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Commit 4ba556c0 由 几米阳光
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增加中间点的配置功能

1 个父辈 4024e72c
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内嵌 并排
正在显示 13 个修改的文件 包含 264 行增加 和 223 行删除
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
......@@ -14,12 +14,8 @@ namespace URSoldering.DeviceLibrary
public delegate void AOICheck( );
public static event AOICheck AOICheckFun;
public static string StartWeld()
{
return StartWeld(0);
}
public static string StartWeld(int type)
public static string StartWeld( )
{
StopSleep();
KeepTemp();
......@@ -44,7 +40,7 @@ namespace URSoldering.DeviceLibrary
WeldCount++;
LogUtil.info(RobotName + "开始【" + BoardManager.CurrBoard.boardName + "】的焊接 ,WeldCount="+WeldCount);
if (!WeldMoveStep.NewWeld(MoveType.Weld, BoardManager.CurrBoard, type))
if (!WeldMoveStep.NewWeld(MoveType.Weld, BoardManager.CurrBoard))
{
return "没有找到需要焊接的焊点，启动焊接失败！";
}
......@@ -69,26 +65,33 @@ namespace URSoldering.DeviceLibrary
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W01_RobotMoveToPoint))
{
if (WeldMoveStep.IsSlowSendWire)
if (WeldMoveStep.CurrPoint.pointType.Equals(0))
{
//已经慢速送丝
WeldMoveStep.NextMoveStep(MoveStep.W03_SendWire);
SendWire();
}
else
{
if (WeldMoveStep.CurrPoint.startSendWireTime > 0 && WeldMoveStep.CurrPoint.startSendWireSpeed > 0)
if (WeldMoveStep.IsSlowSendWire)
{
WeldMoveStep.NextMoveStep(MoveStep.W02_SlowSendWire);
SlowSendWire();
//已经慢速送丝
WeldMoveStep.NextMoveStep(MoveStep.W03_SendWire);
SendWire();
}
else
{
WeldMoveStep.NextMoveStep(MoveStep.W03_SendWire);
SendWire();
if (WeldMoveStep.CurrPoint.startSendWireTime > 0 && WeldMoveStep.CurrPoint.startSendWireSpeed > 0)
{
WeldMoveStep.NextMoveStep(MoveStep.W02_SlowSendWire);
SlowSendWire();
}
else
{
WeldMoveStep.NextMoveStep(MoveStep.W03_SendWire);
SendWire();
}
}
}
else
{
PointEndPross();
}
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W02_SlowSendWire))
{
......@@ -184,12 +187,19 @@ namespace URSoldering.DeviceLibrary
{
SetPreTemp(true, false);
}
LogUtil.info(" 新焊点【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint, false);
WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
if (WeldMoveStep.CurrPoint.pointType.Equals(0))
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint, false);
WorkCountManager.AddWeldPint();
WeldMoveStep.IsSlowSendWire = true;
SlowSendWire();
}
else
{
LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】 移动机械臂");
MoveToPoint(WeldMoveStep.CurrPoint, false);
}
}
private static void PointEndPross()
{
......
DeviceLibrary/Robot/soldering/WeldStepBean.cs
......@@ -3,6 +3,7 @@ using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using URSoldering.Common;
namespace URSoldering.DeviceLibrary
{
......@@ -92,8 +93,8 @@ namespace URSoldering.DeviceLibrary
/// <summary>
/// 开始焊接
/// </summary>
/// <param name="pointType">焊点类型，0=所有，1=只焊接左侧，2=只焊接右侧</param>
public bool NewWeld(MoveType type, BoardInfo board, int pointType)
/// <param name="pointType">焊点类型，0=所有 </param>
public bool NewWeld(MoveType type, BoardInfo board )
{
IsSlowSendWire = false;
StartPointIndex = 0;
......@@ -101,14 +102,14 @@ namespace URSoldering.DeviceLibrary
NewWeld(type);
this.currBoard = board;
CurrPointIndex = 0;
if (pointType.Equals(0))
{
//if (pointType.Equals(0))
//{
weldPointList = board.pointList;
}
else
{
weldPointList = (from m in board.pointList where m.pointType.Equals(pointType) && m.pointType.Equals(0) select m).ToList<WeldPointInfo>();
}
//}
//else
//{
// weldPointList = (from m in board.pointList where m.pointType.Equals(pointType) && m.pointType.Equals(0) select m).ToList<WeldPointInfo>();
//}
if (weldPointList.Count <= 0)
{
return false;
......@@ -117,6 +118,8 @@ namespace URSoldering.DeviceLibrary
{
if (!URRobotControl.PointIsValid(p.GetURPoint()))
{
LogUtil.error("【"+ board .boardName+ "】的焊点【"+p.pointName+"】坐标无效，无法开始焊接");
return false;
}
}
......
DeviceLibrary/bean/BoardInfo.cs
......@@ -168,9 +168,9 @@ namespace URSoldering.DeviceLibrary
isNeedClear = false;
pointType = 0;
}
public WeldPointInfo(int hand)
public WeldPointInfo(int type)
{
//this.HandDirection = hand;
this.pointType = type;
}
/// <summary>
......@@ -184,7 +184,7 @@ namespace URSoldering.DeviceLibrary
public string pointName { get; set; }
public double RobotX { get; set; }
public double RoobtY { get; set; }
public double RobotY { get; set; }
public double RobotZ { get; set; }
public double RobotRX { get; set; }
public double RobotRY { get; set; }
......@@ -242,7 +242,7 @@ namespace URSoldering.DeviceLibrary
public double sendWireTime { get; set; }
/// <summary>
/// 焊点类型，0=普通焊点，必须要焊接，1=左侧焊点，起始运行模式不焊接。2=右侧焊点，排料模式不焊接
/// 焊点类型，0=普通焊点，必须要焊接，1=中间点，机器人跳转位置使用
/// </summary>
public int pointType { get; set; }
/// <summary>
......@@ -253,10 +253,25 @@ namespace URSoldering.DeviceLibrary
/// 清洗时间，毫秒数
/// </summary>
public int ClearTime { get; set; }
public string TypeValue
{
get
{
if (pointType.Equals(0))
{
return "普通焊点";
}
else
{
return "中间点";
}
} set
{
}
}
public URPointValue GetURPoint()
{
URPointValue p = new URPointValue(RobotX, RoobtY, RobotZ, RobotRX, RobotRY, RobotRZ);
URPointValue p = new URPointValue(RobotX, RobotY, RobotZ, RobotRX, RobotRY, RobotRZ);
return p;
}
......
DeviceLibrary/deviceLibrary/kangnaide/KNDManager.cs
......@@ -186,8 +186,9 @@ namespace URSoldering.DeviceLibrary
}
//关闭所有的DO
public static void CloseAllDO()
{
foreach (string key in mastMap.Keys)
{
List<string> keyList = new List<string>(mastMap.Keys);
foreach (string key in keyList)
{
byte[] data = new byte[] { 0,0};
WriteMultipleDO(key, DefualtSlaveID, DoStartAddress, DefaultDOLength, data);
......
URSolderingClient/FrmBoardList.Designer.cs
......@@ -30,7 +30,7 @@
{
this.panel1 = new System.Windows.Forms.Panel();
this.groupBox2 = new System.Windows.Forms.GroupBox();
this.txtCode = new System.Windows.Forms.TextBox();
this.txtAOIName = new System.Windows.Forms.TextBox();
this.label10 = new System.Windows.Forms.Label();
this.label9 = new System.Windows.Forms.Label();
this.label8 = new System.Windows.Forms.Label();
......@@ -80,7 +80,7 @@
this.groupBox2.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.groupBox2.Controls.Add(this.txtCode);
this.groupBox2.Controls.Add(this.txtAOIName);
this.groupBox2.Controls.Add(this.label10);
this.groupBox2.Controls.Add(this.label9);
this.groupBox2.Controls.Add(this.label8);
......@@ -106,27 +106,27 @@
this.groupBox2.TabStop = false;
this.groupBox2.Text = "程序信息";
//
// txtCode
// txtAOIName
//
this.txtCode.Enabled = false;
this.txtCode.Location = new System.Drawing.Point(322, 23);
this.txtCode.Name = "txtCode";
this.txtCode.Size = new System.Drawing.Size(135, 23);
this.txtCode.TabIndex = 41;
this.txtAOIName.Enabled = false;
this.txtAOIName.Location = new System.Drawing.Point(353, 23);
this.txtAOIName.Name = "txtAOIName";
this.txtAOIName.Size = new System.Drawing.Size(177, 23);
this.txtAOIName.TabIndex = 41;
//
// label10
//
this.label10.AutoSize = true;
this.label10.Location = new System.Drawing.Point(265, 27);
this.label10.Location = new System.Drawing.Point(280, 26);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(56, 17);
this.label10.Size = new System.Drawing.Size(66, 17);
this.label10.TabIndex = 40;
this.label10.Text = "条码：";
this.label10.Text = "AOI程序：";
//
// label9
//
this.label9.AutoSize = true;
this.label9.Location = new System.Drawing.Point(422, 68);
this.label9.Location = new System.Drawing.Point(453, 68);
this.label9.Name = "label9";
this.label9.Size = new System.Drawing.Size(35, 17);
this.label9.TabIndex = 39;
......@@ -135,7 +135,7 @@
// label8
//
this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(142, 67);
this.label8.Location = new System.Drawing.Point(150, 68);
this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(30, 17);
this.label8.TabIndex = 38;
......@@ -144,7 +144,7 @@
// label24
//
this.label24.AutoSize = true;
this.label24.Location = new System.Drawing.Point(144, 108);
this.label24.Location = new System.Drawing.Point(152, 108);
this.label24.Name = "label24";
this.label24.Size = new System.Drawing.Size(30, 17);
this.label24.TabIndex = 37;
......@@ -153,7 +153,7 @@
// txtMianji
//
this.txtMianji.Enabled = false;
this.txtMianji.Location = new System.Drawing.Point(322, 65);
this.txtMianji.Location = new System.Drawing.Point(353, 65);
this.txtMianji.Name = "txtMianji";
this.txtMianji.Size = new System.Drawing.Size(94, 23);
this.txtMianji.TabIndex = 36;
......@@ -161,7 +161,7 @@
// label7
//
this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(272, 69);
this.label7.Location = new System.Drawing.Point(302, 68);
this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(44, 17);
this.label7.TabIndex = 35;
......@@ -172,9 +172,9 @@
this.listPoint.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left)));
this.listPoint.GridLines = true;
this.listPoint.Location = new System.Drawing.Point(22, 142);
this.listPoint.Location = new System.Drawing.Point(12, 141);
this.listPoint.Name = "listPoint";
this.listPoint.Size = new System.Drawing.Size(461, 382);
this.listPoint.Size = new System.Drawing.Size(572, 382);
this.listPoint.TabIndex = 34;
this.listPoint.UseCompatibleStateImageBehavior = false;
this.listPoint.View = System.Windows.Forms.View.Details;
......@@ -197,9 +197,9 @@
| System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.panBoard.Controls.Add(this.picBoard);
this.panBoard.Location = new System.Drawing.Point(489, 21);
this.panBoard.Location = new System.Drawing.Point(601, 21);
this.panBoard.Name = "panBoard";
this.panBoard.Size = new System.Drawing.Size(501, 502);
this.panBoard.Size = new System.Drawing.Size(389, 502);
this.panBoard.TabIndex = 10;
//
// picBoard
......@@ -210,7 +210,7 @@
this.picBoard.BackColor = System.Drawing.Color.Green;
this.picBoard.Location = new System.Drawing.Point(3, 3);
this.picBoard.Name = "picBoard";
this.picBoard.Size = new System.Drawing.Size(428, 225);
this.picBoard.Size = new System.Drawing.Size(316, 225);
this.picBoard.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
this.picBoard.TabIndex = 10;
this.picBoard.TabStop = false;
......@@ -218,7 +218,7 @@
// txtPointCount
//
this.txtPointCount.Enabled = false;
this.txtPointCount.Location = new System.Drawing.Point(323, 100);
this.txtPointCount.Location = new System.Drawing.Point(354, 105);
this.txtPointCount.Name = "txtPointCount";
this.txtPointCount.Size = new System.Drawing.Size(70, 23);
this.txtPointCount.TabIndex = 8;
......@@ -226,7 +226,7 @@
// label5
//
this.label5.AutoSize = true;
this.label5.Location = new System.Drawing.Point(262, 103);
this.label5.Location = new System.Drawing.Point(290, 108);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(56, 17);
this.label5.TabIndex = 7;
......@@ -235,7 +235,7 @@
// txtWidth
//
this.txtWidth.Enabled = false;
this.txtWidth.Location = new System.Drawing.Point(68, 106);
this.txtWidth.Location = new System.Drawing.Point(76, 105);
this.txtWidth.Name = "txtWidth";
this.txtWidth.Size = new System.Drawing.Size(70, 23);
this.txtWidth.TabIndex = 6;
......@@ -243,7 +243,7 @@
// label4
//
this.label4.AutoSize = true;
this.label4.Location = new System.Drawing.Point(19, 107);
this.label4.Location = new System.Drawing.Point(24, 108);
this.label4.Name = "label4";
this.label4.Size = new System.Drawing.Size(44, 17);
this.label4.TabIndex = 5;
......@@ -252,7 +252,7 @@
// txtLength
//
this.txtLength.Enabled = false;
this.txtLength.Location = new System.Drawing.Point(68, 64);
this.txtLength.Location = new System.Drawing.Point(76, 65);
this.txtLength.Name = "txtLength";
this.txtLength.Size = new System.Drawing.Size(70, 23);
this.txtLength.TabIndex = 4;
......@@ -260,7 +260,7 @@
// label3
//
this.label3.AutoSize = true;
this.label3.Location = new System.Drawing.Point(18, 68);
this.label3.Location = new System.Drawing.Point(24, 68);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(44, 17);
this.label3.TabIndex = 3;
......@@ -269,7 +269,7 @@
// txtBoardName
//
this.txtBoardName.Enabled = false;
this.txtBoardName.Location = new System.Drawing.Point(68, 23);
this.txtBoardName.Location = new System.Drawing.Point(76, 23);
this.txtBoardName.Name = "txtBoardName";
this.txtBoardName.Size = new System.Drawing.Size(177, 23);
this.txtBoardName.TabIndex = 2;
......@@ -277,7 +277,7 @@
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(20, 27);
this.label2.Location = new System.Drawing.Point(24, 26);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(44, 17);
this.label2.TabIndex = 1;
......@@ -424,7 +424,7 @@
private System.Windows.Forms.Label label24;
private System.Windows.Forms.Label label9;
private System.Windows.Forms.Button btnCopy;
private System.Windows.Forms.TextBox txtCode;
private System.Windows.Forms.TextBox txtAOIName;
private System.Windows.Forms.Label label10;
}
}
\ No newline at end of file
URSolderingClient/FrmBoardList.cs
......@@ -22,6 +22,14 @@ namespace URSoldering.Client
{
LoadCom();
}
private void AddColumn(string text,int width)
{
ColumnHeader chName = new ColumnHeader();
chName.Text =text ; //设置列标题
chName.Width = width; //设置列宽度
chName.TextAlign = HorizontalAlignment.Left; //设置列的对齐方式
this.listPoint.Columns.Add(chName); //将列头添加到ListView控件。
}
private void LoadCom()
{
List<BoardInfo> newList = (from m in BoardManager.boardList orderby m.PartNumber ascending, m.boardName ascending select m).ToList<BoardInfo>();
......@@ -34,31 +42,12 @@ namespace URSoldering.Client
cmbBoardList.SelectedIndex = 0;
}
this.listPoint.Columns.Clear();
ColumnHeader chName = new ColumnHeader();
chName.Text = "焊点名称"; //设置列标题
chName.Width = 150; //设置列宽度
chName.TextAlign = HorizontalAlignment.Left; //设置列的对齐方式
this.listPoint.Columns.Add(chName); //将列头添加到ListView控件。
//ColumnHeader chValue = new ColumnHeader();
//chValue.Text = "预热温度"; //设置列标题
//chValue.Width = 80; //设置列宽度
//chValue.TextAlign = HorizontalAlignment.Left; //设置列的对齐方式
//this.listPoint.Columns.Add(chValue); //将列头添加到ListView控件。
ColumnHeader chStatus = new ColumnHeader();
chStatus.Text = "焊接温度"; //设置列标题
chStatus.Width = 80; //设置列宽度
chStatus.TextAlign = HorizontalAlignment.Left; //设置列的对齐方式
this.listPoint.Columns.Add(chStatus); //将列头添加到ListView控件。
ColumnHeader preSendwire = new ColumnHeader();
preSendwire.Text = "初始送丝"; //设置列标题
preSendwire.Width = 80; //设置列宽度
preSendwire.TextAlign = HorizontalAlignment.Left; //设置列的对齐方式
this.listPoint.Columns.Add(preSendwire); //将列头添加到ListView控件。
ColumnHeader sendWire = new ColumnHeader();
sendWire.Text = "送丝量"; //设置列标题
sendWire.Width = 60; //设置列宽度
sendWire.TextAlign = HorizontalAlignment.Left; //设置列的对齐方式
this.listPoint.Columns.Add(sendWire); //将列头添加到ListView控件。
AddColumn("焊点名称", 120);
AddColumn("类型", 90);
AddColumn("预热温度", 90);
AddColumn("焊接温度", 90);
AddColumn("初始送丝", 90);
AddColumn("送丝量", 80);
}
private void btnSave_Click(object sender, EventArgs e)
{
......@@ -95,7 +84,7 @@ namespace URSoldering.Client
txtWidth.Text = board.boardWidth.ToString();
txtPointCount.Text = board.pointList.Count.ToString();
txtMianji.Text = (board.boardLength * board.boardWidth).ToString();
txtCode.Text = board.WareCode;
txtAOIName.Text = board.AoiFileName;
loadPictureBoxSize(board);
LoadPoint(board);
}
......@@ -115,7 +104,9 @@ namespace URSoldering.Client
ListViewItem lvi = new ListViewItem();
lvi.ImageIndex = i;
lvi.Text = point.pointName;
lvi.Text = point.pointName;
lvi.SubItems.Add(point.TypeValue);
lvi.SubItems.Add(point.preheatTemperature.ToString());
lvi.SubItems.Add(point.weldTemperature.ToString());
lvi.SubItems.Add((point.startSendWireSpeed * point.startSendWireTime).ToString());
lvi.SubItems.Add((point.sendWireTime * point.sendWireSpeed).ToString());
......
URSolderingClient/FrmPointInfo.Designer.cs
......@@ -30,7 +30,7 @@
{
this.groupPoint = new System.Windows.Forms.GroupBox();
this.groupBox1 = new System.Windows.Forms.GroupBox();
this.label17 = new System.Windows.Forms.Label();
this.lblMsg = new System.Windows.Forms.Label();
this.label16 = new System.Windows.Forms.Label();
this.txtClearTime = new System.Windows.Forms.TextBox();
this.label15 = new System.Windows.Forms.Label();
......@@ -102,14 +102,14 @@
this.groupPoint.Controls.Add(this.gbWireFeeding);
this.groupPoint.Location = new System.Drawing.Point(3, 1);
this.groupPoint.Name = "groupPoint";
this.groupPoint.Size = new System.Drawing.Size(712, 487);
this.groupPoint.Size = new System.Drawing.Size(737, 487);
this.groupPoint.TabIndex = 61;
this.groupPoint.TabStop = false;
this.groupPoint.Text = "修改焊点[P2]";
//
// groupBox1
//
this.groupBox1.Controls.Add(this.label17);
this.groupBox1.Controls.Add(this.lblMsg);
this.groupBox1.Controls.Add(this.label16);
this.groupBox1.Controls.Add(this.txtClearTime);
this.groupBox1.Controls.Add(this.label15);
......@@ -118,22 +118,21 @@
this.groupBox1.Controls.Add(this.label2);
this.groupBox1.Controls.Add(this.txtName);
this.groupBox1.Controls.Add(this.label1);
this.groupBox1.Location = new System.Drawing.Point(21, 19);
this.groupBox1.Location = new System.Drawing.Point(33, 30);
this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(470, 119);
this.groupBox1.TabIndex = 59;
this.groupBox1.TabStop = false;
this.groupBox1.Text = "焊点基本信息";
//
// label17
// lblMsg
//
this.label17.AutoSize = true;
this.label17.Location = new System.Drawing.Point(219, 68);
this.label17.Name = "label17";
this.label17.Size = new System.Drawing.Size(92, 17);
this.label17.TabIndex = 66;
this.label17.Text = "正常焊接的焊点";
this.label17.Visible = false;
this.lblMsg.AutoSize = true;
this.lblMsg.Location = new System.Drawing.Point(233, 68);
this.lblMsg.Name = "lblMsg";
this.lblMsg.Size = new System.Drawing.Size(92, 17);
this.lblMsg.TabIndex = 66;
this.lblMsg.Text = "正常焊接的焊点";
//
// label16
//
......@@ -181,11 +180,13 @@
this.cmbPointType.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
this.cmbPointType.FormattingEnabled = true;
this.cmbPointType.Items.AddRange(new object[] {
"普通焊点"});
"普通焊点",
"中间点"});
this.cmbPointType.Location = new System.Drawing.Point(92, 65);
this.cmbPointType.Name = "cmbPointType";
this.cmbPointType.Size = new System.Drawing.Size(121, 25);
this.cmbPointType.TabIndex = 61;
this.cmbPointType.SelectedIndexChanged += new System.EventHandler(this.cmbPointType_SelectedIndexChanged);
//
// label2
//
......@@ -217,7 +218,7 @@
//
this.groupBox2.Controls.Add(this.urRobot);
this.groupBox2.Controls.Add(this.btnUpdate);
this.groupBox2.Location = new System.Drawing.Point(499, 139);
this.groupBox2.Location = new System.Drawing.Point(527, 159);
this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(202, 306);
this.groupBox2.TabIndex = 60;
......@@ -243,7 +244,7 @@
//
// btnSave
//
this.btnSave.Location = new System.Drawing.Point(540, 31);
this.btnSave.Location = new System.Drawing.Point(581, 52);
this.btnSave.Name = "btnSave";
this.btnSave.Size = new System.Drawing.Size(120, 35);
this.btnSave.TabIndex = 57;
......@@ -277,7 +278,7 @@
this.gbIron.Controls.Add(this.lblIronTime);
this.gbIron.Controls.Add(this.txtDweldTemperature);
this.gbIron.Controls.Add(this.txtDweldTime);
this.gbIron.Location = new System.Drawing.Point(21, 139);
this.gbIron.Location = new System.Drawing.Point(33, 155);
this.gbIron.Name = "gbIron";
this.gbIron.Size = new System.Drawing.Size(470, 188);
this.gbIron.TabIndex = 55;
......@@ -502,7 +503,7 @@
//
// btnCancel
//
this.btnCancel.Location = new System.Drawing.Point(540, 74);
this.btnCancel.Location = new System.Drawing.Point(581, 95);
this.btnCancel.Name = "btnCancel";
this.btnCancel.Size = new System.Drawing.Size(120, 35);
this.btnCancel.TabIndex = 58;
......@@ -524,7 +525,7 @@
this.gbWireFeeding.Controls.Add(this.lblWirdFeedingTime);
this.gbWireFeeding.Controls.Add(this.txtStartDsendWireSpeed);
this.gbWireFeeding.Controls.Add(this.txtDsendWireTime);
this.gbWireFeeding.Location = new System.Drawing.Point(21, 329);
this.gbWireFeeding.Location = new System.Drawing.Point(33, 349);
this.gbWireFeeding.Name = "gbWireFeeding";
this.gbWireFeeding.Size = new System.Drawing.Size(470, 116);
this.gbWireFeeding.TabIndex = 56;
......@@ -639,14 +640,14 @@
this.txtDsendWireTime.TabIndex = 42;
this.txtDsendWireTime.Text = "2";
//
// FrmWeldPointInfo
// FrmPointInfo
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(719, 491);
this.ClientSize = new System.Drawing.Size(744, 491);
this.Controls.Add(this.groupPoint);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
this.Name = "FrmWeldPointInfo";
this.Name = "FrmPointInfo";
this.Text = "FrmWeldPointInfo";
this.Load += new System.EventHandler(this.FrmWeldPointInfo_Load);
this.groupPoint.ResumeLayout(false);
......@@ -714,7 +715,7 @@
private System.Windows.Forms.TextBox txtClearTime;
private System.Windows.Forms.Label label15;
private System.Windows.Forms.Label label16;
private System.Windows.Forms.Label label17;
private System.Windows.Forms.Label lblMsg;
private System.Windows.Forms.GroupBox groupPoint;
private UserFromControl.URRobotMControl urRobot;
}
......
URSolderingClient/FrmPointInfo.cs
......@@ -87,68 +87,18 @@ namespace URSoldering.Client
int wTemp = FormUtil.GetIntValue(txtDweldTemperature);
int wTempMax = FormUtil.GetIntValue(txtDweldTemMax);
int wTempMin = FormUtil.GetIntValue(txtDweldTemMin );
if (ptemp > 400)
{
MessageBox.Show("预热温度范围：200°-400°");
txtDpreheatTemperature.Focus();
return;
}
if (ptempmin < 0)
{
MessageBox.Show("预热温度下限必须大于0°");
txtDweldTemMin.Focus();
return;
} if (wTemp > 400)
{
MessageBox.Show("焊接温度范围：200°-400°");
txtDweldTemperature.Focus();
return;
}
if (wTempMin < 0)
{
MessageBox.Show("焊接温度下限必须大于0°");
txtPreTempMin.Focus();
return;
}
if (ptempmax < ptempmin)
{
MessageBox.Show("预设温度上限必须大于预设温度下限");
this.txtPreTempMax.Focus();
return;
}
if (wTempMax < wTempMin)
{
MessageBox.Show("焊接温度上限必须大于焊接温度下限");
this.txtDweldTemMax.Focus();
return;
}
if (!(ptempmin <= ptemp && ptemp <= ptempmax))
{
MessageBox.Show("预设温度范围在：" + ptempmin + "°-"+ptempmax+"°");
this.txtDpreheatTemperature.Focus();
return;
}
if (!(wTempMin <= wTemp && wTemp <= wTempMax))
{
MessageBox.Show("焊接温度范围在：" + wTempMin + "°-" + wTempMax + "°");
this.txtDweldTemperature.Focus();
return;
}
double sendSpeed = FormUtil.getDoubleValue(txtDsendWireSpeed);
double sendtime = FormUtil.getDoubleValue(this.txtDsendWireTime);
double startsendSpeed = FormUtil.getDoubleValue(txtStartDsendWireSpeed);
double startsendTime = FormUtil.getDoubleValue(txtStartDsendWireTime);
string name = FormUtil.getValue(txtName);
int clearTime = FormUtil.GetIntValue(txtClearTime);
double pTime = FormUtil.getDoubleValue(txtDpreheatTime);
if (pTime < 0 || pTime > 60)
{
MessageBox.Show("预热时间范围：0-60！");
txtDpreheatTime.Focus();
return;
}
double wTime = FormUtil.getDoubleValue(txtDweldTime);
if (pTime < 0 || pTime > 60)
if (name.Equals(""))
{
MessageBox.Show("焊接时间范围：0-60！");
txtDweldTime.Focus();
MessageBox.Show("请输入焊点名称！");
txtName.Focus();
return;
}
if (cmbPointType.SelectedIndex < 0)
......@@ -157,53 +107,108 @@ namespace URSoldering.Client
cmbPointType.Focus();
return;
}
double sendSpeed = FormUtil.getDoubleValue(txtDsendWireSpeed);
double sendtime = FormUtil.getDoubleValue(this.txtDsendWireTime);
double startsendSpeed = FormUtil.getDoubleValue(txtStartDsendWireSpeed);
double startsendTime = FormUtil.getDoubleValue(txtStartDsendWireTime);
if (startsendSpeed < 0)
int pointType = cmbPointType.SelectedIndex;
if (pointType.Equals(0))
{
MessageBox.Show("请正确输入起始送丝速度！");
txtStartDsendWireSpeed.Focus();
return;
}
if (ptemp > 400)
{
MessageBox.Show("预热温度范围：200°-400°");
txtDpreheatTemperature.Focus();
return;
}
if (ptempmin < 0)
{
MessageBox.Show("预热温度下限必须大于0°");
txtDweldTemMin.Focus();
return;
}
if (wTemp > 400)
{
MessageBox.Show("焊接温度范围：200°-400°");
txtDweldTemperature.Focus();
return;
}
if (wTempMin < 0)
{
MessageBox.Show("焊接温度下限必须大于0°");
txtPreTempMin.Focus();
return;
}
if (ptempmax < ptempmin)
{
MessageBox.Show("预设温度上限必须大于预设温度下限");
this.txtPreTempMax.Focus();
return;
}
if (wTempMax < wTempMin)
{
MessageBox.Show("焊接温度上限必须大于焊接温度下限");
this.txtDweldTemMax.Focus();
return;
}
if (!(ptempmin <= ptemp && ptemp <= ptempmax))
{
MessageBox.Show("预设温度范围在：" + ptempmin + "°-" + ptempmax + "°");
this.txtDpreheatTemperature.Focus();
return;
}
if (startsendTime < 0)
{
MessageBox.Show("起始送丝时间范围：0-60");
txtStartDsendWireTime.Focus();
return;
}
if (sendSpeed < 0)
{
MessageBox.Show("请正确输入送丝速度！");
txtDsendWireSpeed.Focus();
return;
}
if (!(wTempMin <= wTemp && wTemp <= wTempMax))
{
MessageBox.Show("焊接温度范围在：" + wTempMin + "°-" + wTempMax + "°");
this.txtDweldTemperature.Focus();
return;
}
if (sendtime < 0 || sendtime > 60)
{
MessageBox.Show("送丝时间范围：0-60 ");
txtDsendWireSpeed.Focus();
return;
}
if (pTime < 0 || pTime > 60)
{
MessageBox.Show("预热时间范围：0-60！");
txtDpreheatTime.Focus();
return;
}
string name = FormUtil.getValue(txtName);
if (name.Equals(""))
{
MessageBox.Show("请输入焊点名称！");
txtName.Focus();
return;
}
int clearTime = FormUtil.GetIntValue(txtClearTime);
if (chbClear.Checked)
{
if (clearTime <= 0)
if (pTime < 0 || pTime > 60)
{
MessageBox.Show("焊接时间范围：0-60！");
txtDweldTime.Focus();
return;
}
if (startsendSpeed < 0)
{
MessageBox.Show("请正确输入起始送丝速度！");
txtStartDsendWireSpeed.Focus();
return;
}
if (startsendTime < 0)
{
MessageBox.Show("起始送丝时间范围：0-60");
txtStartDsendWireTime.Focus();
return;
}
if (sendSpeed < 0)
{
MessageBox.Show("请输入清洗时间！");
txtClearTime.Focus();
MessageBox.Show("请正确输入送丝速度！");
txtDsendWireSpeed.Focus();
return;
}
if (sendtime < 0 || sendtime > 60)
{
MessageBox.Show("送丝时间范围：0-60 ");
txtDsendWireSpeed.Focus();
return;
}
if (chbClear.Checked)
{
if (clearTime <= 0)
{
MessageBox.Show("请输入清洗时间！");
txtClearTime.Focus();
return;
}
}
}
weldPointInfo.preheatTemperature = ptemp;
weldPointInfo.preheatTime = pTime;
......@@ -224,7 +229,7 @@ namespace URSoldering.Client
URPointValue p = urRobot.GetPoint();
weldPointInfo.RobotX = p.X;
weldPointInfo.RoobtY = p.Y;
weldPointInfo.RobotY = p.Y;
weldPointInfo.RobotZ = p.Z;
weldPointInfo.RobotRX = p.RX;
......@@ -280,6 +285,21 @@ namespace URSoldering.Client
txtClearTime.Enabled = false;
}
}
private void cmbPointType_SelectedIndexChanged(object sender, EventArgs e)
{
if (cmbPointType.SelectedIndex.Equals(0))
{
lblMsg .Text= "正常焊接的焊点";
gbIron.Enabled = true ;
gbWireFeeding.Enabled = true ;
}
else if (cmbPointType.SelectedIndex.Equals(1))
{
lblMsg.Text = "两个焊点之间的位置跳转点";
gbIron.Enabled = false;
gbWireFeeding.Enabled = false;
}
}
}
}
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