1

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -497,16 +497,16 @@ namespace URSoldering.DeviceLibrary
             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)";
-            if (isHigh)
-            {
-                moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,  r=0)";
-            }
-            //string moveCmd = "movel(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1,t=0,  r=0)";
+            //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)";
             //if (isHigh)
             //{
-            //    moveCmd = "movel(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,t=0,  r=0)";
+            //    moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,  r=0)";
             //}
+            string moveCmd = "movel(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1,t=0,  r=0)";
+            if (isHigh)
+            {
+                moveCmd = "movel(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,t=0,  r=0)";
+            }
             ClearPreCMD();
 
             URRobotClient.LastMoveCMD = moveCmd;

URSolderingClient/App.config

@@ -10,6 +10,7 @@
     <add key="Robot_ConfigPath" value="\RobotConfig\solderingConfig\SolderingRobotConfig.csv" />
     <add key="Robot_CID" value="1" />
     <add key="HasSoldering" value="0" />
+    <add key ="ISDebug" value ="1"/>
     <!--AOI检测文件-->
     <add key="VideoCameraName" value="[0] Integrated Camera" />
     <add key="AOIFileConfig" value="\RobotConfig\AOIConfig\AOIProgram.vscf" /> 

URSolderingClient/记录.txt

@@ -31,5 +31,5 @@ UR机器人是否到位判断条件修改：只判断X.Y.Z坐标是否一致
 配置ISDebug=0时，才会检测夹具状态和急停状态
 
 AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。
-
+机器人移动movep改为movel