最低Z轴功能

DeviceLibrary/bean/RobotBean.cs

@@ -131,9 +131,7 @@ 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()
         {
         {

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -224,9 +224,10 @@ namespace URSoldering.DeviceLibrary
                     if (!URRobotClient.IsConnected())
                     if (!URRobotClient.IsConnected())
                     {
                     {
                         URRobotClient.StartListen(RobotIp);
                         URRobotClient.StartListen(RobotIp);
-                    }else if (URRobotClient.IsTimeOut())
+                    }
+                    else if (URRobotClient.IsTimeOut())
                     {
                     {
-                        LogUtil.URSError( URRobotClient.LogName+ "接收数据超时，断开后重连" );
+                        LogUtil.URSError(URRobotClient.LogName + "接收数据超时，断开后重连");
                         URRobotClient.StopListen();
                         URRobotClient.StopListen();
                         URRobotClient.StartListen(RobotIp);
                         URRobotClient.StartListen(RobotIp);
                     }
                     }
@@ -322,7 +323,7 @@ namespace URSoldering.DeviceLibrary
                 LogUtil.URSInfo(LogName + " 当前状态：" + msg + "，机器人连接成功！");
                 LogUtil.URSInfo(LogName + " 当前状态：" + msg + "，机器人连接成功！");
                 LogUtil.info(LogName + " 当前状态：" + msg + "，机器人连接成功！");
                 LogUtil.info(LogName + " 当前状态：" + msg + "，机器人连接成功！");
                 IsRun = true;
                 IsRun = true;
-                reconnectTimer.Enabled = true; 
+                reconnectTimer.Enabled = true;
             }
             }
             else
             else
             {
             {
@@ -336,7 +337,7 @@ namespace URSoldering.DeviceLibrary
                     WarnMsg = "机器人状态[" + msg + "]，启动超时";
                     WarnMsg = "机器人状态[" + msg + "]，启动超时";
                     StopRobot();
                     StopRobot();
                 }
                 }
-            } 
+            }
         }
         }
 
 
         private static void SafetyProcess(string message)
         private static void SafetyProcess(string message)
@@ -566,9 +567,8 @@ namespace URSoldering.DeviceLibrary
         /// </summary>
         /// </summary>
         /// <param name="z"></param>
         /// <param name="z"></param>
         /// <returns></returns>
         /// <returns></returns>
-       public static bool IsValidZ(double z)
+        public static bool IsValidZ(double z)
         {
         {
-            return true;
             if (z >= Robot_LIM_Z)
             if (z >= Robot_LIM_Z)
             {
             {
                 return true;
                 return true;

URSolderingClient/FrmBoardInfo.cs

@@ -609,7 +609,11 @@ namespace URSoldering.Client
                 }
                 }
                 if (isNew.Equals(false))
                 if (isNew.Equals(false))
                 {
                 {
-                    if (!board.imgName.Contains(board.boardName))
+                    if (board.imgName == null)
+                    { 
+                        LogUtil.error("没有配置图片"  );
+                    }
+                   else  if (!board.imgName.Contains(board.boardName))
                     {
                     {
                         try
                         try
                         {
                         {

URSolderingClient/FrmSetting.Designer.cs

@@ -214,7 +214,7 @@
             this.gbEpsonSetting.Size = new System.Drawing.Size(276, 80);
             this.gbEpsonSetting.Size = new System.Drawing.Size(276, 80);
             this.gbEpsonSetting.TabIndex = 1;
             this.gbEpsonSetting.TabIndex = 1;
             this.gbEpsonSetting.TabStop = false;
             this.gbEpsonSetting.TabStop = false;
-            this.gbEpsonSetting.Text = "焊接机器人抬起高度";
+            this.gbEpsonSetting.Text = "机器人Z轴最低点";
             // 
             // 
             // txtLimZ
             // txtLimZ
             // 
             // 

URSolderingClient/FrmSetting.cs

@@ -75,26 +75,26 @@ namespace URSoldering.Client
 
 
                 URPointValue homeP = homeControl.GetPoint();
                 URPointValue homeP = homeControl.GetPoint();
                 //判断原点的Z轴
                 //判断原点的Z轴
-                if (homeP.Z > limz)
+                if (homeP.Z < limz)
                 {
                 {
-                    MessageBox.Show("待机点Z坐标不能高于最高Z点！");
+                    MessageBox.Show("待机点Z坐标不能低于最低Z点！");
                     homeControl.Focus(); 
                     homeControl.Focus(); 
                     return;
                     return;
                 }
                 }
 
 
                 URPointValue clear1P = clear1Control.GetPoint();
                 URPointValue clear1P = clear1Control.GetPoint();
                 //判断原点的Z轴
                 //判断原点的Z轴
-                if (clear1P.Z > limz)
+                if (clear1P.Z < limz)
                 {
                 {
-                    MessageBox.Show("清洗点1的Z坐标不能高于最高Z点！");
+                    MessageBox.Show("清洗点1的Z坐标不能低于最低Z点！");
                     clear1Control.Focus(); 
                     clear1Control.Focus(); 
                     return;
                     return;
                 }
                 }
                 URPointValue clear2P = clear2Control.GetPoint();
                 URPointValue clear2P = clear2Control.GetPoint();
                 //判断原点的Z轴
                 //判断原点的Z轴
-                if (clear2P.Z > limz)
+                if (clear2P.Z < limz)
                 {
                 {
-                    MessageBox.Show("清洗点2的Z坐标不能高于最高Z点！");
+                    MessageBox.Show("清洗点2的Z坐标不能低于最低Z点！");
                     clear2Control.Focus(); 
                     clear2Control.Focus(); 
                     return;
                     return;
                 }
                 }