sleep(100);
         }
         }
         /// <summary>
         /// <summary>
         /// 开始启动连接机器人
         /// 开始启动连接机器人
@@ -121,6 +159,7 @@ namespace URSoldering.DeviceLibrary
                 PreStartTime = DateTime.Now;
                 PreStartTime = DateTime.Now;
                 startCount++;
                 startCount++;
 
 
+                //Reset();
 
 
                 controlTcp = new TcpClient();
                 controlTcp = new TcpClient();
                 bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
                 bool result = controlTcp.connect(RobotIp, ControlPort, new TcpClient.HandleMessage(OnControlRevice));
@@ -241,11 +280,11 @@ namespace URSoldering.DeviceLibrary
                 }
                 }
                 else if (message.ToLower().IndexOf(REV_RobotMode) >= 0)
                 else if (message.ToLower().IndexOf(REV_RobotMode) >= 0)
                 {
                 {
-                    SafetymodeProcess(message);
+                    StatusProcess(message);
                 }
                 }
                 else if (message.ToLower().IndexOf(REV_SafetyMode) >= 0)
                 else if (message.ToLower().IndexOf(REV_SafetyMode) >= 0)
                 {
                 {
-                    StatusProcess(message);
+                    SafetymodeProcess(message);
                 }
                 }
                 else
                 else
                 {
                 {
@@ -257,7 +296,7 @@ namespace URSoldering.DeviceLibrary
                 LogUtil.URSError(LogName + " OnControlRevice出错啦" + ex.ToString());
                 LogUtil.URSError(LogName + " OnControlRevice出错啦" + ex.ToString());
             }
             }
         }
         }
-        private static void SafetymodeProcess(string message)
+        private static void StatusProcess(string message)
         {
         {
             string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim();
             string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim();
            
            
@@ -282,7 +321,7 @@ namespace URSoldering.DeviceLibrary
                 }
                 }
             }
             }
         }
         }
-        private static void StatusProcess(string message)
+        private static void SafetymodeProcess(string message)
         {
         {
             string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim();
             string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim();
             if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP))
             if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP))
@@ -300,7 +339,7 @@ namespace URSoldering.DeviceLibrary
             }
             }
             else
             else
             {
             {
-                SendCMD(CMD_Safetymode, 500);
+                SendCMD(CMD_robotMode, 500);
             }
             }
         }
         }
         private static bool IsTimeOut(string status)
         private static bool IsTimeOut(string status)
@@ -366,8 +405,14 @@ namespace URSoldering.DeviceLibrary
         /// <param name="point"></param>
         /// <param name="point"></param>
         public static bool MoveTo(URPointValue point)
         public static bool MoveTo(URPointValue point)
         {
         {
+            //movep(p[0.062, -0.030, 0.325, 0.0299, 2.2263, 2.2171], a = 1.2, v = 0.25, r = 0)
+            LogUtil.info(LogName + "试图移动到："+point.ToShowStr());
             //movej([0, 1.57, -1.57, 3.14, -1.57, 1.57],a = 1.4, v = 1.05, t = 0, r = 0)
             //movej([0, 1.57, -1.57, 3.14, -1.57, 1.57],a = 1.4, v = 1.05, t = 0, r = 0)
-            string moveCmd = "movej([" + point.X + spiltStr + point.X + spiltStr + point.X + spiltStr + point.X + spiltStr + point.X + spiltStr + point.X + "],a=1.4, v=1.05, t=0, r=0)";
+            string x = Math.Round(point.X / 1000F, 5).ToString();
+            string y= Math.Round(point.Y / 1000F, 5).ToString();
+            string z = Math.Round(point.Z / 1000F, 5).ToString();
+
+            string moveCmd = "movep(p[" +x+ spiltStr +y+ spiltStr + z+ spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1,  r=0)";
             URRobotClient.LastMoveCMD = moveCmd;
             URRobotClient.LastMoveCMD = moveCmd;
             return true;
             return true;
         }
         }

URSolderingClient/FrmIoManager.Designer.cs

@@ -150,7 +150,6 @@ namespace URSoldering.Client
             this.btnWireWork.TabIndex = 269;
             this.btnWireWork.TabIndex = 269;
             this.btnWireWork.Text = "送丝工作端";
             this.btnWireWork.Text = "送丝工作端";
             this.btnWireWork.UseVisualStyleBackColor = true;
             this.btnWireWork.UseVisualStyleBackColor = true;
-            this.btnWireWork.Visible = false;
             this.btnWireWork.Click += new System.EventHandler(this.btnWireWork_Click);
             this.btnWireWork.Click += new System.EventHandler(this.btnWireWork_Click);
             // 
             // 
             // btnWUp
             // btnWUp
@@ -173,7 +172,6 @@ namespace URSoldering.Client
             this.btnWireClear.TabIndex = 268;
             this.btnWireClear.TabIndex = 268;
             this.btnWireClear.Text = "送丝清洗端";
             this.btnWireClear.Text = "送丝清洗端";
             this.btnWireClear.UseVisualStyleBackColor = true;
             this.btnWireClear.UseVisualStyleBackColor = true;
-            this.btnWireClear.Visible = false;
             this.btnWireClear.Click += new System.EventHandler(this.btnWireClear_Click);
             this.btnWireClear.Click += new System.EventHandler(this.btnWireClear_Click);
             // 
             // 
             // btnWStop
             // btnWStop

URSolderingClient/FrmIoManager.cs

@@ -305,7 +305,7 @@ namespace URSoldering.Client
 
 
         private void btnWireClear_Click(object sender, EventArgs e)
         private void btnWireClear_Click(object sender, EventArgs e)
         {
         {
-            SendWireCylinderMove(IO_VALUE.HIGH, IO_VALUE.LOW);
+            SendWireCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH);
         }
         }
     }
     }
 }
 }

URSolderingClient/FrmOrgConfig.cs

@@ -74,7 +74,8 @@ namespace URSoldering.Client
                 URPointValue lastP = URRobotControl.GetLastPosition();
                 URPointValue lastP = URRobotControl.GetLastPosition();
                 urRobotSControl1.ShowPoint(lastP);
                 urRobotSControl1.ShowPoint(lastP);
             }
             }
-            lblMsg.Text = URRobotControl.WarnMsg;
+            lblMsg.Text = URRobotControl.GetStatus();
+           
         }
         }
 
 
         private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
         private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)