增加机器人负载设置

Common/Setting_Init.cs

@@ -115,6 +115,10 @@ namespace URSoldering.Common
         /// 坐标偏移的AOI节点名称
         /// </summary>
         public static string OffSetNodeName = "OffSetNodeName";
+        /// <summary>
+        /// 尤傲机器人的负载
+        /// </summary>
+        public static string RobotLoad = "RobotLoad";
 
     }
 }

DeviceLibrary/deviceLibrary/urRobot/URRobotClient.cs

@@ -24,7 +24,14 @@ namespace URSoldering.DeviceLibrary
             listenClient = new URTcpClient();
             listenClient.DefaultDataLength = 1108;
             listenClient.ReviceSleepMS = 5;
-            listenClient.connect(ip, Port, HandleMessage);
+            bool result = listenClient.connect(ip, Port, HandleMessage);
+            if (result)
+            {
+                double loadValue =(double) ConfigAppSettings.GetNumValue(Setting_Init.RobotLoad);
+                string setLoadCMD = "set_payload_mass("+loadValue+")";
+                listenClient.sendLine(setLoadCMD);
+                LogUtil.debug("【UR端口：" + Port + "】连接成功，设置机器人负载【"+setLoadCMD+"】");
+            }
         }
         public static void StopListen()
         {

URSolderingClient/App.config

@@ -62,6 +62,8 @@
     <add key="PositionChangeValue" value="1" />
     <!--坐标偏移AOI检测的分支名称-->
     <add key="OffSetNodeName" value="坐标偏移"/>
+    <!--机器人负载-->
+    <add key ="RobotLoad" value ="3.16"/>
   </appSettings>
   <log4net>
     <appender name="defaultAppender" type="log4net.Appender.RollingFileAppender">

URSolderingClient/记录.txt

@@ -56,3 +56,19 @@ AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。
     <add key="PositionChangeValue" value="1" />
     <!--坐标偏移AOI检测的分支名称-->
     <add key="OffSetNodeName" value="坐标偏移"/>
+
+
+
+	20190102
+
+	每次连接机器人后设置负载，
+	需要在URSolderingClient.exe.config增加配置：
+	 <!--机器人负载-->
+    <add key ="RobotLoad" value ="3.16"/>
+
+
+
+
+
+
+