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Commit 82e6d241 由 几米阳光
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调试修改

1 个父辈 7892e735
内嵌 并排
正在显示 15 个修改的文件 包含 303 行增加 和 387 行删除
DeviceLibrary/Robot/MoveType.cs
...@@ -26,10 +26,11 @@ namespace URSoldering.DeviceLibrary ...@@ -26,10 +26,11 @@ namespace URSoldering.DeviceLibrary
wait.IsEnd = false; wait.IsEnd = false;
return wait; return wait;
} }
public static WaitResultInfo WaitEpson() public static WaitResultInfo WaitRobotPoint(URPointValue point)
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = 3; wait.WaitType = 3;
wait.UrPoint = point;
wait.IsEnd = false; wait.IsEnd = false;
return wait; return wait;
} }
...@@ -43,7 +44,7 @@ namespace URSoldering.DeviceLibrary ...@@ -43,7 +44,7 @@ namespace URSoldering.DeviceLibrary
wait.IsEnd = false; wait.IsEnd = false;
return wait; return wait;
} }
public static WaitResultInfo WaitSendWire(int MScends,bool isR) public static WaitResultInfo WaitSendWire(int MScends, bool isR)
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
wait.ShuoKeISReverse = isR; wait.ShuoKeISReverse = isR;
...@@ -52,7 +53,7 @@ namespace URSoldering.DeviceLibrary ...@@ -52,7 +53,7 @@ namespace URSoldering.DeviceLibrary
wait.IsEnd = false; wait.IsEnd = false;
return wait; return wait;
} }
public static WaitResultInfo WaitEpsonRun() public static WaitResultInfo WaitRobotRun()
{ {
WaitResultInfo wait = new WaitResultInfo(); WaitResultInfo wait = new WaitResultInfo();
wait.WaitType = 6; wait.WaitType = 6;
...@@ -88,7 +89,7 @@ namespace URSoldering.DeviceLibrary ...@@ -88,7 +89,7 @@ namespace URSoldering.DeviceLibrary
} }
} }
/// <summary> /// <summary>
/// 等待结果，1=IO运动，2=时间 ，3=机器人运动OK，4=温度设置结束，5=送丝结束，6=等待爱普生机器人连接。 /// 等待结果，1=IO运动，2=时间 ，3=机器人运动OK，4=温度设置结束，5=送丝结束，6=等待机器人连接完成。
/// 11=等待IAI压机伺服ON，12=等待IAI伺服到待机点，13=等待IAI伺服程序运行OK，14=等待IAI压机原点返回完成 /// 11=等待IAI压机伺服ON，12=等待IAI伺服到待机点，13=等待IAI伺服程序运行OK，14=等待IAI压机原点返回完成
/// </summary> /// </summary>
public int WaitType { get; set; } public int WaitType { get; set; }
...@@ -129,6 +130,10 @@ namespace URSoldering.DeviceLibrary ...@@ -129,6 +130,10 @@ namespace URSoldering.DeviceLibrary
/// 是否已经完成 /// 是否已经完成
/// </summary> /// </summary>
public bool IsEnd { get; set; } public bool IsEnd { get; set; }
/// <summary>
/// 机器人坐标
/// </summary>
public URPointValue UrPoint { get; set; }
} }
public enum MoveType public enum MoveType
{ {
......
DeviceLibrary/Robot/soldering/AlarmType.cs
...@@ -32,11 +32,15 @@ namespace URSoldering.DeviceLibrary ...@@ -32,11 +32,15 @@ namespace URSoldering.DeviceLibrary
/// <summary> /// <summary>
/// 烙铁报警 /// 烙铁报警
/// </summary> /// </summary>
SolderingAlarm=40, SolderingAlarm = 40,
/// <summary> /// <summary>
/// 送丝器报警 /// 送丝器报警
/// </summary> /// </summary>
SendWireAlarm=50, SendWireAlarm = 50,
/// <summary>
/// 机械臂报警
/// </summary>
RobotError = 60,
} }
} }
DeviceLibrary/Robot/soldering/WeldRobotBean.cs
...@@ -66,15 +66,16 @@ namespace URSoldering.DeviceLibrary ...@@ -66,15 +66,16 @@ namespace URSoldering.DeviceLibrary
mainTimer.Elapsed += mainTimer_Elapsed; mainTimer.Elapsed += mainTimer_Elapsed;
mainTimer.Enabled = false; mainTimer.Enabled = false;
LoadPoint(Clear1Point, Setting_Init.Soldering_Clear1Point); Clear1Point = LoadPoint(Setting_Init.Soldering_Clear1Point);
LoadPoint(Clear2Point, Setting_Init.Soldering_Clear2Point); Clear2Point = LoadPoint(Setting_Init.Soldering_Clear2Point);
LoadPoint(HomePoint, Setting_Init.Soldering_HomePoint); HomePoint = LoadPoint(Setting_Init.Soldering_HomePoint);
LoadPoint(RobotMin, Setting_Init.Soldering_RobotMin); RobotMin = LoadPoint(Setting_Init.Soldering_RobotMin);
LoadPoint(RobotMax, Setting_Init.Soldering_RobotMax); RobotMax = LoadPoint(Setting_Init.Soldering_RobotMax);
} }
private static void LoadPoint(URPointValue p, string configStr) private static URPointValue LoadPoint( string configStr)
{ {
URPointValue p = new URPointValue();
string configP = ConfigAppSettings.GetValue(configStr); string configP = ConfigAppSettings.GetValue(configStr);
if (String.IsNullOrEmpty(configP)) if (String.IsNullOrEmpty(configP))
{ {
...@@ -84,6 +85,8 @@ namespace URSoldering.DeviceLibrary ...@@ -84,6 +85,8 @@ namespace URSoldering.DeviceLibrary
{ {
p = URPointValue.ToObject(configP); p = URPointValue.ToObject(configP);
} }
return p;
} }
public static SolderingRobotConfig RobotConfig = null; public static SolderingRobotConfig RobotConfig = null;
...@@ -171,19 +174,19 @@ namespace URSoldering.DeviceLibrary ...@@ -171,19 +174,19 @@ namespace URSoldering.DeviceLibrary
LogUtil.info(RobotName + "开始启动:JBC送丝器没有连接上"); LogUtil.info(RobotName + "开始启动:JBC送丝器没有连接上");
return "JBC送丝器没有连接上！"; return "JBC送丝器没有连接上！";
} }
if (URRobotControl.IsRun) //if (URRobotControl.IsRun)
{ //{
URPointValue lastPoint = URRobotControl.GetLastPosition(); // URPointValue lastPoint = URRobotControl.GetLastPosition();
TimeSpan span = lastPoint.UpdateTime - DateTime.Now; ; // TimeSpan span = lastPoint.UpdateTime - DateTime.Now; ;
if (span.TotalSeconds <= 60 && (lastPoint.Z != 0) && (lastPoint.X != 0)) // if (span.TotalSeconds <= 60 && (lastPoint.Z != 0) && (lastPoint.X != 0))
{ // {
string msg = CheckEpsonPoint(lastPoint); // string msg = CheckEpsonPoint(lastPoint);
if (!msg.Equals("")) // if (!msg.Equals(""))
{ // {
return msg; // return msg;
} // }
} // }
} //}
IsInSudden = false; IsInSudden = false;
IsNoAir = false; IsNoAir = false;
//开始运行 //开始运行
...@@ -217,7 +220,6 @@ namespace URSoldering.DeviceLibrary ...@@ -217,7 +220,6 @@ namespace URSoldering.DeviceLibrary
SolderingUp(false); SolderingUp(false);
SendWireWork(false); SendWireWork(false);
//硕科 停止
SendWireManager.StopSend(); SendWireManager.StopSend();
SolderingManager.Release(); SolderingManager.Release();
} }
...@@ -286,6 +288,7 @@ namespace URSoldering.DeviceLibrary ...@@ -286,6 +288,7 @@ namespace URSoldering.DeviceLibrary
{ {
CheckSendWireAlarm(); CheckSendWireAlarm();
} }
CheckRobotAlarm();
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -293,6 +296,30 @@ namespace URSoldering.DeviceLibrary ...@@ -293,6 +296,30 @@ namespace URSoldering.DeviceLibrary
} }
IsTimerProcess = false; IsTimerProcess = false;
} }
private static void CheckRobotAlarm()
{
if (alarmType.Equals(AlarmType.RobotError))
{
return;
}
if (URRobotControl.WarnMsg.Equals(""))
{
if (URRobotControl.IsRun.Equals(false))
{
WarnMsg = "机械臂连接断开";
LogUtil.error("检测到" + WarnMsg);
Alarm(AlarmType.RobotError);
}
}
else
{
WarnMsg = URRobotControl.WarnMsg;
LogUtil.error("检测到" + WarnMsg);
Alarm(AlarmType.RobotError);
}
}
//烙铁停止休眠 //烙铁停止休眠
private static void StopSleep() private static void StopSleep()
{ {
...@@ -342,11 +369,9 @@ namespace URSoldering.DeviceLibrary ...@@ -342,11 +369,9 @@ namespace URSoldering.DeviceLibrary
} }
} }
/// <summary> /// <summary>
/// 卡丝恢复功能，只有手动点了才会继续 /// 卡丝恢复功能，只有手动点了才会继续,当前焊点会重新焊接
/// </summary> /// </summary>
/// <param name="isNext">是否继续下一个焊点，true=继续下一个，false=次焊点重新开始送丝</param> public static bool SendWireRecover()
/// <returns></returns>
public static bool SendWireRecover(bool isNext)
{ {
if (SendWireManager.IsAlarm()) if (SendWireManager.IsAlarm())
{ {
...@@ -356,7 +381,7 @@ namespace URSoldering.DeviceLibrary ...@@ -356,7 +381,7 @@ namespace URSoldering.DeviceLibrary
{ {
if (alarmType.Equals(AlarmType.SendWireAlarm) && IsInSudden.Equals(false) && IsNoAir.Equals(false)) if (alarmType.Equals(AlarmType.SendWireAlarm) && IsInSudden.Equals(false) && IsNoAir.Equals(false))
{ {
if (WeldMoveStep.moveType.Equals(MoveType.Weld) && (isNext.Equals(false))) if (WeldMoveStep.moveType.Equals(MoveType.Weld))
{ {
LogUtil.info(RobotName + "开始卡丝恢复，重新此焊点的焊接 ！"); LogUtil.info(RobotName + "开始卡丝恢复，重新此焊点的焊接 ！");
WeldMoveStep.NextMoveStep(MoveStep.Wait); WeldMoveStep.NextMoveStep(MoveStep.Wait);
...@@ -468,7 +493,7 @@ namespace URSoldering.DeviceLibrary ...@@ -468,7 +493,7 @@ namespace URSoldering.DeviceLibrary
if (alarmType.Equals(AlarmType.IoSingleTimeOut)) if (alarmType.Equals(AlarmType.IoSingleTimeOut))
{ {
} }
else if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck)) else if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirCheck)||alarm.Equals(AlarmType.RobotError))
{ {
if (alarmType.Equals(AlarmType.SuddenStop)) if (alarmType.Equals(AlarmType.SuddenStop))
{ {
...@@ -497,7 +522,7 @@ namespace URSoldering.DeviceLibrary ...@@ -497,7 +522,7 @@ namespace URSoldering.DeviceLibrary
WeldMoveStep.NextMoveStep(MoveStep.Home_Reset); WeldMoveStep.NextMoveStep(MoveStep.Home_Reset);
SolderingUp(true); SolderingUp(true);
SendWireWork(true); SendWireWork(true);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpsonRun()); WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotRun());
return ""; return "";
} }
public static void GoHomeProcess() public static void GoHomeProcess()
...@@ -577,19 +602,13 @@ namespace URSoldering.DeviceLibrary ...@@ -577,19 +602,13 @@ namespace URSoldering.DeviceLibrary
} }
private static void MoveToPoint(WeldPointInfo p, bool IsHigh) private static void MoveToPoint(WeldPointInfo p, bool IsHigh)
{ {
//SendWireDown(); SendWireWork(true);
////判断需要抬起的高度 SolderingDown(true);
//double limZ = URRobotControl.Robot_LIM_Z; URPointValue point = new URPointValue(p.RobotX, p.RoobtY, p.RobotZ, p.RobotRX, p.RobotRY, p.RobotRZ);
//double ZValue = p.PositionZ; WeldLog("移动到焊点【" + WeldMoveStep.CurrPoint.pointName + "】:" + point.ToShowStr());
URRobotControl.MoveTo(point, isHighSpeed);
//string gaoStr = IsHigh ? "高" : "低"; WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(point));
////WeldLog("移动到焊点【" + WeldMoveStep.CurrPoint.pointName + "】: X:" + p.PositionX + " Y: " + p.PositionY + " U:" + p.PositionU + " Z: " + ZValue + " ，limitZ: " + limZ);
//URRobotControl.MoveTo(p.PositionX, p.PositionY, ZValue, p.PositionU, isHighSpeed, p.HandDirection, limZ,AfterMove);
//WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpson());
} }
private static void MoveToOrg() private static void MoveToOrg()
{ {
SolderingUp(true); SolderingUp(true);
...@@ -597,8 +616,8 @@ namespace URSoldering.DeviceLibrary ...@@ -597,8 +616,8 @@ namespace URSoldering.DeviceLibrary
if (HomePoint.X != 0 && HomePoint.Y != 0 && HomePoint.Z != 0 ) if (HomePoint.X != 0 && HomePoint.Y != 0 && HomePoint.Z != 0 )
{ {
WeldLog("送丝上升，机械臂走到待机点 "); WeldLog("送丝上升，机械臂走到待机点 ");
URRobotControl.MoveTo(HomePoint); URRobotControl.MoveTo(HomePoint,isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpson()); WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(HomePoint));
} }
} }
private static void SendWireUpToClear1() private static void SendWireUpToClear1()
...@@ -610,32 +629,18 @@ namespace URSoldering.DeviceLibrary ...@@ -610,32 +629,18 @@ namespace URSoldering.DeviceLibrary
if (Clear1Point.X != 0 && Clear1Point.Y != 0 && Clear1Point.Z != 0) if (Clear1Point.X != 0 && Clear1Point.Y != 0 && Clear1Point.Z != 0)
{ {
WeldLog("送丝上升，打开清洗装置，机械臂走到清洗点1 "); WeldLog("送丝上升，打开清洗装置，机械臂走到清洗点1 ");
URRobotControl.MoveTo(Clear1Point); URRobotControl.MoveTo(Clear1Point, isHighSpeed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpson()); WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(Clear1Point));
} }
} }
private static void MoveToClear2(int mSenconds) private static void MoveToClear2(int mSenconds)
{ {
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(mSenconds)); WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(mSenconds));
if (Clear2Point.X != 0 && Clear2Point.Y != 0 && Clear2Point.Z != 0) if (Clear2Point.X != 0 && Clear2Point.Y != 0 && Clear2Point.Z != 0)
{ {
//double limZ = URRobotControl.Robot_LIM_Z; WeldLog("机械臂走到清洗点2 ,打开清洗装置，清洗时间:" + mSenconds + " ");
//double preZValue = URRobotControl.LastSendPoint.Z; URRobotControl.MoveTo(Clear2Point, isHighSpeed);
//if (URRobotControl.LastSendPoint.UpdateTime < URRobotControl.GetLastPosition().UpdateTime) WeldMoveStep.WaitList.Add(WaitResultInfo.WaitRobotPoint(Clear1Point));
//{
// preZValue = URRobotControl.GetLastPosition().Z;
//}
//if (preZValue < EpsonClearZ2)
//{
// preZValue = EpsonClearZ2;
//}
//limZ = preZValue + 1;
WeldLog("机械臂走到清洗点2 ,打开清洗装置，清洗时间:"+mSenconds+" ");
//WeldLog("机械臂走到清洗点2 : X:" + EpsonClearX2 + " Y: " + EpsonClearY2 + " U:" + EpsonClearU2 + " Z: " + EpsonClearZ2 + " ");
URRobotControl.MoveTo(Clear2Point);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitEpson());
} }
} }
//更新原点 //更新原点
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
...@@ -199,16 +199,12 @@ namespace URSoldering.DeviceLibrary ...@@ -199,16 +199,12 @@ namespace URSoldering.DeviceLibrary
{ {
SetPreTemp(true, false); 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"); 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); MoveToPoint(WeldMoveStep.CurrPoint, false);
WorkCountManager.AddWeldPint(); WorkCountManager.AddWeldPint();
//第一个点并且送丝下降到位时，可以预送丝
//if (WeldMoveStep.IsFirstPoint().Equals(false) && RobotBean.KNDIOValue(IO_Type.SendWire_Down).Equals(IO_VALUE.HIGH))
if (WeldMoveStep.IsFirstPoint().Equals(false) )
{
WeldMoveStep.IsSlowSendWire = true; WeldMoveStep.IsSlowSendWire = true;
SlowSendWire(); SlowSendWire();
}
} }
private static void PointEndPross() private static void PointEndPross()
{ {
...@@ -426,17 +422,17 @@ namespace URSoldering.DeviceLibrary ...@@ -426,17 +422,17 @@ namespace URSoldering.DeviceLibrary
} }
else if (wait.WaitType == 3) else if (wait.WaitType == 3)
{ {
//if (URRobotControl.MoveOKTime() < WeldMoveStep.LastSetpTime) if (URRobotControl.MoveOK(wait.UrPoint, WeldMoveStep.LastSetpTime))
//{ {
// NotOkMsg = "机械臂移动到位"; NotOkMsg = "机械臂移动到位";
// isOk = false; isOk = false;
// break; break;
//} }
//else if (WeldMoveStep.OneWaitOk) else if (WeldMoveStep.OneWaitOk)
//{ {
// isOk = true; isOk = true;
// break; break;
//} }
} }
else if (wait.WaitType == 4) else if (wait.WaitType == 4)
{ {
......
DeviceLibrary/bean/RobotBean.cs
...@@ -132,7 +132,6 @@ namespace URSoldering.DeviceLibrary ...@@ -132,7 +132,6 @@ namespace URSoldering.DeviceLibrary
public static bool ShuddenOK() public static bool ShuddenOK()
{ {
return true;
if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single)) if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
{ {
return false; return false;
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
...@@ -74,7 +74,7 @@ namespace URSoldering.DeviceLibrary ...@@ -74,7 +74,7 @@ namespace URSoldering.DeviceLibrary
{ {
if (IsRun) if (IsRun)
{ {
return "正常连接中"; return "机器人正常连接中";
} }
else else
{ {
...@@ -83,17 +83,17 @@ namespace URSoldering.DeviceLibrary ...@@ -83,17 +83,17 @@ namespace URSoldering.DeviceLibrary
TimeSpan span = DateTime.Now - PreStartTime; TimeSpan span = DateTime.Now - PreStartTime;
if (span.TotalMilliseconds > StartTimeOutSeconds) if (span.TotalMilliseconds > StartTimeOutSeconds)
{ {
return "启动超时"; return "机器人启动超时";
} }
else else
{ {
return "启动中"; return "机器人启动中";
} }
} }
else else
{ {
return "未连接"; return "机器人未连接";
} }
} }
} }
...@@ -156,6 +156,7 @@ namespace URSoldering.DeviceLibrary ...@@ -156,6 +156,7 @@ namespace URSoldering.DeviceLibrary
} }
} }
WarnMsg = ""; WarnMsg = "";
IsRun = false;
PreStartTime = DateTime.Now; PreStartTime = DateTime.Now;
startCount++; startCount++;
...@@ -201,10 +202,10 @@ namespace URSoldering.DeviceLibrary ...@@ -201,10 +202,10 @@ namespace URSoldering.DeviceLibrary
if (span.TotalSeconds > 30) if (span.TotalSeconds > 30)
{ {
preCheckTime = DateTime.Now; preCheckTime = DateTime.Now;
//判断500在连接上，则获取状态 //判断500在连接上，则获取急停状态
if (controlTcp.IsConnected()) if (controlTcp.IsConnected())
{ {
controlTcp.sendLine(CMD_robotMode); controlTcp.sendLine(CMD_Safetymode);
} }
else else
{ {
...@@ -269,7 +270,10 @@ namespace URSoldering.DeviceLibrary ...@@ -269,7 +270,10 @@ namespace URSoldering.DeviceLibrary
{ {
//Connected: Universal Robots Dashboard Server //Connected: Universal Robots Dashboard Server
message = message.Replace("\n", ""); message = message.Replace("\n", "");
if (IsRun.Equals(false))
{
LogUtil.URSInfo(LogName + "收到数据：" + message); LogUtil.URSInfo(LogName + "收到数据：" + message);
}
if (message.ToLower().IndexOf(REV_PowerOn) >= 0) if (message.ToLower().IndexOf(REV_PowerOn) >= 0)
{ {
SendCMD(CMD_brakeRelease, 1000); SendCMD(CMD_brakeRelease, 1000);
...@@ -299,7 +303,8 @@ namespace URSoldering.DeviceLibrary ...@@ -299,7 +303,8 @@ namespace URSoldering.DeviceLibrary
private static void StatusProcess(string message) private static void StatusProcess(string message)
{ {
string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim(); string msg = message.ToLower().Replace(REV_RobotMode + ": ", "").ToUpper().Trim();
if (!IsRun)
{
if (msg.Equals(URStatus.POWER_ON)) if (msg.Equals(URStatus.POWER_ON))
{ {
SendCMD(CMD_brakeRelease, 1000); SendCMD(CMD_brakeRelease, 1000);
...@@ -307,13 +312,12 @@ namespace URSoldering.DeviceLibrary ...@@ -307,13 +312,12 @@ namespace URSoldering.DeviceLibrary
else if (msg.Equals(URStatus.RUNNING) || msg.Equals(URStatus.IDLE)) else if (msg.Equals(URStatus.RUNNING) || msg.Equals(URStatus.IDLE))
{ {
WarnMsg = ""; WarnMsg = "";
if (IsRun.Equals(false))
{
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
{ {
...@@ -322,11 +326,39 @@ namespace URSoldering.DeviceLibrary ...@@ -322,11 +326,39 @@ namespace URSoldering.DeviceLibrary
LogUtil.URSInfo(LogName + "当前状态：" + msg + "，发送打开命令" + CMD_powerOn); LogUtil.URSInfo(LogName + "当前状态：" + msg + "，发送打开命令" + CMD_powerOn);
SendCMD(CMD_powerOn, 1000); SendCMD(CMD_powerOn, 1000);
} }
else
{
WarnMsg = "机器人状态[" + msg + "]，启动超时";
StopRobot();
IsRun = false;
}
}
}
else
{
if (msg.Equals(URStatus.POWER_ON))
{
SendCMD(CMD_brakeRelease, 1000);
}
else if (msg.Equals(URStatus.RUNNING) || msg.Equals(URStatus.IDLE))
{
}
else
{
WarnMsg = "机器人状态[" + msg + "]，尝试自动复位";
LogUtil.info(LogName + WarnMsg);
IsRun = false;
IsStartConnect = true;
PreStartTime = DateTime.Now;
SendCMD(CMD_powerOn, 500);
}
} }
} }
private static void SafetymodeProcess(string message) private static void SafetymodeProcess(string message)
{ {
string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim(); string msg = message.ToLower().Replace(REV_SafetyMode + ": ", "").ToUpper().Trim();
if (!IsRun)
{
if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP)) if (msg.Equals(URStatus.SFETY_POWER_OFF) || msg.Equals(URStatus.ROBOT_EMERGENCY_STOP))
{ {
if (!IsTimeOut(message)) if (!IsTimeOut(message))
...@@ -337,6 +369,7 @@ namespace URSoldering.DeviceLibrary ...@@ -337,6 +369,7 @@ namespace URSoldering.DeviceLibrary
else else
{ {
WarnMsg = "机器人急停中[" + msg + "]，启动超时"; WarnMsg = "机器人急停中[" + msg + "]，启动超时";
StopRobot();
IsRun = false; IsRun = false;
} }
} }
...@@ -344,6 +377,23 @@ namespace URSoldering.DeviceLibrary ...@@ -344,6 +377,23 @@ namespace URSoldering.DeviceLibrary
{ {
SendCMD(CMD_robotMode, 500); SendCMD(CMD_robotMode, 500);
} }
}else
{
if (msg.Equals(URStatus.SFETY_POWER_OFF))
{
WarnMsg = "机器人急停中[" + msg + "]，请复位";
LogUtil.info(LogName + WarnMsg);
StopRobot();
} else if (msg.Equals(URStatus.ROBOT_EMERGENCY_STOP)){
WarnMsg = "机器人急停中[" + msg + "]，请复位";
LogUtil.info(LogName + WarnMsg);
StopRobot();
}
else
{
SendCMD(CMD_robotMode, 500);
}
}
} }
private static bool IsTimeOut(string status) private static bool IsTimeOut(string status)
{ {
...@@ -402,23 +452,64 @@ namespace URSoldering.DeviceLibrary ...@@ -402,23 +452,64 @@ namespace URSoldering.DeviceLibrary
public static void LockAxis() public static void LockAxis()
{ {
} }
/// <summary> public static void MoveTo(URPointValue point, bool isHigh)
/// 移动到指定的坐标
/// </summary>
/// <param name="point"></param>
public static bool MoveTo(URPointValue point)
{ {
//movep(p[0.062, -0.030, 0.325, 0.0299, 2.2263, 2.2171], a = 1.2, v = 0.25, r = 0) //movep(p[0.062, -0.030, 0.325, 0.0299, 2.2263, 2.2171], a = 1.2, v = 0.25, r = 0)
LogUtil.info(LogName + "试图移动到："+point.ToShowStr());
//movej([0, 1.57, -1.57, 3.14, -1.57, 1.57],a = 1.4, v = 1.05, t = 0, r = 0) //movej([0, 1.57, -1.57, 3.14, -1.57, 1.57],a = 1.4, v = 1.05, t = 0, r = 0)
string x = Math.Round(point.X / 1000F, 5).ToString(); string x = Math.Round(point.X / 1000F, 5).ToString();
string y= Math.Round(point.Y / 1000F, 5).ToString(); string y = Math.Round(point.Y / 1000F, 5).ToString();
string z = Math.Round(point.Z / 1000F, 5).ToString(); string z = Math.Round(point.Z / 1000F, 5).ToString();
string moveCmd = "movep(p[" +x+ spiltStr +y+ spiltStr + z+ spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1, r=0)"; string moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1, r=0)";
if (isHigh)
{
moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0, r=0)";
}
if (!URRobotClient.LastMoveCMD.Equals(""))
{
LogUtil.info(LogName + "试图移动到" + point.ToShowStr() + ",清除上次未发送指令：【" + URRobotClient.LastMoveCMD + "】");
URRobotClient.LastMoveCMD = "";
}
else
{
LogUtil.info(LogName + "试图移动到：" + point.ToShowStr());
}
URRobotClient.LastMoveCMD = moveCmd; URRobotClient.LastMoveCMD = moveCmd;
}
public static void MoveTo(URPointValue point)
{
MoveTo(point, false);
}
public static bool MoveOK(URPointValue point,DateTime moveTime)
{
URPointValue lastPoint = GetLastPosition();
if (lastPoint.UpdateTime > moveTime)
{
if (IsSamePoint(point, lastPoint))
{
return true;
}
}return false;
}
private static bool IsSamePoint(URPointValue p1,URPointValue p2)
{
if (p1 == null && p2 == null)
{
return false;
}
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 < 0.001 && ryCha < 0.001 && rzCha < 0.001)
{
return true; return true;
} }
return false;
}
/// <summary> /// <summary>
/// 获取机器人最后一次获取的坐标 /// 获取机器人最后一次获取的坐标
/// </summary> /// </summary>
......
LoadCVSLibrary/robotConfig/config/IO_Type.cs
...@@ -101,82 +101,5 @@ namespace URSoldering.LoadCSVLibrary ...@@ -101,82 +101,5 @@ namespace URSoldering.LoadCSVLibrary
#region 焊接IO
///// <summary>
///// DI DO 焊接阻挡下降端 StopCylinder_Down 焊接阻挡下降端 X03 DI-03
///// </summary>
//public static string StopCylinder_Down = "StopCylinder_Down";
///// <summary>
///// DI DO 焊接阻挡上升端 StopCylinder_Up 焊接阻挡上升端 X04 DI-04
///// </summary>
//public static string StopCylinder_Up = "StopCylinder_Up";
///// <summary>
///// DI DO 送丝气缸下降端 SendWire_Down 送丝气缸下降端 X05 DI-05
///// </summary>
//public static string SendWire_Down = "SendWire_Down";
///// <summary>
///// DI DO 送丝气缸上升端 SendWire_Up 送丝气缸上升端 X06 DI-06
///// </summary>
//public static string SendWire_Up = "SendWire_Up";
///// <summary>
///// DI 焊丝堵 SendWireNoWire 焊丝堵 X07 DI-07
///// </summary>
//public static string SendWireNoWire = "SendWireNoWire";
///// <summary>
///// DI 焊丝缺 SendWireLock 焊丝缺 X08 DI-08
///// </summary>
//public static string SendWireLock = "SendWireLock";
///// <summary>
///// DI 流水线入口检测 LineInCheck 流水线入口检测 X09 DI-09
///// </summary>
//public static string LineInCheck = "LineInCheck";
///// <summary>
///// DI 流水线焊接检测 LineWeldCheck 流水线焊接检测 X10 DI-10
///// </summary>
//public static string LineWeldCheck = "LineWeldCheck";
///// <summary>
///// DI 流水线出口检测 LineOutCheck 流水线出口检测 X11 DI-11
///// </summary>
//public static string LineOutCheck = "LineOutCheck";
///// <summary>
///// DI EpsonReady X14 DI-14
///// </summary>
//public static string EpsonReady = "EpsonReady";
///// <summary>
///// DI EpsonRunning X15 DI-15
///// </summary>
//public static string EpsonRunning = "EpsonRunning";
///// <summary>
///// DI EpsonAlarm X16 DI-16
///// </summary>
//public static string EpsonAlarm = "EpsonAlarm";
///// <summary>
///// DO 洗焊吹气启动SOL ClearWeldingSQL 洗焊吹气启动SOL Y05 DO-05
///// </summary>
//public static string ClearWeldingSQL = "ClearWeldingSQL";
///// <summary>
///// DO 流水线启动 LineStart 流水线启动 Y06 DO-06
///// </summary>
//public static string LineStart = "LineStart";
///// <summary>
///// DO EpsonStart Y09 DO-09
///// </summary>
//public static string EpsonStart = "EpsonStart";
///// <summary>
///// DO EpsonStop Y10 DO-10
///// </summary>
//public static string EpsonStop = "EpsonStop";
///// <summary>
///// DO EpsonReset Y11 DO-11
///// </summary>
//public static string EpsonReset = "EpsonReset";
#endregion
} }
} }
\ No newline at end of file \ No newline at end of file
URSolderingClient/App.config
...@@ -31,8 +31,8 @@ ...@@ -31,8 +31,8 @@
<add key="Board_ConfigPath" value="\RobotConfig\config\boardData.txt" /> <add key="Board_ConfigPath" value="\RobotConfig\config\boardData.txt" />
<add key="Program_ConfigPath" value="\RobotConfig\config\sprogram.txt" /> <add key="Program_ConfigPath" value="\RobotConfig\config\sprogram.txt" />
<add key="Default_BoardID" value="56" /> <add key="Default_BoardID" value="56" />
<add key="Board_Origin_X" value="-67.29" /> <add key="Board_Origin_X" value="-105.1" />
<add key="Board_Origin_Y" value="-436.62" /> <add key="Board_Origin_Y" value="-386.33" />
<!--机器人抬起高点设置--> <!--机器人抬起高点设置-->
<add key="Soldering_LIM_Z" value="500" /> <add key="Soldering_LIM_Z" value="500" />
<!--程序图片路径--> <!--程序图片路径-->
...@@ -47,16 +47,15 @@ ...@@ -47,16 +47,15 @@
<add key="ReverseSendWireTime" value="3" /> <add key="ReverseSendWireTime" value="3" />
<add key="ISDebug" value="1" /> <add key="ISDebug" value="1" />
<!--机器人是否高速运行--> <!--机器人是否高速运行-->
<add key="Robot_IsHigh" value="1" /> <add key="Robot_IsHigh" value="0" />
<add key="Soldering_Clear1Point" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:42:04.5888384+08:00&quot;,&quot;X&quot;:-67.28,&quot;Y&quot;:-436.62,&quot;Z&quot;:293.7,&quot;RX&quot;:2.7394,&quot;RY&quot;:0.0599,&quot;RZ&quot;:0.0708}" /> <add key="Soldering_Clear1Point" value="{&quot;UpdateTime&quot;:&quot;2018-07-31T11:08:06.3302415+08:00&quot;,&quot;X&quot;:-116.02,&quot;Y&quot;:-386.34,&quot;Z&quot;:337.33,&quot;RX&quot;:1.2962,&quot;RY&quot;:-2.423,&quot;RZ&quot;:0.2115}" />
<add key="Soldering_Clear2Point" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:42:06.1809687+08:00&quot;,&quot;X&quot;:-67.29,&quot;Y&quot;:-436.62,&quot;Z&quot;:293.68,&quot;RX&quot;:2.7394,&quot;RY&quot;:0.06,&quot;RZ&quot;:0.0708}" /> <add key="Soldering_Clear2Point" value="{&quot;UpdateTime&quot;:&quot;2018-07-31T11:08:15.289551+08:00&quot;,&quot;X&quot;:-105.12,&quot;Y&quot;:-386.31,&quot;Z&quot;:337.37,&quot;RX&quot;:1.2963,&quot;RY&quot;:-2.423,&quot;RZ&quot;:0.2119}" />
<add key="Soldering_HomePoint" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:42:02.1180802+08:00&quot;,&quot;X&quot;:-67.29,&quot;Y&quot;:-436.62,&quot;Z&quot;:293.66,&quot;RX&quot;:2.7395,&quot;RY&quot;:0.0599,&quot;RZ&quot;:0.0707}" /> <add key="Soldering_HomePoint" value="{&quot;UpdateTime&quot;:&quot;2018-07-31T11:07:51.9477967+08:00&quot;,&quot;X&quot;:-116.01,&quot;Y&quot;:-386.34,&quot;Z&quot;:367.11,&quot;RX&quot;:1.2962,&quot;RY&quot;:-2.4233,&quot;RZ&quot;:0.2117}" />
<add key="Soldering_RobotMin" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" /> <add key="Soldering_RobotMin" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Soldering_RobotMax" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" /> <add key="Soldering_RobotMax" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Config_Pwd" value="123456" /> <add key="Config_Pwd" value="123456" />
</appSettings> </appSettings>
<log4net> <log4net>
<appender name="defaultAppender" type="log4net.Appender.RollingFileAppender"> <appender name="defaultAppender" type="log4net.Appender.RollingFileAppender">
<file value="logs/URSolderingClient.log" /> <file value="logs/URSolderingClient.log" />
<appendToFile value="true" /> <appendToFile value="true" />
...@@ -96,7 +95,6 @@ ...@@ -96,7 +95,6 @@
<level value="Info" /> <level value="Info" />
<appender-ref ref="defaultAppender" /> <appender-ref ref="defaultAppender" />
</logger> </logger>
</log4net> </log4net>
<startup> <startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0" /> <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0" />
......
URSolderingClient/FrmBoardInfo.Designer.cs
...@@ -32,7 +32,6 @@ ...@@ -32,7 +32,6 @@
System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmBoardInfo)); System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(FrmBoardInfo));
this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components); this.contextMenuStrip1 = new System.Windows.Forms.ContextMenuStrip(this.components);
this.保存焊点ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem(); this.保存焊点ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.移动到此处ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog(); this.openFileDialog1 = new System.Windows.Forms.OpenFileDialog();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components); this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.picRight = new System.Windows.Forms.PictureBox(); this.picRight = new System.Windows.Forms.PictureBox();
...@@ -68,6 +67,7 @@ ...@@ -68,6 +67,7 @@
this.lblOriginX = new System.Windows.Forms.Label(); this.lblOriginX = new System.Windows.Forms.Label();
this.lblOriginY = new System.Windows.Forms.Label(); this.lblOriginY = new System.Windows.Forms.Label();
this.groupBox2 = new System.Windows.Forms.GroupBox(); this.groupBox2 = new System.Windows.Forms.GroupBox();
this.chbIsSafe = new System.Windows.Forms.CheckBox();
this.label11 = new System.Windows.Forms.Label(); this.label11 = new System.Windows.Forms.Label();
this.label6 = new System.Windows.Forms.Label(); this.label6 = new System.Windows.Forms.Label();
this.txtSendWireLength = new System.Windows.Forms.TextBox(); this.txtSendWireLength = new System.Windows.Forms.TextBox();
...@@ -145,7 +145,6 @@ ...@@ -145,7 +145,6 @@
this.btnSStop = new System.Windows.Forms.Button(); this.btnSStop = new System.Windows.Forms.Button();
this.btnWStop = new System.Windows.Forms.Button(); this.btnWStop = new System.Windows.Forms.Button();
this.label14 = new System.Windows.Forms.Label(); this.label14 = new System.Windows.Forms.Label();
this.chbIsSafe = new System.Windows.Forms.CheckBox();
this.contextMenuStrip1.SuspendLayout(); this.contextMenuStrip1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.picRight)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picRight)).BeginInit();
((System.ComponentModel.ISupportInitialize)(this.picLeft)).BeginInit(); ((System.ComponentModel.ISupportInitialize)(this.picLeft)).BeginInit();
...@@ -169,25 +168,17 @@ ...@@ -169,25 +168,17 @@
// contextMenuStrip1 // contextMenuStrip1
// //
this.contextMenuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] { this.contextMenuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
this.保存焊点ToolStripMenuItem, this.保存焊点ToolStripMenuItem});
this.移动到此处ToolStripMenuItem});
this.contextMenuStrip1.Name = "contextMenuStrip1"; this.contextMenuStrip1.Name = "contextMenuStrip1";
this.contextMenuStrip1.Size = new System.Drawing.Size(137, 48); this.contextMenuStrip1.Size = new System.Drawing.Size(125, 26);
// //
// 保存焊点ToolStripMenuItem // 保存焊点ToolStripMenuItem
// //
this.保存焊点ToolStripMenuItem.Name = "保存焊点ToolStripMenuItem"; this.保存焊点ToolStripMenuItem.Name = "保存焊点ToolStripMenuItem";
this.保存焊点ToolStripMenuItem.Size = new System.Drawing.Size(136, 22); this.保存焊点ToolStripMenuItem.Size = new System.Drawing.Size(124, 22);
this.保存焊点ToolStripMenuItem.Text = "新增焊点"; this.保存焊点ToolStripMenuItem.Text = "新增焊点";
this.保存焊点ToolStripMenuItem.Click += new System.EventHandler(this.保存焊点ToolStripMenuItem_Click); this.保存焊点ToolStripMenuItem.Click += new System.EventHandler(this.保存焊点ToolStripMenuItem_Click);
// //
// 移动到此处ToolStripMenuItem
//
this.移动到此处ToolStripMenuItem.Name = "移动到此处ToolStripMenuItem";
this.移动到此处ToolStripMenuItem.Size = new System.Drawing.Size(136, 22);
this.移动到此处ToolStripMenuItem.Text = "移动到此处";
this.移动到此处ToolStripMenuItem.Click += new System.EventHandler(this.移动到此处ToolStripMenuItem_Click);
//
// openFileDialog1 // openFileDialog1
// //
this.openFileDialog1.FileName = "openFileDialog1"; this.openFileDialog1.FileName = "openFileDialog1";
...@@ -196,7 +187,7 @@ ...@@ -196,7 +187,7 @@
// //
this.picRight.BackColor = System.Drawing.Color.Transparent; this.picRight.BackColor = System.Drawing.Color.Transparent;
this.picRight.Image = ((System.Drawing.Image)(resources.GetObject("picRight.Image"))); this.picRight.Image = ((System.Drawing.Image)(resources.GetObject("picRight.Image")));
this.picRight.Location = new System.Drawing.Point(187, 51); this.picRight.Location = new System.Drawing.Point(151, 42);
this.picRight.Name = "picRight"; this.picRight.Name = "picRight";
this.picRight.Size = new System.Drawing.Size(45, 45); this.picRight.Size = new System.Drawing.Size(45, 45);
this.picRight.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picRight.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
...@@ -209,7 +200,7 @@ ...@@ -209,7 +200,7 @@
// //
this.picLeft.BackColor = System.Drawing.Color.Transparent; this.picLeft.BackColor = System.Drawing.Color.Transparent;
this.picLeft.Image = ((System.Drawing.Image)(resources.GetObject("picLeft.Image"))); this.picLeft.Image = ((System.Drawing.Image)(resources.GetObject("picLeft.Image")));
this.picLeft.Location = new System.Drawing.Point(109, 51); this.picLeft.Location = new System.Drawing.Point(73, 42);
this.picLeft.Name = "picLeft"; this.picLeft.Name = "picLeft";
this.picLeft.Size = new System.Drawing.Size(45, 45); this.picLeft.Size = new System.Drawing.Size(45, 45);
this.picLeft.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picLeft.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
...@@ -222,7 +213,7 @@ ...@@ -222,7 +213,7 @@
// //
this.picUp.BackColor = System.Drawing.Color.Transparent; this.picUp.BackColor = System.Drawing.Color.Transparent;
this.picUp.Image = ((System.Drawing.Image)(resources.GetObject("picUp.Image"))); this.picUp.Image = ((System.Drawing.Image)(resources.GetObject("picUp.Image")));
this.picUp.Location = new System.Drawing.Point(147, 11); this.picUp.Location = new System.Drawing.Point(111, 2);
this.picUp.Name = "picUp"; this.picUp.Name = "picUp";
this.picUp.Size = new System.Drawing.Size(45, 45); this.picUp.Size = new System.Drawing.Size(45, 45);
this.picUp.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picUp.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
...@@ -235,7 +226,7 @@ ...@@ -235,7 +226,7 @@
// //
this.picDown.BackColor = System.Drawing.Color.Transparent; this.picDown.BackColor = System.Drawing.Color.Transparent;
this.picDown.Image = ((System.Drawing.Image)(resources.GetObject("picDown.Image"))); this.picDown.Image = ((System.Drawing.Image)(resources.GetObject("picDown.Image")));
this.picDown.Location = new System.Drawing.Point(147, 91); this.picDown.Location = new System.Drawing.Point(111, 82);
this.picDown.Name = "picDown"; this.picDown.Name = "picDown";
this.picDown.Size = new System.Drawing.Size(45, 45); this.picDown.Size = new System.Drawing.Size(45, 45);
this.picDown.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picDown.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
...@@ -248,7 +239,7 @@ ...@@ -248,7 +239,7 @@
// //
this.picZDel.BackColor = System.Drawing.Color.Transparent; this.picZDel.BackColor = System.Drawing.Color.Transparent;
this.picZDel.Image = ((System.Drawing.Image)(resources.GetObject("picZDel.Image"))); this.picZDel.Image = ((System.Drawing.Image)(resources.GetObject("picZDel.Image")));
this.picZDel.Location = new System.Drawing.Point(38, 74); this.picZDel.Location = new System.Drawing.Point(2, 65);
this.picZDel.Name = "picZDel"; this.picZDel.Name = "picZDel";
this.picZDel.Size = new System.Drawing.Size(45, 45); this.picZDel.Size = new System.Drawing.Size(45, 45);
this.picZDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picZDel.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
...@@ -261,7 +252,7 @@ ...@@ -261,7 +252,7 @@
// //
this.picZAdd.BackColor = System.Drawing.Color.Transparent; this.picZAdd.BackColor = System.Drawing.Color.Transparent;
this.picZAdd.Image = ((System.Drawing.Image)(resources.GetObject("picZAdd.Image"))); this.picZAdd.Image = ((System.Drawing.Image)(resources.GetObject("picZAdd.Image")));
this.picZAdd.Location = new System.Drawing.Point(38, 29); this.picZAdd.Location = new System.Drawing.Point(2, 20);
this.picZAdd.Name = "picZAdd"; this.picZAdd.Name = "picZAdd";
this.picZAdd.Size = new System.Drawing.Size(45, 45); this.picZAdd.Size = new System.Drawing.Size(45, 45);
this.picZAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom; this.picZAdd.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
...@@ -366,9 +357,9 @@ ...@@ -366,9 +357,9 @@
// //
this.panPoint.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) this.panPoint.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left))); | System.Windows.Forms.AnchorStyles.Left)));
this.panPoint.Location = new System.Drawing.Point(12, 345); this.panPoint.Location = new System.Drawing.Point(12, 364);
this.panPoint.Name = "panPoint"; this.panPoint.Name = "panPoint";
this.panPoint.Size = new System.Drawing.Size(869, 278); this.panPoint.Size = new System.Drawing.Size(869, 267);
this.panPoint.TabIndex = 321; this.panPoint.TabIndex = 321;
// //
// panVideo // panVideo
...@@ -413,7 +404,6 @@ ...@@ -413,7 +404,6 @@
this.picBoard.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) this.picBoard.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
| System.Windows.Forms.AnchorStyles.Left) | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.picBoard.ContextMenuStrip = this.contextMenuStrip1;
this.picBoard.Cursor = System.Windows.Forms.Cursors.Cross; this.picBoard.Cursor = System.Windows.Forms.Cursors.Cross;
this.picBoard.Location = new System.Drawing.Point(0, 0); this.picBoard.Location = new System.Drawing.Point(0, 0);
this.picBoard.Name = "picBoard"; this.picBoard.Name = "picBoard";
...@@ -588,16 +578,27 @@ ...@@ -588,16 +578,27 @@
this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox2.Location = new System.Drawing.Point(12, 78); this.groupBox2.Location = new System.Drawing.Point(12, 78);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(869, 190); this.groupBox2.Size = new System.Drawing.Size(869, 212);
this.groupBox2.TabIndex = 22; this.groupBox2.TabIndex = 22;
this.groupBox2.TabStop = false; this.groupBox2.TabStop = false;
this.groupBox2.Text = "机器人实时坐标"; this.groupBox2.Text = "机器人实时坐标";
// //
// chbIsSafe
//
this.chbIsSafe.AutoSize = true;
this.chbIsSafe.Location = new System.Drawing.Point(270, 15);
this.chbIsSafe.Name = "chbIsSafe";
this.chbIsSafe.Size = new System.Drawing.Size(243, 21);
this.chbIsSafe.TabIndex = 328;
this.chbIsSafe.Text = "没有人员靠近机器人，不再弹出确认提示";
this.chbIsSafe.UseVisualStyleBackColor = true;
this.chbIsSafe.CheckedChanged += new System.EventHandler(this.chbIsSafe_CheckedChanged);
//
// label11 // label11
// //
this.label11.AutoSize = true; this.label11.AutoSize = true;
this.label11.ForeColor = System.Drawing.Color.Red; this.label11.ForeColor = System.Drawing.Color.Red;
this.label11.Location = new System.Drawing.Point(176, 16); this.label11.Location = new System.Drawing.Point(387, 187);
this.label11.Name = "label11"; this.label11.Name = "label11";
this.label11.Size = new System.Drawing.Size(0, 17); this.label11.Size = new System.Drawing.Size(0, 17);
this.label11.TabIndex = 327; this.label11.TabIndex = 327;
...@@ -627,7 +628,7 @@ ...@@ -627,7 +628,7 @@
// lblRobotRZ // lblRobotRZ
// //
this.lblRobotRZ.AutoSize = true; this.lblRobotRZ.AutoSize = true;
this.lblRobotRZ.Location = new System.Drawing.Point(135, 106); this.lblRobotRZ.Location = new System.Drawing.Point(146, 118);
this.lblRobotRZ.Name = "lblRobotRZ"; this.lblRobotRZ.Name = "lblRobotRZ";
this.lblRobotRZ.Size = new System.Drawing.Size(15, 17); this.lblRobotRZ.Size = new System.Drawing.Size(15, 17);
this.lblRobotRZ.TabIndex = 324; this.lblRobotRZ.TabIndex = 324;
...@@ -636,7 +637,7 @@ ...@@ -636,7 +637,7 @@
// label7 // label7
// //
this.label7.AutoSize = true; this.label7.AutoSize = true;
this.label7.Location = new System.Drawing.Point(99, 106); this.label7.Location = new System.Drawing.Point(110, 118);
this.label7.Name = "label7"; this.label7.Name = "label7";
this.label7.Size = new System.Drawing.Size(35, 17); this.label7.Size = new System.Drawing.Size(35, 17);
this.label7.TabIndex = 321; this.label7.TabIndex = 321;
...@@ -645,7 +646,7 @@ ...@@ -645,7 +646,7 @@
// label8 // label8
// //
this.label8.AutoSize = true; this.label8.AutoSize = true;
this.label8.Location = new System.Drawing.Point(99, 33); this.label8.Location = new System.Drawing.Point(110, 45);
this.label8.Name = "label8"; this.label8.Name = "label8";
this.label8.Size = new System.Drawing.Size(36, 17); this.label8.Size = new System.Drawing.Size(36, 17);
this.label8.TabIndex = 319; this.label8.TabIndex = 319;
...@@ -654,7 +655,7 @@ ...@@ -654,7 +655,7 @@
// lblRobotRY // lblRobotRY
// //
this.lblRobotRY.AutoSize = true; this.lblRobotRY.AutoSize = true;
this.lblRobotRY.Location = new System.Drawing.Point(136, 69); this.lblRobotRY.Location = new System.Drawing.Point(147, 81);
this.lblRobotRY.Name = "lblRobotRY"; this.lblRobotRY.Name = "lblRobotRY";
this.lblRobotRY.Size = new System.Drawing.Size(15, 17); this.lblRobotRY.Size = new System.Drawing.Size(15, 17);
this.lblRobotRY.TabIndex = 323; this.lblRobotRY.TabIndex = 323;
...@@ -663,7 +664,7 @@ ...@@ -663,7 +664,7 @@
// lblRobotRX // lblRobotRX
// //
this.lblRobotRX.AutoSize = true; this.lblRobotRX.AutoSize = true;
this.lblRobotRX.Location = new System.Drawing.Point(135, 33); this.lblRobotRX.Location = new System.Drawing.Point(146, 45);
this.lblRobotRX.Name = "lblRobotRX"; this.lblRobotRX.Name = "lblRobotRX";
this.lblRobotRX.Size = new System.Drawing.Size(15, 17); this.lblRobotRX.Size = new System.Drawing.Size(15, 17);
this.lblRobotRX.TabIndex = 322; this.lblRobotRX.TabIndex = 322;
...@@ -672,7 +673,7 @@ ...@@ -672,7 +673,7 @@
// label16 // label16
// //
this.label16.AutoSize = true; this.label16.AutoSize = true;
this.label16.Location = new System.Drawing.Point(99, 69); this.label16.Location = new System.Drawing.Point(110, 81);
this.label16.Name = "label16"; this.label16.Name = "label16";
this.label16.Size = new System.Drawing.Size(35, 17); this.label16.Size = new System.Drawing.Size(35, 17);
this.label16.TabIndex = 320; this.label16.TabIndex = 320;
...@@ -681,7 +682,7 @@ ...@@ -681,7 +682,7 @@
// lblSpeed // lblSpeed
// //
this.lblSpeed.AutoSize = true; this.lblSpeed.AutoSize = true;
this.lblSpeed.Location = new System.Drawing.Point(182, 123); this.lblSpeed.Location = new System.Drawing.Point(237, 187);
this.lblSpeed.Name = "lblSpeed"; this.lblSpeed.Name = "lblSpeed";
this.lblSpeed.Size = new System.Drawing.Size(95, 17); this.lblSpeed.Size = new System.Drawing.Size(95, 17);
this.lblSpeed.TabIndex = 315; this.lblSpeed.TabIndex = 315;
...@@ -696,18 +697,18 @@ ...@@ -696,18 +697,18 @@
this.panel3.Controls.Add(this.picDown); this.panel3.Controls.Add(this.picDown);
this.panel3.Controls.Add(this.picZDel); this.panel3.Controls.Add(this.picZDel);
this.panel3.Controls.Add(this.picZAdd); this.panel3.Controls.Add(this.picZAdd);
this.panel3.Location = new System.Drawing.Point(287, 13); this.panel3.Location = new System.Drawing.Point(296, 42);
this.panel3.Name = "panel3"; this.panel3.Name = "panel3";
this.panel3.Size = new System.Drawing.Size(250, 138); this.panel3.Size = new System.Drawing.Size(199, 129);
this.panel3.TabIndex = 259; this.panel3.TabIndex = 259;
// //
// btnPositionTest // btnPositionTest
// //
this.btnPositionTest.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnPositionTest.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnPositionTest.FlatAppearance.BorderSize = 0; this.btnPositionTest.FlatAppearance.BorderSize = 0;
this.btnPositionTest.Location = new System.Drawing.Point(559, 145); this.btnPositionTest.Location = new System.Drawing.Point(559, 169);
this.btnPositionTest.Name = "btnPositionTest"; this.btnPositionTest.Name = "btnPositionTest";
this.btnPositionTest.Size = new System.Drawing.Size(100, 35); this.btnPositionTest.Size = new System.Drawing.Size(100, 37);
this.btnPositionTest.TabIndex = 318; this.btnPositionTest.TabIndex = 318;
this.btnPositionTest.Text = "测试位置"; this.btnPositionTest.Text = "测试位置";
this.btnPositionTest.UseVisualStyleBackColor = true; this.btnPositionTest.UseVisualStyleBackColor = true;
...@@ -739,22 +740,21 @@ ...@@ -739,22 +740,21 @@
// //
this.btnSavePoint.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnSavePoint.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnSavePoint.FlatAppearance.BorderSize = 0; this.btnSavePoint.FlatAppearance.BorderSize = 0;
this.btnSavePoint.Location = new System.Drawing.Point(787, 146); this.btnSavePoint.Location = new System.Drawing.Point(559, 130);
this.btnSavePoint.Name = "btnSavePoint"; this.btnSavePoint.Name = "btnSavePoint";
this.btnSavePoint.Size = new System.Drawing.Size(68, 32); this.btnSavePoint.Size = new System.Drawing.Size(100, 37);
this.btnSavePoint.TabIndex = 30; this.btnSavePoint.TabIndex = 30;
this.btnSavePoint.Text = "新增焊点(&N)"; this.btnSavePoint.Text = "新增焊点";
this.btnSavePoint.UseVisualStyleBackColor = true; this.btnSavePoint.UseVisualStyleBackColor = true;
this.btnSavePoint.Visible = false;
this.btnSavePoint.Click += new System.EventHandler(this.btnSavePoint_Click); this.btnSavePoint.Click += new System.EventHandler(this.btnSavePoint_Click);
// //
// btnStopDown // btnStopDown
// //
this.btnStopDown.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnStopDown.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnStopDown.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnStopDown.Location = new System.Drawing.Point(559, 57); this.btnStopDown.Location = new System.Drawing.Point(559, 52);
this.btnStopDown.Name = "btnStopDown"; this.btnStopDown.Name = "btnStopDown";
this.btnStopDown.Size = new System.Drawing.Size(100, 35); this.btnStopDown.Size = new System.Drawing.Size(100, 37);
this.btnStopDown.TabIndex = 317; this.btnStopDown.TabIndex = 317;
this.btnStopDown.Text = "送丝工作端"; this.btnStopDown.Text = "送丝工作端";
this.btnStopDown.UseVisualStyleBackColor = true; this.btnStopDown.UseVisualStyleBackColor = true;
...@@ -764,9 +764,9 @@ ...@@ -764,9 +764,9 @@
// //
this.btnGoHome.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnGoHome.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnGoHome.FlatAppearance.BorderSize = 0; this.btnGoHome.FlatAppearance.BorderSize = 0;
this.btnGoHome.Location = new System.Drawing.Point(559, 101); this.btnGoHome.Location = new System.Drawing.Point(559, 91);
this.btnGoHome.Name = "btnGoHome"; this.btnGoHome.Name = "btnGoHome";
this.btnGoHome.Size = new System.Drawing.Size(100, 35); this.btnGoHome.Size = new System.Drawing.Size(100, 37);
this.btnGoHome.TabIndex = 35; this.btnGoHome.TabIndex = 35;
this.btnGoHome.Text = "回原点"; this.btnGoHome.Text = "回原点";
this.btnGoHome.UseVisualStyleBackColor = true; this.btnGoHome.UseVisualStyleBackColor = true;
...@@ -788,7 +788,7 @@ ...@@ -788,7 +788,7 @@
// txtRobotZ // txtRobotZ
// //
this.txtRobotZ.AutoSize = true; this.txtRobotZ.AutoSize = true;
this.txtRobotZ.Location = new System.Drawing.Point(36, 106); this.txtRobotZ.Location = new System.Drawing.Point(36, 118);
this.txtRobotZ.Name = "txtRobotZ"; this.txtRobotZ.Name = "txtRobotZ";
this.txtRobotZ.Size = new System.Drawing.Size(15, 17); this.txtRobotZ.Size = new System.Drawing.Size(15, 17);
this.txtRobotZ.TabIndex = 26; this.txtRobotZ.TabIndex = 26;
...@@ -797,7 +797,7 @@ ...@@ -797,7 +797,7 @@
// label13 // label13
// //
this.label13.AutoSize = true; this.label13.AutoSize = true;
this.label13.Location = new System.Drawing.Point(12, 106); this.label13.Location = new System.Drawing.Point(12, 118);
this.label13.Name = "label13"; this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(27, 17); this.label13.Size = new System.Drawing.Size(27, 17);
this.label13.TabIndex = 7; this.label13.TabIndex = 7;
...@@ -806,7 +806,7 @@ ...@@ -806,7 +806,7 @@
// label1 // label1
// //
this.label1.AutoSize = true; this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(10, 33); this.label1.Location = new System.Drawing.Point(10, 45);
this.label1.Name = "label1"; this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(28, 17); this.label1.Size = new System.Drawing.Size(28, 17);
this.label1.TabIndex = 1; this.label1.TabIndex = 1;
...@@ -828,9 +828,9 @@ ...@@ -828,9 +828,9 @@
this.btnStopSend.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); this.btnStopSend.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
this.btnStopSend.Enabled = false; this.btnStopSend.Enabled = false;
this.btnStopSend.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnStopSend.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnStopSend.Location = new System.Drawing.Point(778, 92); this.btnStopSend.Location = new System.Drawing.Point(772, 92);
this.btnStopSend.Name = "btnStopSend"; this.btnStopSend.Name = "btnStopSend";
this.btnStopSend.Size = new System.Drawing.Size(75, 34); this.btnStopSend.Size = new System.Drawing.Size(80, 34);
this.btnStopSend.TabIndex = 274; this.btnStopSend.TabIndex = 274;
this.btnStopSend.Text = "停止送丝"; this.btnStopSend.Text = "停止送丝";
this.btnStopSend.UseVisualStyleBackColor = true; this.btnStopSend.UseVisualStyleBackColor = true;
...@@ -843,7 +843,7 @@ ...@@ -843,7 +843,7 @@
this.btnSendWire.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnSendWire.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnSendWire.Location = new System.Drawing.Point(685, 92); this.btnSendWire.Location = new System.Drawing.Point(685, 92);
this.btnSendWire.Name = "btnSendWire"; this.btnSendWire.Name = "btnSendWire";
this.btnSendWire.Size = new System.Drawing.Size(75, 34); this.btnSendWire.Size = new System.Drawing.Size(80, 34);
this.btnSendWire.TabIndex = 273; this.btnSendWire.TabIndex = 273;
this.btnSendWire.Text = "开始送丝"; this.btnSendWire.Text = "开始送丝";
this.btnSendWire.UseVisualStyleBackColor = true; this.btnSendWire.UseVisualStyleBackColor = true;
...@@ -851,20 +851,19 @@ ...@@ -851,20 +851,19 @@
// //
// tckSpeed // tckSpeed
// //
this.tckSpeed.Location = new System.Drawing.Point(6, 143); this.tckSpeed.Location = new System.Drawing.Point(6, 164);
this.tckSpeed.Maximum = 6; this.tckSpeed.Maximum = 6;
this.tckSpeed.Minimum = 1; this.tckSpeed.Minimum = 1;
this.tckSpeed.Name = "tckSpeed"; this.tckSpeed.Name = "tckSpeed";
this.tckSpeed.Size = new System.Drawing.Size(214, 45); this.tckSpeed.Size = new System.Drawing.Size(214, 45);
this.tckSpeed.TabIndex = 314; this.tckSpeed.TabIndex = 314;
this.tckSpeed.Value = 4; this.tckSpeed.Value = 4;
this.tckSpeed.Scroll += new System.EventHandler(this.tckSpeed_Scroll);
this.tckSpeed.ValueChanged += new System.EventHandler(this.tckSpeed_ValueChanged); this.tckSpeed.ValueChanged += new System.EventHandler(this.tckSpeed_ValueChanged);
// //
// txtRobotY // txtRobotY
// //
this.txtRobotY.AutoSize = true; this.txtRobotY.AutoSize = true;
this.txtRobotY.Location = new System.Drawing.Point(37, 69); this.txtRobotY.Location = new System.Drawing.Point(37, 81);
this.txtRobotY.Name = "txtRobotY"; this.txtRobotY.Name = "txtRobotY";
this.txtRobotY.Size = new System.Drawing.Size(15, 17); this.txtRobotY.Size = new System.Drawing.Size(15, 17);
this.txtRobotY.TabIndex = 22; this.txtRobotY.TabIndex = 22;
...@@ -877,7 +876,7 @@ ...@@ -877,7 +876,7 @@
this.btnWUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnWUp.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnWUp.Location = new System.Drawing.Point(559, 13); this.btnWUp.Location = new System.Drawing.Point(559, 13);
this.btnWUp.Name = "btnWUp"; this.btnWUp.Name = "btnWUp";
this.btnWUp.Size = new System.Drawing.Size(100, 35); this.btnWUp.Size = new System.Drawing.Size(100, 37);
this.btnWUp.TabIndex = 254; this.btnWUp.TabIndex = 254;
this.btnWUp.Text = "烙铁上升"; this.btnWUp.Text = "烙铁上升";
this.btnWUp.UseVisualStyleBackColor = true; this.btnWUp.UseVisualStyleBackColor = true;
...@@ -886,7 +885,7 @@ ...@@ -886,7 +885,7 @@
// txtRobotX // txtRobotX
// //
this.txtRobotX.AutoSize = true; this.txtRobotX.AutoSize = true;
this.txtRobotX.Location = new System.Drawing.Point(36, 33); this.txtRobotX.Location = new System.Drawing.Point(36, 45);
this.txtRobotX.Name = "txtRobotX"; this.txtRobotX.Name = "txtRobotX";
this.txtRobotX.Size = new System.Drawing.Size(15, 17); this.txtRobotX.Size = new System.Drawing.Size(15, 17);
this.txtRobotX.TabIndex = 20; this.txtRobotX.TabIndex = 20;
...@@ -895,7 +894,7 @@ ...@@ -895,7 +894,7 @@
// label12 // label12
// //
this.label12.AutoSize = true; this.label12.AutoSize = true;
this.label12.Location = new System.Drawing.Point(10, 69); this.label12.Location = new System.Drawing.Point(10, 81);
this.label12.Name = "label12"; this.label12.Name = "label12";
this.label12.Size = new System.Drawing.Size(27, 17); this.label12.Size = new System.Drawing.Size(27, 17);
this.label12.TabIndex = 3; this.label12.TabIndex = 3;
...@@ -960,14 +959,14 @@ ...@@ -960,14 +959,14 @@
this.Column_Up, this.Column_Up,
this.Column_Down}); this.Column_Down});
this.dgvList.ContextMenuStrip = this.contextMenuStrip2; this.dgvList.ContextMenuStrip = this.contextMenuStrip2;
this.dgvList.Location = new System.Drawing.Point(12, 277); this.dgvList.Location = new System.Drawing.Point(12, 296);
this.dgvList.MultiSelect = false; this.dgvList.MultiSelect = false;
this.dgvList.Name = "dgvList"; this.dgvList.Name = "dgvList";
this.dgvList.ReadOnly = true; this.dgvList.ReadOnly = true;
this.dgvList.RowHeadersWidth = 5; this.dgvList.RowHeadersWidth = 5;
this.dgvList.RowTemplate.Height = 23; this.dgvList.RowTemplate.Height = 23;
this.dgvList.SelectionMode = System.Windows.Forms.DataGridViewSelectionMode.FullRowSelect; this.dgvList.SelectionMode = System.Windows.Forms.DataGridViewSelectionMode.FullRowSelect;
this.dgvList.Size = new System.Drawing.Size(869, 347); this.dgvList.Size = new System.Drawing.Size(869, 336);
this.dgvList.TabIndex = 31; this.dgvList.TabIndex = 31;
this.dgvList.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.dataGridView1_CellContentClick); this.dgvList.CellContentClick += new System.Windows.Forms.DataGridViewCellEventHandler(this.dataGridView1_CellContentClick);
this.dgvList.CellMouseDown += new System.Windows.Forms.DataGridViewCellMouseEventHandler(this.dgvList_CellMouseDown); this.dgvList.CellMouseDown += new System.Windows.Forms.DataGridViewCellMouseEventHandler(this.dgvList_CellMouseDown);
...@@ -1402,17 +1401,6 @@ ...@@ -1402,17 +1401,6 @@
this.label14.Text = "条形码"; this.label14.Text = "条形码";
this.label14.Visible = false; this.label14.Visible = false;
// //
// chbIsSafe
//
this.chbIsSafe.AutoSize = true;
this.chbIsSafe.Location = new System.Drawing.Point(295, 161);
this.chbIsSafe.Name = "chbIsSafe";
this.chbIsSafe.Size = new System.Drawing.Size(243, 21);
this.chbIsSafe.TabIndex = 328;
this.chbIsSafe.Text = "确认没有人员靠近机器人，不弹出提示框";
this.chbIsSafe.UseVisualStyleBackColor = true;
this.chbIsSafe.CheckedChanged += new System.EventHandler(this.chbIsSafe_CheckedChanged);
//
// FrmBoardInfo // FrmBoardInfo
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
...@@ -1490,7 +1478,6 @@ ...@@ -1490,7 +1478,6 @@
private System.Windows.Forms.Button btnSaveHome; private System.Windows.Forms.Button btnSaveHome;
private System.Windows.Forms.ContextMenuStrip contextMenuStrip1; private System.Windows.Forms.ContextMenuStrip contextMenuStrip1;
private System.Windows.Forms.ToolStripMenuItem 保存焊点ToolStripMenuItem; private System.Windows.Forms.ToolStripMenuItem 保存焊点ToolStripMenuItem;
private System.Windows.Forms.ToolStripMenuItem 移动到此处ToolStripMenuItem;
private System.Windows.Forms.ToolTip toolTip1; private System.Windows.Forms.ToolTip toolTip1;
private System.Windows.Forms.ContextMenuStrip contextMenuStrip2; private System.Windows.Forms.ContextMenuStrip contextMenuStrip2;
private System.Windows.Forms.ToolStripMenuItem 上升ToolStripMenuItem; private System.Windows.Forms.ToolStripMenuItem 上升ToolStripMenuItem;
......
URSolderingClient/FrmBoardInfo.cs
...@@ -101,11 +101,7 @@ namespace URSoldering.Client ...@@ -101,11 +101,7 @@ namespace URSoldering.Client
timer1.Elapsed += timer_Elapsed; timer1.Elapsed += timer_Elapsed;
timer1.Start(); timer1.Start();
//timer2.Start(); //timer2.Start();
if (RobotBean.ShuddenOK().Equals(false)) if (RobotBean.ShuddenOK() )
{
// MessageBox.Show("急停未开！");
}
else
{ {
//this.btnWDown.Enabled = true; //this.btnWDown.Enabled = true;
this.btnWUp.Enabled = true; this.btnWUp.Enabled = true;
...@@ -113,7 +109,7 @@ namespace URSoldering.Client ...@@ -113,7 +109,7 @@ namespace URSoldering.Client
if (!SendWireManager.IsRun) if (!SendWireManager.IsRun)
{ {
//SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port); SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port);
} }
if (SendWireManager.IsRun) { if (SendWireManager.IsRun) {
...@@ -433,19 +429,10 @@ namespace URSoldering.Client ...@@ -433,19 +429,10 @@ namespace URSoldering.Client
double rz = FormUtil.getDoubleValue(lblRobotRZ); double rz = FormUtil.getDoubleValue(lblRobotRZ);
return new URPointValue(x, y, z, rx, ry, rz); return new URPointValue(x, y, z, rx, ry, rz);
} }
/// <summary>
/// 移动测试
/// </summary>
private bool isfast = false;
private void MoveTest(int rowIndex) private void MoveTest(int rowIndex)
{ {
//if (isAuto == false) RovotMove(GetRowPoint(rowIndex));
//{
// MessageBox.Show("请先切换到自动模式！");
// return;
//}
URRobotControl.MoveTo(GetRowPoint(rowIndex));
} }
private void UpdateRow(int rowIndex) private void UpdateRow(int rowIndex)
...@@ -1024,16 +1011,12 @@ namespace URSoldering.Client ...@@ -1024,16 +1011,12 @@ namespace URSoldering.Client
private void btnGoHome_Click(object sender, EventArgs e) private void btnGoHome_Click(object sender, EventArgs e)
{ {
if (!SureMoveRobot())
{
return;
}
WeldRobotBean.SendWireWork(false); WeldRobotBean.SendWireWork(false);
WeldRobotBean.SolderingUp(false); WeldRobotBean.SolderingUp(false);
URPointValue point = WeldRobotBean.HomePoint; URPointValue point = WeldRobotBean.HomePoint;
if (point.X != 0 && point.Y != 0 && point.Z!=0) if (point.X != 0 && point.Y != 0 && point.Z!=0)
{ {
URRobotControl.MoveTo(point); RovotMove(point);
} }
else else
{ {
...@@ -1091,26 +1074,26 @@ namespace URSoldering.Client ...@@ -1091,26 +1074,26 @@ namespace URSoldering.Client
} }
private void 保存焊点ToolStripMenuItem_Click(object sender, EventArgs e) private void 保存焊点ToolStripMenuItem_Click(object sender, EventArgs e)
{ {
if (m_MouseDownPoint == null || m_MouseDownPoint.X == 0 || m_MouseDownPoint.Y == 0) //if (m_MouseDownPoint == null || m_MouseDownPoint.X == 0 || m_MouseDownPoint.Y == 0)
{ //{
MessageBox.Show("请点击要保存的焊点"); // MessageBox.Show("请点击要保存的焊点");
return; // return;
} //}
double x = 0; //double x = 0;
double y = 0; //double y = 0;
GetPicPoint(out x, out y); //GetPicPoint(out x, out y);
LogUtil.info("新增焊点：X【" + m_MouseDownPoint.X + "】Y【" + m_MouseDownPoint.Y + "】,坐标X【" + x + "】坐标Y【" + y + "】"); //LogUtil.info("新增焊点：X【" + m_MouseDownPoint.X + "】Y【" + m_MouseDownPoint.Y + "】,坐标X【" + x + "】坐标Y【" + y + "】");
double z = FormUtil.getDoubleValue(txtRobotZ); //double z = FormUtil.getDoubleValue(txtRobotZ);
URPointValue point = new URPointValue(x, y, z, FormUtil.getDoubleValue(lblRobotRX), FormUtil.getDoubleValue(lblRobotRY), FormUtil.getDoubleValue(lblRobotRZ)); //URPointValue point = new URPointValue(x, y, z, FormUtil.getDoubleValue(lblRobotRX), FormUtil.getDoubleValue(lblRobotRY), FormUtil.getDoubleValue(lblRobotRZ));
//判断原点的Z轴 ////判断原点的Z轴
if (z > URRobotControl.Robot_LIM_Z) //if (z > URRobotControl.Robot_LIM_Z)
{ //{
MessageBox.Show("保存失败，焊点Z坐标("+z+")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")"); // MessageBox.Show("保存失败，焊点Z坐标("+z+")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")");
return; // return;
} //}
AddNewPoint(point); //AddNewPoint(point);
liUpdateTime_LinkClicked(null, null); //liUpdateTime_LinkClicked(null, null);
} }
...@@ -1187,9 +1170,6 @@ namespace URSoldering.Client ...@@ -1187,9 +1170,6 @@ namespace URSoldering.Client
} }
} }
private void 移动到此处ToolStripMenuItem_Click(object sender, EventArgs e)
{
}
private void RovotMove(URPointValue point) private void RovotMove(URPointValue point)
{ {
...@@ -1520,11 +1500,6 @@ namespace URSoldering.Client ...@@ -1520,11 +1500,6 @@ namespace URSoldering.Client
} }
} }
private void tckSpeed_Scroll(object sender, EventArgs e)
{
}
private void chbIsSafe_CheckedChanged(object sender, EventArgs e) private void chbIsSafe_CheckedChanged(object sender, EventArgs e)
{ {
if (chbIsSafe.Checked) if (chbIsSafe.Checked)
......
URSolderingClient/FrmMenu.Designer.cs
...@@ -35,10 +35,7 @@ namespace URSoldering.Client ...@@ -35,10 +35,7 @@ namespace URSoldering.Client
this.btnProduct = new System.Windows.Forms.Button(); this.btnProduct = new System.Windows.Forms.Button();
this.btnWelding = new System.Windows.Forms.Button(); this.btnWelding = new System.Windows.Forms.Button();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
this.btnAutoEdit = new System.Windows.Forms.Button();
this.btnTongji = new System.Windows.Forms.Button();
this.button1 = new System.Windows.Forms.Button(); this.button1 = new System.Windows.Forms.Button();
this.btnCom = new System.Windows.Forms.Button();
this.panel1.SuspendLayout(); this.panel1.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
...@@ -67,7 +64,7 @@ namespace URSoldering.Client ...@@ -67,7 +64,7 @@ namespace URSoldering.Client
this.btnDebug.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnDebug.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnDebug.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.btnDebug.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnDebug.ForeColor = System.Drawing.Color.White; this.btnDebug.ForeColor = System.Drawing.Color.White;
this.btnDebug.Location = new System.Drawing.Point(497, 301); this.btnDebug.Location = new System.Drawing.Point(384, 208);
this.btnDebug.Name = "btnDebug"; this.btnDebug.Name = "btnDebug";
this.btnDebug.Size = new System.Drawing.Size(107, 81); this.btnDebug.Size = new System.Drawing.Size(107, 81);
this.btnDebug.TabIndex = 2; this.btnDebug.TabIndex = 2;
...@@ -113,50 +110,16 @@ namespace URSoldering.Client ...@@ -113,50 +110,16 @@ namespace URSoldering.Client
| System.Windows.Forms.AnchorStyles.Right))); | System.Windows.Forms.AnchorStyles.Right)));
this.panel1.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("panel1.BackgroundImage"))); this.panel1.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("panel1.BackgroundImage")));
this.panel1.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Stretch; this.panel1.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Stretch;
this.panel1.Controls.Add(this.btnAutoEdit);
this.panel1.Controls.Add(this.btnTongji);
this.panel1.Controls.Add(this.btnExit); this.panel1.Controls.Add(this.btnExit);
this.panel1.Controls.Add(this.button1); this.panel1.Controls.Add(this.button1);
this.panel1.Controls.Add(this.btnDebug); this.panel1.Controls.Add(this.btnDebug);
this.panel1.Controls.Add(this.btnProduct); this.panel1.Controls.Add(this.btnProduct);
this.panel1.Controls.Add(this.btnWelding); this.panel1.Controls.Add(this.btnWelding);
this.panel1.Controls.Add(this.btnCom);
this.panel1.Location = new System.Drawing.Point(0, 0); this.panel1.Location = new System.Drawing.Point(0, 0);
this.panel1.Name = "panel1"; this.panel1.Name = "panel1";
this.panel1.Size = new System.Drawing.Size(861, 453); this.panel1.Size = new System.Drawing.Size(861, 453);
this.panel1.TabIndex = 15; this.panel1.TabIndex = 15;
// //
// btnAutoEdit
//
this.btnAutoEdit.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(186)))), ((int)(((byte)(118)))), ((int)(((byte)(159)))));
this.btnAutoEdit.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("btnAutoEdit.BackgroundImage")));
this.btnAutoEdit.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Stretch;
this.btnAutoEdit.FlatAppearance.BorderSize = 0;
this.btnAutoEdit.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnAutoEdit.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnAutoEdit.ForeColor = System.Drawing.Color.White;
this.btnAutoEdit.Location = new System.Drawing.Point(384, 211);
this.btnAutoEdit.Name = "btnAutoEdit";
this.btnAutoEdit.Size = new System.Drawing.Size(222, 81);
this.btnAutoEdit.TabIndex = 14;
this.btnAutoEdit.UseVisualStyleBackColor = false;
//
// btnTongji
//
this.btnTongji.BackColor = System.Drawing.Color.Transparent;
this.btnTongji.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("btnTongji.BackgroundImage")));
this.btnTongji.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.btnTongji.FlatAppearance.BorderSize = 0;
this.btnTongji.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnTongji.Font = new System.Drawing.Font("微软雅黑", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnTongji.ForeColor = System.Drawing.Color.White;
this.btnTongji.Location = new System.Drawing.Point(416, 16);
this.btnTongji.Name = "btnTongji";
this.btnTongji.Size = new System.Drawing.Size(222, 81);
this.btnTongji.TabIndex = 13;
this.btnTongji.UseVisualStyleBackColor = false;
this.btnTongji.Visible = false;
//
// button1 // button1
// //
this.button1.BackColor = System.Drawing.Color.Transparent; this.button1.BackColor = System.Drawing.Color.Transparent;
...@@ -173,21 +136,6 @@ namespace URSoldering.Client ...@@ -173,21 +136,6 @@ namespace URSoldering.Client
this.button1.TabIndex = 13; this.button1.TabIndex = 13;
this.button1.UseVisualStyleBackColor = true; this.button1.UseVisualStyleBackColor = true;
// //
// btnCom
//
this.btnCom.BackColor = System.Drawing.Color.Transparent;
this.btnCom.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("btnCom.BackgroundImage")));
this.btnCom.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
this.btnCom.FlatAppearance.BorderSize = 0;
this.btnCom.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnCom.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnCom.ForeColor = System.Drawing.Color.White;
this.btnCom.Location = new System.Drawing.Point(384, 301);
this.btnCom.Name = "btnCom";
this.btnCom.Size = new System.Drawing.Size(107, 81);
this.btnCom.TabIndex = 5;
this.btnCom.UseVisualStyleBackColor = false;
//
// FrmMenu // FrmMenu
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
...@@ -212,9 +160,6 @@ namespace URSoldering.Client ...@@ -212,9 +160,6 @@ namespace URSoldering.Client
private System.Windows.Forms.Button btnDebug; private System.Windows.Forms.Button btnDebug;
private System.Windows.Forms.Button btnExit; private System.Windows.Forms.Button btnExit;
private System.Windows.Forms.Panel panel1; private System.Windows.Forms.Panel panel1;
private System.Windows.Forms.Button btnTongji;
private System.Windows.Forms.Button button1; private System.Windows.Forms.Button button1;
private System.Windows.Forms.Button btnCom;
private System.Windows.Forms.Button btnAutoEdit;
} }
} }
\ No newline at end of file \ No newline at end of file
URSolderingClient/FrmMenu.resx
此文件的差异太大，无法显示。
URSolderingClient/FrmOrgConfig.cs
...@@ -101,18 +101,6 @@ namespace URSoldering.Client ...@@ -101,18 +101,6 @@ namespace URSoldering.Client
ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_X, point.X.ToString()); ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_X, point.X.ToString());
ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_Y, point.Y.ToString()); ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_Y, point.Y.ToString());
} }
private void btnGoHome_Click(object sender, EventArgs e)
{
if (isAuto == false)
{
MessageBox.Show("请先切换到自动模式！");
return;
}
URPointValue point = WeldRobotBean.HomePoint;
URRobotControl.MoveTo(point);
}
private void btnSaveHome_Click(object sender, EventArgs e) private void btnSaveHome_Click(object sender, EventArgs e)
{ {
URPointValue point = GetCurrRobotPoint(); URPointValue point = GetCurrRobotPoint();
......
URSolderingClient/FrmWork.cs
...@@ -636,23 +636,23 @@ namespace URSoldering.Client ...@@ -636,23 +636,23 @@ namespace URSoldering.Client
private void btnSendWireRecover_Click(object sender, EventArgs e) private void btnSendWireRecover_Click(object sender, EventArgs e)
{ {
bool isNext = true; //bool isNext = true;
if (WeldRobotBean.IsNeedMsg()) //if (WeldRobotBean.IsNeedMsg())
{ //{
DialogResult result = MessageBox.Show("消除卡丝报警后是否继续焊接？\r\n选择是：继续焊接\r\n选择否：当前焊点重新焊接", "提示", // DialogResult result = MessageBox.Show("消除卡丝报警后是否继续焊接？\r\n选择是：继续焊接\r\n选择否：当前焊点重新焊接", "提示",
MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1); // MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
if (result.Equals(DialogResult.Yes)) // if (result.Equals(DialogResult.Yes))
{ // {
isNext = true; // isNext = true;
} // }
else // else
{ // {
isNext = false; // isNext = false;
} // }
} //}
//显示提示框，是跳过当前焊点还是从新开始送丝 //显示提示框，是跳过当前焊点还是从新开始送丝
WeldRobotBean.SendWireRecover(isNext); WeldRobotBean.SendWireRecover( );
} }
private void btnClear_Click(object sender, EventArgs e) private void btnClear_Click(object sender, EventArgs e)
......
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