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孙克 / URSolderingRobot

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Commit 380ead97 由 几米阳光
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1 个父辈 3f006b78
内嵌 并排
正在显示 3 个修改的文件 包含 9 行增加 和 8 行删除
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
...@@ -497,16 +497,16 @@ namespace URSoldering.DeviceLibrary ...@@ -497,16 +497,16 @@ namespace URSoldering.DeviceLibrary
string y = Math.Round(point.Y / 1000F, 5).ToString(); string y = Math.Round(point.Y / 1000F, 5).ToString();
string z = Math.Round(point.Z / 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)"; //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)";
//if (isHigh) //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(); ClearPreCMD();
URRobotClient.LastMoveCMD = moveCmd; URRobotClient.LastMoveCMD = moveCmd;
......
URSolderingClient/App.config
...@@ -10,6 +10,7 @@ ...@@ -10,6 +10,7 @@
<add key="Robot_ConfigPath" value="\RobotConfig\solderingConfig\SolderingRobotConfig.csv" /> <add key="Robot_ConfigPath" value="\RobotConfig\solderingConfig\SolderingRobotConfig.csv" />
<add key="Robot_CID" value="1" /> <add key="Robot_CID" value="1" />
<add key="HasSoldering" value="0" /> <add key="HasSoldering" value="0" />
<add key ="ISDebug" value ="1"/>
<!--AOI检测文件--> <!--AOI检测文件-->
<add key="VideoCameraName" value="[0] Integrated Camera" /> <add key="VideoCameraName" value="[0] Integrated Camera" />
<add key="AOIFileConfig" value="\RobotConfig\AOIConfig\AOIProgram.vscf" /> <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 ...@@ -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 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。 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
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