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Commit 3983896a 由 ke.sun
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添加判断:复位是是否需要重置机器人。

1 个父辈 cffa60e0
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正在显示 9 个修改的文件 包含 66 行增加 和 85 行删除
Common/util/AcSerialBean.cs
......@@ -304,18 +304,19 @@ namespace URSoldering.Common
}
if (num >= Overtime)
{
isOk = false ;
LogUtil.error(PortName + "发送数据" + ByteToString(SendData) + "等待" + Overtime + "超时");
}
if (_serialPort.BytesToRead >= ReceiveData.Length)
{
isOk = true;
ret = _serialPort.Read(ReceiveData, 0, ReceiveData.Length);
}
else
{
isOk = true;
ret = _serialPort.Read(ReceiveData, 0, _serialPort.BytesToRead);
}
isOk = true;
return ret;
}
catch (Exception ex)
......
DeviceLibrary/Robot/LineSolderingRobot.cs
......@@ -126,19 +126,18 @@ namespace URSoldering.DeviceLibrary
&& KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH))
{
LogUtil.info(RobotName + "复位完成");
Status = RobotStatus.Runing;
Status = RobotStatus.Runing;
}
}
else if (Status.Equals(RobotStatus.Runing))
{
IOTimeOutProcess();
}
else if (Status.Equals(RobotStatus.Busy))
{
{
BusyProcess();
}
else if (Status.Equals(RobotStatus.LineMove))
{
{
}
}
}catch(Exception ex)
......@@ -147,38 +146,7 @@ namespace URSoldering.DeviceLibrary
}
IsInProcess = false;
}
/// <summary>
/// io检测异常,如果所有的步骤已经完成，表示信号超时异常已经结束
/// </summary>
private DateTime preIoTimerOutTime = DateTime.Now;
private void IOTimeOutProcess()
{
try
{
TimeSpan span = DateTime.Now - preIoTimerOutTime;
if (span.TotalSeconds > 1)
{
preIoTimerOutTime = DateTime.Now;
if (IsInSuddendown)
{
return;
}
if (alarmType.Equals(AlarmType.IoSingleTimeOut) || alarmType.Equals(AlarmType.StepTimeOut))
{
if (LineStep.IsInWait == false)
{
LogUtil.info(RobotName + "之前有IO超时异常，清理信号超时异常！");
WarnMsg = "";
alarmType = AlarmType.None;
}
}
}
}
catch (Exception ex)
{
LogUtil.error(LOGGER, "IOTimeOutProcess出错：" + ex.ToString());
}
}
private void StopMove()
{
......@@ -224,8 +192,7 @@ namespace URSoldering.DeviceLibrary
}
}
}
/// <summary>
/// 判断是否还有未完成的工作
/// </summary>
......@@ -247,8 +214,7 @@ namespace URSoldering.DeviceLibrary
if (AlarmType.SuddenStop.Equals(alarmType))
{
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
SendWireManager.Release();
WeldRobotBean.Alarm(AlarmType.SuddenStop);
StopMove();
}
}
......
DeviceLibrary/Robot/soldering/WeldRobotBean.cs
......@@ -108,15 +108,27 @@ namespace URSoldering.DeviceLibrary
{
if (!URRobotControl.IsRun)
{
bool isNeedReset = false;
if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck) || alarmType.Equals(AlarmType.RobotError))
{
isNeedReset = true;
}
Task.Factory.StartNew(delegate ()
{
if (isNeedReset)
{
bool result = URRobotControl.StartRobot();
URRobotControl.Reset();
}
bool result = URRobotControl.StartRobot();
if (!result)
{
WarnMsg = "连接UR机器人失败";
}
});
if (!result)
{
WarnMsg = "连接UR机器人失败";
}
});
}
}
public static void ResetInit()
......@@ -147,12 +159,7 @@ namespace URSoldering.DeviceLibrary
else
{
ResetInit();
}
//Thread.Sleep(1000);
//if (!URRobotControl.IsRun)
//{
// Thread.Sleep(2000);
//}
}
if (!URRobotControl.PointIsValid(HomePoint))
{
LogUtil.info(RobotName + "开始启动失败：原点坐标无效");
......@@ -489,7 +496,7 @@ namespace URSoldering.DeviceLibrary
if (alarmType.Equals(AlarmType.IoSingleTimeOut))
{
}
else if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck) || alarm.Equals(AlarmType.RobotError))
else if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck) || alarmType.Equals(AlarmType.RobotError))
{
if (alarmType.Equals(AlarmType.SuddenStop))
{
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
......@@ -9,8 +9,8 @@ namespace URSoldering.DeviceLibrary
partial class WeldRobotBean
{
public static bool IsInWeld=false;
public delegate void GetCode();
public static event GetCode GetCodeFun;
//public delegate void GetCode();
//public static event GetCode GetCodeFun;
public delegate void AOICheck( );
public static event AOICheck AOICheckFun;
......@@ -157,8 +157,8 @@ namespace URSoldering.DeviceLibrary
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
{
//AOICheckFun.Invoke();
//Thread.Sleep(300);
AOICheckFun.Invoke();
Thread.Sleep(300);
IsInWeld = false;
if (WeldCount >= RobotConfig.ClearCount)
{
......
DeviceLibrary/deviceLibrary/jbc/SendWireManager.cs
......@@ -32,9 +32,11 @@ namespace URSoldering.DeviceLibrary
private static string CMD_StartBackSend = "0010WSFD00000";
private static string CMD_StopSend = "0010WSSD00000";
private static string CMD_Reset = "0010WECV00001";
private static string LogName = "";
public static bool Init(string port)
{
LogName = "送丝器[" + port + "]";
if (sb == null)
{
serialPort = port;
......@@ -54,14 +56,14 @@ namespace URSoldering.DeviceLibrary
}
else
{
LogUtil.error("送丝机初始化失败！");
LogUtil.error(LogName+ "初始化失败！");
Release();
return false;
}
}
else
{
LogUtil.error(LOGGER, "送丝机串口打开失败！");
LogUtil.error(LOGGER, LogName + "串口打开失败！");
IsRun = false;
return false;
}
......@@ -124,7 +126,7 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LOGGER.Info("转换出错：" + ex.ToString());
LOGGER.Info(LogName + "转换出错：" + ex.ToString());
}
int data = 0;
......@@ -134,7 +136,7 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.debug(LOGGER, "转换出错：" + strData);
LogUtil.debug(LOGGER, LogName + "转换出错：" + strData);
}
return data;
}
......@@ -248,7 +250,7 @@ namespace URSoldering.DeviceLibrary
data = new byte[messageAll.Length - 5];
}
string str = AcSerialBean.byteToHexStr(messageAll," ");
LogUtil.debug(" JBC送丝器【"+commandText+"】 转换后【"+str+"】");
LogUtil.debug(LogName + " JBC送丝器【" +commandText+"】 转换后【"+str+"】");
sb.SendCommand(messageAll, ref data, 100, out isOk);
return data;
}
......
DeviceLibrary/deviceLibrary/jbc/SolderingManager.cs
......@@ -22,12 +22,13 @@ namespace URSoldering.DeviceLibrary
public static string serialPort = "";
public static string equipmentPort = "";
private static AcSerialBean serialBean = null;
private static string LogName = "";
/// <summary>
/// 初始化
/// </summary>
/// <returns></returns>
public static bool Init(string sPort,string ePort)
public static bool Init(string sPort, string ePort)
{
serialPort = sPort;
equipmentPort = ePort;
......@@ -35,12 +36,13 @@ namespace URSoldering.DeviceLibrary
{
serialBean = new AcSerialBean(serialPort, bautRate, parity, dataBits, stopBits);
}
LogName = "烙铁[" + sPort + "][" + ePort + "]";
try
{
if (IsRun)
{
return true ;
return true;
}
if (serialBean.openPort())
{
......@@ -53,14 +55,14 @@ namespace URSoldering.DeviceLibrary
}
else
{
LogUtil.error("烙铁初始化失败！");
LogUtil.error(LogName+ "烙铁初始化失败！");
Release();
return false;
}
}
else
{
LogUtil.error(LOGGER, "烙铁串口打开失败！");
LogUtil.error(LOGGER, LogName + "烙铁串口打开失败！");
IsRun = false;
return false;
}
......@@ -109,7 +111,7 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.debug(LOGGER, "转换温度出错：" + temp);
LogUtil.debug(LOGGER, LogName + "转换温度出错：" + temp);
}
return tem;
}
......@@ -129,7 +131,7 @@ namespace URSoldering.DeviceLibrary
}
else
{
LogUtil.debug("烙铁未初始化，调用了queryActualTemp直接返回0");
LogUtil.debug(LogName + "未初始化，调用了queryActualTemp直接返回0");
return 0;
}
......@@ -151,7 +153,7 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LOGGER.Info("转换出错：" + ex.ToString());
LOGGER.Info(LogName + "转换出错：" + ex.ToString());
}
int tem = 0;
try
......@@ -160,7 +162,7 @@ namespace URSoldering.DeviceLibrary
}
catch (Exception ex)
{
LogUtil.debug(LOGGER, "转换温度出错：" + temp);
LogUtil.debug(LOGGER, LogName + "转换温度出错：" + temp);
}
return tem;
}
......@@ -178,7 +180,7 @@ namespace URSoldering.DeviceLibrary
}
else
{
LogUtil.debug("烙铁未初始化，调用了setTemp直接返回false");
LogUtil.debug(LogName + "烙铁未初始化，调用了setTemp直接返回false");
return false;
}
}
......
URSolderingClient/FrmBoardCopy.Designer.cs
......@@ -95,7 +95,7 @@
//
// txtCode
//
this.txtCode.Location = new System.Drawing.Point(131, 96);
this.txtCode.Location = new System.Drawing.Point(131, 110);
this.txtCode.MaxLength = 20;
this.txtCode.Name = "txtCode";
this.txtCode.Size = new System.Drawing.Size(221, 23);
......@@ -104,7 +104,7 @@
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(73, 100);
this.label1.Location = new System.Drawing.Point(73, 114);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(32, 17);
this.label1.TabIndex = 269;
......@@ -114,7 +114,7 @@
//
this.btnBack.FlatAppearance.BorderSize = 0;
this.btnBack.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnBack.Location = new System.Drawing.Point(224, 193);
this.btnBack.Location = new System.Drawing.Point(224, 182);
this.btnBack.Name = "btnBack";
this.btnBack.Size = new System.Drawing.Size(107, 37);
this.btnBack.TabIndex = 41;
......@@ -126,7 +126,7 @@
//
this.btnSave.FlatAppearance.BorderSize = 0;
this.btnSave.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnSave.Location = new System.Drawing.Point(91, 193);
this.btnSave.Location = new System.Drawing.Point(111, 182);
this.btnSave.Name = "btnSave";
this.btnSave.Size = new System.Drawing.Size(107, 37);
this.btnSave.TabIndex = 40;
......@@ -136,24 +136,26 @@
//
// txtRobotZHighValue
//
this.txtRobotZHighValue.Location = new System.Drawing.Point(131, 142);
this.txtRobotZHighValue.Location = new System.Drawing.Point(131, 156);
this.txtRobotZHighValue.Name = "txtRobotZHighValue";
this.txtRobotZHighValue.Size = new System.Drawing.Size(89, 23);
this.txtRobotZHighValue.TabIndex = 266;
this.txtRobotZHighValue.Text = "-20";
this.txtRobotZHighValue.Visible = false;
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(65, 146);
this.label9.Location = new System.Drawing.Point(65, 160);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(51, 17);
this.label9.TabIndex = 265;
this.label9.Text = "高位Z轴";
this.label9.Visible = false;
//
// txtBoardName
//
this.txtBoardName.Location = new System.Drawing.Point(132, 50);
this.txtBoardName.Location = new System.Drawing.Point(132, 64);
this.txtBoardName.MaxLength = 20;
this.txtBoardName.Name = "txtBoardName";
this.txtBoardName.Size = new System.Drawing.Size(220, 23);
......@@ -162,7 +164,7 @@
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(61, 54);
this.label2.Location = new System.Drawing.Point(61, 68);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(56, 17);
this.label2.TabIndex = 1;
......
URSolderingClient/FrmPwd.Designer.cs
......@@ -78,11 +78,12 @@
this.txtPwd.PasswordChar = '*';
this.txtPwd.Size = new System.Drawing.Size(215, 33);
this.txtPwd.TabIndex = 276;
this.txtPwd.Text = "123456";
this.txtPwd.KeyDown += new System.Windows.Forms.KeyEventHandler(this.txtPwd_KeyDown);
//
// FrmPwd
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(437, 268);
this.Controls.Add(this.txtPwd);
......
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