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Commit 5233cad6 由 几米阳光
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增加三色灯塔

1 个父辈 5655d465
内嵌 并排
正在显示 7 个修改的文件 包含 112 行增加 和 108 行删除
DeviceLibrary/Robot/LineSolderingRobot.cs
...@@ -26,15 +26,15 @@ namespace URSoldering.DeviceLibrary ...@@ -26,15 +26,15 @@ namespace URSoldering.DeviceLibrary
{ {
return RobotReset(); return RobotReset();
} }
public bool RobotReset() public bool RobotReset()
{ {
alarmType = AlarmType.None; alarmType = AlarmType.None;
mainTimer.Enabled = false; mainTimer.Enabled = false;
ledTimer.Enabled = false; ledTimer.Enabled = false;
IsInSuddendown = false; IsInSuddendown = false;
WarnMsg = ""; WarnMsg = "";
if (!ShuddenOK()) if (!ShuddenOK())
{ {
WarnMsg = "急停未开"; WarnMsg = "急停未开";
...@@ -61,10 +61,12 @@ namespace URSoldering.DeviceLibrary ...@@ -61,10 +61,12 @@ namespace URSoldering.DeviceLibrary
WarnMsg = solderingStr; WarnMsg = solderingStr;
return false; return false;
} }
KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
Status = RobotStatus.Reset; Status = RobotStatus.Reset;
WeldRobotBean.IsInWeld = false; WeldRobotBean.IsInWeld = false;
IsInProcess = false; IsInProcess = false;
ledTimer.Enabled = true; ledTimer.Enabled = true;
mainTimer.Enabled = true; mainTimer.Enabled = true;
return true; return true;
...@@ -141,6 +143,9 @@ namespace URSoldering.DeviceLibrary ...@@ -141,6 +143,9 @@ namespace URSoldering.DeviceLibrary
&& KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH)) && KNDIOValue(IO_Type.SendWire_Work).Equals(IO_VALUE.HIGH))
{ {
LogUtil.info(RobotName + "复位完成"); LogUtil.info(RobotName + "复位完成");
KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
Status = RobotStatus.Runing; Status = RobotStatus.Runing;
} }
} }
...@@ -187,6 +192,9 @@ namespace URSoldering.DeviceLibrary ...@@ -187,6 +192,9 @@ namespace URSoldering.DeviceLibrary
StopMove(); StopMove();
WeldRobotBean.StopRun(); WeldRobotBean.StopRun();
this.Status = RobotStatus.Wait; this.Status = RobotStatus.Wait;
KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
LogUtil.info(RobotName + "停止运行"); LogUtil.info(RobotName + "停止运行");
} }
public DateTime LastStartWeldTime = DateTime.Now; public DateTime LastStartWeldTime = DateTime.Now;
...@@ -241,6 +249,7 @@ namespace URSoldering.DeviceLibrary ...@@ -241,6 +249,7 @@ namespace URSoldering.DeviceLibrary
if (AlarmType.SuddenStop.Equals(alarmType)) if (AlarmType.SuddenStop.Equals(alarmType))
{ {
WarnMsg = "收到急停信号"; WarnMsg = "收到急停信号";
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.HIGH);
WeldRobotBean.Alarm(AlarmType.SuddenStop); WeldRobotBean.Alarm(AlarmType.SuddenStop);
StopMove(); StopMove();
} }
......
DeviceLibrary/RobotConfig/solderingConfig/SolderingRobotConfig.csv
...@@ -28,9 +28,9 @@ DO,送丝电机启动,SendWireStart,106,192.168.10.11,0,送丝电机启动,Y07,DO-07,0 ...@@ -28,9 +28,9 @@ DO,送丝电机启动,SendWireStart,106,192.168.10.11,0,送丝电机启动,Y07,DO-07,0
,,,110,192.168.10.11,0,,Y11,DO-11,0 ,,,110,192.168.10.11,0,,Y11,DO-11,0
,,,111,192.168.10.11,0,,Y12,DO-12,0 ,,,111,192.168.10.11,0,,Y12,DO-12,0
,,,112,192.168.10.11,0,,Y13,DO-13,0 ,,,112,192.168.10.11,0,,Y13,DO-13,0
,自动指示灯（绿色）,AutoRunSingle,113,192.168.10.11,0,自动指示灯（绿色）,Y14,DO-14,0 DO,自动指示灯（绿色）,AutoRunSingle,113,192.168.10.11,0,自动指示灯（绿色）,Y14,DO-14,0
,待机指示灯（黄色）,WaitSingle,114,192.168.10.11,0,待机指示灯（黄色）,Y15,DO-15,0 DO,待机指示灯（黄色）,WaitSingle,114,192.168.10.11,0,待机指示灯（黄色）,Y15,DO-15,0
,故障指示灯（红色）,AlarmSingle,115,192.168.10.11,0,故障指示灯（红色）,Y16,DO-16,0 DO,故障指示灯（红色）,AlarmSingle,115,192.168.10.11,0,故障指示灯（红色）,Y16,DO-16,0
,,,,,,,,, ,,,,,,,,,
PRO,尤傲机器人IP,UR_IP,192.168.1.118,,,,,, PRO,尤傲机器人IP,UR_IP,192.168.1.118,,,,,,
PRO,焊接多少块板子后，清洗烙铁,ClearCount,10,,,,,, PRO,焊接多少块板子后，清洗烙铁,ClearCount,10,,,,,,
......
DeviceLibrary/bean/RobotBean.cs
...@@ -50,50 +50,50 @@ namespace URSoldering.DeviceLibrary ...@@ -50,50 +50,50 @@ namespace URSoldering.DeviceLibrary
/// </summary> /// </summary>
private void LedTimer_Elapsed(object sender, ElapsedEventArgs e) private void LedTimer_Elapsed(object sender, ElapsedEventArgs e)
{ {
//if (Status.Equals(RobotStatus.Reset)) if (Status.Equals(RobotStatus.Reset))
//{ {
// if (KNDIOValue(IO_Type.AutoRunSingle).Equals(IO_VALUE.LOW)) if (KNDIOValue(IO_Type.AutoRunSingle).Equals(IO_VALUE.LOW))
// { {
// KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH); KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
// } }
// if (KNDIOValue(IO_Type.WaitSingle).Equals(IO_VALUE.HIGH)) if (KNDIOValue(IO_Type.WaitSingle).Equals(IO_VALUE.HIGH))
// { {
// KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
// } }
// else else
// { {
// KNDIOMove(IO_Type.WaitSingle, IO_VALUE.HIGH); KNDIOMove(IO_Type.WaitSingle, IO_VALUE.HIGH);
// } }
//} }
//else if (Status.Equals(RobotStatus.Busy) ) else if (Status.Equals(RobotStatus.Busy))
//{ {
// //忙碌或转动，绿灯常亮，黄灯灭，红灯亮时绿灯不亮 //忙碌或转动，绿灯常亮，黄灯灭，红灯亮时绿灯不亮
// if (KNDIOValue(IO_Type.WaitSingle).Equals(IO_VALUE.HIGH)) if (KNDIOValue(IO_Type.WaitSingle).Equals(IO_VALUE.HIGH))
// { {
// KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
// } }
// if (KNDIOValue(IO_Type.AutoRunSingle).Equals(IO_VALUE.LOW)) if (KNDIOValue(IO_Type.AutoRunSingle).Equals(IO_VALUE.LOW))
// { {
// KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH); KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
// } }
//} }
//else if (Status.Equals(RobotStatus.Runing)) else if (Status.Equals(RobotStatus.Runing))
//{ {
// //等待状态，黄灯灭，绿灯闪烁，红灯亮时绿灯不亮 //等待状态，黄灯灭，绿灯闪烁，红灯亮时绿灯不亮
// if (KNDIOValue(IO_Type.WaitSingle).Equals(IO_VALUE.HIGH)) if (KNDIOValue(IO_Type.WaitSingle).Equals(IO_VALUE.HIGH))
// { {
// KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
// } }
// if (KNDIOValue(IO_Type.AutoRunSingle).Equals(IO_VALUE.HIGH)) if (KNDIOValue(IO_Type.AutoRunSingle).Equals(IO_VALUE.HIGH))
// { {
// KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW);
// } }
// else else
// { {
// KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH); KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
// } }
//} }
} }
protected virtual void mainTimer_Elapsed(object sender, ElapsedEventArgs e) protected virtual void mainTimer_Elapsed(object sender, ElapsedEventArgs e)
...@@ -132,38 +132,40 @@ namespace URSoldering.DeviceLibrary ...@@ -132,38 +132,40 @@ namespace URSoldering.DeviceLibrary
//连接上IO模块后，夹具夹紧 //连接上IO模块后，夹具夹紧
KNDIOMove(IO_Type.Fixture_Clamp, IO_VALUE.HIGH); KNDIOMove(IO_Type.Fixture_Clamp, IO_VALUE.HIGH);
KNDIOMove(IO_Type.Fixture_Relax, IO_VALUE.LOW); KNDIOMove(IO_Type.Fixture_Relax, IO_VALUE.LOW);
} }
public static bool IsFixtureClamp() public static bool IsFixtureClamp()
{ {
return true; //return true;
//if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW)) if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW))
//{ {
// return true; return true;
//} }
//else else
//{ {
// LogUtil.error("夹具夹紧信号不到位"); LogUtil.error("夹具夹紧信号不到位");
// return false; return false;
//} }
} }
public static bool ShuddenOK() public static bool ShuddenOK()
{ {
return true; //return true;
//if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single)) if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
//{ {
// return false; return false;
//} }
//ConfigIO configIo = baseConfig.RobotDIList[IO_Type.SuddenStop_Single]; ConfigIO configIo = baseConfig.RobotDIList[IO_Type.SuddenStop_Single];
//if (KNDManager.IsConnection(configIo.DeviceName)) if (KNDManager.IsConnection(configIo.DeviceName))
//{ {
// IO_VALUE value = KNDIOValue(IO_Type.SuddenStop_Single); IO_VALUE value = KNDIOValue(IO_Type.SuddenStop_Single);
// if (value.Equals(IO_VALUE.HIGH)) if (value.Equals(IO_VALUE.HIGH))
// { {
// return true; return true;
// } }
//} }
//return false; return false;
} }
public static void KNDIOMove(string ioType, IO_VALUE ioValue) public static void KNDIOMove(string ioType, IO_VALUE ioValue)
...@@ -243,22 +245,12 @@ namespace URSoldering.DeviceLibrary ...@@ -243,22 +245,12 @@ namespace URSoldering.DeviceLibrary
} }
return ioValue; return ioValue;
} }
/// <summary> public void CloseLed( )
/// 信号灯
/// </summary>
/// <param name="status"></param>
public void UpdateShowLight(RobotStatus status)
{ {
//KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW); KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
//KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
//if (status > RobotStatus.Wait)
//{
// KNDIOMove(IO_Type.AutoRunSingle, IO_VALUE.HIGH);
// KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.HIGH);
//}
} }
#endregion #endregion
......
LoadCVSLibrary/robotConfig/config/IO_Type.cs
...@@ -40,24 +40,24 @@ namespace URSoldering.LoadCSVLibrary ...@@ -40,24 +40,24 @@ namespace URSoldering.LoadCSVLibrary
} }
return TypeList; return TypeList;
} }
///// <summary> /// <summary>
///// DO 自动指示灯（绿色） AutoRunSingle DO-14 /// DO 自动指示灯（绿色） AutoRunSingle DO-14
///// </summary> /// </summary>
//public static string AutoRunSingle = "AutoRunSingle"; public static string AutoRunSingle = "AutoRunSingle";
///// <summary> /// <summary>
///// DO 故障指示灯（红色） AlarmSingleDO-15 /// DO 故障指示灯（红色） AlarmSingleDO-15
///// </summary> /// </summary>
//public static string AlarmSingle = "AlarmSingle"; public static string AlarmSingle = "AlarmSingle";
///// <summary> /// <summary>
///// DO 待机指示灯（黄色） WaitSingle DO-16 /// DO 待机指示灯（黄色） WaitSingle DO-16
///// </summary> /// </summary>
//public static string WaitSingle = "WaitSingle"; public static string WaitSingle = "WaitSingle";
///// <summary> ///// <summary>
///// DO 设备运转ON DeviceRunON Y04 DO-04 ///// DO 设备运转ON DeviceRunON Y04 DO-04
///// </summary> ///// </summary>
//public static string DeviceRunON = "DeviceRunON"; //public static string DeviceRunON = "DeviceRunON";
/// <summary> /// <summary>
/// DI-急停 SuddenStop_Single X01 DI-01 /// DI-急停 SuddenStop_Single X01 DI-01
......
LoadCVSLibrary/robotConfig/config/SolderingRobotConfig.cs
...@@ -79,7 +79,10 @@ namespace URSoldering.LoadCSVLibrary ...@@ -79,7 +79,10 @@ namespace URSoldering.LoadCSVLibrary
MustHaveDOList.Add(IO_Type.Soldering_Down); MustHaveDOList.Add(IO_Type.Soldering_Down);
MustHaveDOList.Add(IO_Type.Soldering_Up); MustHaveDOList.Add(IO_Type.Soldering_Up);
MustHaveDOList.Add(IO_Type.SendWireStart); MustHaveDOList.Add(IO_Type.SendWireStart);
MustHaveDOList.Add(IO_Type.AutoRunSingle);
MustHaveDOList.Add(IO_Type.AlarmSingle);
MustHaveDOList.Add(IO_Type.WaitSingle);
} }
} }
} }
URSolderingClient/记录.txt
...@@ -3,13 +3,13 @@ ...@@ -3,13 +3,13 @@
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 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
修改 20180916修改
1，编程里的高度和宽度定义做个示意图。 1，编程里的高度和宽度定义做个示意图。
2，机器人微调:前后左右动作反了。 2，机器人微调:前后左右动作反了。
3，微调动作时，机器人是斜着动作。 3，微调动作时，机器人是斜着动作。
4，程序里送丝速度需要加单位（毫米每秒） 4，程序里送丝速度需要加单位（毫米每秒）
20180917修改：增加三色信号灯塔
......
doc/RC22电气IO定义(1).xlsx 0 → 100644
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