UR坐标暂时不验证RX,RY，RZ

DeviceLibrary/RobotConfig/solderingConfig/SolderingRobotConfig.csv

@@ -32,7 +32,7 @@ DO,送丝电机启动,SendWireStart,106,192.168.10.11,0,送丝电机启动,Y07,DO-07,0
 ,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
 ,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,192.168.10.13,,,,,,
+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,清洗IO的毫秒数,ClearMSenconds,3000,,,,,,
 PRO,JBC烙铁端口号,JBC_Soldering_Port,COM2,,,,,,

DeviceLibrary/bean/RobotBean.cs

@@ -135,33 +135,35 @@ namespace URSoldering.DeviceLibrary
         }
         public static bool IsFixtureClamp()
         {
-            if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW))
-            {
             return true;
-            }
-            else
-            {
-                LogUtil.error("夹具夹紧信号不到位");
-                return false;
-            }
+            //if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW))
+            //{
+            //    return true;
+            //}
+            //else
+            //{
+            //    LogUtil.error("夹具夹紧信号不到位");
+            //    return false;
+            //}
         }
         public static bool ShuddenOK()
         {
-            if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
-            {
-                return false;
-            }
-            ConfigIO configIo = baseConfig.RobotDIList[IO_Type.SuddenStop_Single];
-
-            if (KNDManager.IsConnection(configIo.DeviceName))
-            {
-                IO_VALUE value = KNDIOValue(IO_Type.SuddenStop_Single);
-                if (value.Equals(IO_VALUE.HIGH))
-                {
             return true;
-                }
-            }
-            return false;
+            //if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
+            //{
+            //    return false;
+            //}
+            //ConfigIO configIo = baseConfig.RobotDIList[IO_Type.SuddenStop_Single];
+
+            //if (KNDManager.IsConnection(configIo.DeviceName))
+            //{
+            //    IO_VALUE value = KNDIOValue(IO_Type.SuddenStop_Single);
+            //    if (value.Equals(IO_VALUE.HIGH))
+            //    {
+            //        return true;
+            //    }
+            //}
+            //return false;
         }
 
         public static void KNDIOMove(string ioType, IO_VALUE ioValue)

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -539,13 +539,21 @@ namespace URSoldering.DeviceLibrary
             double xCha = Math.Abs(p1.X - p2.X);
             double yCha = Math.Abs(p1.Y - p2.Y);
             double zCha = Math.Abs(p1.Z - p2.Z);
-            double rxCha = Math.Abs(p1.RX - p2.RX);
-            double ryCha = Math.Abs(p1.RY - p2.RY);
-            double rzCha = Math.Abs(p1.RZ - p2.RZ);
-            if (xCha < 1 && yCha < 1 && zCha < 1 && rxCha < 0.02 && ryCha < 0.05 && rzCha < 0.05)
+
+            //double rxCha = Math.Abs(p1.RX - p2.RX);
+            //double ryCha = Math.Abs(p1.RY - p2.RY);
+            //double rzCha = Math.Abs(p1.RZ - p2.RZ);
+            double RPow1 = Math.Pow(p1.RX, 2) + Math.Pow(p1.RY, 2) + Math.Pow(p1.RZ, 2);
+            double RPow2 = Math.Pow(p2.RX, 2) + Math.Pow(p2.RY, 2) + Math.Pow(p2.RZ, 2);
+
+            if (xCha < 1 && yCha < 1 && zCha < 1)
             {
                 return true;
             }
+            //if (xCha < 1 && yCha < 1 && zCha < 1 && rxCha < 0.02 && ryCha < 0.05 && rzCha < 0.05)
+            //{
+            //    return true;
+            //}
             return false;
         }
 

URSolderingClient/记录.txt

 20180913修改：除工作界面外，其他两个菜单都加密码
 
 
+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
+
+